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 #include <glm/gtx/vector_angle.hpp>
  23
  24 #include <iostream>
  25 #include <glm/gtx/io.hpp>
  26
  27
  28 namespace blobs {
  29 namespace creature {
  30
  31 Creature::Creature(world::Simulation &sim)
  32 : sim(sim)
  33 , name()
  34 , genome()
  35 , properties()
  36 , cur_prop(0)
  37 , base_color(1.0)
  38 , highlight_color(0.0)
  39 , mass(1.0)
  40 , density(1.0)
  41 , size(1.0)
  42 , birth(sim.Time())
  43 , health(1.0)
  44 , on_death()
  45 , removable(false)
  46 , memory(*this)
  47 , needs()
  48 , goals()
  49 , situation()
  50 , steering(*this)
  51 , vao() {
  52         // all creatures avoid each other for now
  53         steering.Separate(0.1, 1.5);
  54 }
  55
  56 Creature::~Creature() {
  57 }
  58
  59 glm::dvec4 Creature::HighlightColor() const noexcept {
  60         return glm::dvec4(highlight_color, AgeLerp(CurProps().highlight, NextProps().highlight));
  61 }
  62
  63 void Creature::Ingest(int res, double amount) noexcept {
  64         const Genome::Composition *cmp = nullptr;
  65         for (const auto &c : genome.composition) {
  66                 if (c.resource == res) {
  67                         cmp = &c;
  68                         break;
  69                 }
  70         }
  71         if (cmp) {
  72                 const double max_mass = AgeLerp(CurProps().mass, NextProps().mass);
  73                 Mass(std::min(max_mass, mass + amount));
  74         } else {
  75                 // foreign material. poisonous?
  76         }
  77 }
  78
  79 void Creature::Hurt(double dt) noexcept {
  80         health = std::max(0.0, health - dt);
  81         if (health == 0.0) {
  82                 std::cout << "[" << int(sim.Time()) << "s] "
  83                         << name << " died" << std::endl;
  84                 Die();
  85         }
  86 }
  87
  88 void Creature::Die() noexcept {
  89         needs.clear();
  90         goals.clear();
  91         steering.Halt();
  92         if (on_death) {
  93                 on_death(*this);
  94         }
  95         Remove();
  96 }
  97
  98 double Creature::Size() const noexcept {
  99         return size;
 100 }
 101
 102 double Creature::Age() const noexcept {
 103         return sim.Time() - birth;
 104 }
 105
 106 std::string Creature::AgeName() const {
 107         switch (cur_prop) {
 108                 case 0:
 109                         return "Newborn";
 110                 case 1:
 111                         return "Child";
 112                 case 2:
 113                         return "Youth";
 114                 case 3:
 115                         return "Adult";
 116                 case 4:
 117                         return "Elder";
 118                 case 5:
 119                         return "Dead";
 120                 default:
 121                         return "Unknown";
 122         }
 123 }
 124
 125 double Creature::AgeLerp(double from, double to) const noexcept {
 126         return glm::mix(from, to, glm::smoothstep(CurProps().age, NextProps().age, Age()));
 127 }
 128
 129 double Creature::Fertility() const noexcept {
 130         return AgeLerp(CurProps().fertility, NextProps().fertility) / 3600.0;
 131 }
 132
 133 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 134         g->Enable();
 135         goals.emplace_back(std::move(g));
 136 }
 137
 138 namespace {
 139
 140 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 141         return b->Urgency() < a->Urgency();
 142 }
 143
 144 }
 145
 146 void Creature::Tick(double dt) {
 147         if (cur_prop < 5 && Age() > NextProps().age) {
 148                 ++cur_prop;
 149                 if (cur_prop == 5) {
 150                         std::cout << "[" << int(sim.Time()) << "s] "
 151                                 << name << " died of old age" << std::endl;
 152                         Die();
 153                 } else {
 154                         std::cout << "[" << int(sim.Time()) << "s] "
 155                                 << name << " grew up to " << AgeName() << std::endl;
 156                 }
 157         }
 158
 159         {
 160                 Situation::State state(situation.GetState());
 161                 Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 162                 Situation::Derivative b(Step(a, dt * 0.5));
 163                 Situation::Derivative c(Step(b, dt * 0.5));
 164                 Situation::Derivative d(Step(c, dt));
 165                 Situation::Derivative f(
 166                         (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 167                         (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc),
