src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "BlobBackgroundTask.hpp"
  10 #include "Goal.hpp"
  11 #include "IdleGoal.hpp"
  12 #include "../app/Assets.hpp"
  13 #include "../math/const.hpp"
  14 #include "../ui/string.hpp"
  15 #include "../world/Body.hpp"
  16 #include "../world/Planet.hpp"
  17 #include "../world/Simulation.hpp"
  18 #include "../world/TileType.hpp"
  19
  20 #include <algorithm>
  21 #include <sstream>
  22 #include <glm/gtx/transform.hpp>
  23 #include <glm/gtx/vector_angle.hpp>
  24
  25 #include <iostream>
  26 #include <glm/gtx/io.hpp>
  27
  28
  29 namespace blobs {
  30 namespace creature {
  31
  32 Composition::Composition()
  33 : components()
  34 , total_mass(0.0) {
  35 }
  36
  37 Composition::~Composition() {
  38 }
  39
  40 namespace {
  41 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  42         return b.value < a.value;
  43 }
  44 }
  45
  46 void Composition::Add(int res, double amount) {
  47         bool found = false;
  48         for (auto c = components.begin(); c != components.end(); ++c) {
  49                 if (c->resource == res) {
  50                         c->value += amount;
  51                         if (c->value <= 0.0) {
  52                                 components.erase(c);
  53                         }
  54                         found = true;
  55                         break;
  56                 }
  57         }
  58         if (!found && amount > 0.0) {
  59                 components.emplace_back(res, amount);
  60         }
  61         std::sort(components.begin(), components.end(), CompositionCompare);
  62         total_mass += amount;
  63 }
  64
  65 bool Composition::Has(int res) const noexcept {
  66         for (auto &c : components) {
  67                 if (c.resource == res) {
  68                         return true;
  69                 }
  70         }
  71         return false;
  72 }
  73
  74 double Composition::Get(int res) const noexcept {
  75         for (auto &c : components) {
  76                 if (c.resource == res) {
  77                         return c.value;
  78                 }
  79         }
  80         return 0.0;
  81 }
  82
  83
  84 Creature::Creature(world::Simulation &sim)
  85 : sim(sim)
  86 , name()
  87 , genome()
  88 , properties()
  89 , composition()
  90 , base_color(1.0)
  91 , highlight_color(0.0, 0.0, 0.0, 1.0)
  92 , mass(1.0)
  93 , size(1.0)
  94 , birth(sim.Time())
  95 , death(-1.0)
  96 , on_death()
  97 , removable(false)
  98 , parents()
  99 , stats()
 100 , memory(*this)
 101 , bg_task()
 102 , goals()
 103 , situation()
 104 , steering(*this)
 105 , vao() {
 106         sim.SetAlive(this);
 107         // all creatures avoid each other for now
 108         steering.Separate(0.1, 1.5);
 109 }
 110
 111 Creature::~Creature() {
 112 }
 113
 114 void Creature::AddMass(int res, double amount) {
 115         composition.Add(res, amount);
 116         double nonsolid = 0.0;
 117         double volume = 0.0;
 118         for (const auto &c : composition) {
 119                 volume += c.value / sim.Assets().data.resources[c.resource].density;
 120                 if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
 121                         nonsolid += c.value;
 122                 }
 123         }
 124         Mass(composition.TotalMass());
 125         Size(std::cbrt(volume));
 126         highlight_color.a = nonsolid / composition.TotalMass();
 127 }
 128
 129 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 130         highlight_color = glm::dvec4(c, highlight_color.a);
 131 }
 132
 133 void Creature::Ingest(int res, double amount) noexcept {
 134         // TODO: check foreign materials
 135         if (sim.Resources()[res].state == world::Resource::SOLID) {
 136                 // 15% of solids stays in body
 137                 AddMass(res, amount * 0.15);
 138         } else {
 139                 // 10% of fluids stays in body
 140                 AddMass(res, amount * 0.05);
 141         }
 142         math::GaloisLFSR &random = sim.Assets().random;
 143         if (random.UNorm() < AdaptChance()) {
 144                 // change color to be slightly more like resource
 145                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 146                 // solids affect base color, others highlight
 147                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 148                 double q = random.UInt(3); // hue, sat, or val
 149                 double r = random.UInt(2); // mean or deviation
 150                 math::Distribution *d = nullptr;
 151                 double ref = 0.0;
 152                 if (p == 0) {
 153                         if (q == 0) {
 154                                 d = &genome.base_hue;
 155                                 ref = color.x;
 156                         } else if (q == 1) {
 157                                 d = &genome.base_saturation;
 158                                 ref = color.y;
 159                         } else {
 160                                 d = &genome.base_lightness;
 161                                 ref = color.z;
 162                         }
 163                 } else {
 164                         if (q == 0) {
