src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "AttackGoal.hpp"
  10 #include "BlobBackgroundTask.hpp"
  11 #include "Goal.hpp"
  12 #include "IdleGoal.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../math/const.hpp"
  15 #include "../ui/string.hpp"
  16 #include "../world/Body.hpp"
  17 #include "../world/Planet.hpp"
  18 #include "../world/Simulation.hpp"
  19 #include "../world/TileType.hpp"
  20
  21 #include <algorithm>
  22 #include <sstream>
  23 #include <glm/gtx/transform.hpp>
  24 #include <glm/gtx/vector_angle.hpp>
  25
  26 #include <iostream>
  27 #include <glm/gtx/io.hpp>
  28
  29
  30 namespace blobs {
  31 namespace creature {
  32
  33 Composition::Composition(const world::Set<world::Resource> &resources)
  34 : resources(resources)
  35 , components()
  36 , total_mass(0.0)
  37 , total_volume(0.0)
  38 , state_mass{0.0} {
  39 }
  40
  41 Composition::~Composition() {
  42 }
  43
  44 namespace {
  45 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  46         return b.value < a.value;
  47 }
  48 }
  49
  50 void Composition::Add(int res, double amount) {
  51         bool found = false;
  52         for (auto c = components.begin(); c != components.end(); ++c) {
  53                 if (c->resource == res) {
  54                         c->value += amount;
  55                         if (c->value <= 0.0) {
  56                                 amount += c->value;
  57                                 components.erase(c);
  58                         }
  59                         found = true;
  60                         break;
  61                 }
  62         }
  63         if (!found && amount > 0.0) {
  64                 components.emplace_back(res, amount);
  65         }
  66         std::sort(components.begin(), components.end(), CompositionCompare);
  67         state_mass[resources[res].state] += amount;
  68         total_mass += amount;
  69         total_volume += amount / resources[res].density;
  70 }
  71
  72 bool Composition::Has(int res) const noexcept {
  73         for (auto &c : components) {
  74                 if (c.resource == res) {
  75                         return true;
  76                 }
  77         }
  78         return false;
  79 }
  80
  81 double Composition::Get(int res) const noexcept {
  82         for (auto &c : components) {
  83                 if (c.resource == res) {
  84                         return c.value;
  85                 }
  86         }
  87         return 0.0;
  88 }
  89
  90 double Composition::Proportion(int res) const noexcept {
  91         return Get(res) / TotalMass();
  92 }
  93
  94 double Composition::StateProportion(int res) const noexcept {
  95         return Get(res) / StateMass(resources[res].state);
  96 }
  97
  98 double Composition::Compatibility(int res) const noexcept {
  99         if (Has(res)) {
 100                 return StateProportion(res);
 101         }
 102         double max_compat = -1.0;
 103         double min_compat = 1.0;
 104         for (const auto &c : components) {
 105                 double prop = c.value / StateMass(resources[res].state);
 106                 for (const auto &compat : resources[c.resource].compatibility) {
 107                         double value = compat.second * prop;
 108                         if (value > max_compat) {
 109                                 max_compat = value;
 110                         }
 111                         if (value < min_compat) {
 112                                 min_compat = value;
 113                         }
 114                 }
 115         }
 116         if (min_compat < 0.0) {
 117                 return min_compat;
 118         } else {
 119                 return max_compat;
 120         }
 121 }
 122
 123
 124 Creature::Creature(world::Simulation &sim)
 125 : sim(sim)
 126 , name()
 127 , genome()
 128 , properties()
 129 , composition(sim.Resources())
 130 , base_color(1.0)
 131 , highlight_color(0.0, 0.0, 0.0, 1.0)
 132 , mass(1.0)
 133 , size(1.0)
 134 , birth(sim.Time())
 135 , death(-1.0)
 136 , on_death()
 137 , removable(false)
 138 , parents()
 139 , stats()
 140 , memory(*this)
 141 , bg_task()
 142 , goals()
 143 , situation()
 144 , steering(*this)
 145 , heading_target(0.0, 0.0, -1.0)
 146 , heading_manual(false)
 147 , perception_range(1.0)
 148 , perception_range_squared(1.0)
 149 , perception_omni_range(1.0)
 150 , perception_omni_range_squared(1.0)
 151 , perception_field(1.0)
 152 , vao() {
 153         sim.SetAlive(this);
 154         // all creatures avoid each other for now
 155         steering.Separate(0.1, 1.5);
 156 }
 157
 158 Creature::~Creature() {
 159 }
 160
 161 void Creature::AddMass(int res, double amount) {
 162         composition.Add(res, amount);
 163         double nonsolid = 0.0;
 164         double volume = 0.0;
 165         for (const auto &c : composition) {
 166                 volume += c.value / sim.Resources()[c.resource].density;
 167                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 168                         nonsolid += c.value;
 169                 }
 170         }
 171         Mass(composition.TotalMass());
 172         Size(std::cbrt(volume));
 173         highlight_color.a = nonsolid / composition.TotalMass();
 174 }
 175
 176 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 177         highlight_color = glm::dvec4(c, highlight_color.a);
 178 }
 179
 180 void Creature::Ingest(int res, double amount) noexcept {
 181         if (sim.Resources()[res].state == world::Resource::SOLID) {
 182                 // 30% of solids stays in body