 168                         (1.0 / 6.0) * (a.turn + 2.0 * (b.turn + c.turn) + d.turn)
 169                 );
 170                 state.pos += f.vel * dt;
 171                 state.vel += f.acc * dt;
 172                 constexpr double turn_speed = 10.0;
 173                 // TODO: this is crap
 174                 state.dir = glm::normalize(state.dir + f.turn * turn_speed * dt);
 175                 situation.SetState(state);
 176         }
 177
 178         memory.Tick(dt);
 179         for (auto &need : needs) {
 180                 need->Tick(dt);
 181         }
 182         for (auto &goal : goals) {
 183                 goal->Tick(dt);
 184         }
 185         // do background stuff
 186         for (auto &need : needs) {
 187                 need->ApplyEffect(*this, dt);
 188         }
 189         if (goals.empty()) {
 190                 return;
 191         }
 192         // if active goal can be interrupted, check priorities
 193         if (goals.size() > 1 && goals[0]->Interruptible()) {
 194                 std::sort(goals.begin(), goals.end(), GoalCompare);
 195         }
 196         goals[0]->Action();
 197         for (auto goal = goals.begin(); goal != goals.end();) {
 198                 if ((*goal)->Complete()) {
 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         s.dir = normalize(s.dir + ds.turn * dt);
 211         return {
 212                 s.vel,
 213                 steering.Acceleration(s),
 214                 allzero(s.vel) ? glm::dvec3(0.0) : normalize(s.vel) - s.dir
 215         };
 216 }
 217
 218 glm::dmat4 Creature::LocalTransform() noexcept {
 219         // TODO: surface transform
 220         const double half_size = size * 0.5;
 221         const glm::dvec3 &pos = situation.Position();
 222         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 223                 * glm::dmat4(world::Planet::SurfaceOrientation(situation.Surface()))
 224                 * glm::rotate(glm::orientedAngle(glm::dvec3(0.0, 0.0, -1.0), situation.Heading(), glm::dvec3(0.0, 1.0, 0.0)), glm::dvec3(0.0, 1.0, 0.0))
 225                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 226 }
 227
 228 void Creature::BuildVAO() {
 229         vao.Bind();
 230         vao.BindAttributes();
 231         vao.EnableAttribute(0);
 232         vao.EnableAttribute(1);
 233         vao.EnableAttribute(2);
 234         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 235         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 236         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 237         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 238         {
 239                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 240                 const float offset = 1.0f;
 241                 for (int surface = 0; surface < 6; ++surface) {
 242                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 243                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 244
 245                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 246                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 247                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 248                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 249                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 250                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 251                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 252                         attrib[4 * surface + 0].texture.y = 1.0f;
 253                         attrib[4 * surface + 0].texture.z = surface;
 254
 255                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 256                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 257                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 258                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 259                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 260                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 261                         attrib[4 * surface + 1].texture.x = tex_u_end;
 262                         attrib[4 * surface + 1].texture.y = 1.0f;
 263                         attrib[4 * surface + 1].texture.z = surface;
 264
