src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Memory.hpp"
   4 #include "NameGenerator.hpp"
   5 #include "Situation.hpp"
   6 #include "Steering.hpp"
   7
   8 #include "Goal.hpp"
   9 #include "IdleGoal.hpp"
  10 #include "InhaleNeed.hpp"
  11 #include "IngestNeed.hpp"
  12 #include "Need.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../world/Body.hpp"
  15 #include "../world/Planet.hpp"
  16 #include "../world/Simulation.hpp"
  17 #include "../world/TileType.hpp"
  18
  19 #include <algorithm>
  20 #include <sstream>
  21 #include <glm/gtx/transform.hpp>
  22
  23 #include <iostream>
  24 #include <glm/gtx/io.hpp>
  25
  26
  27 namespace blobs {
  28 namespace creature {
  29
  30 Creature::Creature(world::Simulation &sim)
  31 : sim(sim)
  32 , name()
  33 , genome()
  34 , properties()
  35 , cur_prop(0)
  36 , base_color(1.0)
  37 , highlight_color(0.0)
  38 , mass(1.0)
  39 , density(1.0)
  40 , size(1.0)
  41 , birth(sim.Time())
  42 , health(1.0)
  43 , on_death()
  44 , removable(false)
  45 , memory(*this)
  46 , needs()
  47 , goals()
  48 , situation()
  49 , steering()
  50 , vao() {
  51 }
  52
  53 Creature::~Creature() {
  54 }
  55
  56 glm::dvec4 Creature::HighlightColor() const noexcept {
  57         return glm::dvec4(highlight_color, AgeLerp(CurProps().highlight, NextProps().highlight));
  58 }
  59
  60 void Creature::Ingest(int res, double amount) noexcept {
  61         const Genome::Composition *cmp = nullptr;
  62         for (const auto &c : genome.composition) {
  63                 if (c.resource == res) {
  64                         cmp = &c;
  65                         break;
  66                 }
  67         }
  68         if (cmp) {
  69                 const double max_mass = AgeLerp(CurProps().mass, NextProps().mass);
  70                 Mass(std::min(max_mass, mass + amount));
  71         } else {
  72                 // foreign material. poisonous?
  73         }
  74 }
  75
  76 void Creature::Hurt(double dt) noexcept {
  77         health = std::max(0.0, health - dt);
  78         if (health == 0.0) {
  79                 std::cout << "[" << int(sim.Time()) << "s] "
  80                 << name << " died" << std::endl;
  81                 Die();
  82         }
  83 }
  84
  85 void Creature::Die() noexcept {
  86         needs.clear();
  87         goals.clear();
  88         steering.Halt();
  89         if (on_death) {
  90                 on_death(*this);
  91         }
  92         Remove();
  93 }
  94
  95 double Creature::Size() const noexcept {
  96         return size;
  97 }
  98
  99 double Creature::Age() const noexcept {
 100         return sim.Time() - birth;
 101 }
 102
 103 std::string Creature::AgeName() const {
 104         switch (cur_prop) {
 105                 case 0:
 106                         return "Newborn";
 107                 case 1:
 108                         return "Child";
 109                 case 2:
 110                         return "Youth";
 111                 case 3:
 112                         return "Adult";
 113                 case 4:
 114                         return "Elder";
 115                 case 5:
 116                         return "Dead";
 117                 default:
 118                         return "Unknown";
 119         }
 120 }
 121
 122 double Creature::AgeLerp(double from, double to) const noexcept {
 123         return glm::mix(from, to, glm::smoothstep(CurProps().age, NextProps().age, Age()));
 124 }
 125
 126 double Creature::Fertility() const noexcept {
 127         return AgeLerp(CurProps().fertility, NextProps().fertility) / 3600.0;
 128 }
 129
 130 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 131         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
 132         g->Enable();
 133         goals.emplace_back(std::move(g));
 134 }
 135
 136 namespace {
 137
 138 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 139         return b->Urgency() < a->Urgency();
 140 }
 141
 142 }
 143
 144 void Creature::Tick(double dt) {
 145         if (cur_prop < 5 && Age() > NextProps().age) {
 146                 ++cur_prop;
 147                 if (cur_prop == 5) {
 148                         std::cout << "[" << int(sim.Time()) << "s] "
 149                                 << name << " died of old age" << std::endl;
 150                         Die();
 151                 }
 152         }
 153
 154         {
 155                 Situation::State state(situation.GetState());
 156                 Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 157                 Situation::Derivative b(Step(a, dt * 0.5));
 158                 Situation::Derivative c(Step(b, dt * 0.5));
 159                 Situation::Derivative d(Step(c, dt));
 160                 Situation::Derivative f(
 161                         (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 162                         (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 163                 );
 164                 state.pos += f.vel * dt;
 165                 state.vel += f.acc * dt;
 166                 situation.SetState(state);
 167         }
 168
 169         memory.Tick(dt);
 170         for (auto &need : needs) {
 171                 need->Tick(dt);
 172         }
 173         for (auto &goal : goals) {
 174                 goal->Tick(dt);
 175         }
 176         // do background stuff
