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 "BlobBackgroundTask.hpp"
   9 #include "Goal.hpp"
  10 #include "IdleGoal.hpp"
  11 #include "InhaleNeed.hpp"
  12 #include "IngestNeed.hpp"
  13 #include "Need.hpp"
  14 #include "../app/Assets.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 Creature::Creature(world::Simulation &sim)
  33 : sim(sim)
  34 , name()
  35 , genome()
  36 , properties()
  37 , cur_prop(0)
  38 , base_color(1.0)
  39 , highlight_color(0.0)
  40 , mass(1.0)
  41 , density(1.0)
  42 , size(1.0)
  43 , birth(sim.Time())
  44 , health(1.0)
  45 , on_death()
  46 , removable(false)
  47 , memory(*this)
  48 , bg_task()
  49 , needs()
  50 , goals()
  51 , situation()
  52 , steering(*this)
  53 , vao() {
  54         // all creatures avoid each other for now
  55         steering.Separate(0.1, 1.5);
  56 }
  57
  58 Creature::~Creature() {
  59 }
  60
  61 glm::dvec4 Creature::HighlightColor() const noexcept {
  62         return glm::dvec4(highlight_color, AgeLerp(CurProps().highlight, NextProps().highlight));
  63 }
  64
  65 void Creature::Ingest(int res, double amount) noexcept {
  66         const Genome::Composition *cmp = nullptr;
  67         for (const auto &c : genome.composition) {
  68                 if (c.resource == res) {
  69                         cmp = &c;
  70                         break;
  71                 }
  72         }
  73         if (cmp) {
  74                 const double max_mass = AgeLerp(CurProps().mass, NextProps().mass);
  75                 Mass(std::min(max_mass, mass + amount));
  76         } else {
  77                 // foreign material. poisonous?
  78         }
  79 }
  80
  81 void Creature::Hurt(double dt) noexcept {
  82         health = std::max(0.0, health - dt);
  83         if (health == 0.0) {
  84                 std::cout << "[" << int(sim.Time()) << "s] "
  85                         << name << " died" << std::endl;
  86                 Die();
  87         }
  88 }
  89
  90 void Creature::Die() noexcept {
  91         needs.clear();
  92         goals.clear();
  93         steering.Halt();
  94         if (on_death) {
  95                 on_death(*this);
  96         }
  97         Remove();
  98 }
  99
 100 double Creature::Size() const noexcept {
 101         return size;
 102 }
 103
 104 double Creature::Age() const noexcept {
 105         return sim.Time() - birth;
 106 }
 107
 108 std::string Creature::AgeName() const {
 109         switch (cur_prop) {
 110                 case 0:
 111                         return "Newborn";
 112                 case 1:
 113                         return "Child";
 114                 case 2:
 115                         return "Youth";
 116                 case 3:
 117                         return "Adult";
 118                 case 4:
 119                         return "Elder";
 120                 case 5:
 121                         return "Dead";
 122                 default:
 123                         return "Unknown";
 124         }
 125 }
 126
 127 double Creature::AgeLerp(double from, double to) const noexcept {
 128         return glm::mix(from, to, glm::smoothstep(CurProps().age, NextProps().age, Age()));
 129 }
 130
 131 double Creature::Fertility() const noexcept {
 132         return AgeLerp(CurProps().fertility, NextProps().fertility) * (1.0 / 3600.0);
 133 }
 134
 135 double Creature::Mutability() const noexcept {
 136         return GetProperties().mutability * (1.0 / 3600.0);
 137 }
 138
 139 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 140         g->Enable();
 141         goals.emplace_back(std::move(g));
 142 }
 143
 144 namespace {
 145
 146 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 147         return b->Urgency() < a->Urgency();
 148 }
 149
 150 }
 151
 152 void Creature::Tick(double dt) {
 153         if (cur_prop < 5 && Age() > NextProps().age) {
 154                 ++cur_prop;
 155                 if (cur_prop == 5) {
 156                         std::cout << "[" << int(sim.Time()) << "s] "
 157                                 << name << " died of old age" << std::endl;
 158                         Die();
 159                 } else {
 160                         std::cout << "[" << int(sim.Time()) << "s] "
 161                                 << name << " grew up to " << AgeName() << std::endl;
 162                 }
 163         }
 164
 165         {
 166                 Situation::State state(situation.GetState());
 167                 Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 168                 Situation::Derivative b(Step(a, dt * 0.5));
 169                 Situation::Derivative c(Step(b, dt * 0.5));
 170                 Situation::Derivative d(Step(c, dt));
 171                 Situation::Derivative f(