 183                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 184         } else {
 185                 // 5% of fluids stays in body
 186                 AddMass(res, amount * 0.05 * composition.Compatibility(res));
 187         }
 188         math::GaloisLFSR &random = sim.Assets().random;
 189         if (random.UNorm() < AdaptChance()) {
 190                 // change color to be slightly more like resource
 191                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 192                 // solids affect base color, others highlight
 193                 int p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 194                 int q = random.UInt(3); // hue, sat, or val
 195                 int r = random.UInt(2); // mean or deviation
 196                 math::Distribution *d = nullptr;
 197                 double ref = 0.0;
 198                 if (p == 0) {
 199                         if (q == 0) {
 200                                 d = &genome.base_hue;
 201                                 ref = color.x;
 202                         } else if (q == 1) {
 203                                 d = &genome.base_saturation;
 204                                 ref = color.y;
 205                         } else {
 206                                 d = &genome.base_lightness;
 207                                 ref = color.z;
 208                         }
 209                 } else {
 210                         if (q == 0) {
 211                                 d = &genome.highlight_hue;
 212                                 ref = color.x;
 213                         } else if (q == 1) {
 214                                 d = &genome.highlight_saturation;
 215                                 ref = color.y;
 216                         } else {
 217                                 d = &genome.highlight_lightness;
 218                                 ref = color.z;
 219                         }
 220                 }
 221                 if (r == 0) {
 222                         double diff = ref - d->Mean();
 223                         if (q == 0) {
 224                                 if (diff < -0.5) {
 225                                         diff += 1.0;
 226                                 } else if (diff > 0.5) {
 227                                         diff -= 1.0;
 228                                 }
 229                                 // move 0-15% of distance
 230                                 d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
 231                         } else {
 232                                 d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 0.15, 0.0, 1.0));
 233                         }
 234                 } else {
 235                         // scale by ±15%, enforce bounds
 236                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 237                 }
 238         }
 239         if (sim.Resources()[res].state == world::Resource::LIQUID && random.UNorm() < AdaptChance()) {
 240                 // change texture randomly
 241                 // TODO: make change depending on surroundings and/or resource
 242                 int p = random.UInt(2); // back or side
 243                 int q = random.UInt(2); // mean or deviation
 244                 math::Distribution &d = p ? genome.skin_side : genome.skin_back;
 245                 if (q == 0) {
 246                         // move ± one standard deviation
 247                         d.Mean(d.Mean() + (random.SNorm() * d.StandardDeviation()));
 248                 } else {
 249                         // scale by ±10%, enforce bounds
 250                         d.StandardDeviation(glm::clamp(d.StandardDeviation() * (1.0 + random.SNorm() * 0.1), 0.0001, 0.5));
 251                 }
 252         }
 253 }
 254
 255 void Creature::DoWork(double amount) noexcept {
 256         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 257         // burn resources proportional to composition
 258         // factor = 1/total * 1/efficiency * amount * -1
 259         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 260         // make a copy to total remains constant and
 261         // no entries disappear during iteration
 262         Composition comp(composition);
 263         for (auto &cmp : comp) {
 264                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 265                 AddMass(cmp.resource, value);
 266         }
 267         // doing work improves strength a little
 268         properties.Strength() += amount * 0.0001;
 269 }
 270
 271 void Creature::Hurt(double amount) noexcept {
 272         stats.Damage().Add(amount);
 273         if (stats.Damage().Full()) {
 274                 Die();
 275         }
 276 }
 277
 278 void Creature::Die() noexcept {
 279         if (Dead()) return;
 280
 281         if (stats.Damage().Full()) {
 282                 std::ostream &log = sim.Log() << name << " ";
 283                 if (stats.Exhaustion().Full()) {
 284                         log << "died of exhaustion";
 285                 } else if (stats.Breath().Full()) {
 286                         log << "suffocated";
 287                 } else if (stats.Thirst().Full()) {
 288                         log << "died of thirst";
 289                 } else if (stats.Hunger().Full()) {
 290                         log << "starved to death";
 291                 } else {
 292                         log << "succumed to wounds";
 293                 }
 294                 log << " at an age of " << ui::TimeString(Age())
 295                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 296                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 297                         << ")" << std::endl;