 165                                 d = &genome.highlight_hue;
 166                                 ref = color.x;
 167                         } else if (q == 1) {
 168                                 d = &genome.highlight_saturation;
 169                                 ref = color.y;
 170                         } else {
 171                                 d = &genome.highlight_lightness;
 172                                 ref = color.z;
 173                         }
 174                 }
 175                 if (r == 0) {
 176                         double diff = ref - d->Mean();
 177                         if (q == 0) {
 178                                 if (diff < -0.5) {
 179                                         diff += 1.0;
 180                                 } else if (diff > 0.5) {
 181                                         diff -= 1.0;
 182                                 }
 183                                 // move ±15% of distance
 184                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 185                         } else {
 186                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 187                         }
 188                 } else {
 189                         // scale by ±15%, enforce bounds
 190                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 191                 }
 192         }
 193 }
 194
 195 void Creature::DoWork(double amount) noexcept {
 196         stats.Exhaustion().Add(amount / Stamina());
 197         // burn resources proportional to composition
 198         // factor = 1/total * 1/efficiency * amount * -1
 199         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 200         // make a copy to total remains constant and
 201         // no entries disappear during iteration
 202         Composition comp(composition);
 203         for (auto &cmp : comp) {
 204                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 205                 AddMass(cmp.resource, value);
 206         }
 207 }
 208
 209 void Creature::Hurt(double amount) noexcept {
 210         stats.Damage().Add(amount);
 211         if (stats.Damage().Full()) {
 212                 Die();
 213         }
 214 }
 215
 216 void Creature::Die() noexcept {
 217         if (Dead()) return;
 218
 219         if (stats.Damage().Full()) {
 220                 std::ostream &log = sim.Log() << name << " ";
 221                 if (stats.Exhaustion().Full()) {
 222                         log << "died of exhaustion";
 223                 } else if (stats.Breath().Full()) {
 224                         log << "suffocated";
 225                 } else if (stats.Thirst().Full()) {
 226                         log << "died of thirst";
 227                 } else if (stats.Hunger().Full()) {
 228                         log << "starved to death";
 229                 } else {
 230                         log << "succumed to wounds";
 231                 }
 232                 log << " at an age of " << ui::TimeString(Age())
 233                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 234                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 235                         << ")" << std::endl;
 236         }
 237
 238         sim.SetDead(this);
 239         death = sim.Time();
 240         steering.Off();
 241         if (on_death) {
 242                 on_death(*this);
 243         }
 244         Remove();
 245 }
 246
 247 bool Creature::Dead() const noexcept {
 248         return death > birth;
 249 }
 250
 251 void Creature::Remove() noexcept {
 252         removable = true;
 253 }
 254
 255 void Creature::Removed() noexcept {
 256         bg_task.reset();
 257         goals.clear();
 258         memory.Erase();
 259         KillVAO();
 260 }
 261
 262 void Creature::AddParent(Creature &p) {
 263         parents.push_back(&p);
 264 }
 265
 266 double Creature::Age() const noexcept {
 267         return sim.Time() - birth;
 268 }
 269
 270 double Creature::AgeFactor(double peak) const noexcept {
 271         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 272         // goes negative below -0.5 and starts to rise again above 1.0
 273         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 274         // guarantee at least 1%
 275         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 276 }
 277
 278 double Creature::EnergyEfficiency() const noexcept {
 279         return 0.25 * AgeFactor(0.05);
 280 }
 281
 282 double Creature::ExhaustionFactor() const noexcept {
 283         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 284 }
 285
 286 double Creature::FatigueFactor() const noexcept {
 287         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 288 }
 289
 290 double Creature::Strength() const noexcept {
 291         // TODO: replace all age factors with actual growth and decay
 292         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 293 }
 294
 295 double Creature::Stamina() const noexcept {
 296         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 297 }
 298
 299 double Creature::Dexerty() const noexcept {
 300         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 301 }
 302
 303 double Creature::Intelligence() const noexcept {
