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 double Composition::Proportion(int res) const noexcept {
  84         return Get(res) / TotalMass();
  85 }
  86
  87 double Composition::Compatibility(const world::Set<world::Resource> &resources, int res) const noexcept {
  88         if (Has(res)) {
  89                 return Proportion(res);
  90         }
  91         double max_compat = -1.0;
  92         double min_compat = 1.0;
  93         for (const auto &c : components) {
  94                 double prop = c.value / TotalMass();
  95                 for (const auto &compat : resources[c.resource].compatibility) {
  96                         double value = compat.second * prop;
  97                         if (value > max_compat) {
  98                                 max_compat = value;
  99                         }
 100                         if (value < min_compat) {
 101                                 min_compat = value;
 102                         }
 103                 }
 104         }
 105         if (min_compat < 0.0) {
 106                 return min_compat;
 107         } else {
 108                 return max_compat;
 109         }
 110 }
 111
 112
 113 Creature::Creature(world::Simulation &sim)
 114 : sim(sim)
 115 , name()
 116 , genome()
 117 , properties()
 118 , composition()
 119 , base_color(1.0)
 120 , highlight_color(0.0, 0.0, 0.0, 1.0)
 121 , mass(1.0)
 122 , size(1.0)
 123 , birth(sim.Time())
 124 , death(-1.0)
 125 , on_death()
 126 , removable(false)
 127 , parents()
 128 , stats()
 129 , memory(*this)
 130 , bg_task()
 131 , goals()
 132 , situation()
 133 , steering(*this)
 134 , vao() {
 135         sim.SetAlive(this);
 136         // all creatures avoid each other for now
 137         steering.Separate(0.1, 1.5);
 138 }
 139
 140 Creature::~Creature() {
 141 }
 142
 143 void Creature::AddMass(int res, double amount) {
 144         composition.Add(res, amount);
 145         double nonsolid = 0.0;
 146         double volume = 0.0;
 147         for (const auto &c : composition) {
 148                 volume += c.value / sim.Assets().data.resources[c.resource].density;
 149                 if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
 150                         nonsolid += c.value;
 151                 }
 152         }
 153         Mass(composition.TotalMass());
 154         Size(std::cbrt(volume));
 155         highlight_color.a = nonsolid / composition.TotalMass();
 156 }
 157
 158 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 159         highlight_color = glm::dvec4(c, highlight_color.a);
 160 }
 161
 162 void Creature::Ingest(int res, double amount) noexcept {
 163         if (sim.Resources()[res].state == world::Resource::SOLID) {
 164                 // 30% of solids stays in body
 165                 AddMass(res, amount * 0.3 * composition.Compatibility(sim.Resources(), res));
 166         } else {
 167                 // 10% of fluids stays in body
 168                 AddMass(res, amount * 0.1 * composition.Compatibility(sim.Resources(), res));
 169         }
 170         math::GaloisLFSR &random = sim.Assets().random;
 171         if (random.UNorm() < AdaptChance()) {
 172                 // change color to be slightly more like resource
 173                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 174                 // solids affect base color, others highlight
 175                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 176                 double q = random.UInt(3); // hue, sat, or val
 177                 double r = random.UInt(2); // mean or deviation
 178                 math::Distribution *d = nullptr;
 179                 double ref = 0.0;
 180                 if (p == 0) {
 181                         if (q == 0) {
 182                                 d = &genome.base_hue;
 183                                 ref = color.x;
 184                         } else if (q == 1) {
 185                                 d = &genome.base_saturation;
 186                                 ref = color.y;
 187                         } else {
 188                                 d = &genome.base_lightness;
 189                                 ref = color.z;
 190                         }
 191                 } else {
 192                         if (q == 0) {
 193                                 d = &genome.highlight_hue;
 194                                 ref = color.x;
 195                         } else if (q == 1) {
 196                                 d = &genome.highlight_saturation;
 197                                 ref = color.y;
 198                         } else {
 199                                 d = &genome.highlight_lightness;
 200                                 ref = color.z;
 201                         }
 202                 }
 203                 if (r == 0) {
 204                         double diff = ref - d->Mean();
 205                         if (q == 0) {
 206                                 if (diff < -0.5) {
 207                                         diff += 1.0;
 208                                 } else if (diff > 0.5) {
 209                                         diff -= 1.0;
 210                                 }
 211                                 // move ±15% of distance
 212                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 213                         } else {
 214                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 215                         }
 216                 } else {
