src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "BlobBackgroundTask.hpp"
  10 #include "Goal.hpp"
  11 #include "IdleGoal.hpp"
  12 #include "../app/Assets.hpp"
  13 #include "../math/const.hpp"
  14 #include "../ui/string.hpp"
  15 #include "../world/Body.hpp"
  16 #include "../world/Planet.hpp"
  17 #include "../world/Simulation.hpp"
  18 #include "../world/TileType.hpp"
  19
  20 #include <algorithm>
  21 #include <sstream>
  22 #include <glm/gtx/transform.hpp>
  23 #include <glm/gtx/vector_angle.hpp>
  24
  25 #include <iostream>
  26 #include <glm/gtx/io.hpp>
  27
  28
  29 namespace blobs {
  30 namespace creature {
  31
  32 Composition::Composition()
  33 : components()
  34 , total_mass(0.0) {
  35 }
  36
  37 Composition::~Composition() {
  38 }
  39
  40 namespace {
  41 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  42         return b.value < a.value;
  43 }
  44 }
  45
  46 void Composition::Add(int res, double amount) {
  47         bool found = false;
  48         for (auto c = components.begin(); c != components.end(); ++c) {
  49                 if (c->resource == res) {
  50                         c->value += amount;
  51                         if (c->value <= 0.0) {
  52                                 components.erase(c);
  53                         }
  54                         found = true;
  55                         break;
  56                 }
  57         }
  58         if (!found && amount > 0.0) {
  59                 components.emplace_back(res, amount);
  60         }
  61         std::sort(components.begin(), components.end(), CompositionCompare);
  62         total_mass += amount;
  63 }
  64
  65 bool Composition::Has(int res) const noexcept {
  66         for (auto &c : components) {
  67                 if (c.resource == res) {
  68                         return true;
  69                 }
  70         }
  71         return false;
  72 }
  73
  74 double Composition::Get(int res) const noexcept {
  75         for (auto &c : components) {
  76                 if (c.resource == res) {
  77                         return c.value;
  78                 }
  79         }
  80         return 0.0;
  81 }
  82
  83
  84 Creature::Creature(world::Simulation &sim)
  85 : sim(sim)
  86 , name()
  87 , genome()
  88 , properties()
  89 , composition()
  90 , base_color(1.0)
  91 , highlight_color(0.0, 0.0, 0.0, 1.0)
  92 , mass(1.0)
  93 , size(1.0)
  94 , birth(sim.Time())
  95 , death(-1.0)
  96 , on_death()
  97 , removable(false)
  98 , parents()
  99 , stats()
 100 , memory(*this)
 101 , bg_task()
 102 , goals()
 103 , situation()
 104 , steering(*this)
 105 , vao() {
 106         sim.SetAlive(this);
 107         // all creatures avoid each other for now
 108         steering.Separate(0.1, 1.5);
 109 }
 110
 111 Creature::~Creature() {
 112 }
 113
 114 void Creature::AddMass(int res, double amount) {
 115         composition.Add(res, amount);
 116         double nonsolid = 0.0;
 117         double volume = 0.0;
 118         for (const auto &c : composition) {
 119                 volume += c.value / sim.Assets().data.resources[c.resource].density;
 120                 if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
 121                         nonsolid += c.value;
 122                 }
 123         }
 124         Mass(composition.TotalMass());
 125         Size(std::cbrt(volume));
 126         highlight_color.a = nonsolid / composition.TotalMass();
 127 }
 128
 129 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 130         highlight_color = glm::dvec4(c, highlight_color.a);
 131 }
 132
 133 void Creature::Ingest(int res, double amount) noexcept {
 134         // TODO: check foreign materials
 135         if (sim.Resources()[res].state == world::Resource::SOLID) {
 136                 // 15% of solids stays in body
 137                 AddMass(res, amount * 0.15);
 138         } else {
 139                 // 10% of fluids stays in body
 140                 AddMass(res, amount * 0.05);
 141         }
 142         math::GaloisLFSR &random = sim.Assets().random;
 143         if (random.UNorm() < AdaptChance()) {
 144                 // change color to be slightly more like resource
 145                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 146                 // solids affect base color, others highlight
 147                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 148                 double q = random.UInt(3); // hue, sat, or val
 149                 double r = random.UInt(2); // mean or deviation
 150                 math::Distribution *d = nullptr;
 151                 double ref = 0.0;
 152                 if (p == 0) {
 153                         if (q == 0) {
 154                                 d = &genome.base_hue;
 155                                 ref = color.x;
 156                         } else if (q == 1) {
 157                                 d = &genome.base_saturation;
