src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Memory.hpp"
   4 #include "Situation.hpp"
   5 #include "Steering.hpp"
   6
   7 #include "Goal.hpp"
   8 #include "IdleGoal.hpp"
   9 #include "InhaleNeed.hpp"
  10 #include "IngestNeed.hpp"
  11 #include "Need.hpp"
  12 #include "../app/Assets.hpp"
  13 #include "../world/Body.hpp"
  14 #include "../world/Planet.hpp"
  15 #include "../world/Simulation.hpp"
  16 #include "../world/TileType.hpp"
  17
  18 #include <algorithm>
  19 #include <glm/gtx/transform.hpp>
  20
  21 #include <iostream>
  22 #include <glm/gtx/io.hpp>
  23
  24
  25 namespace blobs {
  26 namespace creature {
  27
  28 Creature::Creature(world::Simulation &sim)
  29 : sim(sim)
  30 , name()
  31 , genome()
  32 , mass(1.0)
  33 , density(1.0)
  34 , size(1.0)
  35 , birth(sim.Time())
  36 , health(1.0)
  37 , on_death()
  38 , removable(false)
  39 , memory(*this)
  40 , needs()
  41 , goals()
  42 , situation()
  43 , steering()
  44 , vel(0.0)
  45 , vao() {
  46 }
  47
  48 Creature::~Creature() {
  49 }
  50
  51 void Creature::Grow(double amount) noexcept {
  52         Mass(std::min(properties.max_mass, mass + amount));
  53 }
  54
  55 void Creature::Hurt(double dt) noexcept {
  56         health = std::max(0.0, health - dt);
  57         if (health == 0.0) {
  58                 std::cout << "[" << int(sim.Time()) << "s] "
  59                 << name << " died" << std::endl;
  60                 Die();
  61         }
  62 }
  63
  64 void Creature::Die() noexcept {
  65         needs.clear();
  66         goals.clear();
  67         steering.Halt();
  68         if (on_death) {
  69                 on_death(*this);
  70         }
  71         Remove();
  72 }
  73
  74 double Creature::Size() const noexcept {
  75         return size;
  76 }
  77
  78 double Creature::Age() const noexcept {
  79         return sim.Time() - birth;
  80 }
  81
  82 double Creature::Fertility() const noexcept {
  83         double age = Age();
  84         if (mass < properties.fertile_mass
  85                 || age < properties.fertile_age
  86                 || age > properties.infertile_age) {
  87                 return 0.0;
  88         }
  89         return properties.fertility / 3600.0;
  90 }
  91
  92 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
  93         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
  94         g->Enable();
  95         goals.emplace_back(std::move(g));
  96 }
  97
  98 namespace {
  99
 100 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 101         return b->Urgency() < a->Urgency();
 102 }
 103
 104 }
 105
 106 void Creature::Tick(double dt) {
 107         // TODO: better integration method
 108         glm::dvec3 acc(steering.Acceleration(*this));
 109         situation.Move(vel * dt);
 110         vel += acc * dt;
 111
 112         if (Age() > properties.death_age) {
 113                 std::cout << "[" << int(sim.Time()) << "s] "
 114                 << name << " died of old age" << std::endl;
 115         }
 116
 117         memory.Tick(dt);
 118         for (auto &need : needs) {
 119                 need->Tick(dt);
 120         }
 121         for (auto &goal : goals) {
 122                 goal->Tick(dt);
 123         }
 124         // do background stuff
 125         for (auto &need : needs) {
 126                 need->ApplyEffect(*this, dt);
 127         }
 128         if (goals.empty()) {
 129                 return;
 130         }
 131         // if active goal can be interrupted, check priorities
 132         if (goals.size() > 1 && goals[0]->Interruptible()) {
 133                 Goal *old_top = &*goals[0];
 134                 std::sort(goals.begin(), goals.end(), GoalCompare);
 135                 Goal *new_top = &*goals[0];
 136                 if (new_top != old_top) {
 137                         std::cout << "[" << int(sim.Time()) << "s] " << name
 138                                 << " changing goal from " << old_top->Describe()
 139                                 << " to " << new_top->Describe() << std::endl;
 140                 }
 141         }
 142         goals[0]->Action();
 143         for (auto goal = goals.begin(); goal != goals.end();) {
 144                 if ((*goal)->Complete()) {
 145                         std::cout << "[" << int(sim.Time()) << "s] " << name
 146                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 147                         goals.erase(goal);
 148                 } else {
 149                         ++goal;
 150                 }
 151         }
 152 }
 153
 154 glm::dmat4 Creature::LocalTransform() noexcept {
 155         // TODO: surface transform
 156         const double half_size = size * 0.5;
 157         const glm::dvec3 &pos = situation.Position();
 158         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 159                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 160 }
 161
 162 void Creature::BuildVAO() {
 163         vao.Bind();
 164         vao.BindAttributes();
 165         vao.EnableAttribute(0);
 166         vao.EnableAttribute(1);
 167         vao.EnableAttribute(2);
 168         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 169         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 170         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 171         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 172         {