 217                         // scale by ±15%, enforce bounds
 218                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 219                 }
 220         }
 221 }
 222
 223 void Creature::DoWork(double amount) noexcept {
 224         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 225         // burn resources proportional to composition
 226         // factor = 1/total * 1/efficiency * amount * -1
 227         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 228         // make a copy to total remains constant and
 229         // no entries disappear during iteration
 230         Composition comp(composition);
 231         for (auto &cmp : comp) {
 232                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 233                 AddMass(cmp.resource, value);
 234         }
 235         // doing work improves strength a little
 236         properties.Strength() += amount * 0.0001;
 237 }
 238
 239 void Creature::Hurt(double amount) noexcept {
 240         stats.Damage().Add(amount);
 241         if (stats.Damage().Full()) {
 242                 Die();
 243         }
 244 }
 245
 246 void Creature::Die() noexcept {
 247         if (Dead()) return;
 248
 249         if (stats.Damage().Full()) {
 250                 std::ostream &log = sim.Log() << name << " ";
 251                 if (stats.Exhaustion().Full()) {
 252                         log << "died of exhaustion";
 253                 } else if (stats.Breath().Full()) {
 254                         log << "suffocated";
 255                 } else if (stats.Thirst().Full()) {
 256                         log << "died of thirst";
 257                 } else if (stats.Hunger().Full()) {
 258                         log << "starved to death";
 259                 } else {
 260                         log << "succumed to wounds";
 261                 }
 262                 log << " at an age of " << ui::TimeString(Age())
 263                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 264                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 265                         << ")" << std::endl;
 266         }
 267
 268         sim.SetDead(this);
 269         death = sim.Time();
 270         steering.Off();
 271         if (on_death) {
 272                 on_death(*this);
 273         }
 274         Remove();
 275 }
 276
 277 bool Creature::Dead() const noexcept {
 278         return death > birth;
 279 }
 280
 281 void Creature::Remove() noexcept {
 282         removable = true;
 283 }
 284
 285 void Creature::Removed() noexcept {
 286         bg_task.reset();
 287         goals.clear();
 288         memory.Erase();
 289         KillVAO();
 290 }
 291
 292 void Creature::AddParent(Creature &p) {
 293         parents.push_back(&p);
 294 }
 295
 296 double Creature::Age() const noexcept {
 297         return Dead() ? death - birth : sim.Time() - birth;
 298 }
 299
 300 double Creature::AgeFactor(double peak) const noexcept {
 301         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 302         // goes negative below -0.5 and starts to rise again above 1.0
 303         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 304         // guarantee at least 1%
 305         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 306 }
 307
 308 double Creature::EnergyEfficiency() const noexcept {
 309         return 0.25 * AgeFactor(0.05);
 310 }
 311
 312 double Creature::ExhaustionFactor() const noexcept {
 313         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 314 }
 315
 316 double Creature::FatigueFactor() const noexcept {
 317         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 318 }
 319
 320 double Creature::Strength() const noexcept {
 321         // TODO: replace all age factors with actual growth and decay
 322         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 323 }
 324
 325 double Creature::StrengthFactor() const noexcept {
 326         return Strength() / (Strength() + 1.0);
 327 }
 328
 329 double Creature::Stamina() const noexcept {
 330         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 331 }
 332
 333 double Creature::StaminaFactor() const noexcept {
 334         return Stamina() / (Stamina() + 1.0);
 335 }
 336
 337 double Creature::Dexerty() const noexcept {
 338         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 339 }
 340
 341 double Creature::DexertyFactor() const noexcept {
 342         return Dexerty() / (Dexerty() + 1.0);
 343 }
 344
 345 double Creature::Intelligence() const noexcept {
 346         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 347 }
 348
 349 double Creature::IntelligenceFactor() const noexcept {
 350         return Intelligence() / (Intelligence() + 1.0);
 351 }
 352
 353 double Creature::Lifetime() const noexcept {
 354         return properties.Lifetime();
 355 }
 356
 357 double Creature::Fertility() const noexcept {
 358         return properties.Fertility() * AgeFactor(0.25);
 359 }
 360
 361 double Creature::Mutability() const noexcept {
 362         return properties.Mutability();
 363 }
 364
 365 double Creature::Adaptability() const noexcept {
 366         return properties.Adaptability();
 367 }
 368
 369 double Creature::OffspringMass() const noexcept {
 370         return properties.OffspringMass();
 371 }
 372
 373 double Creature::PerceptionRange() const noexcept {
 374         return 3.0 * DexertyFactor() + Size();
 375 }
 376
 377 double Creature::PerceptionOmniRange() const noexcept {