 304         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 305 }
 306
 307 double Creature::Lifetime() const noexcept {
 308         return properties.Lifetime();
 309 }
 310
 311 double Creature::Fertility() const noexcept {
 312         return properties.Fertility() * AgeFactor(0.25);
 313 }
 314
 315 double Creature::Mutability() const noexcept {
 316         return properties.Mutability();
 317 }
 318
 319 double Creature::Adaptability() const noexcept {
 320         return properties.Adaptability();
 321 }
 322
 323 double Creature::OffspringMass() const noexcept {
 324         return properties.OffspringMass();
 325 }
 326
 327 double Creature::PerceptionRange() const noexcept {
 328         return 3.0 * (Dexerty() / (Dexerty() + 1)) + Size();
 329 }
 330
 331 double Creature::PerceptionOmniRange() const noexcept {
 332         return 0.5 * (Dexerty() / (Dexerty() + 1)) + Size();
 333 }
 334
 335 double Creature::PerceptionField() const noexcept {
 336         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 337         return 0.8 - (Dexerty() / (Dexerty() + 1));
 338 }
 339
 340 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 341         const glm::dvec3 diff(p - situation.Position());
 342         double omni_range = PerceptionOmniRange();
 343         if (length2(diff) < omni_range * omni_range) return true;
 344         double range = PerceptionRange();
 345         if (length2(diff) > range * range) return false;
 346         return dot(normalize(diff), situation.Heading()) > PerceptionField();
 347 }
 348
 349 double Creature::OffspringChance() const noexcept {
 350         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 351 }
 352
 353 double Creature::MutateChance() const noexcept {
 354         return GetProperties().Mutability() * (1.0 / 3600.0);
 355 }
 356
 357 double Creature::AdaptChance() const noexcept {
 358         return GetProperties().Adaptability() * (1.0 / 120.0);
 359 }
 360
 361 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 362         g->Enable();
 363         goals.emplace_back(std::move(g));
 364 }
 365
 366 namespace {
 367
 368 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 369         return b->Urgency() < a->Urgency();
 370 }
 371
 372 }
 373
 374 void Creature::Tick(double dt) {
 375         TickState(dt);
 376         TickStats(dt);
 377         TickBrain(dt);
 378 }
 379
 380 void Creature::TickState(double dt) {
 381         steering.MaxSpeed(Dexerty());
 382         steering.MaxForce(Strength());
 383         Situation::State state(situation.GetState());
 384         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 385         Situation::Derivative b(Step(a, dt * 0.5));
 386         Situation::Derivative c(Step(b, dt * 0.5));
 387         Situation::Derivative d(Step(c, dt));
 388         Situation::Derivative f(
 389                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 390                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 391         );
 392         state.pos += f.vel * dt;
 393         state.vel += f.acc * dt;
 394         situation.EnforceConstraints(state);
 395         if (length2(state.vel) > 0.000001) {
 396                 glm::dvec3 nvel(normalize(state.vel));
 397                 double ang = angle(nvel, state.dir);
 398                 double turn_rate = PI * 0.75 * dt;
 399                 if (ang < turn_rate) {
 400                         state.dir = normalize(state.vel);
 401                 } else if (std::abs(ang - PI) < 0.001) {
 402                         state.dir = rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 403                 } else {
 404                         state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
 405                 }
 406         }
 407         situation.SetState(state);
 408         // work is force times distance
 409         DoWork(length(f.acc) * Mass() * length(f.vel) * dt);
 410 }
 411
 412 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 413         Situation::State s = situation.GetState();
 414         s.pos += ds.vel * dt;
 415         s.vel += ds.acc * dt;
 416         glm::dvec3 force(steering.Force(s));
 417         // gravity = antinormal * mass * Gm / r²
 418         double elevation = situation.GetPlanet().DistanceAt(s.pos);
 419         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 420         force += glm::dvec3(
 421                 -normal
 422                 * Mass() * situation.GetPlanet().GravitationalParameter()
 423                 / (elevation * elevation));
 424         // if net force is applied and in contact with surface
 425         if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
 426                 // apply friction = -|normal force| * tangential force * coefficient
 427                 glm::dvec3 fn(normal * dot(force, normal));
 428                 glm::dvec3 ft(force - fn);
 429                 double u = 0.4;
 430                 glm::dvec3 friction(-length(fn) * ft * u);
 431                 force += friction;
 432         }
 433         return {
 434                 s.vel,
 435                 force / Mass()
 436         };
 437 }
 438
 439 void Creature::TickStats(double dt) {
 440         for (auto &s : stats.stat) {
 441                 s.Add(s.gain * dt);