 158                                 ref = color.y;
 159                         } else {
 160                                 d = &genome.base_lightness;
 161                                 ref = color.z;
 162                         }
 163                 } else {
 164                         if (q == 0) {
 165                                 d = &genome.highlight_hue;
 166                                 ref = color.x;
 167                         } else if (q == 1) {
 168                                 d = &genome.highlight_saturation;
 169                                 ref = color.y;
 170                         } else {
 171                                 d = &genome.highlight_lightness;
 172                                 ref = color.z;
 173                         }
 174                 }
 175                 if (r == 0) {
 176                         double diff = ref - d->Mean();
 177                         if (q == 0) {
 178                                 if (diff < -0.5) {
 179                                         diff += 1.0;
 180                                 } else if (diff > 0.5) {
 181                                         diff -= 1.0;
 182                                 }
 183                                 // move ±15% of distance
 184                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 185                         } else {
 186                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 187                         }
 188                 } else {
 189                         // scale by ±15%, enforce bounds
 190                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 191                 }
 192         }
 193 }
 194
 195 void Creature::DoWork(double amount) noexcept {
 196         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 197         // burn resources proportional to composition
 198         // factor = 1/total * 1/efficiency * amount * -1
 199         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 200         // make a copy to total remains constant and
 201         // no entries disappear during iteration
 202         Composition comp(composition);
 203         for (auto &cmp : comp) {
 204                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 205                 AddMass(cmp.resource, value);
 206         }
 207         // doing work improves strength a little
 208         properties.Strength() += amount * 0.0001;
 209 }
 210
 211 void Creature::Hurt(double amount) noexcept {
 212         stats.Damage().Add(amount);
 213         if (stats.Damage().Full()) {
 214                 Die();
 215         }
 216 }
 217
 218 void Creature::Die() noexcept {
 219         if (Dead()) return;
 220
 221         if (stats.Damage().Full()) {
 222                 std::ostream &log = sim.Log() << name << " ";
 223                 if (stats.Exhaustion().Full()) {
 224                         log << "died of exhaustion";
 225                 } else if (stats.Breath().Full()) {
 226                         log << "suffocated";
 227                 } else if (stats.Thirst().Full()) {
 228                         log << "died of thirst";
 229                 } else if (stats.Hunger().Full()) {
 230                         log << "starved to death";
 231                 } else {
 232                         log << "succumed to wounds";
 233                 }
 234                 log << " at an age of " << ui::TimeString(Age())
 235                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 236                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 237                         << ")" << std::endl;
 238         }
 239
 240         sim.SetDead(this);
 241         death = sim.Time();
 242         steering.Off();
 243         if (on_death) {
 244                 on_death(*this);
 245         }
 246         Remove();
 247 }
 248
 249 bool Creature::Dead() const noexcept {
 250         return death > birth;
 251 }
 252
 253 void Creature::Remove() noexcept {
 254         removable = true;
 255 }
 256
 257 void Creature::Removed() noexcept {
 258         bg_task.reset();
 259         goals.clear();
 260         memory.Erase();
 261         KillVAO();
 262 }
 263
 264 void Creature::AddParent(Creature &p) {
 265         parents.push_back(&p);
 266 }
 267
 268 double Creature::Age() const noexcept {
 269         return Dead() ? death - birth : sim.Time() - birth;
 270 }
 271
 272 double Creature::AgeFactor(double peak) const noexcept {
 273         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 274         // goes negative below -0.5 and starts to rise again above 1.0
 275         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 276         // guarantee at least 1%
 277         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 278 }
 279
 280 double Creature::EnergyEfficiency() const noexcept {
 281         return 0.25 * AgeFactor(0.05);
 282 }
 283