 177         for (auto &need : needs) {
 178                 need->ApplyEffect(*this, dt);
 179         }
 180         if (goals.empty()) {
 181                 return;
 182         }
 183         // if active goal can be interrupted, check priorities
 184         if (goals.size() > 1 && goals[0]->Interruptible()) {
 185                 Goal *old_top = &*goals[0];
 186                 std::sort(goals.begin(), goals.end(), GoalCompare);
 187                 Goal *new_top = &*goals[0];
 188                 if (new_top != old_top) {
 189                         std::cout << "[" << int(sim.Time()) << "s] " << name
 190                                 << " changing goal from " << old_top->Describe()
 191                                 << " to " << new_top->Describe() << std::endl;
 192                 }
 193         }
 194         goals[0]->Action();
 195         for (auto goal = goals.begin(); goal != goals.end();) {
 196                 if ((*goal)->Complete()) {
 197                         std::cout << "[" << int(sim.Time()) << "s] " << name
 198                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 199                         goals.erase(goal);
 200                 } else {
 201                         ++goal;
 202                 }
 203         }
 204 }
 205
 206 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 207         Situation::State s = situation.GetState();
 208         s.pos += ds.vel * dt;
 209         s.vel += ds.acc * dt;
 210         return { s.vel, steering.Acceleration(s) };
 211 }
 212
 213 glm::dmat4 Creature::LocalTransform() noexcept {
 214         // TODO: surface transform
 215         const double half_size = size * 0.5;
 216         const glm::dvec3 &pos = situation.Position();
 217         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 218                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 219 }
 220
 221 void Creature::BuildVAO() {
 222         vao.Bind();
 223         vao.BindAttributes();
 224         vao.EnableAttribute(0);
 225         vao.EnableAttribute(1);
 226         vao.EnableAttribute(2);
 227         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 228         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 229         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 230         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 231         {
 232                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 233                 const float offset = 1.0f;
 234                 for (int surface = 0; surface < 6; ++surface) {
 235                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 236                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 237
 238                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 239                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 240                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 241                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 242                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 243                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 244                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 245                         attrib[4 * surface + 0].texture.y = 1.0f;
 246                         attrib[4 * surface + 0].texture.z = surface;
 247
 248                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 249                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 250                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 251                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 252                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 253                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 254                         attrib[4 * surface + 1].texture.x = tex_u_end;
 255                         attrib[4 * surface + 1].texture.y = 1.0f;
 256                         attrib[4 * surface + 1].texture.z = surface;
 257
 258                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 259                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 260                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 261                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 262                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 263                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 264                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 265                         attrib[4 * surface + 2].texture.y = 0.0f;
 266                         attrib[4 * surface + 2].texture.z = surface;
 267
 268                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 269                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 270                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 271                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 272                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 273                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 274                         attrib[4 * surface + 3].texture.x = tex_u_end;
 275                         attrib[4 * surface + 3].texture.y = 0.0f;
 276                         attrib[4 * surface + 3].texture.z = surface;