 442         }
 443         // TODO: damage values depending on properties
 444         if (stats.Breath().Full()) {
 445                 constexpr double dps = 1.0 / 4.0;
 446                 Hurt(dps * dt);
 447         }
 448         if (stats.Thirst().Full()) {
 449                 constexpr double dps = 1.0 / 32.0;
 450                 Hurt(dps * dt);
 451         }
 452         if (stats.Hunger().Full()) {
 453                 constexpr double dps = 1.0 / 128.0;
 454                 Hurt(dps * dt);
 455         }
 456         if (!situation.Moving()) {
 457                 // double exhaustion recovery when standing still
 458                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 459         }
 460 }
 461
 462 void Creature::TickBrain(double dt) {
 463         bg_task->Tick(dt);
 464         bg_task->Action();
 465         memory.Tick(dt);
 466         // do background stuff
 467         if (goals.empty()) {
 468                 return;
 469         }
 470         for (auto &goal : goals) {
 471                 goal->Tick(dt);
 472         }
 473         // if active goal can be interrupted, check priorities
 474         if (goals.size() > 1 && goals[0]->Interruptible()) {
 475                 std::sort(goals.begin(), goals.end(), GoalCompare);
 476         }
 477         goals[0]->Action();
 478         for (auto goal = goals.begin(); goal != goals.end();) {
 479                 if ((*goal)->Complete()) {
 480                         goals.erase(goal);
 481                 } else {
 482                         ++goal;
 483                 }
 484         }
 485 }
 486
 487 math::AABB Creature::CollisionBox() const noexcept {
 488         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 489 }
 490
 491 glm::dmat4 Creature::CollisionTransform() const noexcept {
 492         const double half_size = size * 0.5;
 493         const glm::dvec3 &pos = situation.Position();
 494         glm::dmat3 orient;
 495         orient[1] = situation.GetPlanet().NormalAt(pos);
 496         orient[2] = situation.Heading();
 497         if (std::abs(dot(orient[1], orient[2])) > 0.999) {
 498                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 499         }
 500         orient[0] = normalize(cross(orient[1], orient[2]));
 501         orient[2] = normalize(cross(orient[0], orient[1]));
 502         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 503                 * glm::dmat4(orient);
 504 }
 505
 506 glm::dmat4 Creature::LocalTransform() noexcept {
 507         const double half_size = size * 0.5;
 508         return CollisionTransform()
 509                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 510 }
 511
 512 void Creature::BuildVAO() {
 513         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 514         vao->Bind();
 515         vao->BindAttributes();
 516         vao->EnableAttribute(0);
 517         vao->EnableAttribute(1);
 518         vao->EnableAttribute(2);
 519         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 520         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 521         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 522         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 523         {
 524                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 525                 const float offset = 1.0f;
 526                 for (int surface = 0; surface < 6; ++surface) {
 527                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 528                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 529
 530                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 531                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 532                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 533                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 534                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 535                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 536                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 537                         attrib[4 * surface + 0].texture.y = 1.0f;
 538                         attrib[4 * surface + 0].texture.z = surface;
 539
 540                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 541                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 542                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 543                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 544                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 545                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 546                         attrib[4 * surface + 1].texture.x = tex_u_end;
 547                         attrib[4 * surface + 1].texture.y = 1.0f;
 548                         attrib[4 * surface + 1].texture.z = surface;
 549
 550                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 551                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 552                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 553                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 554                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 555                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 556                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 557                         attrib[4 * surface + 2].texture.y = 0.0f;