 284 double Creature::ExhaustionFactor() const noexcept {
 285         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 286 }
 287
 288 double Creature::FatigueFactor() const noexcept {
 289         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 290 }
 291
 292 double Creature::Strength() const noexcept {
 293         // TODO: replace all age factors with actual growth and decay
 294         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 295 }
 296
 297 double Creature::StrengthFactor() const noexcept {
 298         return Strength() / (Strength() + 1.0);
 299 }
 300
 301 double Creature::Stamina() const noexcept {
 302         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 303 }
 304
 305 double Creature::StaminaFactor() const noexcept {
 306         return Stamina() / (Stamina() + 1.0);
 307 }
 308
 309 double Creature::Dexerty() const noexcept {
 310         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 311 }
 312
 313 double Creature::DexertyFactor() const noexcept {
 314         return Dexerty() / (Dexerty() + 1.0);
 315 }
 316
 317 double Creature::Intelligence() const noexcept {
 318         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 319 }
 320
 321 double Creature::IntelligenceFactor() const noexcept {
 322         return Intelligence() / (Intelligence() + 1.0);
 323 }
 324
 325 double Creature::Lifetime() const noexcept {
 326         return properties.Lifetime();
 327 }
 328
 329 double Creature::Fertility() const noexcept {
 330         return properties.Fertility() * AgeFactor(0.25);
 331 }
 332
 333 double Creature::Mutability() const noexcept {
 334         return properties.Mutability();
 335 }
 336
 337 double Creature::Adaptability() const noexcept {
 338         return properties.Adaptability();
 339 }
 340
 341 double Creature::OffspringMass() const noexcept {
 342         return properties.OffspringMass();
 343 }
 344
 345 double Creature::PerceptionRange() const noexcept {
 346         return 3.0 * DexertyFactor() + Size();
 347 }
 348
 349 double Creature::PerceptionOmniRange() const noexcept {
 350         return 0.5 * DexertyFactor() + Size();
 351 }
 352
 353 double Creature::PerceptionField() const noexcept {
 354         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 355         return 0.8 - DexertyFactor();
 356 }
 357
 358 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 359         const glm::dvec3 diff(p - situation.Position());
 360         double omni_range = PerceptionOmniRange();
 361         if (glm::length2(diff) < omni_range * omni_range) return true;
 362         double range = PerceptionRange();
 363         if (glm::length2(diff) > range * range) return false;
 364         return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
 365 }
 366
 367 double Creature::OffspringChance() const noexcept {
 368         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 369 }
 370
 371 double Creature::MutateChance() const noexcept {
 372         return GetProperties().Mutability() * (1.0 / 3600.0);
 373 }
 374
 375 double Creature::AdaptChance() const noexcept {
 376         return GetProperties().Adaptability() * (1.0 / 120.0);
 377 }
 378
 379 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 380         g->Enable();
 381         if (goals.empty()) {
 382                 g->SetForeground();
 383         }
 384         goals.emplace_back(std::move(g));
 385 }
 386
 387 namespace {
 388
 389 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 390         return b->Urgency() < a->Urgency();
 391 }
 392
 393 }
 394
 395 void Creature::Tick(double dt) {
 396         TickState(dt);
 397         TickStats(dt);
 398         TickBrain(dt);
 399 }
 400
 401 void Creature::TickState(double dt) {
 402         steering.MaxSpeed(Dexerty());
 403         steering.MaxForce(Strength());
 404         Situation::State state(situation.GetState());
 405         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 406         Situation::Derivative b(Step(a, dt * 0.5));
 407         Situation::Derivative c(Step(b, dt * 0.5));
 408         Situation::Derivative d(Step(c, dt));
 409         Situation::Derivative f(
 410                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 411                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 412         );
 413         state.pos += f.vel * dt;
 414         state.vel += f.acc * dt;
 415         situation.EnforceConstraints(state);
 416         if (glm::length2(state.vel) > 0.000001) {
 417                 glm::dvec3 nvel(glm::normalize(state.vel));
 418                 double ang = glm::angle(nvel, state.dir);
 419                 double turn_rate = PI * 0.75 * dt;
 420                 if (ang < turn_rate) {
 421                         state.dir = glm::normalize(state.vel);
 422                 } else if (std::abs(ang - PI) < 0.001) {
 423                         state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 424                 } else {