 298         }
 299
 300         sim.SetDead(this);
 301         death = sim.Time();
 302         steering.Off();
 303         if (on_death) {
 304                 on_death(*this);
 305         }
 306         Remove();
 307 }
 308
 309 bool Creature::Dead() const noexcept {
 310         return death > birth;
 311 }
 312
 313 void Creature::Remove() noexcept {
 314         removable = true;
 315 }
 316
 317 void Creature::Removed() noexcept {
 318         bg_task.reset();
 319         goals.clear();
 320         memory.Erase();
 321         KillVAO();
 322 }
 323
 324 void Creature::AddParent(Creature &p) {
 325         parents.push_back(&p);
 326 }
 327
 328 double Creature::Age() const noexcept {
 329         return Dead() ? death - birth : sim.Time() - birth;
 330 }
 331
 332 double Creature::AgeFactor(double peak) const noexcept {
 333         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 334         // goes negative below -0.5 and starts to rise again above 1.0
 335         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 336         // guarantee at least 1%
 337         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 338 }
 339
 340 double Creature::EnergyEfficiency() const noexcept {
 341         return 0.25 * AgeFactor(0.05);
 342 }
 343
 344 double Creature::ExhaustionFactor() const noexcept {
 345         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 346 }
 347
 348 double Creature::FatigueFactor() const noexcept {
 349         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 350 }
 351
 352 double Creature::Strength() const noexcept {
 353         // TODO: replace all age factors with actual growth and decay
 354         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 355 }
 356
 357 double Creature::StrengthFactor() const noexcept {
 358         double str = Strength();
 359         return str / (str + 1.0);
 360 }
 361
 362 double Creature::Stamina() const noexcept {
 363         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 364 }
 365
 366 double Creature::StaminaFactor() const noexcept {
 367         double stm = Stamina();
 368         return stm / (stm + 1.0);
 369 }
 370
 371 double Creature::Dexerty() const noexcept {
 372         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 373 }
 374
 375 double Creature::DexertyFactor() const noexcept {
 376         double dex = Dexerty();
 377         return dex / (dex + 1.0);
 378 }
 379
 380 double Creature::Intelligence() const noexcept {
 381         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 382 }
 383
 384 double Creature::IntelligenceFactor() const noexcept {
 385         double intl = Intelligence();
 386         return intl / (intl + 1.0);
 387 }
 388
 389 double Creature::Lifetime() const noexcept {
 390         return properties.Lifetime();
 391 }
 392
 393 double Creature::Fertility() const noexcept {
 394         return properties.Fertility() * AgeFactor(0.25);
 395 }
 396
 397 double Creature::Mutability() const noexcept {
 398         return properties.Mutability();
 399 }
 400
 401 double Creature::Adaptability() const noexcept {
 402         return properties.Adaptability();
 403 }
 404
 405 double Creature::OffspringMass() const noexcept {
 406         return properties.OffspringMass();
 407 }
 408
 409 double Creature::PerceptionRange() const noexcept {
 410         return perception_range;
 411 }
 412
 413 double Creature::PerceptionOmniRange() const noexcept {
 414         return perception_omni_range;
 415 }
 416
 417 double Creature::PerceptionField() const noexcept {
 418         return perception_field;
 419 }
 420
 421 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 422         const glm::dvec3 diff(p - situation.Position());
 423         double ldiff = glm::length2(diff);
 424         if (ldiff < perception_omni_range_squared) return true;
 425         if (ldiff > perception_range_squared) return false;
 426         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 427 }
 428
 429 double Creature::OffspringChance() const noexcept {
 430         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 431 }
 432
 433 double Creature::MutateChance() const noexcept {
 434         return GetProperties().Mutability() * (1.0 / 3600.0);
 435 }
 436
 437 double Creature::AdaptChance() const noexcept {
 438         return GetProperties().Adaptability() * (1.0 / 120.0);
 439 }
 440
 441 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 442         g->Enable();
 443         if (goals.empty()) {
 444                 g->SetForeground();
 445         }
 446         goals.emplace_back(std::move(g));
 447 }
 448
 449 void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
 450         bg_task = std::move(g);
 451 }
 452
 453 Goal &Creature::BackgroundTask() {
 454         return *bg_task;
 455 }
 456
 457 namespace {
 458
 459 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 460         return b->Urgency() < a->Urgency();
 461 }
 462
 463 }
 464
 465 void Creature::Tick(double dt) {
 466         Cache();
 467         TickState(dt);
 468         TickStats(dt);
 469         TickBrain(dt);
 470 }
 471
 472 void Creature::Cache() noexcept {
 473         double dex_fact = DexertyFactor();
 474         perception_range = 3.0 * dex_fact + size;
 475         perception_range_squared = perception_range * perception_range;
 476         perception_omni_range = 0.5 * dex_fact + size;
 477         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 478         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 479         perception_field = 0.8 - dex_fact;
 480 }