 172                         (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 173                         (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc),
 174                         (1.0 / 6.0) * (a.turn + 2.0 * (b.turn + c.turn) + d.turn)
 175                 );
 176                 state.pos += f.vel * dt;
 177                 state.vel += f.acc * dt;
 178                 constexpr double turn_speed = 10.0;
 179                 // TODO: this is crap
 180                 state.dir = glm::normalize(state.dir + f.turn * turn_speed * dt);
 181                 situation.SetState(state);
 182         }
 183
 184         bg_task->Tick(dt);
 185         bg_task->Action();
 186         memory.Tick(dt);
 187         for (auto &need : needs) {
 188                 need->Tick(dt);
 189         }
 190         for (auto &goal : goals) {
 191                 goal->Tick(dt);
 192         }
 193         // do background stuff
 194         for (auto &need : needs) {
 195                 need->ApplyEffect(*this, dt);
 196         }
 197         if (goals.empty()) {
 198                 return;
 199         }
 200         // if active goal can be interrupted, check priorities
 201         if (goals.size() > 1 && goals[0]->Interruptible()) {
 202                 std::sort(goals.begin(), goals.end(), GoalCompare);
 203         }
 204         goals[0]->Action();
 205         for (auto goal = goals.begin(); goal != goals.end();) {
 206                 if ((*goal)->Complete()) {
 207                         goals.erase(goal);
 208                 } else {
 209                         ++goal;
 210                 }
 211         }
 212 }
 213
 214 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 215         Situation::State s = situation.GetState();
 216         s.pos += ds.vel * dt;
 217         s.vel += ds.acc * dt;
 218         s.dir = normalize(s.dir + ds.turn * dt);
 219         return {
 220                 s.vel,
 221                 steering.Acceleration(s),
 222                 allzero(s.vel) ? glm::dvec3(0.0) : normalize(s.vel) - s.dir
 223         };
 224 }
 225
 226 glm::dmat4 Creature::LocalTransform() noexcept {
 227         // TODO: surface transform
 228         const double half_size = size * 0.5;
 229         const glm::dvec3 &pos = situation.Position();
 230         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 231                 * glm::dmat4(world::Planet::SurfaceOrientation(situation.Surface()))
 232                 * 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))
 233                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 234 }
 235
 236 void Creature::BuildVAO() {
 237         vao.Bind();
 238         vao.BindAttributes();
 239         vao.EnableAttribute(0);
 240         vao.EnableAttribute(1);
 241         vao.EnableAttribute(2);
 242         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 243         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 244         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 245         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 246         {
 247                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 248                 const float offset = 1.0f;
 249                 for (int surface = 0; surface < 6; ++surface) {
 250                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 251                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 252
 253                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 254                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 255                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 256                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 257                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 258                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 259                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 260                         attrib[4 * surface + 0].texture.y = 1.0f;
 261                         attrib[4 * surface + 0].texture.z = surface;
 262
 263                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 264                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 265                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 266                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 267                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 268                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 269                         attrib[4 * surface + 1].texture.x = tex_u_end;
 270                         attrib[4 * surface + 1].texture.y = 1.0f;
 271                         attrib[4 * surface + 1].texture.z = surface;
 272
