src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Memory.hpp"
   4 #include "NameGenerator.hpp"
   5 #include "Situation.hpp"
   6 #include "Steering.hpp"
   7
   8 #include "Goal.hpp"
   9 #include "IdleGoal.hpp"
  10 #include "InhaleNeed.hpp"
  11 #include "IngestNeed.hpp"
  12 #include "Need.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../world/Body.hpp"
  15 #include "../world/Planet.hpp"
  16 #include "../world/Simulation.hpp"
  17 #include "../world/TileType.hpp"
  18
  19 #include <algorithm>
  20 #include <sstream>
  21 #include <glm/gtx/transform.hpp>
  22
  23 #include <iostream>
  24 #include <glm/gtx/io.hpp>
  25
  26
  27 namespace blobs {
  28 namespace creature {
  29
  30 Creature::Creature(world::Simulation &sim)
  31 : sim(sim)
  32 , name()
  33 , genome()
  34 , mass(1.0)
  35 , density(1.0)
  36 , size(1.0)
  37 , birth(sim.Time())
  38 , health(1.0)
  39 , on_death()
  40 , removable(false)
  41 , memory(*this)
  42 , needs()
  43 , goals()
  44 , situation()
  45 , steering()
  46 , vao() {
  47 }
  48
  49 Creature::~Creature() {
  50 }
  51
  52 void Creature::Grow(double amount) noexcept {
  53         Mass(std::min(properties.max_mass, mass + amount));
  54 }
  55
  56 void Creature::Hurt(double dt) noexcept {
  57         health = std::max(0.0, health - dt);
  58         if (health == 0.0) {
  59                 std::cout << "[" << int(sim.Time()) << "s] "
  60                 << name << " died" << std::endl;
  61                 Die();
  62         }
  63 }
  64
  65 void Creature::Die() noexcept {
  66         needs.clear();
  67         goals.clear();
  68         steering.Halt();
  69         if (on_death) {
  70                 on_death(*this);
  71         }
  72         Remove();
  73 }
  74
  75 double Creature::Size() const noexcept {
  76         return size;
  77 }
  78
  79 double Creature::Age() const noexcept {
  80         return sim.Time() - birth;
  81 }
  82
  83 double Creature::Fertility() const noexcept {
  84         double age = Age();
  85         if (mass < properties.fertile_mass
  86                 || age < properties.fertile_age
  87                 || age > properties.infertile_age) {
  88                 return 0.0;
  89         }
  90         return properties.fertility / 3600.0;
  91 }
  92
  93 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
  94         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
  95         g->Enable();
  96         goals.emplace_back(std::move(g));
  97 }
  98
  99 namespace {
 100
 101 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 102         return b->Urgency() < a->Urgency();
 103 }
 104
 105 }
 106
 107 void Creature::Tick(double dt) {
 108         {
 109                 Situation::State state(situation.GetState());
 110                 Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 111                 Situation::Derivative b(Step(a, dt * 0.5));
 112                 Situation::Derivative c(Step(b, dt * 0.5));
 113                 Situation::Derivative d(Step(c, dt));
 114                 Situation::Derivative f(
 115                         (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 116                         (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 117                 );
 118                 state.pos += f.vel * dt;
 119                 state.vel += f.acc * dt;
 120                 situation.SetState(state);
 121         }
 122
 123         if (Age() > properties.death_age) {
 124                 std::cout << "[" << int(sim.Time()) << "s] "
 125                 << name << " died of old age" << std::endl;
 126         }
 127
 128         memory.Tick(dt);
 129         for (auto &need : needs) {
 130                 need->Tick(dt);
 131         }
 132         for (auto &goal : goals) {
 133                 goal->Tick(dt);
 134         }
 135         // do background stuff
 136         for (auto &need : needs) {
 137                 need->ApplyEffect(*this, dt);
 138         }
 139         if (goals.empty()) {
 140                 return;
 141         }
 142         // if active goal can be interrupted, check priorities
 143         if (goals.size() > 1 && goals[0]->Interruptible()) {
 144                 Goal *old_top = &*goals[0];
 145                 std::sort(goals.begin(), goals.end(), GoalCompare);
 146                 Goal *new_top = &*goals[0];
 147                 if (new_top != old_top) {
 148                         std::cout << "[" << int(sim.Time()) << "s] " << name
 149                                 << " changing goal from " << old_top->Describe()
 150                                 << " to " << new_top->Describe() << std::endl;
 151                 }
 152         }
 153         goals[0]->Action();
 154         for (auto goal = goals.begin(); goal != goals.end();) {
 155                 if ((*goal)->Complete()) {
 156                         std::cout << "[" << int(sim.Time()) << "s] " << name
 157                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 158                         goals.erase(goal);
 159                 } else {
 160                         ++goal;
 161                 }
 162         }
 163 }
 164
 165 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 166         Situation::State s = situation.GetState();
 167         s.pos += ds.vel * dt;
 168         s.vel += ds.acc * dt;
 169         return { s.vel, steering.Acceleration(s) };
 170 }
 171
 172 glm::dmat4 Creature::LocalTransform() noexcept {
 173         // TODO: surface transform
 174         const double half_size = size * 0.5;