 277                 }
 278         }
 279         vao.BindElements();
 280         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 281         {
 282                 auto element = vao.MapElements(GL_WRITE_ONLY);
 283                 for (int surface = 0; surface < 3; ++surface) {
 284                         element[6 * surface + 0] = 4 * surface + 0;
 285                         element[6 * surface + 1] = 4 * surface + 2;
 286                         element[6 * surface + 2] = 4 * surface + 1;
 287                         element[6 * surface + 3] = 4 * surface + 1;
 288                         element[6 * surface + 4] = 4 * surface + 2;
 289                         element[6 * surface + 5] = 4 * surface + 3;
 290                 }
 291                 for (int surface = 3; surface < 6; ++surface) {
 292                         element[6 * surface + 0] = 4 * surface + 0;
 293                         element[6 * surface + 1] = 4 * surface + 1;
 294                         element[6 * surface + 2] = 4 * surface + 2;
 295                         element[6 * surface + 3] = 4 * surface + 2;
 296                         element[6 * surface + 4] = 4 * surface + 1;
 297                         element[6 * surface + 5] = 4 * surface + 3;
 298                 }
 299         }
 300         vao.Unbind();
 301 }
 302
 303 void Creature::Draw(graphics::Viewport &viewport) {
 304         vao.Bind();
 305         vao.DrawTriangles(6 * 6);
 306 }
 307
 308
 309 void Spawn(Creature &c, world::Planet &p) {
 310         p.AddCreature(&c);
 311         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 312
 313         // probe surrounding area for common resources
 314         int start = p.SideLength() / 2 - 2;
 315         int end = start + 5;
 316         std::map<int, double> yields;
 317         for (int y = start; y < end; ++y) {
 318                 for (int x = start; x < end; ++x) {
 319                         const world::TileType &t = p.TypeAt(0, x, y);
 320                         for (auto yield : t.resources) {
 321                                 yields[yield.resource] += yield.ubiquity;
 322                         }
 323                 }
 324         }
 325         int liquid = -1;
 326         int solid = -1;
 327         for (auto e : yields) {
 328                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 329                         if (liquid < 0 || e.second > yields[liquid]) {
 330                                 liquid = e.first;
 331                         }
 332                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 333                         if (solid < 0 || e.second > yields[solid]) {
 334                                 solid = e.first;
 335                         }
 336                 }
 337         }
 338
 339         Genome genome;
 340
 341         genome.properties.Birth().age = { 0.0, 0.0 };
 342         genome.properties.Birth().mass = { 0.5, 0.05 };
 343         genome.properties.Birth().fertility = { 0.0, 0.0 };
 344         genome.properties.Birth().highlight = { 0.0, 0.0 };
 345
 346         genome.properties.Child().age = { 30.0, 1.0 };
 347         genome.properties.Child().mass = { 0.7, 0.05 };
 348         genome.properties.Child().fertility = { 0.0, 0.0 };
 349         genome.properties.Child().highlight = { 0.2, 0.05 };
 350
 351         genome.properties.Youth().age = { 60.0, 5.0 };
 352         genome.properties.Youth().mass = { 0.9, 0.1 };
 353         genome.properties.Youth().fertility = { 0.5, 0.03 };
 354         genome.properties.Youth().highlight = { 0.9, 0.1 };
 355
 356         genome.properties.Adult().age = { 120.0, 10.0 };
 357         genome.properties.Adult().mass = { 1.2, 0.1 };
 358         genome.properties.Adult().fertility = { 0.4, 0.01 };
 359         genome.properties.Adult().highlight = { 0.7, 0.1 };
 360
 361         genome.properties.Elder().age = { 360.0, 30.0 };
 362         genome.properties.Elder().mass = { 1.0, 0.05 };
 363         genome.properties.Elder().fertility = { 0.1, 0.01 };
 364         genome.properties.Elder().highlight = { 0.6, 0.1 };
 365
 366         genome.properties.Death().age = { 480.0, 60.0 };
 367         genome.properties.Death().mass = { 0.9, 0.05 };
 368         genome.properties.Death().fertility = { 0.0, 0.0 };
 369         genome.properties.Death().highlight = { 0.5, 0.1 };
 370
 371         genome.properties.strength = { 1.0, 0.1 };
 372         genome.properties.stamina = { 1.0, 0.1 };
 373         genome.properties.dexerty = { 1.0, 0.1 };
 374         genome.properties.intelligence = { 1.0, 0.1 };
 375         genome.properties.mutability = { 1.0, 0.1 };
 376
 377         glm::dvec3 color_avg(0.0);
 378         double color_divisor = 0.0;
 379
 380         if (p.HasAtmosphere()) {
 381                 genome.composition.push_back({
 382                         p.Atmosphere(),    // resource
 383                         { 0.01, 0.00001 }, // mass
 384                         { 0.5,  0.001 },   // intake
 385                         { 0.1,  0.0005 },  // penalty
 386                         { 0.0,  0.0 },     // growth
 387                 });
 388                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 389                 color_divisor += 0.1;
 390         }
 391         if (liquid > -1) {
 392                 genome.composition.push_back({