 378         return 0.5 * DexertyFactor() + Size();
 379 }
 380
 381 double Creature::PerceptionField() const noexcept {
 382         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 383         return 0.8 - DexertyFactor();
 384 }
 385
 386 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 387         const glm::dvec3 diff(p - situation.Position());
 388         double omni_range = PerceptionOmniRange();
 389         if (glm::length2(diff) < omni_range * omni_range) return true;
 390         double range = PerceptionRange();
 391         if (glm::length2(diff) > range * range) return false;
 392         return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
 393 }
 394
 395 double Creature::OffspringChance() const noexcept {
 396         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 397 }
 398
 399 double Creature::MutateChance() const noexcept {
 400         return GetProperties().Mutability() * (1.0 / 3600.0);
 401 }
 402
 403 double Creature::AdaptChance() const noexcept {
 404         return GetProperties().Adaptability() * (1.0 / 120.0);
 405 }
 406
 407 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 408         g->Enable();
 409         if (goals.empty()) {
 410                 g->SetForeground();
 411         }
 412         goals.emplace_back(std::move(g));
 413 }
 414
 415 namespace {
 416
 417 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 418         return b->Urgency() < a->Urgency();
 419 }
 420
 421 }
 422
 423 void Creature::Tick(double dt) {
 424         TickState(dt);
 425         TickStats(dt);
 426         TickBrain(dt);
 427 }
 428
 429 void Creature::TickState(double dt) {
 430         steering.MaxSpeed(Dexerty());
 431         steering.MaxForce(Strength());
 432         Situation::State state(situation.GetState());
 433         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 434         Situation::Derivative b(Step(a, dt * 0.5));
 435         Situation::Derivative c(Step(b, dt * 0.5));
 436         Situation::Derivative d(Step(c, dt));
 437         Situation::Derivative f(
 438                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 439                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 440         );
 441         state.pos += f.vel * dt;
 442         state.vel += f.acc * dt;
 443         situation.EnforceConstraints(state);
 444         if (glm::length2(state.vel) > 0.000001) {
 445                 glm::dvec3 nvel(glm::normalize(state.vel));
 446                 double ang = glm::angle(nvel, state.dir);
 447                 double turn_rate = PI * 0.75 * dt;
 448                 if (ang < turn_rate) {
 449                         state.dir = glm::normalize(state.vel);
 450                 } else if (std::abs(ang - PI) < 0.001) {
 451                         state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 452                 } else {
 453                         state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 454                 }
 455         }
 456         situation.SetState(state);
 457         // work is force times distance
 458         DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
 459 }
 460
 461 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 462         Situation::State s = situation.GetState();
 463         s.pos += ds.vel * dt;
 464         s.vel += ds.acc * dt;
 465         glm::dvec3 force(steering.Force(s));
 466         // gravity = antinormal * mass * Gm / r²
 467         double elevation = situation.GetPlanet().DistanceAt(s.pos);
 468         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 469         force += glm::dvec3(
 470                 -normal
 471                 * Mass() * situation.GetPlanet().GravitationalParameter()
 472                 / (elevation * elevation));
 473         // if net force is applied and in contact with surface
 474         if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
 475                 // apply friction = -|normal force| * tangential force * coefficient
 476                 glm::dvec3 fn(normal * glm::dot(force, normal));
 477                 glm::dvec3 ft(force - fn);
 478                 double u = 0.4;
 479                 glm::dvec3 friction(-glm::length(fn) * ft * u);
 480                 force += friction;
 481         }
 482         return {
 483                 s.vel,
 484                 force / Mass()
 485         };
 486 }
 487
 488 void Creature::TickStats(double dt) {
 489         for (auto &s : stats.stat) {
 490                 s.Add(s.gain * dt);
 491         }
 492         // TODO: damage values depending on properties
 493         if (stats.Breath().Full()) {
 494                 constexpr double dps = 1.0 / 4.0;
 495                 Hurt(dps * dt);
 496         }
 497         if (stats.Thirst().Full()) {
 498                 constexpr double dps = 1.0 / 32.0;
 499                 Hurt(dps * dt);
 500         }
 501         if (stats.Hunger().Full()) {
 502                 constexpr double dps = 1.0 / 128.0;
 503                 Hurt(dps * dt);
 504         }
 505         if (!situation.Moving()) {
 506                 // double exhaustion recovery when standing still
 507                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 508         }
 509 }
 510
 511 void Creature::TickBrain(double dt) {
 512         bg_task->Tick(dt);
 513         bg_task->Action();
 514         memory.Tick(dt);
 515         // do background stuff
 516         if (goals.empty()) {
 517                 return;
 518         }