 481
 482 void Creature::TickState(double dt) {
 483         steering.MaxSpeed(Dexerty());
 484         steering.MaxForce(Strength());
 485         Situation::State state(situation.GetState());
 486         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 487         Situation::Derivative b(Step(a, dt * 0.5));
 488         Situation::Derivative c(Step(b, dt * 0.5));
 489         Situation::Derivative d(Step(c, dt));
 490         Situation::Derivative f(
 491                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 492                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 493         );
 494         state.pos += f.vel * dt;
 495         state.vel += f.acc * dt;
 496         situation.EnforceConstraints(state);
 497
 498         if (!heading_manual && glm::length2(state.vel) > 0.000001) {
 499                 const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
 500                 const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
 501                 if (glm::length2(tangent) > 0.000001) {
 502                         heading_target = glm::normalize(tangent);
 503                 }
 504         }
 505         double ang = glm::angle(heading_target, state.dir);
 506         double turn_rate = PI * 0.75 * dt;
 507         if (ang < turn_rate) {
 508                 state.dir = heading_target;
 509                 heading_manual = false;
 510         } else {
 511                 state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
 512         }
 513
 514         situation.SetState(state);
 515         // work is force times distance
 516         // keep 10% of gravity as a kind of background burn
 517         DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
 518 }
 519
 520 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 521         Situation::State s = situation.GetState();
 522         s.pos += ds.vel * dt;
 523         s.vel += ds.acc * dt;
 524         situation.EnforceConstraints(s);
 525         glm::dvec3 force(steering.Force(s));
 526         // gravity = antinormal * mass * Gm / r²
 527         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 528         force += glm::dvec3(
 529                 -normal
 530                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 531                 / glm::length2(s.pos)));
 532         // if net force is applied and in contact with surface
 533         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 534                 // apply friction
 535                 glm::dvec3 fn(normal * glm::dot(force, normal));
 536                 // TODO: friction somehow bigger than force?
 537                 glm::dvec3 ft(force - fn);
 538                 double u = 0.4;
 539                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 540                 force += friction;
 541         }
 542         return {
 543                 s.vel,
 544                 force / Mass()
 545         };
 546 }
 547
 548 void Creature::TickStats(double dt) {
 549         for (auto &s : stats.stat) {
 550                 s.Add(s.gain * dt);
 551         }
 552         // TODO: damage values depending on properties
 553         if (stats.Breath().Full()) {
 554                 constexpr double dps = 1.0 / 4.0;
 555                 Hurt(dps * dt);
 556         }
 557         if (stats.Thirst().Full()) {
 558                 constexpr double dps = 1.0 / 32.0;
 559                 Hurt(dps * dt);
 560         }
 561         if (stats.Hunger().Full()) {
 562                 constexpr double dps = 1.0 / 128.0;
 563                 Hurt(dps * dt);
 564         }
 565         if (!situation.Moving()) {
 566                 // double exhaustion recovery when standing still
 567                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 568         }
 569 }
 570
 571 void Creature::TickBrain(double dt) {
 572         bg_task->Tick(dt);
 573         bg_task->Action();
 574         memory.Tick(dt);
 575         // do background stuff
 576         if (goals.empty()) {
 577                 return;
 578         }
 579         for (auto &goal : goals) {
 580                 goal->Tick(dt);
 581         }
 582         Goal *top = &*goals.front();
 583         // if active goal can be interrupted, check priorities
 584         if (goals.size() > 1 && goals[0]->Interruptible()) {
 585                 std::sort(goals.begin(), goals.end(), GoalCompare);
 586         }
 587         if (&*goals.front() != top) {
 588                 top->SetBackground();
 589                 goals.front()->SetForeground();
 590                 top = &*goals.front();
 591         }
 592         goals[0]->Action();
 593         for (auto goal = goals.begin(); goal != goals.end();) {
 594                 if ((*goal)->Complete()) {
 595                         goals.erase(goal);
 596                 } else {
 597                         ++goal;
 598                 }
 599         }
 600         if (&*goals.front() != top) {
 601                 goals.front()->SetForeground();
 602         }
 603 }
 604
 605 math::AABB Creature::CollisionBounds() const noexcept {
 606         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 607 }
 608
 609 glm::dmat4 Creature::CollisionTransform() const noexcept {
 610         const double half_size = size * 0.5;
 611         const glm::dvec3 &pos = situation.Position();
 612         glm::dmat3 orient;
 613         orient[1] = situation.GetPlanet().NormalAt(pos);
 614         orient[2] = situation.Heading();
 615         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 616                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 617         }