 173                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 174                 const float offset = 1.0f;
 175                 for (int surface = 0; surface < 6; ++surface) {
 176                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 177                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 178
 179                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 180                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 181                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 182                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 183                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 184                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 185                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 186                         attrib[4 * surface + 0].texture.y = 1.0f;
 187                         attrib[4 * surface + 0].texture.z = surface;
 188
 189                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 190                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 191                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 192                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 193                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 194                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 195                         attrib[4 * surface + 1].texture.x = tex_u_end;
 196                         attrib[4 * surface + 1].texture.y = 1.0f;
 197                         attrib[4 * surface + 1].texture.z = surface;
 198
 199                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 200                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 201                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 202                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 203                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 204                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 205                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 206                         attrib[4 * surface + 2].texture.y = 0.0f;
 207                         attrib[4 * surface + 2].texture.z = surface;
 208
 209                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 210                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 211                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 212                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 213                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 214                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 215                         attrib[4 * surface + 3].texture.x = tex_u_end;
 216                         attrib[4 * surface + 3].texture.y = 0.0f;
 217                         attrib[4 * surface + 3].texture.z = surface;
 218                 }
 219         }
 220         vao.BindElements();
 221         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 222         {
 223                 auto element = vao.MapElements(GL_WRITE_ONLY);
 224                 for (int surface = 0; surface < 3; ++surface) {
 225                         element[6 * surface + 0] = 4 * surface + 0;
 226                         element[6 * surface + 1] = 4 * surface + 2;
 227                         element[6 * surface + 2] = 4 * surface + 1;
 228                         element[6 * surface + 3] = 4 * surface + 1;
 229                         element[6 * surface + 4] = 4 * surface + 2;
 230                         element[6 * surface + 5] = 4 * surface + 3;
 231                 }
 232                 for (int surface = 3; surface < 6; ++surface) {
 233                         element[6 * surface + 0] = 4 * surface + 0;
 234                         element[6 * surface + 1] = 4 * surface + 1;
 235                         element[6 * surface + 2] = 4 * surface + 2;
 236                         element[6 * surface + 3] = 4 * surface + 2;
 237                         element[6 * surface + 4] = 4 * surface + 1;
 238                         element[6 * surface + 5] = 4 * surface + 3;
 239                 }
 240         }
 241         vao.Unbind();
 242 }
 243
 244 void Creature::Draw(graphics::Viewport &viewport) {
 245         vao.Bind();
 246         vao.DrawTriangles(6 * 6);
 247 }
 248
 249
 250 void Spawn(Creature &c, world::Planet &p) {
 251         p.AddCreature(&c);
 252         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 253
 254         // probe surrounding area for common resources
 255         int start = p.SideLength() / 2 - 2;
 256         int end = start + 5;
 257         std::map<int, double> yields;
 258         for (int y = start; y < end; ++y) {
 259                 for (int x = start; x < end; ++x) {
 260                         const world::TileType &t = p.TypeAt(0, x, y);
 261                         for (auto yield : t.resources) {
 262                                 yields[yield.resource] += yield.ubiquity;
 263                         }
 264                 }
 265         }
 266         int liquid = -1;