 519         for (auto &goal : goals) {
 520                 goal->Tick(dt);
 521         }
 522         Goal *top = &*goals.front();
 523         // if active goal can be interrupted, check priorities
 524         if (goals.size() > 1 && goals[0]->Interruptible()) {
 525                 std::sort(goals.begin(), goals.end(), GoalCompare);
 526         }
 527         if (&*goals.front() != top) {
 528                 top->SetBackground();
 529                 goals.front()->SetForeground();
 530                 top = &*goals.front();
 531         }
 532         goals[0]->Action();
 533         for (auto goal = goals.begin(); goal != goals.end();) {
 534                 if ((*goal)->Complete()) {
 535                         goals.erase(goal);
 536                 } else {
 537                         ++goal;
 538                 }
 539         }
 540         if (&*goals.front() != top) {
 541                 goals.front()->SetForeground();
 542         }
 543 }
 544
 545 math::AABB Creature::CollisionBox() const noexcept {
 546         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 547 }
 548
 549 glm::dmat4 Creature::CollisionTransform() const noexcept {
 550         const double half_size = size * 0.5;
 551         const glm::dvec3 &pos = situation.Position();
 552         glm::dmat3 orient;
 553         orient[1] = situation.GetPlanet().NormalAt(pos);
 554         orient[2] = situation.Heading();
 555         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 556                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 557         }
 558         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 559         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 560         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 561                 * glm::dmat4(orient)
 562                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 563 }
 564
 565 glm::dmat4 Creature::LocalTransform() noexcept {
 566         const double half_size = size * 0.5;
 567         return CollisionTransform()
 568                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 569 }
 570
 571 void Creature::BuildVAO() {
 572         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 573         vao->Bind();
 574         vao->BindAttributes();
 575         vao->EnableAttribute(0);
 576         vao->EnableAttribute(1);
 577         vao->EnableAttribute(2);
 578         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 579         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 580         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 581         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 582         {
 583                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 584                 const float offset = 1.0f;
 585                 for (int surface = 0; surface < 6; ++surface) {
 586                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 587                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 588
 589                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 590                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 591                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 592                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 593                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 594                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 595                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 596                         attrib[4 * surface + 0].texture.y = 1.0f;
 597                         attrib[4 * surface + 0].texture.z = surface;
 598
 599                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 600                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 601                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 602                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 603                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 604                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 605                         attrib[4 * surface + 1].texture.x = tex_u_end;
 606                         attrib[4 * surface + 1].texture.y = 1.0f;
 607                         attrib[4 * surface + 1].texture.z = surface;
 608
 609                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 610                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 611                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 612                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 613                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 614                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 615                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 616                         attrib[4 * surface + 2].texture.y = 0.0f;
 617                         attrib[4 * surface + 2].texture.z = surface;
 618
 619                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 620                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 621                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 622                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 623                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 624                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 625                         attrib[4 * surface + 3].texture.x = tex_u_end;