 273                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 274                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 275                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 276                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 277                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 278                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 279                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 280                         attrib[4 * surface + 2].texture.y = 0.0f;
 281                         attrib[4 * surface + 2].texture.z = surface;
 282
 283                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 284                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 285                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 286                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 287                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 288                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 289                         attrib[4 * surface + 3].texture.x = tex_u_end;
 290                         attrib[4 * surface + 3].texture.y = 0.0f;
 291                         attrib[4 * surface + 3].texture.z = surface;
 292                 }
 293         }
 294         vao.BindElements();
 295         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 296         {
 297                 auto element = vao.MapElements(GL_WRITE_ONLY);
 298                 for (int surface = 0; surface < 3; ++surface) {
 299                         element[6 * surface + 0] = 4 * surface + 0;
 300                         element[6 * surface + 1] = 4 * surface + 2;
 301                         element[6 * surface + 2] = 4 * surface + 1;
 302                         element[6 * surface + 3] = 4 * surface + 1;
 303                         element[6 * surface + 4] = 4 * surface + 2;
 304                         element[6 * surface + 5] = 4 * surface + 3;
 305                 }
 306                 for (int surface = 3; surface < 6; ++surface) {
 307                         element[6 * surface + 0] = 4 * surface + 0;
 308                         element[6 * surface + 1] = 4 * surface + 1;
 309                         element[6 * surface + 2] = 4 * surface + 2;
 310                         element[6 * surface + 3] = 4 * surface + 2;
 311                         element[6 * surface + 4] = 4 * surface + 1;
 312                         element[6 * surface + 5] = 4 * surface + 3;
 313                 }
 314         }
 315         vao.Unbind();
 316 }
 317
 318 void Creature::Draw(graphics::Viewport &viewport) {
 319         vao.Bind();
 320         vao.DrawTriangles(6 * 6);
 321 }
 322
 323
 324 void Spawn(Creature &c, world::Planet &p) {
 325         p.AddCreature(&c);
 326         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 327
 328         // probe surrounding area for common resources
 329         int start = p.SideLength() / 2 - 2;
 330         int end = start + 5;
 331         std::map<int, double> yields;
 332         for (int y = start; y < end; ++y) {
 333                 for (int x = start; x < end; ++x) {
 334                         const world::TileType &t = p.TypeAt(0, x, y);
 335                         for (auto yield : t.resources) {
 336                                 yields[yield.resource] += yield.ubiquity;
 337                         }
 338                 }
 339         }
 340         int liquid = -1;
 341         int solid = -1;
 342         for (auto e : yields) {
 343                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 344                         if (liquid < 0 || e.second > yields[liquid]) {
 345                                 liquid = e.first;
 346                         }
 347                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 348                         if (solid < 0 || e.second > yields[solid]) {
 349                                 solid = e.first;
 350                         }
 351                 }
 352         }
 353
 354         Genome genome;
 355
 356         genome.properties.Birth().age = { 0.0, 0.0 };
 357         genome.properties.Birth().mass = { 0.5, 0.05 };
 358         genome.properties.Birth().fertility = { 0.0, 0.0 };
 359         genome.properties.Birth().highlight = { 0.0, 0.0 };
 360
 361         genome.properties.Child().age = { 30.0, 1.0 };
 362         genome.properties.Child().mass = { 0.7, 0.05 };
 363         genome.properties.Child().fertility = { 0.0, 0.0 };
 364         genome.properties.Child().highlight = { 0.2, 0.05 };
 365
 366         genome.properties.Youth().age = { 60.0, 5.0 };
 367         genome.properties.Youth().mass = { 0.9, 0.1 };
 368         genome.properties.Youth().fertility = { 0.5, 0.03 };
 369         genome.properties.Youth().highlight = { 0.9, 0.1 };