 267         int solid = -1;
 268         for (auto e : yields) {
 269                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 270                         if (liquid < 0 || e.second > yields[liquid]) {
 271                                 liquid = e.first;
 272                         }
 273                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 274                         if (solid < 0 || e.second > yields[solid]) {
 275                                 solid = e.first;
 276                         }
 277                 }
 278         }
 279
 280         Genome genome;
 281         genome.properties.birth_mass = { 0.5, 0.1 };
 282         genome.properties.fertile_mass = { 1.0, 0.1 };
 283         genome.properties.max_mass = { 1.2, 0.1 };
 284         genome.properties.fertile_age = { 60.0, 5.0 };
 285         genome.properties.infertile_age = { 700.0, 30.0 };
 286         genome.properties.death_age = { 900.0, 90.0 };
 287         genome.properties.fertility = { 0.5, 0.01 };
 288
 289         if (p.HasAtmosphere()) {
 290                 genome.composition.push_back({
 291                         p.Atmosphere(),    // resource
 292                         { 0.01, 0.00001 }, // mass
 293                         { 0.5,  0.001 },   // intake
 294                         { 0.1,  0.0005 },  // penalty
 295                         { 0.0,  0.0 },     // growth
 296                 });
 297         }
 298         if (liquid > -1) {
 299                 genome.composition.push_back({
 300                         liquid,          // resource
 301                         { 0.6,  0.01 },  // mass
 302                         { 0.2,  0.001 }, // intake
 303                         { 0.01, 0.002 }, // penalty
 304                         { 0.1, 0.0 },   // growth
 305                 });
 306         }
 307         if (solid > -1) {
 308                 genome.composition.push_back({
 309                         solid,             // resource
 310                         { 0.4,   0.01 },   // mass
 311                         //{ 0.1,   0.001 },  // intake
 312                         { 0.4,   0.001 },  // intake
 313                         { 0.001, 0.0001 }, // penalty
 314                         { 10.0,  0.002 },   // growth
 315                 });
 316         }
 317
 318         genome.Configure(c);
 319 }
 320
 321 void Genome::Configure(Creature &c) const {
 322         c.GetGenome() = *this;
 323
 324         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 325
 326         c.GetProperties().birth_mass = properties.birth_mass.FakeNormal(random.SNorm());
 327         c.GetProperties().fertile_mass = properties.fertile_mass.FakeNormal(random.SNorm());
 328         c.GetProperties().max_mass = properties.max_mass.FakeNormal(random.SNorm());
 329         c.GetProperties().fertile_age = properties.fertile_age.FakeNormal(random.SNorm());
 330         c.GetProperties().infertile_age = properties.infertile_age.FakeNormal(random.SNorm());
 331         c.GetProperties().death_age = properties.death_age.FakeNormal(random.SNorm());
 332         c.GetProperties().fertility = properties.fertility.FakeNormal(random.SNorm());
 333
 334         double mass = 0.0;
 335         double volume = 0.0;
 336         for (const auto &comp : composition) {
 337                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 338                 double intake = comp.intake.FakeNormal(random.SNorm());
 339                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 340
 341                 mass += comp_mass;
 342                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 343
 344                 std::unique_ptr<Need> need;
 345                 if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) {
 346                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 347                         need->gain = intake * 0.05;
 348                 } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) {
 349                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 350                         need->gain = intake * 0.1;
 351                 } else {
 352                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 353                         need->gain = intake * 0.5;
 354                 }
 355                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 356                 need->growth = comp.growth.FakeNormal(random.SNorm());
 357                 need->inconvenient = 0.5;
 358                 need->critical = 0.95;
 359                 c.AddNeed(std::move(need));
 360         }
 361
 362         c.Mass(c.GetProperties().birth_mass);
 363         c.Density(mass / volume);
 364         c.GetSteering().MaxAcceleration(1.4);
 365         c.GetSteering().MaxSpeed(4.4);
 366         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 367 }
 368
 369
 370 void Split(Creature &c) {
 371         Creature *a = new Creature(c.GetSimulation());
 372         const Situation &s = c.GetSituation();
 373         // TODO: generate names
 374         a->Name("Blobby");
 375         // TODO: mutate
 376         c.GetGenome().Configure(*a);
 377         s.GetPlanet().AddCreature(a);
 378         // TODO: duplicate situation somehow
 379         a->GetSituation().SetPlanetSurface(