 265                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 266                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 267                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 268                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 269                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 270                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 271                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 272                         attrib[4 * surface + 2].texture.y = 0.0f;
 273                         attrib[4 * surface + 2].texture.z = surface;
 274
 275                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 276                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 277                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 278                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 279                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 280                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 281                         attrib[4 * surface + 3].texture.x = tex_u_end;
 282                         attrib[4 * surface + 3].texture.y = 0.0f;
 283                         attrib[4 * surface + 3].texture.z = surface;
 284                 }
 285         }
 286         vao.BindElements();
 287         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 288         {
 289                 auto element = vao.MapElements(GL_WRITE_ONLY);
 290                 for (int surface = 0; surface < 3; ++surface) {
 291                         element[6 * surface + 0] = 4 * surface + 0;
 292                         element[6 * surface + 1] = 4 * surface + 2;
 293                         element[6 * surface + 2] = 4 * surface + 1;
 294                         element[6 * surface + 3] = 4 * surface + 1;
 295                         element[6 * surface + 4] = 4 * surface + 2;
 296                         element[6 * surface + 5] = 4 * surface + 3;
 297                 }
 298                 for (int surface = 3; surface < 6; ++surface) {
 299                         element[6 * surface + 0] = 4 * surface + 0;
 300                         element[6 * surface + 1] = 4 * surface + 1;
 301                         element[6 * surface + 2] = 4 * surface + 2;
 302                         element[6 * surface + 3] = 4 * surface + 2;
 303                         element[6 * surface + 4] = 4 * surface + 1;
 304                         element[6 * surface + 5] = 4 * surface + 3;
 305                 }
 306         }
 307         vao.Unbind();
 308 }
 309
 310 void Creature::Draw(graphics::Viewport &viewport) {
 311         vao.Bind();
 312         vao.DrawTriangles(6 * 6);
 313 }
 314
 315
 316 void Spawn(Creature &c, world::Planet &p) {
 317         p.AddCreature(&c);
 318         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 319
 320         // probe surrounding area for common resources
 321         int start = p.SideLength() / 2 - 2;
 322         int end = start + 5;
 323         std::map<int, double> yields;
 324         for (int y = start; y < end; ++y) {
 325                 for (int x = start; x < end; ++x) {
 326                         const world::TileType &t = p.TypeAt(0, x, y);
 327                         for (auto yield : t.resources) {
 328                                 yields[yield.resource] += yield.ubiquity;
 329                         }
 330                 }
 331         }
 332         int liquid = -1;
 333         int solid = -1;
 334         for (auto e : yields) {
 335                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 336                         if (liquid < 0 || e.second > yields[liquid]) {
 337                                 liquid = e.first;
 338                         }
 339                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 340                         if (solid < 0 || e.second > yields[solid]) {
 341                                 solid = e.first;
 342                         }
 343                 }
 344         }
 345
 346         Genome genome;
 347
 348         genome.properties.Birth().age = { 0.0, 0.0 };
 349         genome.properties.Birth().mass = { 0.5, 0.05 };
 350         genome.properties.Birth().fertility = { 0.0, 0.0 };
 351         genome.properties.Birth().highlight = { 0.0, 0.0 };
 352
 353         genome.properties.Child().age = { 30.0, 1.0 };
 354         genome.properties.Child().mass = { 0.7, 0.05 };
 355         genome.properties.Child().fertility = { 0.0, 0.0 };
 356         genome.properties.Child().highlight = { 0.2, 0.05 };
 357
 358         genome.properties.Youth().age = { 60.0, 5.0 };
 359         genome.properties.Youth().mass = { 0.9, 0.1 };
 360         genome.properties.Youth().fertility = { 0.5, 0.03 };
 361         genome.properties.Youth().highlight = { 0.9, 0.1 };
 362
