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 "AttackGoal.hpp"
  10 #include "BlobBackgroundTask.hpp"
  11 #include "Goal.hpp"
  12 #include "IdleGoal.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../math/const.hpp"
  15 #include "../ui/string.hpp"
  16 #include "../world/Body.hpp"
  17 #include "../world/Planet.hpp"
  18 #include "../world/Simulation.hpp"
  19 #include "../world/TileType.hpp"
  20
  21 #include <algorithm>
  22 #include <sstream>
  23 #include <glm/gtx/transform.hpp>
  24 #include <glm/gtx/vector_angle.hpp>
  25
  26 #include <iostream>
  27 #include <glm/gtx/io.hpp>
  28
  29
  30 namespace blobs {
  31 namespace creature {
  32
  33 Composition::Composition(const world::Set<world::Resource> &resources)
  34 : resources(resources)
  35 , components()
  36 , total_mass(0.0)
  37 , total_volume(0.0)
  38 , state_mass{0.0} {
  39 }
  40
  41 Composition::~Composition() {
  42 }
  43
  44 namespace {
  45 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  46         return b.value < a.value;
  47 }
  48 }
  49
  50 void Composition::Add(int res, double amount) {
  51         bool found = false;
  52         for (auto c = components.begin(); c != components.end(); ++c) {
  53                 if (c->resource == res) {
  54                         c->value += amount;
  55                         if (c->value <= 0.0) {
  56                                 amount += c->value;
  57                                 components.erase(c);
  58                         }
  59                         found = true;
  60                         break;
  61                 }
  62         }
  63         if (!found && amount > 0.0) {
  64                 components.emplace_back(res, amount);
  65         }
  66         std::sort(components.begin(), components.end(), CompositionCompare);
  67         state_mass[resources[res].state] += amount;
  68         total_mass += amount;
  69         total_volume += amount / resources[res].density;
  70 }
  71
  72 bool Composition::Has(int res) const noexcept {
  73         for (auto &c : components) {
  74                 if (c.resource == res) {
  75                         return true;
  76                 }
  77         }
  78         return false;
  79 }
  80
  81 double Composition::Get(int res) const noexcept {
  82         for (auto &c : components) {
  83                 if (c.resource == res) {
  84                         return c.value;
  85                 }
  86         }
  87         return 0.0;
  88 }
  89
  90 double Composition::Proportion(int res) const noexcept {
  91         return Get(res) / TotalMass();
  92 }
  93
  94 double Composition::StateProportion(int res) const noexcept {
  95         return Get(res) / StateMass(resources[res].state);
  96 }
  97
  98 double Composition::Compatibility(int res) const noexcept {
  99         if (Has(res)) {
 100                 return StateProportion(res);
 101         }
 102         double max_compat = -1.0;
 103         double min_compat = 1.0;
 104         for (const auto &c : components) {
 105                 double prop = c.value / StateMass(resources[res].state);
 106                 for (const auto &compat : resources[c.resource].compatibility) {
 107                         double value = compat.second * prop;
 108                         if (value > max_compat) {
 109                                 max_compat = value;
 110                         }
 111                         if (value < min_compat) {
 112                                 min_compat = value;
 113                         }
 114                 }
 115         }
 116         if (min_compat < 0.0) {
 117                 return min_compat;
 118         } else {
 119                 return max_compat;
 120         }
 121 }
 122
 123
 124 Creature::Creature(world::Simulation &sim)
 125 : sim(sim)
 126 , name()
 127 , genome()
 128 , properties()
 129 , composition(sim.Resources())
 130 , base_color(1.0)
 131 , highlight_color(0.0, 0.0, 0.0, 1.0)
 132 , mass(1.0)
 133 , size(1.0)
 134 , birth(sim.Time())
 135 , death(-1.0)
 136 , on_death()
 137 , removable(false)
 138 , parents()
 139 , stats()
 140 , memory(*this)
 141 , bg_task()
 142 , goals()
 143 , situation()
 144 , steering(*this)
 145 , perception_range(1.0)
 146 , perception_range_squared(1.0)
 147 , perception_omni_range(1.0)
 148 , perception_omni_range_squared(1.0)
 149 , perception_field(1.0)
 150 , vao() {
 151         sim.SetAlive(this);
 152         // all creatures avoid each other for now
 153         steering.Separate(0.1, 1.5);
 154 }
 155
 156 Creature::~Creature() {
 157 }
 158
 159 void Creature::AddMass(int res, double amount) {
 160         composition.Add(res, amount);
 161         double nonsolid = 0.0;
 162         double volume = 0.0;
 163         for (const auto &c : composition) {
 164                 volume += c.value / sim.Resources()[c.resource].density;
 165                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 166                         nonsolid += c.value;
 167                 }
 168         }
 169         Mass(composition.TotalMass());
 170         Size(std::cbrt(volume));
 171         highlight_color.a = nonsolid / composition.TotalMass();
 172 }
 173
 174 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 175         highlight_color = glm::dvec4(c, highlight_color.a);
 176 }
 177
 178 void Creature::Ingest(int res, double amount) noexcept {
