src/creature/creature.cpp

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