 618         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 619         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 620         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 621                 * glm::dmat4(orient)
 622                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 623 }
 624
 625 void Creature::OnCollide(Creature &other) {
 626         memory.TrackCollision(other);
 627 }
 628
 629 glm::dmat4 Creature::LocalTransform() noexcept {
 630         const double half_size = size * 0.5;
 631         return CollisionTransform()
 632                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 633 }
 634
 635 void Creature::BuildVAO() {
 636         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 637         vao->Bind();
 638         vao->BindAttributes();
 639         vao->EnableAttribute(0);
 640         vao->EnableAttribute(1);
 641         vao->EnableAttribute(2);
 642         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 643         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 644         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 645         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 646         {
 647                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 648                 constexpr float offset = 1.0f;
 649                 constexpr float max_tex = 5.999f;
 650                 const float tex[6] = {
 651                         0.0f, // face
 652                         float(std::floor(skin_side * max_tex)), // left
 653                         float(std::floor(skin_back * max_tex)), // top
 654                         float(std::floor(skin_back * max_tex)), // back
 655                         float(std::floor(skin_side * max_tex)), // right
 656                         0.0f, // bottom
 657                 };
 658                 for (int surface = 0; surface < 6; ++surface) {
 659                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 660                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 661
 662                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 663                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 664                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 665                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 666                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 667                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 668                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 669                         attrib[4 * surface + 0].texture.y = 1.0f;
 670                         attrib[4 * surface + 0].texture.z = tex[surface];
 671
 672                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 673                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 674                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 675                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 676                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 677                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 678                         attrib[4 * surface + 1].texture.x = tex_u_end;
 679                         attrib[4 * surface + 1].texture.y = 1.0f;
 680                         attrib[4 * surface + 1].texture.z = tex[surface];
 681
 682                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 683                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 684                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 685                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 686                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 687                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 688                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 689                         attrib[4 * surface + 2].texture.y = 0.0f;
 690                         attrib[4 * surface + 2].texture.z = tex[surface];
 691
 692                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 693                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 694                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 695                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 696                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 697                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 698                         attrib[4 * surface + 3].texture.x = tex_u_end;
 699                         attrib[4 * surface + 3].texture.y = 0.0f;
 700                         attrib[4 * surface + 3].texture.z = tex[surface];
 701                 }
 702         }
 703         vao->BindElements();
 704         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 705         {
 706                 auto element = vao->MapElements(GL_WRITE_ONLY);
 707                 for (int surface = 0; surface < 3; ++surface) {
 708                         element[6 * surface + 0] = 4 * surface + 0;
 709                         element[6 * surface + 1] = 4 * surface + 2;
 710                         element[6 * surface + 2] = 4 * surface + 1;
 711                         element[6 * surface + 3] = 4 * surface + 1;
 712                         element[6 * surface + 4] = 4 * surface + 2;
 713                         element[6 * surface + 5] = 4 * surface + 3;
 714                 }
 715                 for (int surface = 3; surface < 6; ++surface) {
 716                         element[6 * surface + 0] = 4 * surface + 0;
 717                         element[6 * surface + 1] = 4 * surface + 1;