 179         if (sim.Resources()[res].state == world::Resource::SOLID) {
 180                 // 30% of solids stays in body
 181                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 182         } else {
 183                 // 5% of fluids stays in body
 184                 AddMass(res, amount * 0.05 * composition.Compatibility(res));
 185         }
 186         math::GaloisLFSR &random = sim.Assets().random;
 187         if (random.UNorm() < AdaptChance()) {
 188                 // change color to be slightly more like resource
 189                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 190                 // solids affect base color, others highlight
 191                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 192                 double q = random.UInt(3); // hue, sat, or val
 193                 double r = random.UInt(2); // mean or deviation
 194                 math::Distribution *d = nullptr;
 195                 double ref = 0.0;
 196                 if (p == 0) {
 197                         if (q == 0) {
 198                                 d = &genome.base_hue;
 199                                 ref = color.x;
 200                         } else if (q == 1) {
 201                                 d = &genome.base_saturation;
 202                                 ref = color.y;
 203                         } else {
 204                                 d = &genome.base_lightness;
 205                                 ref = color.z;
 206                         }
 207                 } else {
 208                         if (q == 0) {
 209                                 d = &genome.highlight_hue;
 210                                 ref = color.x;
 211                         } else if (q == 1) {
 212                                 d = &genome.highlight_saturation;
 213                                 ref = color.y;
 214                         } else {
 215                                 d = &genome.highlight_lightness;
 216                                 ref = color.z;
 217                         }
 218                 }
 219                 if (r == 0) {
 220                         double diff = ref - d->Mean();
 221                         if (q == 0) {
 222                                 if (diff < -0.5) {
 223                                         diff += 1.0;
 224                                 } else if (diff > 0.5) {
 225                                         diff -= 1.0;
 226                                 }
 227                                 // move ±15% of distance
 228                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 229                         } else {
 230                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 231                         }
 232                 } else {
 233                         // scale by ±15%, enforce bounds
 234                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 235                 }
 236         }
 237 }
 238
 239 void Creature::DoWork(double amount) noexcept {
 240         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 241         // burn resources proportional to composition
 242         // factor = 1/total * 1/efficiency * amount * -1
 243         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 244         // make a copy to total remains constant and
 245         // no entries disappear during iteration
 246         Composition comp(composition);
 247         for (auto &cmp : comp) {
 248                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 249                 AddMass(cmp.resource, value);
 250         }
 251         // doing work improves strength a little
 252         properties.Strength() += amount * 0.0001;
 253 }
 254
 255 void Creature::Hurt(double amount) noexcept {
 256         stats.Damage().Add(amount);
 257         if (stats.Damage().Full()) {
 258                 Die();
 259         }
 260 }
 261
 262 void Creature::Die() noexcept {
 263         if (Dead()) return;
 264
 265         if (stats.Damage().Full()) {
 266                 std::ostream &log = sim.Log() << name << " ";
 267                 if (stats.Exhaustion().Full()) {
 268                         log << "died of exhaustion";
 269                 } else if (stats.Breath().Full()) {
 270                         log << "suffocated";
 271                 } else if (stats.Thirst().Full()) {
 272                         log << "died of thirst";
 273                 } else if (stats.Hunger().Full()) {
 274                         log << "starved to death";
 275                 } else {
 276                         log << "succumed to wounds";
 277                 }
 278                 log << " at an age of " << ui::TimeString(Age())
 279                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 280                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 281                         << ")" << std::endl;
 282         }
 283
 284         sim.SetDead(this);
 285         death = sim.Time();
 286         steering.Off();
 287         if (on_death) {
 288                 on_death(*this);
 289         }
 290         Remove();
 291 }
 292
 293 bool Creature::Dead() const noexcept {
 294         return death > birth;
 295 }
 296
 297 void Creature::Remove() noexcept {
 298         removable = true;
 299 }
 300
 301 void Creature::Removed() noexcept {