 175         const glm::dvec3 &pos = situation.Position();
 176         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 177                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 178 }
 179
 180 void Creature::BuildVAO() {
 181         vao.Bind();
 182         vao.BindAttributes();
 183         vao.EnableAttribute(0);
 184         vao.EnableAttribute(1);
 185         vao.EnableAttribute(2);
 186         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 187         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 188         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 189         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 190         {
 191                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 192                 const float offset = 1.0f;
 193                 for (int surface = 0; surface < 6; ++surface) {
 194                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 195                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 196
 197                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 198                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 199                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 200                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 201                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 202                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 203                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 204                         attrib[4 * surface + 0].texture.y = 1.0f;
 205                         attrib[4 * surface + 0].texture.z = surface;
 206
 207                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 208                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 209                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 210                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 211                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 212                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 213                         attrib[4 * surface + 1].texture.x = tex_u_end;
 214                         attrib[4 * surface + 1].texture.y = 1.0f;
 215                         attrib[4 * surface + 1].texture.z = surface;
 216
 217                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 218                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 219                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 220                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 221                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 222                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 223                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 224                         attrib[4 * surface + 2].texture.y = 0.0f;
 225                         attrib[4 * surface + 2].texture.z = surface;
 226
 227                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 228                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 229                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 230                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 231                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 232                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 233                         attrib[4 * surface + 3].texture.x = tex_u_end;
 234                         attrib[4 * surface + 3].texture.y = 0.0f;
 235                         attrib[4 * surface + 3].texture.z = surface;
 236                 }
 237         }
 238         vao.BindElements();
 239         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 240         {
 241                 auto element = vao.MapElements(GL_WRITE_ONLY);
 242                 for (int surface = 0; surface < 3; ++surface) {
 243                         element[6 * surface + 0] = 4 * surface + 0;
 244                         element[6 * surface + 1] = 4 * surface + 2;
 245                         element[6 * surface + 2] = 4 * surface + 1;
 246                         element[6 * surface + 3] = 4 * surface + 1;
 247                         element[6 * surface + 4] = 4 * surface + 2;
 248                         element[6 * surface + 5] = 4 * surface + 3;
 249                 }
 250                 for (int surface = 3; surface < 6; ++surface) {
 251                         element[6 * surface + 0] = 4 * surface + 0;
 252                         element[6 * surface + 1] = 4 * surface + 1;
 253                         element[6 * surface + 2] = 4 * surface + 2;
 254                         element[6 * surface + 3] = 4 * surface + 2;
 255                         element[6 * surface + 4] = 4 * surface + 1;
 256                         element[6 * surface + 5] = 4 * surface + 3;
 257                 }
 258         }
 259         vao.Unbind();
 260 }
 261
 262 void Creature::Draw(graphics::Viewport &viewport) {
 263         vao.Bind();
 264         vao.DrawTriangles(6 * 6);
 265 }
 266
 267
 268 void Spawn(Creature &c, world::Planet &p) {
 269         p.AddCreature(&c);
 270         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 271
 272         // probe surrounding area for common resources
 273         int start = p.SideLength() / 2 - 2;
 274         int end = start + 5;
 275         std::map<int, double> yields;
 276         for (int y = start; y < end; ++y) {
 277                 for (int x = start; x < end; ++x) {
