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 "../graphics/color.hpp"
  15 #include "../math/const.hpp"
  16 #include "../ui/string.hpp"
  17 #include "../world/Body.hpp"
  18 #include "../world/Planet.hpp"
  19 #include "../world/Simulation.hpp"
  20 #include "../world/TileType.hpp"
  21
  22 #include <algorithm>
  23 #include <sstream>
  24 #include <glm/gtx/transform.hpp>
  25 #include <glm/gtx/vector_angle.hpp>
  26
  27 #include <iostream>
  28 #include <glm/gtx/io.hpp>
  29
  30 using blobs::graphics::hsl2rgb;
  31 using blobs::graphics::rgb2hsl;
  32
  33
  34 namespace blobs {
  35 namespace creature {
  36
  37 Composition::Composition(const world::Set<world::Resource> &resources)
  38 : resources(resources)
  39 , components()
  40 , total_mass(0.0)
  41 , total_volume(0.0)
  42 , state_mass{0.0} {
  43 }
  44
  45 Composition::~Composition() {
  46 }
  47
  48 namespace {
  49 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  50         return b.value < a.value;
  51 }
  52 }
  53
  54 void Composition::Add(int res, double amount) {
  55         bool found = false;
  56         for (auto c = components.begin(); c != components.end(); ++c) {
  57                 if (c->resource == res) {
  58                         c->value += amount;
  59                         if (c->value <= 0.0) {
  60                                 amount += c->value;
  61                                 components.erase(c);
  62                         }
  63                         found = true;
  64                         break;
  65                 }
  66         }
  67         if (!found && amount > 0.0) {
  68                 components.emplace_back(res, amount);
  69         }
  70         std::sort(components.begin(), components.end(), CompositionCompare);
  71         state_mass[resources[res].state] += amount;
  72         total_mass += amount;
  73         total_volume += amount / resources[res].density;
  74 }
  75
  76 bool Composition::Has(int res) const noexcept {
  77         for (auto &c : components) {
  78                 if (c.resource == res) {
  79                         return true;
  80                 }
  81         }
  82         return false;
  83 }
  84
  85 double Composition::Get(int res) const noexcept {
  86         for (auto &c : components) {
  87                 if (c.resource == res) {
  88                         return c.value;
  89                 }
  90         }
  91         return 0.0;
  92 }
  93
  94 double Composition::Proportion(int res) const noexcept {
  95         return Get(res) / TotalMass();
  96 }
  97
  98 double Composition::StateProportion(int res) const noexcept {
  99         return Get(res) / StateMass(resources[res].state);
 100 }
 101
 102 double Composition::Compatibility(int res) const noexcept {
 103         if (Has(res)) {
 104                 return StateProportion(res);
 105         }
 106         double max_compat = -1.0;
 107         double min_compat = 1.0;
 108         for (const auto &c : components) {
 109                 double prop = c.value / StateMass(resources[res].state);
 110                 for (const auto &compat : resources[c.resource].compatibility) {
 111                         double value = compat.second * prop;
 112                         if (value > max_compat) {
 113                                 max_compat = value;
 114                         }
 115                         if (value < min_compat) {
 116                                 min_compat = value;
 117                         }
 118                 }
 119         }
 120         if (min_compat < 0.0) {
 121                 return min_compat;
 122         } else {
 123                 return max_compat;
 124         }
 125 }
 126
 127
 128 Creature::Creature(world::Simulation &sim)
 129 : sim(sim)
 130 , name()
 131 , genome()
 132 , properties()
 133 , composition(sim.Resources())
 134 , base_color(1.0)
 135 , highlight_color(0.0, 0.0, 0.0, 1.0)
 136 , mass(1.0)
 137 , size(1.0)
 138 , birth(sim.Time())
 139 , death(-1.0)
 140 , on_death()
 141 , removable(false)
 142 , parents()
 143 , stats()
 144 , memory(*this)
 145 , bg_task()
 146 , goals()
 147 , situation()
 148 , steering(*this)
 149 , heading_target(0.0, 0.0, -1.0)
 150 , heading_manual(false)
 151 , perception_range(1.0)
 152 , perception_range_squared(1.0)
 153 , perception_omni_range(1.0)
 154 , perception_omni_range_squared(1.0)
 155 , perception_field(1.0)
 156 , vao() {
 157         sim.SetAlive(this);
 158         // all creatures avoid each other for now
 159         steering.Separate(0.1, 1.5);
 160 }
 161
 162 Creature::~Creature() {
 163 }
 164
 165 void Creature::AddMass(int res, double amount) {
 166         composition.Add(res, amount);
 167         double nonsolid = 0.0;
 168         double volume = 0.0;
 169         for (const auto &c : composition) {
 170                 volume += c.value / sim.Resources()[c.resource].density;
 171                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 172                         nonsolid += c.value;
 173                 }
 174         }
 175         Mass(composition.TotalMass());
 176         Size(std::cbrt(volume));
 177         highlight_color.a = nonsolid / composition.TotalMass();
 178 }
 179
 180 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 181         highlight_color = glm::dvec4(c, highlight_color.a);
 182 }
 183
 184 void Creature::Ingest(int res, double amount) noexcept {
 185         if (sim.Resources()[res].state == world::Resource::SOLID) {
 186                 // 30% of solids stays in body
 187                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 188         } else {