 370
 371         genome.properties.Adult().age = { 120.0, 10.0 };
 372         genome.properties.Adult().mass = { 1.3, 0.1 };
 373         genome.properties.Adult().fertility = { 0.4, 0.01 };
 374         genome.properties.Adult().highlight = { 0.7, 0.1 };
 375
 376         genome.properties.Elder().age = { 360.0, 30.0 };
 377         genome.properties.Elder().mass = { 1.0, 0.05 };
 378         genome.properties.Elder().fertility = { 0.1, 0.01 };
 379         genome.properties.Elder().highlight = { 0.6, 0.1 };
 380
 381         genome.properties.Death().age = { 480.0, 60.0 };
 382         genome.properties.Death().mass = { 0.9, 0.05 };
 383         genome.properties.Death().fertility = { 0.0, 0.0 };
 384         genome.properties.Death().highlight = { 0.5, 0.1 };
 385
 386         genome.properties.strength = { 1.0, 0.1 };
 387         genome.properties.stamina = { 1.0, 0.1 };
 388         genome.properties.dexerty = { 1.0, 0.1 };
 389         genome.properties.intelligence = { 1.0, 0.1 };
 390         genome.properties.mutability = { 1.0, 0.1 };
 391
 392         glm::dvec3 color_avg(0.0);
 393         double color_divisor = 0.0;
 394
 395         if (p.HasAtmosphere()) {
 396                 genome.composition.push_back({
 397                         p.Atmosphere(),    // resource
 398                         { 0.01, 0.00001 }, // mass
 399                         { 0.5,  0.001 },   // intake
 400                         { 0.1,  0.0005 },  // penalty
 401                         { 0.0,  0.0 },     // growth
 402                 });
 403                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 404                 color_divisor += 0.1;
 405         }
 406         if (liquid > -1) {
 407                 genome.composition.push_back({
 408                         liquid,          // resource
 409                         { 0.6,  0.01 },  // mass
 410                         { 0.2,  0.001 }, // intake
 411                         { 0.01, 0.002 }, // penalty
 412                         { 0.1, 0.0 },   // growth
 413                 });
 414                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 415                 color_divisor += 0.5;
 416         }
 417         if (solid > -1) {
 418                 genome.composition.push_back({
 419                         solid,             // resource
 420                         { 0.4,   0.01 },   // mass
 421                         { 0.4,   0.001 },  // intake
 422                         { 0.001, 0.0001 }, // penalty
 423                         { 10.0,  0.002 },   // growth
 424                 });
 425                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 426                 color_divisor += 1.0;
 427         }
 428
 429         if (color_divisor > 0.001) {
 430                 color_avg /= color_divisor;
 431         }
 432         glm::dvec3 hsl = rgb2hsl(color_avg);
 433         genome.base_hue = { hsl.x, 0.01 };
 434         genome.base_saturation = { hsl.y, 0.01 };
 435         genome.base_lightness = { hsl.z, 0.01 };
 436
 437         genome.Configure(c);
 438 }
 439
 440 void Genome::Configure(Creature &c) const {
 441         c.GetGenome() = *this;
 442
 443         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 444
 445         c.GetProperties() = Instantiate(properties, random);
 446
 447         double mass = 0.0;
 448         double volume = 0.0;
 449         for (const auto &comp : composition) {
 450                 const world::Resource &resource = c.GetSimulation().Resources()[comp.resource];
 451                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 452                 double intake = comp.intake.FakeNormal(random.SNorm());
 453                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 454
 455                 mass += comp_mass;
 456                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 457
 458                 std::unique_ptr<Need> need;
 459                 if (resource.state == world::Resource::SOLID) {
 460                         intake *= std::atan(c.GetProperties().strength);
 461                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 462                         need->gain = intake * 0.05;
 463                 } else if (resource.state == world::Resource::LIQUID) {
 464                         intake *= std::atan(c.GetProperties().stamina);
 465                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 466                         need->gain = intake * 0.1;
 467                 } else {
 468                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 469                         need->gain = intake * 0.5;
 470                 }
 471                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 472                 need->growth = comp.growth.FakeNormal(random.SNorm());