 302         bg_task.reset();
 303         goals.clear();
 304         memory.Erase();
 305         KillVAO();
 306 }
 307
 308 void Creature::AddParent(Creature &p) {
 309         parents.push_back(&p);
 310 }
 311
 312 double Creature::Age() const noexcept {
 313         return Dead() ? death - birth : sim.Time() - birth;
 314 }
 315
 316 double Creature::AgeFactor(double peak) const noexcept {
 317         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 318         // goes negative below -0.5 and starts to rise again above 1.0
 319         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 320         // guarantee at least 1%
 321         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 322 }
 323
 324 double Creature::EnergyEfficiency() const noexcept {
 325         return 0.25 * AgeFactor(0.05);
 326 }
 327
 328 double Creature::ExhaustionFactor() const noexcept {
 329         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 330 }
 331
 332 double Creature::FatigueFactor() const noexcept {
 333         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 334 }
 335
 336 double Creature::Strength() const noexcept {
 337         // TODO: replace all age factors with actual growth and decay
 338         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 339 }
 340
 341 double Creature::StrengthFactor() const noexcept {
 342         double str = Strength();
 343         return str / (str + 1.0);
 344 }
 345
 346 double Creature::Stamina() const noexcept {
 347         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 348 }
 349
 350 double Creature::StaminaFactor() const noexcept {
 351         double stm = Stamina();
 352         return stm / (stm + 1.0);
 353 }
 354
 355 double Creature::Dexerty() const noexcept {
 356         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 357 }
 358
 359 double Creature::DexertyFactor() const noexcept {
 360         double dex = Dexerty();
 361         return dex / (dex + 1.0);
 362 }
 363
 364 double Creature::Intelligence() const noexcept {
 365         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 366 }
 367
 368 double Creature::IntelligenceFactor() const noexcept {
 369         double intl = Intelligence();
 370         return intl / (intl + 1.0);
 371 }
 372
 373 double Creature::Lifetime() const noexcept {
 374         return properties.Lifetime();
 375 }
 376
 377 double Creature::Fertility() const noexcept {
 378         return properties.Fertility() * AgeFactor(0.25);
 379 }
 380
 381 double Creature::Mutability() const noexcept {
 382         return properties.Mutability();
 383 }
 384
 385 double Creature::Adaptability() const noexcept {
 386         return properties.Adaptability();
 387 }
 388
 389 double Creature::OffspringMass() const noexcept {
 390         return properties.OffspringMass();
 391 }
 392
 393 double Creature::PerceptionRange() const noexcept {
 394         return perception_range;
 395 }
 396
 397 double Creature::PerceptionOmniRange() const noexcept {
 398         return perception_omni_range;
 399 }
 400
 401 double Creature::PerceptionField() const noexcept {
 402         return perception_field;
 403 }
 404
 405 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 406         const glm::dvec3 diff(p - situation.Position());
 407         double ldiff = glm::length2(diff);
 408         if (ldiff < perception_omni_range_squared) return true;
 409         if (ldiff > perception_range_squared) return false;
 410         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 411 }
 412
 413 double Creature::OffspringChance() const noexcept {
 414         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 415 }
 416
 417 double Creature::MutateChance() const noexcept {
 418         return GetProperties().Mutability() * (1.0 / 3600.0);
 419 }
 420
 421 double Creature::AdaptChance() const noexcept {
 422         return GetProperties().Adaptability() * (1.0 / 120.0);
 423 }
 424
 425 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 426         g->Enable();
 427         if (goals.empty()) {
 428                 g->SetForeground();
 429         }
 430         goals.emplace_back(std::move(g));
 431 }
 432
 433 namespace {
 434
 435 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 436         return b->Urgency() < a->Urgency();
 437 }
 438
 439 }
 440
 441 void Creature::Tick(double dt) {
 442         Cache();
 443         TickState(dt);
 444         TickStats(dt);
 445         TickBrain(dt);
 446 }
 447
 448 void Creature::Cache() noexcept {
 449         double dex_fact = DexertyFactor();
 450         perception_range = 3.0 * dex_fact + size;
 451         perception_range_squared = perception_range * perception_range;
 452         perception_omni_range = 0.5 * dex_fact + size;
 453         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 454         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 455         perception_field = 0.8 - dex_fact;
 456 }
 457
 458 void Creature::TickState(double dt) {
 459         steering.MaxSpeed(Dexerty());
 460         steering.MaxForce(Strength());
 461         Situation::State state(situation.GetState());
 462         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 463         Situation::Derivative b(Step(a, dt * 0.5));
 464         Situation::Derivative c(Step(b, dt * 0.5));
 465         Situation::Derivative d(Step(c, dt));