 718                         element[6 * surface + 2] = 4 * surface + 2;
 719                         element[6 * surface + 3] = 4 * surface + 2;
 720                         element[6 * surface + 4] = 4 * surface + 1;
 721                         element[6 * surface + 5] = 4 * surface + 3;
 722                 }
 723         }
 724         vao->Unbind();
 725 }
 726
 727 void Creature::KillVAO() {
 728         vao.reset();
 729 }
 730
 731 void Creature::Draw(graphics::Viewport &viewport) {
 732         if (!vao) return;
 733         vao->Bind();
 734         vao->DrawTriangles(6 * 6);
 735 }
 736
 737
 738 void Spawn(Creature &c, world::Planet &p) {
 739         p.AddCreature(&c);
 740         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 741         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 742         c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
 743
 744         // probe surrounding area for common resources
 745         int start = p.SideLength() / 2 - 2;
 746         int end = start + 5;
 747         std::map<int, double> yields;
 748         for (int y = start; y < end; ++y) {
 749                 for (int x = start; x < end; ++x) {
 750                         const world::TileType &t = p.TypeAt(0, x, y);
 751                         for (auto yield : t.resources) {
 752                                 yields[yield.resource] += yield.ubiquity;
 753                         }
 754                 }
 755         }
 756         int liquid = -1;
 757         int solid = -1;
 758         for (auto e : yields) {
 759                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 760                         if (liquid < 0 || e.second > yields[liquid]) {
 761                                 liquid = e.first;
 762                         }
 763                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 764                         if (solid < 0 || e.second > yields[solid]) {
 765                                 solid = e.first;
 766                         }
 767                 }
 768         }
 769
 770         Genome genome;
 771         genome.properties.Strength() = { 2.0, 0.1 };
 772         genome.properties.Stamina() = { 2.0, 0.1 };
 773         genome.properties.Dexerty() = { 2.0, 0.1 };
 774         genome.properties.Intelligence() = { 1.0, 0.1 };
 775         genome.properties.Lifetime() = { 480.0, 60.0 };
 776         genome.properties.Fertility() = { 0.5, 0.03 };
 777         genome.properties.Mutability() = { 0.9, 0.1 };
 778         genome.properties.Adaptability() = { 0.9, 0.1 };
 779         genome.properties.OffspringMass() = { 0.3, 0.02 };
 780
 781         glm::dvec3 color_avg(0.0);
 782         double color_divisor = 0.0;
 783
 784         if (p.HasAtmosphere()) {
 785                 c.AddMass(p.Atmosphere(), 0.01);
 786                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 787                 color_divisor += 0.1;
 788         }
 789         if (liquid > -1) {
 790                 c.AddMass(liquid, 0.3);
 791                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 792                 color_divisor += 0.5;
 793         }
 794         if (solid > -1) {
 795                 c.AddMass(solid, 0.1);
 796                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 797                 color_divisor += 1.0;
 798         }
 799
 800         if (color_divisor > 0.001) {
 801                 color_avg /= color_divisor;
 802         }
 803         glm::dvec3 hsl = rgb2hsl(color_avg);
 804         genome.base_hue = { hsl.x, 0.01 };
 805         genome.base_saturation = { hsl.y, 0.01 };
 806         genome.base_lightness = { hsl.z, 0.01 };
 807         // use opposite color as start highlight
 808         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 809         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 810         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 811
 812         genome.skin_side = { 0.5, 0.01 };
 813         genome.skin_back = { 0.5, 0.01 };
 814
 815         genome.Configure(c);
 816 }
 817
 818 void Genome::Configure(Creature &c) const {
 819         c.GetGenome() = *this;
 820
 821         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 822
 823         c.GetProperties() = Instantiate(properties, random);
 824
 825         // TODO: derive stats from properties
 826         c.GetStats().Damage().gain = (-1.0 / 100.0);
 827         c.GetStats().Breath().gain = (1.0 / 5.0);
 828         c.GetStats().Thirst().gain = (1.0 / 60.0);
 829         c.GetStats().Hunger().gain = (1.0 / 200.0);
 830         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 831         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 832         c.GetStats().Boredom().gain = (1.0 / 300.0);
 833
 834         glm::dvec3 base_color(
 835                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 836                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 837                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 838         );
 839         glm::dvec3 highlight_color(
 840                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 841                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 842                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 843         );
 844         c.BaseColor(hsl2rgb(base_color));
 845         c.HighlightColor(hsl2rgb(highlight_color));
 846         c.BackSkin(glm::clamp(skin_back.FakeNormal(random.SNorm()), 0.0, 1.0));
 847         c.SideSkin(glm::clamp(skin_side.FakeNormal(random.SNorm()), 0.0, 1.0));