 189                 // 10% of fluids stays in body
 190                 AddMass(res, amount * 0.1 * composition.Compatibility(res));
 191         }
 192         math::GaloisLFSR &random = sim.Assets().random;
 193         if (random.UNorm() < AdaptChance()) {
 194                 // change color to be slightly more like resource
 195                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 196                 // solids affect base color, others highlight
 197                 int p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 198                 int q = random.UInt(3); // hue, sat, or val
 199                 int r = random.UInt(2); // mean or deviation
 200                 math::Distribution *d = nullptr;
 201                 double ref = 0.0;
 202                 if (p == 0) {
 203                         if (q == 0) {
 204                                 d = &genome.base_hue;
 205                                 ref = color.x;
 206                         } else if (q == 1) {
 207                                 d = &genome.base_saturation;
 208                                 ref = color.y;
 209                         } else {
 210                                 d = &genome.base_lightness;
 211                                 ref = color.z;
 212                         }
 213                 } else {
 214                         if (q == 0) {
 215                                 d = &genome.highlight_hue;
 216                                 ref = color.x;
 217                         } else if (q == 1) {
 218                                 d = &genome.highlight_saturation;
 219                                 ref = color.y;
 220                         } else {
 221                                 d = &genome.highlight_lightness;
 222                                 ref = color.z;
 223                         }
 224                 }
 225                 if (r == 0) {
 226                         double diff = ref - d->Mean();
 227                         if (q == 0) {
 228                                 if (diff < -0.5) {
 229                                         diff += 1.0;
 230                                 } else if (diff > 0.5) {
 231                                         diff -= 1.0;
 232                                 }
 233                                 // move 0-15% of distance
 234                                 d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
 235                         } else {
 236                                 d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 0.15, 0.0, 1.0));
 237                         }
 238                 } else {
 239                         // scale by ±15%, enforce bounds
 240                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 241                 }
 242         }
 243         if (sim.Resources()[res].state == world::Resource::LIQUID && random.UNorm() < AdaptChance()) {
 244                 // change texture randomly
 245                 // TODO: make change depending on surroundings and/or resource
 246                 int p = random.UInt(2); // back or side
 247                 int q = random.UInt(2); // mean or deviation
 248                 math::Distribution &d = p ? genome.skin_side : genome.skin_back;
 249                 if (q == 0) {
 250                         // move ± one standard deviation
 251                         d.Mean(d.Mean() + (random.SNorm() * d.StandardDeviation()));
 252                 } else {
 253                         // scale by ±10%, enforce bounds
 254                         d.StandardDeviation(glm::clamp(d.StandardDeviation() * (1.0 + random.SNorm() * 0.1), 0.0001, 0.5));
 255                 }
 256         }
 257 }
 258
 259 void Creature::DoWork(double amount) noexcept {
 260         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 261         // burn resources proportional to composition
 262         // factor = 1/total * 1/efficiency * amount * -1
 263         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 264         // make a copy to total remains constant and
 265         // no entries disappear during iteration
 266         Composition comp(composition);
 267         for (auto &cmp : comp) {
 268                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 269                 AddMass(cmp.resource, value);
 270         }
 271         // doing work improves strength a little
 272         properties.Strength() += amount * 0.0001;
 273 }
 274
 275 void Creature::Hurt(double amount) noexcept {
 276         stats.Damage().Add(amount);
 277         if (stats.Damage().Full()) {
 278                 Die();
 279         }
 280 }
 281
 282 void Creature::Die() noexcept {
 283         if (Dead()) return;
 284
 285         if (stats.Damage().Full()) {
 286                 std::ostream &log = sim.Log() << name << " ";
 287                 if (stats.Exhaustion().Full()) {
 288                         log << "died of exhaustion";
 289                 } else if (stats.Breath().Full()) {
 290                         log << "suffocated";
 291                 } else if (stats.Thirst().Full()) {
 292                         log << "died of thirst";
 293                 } else if (stats.Hunger().Full()) {
 294                         log << "starved to death";
 295                 } else {
 296                         log << "succumed to wounds";
 297                 }
 298                 log << " at an age of " << ui::TimeString(Age())
 299                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 300                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 301                         << ")" << std::endl;
 302         }
 303