 466         Situation::Derivative f(
 467                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 468                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 469         );
 470         state.pos += f.vel * dt;
 471         state.vel += f.acc * dt;
 472         situation.EnforceConstraints(state);
 473         if (glm::length2(state.vel) > 0.000001) {
 474                 glm::dvec3 nvel(glm::normalize(state.vel));
 475                 double ang = glm::angle(nvel, state.dir);
 476                 double turn_rate = PI * 0.75 * dt;
 477                 if (ang < turn_rate) {
 478                         state.dir = glm::normalize(state.vel);
 479                 } else if (std::abs(ang - PI) < 0.001) {
 480                         state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 481                 } else {
 482                         state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 483                 }
 484         }
 485         situation.SetState(state);
 486         // work is force times distance
 487         // exclude gravity for no apparent reason
 488         // actually, this should solely be based on steering force
 489         DoWork(glm::length(f.acc - situation.GetPlanet().GravityAt(state.pos)) * Mass() * glm::length(f.vel) * dt);
 490 }
 491
 492 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 493         Situation::State s = situation.GetState();
 494         s.pos += ds.vel * dt;
 495         s.vel += ds.acc * dt;
 496         situation.EnforceConstraints(s);
 497         glm::dvec3 force(steering.Force(s));
 498         // gravity = antinormal * mass * Gm / r²
 499         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 500         force += glm::dvec3(
 501                 -normal
 502                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 503                 / glm::length2(s.pos)));
 504         // if net force is applied and in contact with surface
 505         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 506                 // apply friction
 507                 glm::dvec3 fn(normal * glm::dot(force, normal));
 508                 // TODO: friction somehow bigger than force?
 509                 glm::dvec3 ft(force - fn);
 510                 double u = 0.4;
 511                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 512                 force += friction;
 513         }
 514         return {
 515                 s.vel,
 516                 force / Mass()
 517         };
 518 }
 519
 520 void Creature::TickStats(double dt) {
 521         for (auto &s : stats.stat) {
 522                 s.Add(s.gain * dt);
 523         }
 524         // TODO: damage values depending on properties
 525         if (stats.Breath().Full()) {
 526                 constexpr double dps = 1.0 / 4.0;
 527                 Hurt(dps * dt);
 528         }
 529         if (stats.Thirst().Full()) {
 530                 constexpr double dps = 1.0 / 32.0;
 531                 Hurt(dps * dt);
 532         }
 533         if (stats.Hunger().Full()) {
 534                 constexpr double dps = 1.0 / 128.0;
 535                 Hurt(dps * dt);
 536         }
 537         if (!situation.Moving()) {
 538                 // double exhaustion recovery when standing still
 539                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 540         }
 541 }
 542
 543 void Creature::TickBrain(double dt) {
 544         bg_task->Tick(dt);
 545         bg_task->Action();
 546         memory.Tick(dt);
 547         // do background stuff
 548         if (goals.empty()) {
 549                 return;
 550         }
 551         for (auto &goal : goals) {
 552                 goal->Tick(dt);
 553         }
 554         Goal *top = &*goals.front();
 555         // if active goal can be interrupted, check priorities
 556         if (goals.size() > 1 && goals[0]->Interruptible()) {
 557                 std::sort(goals.begin(), goals.end(), GoalCompare);
 558         }
 559         if (&*goals.front() != top) {
 560                 top->SetBackground();
 561                 goals.front()->SetForeground();
 562                 top = &*goals.front();
 563         }
 564         goals[0]->Action();
 565         for (auto goal = goals.begin(); goal != goals.end();) {
 566                 if ((*goal)->Complete()) {
 567                         goals.erase(goal);
 568                 } else {
 569                         ++goal;
 570                 }
 571         }
 572         if (&*goals.front() != top) {
 573                 goals.front()->SetForeground();
 574         }
 575 }
 576
 577 math::AABB Creature::CollisionBounds() const noexcept {
 578         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 579 }
 580
 581 glm::dmat4 Creature::CollisionTransform() const noexcept {
 582         const double half_size = size * 0.5;
 583         const glm::dvec3 &pos = situation.Position();
 584         glm::dmat3 orient;
 585         orient[1] = situation.GetPlanet().NormalAt(pos);
 586         orient[2] = situation.Heading();
 587         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 588                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 589         }
 590         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 591         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 592         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 593                 * glm::dmat4(orient)