 425                         state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 426                 }
 427         }
 428         situation.SetState(state);
 429         // work is force times distance
 430         DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
 431 }
 432
 433 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 434         Situation::State s = situation.GetState();
 435         s.pos += ds.vel * dt;
 436         s.vel += ds.acc * dt;
 437         glm::dvec3 force(steering.Force(s));
 438         // gravity = antinormal * mass * Gm / r²
 439         double elevation = situation.GetPlanet().DistanceAt(s.pos);
 440         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 441         force += glm::dvec3(
 442                 -normal
 443                 * Mass() * situation.GetPlanet().GravitationalParameter()
 444                 / (elevation * elevation));
 445         // if net force is applied and in contact with surface
 446         if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
 447                 // apply friction = -|normal force| * tangential force * coefficient
 448                 glm::dvec3 fn(normal * glm::dot(force, normal));
 449                 glm::dvec3 ft(force - fn);
 450                 double u = 0.4;
 451                 glm::dvec3 friction(-glm::length(fn) * ft * u);
 452                 force += friction;
 453         }
 454         return {
 455                 s.vel,
 456                 force / Mass()
 457         };
 458 }
 459
 460 void Creature::TickStats(double dt) {
 461         for (auto &s : stats.stat) {
 462                 s.Add(s.gain * dt);
 463         }
 464         // TODO: damage values depending on properties
 465         if (stats.Breath().Full()) {
 466                 constexpr double dps = 1.0 / 4.0;
 467                 Hurt(dps * dt);
 468         }
 469         if (stats.Thirst().Full()) {
 470                 constexpr double dps = 1.0 / 32.0;
 471                 Hurt(dps * dt);
 472         }
 473         if (stats.Hunger().Full()) {
 474                 constexpr double dps = 1.0 / 128.0;
 475                 Hurt(dps * dt);
 476         }
 477         if (!situation.Moving()) {
 478                 // double exhaustion recovery when standing still
 479                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 480         }
 481 }
 482
 483 void Creature::TickBrain(double dt) {
 484         bg_task->Tick(dt);
 485         bg_task->Action();
 486         memory.Tick(dt);
 487         // do background stuff
 488         if (goals.empty()) {
 489                 return;
 490         }
 491         for (auto &goal : goals) {
 492                 goal->Tick(dt);
 493         }
 494         Goal *top = &*goals.front();
 495         // if active goal can be interrupted, check priorities
 496         if (goals.size() > 1 && goals[0]->Interruptible()) {
 497                 std::sort(goals.begin(), goals.end(), GoalCompare);
 498         }
 499         if (&*goals.front() != top) {
 500                 top->SetBackground();
 501                 goals.front()->SetForeground();
 502                 top = &*goals.front();
 503         }
 504         goals[0]->Action();
 505         for (auto goal = goals.begin(); goal != goals.end();) {
 506                 if ((*goal)->Complete()) {
 507                         goals.erase(goal);
 508                 } else {
 509                         ++goal;
 510                 }
 511         }
 512         if (&*goals.front() != top) {
 513                 goals.front()->SetForeground();
 514         }
 515 }
 516
 517 math::AABB Creature::CollisionBox() const noexcept {
 518         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 519 }
 520
 521 glm::dmat4 Creature::CollisionTransform() const noexcept {
 522         const double half_size = size * 0.5;
 523         const glm::dvec3 &pos = situation.Position();
 524         glm::dmat3 orient;
 525         orient[1] = situation.GetPlanet().NormalAt(pos);
 526         orient[2] = situation.Heading();
 527         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 528                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 529         }
 530         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 531         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 532         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 533                 * glm::dmat4(orient)
 534                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 535 }
 536
 537 glm::dmat4 Creature::LocalTransform() noexcept {
 538         const double half_size = size * 0.5;
 539         return CollisionTransform()
 540                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 541 }
 542
 543 void Creature::BuildVAO() {
 544         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 545         vao->Bind();
 546         vao->BindAttributes();