 848         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 849         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 850 }
 851
 852
 853 void Split(Creature &c) {
 854         Creature *a = new Creature(c.GetSimulation());
 855         const Situation &s = c.GetSituation();
 856         a->AddParent(c);
 857         a->Name(c.GetSimulation().Assets().name.Sequential());
 858         c.GetGenome().Configure(*a);
 859         for (const auto &cmp : c.GetComposition()) {
 860                 a->AddMass(cmp.resource, cmp.value * 0.5);
 861         }
 862         s.GetPlanet().AddCreature(a);
 863         // TODO: duplicate situation somehow
 864         a->GetSituation().SetPlanetSurface(
 865                 s.GetPlanet(),
 866                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
 867         a->BuildVAO();
 868         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 869
 870         Creature *b = new Creature(c.GetSimulation());
 871         b->AddParent(c);
 872         b->Name(c.GetSimulation().Assets().name.Sequential());
 873         c.GetGenome().Configure(*b);
 874         for (const auto &cmp : c.GetComposition()) {
 875                 b->AddMass(cmp.resource, cmp.value * 0.5);
 876         }
 877         s.GetPlanet().AddCreature(b);
 878         b->GetSituation().SetPlanetSurface(
 879                 s.GetPlanet(),
 880                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
 881         b->BuildVAO();
 882         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 883
 884         c.Die();
 885 }
 886
 887
 888 Memory::Memory(Creature &c)
 889 : c(c) {
 890 }
 891
 892 Memory::~Memory() {
 893 }
 894
 895 void Memory::Erase() {
 896         known_types.clear();
 897         known_creatures.clear();
 898 }
 899
 900 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 901         double best_rating = -1.0;
 902         for (const auto &k : known_types) {
 903                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 904                 auto entry = t.FindBestResource(accept);
 905                 if (entry != t.resources.end()) {
 906                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 907                         if (rating > best_rating) {
 908                                 best_rating = rating;
 909                                 pos = k.second.first_loc.position;
 910                         }
 911                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 912                         if (rating > best_rating) {
 913                                 best_rating = rating;
 914                                 pos = k.second.last_loc.position;
 915                         }
 916                 }
 917         }
 918         if (best_rating > 0.0) {
 919                 glm::dvec3 error(
 920                         c.GetSimulation().Assets().random.SNorm(),
 921                         c.GetSimulation().Assets().random.SNorm(),
 922                         c.GetSimulation().Assets().random.SNorm());
 923                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 924                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 925                 return true;
 926         } else {
 927                 return false;
 928         }
 929 }
 930
 931 void Memory::TrackCollision(Creature &other) {
 932         // TODO: find out whose fault it was
 933         // TODO: source values from personality
 934         Profile &p = known_creatures[&other];
 935         p.annoyance += 0.1;
 936         const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
 937         if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
 938                 AttackGoal *g = new AttackGoal(c, other);
 939                 g->SetDamageTarget(annoy_fact);
 940                 g->Urgency(annoy_fact);
 941                 c.AddGoal(std::unique_ptr<Goal>(g));
 942                 p.annoyance *= 0.5;
 943         }
 944 }
 945
 946 void Memory::Tick(double dt) {
 947         Situation &s = c.GetSituation();
 948         if (s.OnSurface()) {
 949                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 950         }
 951         // TODO: forget
 952 }
 953
 954 void Memory::TrackStay(const Location &l, double t) {
 955         const world::TileType &type = l.planet->TileTypeAt(l.position);
 956         auto entry = known_types.find(type.id);
 957         if (entry != known_types.end()) {
 958                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 959                         // "it's been ages"
 960                         if (entry->second.time_spent > c.Age() * 0.25) {
 961                                 // the place is very familiar
 962                                 c.GetStats().Boredom().Add(-0.2);
 963                         } else {
 964                                 // infrequent stays
 965                                 c.GetStats().Boredom().Add(-0.1);
 966                         }
 967                 }
 968                 entry->second.last_been = c.GetSimulation().Time();
 969                 entry->second.last_loc = l;
 970                 entry->second.time_spent += t;
 971         } else {
 972                 known_types.emplace(type.id, Stay{
 973                         c.GetSimulation().Time(),
 974                         l,
 975                         c.GetSimulation().Time(),
 976                         l,
 977                         t
 978                 });
 979                 // completely new place, interesting
 980                 // TODO: scale by personality trait
 981                 c.GetStats().Boredom().Add(-0.25);
 982         }
 983 }
 984
 985