 304         sim.SetDead(this);
 305         death = sim.Time();
 306         steering.Off();
 307         if (on_death) {
 308                 on_death(*this);
 309         }
 310         Remove();
 311 }
 312
 313 bool Creature::Dead() const noexcept {
 314         return death > birth;
 315 }
 316
 317 void Creature::Remove() noexcept {
 318         removable = true;
 319 }
 320
 321 void Creature::Removed() noexcept {
 322         bg_task.reset();
 323         goals.clear();
 324         memory.Erase();
 325         KillVAO();
 326 }
 327
 328 void Creature::AddParent(Creature &p) {
 329         parents.push_back(&p);
 330 }
 331
 332 double Creature::Age() const noexcept {
 333         return Dead() ? death - birth : sim.Time() - birth;
 334 }
 335
 336 double Creature::AgeFactor(double peak) const noexcept {
 337         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 338         // goes negative below -0.5 and starts to rise again above 1.0
 339         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 340         // guarantee at least 1%
 341         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 342 }
 343
 344 double Creature::EnergyEfficiency() const noexcept {
 345         return 0.25 * AgeFactor(0.05);
 346 }
 347
 348 double Creature::ExhaustionFactor() const noexcept {
 349         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 350 }
 351
 352 double Creature::FatigueFactor() const noexcept {
 353         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 354 }
 355
 356 double Creature::Strength() const noexcept {
 357         // TODO: replace all age factors with actual growth and decay
 358         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 359 }
 360
 361 double Creature::StrengthFactor() const noexcept {
 362         double str = Strength();
 363         return str / (str + 1.0);
 364 }
 365
 366 double Creature::Stamina() const noexcept {
 367         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 368 }
 369
 370 double Creature::StaminaFactor() const noexcept {
 371         double stm = Stamina();
 372         return stm / (stm + 1.0);
 373 }
 374
 375 double Creature::Dexerty() const noexcept {
 376         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 377 }
 378
 379 double Creature::DexertyFactor() const noexcept {
 380         double dex = Dexerty();
 381         return dex / (dex + 1.0);
 382 }
 383
 384 double Creature::Intelligence() const noexcept {
 385         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 386 }
 387
 388 double Creature::IntelligenceFactor() const noexcept {
 389         double intl = Intelligence();
 390         return intl / (intl + 1.0);
 391 }
 392
 393 double Creature::Lifetime() const noexcept {
 394         return properties.Lifetime();
 395 }
 396
 397 double Creature::Fertility() const noexcept {
 398         return properties.Fertility() * AgeFactor(0.25);
 399 }
 400
 401 double Creature::Mutability() const noexcept {
 402         return properties.Mutability();
 403 }
 404
 405 double Creature::Adaptability() const noexcept {
 406         return properties.Adaptability();
 407 }
 408
 409 double Creature::OffspringMass() const noexcept {
 410         return properties.OffspringMass();
 411 }
 412
 413 double Creature::PerceptionRange() const noexcept {
 414         return perception_range;
 415 }
 416
 417 double Creature::PerceptionOmniRange() const noexcept {
 418         return perception_omni_range;
 419 }
 420
 421 double Creature::PerceptionField() const noexcept {
 422         return perception_field;
 423 }
 424
 425 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 426         const glm::dvec3 diff(p - situation.Position());
 427         double ldiff = glm::length2(diff);
 428         if (ldiff < perception_omni_range_squared) return true;
 429         if (ldiff > perception_range_squared) return false;
 430         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 431 }
 432
 433 double Creature::OffspringChance() const noexcept {
 434         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 435 }
 436
 437 double Creature::MutateChance() const noexcept {
 438         return GetProperties().Mutability() * (1.0 / 3600.0);
 439 }
 440
 441 double Creature::AdaptChance() const noexcept {
 442         return GetProperties().Adaptability() * (1.0 / 120.0);
 443 }
 444
 445 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 446         g->Enable();
 447         if (goals.empty()) {
 448                 g->SetForeground();
 449         }
 450         goals.emplace_back(std::move(g));
 451 }
 452
 453 void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
 454         bg_task = std::move(g);
 455 }
 456
 457 Goal &Creature::BackgroundTask() {
 458         return *bg_task;
 459 }
 460
 461 namespace {
 462
 463 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 464         return b->Urgency() < a->Urgency();
 465 }
 466
 467 }
 468
 469 void Creature::Tick(double dt) {
 470         Cache();
 471         TickState(dt);
 472         TickStats(dt);
 473         TickBrain(dt);
 474 }
 475
 476 void Creature::Cache() noexcept {
 477         double dex_fact = DexertyFactor();
 478         perception_range = 3.0 * dex_fact + size;
 479         perception_range_squared = perception_range * perception_range;
 480         perception_omni_range = 0.5 * dex_fact + size;
 481         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 482         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 483         perception_field = 0.8 - dex_fact;
 484 }
 485
 486 void Creature::TickState(double dt) {
 487         steering.MaxSpeed(Dexerty());
 488         steering.MaxForce(Strength());