 393                         liquid,          // resource
 394                         { 0.6,  0.01 },  // mass
 395                         { 0.2,  0.001 }, // intake
 396                         { 0.01, 0.002 }, // penalty
 397                         { 0.1, 0.0 },   // growth
 398                 });
 399                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 400                 color_divisor += 0.5;
 401         }
 402         if (solid > -1) {
 403                 genome.composition.push_back({
 404                         solid,             // resource
 405                         { 0.4,   0.01 },   // mass
 406                         { 0.4,   0.001 },  // intake
 407                         { 0.001, 0.0001 }, // penalty
 408                         { 10.0,  0.002 },   // growth
 409                 });
 410                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 411                 color_divisor += 1.0;
 412         }
 413
 414         if (color_divisor > 0.001) {
 415                 color_avg /= color_divisor;
 416         }
 417         glm::dvec3 hsl = rgb2hsl(color_avg);
 418         genome.base_hue = { hsl.x, 0.01 };
 419         genome.base_saturation = { hsl.y, 0.01 };
 420         genome.base_lightness = { hsl.z, 0.01 };
 421
 422         genome.Configure(c);
 423 }
 424
 425 void Genome::Configure(Creature &c) const {
 426         c.GetGenome() = *this;
 427
 428         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 429
 430         c.GetProperties() = Instantiate(properties, random);
 431
 432         double mass = 0.0;
 433         double volume = 0.0;
 434         for (const auto &comp : composition) {
 435                 const world::Resource &resource = c.GetSimulation().Resources()[comp.resource];
 436                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 437                 double intake = comp.intake.FakeNormal(random.SNorm());
 438                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 439
 440                 mass += comp_mass;
 441                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 442
 443                 std::unique_ptr<Need> need;
 444                 if (resource.state == world::Resource::SOLID) {
 445                         intake *= std::atan(c.GetProperties().strength);
 446                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 447                         need->gain = intake * 0.05;
 448                 } else if (resource.state == world::Resource::LIQUID) {
 449                         intake *= std::atan(c.GetProperties().stamina);
 450                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 451                         need->gain = intake * 0.1;
 452                 } else {
 453                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 454                         need->gain = intake * 0.5;
 455                 }
 456                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 457                 need->inconvenient = 0.5;
 458                 need->critical = 0.95;
 459                 c.AddNeed(std::move(need));
 460         }
 461
 462         glm::dvec3 base_color(
 463                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 464                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 465                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 466         );
 467         glm::dvec3 highlight_color(
 468                 std::fmod(base_color.x + 0.5, 1.0),
 469                 1.0 - base_color.y,
 470                 1.0 - base_color.z
 471         );
 472         c.BaseColor(hsl2rgb(base_color));
 473         c.HighlightColor(hsl2rgb(highlight_color));
 474
 475         c.Mass(c.GetProperties().props[0].mass);
 476         c.Density(mass / volume);
 477         c.GetSteering().MaxAcceleration(1.4 * std::atan(c.GetProperties().strength));
 478         c.GetSteering().MaxSpeed(4.4 * std::atan(c.GetProperties().dexerty));
 479         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 480 }
 481
 482
 483 void Split(Creature &c) {
 484         Creature *a = new Creature(c.GetSimulation());
 485         const Situation &s = c.GetSituation();
 486         a->Name(c.GetSimulation().Assets().name.Sequential());
 487         // TODO: mutate
 488         c.GetGenome().Configure(*a);
 489         s.GetPlanet().AddCreature(a);
 490         // TODO: duplicate situation somehow
 491         a->GetSituation().SetPlanetSurface(
 492                 s.GetPlanet(), s.Surface(),
 493                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 494         a->BuildVAO();
 495
 496         Creature *b = new Creature(c.GetSimulation());
 497         b->Name(c.GetSimulation().Assets().name.Sequential());
 498         c.GetGenome().Configure(*b);
 499         s.GetPlanet().AddCreature(b);
 500         b->GetSituation().SetPlanetSurface(
 501                 s.GetPlanet(), s.Surface(),
 502                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 503         b->BuildVAO();
 504
 505         c.Die();
 506 }
 507
 508
 509 Memory::Memory(Creature &c)
 510 : c(c) {
 511 }
 512
 513 Memory::~Memory() {
 514 }
 515
 516 void Memory::Tick(double dt) {
 517         Situation &s = c.GetSituation();
 518         if (s.OnSurface()) {
 519                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 520         }