 594                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 595 }
 596
 597 void Creature::OnCollide(Creature &other) {
 598         memory.TrackCollision(other);
 599 }
 600
 601 glm::dmat4 Creature::LocalTransform() noexcept {
 602         const double half_size = size * 0.5;
 603         return CollisionTransform()
 604                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 605 }
 606
 607 void Creature::BuildVAO() {
 608         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 609         vao->Bind();
 610         vao->BindAttributes();
 611         vao->EnableAttribute(0);
 612         vao->EnableAttribute(1);
 613         vao->EnableAttribute(2);
 614         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 615         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 616         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 617         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 618         {
 619                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 620                 const float offset = 1.0f;
 621                 for (int surface = 0; surface < 6; ++surface) {
 622                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 623                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 624
 625                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 626                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 627                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 628                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 629                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 630                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 631                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 632                         attrib[4 * surface + 0].texture.y = 1.0f;
 633                         attrib[4 * surface + 0].texture.z = surface;
 634
 635                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 636                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 637                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 638                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 639                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 640                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 641                         attrib[4 * surface + 1].texture.x = tex_u_end;
 642                         attrib[4 * surface + 1].texture.y = 1.0f;
 643                         attrib[4 * surface + 1].texture.z = surface;
 644
 645                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 646                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 647                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 648                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 649                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 650                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 651                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 652                         attrib[4 * surface + 2].texture.y = 0.0f;
 653                         attrib[4 * surface + 2].texture.z = surface;
 654
 655                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 656                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 657                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 658                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 659                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 660                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 661                         attrib[4 * surface + 3].texture.x = tex_u_end;
 662                         attrib[4 * surface + 3].texture.y = 0.0f;
 663                         attrib[4 * surface + 3].texture.z = surface;
 664                 }
 665         }
 666         vao->BindElements();
 667         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 668         {
 669                 auto element = vao->MapElements(GL_WRITE_ONLY);
 670                 for (int surface = 0; surface < 3; ++surface) {
 671                         element[6 * surface + 0] = 4 * surface + 0;
 672                         element[6 * surface + 1] = 4 * surface + 2;
 673                         element[6 * surface + 2] = 4 * surface + 1;
 674                         element[6 * surface + 3] = 4 * surface + 1;
 675                         element[6 * surface + 4] = 4 * surface + 2;
 676                         element[6 * surface + 5] = 4 * surface + 3;
 677                 }
 678                 for (int surface = 3; surface < 6; ++surface) {
 679                         element[6 * surface + 0] = 4 * surface + 0;
 680                         element[6 * surface + 1] = 4 * surface + 1;
 681                         element[6 * surface + 2] = 4 * surface + 2;
 682                         element[6 * surface + 3] = 4 * surface + 2;
 683                         element[6 * surface + 4] = 4 * surface + 1;
 684                         element[6 * surface + 5] = 4 * surface + 3;
 685                 }
 686         }
 687         vao->Unbind();
 688 }
 689
 690 void Creature::KillVAO() {
 691         vao.reset();
 692 }