 626                         attrib[4 * surface + 3].texture.y = 0.0f;
 627                         attrib[4 * surface + 3].texture.z = surface;
 628                 }
 629         }
 630         vao->BindElements();
 631         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 632         {
 633                 auto element = vao->MapElements(GL_WRITE_ONLY);
 634                 for (int surface = 0; surface < 3; ++surface) {
 635                         element[6 * surface + 0] = 4 * surface + 0;
 636                         element[6 * surface + 1] = 4 * surface + 2;
 637                         element[6 * surface + 2] = 4 * surface + 1;
 638                         element[6 * surface + 3] = 4 * surface + 1;
 639                         element[6 * surface + 4] = 4 * surface + 2;
 640                         element[6 * surface + 5] = 4 * surface + 3;
 641                 }
 642                 for (int surface = 3; surface < 6; ++surface) {
 643                         element[6 * surface + 0] = 4 * surface + 0;
 644                         element[6 * surface + 1] = 4 * surface + 1;
 645                         element[6 * surface + 2] = 4 * surface + 2;
 646                         element[6 * surface + 3] = 4 * surface + 2;
 647                         element[6 * surface + 4] = 4 * surface + 1;
 648                         element[6 * surface + 5] = 4 * surface + 3;
 649                 }
 650         }
 651         vao->Unbind();
 652 }
 653
 654 void Creature::KillVAO() {
 655         vao.reset();
 656 }
 657
 658 void Creature::Draw(graphics::Viewport &viewport) {
 659         if (!vao) return;
 660         vao->Bind();
 661         vao->DrawTriangles(6 * 6);
 662 }
 663
 664
 665 void Spawn(Creature &c, world::Planet &p) {
 666         p.AddCreature(&c);
 667         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 668         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 669
 670         // probe surrounding area for common resources
 671         int start = p.SideLength() / 2 - 2;
 672         int end = start + 5;
 673         std::map<int, double> yields;
 674         for (int y = start; y < end; ++y) {
 675                 for (int x = start; x < end; ++x) {
 676                         const world::TileType &t = p.TypeAt(0, x, y);
 677                         for (auto yield : t.resources) {
 678                                 yields[yield.resource] += yield.ubiquity;
 679                         }
 680                 }
 681         }
 682         int liquid = -1;
 683         int solid = -1;
 684         for (auto e : yields) {
 685                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 686                         if (liquid < 0 || e.second > yields[liquid]) {
 687                                 liquid = e.first;
 688                         }
 689                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 690                         if (solid < 0 || e.second > yields[solid]) {
 691                                 solid = e.first;
 692                         }
 693                 }
 694         }
 695
 696         Genome genome;
 697         genome.properties.Strength() = { 2.0, 0.1 };
 698         genome.properties.Stamina() = { 2.0, 0.1 };
 699         genome.properties.Dexerty() = { 2.0, 0.1 };
 700         genome.properties.Intelligence() = { 1.0, 0.1 };
 701         genome.properties.Lifetime() = { 480.0, 60.0 };
 702         genome.properties.Fertility() = { 0.5, 0.03 };
 703         genome.properties.Mutability() = { 0.9, 0.1 };
 704         genome.properties.Adaptability() = { 0.9, 0.1 };
 705         genome.properties.OffspringMass() = { 0.3, 0.02 };
 706
 707         glm::dvec3 color_avg(0.0);
 708         double color_divisor = 0.0;
 709
 710         if (p.HasAtmosphere()) {
 711                 c.AddMass(p.Atmosphere(), 0.01);
 712                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 713                 color_divisor += 0.1;
 714         }
 715         if (liquid > -1) {
 716                 c.AddMass(liquid, 0.3);
 717                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 718                 color_divisor += 0.5;
 719         }
 720         if (solid > -1) {
 721                 c.AddMass(solid, 0.1);
 722                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 723                 color_divisor += 1.0;
 724         }
 725
 726         if (color_divisor > 0.001) {
 727                 color_avg /= color_divisor;
 728         }
 729         glm::dvec3 hsl = rgb2hsl(color_avg);
 730         genome.base_hue = { hsl.x, 0.01 };
 731         genome.base_saturation = { hsl.y, 0.01 };
 732         genome.base_lightness = { hsl.z, 0.01 };
 733         // use opposite color as start highlight
 734         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 735         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 736         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 737
 738         genome.Configure(c);
 739 }
 740
 741 void Genome::Configure(Creature &c) const {
 742         c.GetGenome() = *this;
 743
 744         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 745
 746         c.GetProperties() = Instantiate(properties, random);
 747
 748         // TODO: derive stats from properties
 749         c.GetStats().Damage().gain = (-1.0 / 100.0);
 750         c.GetStats().Breath().gain = (1.0 / 5.0);
 751         c.GetStats().Thirst().gain = (1.0 / 60.0);
 752         c.GetStats().Hunger().gain = (1.0 / 200.0);