 547         vao->EnableAttribute(0);
 548         vao->EnableAttribute(1);
 549         vao->EnableAttribute(2);
 550         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 551         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 552         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 553         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 554         {
 555                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 556                 const float offset = 1.0f;
 557                 for (int surface = 0; surface < 6; ++surface) {
 558                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 559                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 560
 561                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 562                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 563                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 564                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 565                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 566                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 567                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 568                         attrib[4 * surface + 0].texture.y = 1.0f;
 569                         attrib[4 * surface + 0].texture.z = surface;
 570
 571                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 572                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 573                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 574                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 575                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 576                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 577                         attrib[4 * surface + 1].texture.x = tex_u_end;
 578                         attrib[4 * surface + 1].texture.y = 1.0f;
 579                         attrib[4 * surface + 1].texture.z = surface;
 580
 581                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 582                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 583                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 584                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 585                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 586                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 587                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 588                         attrib[4 * surface + 2].texture.y = 0.0f;
 589                         attrib[4 * surface + 2].texture.z = surface;
 590
 591                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 592                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 593                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 594                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 595                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 596                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 597                         attrib[4 * surface + 3].texture.x = tex_u_end;
 598                         attrib[4 * surface + 3].texture.y = 0.0f;
 599                         attrib[4 * surface + 3].texture.z = surface;
 600                 }
 601         }
 602         vao->BindElements();
 603         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 604         {
 605                 auto element = vao->MapElements(GL_WRITE_ONLY);
 606                 for (int surface = 0; surface < 3; ++surface) {
 607                         element[6 * surface + 0] = 4 * surface + 0;
 608                         element[6 * surface + 1] = 4 * surface + 2;
 609                         element[6 * surface + 2] = 4 * surface + 1;
 610                         element[6 * surface + 3] = 4 * surface + 1;
 611                         element[6 * surface + 4] = 4 * surface + 2;
 612                         element[6 * surface + 5] = 4 * surface + 3;
 613                 }
 614                 for (int surface = 3; surface < 6; ++surface) {
 615                         element[6 * surface + 0] = 4 * surface + 0;
 616                         element[6 * surface + 1] = 4 * surface + 1;
 617                         element[6 * surface + 2] = 4 * surface + 2;
 618                         element[6 * surface + 3] = 4 * surface + 2;
 619                         element[6 * surface + 4] = 4 * surface + 1;
 620                         element[6 * surface + 5] = 4 * surface + 3;
 621                 }
 622         }
 623         vao->Unbind();
 624 }
 625
 626 void Creature::KillVAO() {
 627         vao.reset();
 628 }
 629
 630 void Creature::Draw(graphics::Viewport &viewport) {
 631         if (!vao) return;
 632         vao->Bind();
 633         vao->DrawTriangles(6 * 6);
 634 }
 635
 636