 693
 694 void Creature::Draw(graphics::Viewport &viewport) {
 695         if (!vao) return;
 696         vao->Bind();
 697         vao->DrawTriangles(6 * 6);
 698 }
 699
 700
 701 void Spawn(Creature &c, world::Planet &p) {
 702         p.AddCreature(&c);
 703         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 704         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 705
 706         // probe surrounding area for common resources
 707         int start = p.SideLength() / 2 - 2;
 708         int end = start + 5;
 709         std::map<int, double> yields;
 710         for (int y = start; y < end; ++y) {
 711                 for (int x = start; x < end; ++x) {
 712                         const world::TileType &t = p.TypeAt(0, x, y);
 713                         for (auto yield : t.resources) {
 714                                 yields[yield.resource] += yield.ubiquity;
 715                         }
 716                 }
 717         }
 718         int liquid = -1;
 719         int solid = -1;
 720         for (auto e : yields) {
 721                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 722                         if (liquid < 0 || e.second > yields[liquid]) {
 723                                 liquid = e.first;
 724                         }
 725                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 726                         if (solid < 0 || e.second > yields[solid]) {
 727                                 solid = e.first;
 728                         }
 729                 }
 730         }
 731
 732         Genome genome;
 733         genome.properties.Strength() = { 2.0, 0.1 };
 734         genome.properties.Stamina() = { 2.0, 0.1 };
 735         genome.properties.Dexerty() = { 2.0, 0.1 };
 736         genome.properties.Intelligence() = { 1.0, 0.1 };
 737         genome.properties.Lifetime() = { 480.0, 60.0 };
 738         genome.properties.Fertility() = { 0.5, 0.03 };
 739         genome.properties.Mutability() = { 0.9, 0.1 };
 740         genome.properties.Adaptability() = { 0.9, 0.1 };
 741         genome.properties.OffspringMass() = { 0.3, 0.02 };
 742
 743         glm::dvec3 color_avg(0.0);
 744         double color_divisor = 0.0;
 745
 746         if (p.HasAtmosphere()) {
 747                 c.AddMass(p.Atmosphere(), 0.01);
 748                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 749                 color_divisor += 0.1;
 750         }
 751         if (liquid > -1) {
 752                 c.AddMass(liquid, 0.3);
 753                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 754                 color_divisor += 0.5;
 755         }
 756         if (solid > -1) {
 757                 c.AddMass(solid, 0.1);
 758                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 759                 color_divisor += 1.0;
 760         }
 761
 762         if (color_divisor > 0.001) {
 763                 color_avg /= color_divisor;
 764         }
 765         glm::dvec3 hsl = rgb2hsl(color_avg);
 766         genome.base_hue = { hsl.x, 0.01 };
 767         genome.base_saturation = { hsl.y, 0.01 };
 768         genome.base_lightness = { hsl.z, 0.01 };
 769         // use opposite color as start highlight
 770         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 771         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 772         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 773
 774         genome.Configure(c);
 775 }
 776
 777 void Genome::Configure(Creature &c) const {
 778         c.GetGenome() = *this;
 779
 780         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 781
 782         c.GetProperties() = Instantiate(properties, random);
 783
 784         // TODO: derive stats from properties
 785         c.GetStats().Damage().gain = (-1.0 / 100.0);
 786         c.GetStats().Breath().gain = (1.0 / 5.0);
 787         c.GetStats().Thirst().gain = (1.0 / 60.0);
 788         c.GetStats().Hunger().gain = (1.0 / 200.0);
 789         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 790         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 791         c.GetStats().Boredom().gain = (1.0 / 300.0);
 792
 793         glm::dvec3 base_color(
 794                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 795                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 796                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 797         );
 798         glm::dvec3 highlight_color(
 799                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 800                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 801                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 802         );
 803         c.BaseColor(hsl2rgb(base_color));
 804         c.HighlightColor(hsl2rgb(highlight_color));
 805         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 806         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 807 }
 808
 809
 810 void Split(Creature &c) {
 811         Creature *a = new Creature(c.GetSimulation());
 812         const Situation &s = c.GetSituation();
 813         a->AddParent(c);
 814         a->Name(c.GetSimulation().Assets().name.Sequential());
 815         c.GetGenome().Configure(*a);
 816         for (const auto &cmp : c.GetComposition()) {
 817                 a->AddMass(cmp.resource, cmp.value * 0.5);
 818         }