 558                         attrib[4 * surface + 2].texture.z = surface;
 559
 560                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 561                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 562                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 563                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 564                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 565                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 566                         attrib[4 * surface + 3].texture.x = tex_u_end;
 567                         attrib[4 * surface + 3].texture.y = 0.0f;
 568                         attrib[4 * surface + 3].texture.z = surface;
 569                 }
 570         }
 571         vao->BindElements();
 572         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 573         {
 574                 auto element = vao->MapElements(GL_WRITE_ONLY);
 575                 for (int surface = 0; surface < 3; ++surface) {
 576                         element[6 * surface + 0] = 4 * surface + 0;
 577                         element[6 * surface + 1] = 4 * surface + 2;
 578                         element[6 * surface + 2] = 4 * surface + 1;
 579                         element[6 * surface + 3] = 4 * surface + 1;
 580                         element[6 * surface + 4] = 4 * surface + 2;
 581                         element[6 * surface + 5] = 4 * surface + 3;
 582                 }
 583                 for (int surface = 3; surface < 6; ++surface) {
 584                         element[6 * surface + 0] = 4 * surface + 0;
 585                         element[6 * surface + 1] = 4 * surface + 1;
 586                         element[6 * surface + 2] = 4 * surface + 2;
 587                         element[6 * surface + 3] = 4 * surface + 2;
 588                         element[6 * surface + 4] = 4 * surface + 1;
 589                         element[6 * surface + 5] = 4 * surface + 3;
 590                 }
 591         }
 592         vao->Unbind();
 593 }
 594
 595 void Creature::KillVAO() {
 596         vao.reset();
 597 }
 598
 599 void Creature::Draw(graphics::Viewport &viewport) {
 600         if (!vao) return;
 601         vao->Bind();
 602         vao->DrawTriangles(6 * 6);
 603 }
 604
 605
 606 void Spawn(Creature &c, world::Planet &p) {
 607         p.AddCreature(&c);
 608         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 609         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 610
 611         // probe surrounding area for common resources
 612         int start = p.SideLength() / 2 - 2;
 613         int end = start + 5;
 614         std::map<int, double> yields;
 615         for (int y = start; y < end; ++y) {
 616                 for (int x = start; x < end; ++x) {
 617                         const world::TileType &t = p.TypeAt(0, x, y);
 618                         for (auto yield : t.resources) {
 619                                 yields[yield.resource] += yield.ubiquity;
 620                         }
 621                 }
 622         }
 623         int liquid = -1;
 624         int solid = -1;
 625         for (auto e : yields) {
 626                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 627                         if (liquid < 0 || e.second > yields[liquid]) {
 628                                 liquid = e.first;
 629                         }
 630                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 631                         if (solid < 0 || e.second > yields[solid]) {
 632                                 solid = e.first;
 633                         }
 634                 }
 635         }
 636
 637         Genome genome;
 638         genome.properties.Strength() = { 2.0, 0.1 };
 639         genome.properties.Stamina() = { 2.0, 0.1 };
 640         genome.properties.Dexerty() = { 2.0, 0.1 };
 641         genome.properties.Intelligence() = { 1.0, 0.1 };
 642         genome.properties.Lifetime() = { 480.0, 60.0 };
 643         genome.properties.Fertility() = { 0.5, 0.03 };
 644         genome.properties.Mutability() = { 0.9, 0.1 };
 645         genome.properties.Adaptability() = { 0.9, 0.1 };
 646         genome.properties.OffspringMass() = { 0.3, 0.02 };
 647
 648         glm::dvec3 color_avg(0.0);
 649         double color_divisor = 0.0;
 650
 651         if (p.HasAtmosphere()) {
 652                 c.AddMass(p.Atmosphere(), 0.01);
 653                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 654                 color_divisor += 0.1;
 655         }
 656         if (liquid > -1) {
 657                 c.AddMass(liquid, 0.3);
 658                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 659                 color_divisor += 0.5;
 660         }
 661         if (solid > -1) {
 662                 c.AddMass(solid, 0.1);
 663                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 664                 color_divisor += 1.0;
 665         }
 666
 667         if (color_divisor > 0.001) {