 489         Situation::State state(situation.GetState());
 490         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 491         Situation::Derivative b(Step(a, dt * 0.5));
 492         Situation::Derivative c(Step(b, dt * 0.5));
 493         Situation::Derivative d(Step(c, dt));
 494         Situation::Derivative f(
 495                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 496                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 497         );
 498         state.pos += f.vel * dt;
 499         state.vel += f.acc * dt;
 500         situation.EnforceConstraints(state);
 501
 502         if (!heading_manual && glm::length2(state.vel) > 0.000001) {
 503                 const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
 504                 const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
 505                 if (glm::length2(tangent) > 0.000001) {
 506                         heading_target = glm::normalize(tangent);
 507                 }
 508         }
 509         double ang = glm::angle(heading_target, state.dir);
 510         double turn_rate = PI * 0.75 * dt;
 511         if (ang < turn_rate) {
 512                 state.dir = heading_target;
 513                 heading_manual = false;
 514         } else {
 515                 state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
 516         }
 517
 518         situation.SetState(state);
 519         // work is force times distance
 520         // keep 10% of gravity as a kind of background burn
 521         DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
 522 }
 523
 524 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 525         Situation::State s = situation.GetState();
 526         s.pos += ds.vel * dt;
 527         s.vel += ds.acc * dt;
 528         situation.EnforceConstraints(s);
 529         glm::dvec3 force(steering.Force(s));
 530         // gravity = antinormal * mass * Gm / r²
 531         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 532         force += glm::dvec3(
 533                 -normal
 534                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 535                 / glm::length2(s.pos)));
 536         // if net force is applied and in contact with surface
 537         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 538                 // apply friction
 539                 glm::dvec3 fn(normal * glm::dot(force, normal));
 540                 // TODO: friction somehow bigger than force?
 541                 glm::dvec3 ft(force - fn);
 542                 double u = 0.4;
 543                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 544                 force += friction;
 545         }
 546         return {
 547                 s.vel,
 548                 force / Mass()
 549         };
 550 }
 551
 552 void Creature::TickStats(double dt) {
 553         for (auto &s : stats.stat) {
 554                 s.Add(s.gain * dt);
 555         }
 556         // TODO: damage values depending on properties
 557         if (stats.Breath().Full()) {
 558                 constexpr double dps = 1.0 / 4.0;
 559                 Hurt(dps * dt);
 560         }
 561         if (stats.Thirst().Full()) {
 562                 constexpr double dps = 1.0 / 32.0;
 563                 Hurt(dps * dt);
 564         }
 565         if (stats.Hunger().Full()) {
 566                 constexpr double dps = 1.0 / 128.0;
 567                 Hurt(dps * dt);
 568         }
 569         if (!situation.Moving()) {
 570                 // double exhaustion recovery when standing still
 571                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 572         }
 573 }
 574
 575 void Creature::TickBrain(double dt) {
 576         bg_task->Tick(dt);
 577         bg_task->Action();
 578         memory.Tick(dt);
 579         // do background stuff
 580         if (goals.empty()) {
 581                 return;
 582         }
 583         for (auto &goal : goals) {
 584                 goal->Tick(dt);
 585         }
 586         Goal *top = &*goals.front();
 587         // if active goal can be interrupted, check priorities
 588         if (goals.size() > 1 && goals[0]->Interruptible()) {
 589                 std::sort(goals.begin(), goals.end(), GoalCompare);
 590         }
 591         if (&*goals.front() != top) {
 592                 top->SetBackground();
 593                 goals.front()->SetForeground();
 594                 top = &*goals.front();
 595         }
 596         goals[0]->Action();
 597         for (auto goal = goals.begin(); goal != goals.end();) {
 598                 if ((*goal)->Complete()) {
 599                         goals.erase(goal);
 600                 } else {
 601                         ++goal;
 602                 }
 603         }
 604         if (&*goals.front() != top) {
 605                 goals.front()->SetForeground();
 606         }
 607 }
 608
 609 math::AABB Creature::CollisionBounds() const noexcept {
 610         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 611 }
 612
 613 glm::dmat4 Creature::CollisionTransform() const noexcept {
 614         const double half_size = size * 0.5;
 615         const glm::dvec3 &pos = situation.Position();
 616         glm::dmat3 orient;
 617         orient[1] = situation.GetPlanet().NormalAt(pos);
 618         orient[2] = situation.Heading();
 619         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 620                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 621         }
 622         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 623         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 624         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 625                 * glm::dmat4(orient)