 380                 s.GetPlanet(), s.Surface(),
 381                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 382         a->BuildVAO();
 383
 384         Creature *b = new Creature(c.GetSimulation());
 385         b->Name("Sir Blobalot");
 386         c.GetGenome().Configure(*b);
 387         s.GetPlanet().AddCreature(b);
 388         b->GetSituation().SetPlanetSurface(
 389                 s.GetPlanet(), s.Surface(),
 390                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 391         b->BuildVAO();
 392
 393         c.Die();
 394 }
 395
 396
 397 Memory::Memory(Creature &c)
 398 : c(c) {
 399 }
 400
 401 Memory::~Memory() {
 402 }
 403
 404 void Memory::Tick(double dt) {
 405         Situation &s = c.GetSituation();
 406         if (s.OnSurface()) {
 407                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 408         }
 409 }
 410
 411 void Memory::TrackStay(const Location &l, double t) {
 412         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 413         auto entry = known_types.find(type.id);
 414         if (entry != known_types.end()) {
 415                 entry->second.last_been = c.GetSimulation().Time();
 416                 entry->second.last_loc = l;
 417                 entry->second.time_spent += t;
 418         } else {
 419                 known_types.emplace(type.id, Stay{
 420                         c.GetSimulation().Time(),
 421                         l,
 422                         c.GetSimulation().Time(),
 423                         l,
 424                         t
 425                 });
 426         }
 427 }
 428
 429
 430 Situation::Situation()
 431 : planet(nullptr)
 432 , position(0.0)
 433 , surface(0)
 434 , type(LOST) {
 435 }
 436
 437 Situation::~Situation() {
 438 }
 439
 440 bool Situation::OnPlanet() const noexcept {
 441         return type == PLANET_SURFACE;
 442 }
 443
 444 bool Situation::OnSurface() const noexcept {
 445         return type == PLANET_SURFACE;
 446 }
 447
 448 bool Situation::OnTile() const noexcept {
 449         glm::ivec2 t(planet->SurfacePosition(surface, position));
 450         return type == PLANET_SURFACE
 451                 && t.x >= 0 && t.x < planet->SideLength()
 452                 && t.y >= 0 && t.y < planet->SideLength();
 453 }
 454
 455 glm::ivec2 Situation::SurfacePosition() const noexcept {
 456         return planet->SurfacePosition(surface, position);
 457 }
 458
 459 world::Tile &Situation::GetTile() const noexcept {
 460         glm::ivec2 t(planet->SurfacePosition(surface, position));
 461         return planet->TileAt(surface, t.x, t.y);
 462 }
 463
 464 const world::TileType &Situation::GetTileType() const noexcept {
 465         glm::ivec2 t(planet->SurfacePosition(surface, position));
 466         return planet->TypeAt(surface, t.x, t.y);
 467 }
 468
 469 void Situation::Move(const glm::dvec3 &dp) noexcept {
 470         position += dp;
 471         if (OnSurface()) {
 472                 // enforce ground constraint
 473                 if (Surface() < 3) {
 474                         position[(Surface() + 2) % 3] = std::max(0.0, position[(Surface() + 2) % 3]);
 475                 } else {
 476                         position[(Surface() + 2) % 3] = std::min(0.0, position[(Surface() + 2) % 3]);
 477                 }
 478         }
 479 }
 480
 481 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 482         type = PLANET_SURFACE;
 483         planet = &p;
 484         surface = srf;
 485         position = pos;
 486 }
 487
 488
 489 Steering::Steering()
 490 : seek_target(0.0)
 491 , max_accel(1.0)
 492 , max_speed(1.0)
 493 , halting(false)
 494 , seeking(false) {
 495 }
 496
 497 Steering::~Steering() {
 498 }
 499
 500 void Steering::Halt() noexcept {
 501         halting = true;
 502         seeking = false;
 503 }
 504
 505 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 506         seek_target = t;
 507         halting = false;
 508         seeking = true;
 509 }
 510
 511 glm::dvec3 Steering::Acceleration(Creature &c) const noexcept {
 512         glm::dvec3 acc(0.0);
 513         if (halting) {
 514                 SumForce(acc, c.Velocity() * -max_accel);
 515         }
 516         if (seeking) {
 517                 glm::dvec3 diff = seek_target - c.GetSituation().Position();
 518                 if (!allzero(diff)) {
 519                         SumForce(acc, ((normalize(diff) * max_speed) - c.Velocity()) * max_accel);
 520                 }
 521         }
 522         return acc;
 523 }
 524
 525 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 526         if (allzero(in) || anynan(in)) {
 527                 return false;
 528         }
 529         double cur = allzero(out) ? 0.0 : length(out);
 530         double rem = max_accel - cur;
 531         if (rem < 0.0) {
 532                 return true;
 533         }
 534         double add = length(in);
 535         if (add > rem) {
 536                 // this method is off if in and out are in different
 537                 // directions, but gives okayish results
 538                 out += in * (1.0 / add);
 539                 return true;
 540         } else {
 541                 out += in;
 542                 return false;
 543         }
 544 }
 545
 546 }
 547 }