src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Situation.hpp"
   4 #include "Steering.hpp"
   5
   6 #include "Goal.hpp"
   7 #include "IdleGoal.hpp"
   8 #include "InhaleNeed.hpp"
   9 #include "IngestNeed.hpp"
  10 #include "Need.hpp"
  11 #include "../app/Assets.hpp"
  12 #include "../world/Body.hpp"
  13 #include "../world/Planet.hpp"
  14 #include "../world/Simulation.hpp"
  15 #include "../world/TileType.hpp"
  16
  17 #include <algorithm>
  18 #include <glm/gtx/transform.hpp>
  19
  20 #include <iostream>
  21 #include <glm/gtx/io.hpp>
  22
  23
  24 namespace blobs {
  25 namespace creature {
  26
  27 Creature::Creature(world::Simulation &sim)
  28 : sim(sim)
  29 , name()
  30 , genome()
  31 , mass(1.0)
  32 , density(1.0)
  33 , size(1.0)
  34 , birth(sim.Time())
  35 , health(1.0)
  36 , on_death()
  37 , removable(false)
  38 , needs()
  39 , goals()
  40 , situation()
  41 , steering()
  42 , vel(0.0)
  43 , vao() {
  44 }
  45
  46 Creature::~Creature() {
  47 }
  48
  49 void Creature::Grow(double amount) noexcept {
  50         Mass(std::min(properties.max_mass, mass + amount));
  51 }
  52
  53 void Creature::Hurt(double dt) noexcept {
  54         health = std::max(0.0, health - dt);
  55         if (health == 0.0) {
  56                 std::cout << "[" << int(sim.Time()) << "s] "
  57                 << name << " died" << std::endl;
  58                 Die();
  59         }
  60 }
  61
  62 void Creature::Die() noexcept {
  63         needs.clear();
  64         goals.clear();
  65         steering.Halt();
  66         if (on_death) {
  67                 on_death(*this);
  68         }
  69         Remove();
  70 }
  71
  72 double Creature::Size() const noexcept {
  73         return size;
  74 }
  75
  76 double Creature::Age() const noexcept {
  77         return sim.Time() - birth;
  78 }
  79
  80 double Creature::Fertility() const noexcept {
  81         double age = Age();
  82         if (mass < properties.fertile_mass
  83                 || age < properties.fertile_age
  84                 || age > properties.infertile_age) {
  85                 return 0.0;
  86         }
  87         return properties.fertility / 3600.0;
  88 }
  89
  90 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
  91         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
  92         g->Enable();
  93         goals.emplace_back(std::move(g));
  94 }
  95
  96 namespace {
  97
  98 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
  99         return b->Urgency() < a->Urgency();
 100 }
 101
 102 }
 103
 104 void Creature::Tick(double dt) {
 105         // TODO: better integration method
 106         glm::dvec3 acc(steering.Acceleration(*this));
 107         situation.Move(vel * dt);
 108         vel += acc * dt;
 109
 110         if (Age() > properties.death_age) {
 111                 std::cout << "[" << int(sim.Time()) << "s] "
 112                 << name << " died of old age" << std::endl;
 113         }
 114
 115         for (auto &need : needs) {
 116                 need->Tick(dt);
 117         }
 118         for (auto &goal : goals) {
 119                 goal->Tick(dt);
 120         }
 121         // do background stuff
 122         for (auto &need : needs) {
 123                 need->ApplyEffect(*this, dt);
 124         }
 125         if (goals.empty()) {
 126                 return;
 127         }
 128         // if active goal can be interrupted, check priorities
 129         if (goals.size() > 1 && goals[0]->Interruptible()) {
 130                 Goal *old_top = &*goals[0];
 131                 std::sort(goals.begin(), goals.end(), GoalCompare);
 132                 Goal *new_top = &*goals[0];
 133                 if (new_top != old_top) {
 134                         std::cout << "[" << int(sim.Time()) << "s] " << name
 135                                 << " changing goal from " << old_top->Describe()
 136                                 << " to " << new_top->Describe() << std::endl;
 137                 }
 138         }
 139         goals[0]->Action();
 140         for (auto goal = goals.begin(); goal != goals.end();) {
 141                 if ((*goal)->Complete()) {
 142                         std::cout << "[" << int(sim.Time()) << "s] " << name
 143                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 144                         goals.erase(goal);
 145                 } else {
 146                         ++goal;
 147                 }
 148         }
 149 }
 150
 151 glm::dmat4 Creature::LocalTransform() noexcept {
 152         // TODO: surface transform
 153         const double half_size = size * 0.5;
 154         const glm::dvec3 &pos = situation.Position();
 155         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 156                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 157 }
 158
 159 void Creature::BuildVAO() {
 160         vao.Bind();
 161         vao.BindAttributes();
 162         vao.EnableAttribute(0);
 163         vao.EnableAttribute(1);