 986 NameGenerator::NameGenerator()
 987 : counter(0) {
 988 }
 989
 990 NameGenerator::~NameGenerator() {
 991 }
 992
 993 std::string NameGenerator::Sequential() {
 994         std::stringstream ss;
 995         ss << "Blob " << ++counter;
 996         return ss.str();
 997 }
 998
 999
1000 Situation::Situation()
1001 : planet(nullptr)
1002 , state(glm::dvec3(0.0), glm::dvec3(0.0))
1003 , type(LOST) {
1004 }
1005
1006 Situation::~Situation() {
1007 }
1008
1009 bool Situation::OnPlanet() const noexcept {
1010         return type == PLANET_SURFACE;
1011 }
1012
1013 bool Situation::OnSurface() const noexcept {
1014         return type == PLANET_SURFACE;
1015 }
1016
1017 bool Situation::OnGround() const noexcept {
1018         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
1019 }
1020
1021 glm::dvec3 Situation::SurfaceNormal() const noexcept {
1022         return planet->NormalAt(state.pos);
1023 }
1024
1025 world::Tile &Situation::GetTile() const noexcept {
1026         return planet->TileAt(state.pos);
1027 }
1028
1029 const world::TileType &Situation::GetTileType() const noexcept {
1030         return planet->TileTypeAt(state.pos);
1031 }
1032
1033 void Situation::Move(const glm::dvec3 &dp) noexcept {
1034         state.pos += dp;
1035         EnforceConstraints(state);
1036 }
1037
1038 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
1039         state.vel += dv;
1040         EnforceConstraints(state);
1041 }
1042
1043 void Situation::EnforceConstraints(State &s) const noexcept {
1044         if (OnSurface()) {
1045                 double r = GetPlanet().Radius();
1046                 if (glm::length2(s.pos) < r * r) {
1047                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
1048                         s.pos = normal * r;
1049                         s.vel -= normal * glm::dot(normal, s.vel);
1050                 }
1051         }
1052 }
1053
1054 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
1055         type = PLANET_SURFACE;
1056         planet = &p;
1057         state.pos = pos;
1058         EnforceConstraints(state);
1059 }
1060
1061
1062 Steering::Steering(const Creature &c)
1063 : c(c)
1064 , target(0.0)
1065 , haste(0.0)
1066 , max_force(1.0)
1067 , max_speed(1.0)
1068 , min_dist(0.0)
1069 , max_look(0.0)
1070 , separating(false)
1071 , halting(true)
1072 , seeking(false)
1073 , arriving(false) {
1074 }
1075
1076 Steering::~Steering() {
1077 }
1078
1079 void Steering::Off() noexcept {
1080         separating = false;
1081         halting = false;
1082         seeking = false;
1083         arriving = false;
1084 }
1085
1086 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1087         separating = true;
1088         min_dist = min_distance;
1089         max_look = max_lookaround;
1090 }
1091
1092 void Steering::DontSeparate() noexcept {
1093         separating = false;
1094 }
1095
1096 void Steering::ResumeSeparate() noexcept {
1097         separating = true;
1098 }
1099
1100 void Steering::Halt() noexcept {
1101         halting = true;
1102         seeking = false;
1103         arriving = false;
1104 }
1105
1106 void Steering::Pass(const glm::dvec3 &t) noexcept {
1107         target = t;
1108         halting = false;
1109         seeking = true;
1110         arriving = false;
1111 }
1112
1113 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1114         target = t;
1115         halting = false;
1116         seeking = false;
1117         arriving = true;
1118 }
1119
1120 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1121         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1122         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1123         glm::dvec3 result(0.0);
1124         if (separating) {
1125                 // TODO: off surface situation
1126                 glm::dvec3 repulse(0.0);
1127                 const Situation &s = c.GetSituation();
1128                 for (auto &other : s.GetPlanet().Creatures()) {
1129                         if (&*other == &c) continue;
1130                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1131                         if (glm::length2(diff) > max_look * max_look) continue;
1132                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1133                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1134                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1135                 }
1136                 result += repulse;
1137         }
1138         if (halting) {
1139                 // brake hard
1140                 result += -5.0 * s.vel * force;
1141         }
1142         if (seeking) {
1143                 glm::dvec3 diff = target - s.pos;
1144                 if (!allzero(diff)) {
1145                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1146                 }
1147         }
1148         if (arriving) {
1149                 glm::dvec3 diff = target - s.pos;
1150                 double dist = glm::length(diff);
1151                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1152                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1153                 }
1154         }
1155         // remove vertical component, if any
1156         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1157         result -= normal * glm::dot(normal, result);
1158         // clamp to max
1159         if (glm::length2(result) > max_force * max_force) {
1160                 result = glm::normalize(result) * max_force;
1161         }
1162         return result;
1163 }
1164
1165 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1166         return (vel - s.vel) * acc;
1167 }
1168
1169 }
1170 }