 753         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 754         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 755         c.GetStats().Boredom().gain = (1.0 / 300.0);
 756
 757         glm::dvec3 base_color(
 758                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 759                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 760                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 761         );
 762         glm::dvec3 highlight_color(
 763                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 764                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 765                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 766         );
 767         c.BaseColor(hsl2rgb(base_color));
 768         c.HighlightColor(hsl2rgb(highlight_color));
 769         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 770         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 771 }
 772
 773
 774 void Split(Creature &c) {
 775         Creature *a = new Creature(c.GetSimulation());
 776         const Situation &s = c.GetSituation();
 777         a->AddParent(c);
 778         a->Name(c.GetSimulation().Assets().name.Sequential());
 779         c.GetGenome().Configure(*a);
 780         for (const auto &cmp : c.GetComposition()) {
 781                 a->AddMass(cmp.resource, cmp.value * 0.5);
 782         }
 783         s.GetPlanet().AddCreature(a);
 784         // TODO: duplicate situation somehow
 785         a->GetSituation().SetPlanetSurface(
 786                 s.GetPlanet(),
 787                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 788         a->BuildVAO();
 789         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 790
 791         Creature *b = new Creature(c.GetSimulation());
 792         b->AddParent(c);
 793         b->Name(c.GetSimulation().Assets().name.Sequential());
 794         c.GetGenome().Configure(*b);
 795         for (const auto &cmp : c.GetComposition()) {
 796                 b->AddMass(cmp.resource, cmp.value * 0.5);
 797         }
 798         s.GetPlanet().AddCreature(b);
 799         b->GetSituation().SetPlanetSurface(
 800                 s.GetPlanet(),
 801                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 802         b->BuildVAO();
 803         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 804
 805         c.Die();
 806 }
 807
 808
 809 Memory::Memory(Creature &c)
 810 : c(c) {
 811 }
 812
 813 Memory::~Memory() {
 814 }
 815
 816 void Memory::Erase() {
 817         known_types.clear();
 818 }
 819
 820 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 821         double best_rating = -1.0;
 822         for (const auto &k : known_types) {
 823                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 824                 auto entry = t.FindBestResource(accept);
 825                 if (entry != t.resources.end()) {
 826                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 827                         if (rating > best_rating) {
 828                                 best_rating = rating;
 829                                 pos = k.second.first_loc.position;
 830                         }
 831                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 832                         if (rating > best_rating) {
 833                                 best_rating = rating;
 834                                 pos = k.second.last_loc.position;
 835                         }
 836                 }
 837         }
 838         if (best_rating > 0.0) {
 839                 glm::dvec3 error(
 840                         c.GetSimulation().Assets().random.SNorm(),
 841                         c.GetSimulation().Assets().random.SNorm(),
 842                         c.GetSimulation().Assets().random.SNorm());
 843                 pos += error * (2.0 * (1.0 - c.IntelligenceFactor()));
 844                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 845                 return true;
 846         } else {
 847                 return false;
 848         }
 849 }
 850
 851 void Memory::Tick(double dt) {
 852         Situation &s = c.GetSituation();
 853         if (s.OnSurface()) {
 854                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 855         }
 856         // TODO: forget
 857 }
 858
 859 void Memory::TrackStay(const Location &l, double t) {
 860         const world::TileType &type = l.planet->TileTypeAt(l.position);
 861         auto entry = known_types.find(type.id);
 862         if (entry != known_types.end()) {
 863                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 864                         // "it's been ages"
 865                         if (entry->second.time_spent > c.Age() * 0.25) {
 866                                 // the place is very familiar
 867                                 c.GetStats().Boredom().Add(-0.2);
 868                         } else {
 869                                 // infrequent stays
 870                                 c.GetStats().Boredom().Add(-0.1);
 871                         }
 872                 }
 873                 entry->second.last_been = c.GetSimulation().Time();
 874                 entry->second.last_loc = l;
 875                 entry->second.time_spent += t;
 876         } else {
 877                 known_types.emplace(type.id, Stay{
 878                         c.GetSimulation().Time(),
 879                         l,
 880                         c.GetSimulation().Time(),
