#include "Situation.hpp"
#include "Steering.hpp"
+#include "AttackGoal.hpp"
#include "BlobBackgroundTask.hpp"
#include "Goal.hpp"
#include "IdleGoal.hpp"
namespace blobs {
namespace creature {
-Composition::Composition()
-: components()
-, total_mass(0.0) {
+Composition::Composition(const world::Set<world::Resource> &resources)
+: resources(resources)
+, components()
+, total_mass(0.0)
+, total_volume(0.0)
+, state_mass{0.0} {
}
Composition::~Composition() {
if (c->resource == res) {
c->value += amount;
if (c->value <= 0.0) {
+ amount += c->value;
components.erase(c);
}
found = true;
components.emplace_back(res, amount);
}
std::sort(components.begin(), components.end(), CompositionCompare);
+ state_mass[resources[res].state] += amount;
total_mass += amount;
+ total_volume += amount / resources[res].density;
}
bool Composition::Has(int res) const noexcept {
return 0.0;
}
+double Composition::Proportion(int res) const noexcept {
+ return Get(res) / TotalMass();
+}
+
+double Composition::StateProportion(int res) const noexcept {
+ return Get(res) / StateMass(resources[res].state);
+}
+
+double Composition::Compatibility(int res) const noexcept {
+ if (Has(res)) {
+ return StateProportion(res);
+ }
+ double max_compat = -1.0;
+ double min_compat = 1.0;
+ for (const auto &c : components) {
+ double prop = c.value / StateMass(resources[res].state);
+ for (const auto &compat : resources[c.resource].compatibility) {
+ double value = compat.second * prop;
+ if (value > max_compat) {
+ max_compat = value;
+ }
+ if (value < min_compat) {
+ min_compat = value;
+ }
+ }
+ }
+ if (min_compat < 0.0) {
+ return min_compat;
+ } else {
+ return max_compat;
+ }
+}
+
Creature::Creature(world::Simulation &sim)
: sim(sim)
, name()
, genome()
, properties()
-, composition()
+, composition(sim.Resources())
, base_color(1.0)
, highlight_color(0.0, 0.0, 0.0, 1.0)
, mass(1.0)
, goals()
, situation()
, steering(*this)
+, heading_target(0.0, 0.0, -1.0)
+, heading_manual(false)
+, perception_range(1.0)
+, perception_range_squared(1.0)
+, perception_omni_range(1.0)
+, perception_omni_range_squared(1.0)
+, perception_field(1.0)
, vao() {
sim.SetAlive(this);
// all creatures avoid each other for now
double nonsolid = 0.0;
double volume = 0.0;
for (const auto &c : composition) {
- volume += c.value / sim.Assets().data.resources[c.resource].density;
- if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
+ volume += c.value / sim.Resources()[c.resource].density;
+ if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
nonsolid += c.value;
}
}
}
void Creature::Ingest(int res, double amount) noexcept {
- // TODO: check foreign materials
if (sim.Resources()[res].state == world::Resource::SOLID) {
- // 15% of solids stays in body
- AddMass(res, amount * 0.15);
+ // 30% of solids stays in body
+ AddMass(res, amount * 0.3 * composition.Compatibility(res));
} else {
- // 10% of fluids stays in body
- AddMass(res, amount * 0.05);
+ // 5% of fluids stays in body
+ AddMass(res, amount * 0.05 * composition.Compatibility(res));
}
math::GaloisLFSR &random = sim.Assets().random;
if (random.UNorm() < AdaptChance()) {
} else if (diff > 0.5) {
diff -= 1.0;
}
- // move ±15% of distance
- d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
+ // move 0-15% of distance
+ d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
} else {
- d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
+ d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 0.15, 0.0, 1.0));
}
} else {
// scale by ±15%, enforce bounds
}
double Creature::Age() const noexcept {
- return sim.Time() - birth;
+ return Dead() ? death - birth : sim.Time() - birth;
}
double Creature::AgeFactor(double peak) const noexcept {
return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
}
+double Creature::StrengthFactor() const noexcept {
+ double str = Strength();
+ return str / (str + 1.0);
+}
+
double Creature::Stamina() const noexcept {
return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
}
+double Creature::StaminaFactor() const noexcept {
+ double stm = Stamina();
+ return stm / (stm + 1.0);
+}
+
double Creature::Dexerty() const noexcept {
return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
}
+double Creature::DexertyFactor() const noexcept {
+ double dex = Dexerty();
+ return dex / (dex + 1.0);
+}
+
double Creature::Intelligence() const noexcept {
return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
}
+double Creature::IntelligenceFactor() const noexcept {
+ double intl = Intelligence();
+ return intl / (intl + 1.0);
+}
+
double Creature::Lifetime() const noexcept {
return properties.Lifetime();
}
}
double Creature::PerceptionRange() const noexcept {
- return 3.0 * (Dexerty() / (Dexerty() + 1)) + Size();
+ return perception_range;
}
double Creature::PerceptionOmniRange() const noexcept {
- return 0.5 * (Dexerty() / (Dexerty() + 1)) + Size();
+ return perception_omni_range;
}
double Creature::PerceptionField() const noexcept {
- // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
- return 0.8 - (Dexerty() / (Dexerty() + 1));
+ return perception_field;
}
bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
const glm::dvec3 diff(p - situation.Position());
- double omni_range = PerceptionOmniRange();
- if (length2(diff) < omni_range * omni_range) return true;
- double range = PerceptionRange();
- if (length2(diff) > range * range) return false;
- return dot(normalize(diff), situation.Heading()) > PerceptionField();
+ double ldiff = glm::length2(diff);
+ if (ldiff < perception_omni_range_squared) return true;