 819         s.GetPlanet().AddCreature(a);
 820         // TODO: duplicate situation somehow
 821         a->GetSituation().SetPlanetSurface(
 822                 s.GetPlanet(),
 823                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 824         a->BuildVAO();
 825         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 826
 827         Creature *b = new Creature(c.GetSimulation());
 828         b->AddParent(c);
 829         b->Name(c.GetSimulation().Assets().name.Sequential());
 830         c.GetGenome().Configure(*b);
 831         for (const auto &cmp : c.GetComposition()) {
 832                 b->AddMass(cmp.resource, cmp.value * 0.5);
 833         }
 834         s.GetPlanet().AddCreature(b);
 835         b->GetSituation().SetPlanetSurface(
 836                 s.GetPlanet(),
 837                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 838         b->BuildVAO();
 839         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 840
 841         c.Die();
 842 }
 843
 844
 845 Memory::Memory(Creature &c)
 846 : c(c) {
 847 }
 848
 849 Memory::~Memory() {
 850 }
 851
 852 void Memory::Erase() {
 853         known_types.clear();
 854         known_creatures.clear();
 855 }
 856
 857 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 858         double best_rating = -1.0;
 859         for (const auto &k : known_types) {
 860                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 861                 auto entry = t.FindBestResource(accept);
 862                 if (entry != t.resources.end()) {
 863                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 864                         if (rating > best_rating) {
 865                                 best_rating = rating;
 866                                 pos = k.second.first_loc.position;
 867                         }
 868                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 869                         if (rating > best_rating) {
 870                                 best_rating = rating;
 871                                 pos = k.second.last_loc.position;
 872                         }
 873                 }
 874         }
 875         if (best_rating > 0.0) {
 876                 glm::dvec3 error(
 877                         c.GetSimulation().Assets().random.SNorm(),
 878                         c.GetSimulation().Assets().random.SNorm(),
 879                         c.GetSimulation().Assets().random.SNorm());
 880                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 881                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 882                 return true;
 883         } else {
 884                 return false;
 885         }
 886 }
 887
 888 void Memory::TrackCollision(Creature &other) {
 889         // TODO: find out whose fault it was
 890         // TODO: source values from personality
 891         Profile &p = known_creatures[&other];
 892         p.annoyance += 0.1;
 893         const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
 894         if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
 895                 AttackGoal *g = new AttackGoal(c, other);
 896                 g->SetDamageTarget(annoy_fact);
 897                 g->Urgency(annoy_fact);
 898                 c.AddGoal(std::unique_ptr<Goal>(g));
 899                 p.annoyance *= 0.5;
 900         }
 901 }
 902
 903 void Memory::Tick(double dt) {
 904         Situation &s = c.GetSituation();
 905         if (s.OnSurface()) {
 906                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 907         }
 908         // TODO: forget
 909 }
 910
 911 void Memory::TrackStay(const Location &l, double t) {
 912         const world::TileType &type = l.planet->TileTypeAt(l.position);
 913         auto entry = known_types.find(type.id);
 914         if (entry != known_types.end()) {
 915                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 916                         // "it's been ages"
 917                         if (entry->second.time_spent > c.Age() * 0.25) {
 918                                 // the place is very familiar
 919                                 c.GetStats().Boredom().Add(-0.2);
 920                         } else {
 921                                 // infrequent stays
 922                                 c.GetStats().Boredom().Add(-0.1);
 923                         }
 924                 }
 925                 entry->second.last_been = c.GetSimulation().Time();
 926                 entry->second.last_loc = l;
 927                 entry->second.time_spent += t;
 928         } else {
 929                 known_types.emplace(type.id, Stay{
 930                         c.GetSimulation().Time(),
 931                         l,
 932                         c.GetSimulation().Time(),
 933                         l,
 934                         t
 935                 });
 936                 // completely new place, interesting
 937                 // TODO: scale by personality trait
 938                 c.GetStats().Boredom().Add(-0.25);
 939         }
 940 }
 941
 942
 943 NameGenerator::NameGenerator()
 944 : counter(0) {
 945 }
 946
 947 NameGenerator::~NameGenerator() {
 948 }
 949
 950 std::string NameGenerator::Sequential() {
 951         std::stringstream ss;
 952         ss << "Blob " << ++counter;
 953         return ss.str();