 164         vao.EnableAttribute(2);
 165         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 166         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 167         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 168         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 169         {
 170                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 171                 const float offset = 1.0f;
 172                 for (int surface = 0; surface < 6; ++surface) {
 173                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 174                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 175
 176                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 177                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 178                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 179                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 180                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 181                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 182                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 183                         attrib[4 * surface + 0].texture.y = 1.0f;
 184                         attrib[4 * surface + 0].texture.z = surface;
 185
 186                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 187                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 188                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 189                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 190                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 191                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 192                         attrib[4 * surface + 1].texture.x = tex_u_end;
 193                         attrib[4 * surface + 1].texture.y = 1.0f;
 194                         attrib[4 * surface + 1].texture.z = surface;
 195
 196                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 197                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 198                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 199                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 200                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 201                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 202                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 203                         attrib[4 * surface + 2].texture.y = 0.0f;
 204                         attrib[4 * surface + 2].texture.z = surface;
 205
 206                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 207                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 208                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 209                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 210                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 211                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 212                         attrib[4 * surface + 3].texture.x = tex_u_end;
 213                         attrib[4 * surface + 3].texture.y = 0.0f;
 214                         attrib[4 * surface + 3].texture.z = surface;
 215                 }
 216         }
 217         vao.BindElements();
 218         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 219         {
 220                 auto element = vao.MapElements(GL_WRITE_ONLY);
 221                 for (int surface = 0; surface < 3; ++surface) {
 222                         element[6 * surface + 0] = 4 * surface + 0;
 223                         element[6 * surface + 1] = 4 * surface + 2;
 224                         element[6 * surface + 2] = 4 * surface + 1;
 225                         element[6 * surface + 3] = 4 * surface + 1;
 226                         element[6 * surface + 4] = 4 * surface + 2;
 227                         element[6 * surface + 5] = 4 * surface + 3;
 228                 }
 229                 for (int surface = 3; surface < 6; ++surface) {
 230                         element[6 * surface + 0] = 4 * surface + 0;
 231                         element[6 * surface + 1] = 4 * surface + 1;
 232                         element[6 * surface + 2] = 4 * surface + 2;
 233                         element[6 * surface + 3] = 4 * surface + 2;
 234                         element[6 * surface + 4] = 4 * surface + 1;
 235                         element[6 * surface + 5] = 4 * surface + 3;
 236                 }
 237         }
 238         vao.Unbind();
 239 }
 240
 241 void Creature::Draw(graphics::Viewport &viewport) {
 242         vao.Bind();
 243         vao.DrawTriangles(6 * 6);
 244 }
 245
 246
 247 void Spawn(Creature &c, world::Planet &p) {
 248         p.AddCreature(&c);
 249         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 250
 251         // probe surrounding area for common resources
 252         int start = p.SideLength() / 2 - 2;