 881                         l,
 882                         t
 883                 });
 884                 // completely new place, interesting
 885                 // TODO: scale by personality trait
 886                 c.GetStats().Boredom().Add(-0.25);
 887         }
 888 }
 889
 890
 891 NameGenerator::NameGenerator()
 892 : counter(0) {
 893 }
 894
 895 NameGenerator::~NameGenerator() {
 896 }
 897
 898 std::string NameGenerator::Sequential() {
 899         std::stringstream ss;
 900         ss << "Blob " << ++counter;
 901         return ss.str();
 902 }
 903
 904
 905 Situation::Situation()
 906 : planet(nullptr)
 907 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 908 , type(LOST) {
 909 }
 910
 911 Situation::~Situation() {
 912 }
 913
 914 bool Situation::OnPlanet() const noexcept {
 915         return type == PLANET_SURFACE;
 916 }
 917
 918 bool Situation::OnSurface() const noexcept {
 919         return type == PLANET_SURFACE;
 920 }
 921
 922 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 923         return planet->NormalAt(state.pos);
 924 }
 925
 926 world::Tile &Situation::GetTile() const noexcept {
 927         return planet->TileAt(state.pos);
 928 }
 929
 930 const world::TileType &Situation::GetTileType() const noexcept {
 931         return planet->TileTypeAt(state.pos);
 932 }
 933
 934 void Situation::Move(const glm::dvec3 &dp) noexcept {
 935         state.pos += dp;
 936         EnforceConstraints(state);
 937 }
 938
 939 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 940         state.vel += dv;
 941         EnforceConstraints(state);
 942 }
 943
 944 void Situation::EnforceConstraints(State &s) noexcept {
 945         if (OnSurface()) {
 946                 double r = GetPlanet().Radius();
 947                 if (glm::length2(s.pos) < r * r) {
 948                         s.pos = glm::normalize(s.pos) * r;
 949                 }
 950         }
 951 }
 952
 953 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
 954         type = PLANET_SURFACE;
 955         planet = &p;
 956         state.pos = pos;
 957         EnforceConstraints(state);
 958 }
 959
 960
 961 Steering::Steering(const Creature &c)
 962 : c(c)
 963 , target(0.0)
 964 , haste(0.0)
 965 , max_force(1.0)
 966 , max_speed(1.0)
 967 , min_dist(0.0)
 968 , max_look(0.0)
 969 , separating(false)
 970 , halting(true)
 971 , seeking(false)
 972 , arriving(false) {
 973 }
 974
 975 Steering::~Steering() {
 976 }
 977
 978 void Steering::Off() noexcept {
 979         separating = false;
 980         halting = false;
 981         seeking = false;
 982         arriving = false;
 983 }
 984
 985 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 986         separating = true;
 987         min_dist = min_distance;
 988         max_look = max_lookaround;
 989 }
 990
 991 void Steering::DontSeparate() noexcept {
 992         separating = false;
 993 }
 994
 995 void Steering::ResumeSeparate() noexcept {
 996         separating = true;
 997 }
 998
 999 void Steering::Halt() noexcept {
1000         halting = true;
1001         seeking = false;
1002         arriving = false;
1003 }
1004
1005 void Steering::Pass(const glm::dvec3 &t) noexcept {
1006         target = t;
1007         halting = false;
1008         seeking = true;
1009         arriving = false;
1010 }
1011
1012 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1013         target = t;
1014         halting = false;
1015         seeking = false;
1016         arriving = true;
1017 }
1018
1019 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1020         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1021         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1022         glm::dvec3 result(0.0);
1023         if (separating) {
1024                 // TODO: off surface situation
1025                 glm::dvec3 repulse(0.0);
1026                 const Situation &s = c.GetSituation();
1027                 for (auto &other : s.GetPlanet().Creatures()) {
1028                         if (&*other == &c) continue;
1029                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1030                         if (glm::length2(diff) > max_look * max_look) continue;
1031                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1032                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1033                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1034                 }
1035                 result += repulse;
1036         }
1037         if (halting) {
1038                 // brake hard
1039                 result += -5.0 * s.vel * force;
1040         }
1041         if (seeking) {
1042                 glm::dvec3 diff = target - s.pos;
1043                 if (!allzero(diff)) {
1044                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1045                 }
1046         }
1047         if (arriving) {
1048                 glm::dvec3 diff = target - s.pos;
1049                 double dist = glm::length(diff);
1050                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1051                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1052                 }
1053         }
1054         if (glm::length2(result) > max_force * max_force) {
1055                 result = glm::normalize(result) * max_force;
1056         }
1057         return result;
1058 }
1059
1060 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1061         return (vel - s.vel) * acc;
1062 }
1063
1064 }
1065 }