 637 void Spawn(Creature &c, world::Planet &p) {
 638         p.AddCreature(&c);
 639         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 640         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 641
 642         // probe surrounding area for common resources
 643         int start = p.SideLength() / 2 - 2;
 644         int end = start + 5;
 645         std::map<int, double> yields;
 646         for (int y = start; y < end; ++y) {
 647                 for (int x = start; x < end; ++x) {
 648                         const world::TileType &t = p.TypeAt(0, x, y);
 649                         for (auto yield : t.resources) {
 650                                 yields[yield.resource] += yield.ubiquity;
 651                         }
 652                 }
 653         }
 654         int liquid = -1;
 655         int solid = -1;
 656         for (auto e : yields) {
 657                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 658                         if (liquid < 0 || e.second > yields[liquid]) {
 659                                 liquid = e.first;
 660                         }
 661                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 662                         if (solid < 0 || e.second > yields[solid]) {
 663                                 solid = e.first;
 664                         }
 665                 }
 666         }
 667
 668         Genome genome;
 669         genome.properties.Strength() = { 2.0, 0.1 };
 670         genome.properties.Stamina() = { 2.0, 0.1 };
 671         genome.properties.Dexerty() = { 2.0, 0.1 };
 672         genome.properties.Intelligence() = { 1.0, 0.1 };
 673         genome.properties.Lifetime() = { 480.0, 60.0 };
 674         genome.properties.Fertility() = { 0.5, 0.03 };
 675         genome.properties.Mutability() = { 0.9, 0.1 };
 676         genome.properties.Adaptability() = { 0.9, 0.1 };
 677         genome.properties.OffspringMass() = { 0.3, 0.02 };
 678
 679         glm::dvec3 color_avg(0.0);
 680         double color_divisor = 0.0;
 681
 682         if (p.HasAtmosphere()) {
 683                 c.AddMass(p.Atmosphere(), 0.01);
 684                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 685                 color_divisor += 0.1;
 686         }
 687         if (liquid > -1) {
 688                 c.AddMass(liquid, 0.3);
 689                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 690                 color_divisor += 0.5;
 691         }
 692         if (solid > -1) {
 693                 c.AddMass(solid, 0.1);
 694                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 695                 color_divisor += 1.0;
 696         }
 697
 698         if (color_divisor > 0.001) {
 699                 color_avg /= color_divisor;
 700         }
 701         glm::dvec3 hsl = rgb2hsl(color_avg);
 702         genome.base_hue = { hsl.x, 0.01 };
 703         genome.base_saturation = { hsl.y, 0.01 };
 704         genome.base_lightness = { hsl.z, 0.01 };
 705         // use opposite color as start highlight
 706         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 707         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 708         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 709
 710         genome.Configure(c);
 711 }
 712
 713 void Genome::Configure(Creature &c) const {
 714         c.GetGenome() = *this;
 715
 716         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 717
 718         c.GetProperties() = Instantiate(properties, random);
 719
 720         // TODO: derive stats from properties
 721         c.GetStats().Damage().gain = (-1.0 / 100.0);
 722         c.GetStats().Breath().gain = (1.0 / 5.0);
 723         c.GetStats().Thirst().gain = (1.0 / 60.0);
 724         c.GetStats().Hunger().gain = (1.0 / 200.0);
 725         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 726         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 727         c.GetStats().Boredom().gain = (1.0 / 300.0);
 728
 729         glm::dvec3 base_color(
 730                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 731                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 732                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 733         );
 734         glm::dvec3 highlight_color(
 735                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 736                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 737                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 738         );
 739         c.BaseColor(hsl2rgb(base_color));
 740         c.HighlightColor(hsl2rgb(highlight_color));
 741         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 742         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 743 }
 744
 745
 746 void Split(Creature &c) {
 747         Creature *a = new Creature(c.GetSimulation());
 748         const Situation &s = c.GetSituation();