 363         genome.properties.Adult().age = { 120.0, 10.0 };
 364         genome.properties.Adult().mass = { 1.2, 0.1 };
 365         genome.properties.Adult().fertility = { 0.4, 0.01 };
 366         genome.properties.Adult().highlight = { 0.7, 0.1 };
 367
 368         genome.properties.Elder().age = { 360.0, 30.0 };
 369         genome.properties.Elder().mass = { 1.0, 0.05 };
 370         genome.properties.Elder().fertility = { 0.1, 0.01 };
 371         genome.properties.Elder().highlight = { 0.6, 0.1 };
 372
 373         genome.properties.Death().age = { 480.0, 60.0 };
 374         genome.properties.Death().mass = { 0.9, 0.05 };
 375         genome.properties.Death().fertility = { 0.0, 0.0 };
 376         genome.properties.Death().highlight = { 0.5, 0.1 };
 377
 378         genome.properties.strength = { 1.0, 0.1 };
 379         genome.properties.stamina = { 1.0, 0.1 };
 380         genome.properties.dexerty = { 1.0, 0.1 };
 381         genome.properties.intelligence = { 1.0, 0.1 };
 382         genome.properties.mutability = { 1.0, 0.1 };
 383
 384         glm::dvec3 color_avg(0.0);
 385         double color_divisor = 0.0;
 386
 387         if (p.HasAtmosphere()) {
 388                 genome.composition.push_back({
 389                         p.Atmosphere(),    // resource
 390                         { 0.01, 0.00001 }, // mass
 391                         { 0.5,  0.001 },   // intake
 392                         { 0.1,  0.0005 },  // penalty
 393                         { 0.0,  0.0 },     // growth
 394                 });
 395                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 396                 color_divisor += 0.1;
 397         }
 398         if (liquid > -1) {
 399                 genome.composition.push_back({
 400                         liquid,          // resource
 401                         { 0.6,  0.01 },  // mass
 402                         { 0.2,  0.001 }, // intake
 403                         { 0.01, 0.002 }, // penalty
 404                         { 0.1, 0.0 },   // growth
 405                 });
 406                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 407                 color_divisor += 0.5;
 408         }
 409         if (solid > -1) {
 410                 genome.composition.push_back({
 411                         solid,             // resource
 412                         { 0.4,   0.01 },   // mass
 413                         { 0.4,   0.001 },  // intake
 414                         { 0.001, 0.0001 }, // penalty
 415                         { 10.0,  0.002 },   // growth
 416                 });
 417                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 418                 color_divisor += 1.0;
 419         }
 420
 421         if (color_divisor > 0.001) {
 422                 color_avg /= color_divisor;
 423         }
 424         glm::dvec3 hsl = rgb2hsl(color_avg);
 425         genome.base_hue = { hsl.x, 0.01 };
 426         genome.base_saturation = { hsl.y, 0.01 };
 427         genome.base_lightness = { hsl.z, 0.01 };
 428
 429         genome.Configure(c);
 430 }
 431
 432 void Genome::Configure(Creature &c) const {
 433         c.GetGenome() = *this;
 434
 435         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 436
 437         c.GetProperties() = Instantiate(properties, random);
 438
 439         double mass = 0.0;
 440         double volume = 0.0;
 441         for (const auto &comp : composition) {
 442                 const world::Resource &resource = c.GetSimulation().Resources()[comp.resource];
 443                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 444                 double intake = comp.intake.FakeNormal(random.SNorm());
 445                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 446
 447                 mass += comp_mass;
 448                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 449
 450                 std::unique_ptr<Need> need;
 451                 if (resource.state == world::Resource::SOLID) {
 452                         intake *= std::atan(c.GetProperties().strength);
 453                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 454                         need->gain = intake * 0.05;
 455                 } else if (resource.state == world::Resource::LIQUID) {
 456                         intake *= std::atan(c.GetProperties().stamina);
 457                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 458                         need->gain = intake * 0.1;
 459                 } else {
 460                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 461                         need->gain = intake * 0.5;
 462                 }