 626                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 627 }
 628
 629 void Creature::OnCollide(Creature &other) {
 630         memory.TrackCollision(other);
 631 }
 632
 633 glm::dmat4 Creature::LocalTransform() noexcept {
 634         const double half_size = size * 0.5;
 635         return CollisionTransform()
 636                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 637 }
 638
 639 void Creature::BuildVAO() {
 640         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 641         vao->Bind();
 642         vao->BindAttributes();
 643         vao->EnableAttribute(0);
 644         vao->EnableAttribute(1);
 645         vao->EnableAttribute(2);
 646         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 647         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 648         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 649         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 650         {
 651                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 652                 constexpr float offset = 1.0f;
 653                 constexpr float max_tex = 5.999f;
 654                 const float tex[6] = {
 655                         0.0f, // face
 656                         float(std::floor(skin_side * max_tex)), // left
 657                         float(std::floor(skin_back * max_tex)), // top
 658                         float(std::floor(skin_back * max_tex)), // back
 659                         float(std::floor(skin_side * max_tex)), // right
 660                         0.0f, // bottom
 661                 };
 662                 for (int surface = 0; surface < 6; ++surface) {
 663                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 664                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 665
 666                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 667                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 668                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 669                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 670                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 671                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 672                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 673                         attrib[4 * surface + 0].texture.y = 1.0f;
 674                         attrib[4 * surface + 0].texture.z = tex[surface];
 675
 676                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 677                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 678                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 679                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 680                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 681                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 682                         attrib[4 * surface + 1].texture.x = tex_u_end;
 683                         attrib[4 * surface + 1].texture.y = 1.0f;
 684                         attrib[4 * surface + 1].texture.z = tex[surface];
 685
 686                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 687                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 688                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 689                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 690                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 691                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 692                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 693                         attrib[4 * surface + 2].texture.y = 0.0f;
 694                         attrib[4 * surface + 2].texture.z = tex[surface];
 695
 696                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 697                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 698                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 699                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 700                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 701                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 702                         attrib[4 * surface + 3].texture.x = tex_u_end;
 703                         attrib[4 * surface + 3].texture.y = 0.0f;
 704                         attrib[4 * surface + 3].texture.z = tex[surface];
 705                 }
 706         }
 707         vao->BindElements();
 708         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 709         {
 710                 auto element = vao->MapElements(GL_WRITE_ONLY);
 711                 for (int surface = 0; surface < 3; ++surface) {
 712                         element[6 * surface + 0] = 4 * surface + 0;
 713                         element[6 * surface + 1] = 4 * surface + 2;
 714                         element[6 * surface + 2] = 4 * surface + 1;
 715                         element[6 * surface + 3] = 4 * surface + 1;
 716                         element[6 * surface + 4] = 4 * surface + 2;
 717                         element[6 * surface + 5] = 4 * surface + 3;
 718                 }
 719                 for (int surface = 3; surface < 6; ++surface) {
 720                         element[6 * surface + 0] = 4 * surface + 0;
 721                         element[6 * surface + 1] = 4 * surface + 1;
 722                         element[6 * surface + 2] = 4 * surface + 2;
 723                         element[6 * surface + 3] = 4 * surface + 2;