 521 }
 522
 523 void Memory::TrackStay(const Location &l, double t) {
 524         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 525         auto entry = known_types.find(type.id);
 526         if (entry != known_types.end()) {
 527                 entry->second.last_been = c.GetSimulation().Time();
 528                 entry->second.last_loc = l;
 529                 entry->second.time_spent += t;
 530         } else {
 531                 known_types.emplace(type.id, Stay{
 532                         c.GetSimulation().Time(),
 533                         l,
 534                         c.GetSimulation().Time(),
 535                         l,
 536                         t
 537                 });
 538         }
 539 }
 540
 541
 542 NameGenerator::NameGenerator()
 543 : counter(0) {
 544 }
 545
 546 NameGenerator::~NameGenerator() {
 547 }
 548
 549 std::string NameGenerator::Sequential() {
 550         std::stringstream ss;
 551         ss << "Blob " << ++counter;
 552         return ss.str();
 553 }
 554
 555
 556 Situation::Situation()
 557 : planet(nullptr)
 558 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 559 , surface(0)
 560 , type(LOST) {
 561 }
 562
 563 Situation::~Situation() {
 564 }
 565
 566 bool Situation::OnPlanet() const noexcept {
 567         return type == PLANET_SURFACE;
 568 }
 569
 570 bool Situation::OnSurface() const noexcept {
 571         return type == PLANET_SURFACE;
 572 }
 573
 574 bool Situation::OnTile() const noexcept {
 575         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 576         return type == PLANET_SURFACE
 577                 && t.x >= 0 && t.x < planet->SideLength()
 578                 && t.y >= 0 && t.y < planet->SideLength();
 579 }
 580
 581 glm::ivec2 Situation::SurfacePosition() const noexcept {
 582         return planet->SurfacePosition(surface, state.pos);
 583 }
 584
 585 world::Tile &Situation::GetTile() const noexcept {
 586         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 587         return planet->TileAt(surface, t.x, t.y);
 588 }
 589
 590 const world::TileType &Situation::GetTileType() const noexcept {
 591         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 592         return planet->TypeAt(surface, t.x, t.y);
 593 }
 594
 595 void Situation::Move(const glm::dvec3 &dp) noexcept {
 596         state.pos += dp;
 597         if (OnSurface()) {
 598                 // enforce ground constraint
 599                 if (Surface() < 3) {
 600                         state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
 601                 } else {
 602                         state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
 603                 }
 604         }
 605 }
 606
 607 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 608         type = PLANET_SURFACE;
 609         planet = &p;
 610         surface = srf;
 611         state.pos = pos;
 612 }
 613
 614
 615 Steering::Steering()
 616 : target(0.0)
 617 , max_accel(1.0)
 618 , max_speed(1.0)
 619 , halting(false)
 620 , seeking(false)
 621 , arriving(false) {
 622 }
 623
 624 Steering::~Steering() {
 625 }
 626
 627 void Steering::Halt() noexcept {
 628         halting = true;
 629         seeking = false;
 630         arriving = false;
 631 }
 632
 633 void Steering::Pass(const glm::dvec3 &t) noexcept {
 634         target = t;
 635         halting = false;
 636         seeking = true;
 637         arriving = false;
 638 }
 639
 640 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 641         target = t;
 642         halting = false;
 643         seeking = false;
 644         arriving = true;
 645 }
 646
 647 glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
 648         glm::dvec3 acc(0.0);
 649         if (halting) {
 650                 SumForce(acc, s.vel * -max_accel);
 651         }
 652         if (seeking) {
 653                 glm::dvec3 diff = target - s.pos;
 654                 if (!allzero(diff)) {
 655                         SumForce(acc, TargetVelocity(s, (normalize(diff) * max_speed)));
 656                 }
 657         }
 658         if (arriving) {
 659                 glm::dvec3 diff = target - s.pos;
 660                 double dist = length(diff);
 661                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 662                         SumForce(acc, TargetVelocity(s, diff * std::min(dist * max_accel, max_speed) / dist));
 663                 }
 664         }
 665         return acc;
 666 }
 667
 668 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 669         if (allzero(in) || anynan(in)) {
 670                 return false;
 671         }
 672         double cur = allzero(out) ? 0.0 : length(out);
 673         double rem = max_accel - cur;
 674         if (rem < 0.0) {
 675                 return true;
 676         }
 677         double add = length(in);
 678         if (add > rem) {
 679                 // this method is off if in and out are in different
 680                 // directions, but gives okayish results
 681                 out += in * (1.0 / add);
 682                 return true;
 683         } else {
 684                 out += in;
 685                 return false;
 686         }
 687 }
 688
 689 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel) const noexcept {
 690         return (vel - s.vel) * max_accel;
 691 }
 692
 693 }
 694 }