 253         int end = start + 5;
 254         std::map<int, double> yields;
 255         for (int y = start; y < end; ++y) {
 256                 for (int x = start; x < end; ++x) {
 257                         const world::TileType &t = p.TypeAt(0, x, y);
 258                         for (auto yield : t.resources) {
 259                                 yields[yield.resource] += yield.ubiquity;
 260                         }
 261                 }
 262         }
 263         int liquid = -1;
 264         int solid = -1;
 265         for (auto e : yields) {
 266                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 267                         if (liquid < 0 || e.second > yields[liquid]) {
 268                                 liquid = e.first;
 269                         }
 270                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 271                         if (solid < 0 || e.second > yields[solid]) {
 272                                 solid = e.first;
 273                         }
 274                 }
 275         }
 276
 277         Genome genome;
 278         genome.properties.birth_mass = { 0.5, 0.1 };
 279         genome.properties.fertile_mass = { 1.0, 0.1 };
 280         genome.properties.max_mass = { 1.2, 0.1 };
 281         genome.properties.fertile_age = { 60.0, 5.0 };
 282         genome.properties.infertile_age = { 700.0, 30.0 };
 283         genome.properties.death_age = { 900.0, 90.0 };
 284         genome.properties.fertility = { 0.5, 0.01 };
 285
 286         if (p.HasAtmosphere()) {
 287                 genome.composition.push_back({
 288                         p.Atmosphere(),    // resource
 289                         { 0.01, 0.00001 }, // mass
 290                         { 0.5,  0.001 },   // intake
 291                         { 0.1,  0.0005 },  // penalty
 292                         { 0.0,  0.0 },     // growth
 293                 });
 294         }
 295         if (liquid > -1) {
 296                 genome.composition.push_back({
 297                         liquid,          // resource
 298                         { 0.6,  0.01 },  // mass
 299                         { 0.2,  0.001 }, // intake
 300                         { 0.01, 0.002 }, // penalty
 301                         { 0.1, 0.0 },   // growth
 302                 });
 303         }
 304         if (solid > -1) {
 305                 genome.composition.push_back({
 306                         solid,             // resource
 307                         { 0.4,   0.01 },   // mass
 308                         //{ 0.1,   0.001 },  // intake
 309                         { 0.4,   0.001 },  // intake
 310                         { 0.001, 0.0001 }, // penalty
 311                         { 10.0,  0.002 },   // growth
 312                 });
 313         }
 314
 315         genome.Configure(c);
 316 }
 317
 318 void Genome::Configure(Creature &c) const {
 319         c.GetGenome() = *this;
 320
 321         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 322
 323         c.GetProperties().birth_mass = properties.birth_mass.FakeNormal(random.SNorm());
 324         c.GetProperties().fertile_mass = properties.fertile_mass.FakeNormal(random.SNorm());
 325         c.GetProperties().max_mass = properties.max_mass.FakeNormal(random.SNorm());
 326         c.GetProperties().fertile_age = properties.fertile_age.FakeNormal(random.SNorm());
 327         c.GetProperties().infertile_age = properties.infertile_age.FakeNormal(random.SNorm());
 328         c.GetProperties().death_age = properties.death_age.FakeNormal(random.SNorm());
 329         c.GetProperties().fertility = properties.fertility.FakeNormal(random.SNorm());
 330
 331         double mass = 0.0;
 332         double volume = 0.0;
 333         for (const auto &comp : composition) {
 334                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 335                 double intake = comp.intake.FakeNormal(random.SNorm());
 336                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 337
 338                 mass += comp_mass;
 339                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 340
 341                 std::unique_ptr<Need> need;
 342                 if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) {
 343                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 344                         need->gain = intake * 0.05;
 345                 } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) {
 346                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 347                         need->gain = intake * 0.1;
 348                 } else {
 349                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 350                         need->gain = intake * 0.5;
 351                 }
 352                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 353                 need->growth = comp.growth.FakeNormal(random.SNorm());
 354                 need->inconvenient = 0.5;