 954 }
 955
 956
 957 Situation::Situation()
 958 : planet(nullptr)
 959 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 960 , type(LOST) {
 961 }
 962
 963 Situation::~Situation() {
 964 }
 965
 966 bool Situation::OnPlanet() const noexcept {
 967         return type == PLANET_SURFACE;
 968 }
 969
 970 bool Situation::OnSurface() const noexcept {
 971         return type == PLANET_SURFACE;
 972 }
 973
 974 bool Situation::OnGround() const noexcept {
 975         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
 976 }
 977
 978 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 979         return planet->NormalAt(state.pos);
 980 }
 981
 982 world::Tile &Situation::GetTile() const noexcept {
 983         return planet->TileAt(state.pos);
 984 }
 985
 986 const world::TileType &Situation::GetTileType() const noexcept {
 987         return planet->TileTypeAt(state.pos);
 988 }
 989
 990 void Situation::Move(const glm::dvec3 &dp) noexcept {
 991         state.pos += dp;
 992         EnforceConstraints(state);
 993 }
 994
 995 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 996         state.vel += dv;
 997         EnforceConstraints(state);
 998 }
 999
1000 void Situation::EnforceConstraints(State &s) const noexcept {
1001         if (OnSurface()) {
1002                 double r = GetPlanet().Radius();
1003                 if (glm::length2(s.pos) < r * r) {
1004                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
1005                         s.pos = normal * r;
1006                         s.vel -= normal * glm::dot(normal, s.vel);
1007                 }
1008         }
1009 }
1010
1011 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
1012         type = PLANET_SURFACE;
1013         planet = &p;
1014         state.pos = pos;
1015         EnforceConstraints(state);
1016 }
1017
1018
1019 Steering::Steering(const Creature &c)
1020 : c(c)
1021 , target(0.0)
1022 , haste(0.0)
1023 , max_force(1.0)
1024 , max_speed(1.0)
1025 , min_dist(0.0)
1026 , max_look(0.0)
1027 , separating(false)
1028 , halting(true)
1029 , seeking(false)
1030 , arriving(false) {
1031 }
1032
1033 Steering::~Steering() {
1034 }
1035
1036 void Steering::Off() noexcept {
1037         separating = false;
1038         halting = false;
1039         seeking = false;
1040         arriving = false;
1041 }
1042
1043 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1044         separating = true;
1045         min_dist = min_distance;
1046         max_look = max_lookaround;
1047 }
1048
1049 void Steering::DontSeparate() noexcept {
1050         separating = false;
1051 }
1052
1053 void Steering::ResumeSeparate() noexcept {
1054         separating = true;
1055 }
1056
1057 void Steering::Halt() noexcept {
1058         halting = true;
1059         seeking = false;
1060         arriving = false;
1061 }
1062
1063 void Steering::Pass(const glm::dvec3 &t) noexcept {
1064         target = t;
1065         halting = false;
1066         seeking = true;
1067         arriving = false;
1068 }
1069
1070 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1071         target = t;
1072         halting = false;
1073         seeking = false;
1074         arriving = true;
1075 }
1076
1077 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1078         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1079         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1080         glm::dvec3 result(0.0);
1081         if (separating) {
1082                 // TODO: off surface situation
1083                 glm::dvec3 repulse(0.0);
1084                 const Situation &s = c.GetSituation();
1085                 for (auto &other : s.GetPlanet().Creatures()) {
1086                         if (&*other == &c) continue;
1087                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1088                         if (glm::length2(diff) > max_look * max_look) continue;
1089                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1090                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1091                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1092                 }
1093                 result += repulse;
1094         }
1095         if (halting) {
1096                 // brake hard
1097                 result += -5.0 * s.vel * force;
1098         }
1099         if (seeking) {
1100                 glm::dvec3 diff = target - s.pos;
1101                 if (!allzero(diff)) {
1102                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1103                 }
1104         }
1105         if (arriving) {
1106                 glm::dvec3 diff = target - s.pos;
1107                 double dist = glm::length(diff);
1108                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1109                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1110                 }
1111         }
1112         // remove vertical component, if any
1113         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1114         result -= normal * glm::dot(normal, result);
1115         // clamp to max
1116         if (glm::length2(result) > max_force * max_force) {
1117                 result = glm::normalize(result) * max_force;
1118         }
1119         return result;
1120 }
1121
1122 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1123         return (vel - s.vel) * acc;
1124 }
1125
1126 }
1127 }