 473                 need->value = 0.4;
 474                 need->inconvenient = 0.5;
 475                 need->critical = 0.95;
 476                 c.AddNeed(std::move(need));
 477         }
 478
 479         glm::dvec3 base_color(
 480                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 481                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 482                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 483         );
 484         glm::dvec3 highlight_color(
 485                 std::fmod(base_color.x + 0.5, 1.0),
 486                 1.0 - base_color.y,
 487                 1.0 - base_color.z
 488         );
 489         c.BaseColor(hsl2rgb(base_color));
 490         c.HighlightColor(hsl2rgb(highlight_color));
 491
 492         c.Mass(c.GetProperties().props[0].mass);
 493         c.Density(mass / volume);
 494         c.GetSteering().MaxAcceleration(1.4 * std::atan(c.GetProperties().strength));
 495         c.GetSteering().MaxSpeed(4.4 * std::atan(c.GetProperties().dexerty));
 496         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 497         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 498 }
 499
 500
 501 void Split(Creature &c) {
 502         Creature *a = new Creature(c.GetSimulation());
 503         const Situation &s = c.GetSituation();
 504         a->Name(c.GetSimulation().Assets().name.Sequential());
 505         // TODO: mutate
 506         c.GetGenome().Configure(*a);
 507         s.GetPlanet().AddCreature(a);
 508         // TODO: duplicate situation somehow
 509         a->GetSituation().SetPlanetSurface(
 510                 s.GetPlanet(), s.Surface(),
 511                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 512         a->BuildVAO();
 513         std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
 514                 << a->Name() << " was born" << std::endl;
 515
 516         Creature *b = new Creature(c.GetSimulation());
 517         b->Name(c.GetSimulation().Assets().name.Sequential());
 518         c.GetGenome().Configure(*b);
 519         s.GetPlanet().AddCreature(b);
 520         b->GetSituation().SetPlanetSurface(
 521                 s.GetPlanet(), s.Surface(),
 522                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 523         b->BuildVAO();
 524         std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
 525                 << b->Name() << " was born" << std::endl;
 526
 527         c.Die();
 528 }
 529
 530
 531 Memory::Memory(Creature &c)
 532 : c(c) {
 533 }
 534
 535 Memory::~Memory() {
 536 }
 537
 538 void Memory::Tick(double dt) {
 539         Situation &s = c.GetSituation();
 540         if (s.OnSurface()) {
 541                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 542         }
 543 }
 544
 545 void Memory::TrackStay(const Location &l, double t) {
 546         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 547         auto entry = known_types.find(type.id);
 548         if (entry != known_types.end()) {
 549                 entry->second.last_been = c.GetSimulation().Time();
 550                 entry->second.last_loc = l;
 551                 entry->second.time_spent += t;
 552         } else {
 553                 known_types.emplace(type.id, Stay{
 554                         c.GetSimulation().Time(),
 555                         l,
 556                         c.GetSimulation().Time(),
 557                         l,
 558                         t
 559                 });
 560         }
 561 }
 562
 563
 564 NameGenerator::NameGenerator()
 565 : counter(0) {
 566 }
 567
 568 NameGenerator::~NameGenerator() {
 569 }
 570
 571 std::string NameGenerator::Sequential() {
 572         std::stringstream ss;
 573         ss << "Blob " << ++counter;
 574         return ss.str();
 575 }
 576
 577
 578 Situation::Situation()
 579 : planet(nullptr)
 580 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 581 , surface(0)
 582 , type(LOST) {
 583 }
 584
 585 Situation::~Situation() {
 586 }
 587
 588 bool Situation::OnPlanet() const noexcept {
 589         return type == PLANET_SURFACE;
 590 }
 591
 592 bool Situation::OnSurface() const noexcept {
 593         return type == PLANET_SURFACE;
 594 }
 595
 596 bool Situation::OnTile() const noexcept {
 597         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 598         return type == PLANET_SURFACE
 599                 && t.x >= 0 && t.x < planet->SideLength()
 600                 && t.y >= 0 && t.y < planet->SideLength();
 601 }
 602
 603 glm::ivec2 Situation::SurfacePosition() const noexcept {
 604         return planet->SurfacePosition(surface, state.pos);
 605 }
 606
 607 world::Tile &Situation::GetTile() const noexcept {