 724                         element[6 * surface + 4] = 4 * surface + 1;
 725                         element[6 * surface + 5] = 4 * surface + 3;
 726                 }
 727         }
 728         vao->Unbind();
 729 }
 730
 731 void Creature::KillVAO() {
 732         vao.reset();
 733 }
 734
 735 void Creature::Draw(graphics::Viewport &viewport) {
 736         if (!vao) return;
 737         vao->Bind();
 738         vao->DrawTriangles(6 * 6);
 739 }
 740
 741
 742 void Spawn(Creature &c, world::Planet &p) {
 743         p.AddCreature(&c);
 744         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 745         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 746         c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
 747
 748         // probe surrounding area for common resources
 749         int start = p.SideLength() / 2 - 2;
 750         int end = start + 5;
 751         std::map<int, double> yields;
 752         for (int y = start; y < end; ++y) {
 753                 for (int x = start; x < end; ++x) {
 754                         const world::TileType &t = p.TypeAt(0, x, y);
 755                         for (auto yield : t.resources) {
 756                                 yields[yield.resource] += yield.ubiquity;
 757                         }
 758                 }
 759         }
 760         int liquid = -1;
 761         int solid = -1;
 762         for (auto e : yields) {
 763                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 764                         if (liquid < 0 || e.second > yields[liquid]) {
 765                                 liquid = e.first;
 766                         }
 767                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 768                         if (solid < 0 || e.second > yields[solid]) {
 769                                 solid = e.first;
 770                         }
 771                 }
 772         }
 773
 774         Genome genome;
 775         genome.properties.Strength() = { 2.0, 0.1 };
 776         genome.properties.Stamina() = { 2.0, 0.1 };
 777         genome.properties.Dexerty() = { 2.0, 0.1 };
 778         genome.properties.Intelligence() = { 1.0, 0.1 };
 779         genome.properties.Lifetime() = { 480.0, 60.0 };
 780         genome.properties.Fertility() = { 0.5, 0.03 };
 781         genome.properties.Mutability() = { 0.9, 0.1 };
 782         genome.properties.Adaptability() = { 0.9, 0.1 };
 783         genome.properties.OffspringMass() = { 0.3, 0.02 };
 784
 785         glm::dvec3 color_avg(0.0);
 786         double color_divisor = 0.0;
 787
 788         if (p.HasAtmosphere()) {
 789                 c.AddMass(p.Atmosphere(), 0.005);
 790                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 791                 color_divisor += 0.1;
 792         }
 793         if (liquid > -1) {
 794                 c.AddMass(liquid, 0.3);
 795                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 796                 color_divisor += 0.5;
 797         }
 798         if (solid > -1) {
 799                 c.AddMass(solid, 0.1);
 800                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 801                 color_divisor += 1.0;
 802         }
 803
 804         if (color_divisor > 0.001) {
 805                 color_avg /= color_divisor;
 806         }
 807         glm::dvec3 hsl = rgb2hsl(color_avg);
 808         genome.base_hue = { hsl.x, 0.01 };
 809         genome.base_saturation = { hsl.y, 0.01 };
 810         genome.base_lightness = { hsl.z, 0.01 };
 811         // use opposite color as start highlight
 812         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 813         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 814         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 815
 816         genome.skin_side = { 0.5, 0.01 };
 817         genome.skin_back = { 0.5, 0.01 };
 818
 819         genome.Configure(c);
 820 }
 821
 822 void Genome::Configure(Creature &c) const {
 823         c.GetGenome() = *this;
 824
 825         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 826
 827         c.GetProperties() = Instantiate(properties, random);
 828
 829         // TODO: derive stats from properties
 830         c.GetStats().Damage().gain = (-1.0 / 100.0);
 831         c.GetStats().Breath().gain = (1.0 / 5.0);
 832         c.GetStats().Thirst().gain = (1.0 / 60.0);
 833         c.GetStats().Hunger().gain = (1.0 / 200.0);
 834         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 835         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 836         c.GetStats().Boredom().gain = (1.0 / 300.0);
 837
 838         glm::dvec3 base_color(
 839                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 840                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 841                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 842         );
 843         glm::dvec3 highlight_color(
 844                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 845                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 846                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 847         );
 848         c.BaseColor(hsl2rgb(base_color));
 849         c.HighlightColor(hsl2rgb(highlight_color));
 850         c.BackSkin(glm::clamp(skin_back.FakeNormal(random.SNorm()), 0.0, 1.0));
 851         c.SideSkin(glm::clamp(skin_side.FakeNormal(random.SNorm()), 0.0, 1.0));
 852         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 853         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 854 }
 855
 856
 857 void Split(Creature &c) {
 858         Creature *a = new Creature(c.GetSimulation());