 749         a->AddParent(c);
 750         a->Name(c.GetSimulation().Assets().name.Sequential());
 751         c.GetGenome().Configure(*a);
 752         for (const auto &cmp : c.GetComposition()) {
 753                 a->AddMass(cmp.resource, cmp.value * 0.5);
 754         }
 755         s.GetPlanet().AddCreature(a);
 756         // TODO: duplicate situation somehow
 757         a->GetSituation().SetPlanetSurface(
 758                 s.GetPlanet(),
 759                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 760         a->BuildVAO();
 761         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 762
 763         Creature *b = new Creature(c.GetSimulation());
 764         b->AddParent(c);
 765         b->Name(c.GetSimulation().Assets().name.Sequential());
 766         c.GetGenome().Configure(*b);
 767         for (const auto &cmp : c.GetComposition()) {
 768                 b->AddMass(cmp.resource, cmp.value * 0.5);
 769         }
 770         s.GetPlanet().AddCreature(b);
 771         b->GetSituation().SetPlanetSurface(
 772                 s.GetPlanet(),
 773                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 774         b->BuildVAO();
 775         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 776
 777         c.Die();
 778 }
 779
 780
 781 Memory::Memory(Creature &c)
 782 : c(c) {
 783 }
 784
 785 Memory::~Memory() {
 786 }
 787
 788 void Memory::Erase() {
 789         known_types.clear();
 790 }
 791
 792 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 793         double best_rating = -1.0;
 794         for (const auto &k : known_types) {
 795                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 796                 auto entry = t.FindBestResource(accept);
 797                 if (entry != t.resources.end()) {
 798                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 799                         if (rating > best_rating) {
 800                                 best_rating = rating;
 801                                 pos = k.second.first_loc.position;
 802                         }
 803                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 804                         if (rating > best_rating) {
 805                                 best_rating = rating;
 806                                 pos = k.second.last_loc.position;
 807                         }
 808                 }
 809         }
 810         if (best_rating > 0.0) {
 811                 glm::dvec3 error(
 812                         c.GetSimulation().Assets().random.SNorm(),
 813                         c.GetSimulation().Assets().random.SNorm(),
 814                         c.GetSimulation().Assets().random.SNorm());
 815                 pos += error * (2.0 * (1.0 - c.IntelligenceFactor()));
 816                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 817                 return true;
 818         } else {
 819                 return false;
 820         }
 821 }
 822
 823 void Memory::Tick(double dt) {
 824         Situation &s = c.GetSituation();
 825         if (s.OnSurface()) {
 826                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 827         }
 828         // TODO: forget
 829 }
 830
 831 void Memory::TrackStay(const Location &l, double t) {
 832         const world::TileType &type = l.planet->TileTypeAt(l.position);
 833         auto entry = known_types.find(type.id);
 834         if (entry != known_types.end()) {
 835                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 836                         // "it's been ages"
 837                         if (entry->second.time_spent > c.Age() * 0.25) {
 838                                 // the place is very familiar
 839                                 c.GetStats().Boredom().Add(-0.2);
 840                         } else {
 841                                 // infrequent stays
 842                                 c.GetStats().Boredom().Add(-0.1);
 843                         }
 844                 }
 845                 entry->second.last_been = c.GetSimulation().Time();
 846                 entry->second.last_loc = l;
 847                 entry->second.time_spent += t;
 848         } else {
 849                 known_types.emplace(type.id, Stay{
 850                         c.GetSimulation().Time(),
 851                         l,
 852                         c.GetSimulation().Time(),
 853                         l,
 854                         t
 855                 });
 856                 // completely new place, interesting
 857                 // TODO: scale by personality trait
 858                 c.GetStats().Boredom().Add(-0.25);
 859         }
 860 }
 861
 862
 863 NameGenerator::NameGenerator()
 864 : counter(0) {
 865 }
 866
 867 NameGenerator::~NameGenerator() {
 868 }
 869
 870 std::string NameGenerator::Sequential() {
 871         std::stringstream ss;
 872         ss << "Blob " << ++counter;
 873         return ss.str();