 668                 color_avg /= color_divisor;
 669         }
 670         glm::dvec3 hsl = rgb2hsl(color_avg);
 671         genome.base_hue = { hsl.x, 0.01 };
 672         genome.base_saturation = { hsl.y, 0.01 };
 673         genome.base_lightness = { hsl.z, 0.01 };
 674         // use opposite color as start highlight
 675         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 676         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 677         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 678
 679         genome.Configure(c);
 680 }
 681
 682 void Genome::Configure(Creature &c) const {
 683         c.GetGenome() = *this;
 684
 685         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 686
 687         c.GetProperties() = Instantiate(properties, random);
 688
 689         // TODO: derive stats from properties
 690         c.GetStats().Damage().gain = (-1.0 / 100.0);
 691         c.GetStats().Breath().gain = (1.0 / 5.0);
 692         c.GetStats().Thirst().gain = (1.0 / 60.0);
 693         c.GetStats().Hunger().gain = (1.0 / 200.0);
 694         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 695         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 696         c.GetStats().Boredom().gain = (1.0 / 300.0);
 697
 698         glm::dvec3 base_color(
 699                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 700                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 701                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 702         );
 703         glm::dvec3 highlight_color(
 704                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 705                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 706                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 707         );
 708         c.BaseColor(hsl2rgb(base_color));
 709         c.HighlightColor(hsl2rgb(highlight_color));
 710         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 711         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 712 }
 713
 714
 715 void Split(Creature &c) {
 716         Creature *a = new Creature(c.GetSimulation());
 717         const Situation &s = c.GetSituation();
 718         a->AddParent(c);
 719         a->Name(c.GetSimulation().Assets().name.Sequential());
 720         c.GetGenome().Configure(*a);
 721         for (const auto &cmp : c.GetComposition()) {
 722                 a->AddMass(cmp.resource, cmp.value * 0.5);
 723         }
 724         s.GetPlanet().AddCreature(a);
 725         // TODO: duplicate situation somehow
 726         a->GetSituation().SetPlanetSurface(
 727                 s.GetPlanet(),
 728                 s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
 729         a->BuildVAO();
 730         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 731
 732         Creature *b = new Creature(c.GetSimulation());
 733         b->AddParent(c);
 734         b->Name(c.GetSimulation().Assets().name.Sequential());
 735         c.GetGenome().Configure(*b);
 736         for (const auto &cmp : c.GetComposition()) {
 737                 b->AddMass(cmp.resource, cmp.value * 0.5);
 738         }
 739         s.GetPlanet().AddCreature(b);
 740         b->GetSituation().SetPlanetSurface(
 741                 s.GetPlanet(),
 742                 s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
 743         b->BuildVAO();
 744         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 745
 746         c.Die();
 747 }
 748
 749
 750 Memory::Memory(Creature &c)
 751 : c(c) {
 752 }
 753
 754 Memory::~Memory() {
 755 }
 756
 757 void Memory::Erase() {
 758         known_types.clear();
 759 }
 760
 761 void Memory::Tick(double dt) {
 762         Situation &s = c.GetSituation();
 763         if (s.OnSurface()) {
 764                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 765         }
 766 }
 767
 768 void Memory::TrackStay(const Location &l, double t) {
 769         const world::TileType &type = l.planet->TileTypeAt(l.position);
 770         auto entry = known_types.find(type.id);
 771         if (entry != known_types.end()) {
 772                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 773                         // "it's been ages"
 774                         if (entry->second.time_spent > c.Age() * 0.25) {
 775                                 // the place is very familiar
 776                                 c.GetStats().Boredom().Add(-0.2);
 777                         } else {
 778                                 // infrequent stays
 779                                 c.GetStats().Boredom().Add(-0.1);
 780                         }
 781                 }
 782                 entry->second.last_been = c.GetSimulation().Time();
 783                 entry->second.last_loc = l;
 784                 entry->second.time_spent += t;
 785         } else {
 786                 known_types.emplace(type.id, Stay{
 787                         c.GetSimulation().Time(),
 788                         l,
 789                         c.GetSimulation().Time(),
 790                         l,
 791                         t
 792                 });
 793                 // completely new place, interesting