 859         const Situation &s = c.GetSituation();
 860         a->AddParent(c);
 861         a->Name(c.GetSimulation().Assets().name.Sequential());
 862         c.GetGenome().Configure(*a);
 863         for (const auto &cmp : c.GetComposition()) {
 864                 // require at least 0.1%
 865                 if (cmp.value > 0.002) {
 866                         a->AddMass(cmp.resource, cmp.value * 0.5);
 867                 }
 868         }
 869         s.GetPlanet().AddCreature(a);
 870         // TODO: duplicate situation somehow
 871         a->GetSituation().SetPlanetSurface(
 872                 s.GetPlanet(),
 873                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
 874         a->BuildVAO();
 875         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 876
 877         Creature *b = new Creature(c.GetSimulation());
 878         b->AddParent(c);
 879         b->Name(c.GetSimulation().Assets().name.Sequential());
 880         c.GetGenome().Configure(*b);
 881         for (const auto &cmp : c.GetComposition()) {
 882                 // require at least 0.1%
 883                 if (cmp.value > 0.002) {
 884                         b->AddMass(cmp.resource, cmp.value * 0.5);
 885                 }
 886         }
 887         s.GetPlanet().AddCreature(b);
 888         b->GetSituation().SetPlanetSurface(
 889                 s.GetPlanet(),
 890                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
 891         b->BuildVAO();
 892         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 893
 894         c.Die();
 895 }
 896
 897
 898 Memory::Memory(Creature &c)
 899 : c(c) {
 900 }
 901
 902 Memory::~Memory() {
 903 }
 904
 905 void Memory::Erase() {
 906         known_types.clear();
 907         known_creatures.clear();
 908 }
 909
 910 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 911         double best_rating = -1.0;
 912         for (const auto &k : known_types) {
 913                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 914                 auto entry = t.FindBestResource(accept);
 915                 if (entry != t.resources.end()) {
 916                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 917                         if (rating > best_rating) {
 918                                 best_rating = rating;
 919                                 pos = k.second.first_loc.position;
 920                         }
 921                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 922                         if (rating > best_rating) {
 923                                 best_rating = rating;
 924                                 pos = k.second.last_loc.position;
 925                         }
 926                 }
 927         }
 928         if (best_rating > 0.0) {
 929                 glm::dvec3 error(
 930                         c.GetSimulation().Assets().random.SNorm(),
 931                         c.GetSimulation().Assets().random.SNorm(),
 932                         c.GetSimulation().Assets().random.SNorm());
 933                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 934                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 935                 return true;
 936         } else {
 937                 return false;
 938         }
 939 }
 940
 941 void Memory::TrackCollision(Creature &other) {
 942         // TODO: find out whose fault it was
 943         // TODO: source values from personality
 944         Profile &p = known_creatures[&other];
 945         p.annoyance += 0.1;
 946         const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
 947         if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
 948                 AttackGoal *g = new AttackGoal(c, other);
 949                 g->SetDamageTarget(annoy_fact);
 950                 g->Urgency(annoy_fact);
 951                 c.AddGoal(std::unique_ptr<Goal>(g));
 952                 p.annoyance *= 0.5;
 953         }
 954 }
 955
 956 void Memory::Tick(double dt) {
 957         Situation &s = c.GetSituation();
 958         if (s.OnSurface()) {
 959                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 960         }
 961         // TODO: forget
 962 }
 963
 964 void Memory::TrackStay(const Location &l, double t) {
 965         const world::TileType &type = l.planet->TileTypeAt(l.position);
 966         auto entry = known_types.find(type.id);
 967         if (entry != known_types.end()) {
 968                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 969                         // "it's been ages"
 970                         if (entry->second.time_spent > c.Age() * 0.25) {
 971                                 // the place is very familiar
 972                                 c.GetStats().Boredom().Add(-0.2);
 973                         } else {
 974                                 // infrequent stays
 975                                 c.GetStats().Boredom().Add(-0.1);
 976                         }
 977                 }
 978                 entry->second.last_been = c.GetSimulation().Time();
 979                 entry->second.last_loc = l;
 980                 entry->second.time_spent += t;
 981         } else {
 982                 known_types.emplace(type.id, Stay{
 983                         c.GetSimulation().Time(),
 984                         l,
 985                         c.GetSimulation().Time(),
 986                         l,
 987                         t
 988                 });
 989                 // completely new place, interesting
 990                 // TODO: scale by personality trait
 991                 c.GetStats().Boredom().Add(-0.25);
 992         }