 608         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 609         return planet->TileAt(surface, t.x, t.y);
 610 }
 611
 612 const world::TileType &Situation::GetTileType() const noexcept {
 613         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 614         return planet->TypeAt(surface, t.x, t.y);
 615 }
 616
 617 void Situation::Move(const glm::dvec3 &dp) noexcept {
 618         state.pos += dp;
 619         if (OnSurface()) {
 620                 // enforce ground constraint
 621                 if (Surface() < 3) {
 622                         state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
 623                 } else {
 624                         state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
 625                 }
 626         }
 627 }
 628
 629 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 630         type = PLANET_SURFACE;
 631         planet = &p;
 632         surface = srf;
 633         state.pos = pos;
 634 }
 635
 636
 637 Steering::Steering(const Creature &c)
 638 : c(c)
 639 , target(0.0)
 640 , haste(0.0)
 641 , max_accel(1.0)
 642 , max_speed(1.0)
 643 , min_dist(0.0)
 644 , max_look(0.0)
 645 , separating(false)
 646 , halting(true)
 647 , seeking(false)
 648 , arriving(false) {
 649 }
 650
 651 Steering::~Steering() {
 652 }
 653
 654 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 655         separating = true;
 656         min_dist = min_distance;
 657         max_look = max_lookaround;
 658 }
 659
 660 void Steering::DontSeparate() noexcept {
 661         separating = false;
 662 }
 663
 664 void Steering::Halt() noexcept {
 665         halting = true;
 666         seeking = false;
 667         arriving = false;
 668 }
 669
 670 void Steering::Pass(const glm::dvec3 &t) noexcept {
 671         target = t;
 672         halting = false;
 673         seeking = true;
 674         arriving = false;
 675 }
 676
 677 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 678         target = t;
 679         halting = false;
 680         seeking = false;
 681         arriving = true;
 682 }
 683
 684 glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
 685         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
 686         double accel = max_speed * glm::clamp(max_accel * haste * haste, 0.5, 1.0);
 687         glm::dvec3 result(0.0);
 688         if (separating) {
 689                 // TODO: off surface situation
 690                 glm::dvec3 repulse(0.0);
 691                 const Situation &s = c.GetSituation();
 692                 for (auto &other : s.GetPlanet().Creatures()) {
 693                         if (&*other == &c) continue;
 694                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
 695                         if (length2(diff) > max_look * max_look) continue;
 696                         double sep = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
 697                         if (sep < min_dist) {
 698                                 repulse += normalize(diff) * (1.0 - sep / min_dist);
 699                         }
 700                 }
 701                 SumForce(result, repulse, accel);
 702         }
 703         if (halting) {
 704                 SumForce(result, s.vel * -accel, accel);
 705         }
 706         if (seeking) {
 707                 glm::dvec3 diff = target - s.pos;
 708                 if (!allzero(diff)) {
 709                         SumForce(result, TargetVelocity(s, (normalize(diff) * speed), accel), accel);
 710                 }
 711         }
 712         if (arriving) {
 713                 glm::dvec3 diff = target - s.pos;
 714                 double dist = length(diff);
 715                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 716                         SumForce(result, TargetVelocity(s, diff * std::min(dist * accel, speed) / dist, accel), accel);
 717                 }
 718         }
 719         return result;
 720 }
 721
 722 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in, double max) const noexcept {
 723         if (allzero(in) || anynan(in)) {
 724                 return false;
 725         }
 726         double cur = allzero(out) ? 0.0 : length(out);
 727         double rem = max - cur;
 728         if (rem < 0.0) {
 729                 return true;
 730         }
 731         double add = length(in);
 732         if (add > rem) {
 733                 // this method is off if in and out are in different
 734                 // directions, but gives okayish results
 735                 out += in * (1.0 / add);
 736                 return true;
 737         } else {
 738                 out += in;
 739                 return false;
 740         }
 741 }
 742
 743 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
 744         return (vel - s.vel) * acc;
 745 }
 746
 747 }
 748 }