 463                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 464                 need->inconvenient = 0.5;
 465                 need->critical = 0.95;
 466                 c.AddNeed(std::move(need));
 467         }
 468
 469         glm::dvec3 base_color(
 470                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 471                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 472                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 473         );
 474         glm::dvec3 highlight_color(
 475                 std::fmod(base_color.x + 0.5, 1.0),
 476                 1.0 - base_color.y,
 477                 1.0 - base_color.z
 478         );
 479         c.BaseColor(hsl2rgb(base_color));
 480         c.HighlightColor(hsl2rgb(highlight_color));
 481
 482         c.Mass(c.GetProperties().props[0].mass);
 483         c.Density(mass / volume);
 484         c.GetSteering().MaxAcceleration(1.4 * std::atan(c.GetProperties().strength));
 485         c.GetSteering().MaxSpeed(4.4 * std::atan(c.GetProperties().dexerty));
 486         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 487 }
 488
 489
 490 void Split(Creature &c) {
 491         Creature *a = new Creature(c.GetSimulation());
 492         const Situation &s = c.GetSituation();
 493         a->Name(c.GetSimulation().Assets().name.Sequential());
 494         // TODO: mutate
 495         c.GetGenome().Configure(*a);
 496         s.GetPlanet().AddCreature(a);
 497         // TODO: duplicate situation somehow
 498         a->GetSituation().SetPlanetSurface(
 499                 s.GetPlanet(), s.Surface(),
 500                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 501         a->BuildVAO();
 502         std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
 503                 << a->Name() << " was born" << std::endl;
 504
 505         Creature *b = new Creature(c.GetSimulation());
 506         b->Name(c.GetSimulation().Assets().name.Sequential());
 507         c.GetGenome().Configure(*b);
 508         s.GetPlanet().AddCreature(b);
 509         b->GetSituation().SetPlanetSurface(
 510                 s.GetPlanet(), s.Surface(),
 511                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 512         b->BuildVAO();
 513         std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
 514                 << b->Name() << " was born" << std::endl;
 515
 516         c.Die();
 517 }
 518
 519
 520 Memory::Memory(Creature &c)
 521 : c(c) {
 522 }
 523
 524 Memory::~Memory() {
 525 }
 526
 527 void Memory::Tick(double dt) {
 528         Situation &s = c.GetSituation();
 529         if (s.OnSurface()) {
 530                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 531         }
 532 }
 533
 534 void Memory::TrackStay(const Location &l, double t) {
 535         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 536         auto entry = known_types.find(type.id);
 537         if (entry != known_types.end()) {
 538                 entry->second.last_been = c.GetSimulation().Time();
 539                 entry->second.last_loc = l;
 540                 entry->second.time_spent += t;
 541         } else {
 542                 known_types.emplace(type.id, Stay{
 543                         c.GetSimulation().Time(),
 544                         l,
 545                         c.GetSimulation().Time(),
 546                         l,
 547                         t
 548                 });
 549         }
 550 }
 551
 552
 553 NameGenerator::NameGenerator()
 554 : counter(0) {
 555 }
 556
 557 NameGenerator::~NameGenerator() {
 558 }
 559
 560 std::string NameGenerator::Sequential() {
 561         std::stringstream ss;
 562         ss << "Blob " << ++counter;
 563         return ss.str();
 564 }
 565
 566
 567 Situation::Situation()
 568 : planet(nullptr)
 569 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 570 , surface(0)
 571 , type(LOST) {
 572 }
 573
 574 Situation::~Situation() {
 575 }
 576
 577 bool Situation::OnPlanet() const noexcept {
 578         return type == PLANET_SURFACE;
 579 }
 580
 581 bool Situation::OnSurface() const noexcept {
 582         return type == PLANET_SURFACE;
 583 }
 584
 585 bool Situation::OnTile() const noexcept {
 586         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 587         return type == PLANET_SURFACE
 588                 && t.x >= 0 && t.x < planet->SideLength()
 589                 && t.y >= 0 && t.y < planet->SideLength();
 590 }
 591
 592 glm::ivec2 Situation::SurfacePosition() const noexcept {
 593         return planet->SurfacePosition(surface, state.pos);
 594 }
 595
 596 world::Tile &Situation::GetTile() const noexcept {