 993 }
 994
 995
 996 NameGenerator::NameGenerator()
 997 : counter(0) {
 998 }
 999
1000 NameGenerator::~NameGenerator() {
1001 }
1002
1003 std::string NameGenerator::Sequential() {
1004         std::stringstream ss;
1005         ss << "Blob " << ++counter;
1006         return ss.str();
1007 }
1008
1009
1010 Situation::Situation()
1011 : planet(nullptr)
1012 , state(glm::dvec3(0.0), glm::dvec3(0.0))
1013 , type(LOST) {
1014 }
1015
1016 Situation::~Situation() {
1017 }
1018
1019 bool Situation::OnPlanet() const noexcept {
1020         return type == PLANET_SURFACE;
1021 }
1022
1023 bool Situation::OnSurface() const noexcept {
1024         return type == PLANET_SURFACE;
1025 }
1026
1027 bool Situation::OnGround() const noexcept {
1028         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
1029 }
1030
1031 glm::dvec3 Situation::SurfaceNormal() const noexcept {
1032         return planet->NormalAt(state.pos);
1033 }
1034
1035 world::Tile &Situation::GetTile() const noexcept {
1036         return planet->TileAt(state.pos);
1037 }
1038
1039 const world::TileType &Situation::GetTileType() const noexcept {
1040         return planet->TileTypeAt(state.pos);
1041 }
1042
1043 void Situation::Move(const glm::dvec3 &dp) noexcept {
1044         state.pos += dp;
1045         EnforceConstraints(state);
1046 }
1047
1048 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
1049         state.vel += dv;
1050         EnforceConstraints(state);
1051 }
1052
1053 void Situation::EnforceConstraints(State &s) const noexcept {
1054         if (OnSurface()) {
1055                 double r = GetPlanet().Radius();
1056                 if (glm::length2(s.pos) < r * r) {
1057                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
1058                         s.pos = normal * r;
1059                         s.vel -= normal * glm::dot(normal, s.vel);
1060                 }
1061         }
1062 }
1063
1064 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
1065         type = PLANET_SURFACE;
1066         planet = &p;
1067         state.pos = pos;
1068         EnforceConstraints(state);
1069 }
1070
1071
1072 Steering::Steering(const Creature &c)
1073 : c(c)
1074 , target(0.0)
1075 , haste(0.0)
1076 , max_force(1.0)
1077 , max_speed(1.0)
1078 , min_dist(0.0)
1079 , max_look(0.0)
1080 , separating(false)
1081 , halting(true)
1082 , seeking(false)
1083 , arriving(false) {
1084 }
1085
1086 Steering::~Steering() {
1087 }
1088
1089 void Steering::Off() noexcept {
1090         separating = false;
1091         halting = false;
1092         seeking = false;
1093         arriving = false;
1094 }
1095
1096 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1097         separating = true;
1098         min_dist = min_distance;
1099         max_look = max_lookaround;
1100 }
1101
1102 void Steering::DontSeparate() noexcept {
1103         separating = false;
1104 }
1105
1106 void Steering::ResumeSeparate() noexcept {
1107         separating = true;
1108 }
1109
1110 void Steering::Halt() noexcept {
1111         halting = true;
1112         seeking = false;
1113         arriving = false;
1114 }
1115
1116 void Steering::Pass(const glm::dvec3 &t) noexcept {
1117         target = t;
1118         halting = false;
1119         seeking = true;
1120         arriving = false;
1121 }
1122
1123 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1124         target = t;
1125         halting = false;
1126         seeking = false;
1127         arriving = true;
1128 }
1129
1130 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1131         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1132         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1133         glm::dvec3 result(0.0);
1134         if (separating) {
1135                 // TODO: off surface situation
1136                 glm::dvec3 repulse(0.0);
1137                 const Situation &s = c.GetSituation();
1138                 for (auto &other : s.GetPlanet().Creatures()) {
1139                         if (&*other == &c) continue;
1140                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1141                         if (glm::length2(diff) > max_look * max_look) continue;
1142                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1143                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1144                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1145                 }
1146                 result += repulse;
1147         }
1148         if (halting) {
1149                 // brake hard
1150                 result += -5.0 * s.vel * force;
1151         }
1152         if (seeking) {
1153                 glm::dvec3 diff = target - s.pos;
1154                 if (!allzero(diff)) {
1155                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1156                 }
1157         }
1158         if (arriving) {
1159                 glm::dvec3 diff = target - s.pos;
1160                 double dist = glm::length(diff);
1161                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1162                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1163                 }
1164         }
1165         // remove vertical component, if any
1166         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1167         result -= normal * glm::dot(normal, result);
1168         // clamp to max
1169         if (glm::length2(result) > max_force * max_force) {
1170                 result = glm::normalize(result) * max_force;
1171         }
1172         return result;
1173 }
1174
1175 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1176         return (vel - s.vel) * acc;
1177 }
1178
1179 }
1180 }