 874 }
 875
 876
 877 Situation::Situation()
 878 : planet(nullptr)
 879 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 880 , type(LOST) {
 881 }
 882
 883 Situation::~Situation() {
 884 }
 885
 886 bool Situation::OnPlanet() const noexcept {
 887         return type == PLANET_SURFACE;
 888 }
 889
 890 bool Situation::OnSurface() const noexcept {
 891         return type == PLANET_SURFACE;
 892 }
 893
 894 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 895         return planet->NormalAt(state.pos);
 896 }
 897
 898 world::Tile &Situation::GetTile() const noexcept {
 899         return planet->TileAt(state.pos);
 900 }
 901
 902 const world::TileType &Situation::GetTileType() const noexcept {
 903         return planet->TileTypeAt(state.pos);
 904 }
 905
 906 void Situation::Move(const glm::dvec3 &dp) noexcept {
 907         state.pos += dp;
 908         EnforceConstraints(state);
 909 }
 910
 911 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 912         state.vel += dv;
 913         EnforceConstraints(state);
 914 }
 915
 916 void Situation::EnforceConstraints(State &s) noexcept {
 917         if (OnSurface()) {
 918                 double r = GetPlanet().Radius();
 919                 if (glm::length2(s.pos) < r * r) {
 920                         s.pos = glm::normalize(s.pos) * r;
 921                 }
 922         }
 923 }
 924
 925 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
 926         type = PLANET_SURFACE;
 927         planet = &p;
 928         state.pos = pos;
 929         EnforceConstraints(state);
 930 }
 931
 932
 933 Steering::Steering(const Creature &c)
 934 : c(c)
 935 , target(0.0)
 936 , haste(0.0)
 937 , max_force(1.0)
 938 , max_speed(1.0)
 939 , min_dist(0.0)
 940 , max_look(0.0)
 941 , separating(false)
 942 , halting(true)
 943 , seeking(false)
 944 , arriving(false) {
 945 }
 946
 947 Steering::~Steering() {
 948 }
 949
 950 void Steering::Off() noexcept {
 951         separating = false;
 952         halting = false;
 953         seeking = false;
 954         arriving = false;
 955 }
 956
 957 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 958         separating = true;
 959         min_dist = min_distance;
 960         max_look = max_lookaround;
 961 }
 962
 963 void Steering::DontSeparate() noexcept {
 964         separating = false;
 965 }
 966
 967 void Steering::ResumeSeparate() noexcept {
 968         separating = true;
 969 }
 970
 971 void Steering::Halt() noexcept {
 972         halting = true;
 973         seeking = false;
 974         arriving = false;
 975 }
 976
 977 void Steering::Pass(const glm::dvec3 &t) noexcept {
 978         target = t;
 979         halting = false;
 980         seeking = true;
 981         arriving = false;
 982 }
 983
 984 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 985         target = t;
 986         halting = false;
 987         seeking = false;
 988         arriving = true;
 989 }
 990
 991 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 992         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
 993         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
 994         glm::dvec3 result(0.0);
 995         if (separating) {
 996                 // TODO: off surface situation
 997                 glm::dvec3 repulse(0.0);
 998                 const Situation &s = c.GetSituation();
 999                 for (auto &other : s.GetPlanet().Creatures()) {
1000                         if (&*other == &c) continue;
1001                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1002                         if (glm::length2(diff) > max_look * max_look) continue;
1003                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1004                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1005                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1006                 }
1007                 result += repulse;
1008         }
1009         if (halting) {
1010                 // brake hard
1011                 result += -5.0 * s.vel * force;
1012         }
1013         if (seeking) {
1014                 glm::dvec3 diff = target - s.pos;
1015                 if (!allzero(diff)) {
1016                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1017                 }
1018         }
1019         if (arriving) {
1020                 glm::dvec3 diff = target - s.pos;
1021                 double dist = glm::length(diff);
1022                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1023                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1024                 }
1025         }
1026         if (glm::length2(result) > max_force * max_force) {
1027                 result = glm::normalize(result) * max_force;
1028         }
1029         return result;
1030 }
1031
1032 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1033         return (vel - s.vel) * acc;
1034 }
1035
1036 }
1037 }