 278                         const world::TileType &t = p.TypeAt(0, x, y);
 279                         for (auto yield : t.resources) {
 280                                 yields[yield.resource] += yield.ubiquity;
 281                         }
 282                 }
 283         }
 284         int liquid = -1;
 285         int solid = -1;
 286         for (auto e : yields) {
 287                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 288                         if (liquid < 0 || e.second > yields[liquid]) {
 289                                 liquid = e.first;
 290                         }
 291                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 292                         if (solid < 0 || e.second > yields[solid]) {
 293                                 solid = e.first;
 294                         }
 295                 }
 296         }
 297
 298         Genome genome;
 299         genome.properties.birth_mass = { 0.5, 0.1 };
 300         genome.properties.fertile_mass = { 1.0, 0.1 };
 301         genome.properties.max_mass = { 1.2, 0.1 };
 302         genome.properties.fertile_age = { 60.0, 5.0 };
 303         genome.properties.infertile_age = { 700.0, 30.0 };
 304         genome.properties.death_age = { 900.0, 90.0 };
 305         genome.properties.fertility = { 0.5, 0.01 };
 306
 307         if (p.HasAtmosphere()) {
 308                 genome.composition.push_back({
 309                         p.Atmosphere(),    // resource
 310                         { 0.01, 0.00001 }, // mass
 311                         { 0.5,  0.001 },   // intake
 312                         { 0.1,  0.0005 },  // penalty
 313                         { 0.0,  0.0 },     // growth
 314                 });
 315         }
 316         if (liquid > -1) {
 317                 genome.composition.push_back({
 318                         liquid,          // resource
 319                         { 0.6,  0.01 },  // mass
 320                         { 0.2,  0.001 }, // intake
 321                         { 0.01, 0.002 }, // penalty
 322                         { 0.1, 0.0 },   // growth
 323                 });
 324         }
 325         if (solid > -1) {
 326                 genome.composition.push_back({
 327                         solid,             // resource
 328                         { 0.4,   0.01 },   // mass
 329                         //{ 0.1,   0.001 },  // intake
 330                         { 0.4,   0.001 },  // intake
 331                         { 0.001, 0.0001 }, // penalty
 332                         { 10.0,  0.002 },   // growth
 333                 });
 334         }
 335
 336         genome.Configure(c);
 337 }
 338
 339 void Genome::Configure(Creature &c) const {
 340         c.GetGenome() = *this;
 341
 342         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 343
 344         c.GetProperties().birth_mass = properties.birth_mass.FakeNormal(random.SNorm());
 345         c.GetProperties().fertile_mass = properties.fertile_mass.FakeNormal(random.SNorm());
 346         c.GetProperties().max_mass = properties.max_mass.FakeNormal(random.SNorm());
 347         c.GetProperties().fertile_age = properties.fertile_age.FakeNormal(random.SNorm());
 348         c.GetProperties().infertile_age = properties.infertile_age.FakeNormal(random.SNorm());
 349         c.GetProperties().death_age = properties.death_age.FakeNormal(random.SNorm());
 350         c.GetProperties().fertility = properties.fertility.FakeNormal(random.SNorm());
 351
 352         double mass = 0.0;
 353         double volume = 0.0;
 354         for (const auto &comp : composition) {
 355                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 356                 double intake = comp.intake.FakeNormal(random.SNorm());
 357                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 358
 359                 mass += comp_mass;
 360                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 361
 362                 std::unique_ptr<Need> need;
 363                 if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) {
 364                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 365                         need->gain = intake * 0.05;
 366                 } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) {
 367                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 368                         need->gain = intake * 0.1;
 369                 } else {
 370                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 371                         need->gain = intake * 0.5;
 372                 }
 373                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 374                 need->growth = comp.growth.FakeNormal(random.SNorm());
 375                 need->inconvenient = 0.5;
 376                 need->critical = 0.95;
 377                 c.AddNeed(std::move(need));
 378         }
 379
 380         c.Mass(c.GetProperties().birth_mass);
 381         c.Density(mass / volume);
 382         c.GetSteering().MaxAcceleration(1.4);
 383         c.GetSteering().MaxSpeed(4.4);
 384         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 385 }
 386
 387
 388 void Split(Creature &c) {
 389         Creature *a = new Creature(c.GetSimulation());
 390         const Situation &s = c.GetSituation();
 391         // TODO: generate names
 392         a->Name(c.GetSimulation().Assets().name.Sequential());
 393         // TODO: mutate
 394         c.GetGenome().Configure(*a);
 395         s.GetPlanet().AddCreature(a);
 396         // TODO: duplicate situation somehow