 794                 // TODO: scale by personality trait
 795                 c.GetStats().Boredom().Add(-0.25);
 796         }
 797 }
 798
 799
 800 NameGenerator::NameGenerator()
 801 : counter(0) {
 802 }
 803
 804 NameGenerator::~NameGenerator() {
 805 }
 806
 807 std::string NameGenerator::Sequential() {
 808         std::stringstream ss;
 809         ss << "Blob " << ++counter;
 810         return ss.str();
 811 }
 812
 813
 814 Situation::Situation()
 815 : planet(nullptr)
 816 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 817 , type(LOST) {
 818 }
 819
 820 Situation::~Situation() {
 821 }
 822
 823 bool Situation::OnPlanet() const noexcept {
 824         return type == PLANET_SURFACE;
 825 }
 826
 827 bool Situation::OnSurface() const noexcept {
 828         return type == PLANET_SURFACE;
 829 }
 830
 831 world::Tile &Situation::GetTile() const noexcept {
 832         return planet->TileAt(state.pos);
 833 }
 834
 835 const world::TileType &Situation::GetTileType() const noexcept {
 836         return planet->TileTypeAt(state.pos);
 837 }
 838
 839 void Situation::Move(const glm::dvec3 &dp) noexcept {
 840         state.pos += dp;
 841         EnforceConstraints(state);
 842 }
 843
 844 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 845         state.vel += dv;
 846         EnforceConstraints(state);
 847 }
 848
 849 void Situation::EnforceConstraints(State &s) noexcept {
 850         if (OnSurface()) {
 851                 double r = GetPlanet().Radius();
 852                 if (length2(s.pos) < r * r) {
 853                         s.pos = normalize(s.pos) * r;
 854                 }
 855         }
 856 }
 857
 858 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
 859         type = PLANET_SURFACE;
 860         planet = &p;
 861         state.pos = pos;
 862         EnforceConstraints(state);
 863 }
 864
 865
 866 Steering::Steering(const Creature &c)
 867 : c(c)
 868 , target(0.0)
 869 , haste(0.0)
 870 , max_force(1.0)
 871 , max_speed(1.0)
 872 , min_dist(0.0)
 873 , max_look(0.0)
 874 , separating(false)
 875 , halting(true)
 876 , seeking(false)
 877 , arriving(false) {
 878 }
 879
 880 Steering::~Steering() {
 881 }
 882
 883 void Steering::Off() noexcept {
 884         separating = false;
 885         halting = false;
 886         seeking = false;
 887         arriving = false;
 888 }
 889
 890 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 891         separating = true;
 892         min_dist = min_distance;
 893         max_look = max_lookaround;
 894 }
 895
 896 void Steering::DontSeparate() noexcept {
 897         separating = false;
 898 }
 899
 900 void Steering::ResumeSeparate() noexcept {
 901         separating = true;
 902 }
 903
 904 void Steering::Halt() noexcept {
 905         halting = true;
 906         seeking = false;
 907         arriving = false;
 908 }
 909
 910 void Steering::Pass(const glm::dvec3 &t) noexcept {
 911         target = t;
 912         halting = false;
 913         seeking = true;
 914         arriving = false;
 915 }
 916
 917 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 918         target = t;
 919         halting = false;
 920         seeking = false;
 921         arriving = true;
 922 }
 923
 924 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 925         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
 926         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
 927         glm::dvec3 result(0.0);
 928         if (separating) {
 929                 // TODO: off surface situation
 930                 glm::dvec3 repulse(0.0);
 931                 const Situation &s = c.GetSituation();
 932                 for (auto &other : s.GetPlanet().Creatures()) {
 933                         if (&*other == &c) continue;
 934                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
 935                         if (length2(diff) > max_look * max_look) continue;
 936                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
 937                         double sep = glm::clamp(length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
 938                         repulse += normalize(diff) * (1.0 - sep / min_dist) * force;
 939                 }
 940                 result += repulse;
 941         }
 942         if (halting) {
 943                 // break twice as hard
 944                 result += -2.0 * s.vel * force;
 945         }
 946         if (seeking) {
 947                 glm::dvec3 diff = target - s.pos;
 948                 if (!allzero(diff)) {
 949                         result += TargetVelocity(s, (normalize(diff) * speed), force);
 950                 }
 951         }
 952         if (arriving) {
 953                 glm::dvec3 diff = target - s.pos;
 954                 double dist = length(diff);
 955                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 956                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
 957                 }
 958         }
 959         if (length2(result) > max_force * max_force) {
 960                 result = normalize(result) * max_force;
 961         }
 962         return result;
 963 }
 964
 965 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
 966         return (vel - s.vel) * acc;
 967 }
 968
 969 }
 970 }