 355                 need->critical = 0.95;
 356                 c.AddNeed(std::move(need));
 357         }
 358
 359         c.Mass(c.GetProperties().birth_mass);
 360         c.Density(mass / volume);
 361         c.GetSteering().MaxAcceleration(1.4);
 362         c.GetSteering().MaxSpeed(4.4);
 363         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 364 }
 365
 366
 367 void Split(Creature &c) {
 368         Creature *a = new Creature(c.GetSimulation());
 369         const Situation &s = c.GetSituation();
 370         // TODO: generate names
 371         a->Name("Blobby");
 372         // TODO: mutate
 373         c.GetGenome().Configure(*a);
 374         s.GetPlanet().AddCreature(a);
 375         // TODO: duplicate situation somehow
 376         a->GetSituation().SetPlanetSurface(
 377                 s.GetPlanet(), s.Surface(),
 378                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 379         a->BuildVAO();
 380
 381         Creature *b = new Creature(c.GetSimulation());
 382         b->Name("Sir Blobalot");
 383         c.GetGenome().Configure(*b);
 384         s.GetPlanet().AddCreature(b);
 385         b->GetSituation().SetPlanetSurface(
 386                 s.GetPlanet(), s.Surface(),
 387                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 388         b->BuildVAO();
 389
 390         c.Die();
 391 }
 392
 393
 394 Situation::Situation()
 395 : planet(nullptr)
 396 , position(0.0)
 397 , surface(0)
 398 , type(LOST) {
 399 }
 400
 401 Situation::~Situation() {
 402 }
 403
 404 bool Situation::OnPlanet() const noexcept {
 405         return type == PLANET_SURFACE;
 406 }
 407
 408 bool Situation::OnSurface() const noexcept {
 409         return type == PLANET_SURFACE;
 410 }
 411
 412 bool Situation::OnTile() const noexcept {
 413         glm::ivec2 t(planet->SurfacePosition(surface, position));
 414         return type == PLANET_SURFACE
 415                 && t.x >= 0 && t.x < planet->SideLength()
 416                 && t.y >= 0 && t.y < planet->SideLength();
 417 }
 418
 419 glm::ivec2 Situation::SurfacePosition() const noexcept {
 420         return planet->SurfacePosition(surface, position);
 421 }
 422
 423 world::Tile &Situation::GetTile() const noexcept {
 424         glm::ivec2 t(planet->SurfacePosition(surface, position));
 425         return planet->TileAt(surface, t.x, t.y);
 426 }
 427
 428 const world::TileType &Situation::GetTileType() const noexcept {
 429         glm::ivec2 t(planet->SurfacePosition(surface, position));
 430         return planet->TypeAt(surface, t.x, t.y);
 431 }
 432
 433 void Situation::Move(const glm::dvec3 &dp) noexcept {
 434         position += dp;
 435         if (OnSurface()) {
 436                 // enforce ground constraint
 437                 if (Surface() < 3) {
 438                         position[(Surface() + 2) % 3] = std::max(0.0, position[(Surface() + 2) % 3]);
 439                 } else {
 440                         position[(Surface() + 2) % 3] = std::min(0.0, position[(Surface() + 2) % 3]);
 441                 }
 442         }
 443 }
 444
 445 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 446         type = PLANET_SURFACE;
 447         planet = &p;
 448         surface = srf;
 449         position = pos;
 450 }
 451
 452
 453 Steering::Steering()
 454 : seek_target(0.0)
 455 , max_accel(1.0)
 456 , max_speed(1.0)
 457 , halting(false)
 458 , seeking(false) {
 459 }
 460
 461 Steering::~Steering() {
 462 }
 463
 464 void Steering::Halt() noexcept {
 465         halting = true;
 466         seeking = false;
 467 }
 468
 469 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 470         seek_target = t;
 471         halting = false;
 472         seeking = true;
 473 }
 474
 475 glm::dvec3 Steering::Acceleration(Creature &c) const noexcept {
 476         glm::dvec3 acc(0.0);
 477         if (halting) {
 478                 SumForce(acc, c.Velocity() * -max_accel);
 479         }
 480         if (seeking) {
 481                 glm::dvec3 diff = seek_target - c.GetSituation().Position();
 482                 if (!allzero(diff)) {
 483                         SumForce(acc, ((normalize(diff) * max_speed) - c.Velocity()) * max_accel);
 484                 }
 485         }
 486         return acc;
 487 }
 488
 489 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 490         if (allzero(in) || anynan(in)) {
 491                 return false;
 492         }
 493         double cur = allzero(out) ? 0.0 : length(out);
 494         double rem = max_accel - cur;
 495         if (rem < 0.0) {
 496                 return true;
 497         }
 498         double add = length(in);
 499         if (add > rem) {
 500                 // this method is off if in and out are in different
 501                 // directions, but gives okayish results
 502                 out += in * (1.0 / add);
 503                 return true;
 504         } else {
 505                 out += in;
 506                 return false;
 507         }
 508 }
 509
 510 }
 511 }