 397         a->GetSituation().SetPlanetSurface(
 398                 s.GetPlanet(), s.Surface(),
 399                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 400         a->BuildVAO();
 401
 402         Creature *b = new Creature(c.GetSimulation());
 403         b->Name(c.GetSimulation().Assets().name.Sequential());
 404         c.GetGenome().Configure(*b);
 405         s.GetPlanet().AddCreature(b);
 406         b->GetSituation().SetPlanetSurface(
 407                 s.GetPlanet(), s.Surface(),
 408                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 409         b->BuildVAO();
 410
 411         c.Die();
 412 }
 413
 414
 415 Memory::Memory(Creature &c)
 416 : c(c) {
 417 }
 418
 419 Memory::~Memory() {
 420 }
 421
 422 void Memory::Tick(double dt) {
 423         Situation &s = c.GetSituation();
 424         if (s.OnSurface()) {
 425                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 426         }
 427 }
 428
 429 void Memory::TrackStay(const Location &l, double t) {
 430         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 431         auto entry = known_types.find(type.id);
 432         if (entry != known_types.end()) {
 433                 entry->second.last_been = c.GetSimulation().Time();
 434                 entry->second.last_loc = l;
 435                 entry->second.time_spent += t;
 436         } else {
 437                 known_types.emplace(type.id, Stay{
 438                         c.GetSimulation().Time(),
 439                         l,
 440                         c.GetSimulation().Time(),
 441                         l,
 442                         t
 443                 });
 444         }
 445 }
 446
 447
 448 NameGenerator::NameGenerator()
 449 : counter(0) {
 450 }
 451
 452 NameGenerator::~NameGenerator() {
 453 }
 454
 455 std::string NameGenerator::Sequential() {
 456         std::stringstream ss;
 457         ss << "Blob " << ++counter;
 458         return ss.str();
 459 }
 460
 461
 462 Situation::Situation()
 463 : planet(nullptr)
 464 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 465 , surface(0)
 466 , type(LOST) {
 467 }
 468
 469 Situation::~Situation() {
 470 }
 471
 472 bool Situation::OnPlanet() const noexcept {
 473         return type == PLANET_SURFACE;
 474 }
 475
 476 bool Situation::OnSurface() const noexcept {
 477         return type == PLANET_SURFACE;
 478 }
 479
 480 bool Situation::OnTile() const noexcept {
 481         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 482         return type == PLANET_SURFACE
 483                 && t.x >= 0 && t.x < planet->SideLength()
 484                 && t.y >= 0 && t.y < planet->SideLength();
 485 }
 486
 487 glm::ivec2 Situation::SurfacePosition() const noexcept {
 488         return planet->SurfacePosition(surface, state.pos);
 489 }
 490
 491 world::Tile &Situation::GetTile() const noexcept {
 492         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 493         return planet->TileAt(surface, t.x, t.y);
 494 }
 495
 496 const world::TileType &Situation::GetTileType() const noexcept {
 497         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 498         return planet->TypeAt(surface, t.x, t.y);
 499 }
 500
 501 void Situation::Move(const glm::dvec3 &dp) noexcept {
 502         state.pos += dp;
 503         if (OnSurface()) {
 504                 // enforce ground constraint
 505                 if (Surface() < 3) {
 506                         state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
 507                 } else {
 508                         state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
 509                 }
 510         }
 511 }
 512
 513 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 514         type = PLANET_SURFACE;
 515         planet = &p;
 516         surface = srf;
 517         state.pos = pos;
 518 }
 519
 520
 521 Steering::Steering()
 522 : seek_target(0.0)
 523 , max_accel(1.0)
 524 , max_speed(1.0)
 525 , halting(false)
 526 , seeking(false) {
 527 }
 528
 529 Steering::~Steering() {
 530 }
 531
 532 void Steering::Halt() noexcept {
 533         halting = true;
 534         seeking = false;
 535 }
 536
 537 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 538         seek_target = t;
 539         halting = false;
 540         seeking = true;
 541 }
 542
 543 glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
 544         glm::dvec3 acc(0.0);
 545         if (halting) {
 546                 SumForce(acc, s.vel * -max_accel);
 547         }
 548         if (seeking) {
 549                 glm::dvec3 diff = seek_target - s.pos;
 550                 if (!allzero(diff)) {
 551                         SumForce(acc, ((normalize(diff) * max_speed) - s.vel) * max_accel);
 552                 }
 553         }
 554         return acc;
 555 }
 556
 557 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 558         if (allzero(in) || anynan(in)) {
 559                 return false;
 560         }
 561         double cur = allzero(out) ? 0.0 : length(out);
 562         double rem = max_accel - cur;
 563         if (rem < 0.0) {
 564                 return true;
 565         }
 566         double add = length(in);
 567         if (add > rem) {
 568                 // this method is off if in and out are in different
 569                 // directions, but gives okayish results
 570                 out += in * (1.0 / add);
 571                 return true;
 572         } else {
 573                 out += in;
 574                 return false;
 575         }
 576 }
 577
 578 }
 579 }