 597         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 598         return planet->TileAt(surface, t.x, t.y);
 599 }
 600
 601 const world::TileType &Situation::GetTileType() const noexcept {
 602         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 603         return planet->TypeAt(surface, t.x, t.y);
 604 }
 605
 606 void Situation::Move(const glm::dvec3 &dp) noexcept {
 607         state.pos += dp;
 608         if (OnSurface()) {
 609                 // enforce ground constraint
 610                 if (Surface() < 3) {
 611                         state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
 612                 } else {
 613                         state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
 614                 }
 615         }
 616 }
 617
 618 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 619         type = PLANET_SURFACE;
 620         planet = &p;
 621         surface = srf;
 622         state.pos = pos;
 623 }
 624
 625
 626 Steering::Steering(const Creature &c)
 627 : c(c)
 628 , target(0.0)
 629 , max_accel(1.0)
 630 , max_speed(1.0)
 631 , min_dist(0.0)
 632 , max_look(0.0)
 633 , separating(false)
 634 , halting(true)
 635 , seeking(false)
 636 , arriving(false) {
 637 }
 638
 639 Steering::~Steering() {
 640 }
 641
 642 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 643         separating = true;
 644         min_dist = min_distance;
 645         max_look = max_lookaround;
 646 }
 647
 648 void Steering::DontSeparate() noexcept {
 649         separating = false;
 650 }
 651
 652 void Steering::Halt() noexcept {
 653         halting = true;
 654         seeking = false;
 655         arriving = false;
 656 }
 657
 658 void Steering::Pass(const glm::dvec3 &t) noexcept {
 659         target = t;
 660         halting = false;
 661         seeking = true;
 662         arriving = false;
 663 }
 664
 665 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 666         target = t;
 667         halting = false;
 668         seeking = false;
 669         arriving = true;
 670 }
 671
 672 glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
 673         glm::dvec3 acc(0.0);
 674         if (separating) {
 675                 // TODO: off surface situation
 676                 glm::dvec3 repulse(0.0);
 677                 const Situation &s = c.GetSituation();
 678                 for (auto &other : s.GetPlanet().Creatures()) {
 679                         if (&*other == &c) continue;
 680                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
 681                         if (length2(diff) > max_look * max_look) continue;
 682                         double sep = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
 683                         if (sep < min_dist) {
 684                                 repulse += normalize(diff) * (1.0 - sep / min_dist);
 685                         }
 686                 }
 687                 SumForce(acc, repulse);
 688         }
 689         if (halting) {
 690                 SumForce(acc, s.vel * -max_accel);
 691         }
 692         if (seeking) {
 693                 glm::dvec3 diff = target - s.pos;
 694                 if (!allzero(diff)) {
 695                         SumForce(acc, TargetVelocity(s, (normalize(diff) * max_speed)));
 696                 }
 697         }
 698         if (arriving) {
 699                 glm::dvec3 diff = target - s.pos;
 700                 double dist = length(diff);
 701                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 702                         SumForce(acc, TargetVelocity(s, diff * std::min(dist * max_accel, max_speed) / dist));
 703                 }
 704         }
 705         return acc;
 706 }
 707
 708 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 709         if (allzero(in) || anynan(in)) {
 710                 return false;
 711         }
 712         double cur = allzero(out) ? 0.0 : length(out);
 713         double rem = max_accel - cur;
 714         if (rem < 0.0) {
 715                 return true;
 716         }
 717         double add = length(in);
 718         if (add > rem) {
 719                 // this method is off if in and out are in different
 720                 // directions, but gives okayish results
 721                 out += in * (1.0 / add);
 722                 return true;
 723         } else {
 724                 out += in;
 725                 return false;
 726         }
 727 }
 728
 729 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel) const noexcept {
 730         return (vel - s.vel) * max_accel;
 731 }
 732
 733 }
 734 }