+ if (ldiff > perception_range_squared) return false;
+ return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
}
double Creature::OffspringChance() const noexcept {
goals.emplace_back(std::move(g));
}
+void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
+ bg_task = std::move(g);
+}
+
+Goal &Creature::BackgroundTask() {
+ return *bg_task;
+}
+
namespace {
bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
}
void Creature::Tick(double dt) {
+ Cache();
TickState(dt);
TickStats(dt);
TickBrain(dt);
}
+void Creature::Cache() noexcept {
+ double dex_fact = DexertyFactor();
+ perception_range = 3.0 * dex_fact + size;
+ perception_range_squared = perception_range * perception_range;
+ perception_omni_range = 0.5 * dex_fact + size;
+ perception_omni_range_squared = perception_omni_range * perception_omni_range;
+ // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
+ perception_field = 0.8 - dex_fact;
+}
+
void Creature::TickState(double dt) {
steering.MaxSpeed(Dexerty());
steering.MaxForce(Strength());
state.pos += f.vel * dt;
state.vel += f.acc * dt;
situation.EnforceConstraints(state);
- if (length2(state.vel) > 0.000001) {
- glm::dvec3 nvel(normalize(state.vel));
- double ang = angle(nvel, state.dir);
- double turn_rate = PI * 0.75 * dt;
- if (ang < turn_rate) {
- state.dir = normalize(state.vel);
- } else if (std::abs(ang - PI) < 0.001) {
- state.dir = rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
- } else {
- state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
+
+ if (!heading_manual && glm::length2(state.vel) > 0.000001) {
+ const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
+ const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
+ if (glm::length2(tangent) > 0.000001) {
+ heading_target = glm::normalize(tangent);
}
}
+ double ang = glm::angle(heading_target, state.dir);
+ double turn_rate = PI * 0.75 * dt;
+ if (ang < turn_rate) {
+ state.dir = heading_target;
+ heading_manual = false;
+ } else {
+ state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
+ }
+
situation.SetState(state);
// work is force times distance
- DoWork(length(f.acc) * Mass() * length(f.vel) * dt);
+ // keep 10% of gravity as a kind of background burn
+ DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
}
Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
Situation::State s = situation.GetState();
s.pos += ds.vel * dt;
s.vel += ds.acc * dt;
+ situation.EnforceConstraints(s);
glm::dvec3 force(steering.Force(s));
// gravity = antinormal * mass * Gm / r²
- double elevation = situation.GetPlanet().DistanceAt(s.pos);
glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
force += glm::dvec3(
-normal
- * Mass() * situation.GetPlanet().GravitationalParameter()
- / (elevation * elevation));
+ * (Mass() * situation.GetPlanet().GravitationalParameter()
+ / glm::length2(s.pos)));
// if net force is applied and in contact with surface
- if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
- // apply friction = -|normal force| * tangential force * coefficient
- glm::dvec3 fn(normal * dot(force, normal));
+ if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
+ // apply friction
+ glm::dvec3 fn(normal * glm::dot(force, normal));
+ // TODO: friction somehow bigger than force?
glm::dvec3 ft(force - fn);
double u = 0.4;
- glm::dvec3 friction(-length(fn) * ft * u);
+ glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
force += friction;
}
return {
}
}
-math::AABB Creature::CollisionBox() const noexcept {
+math::AABB Creature::CollisionBounds() const noexcept {
return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
}
glm::dmat3 orient;
orient[1] = situation.GetPlanet().NormalAt(pos);
orient[2] = situation.Heading();
- if (std::abs(dot(orient[1], orient[2])) > 0.999) {
+ if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
}
- orient[0] = normalize(cross(orient[1], orient[2]));
- orient[2] = normalize(cross(orient[0], orient[1]));
+ orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
+ orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
* glm::dmat4(orient)
* glm::translate(glm::dvec3(0.0, half_size, 0.0));
}
+void Creature::OnCollide(Creature &other) {
+ memory.TrackCollision(other);
+}
+
glm::dmat4 Creature::LocalTransform() noexcept {
const double half_size = size * 0.5;
return CollisionTransform()
p.AddCreature(&c);
c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
+ c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
// probe surrounding area for common resources
int start = p.SideLength() / 2 - 2;
// TODO: duplicate situation somehow
a->GetSituation().SetPlanetSurface(
s.GetPlanet(),
- s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
+ s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
a->BuildVAO();
c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
s.GetPlanet().AddCreature(b);
b->GetSituation().SetPlanetSurface(
s.GetPlanet(),
- s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
+ s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
b->BuildVAO();
c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
void Memory::Erase() {
known_types.clear();
+ known_creatures.clear();
+}
+
+bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
+ double best_rating = -1.0;
+ for (const auto &k : known_types) {
+ const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
+ auto entry = t.FindBestResource(accept);
+ if (entry != t.resources.end()) {
+ double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
+ if (rating > best_rating) {
+ best_rating = rating;
+ pos = k.second.first_loc.position;
+ }
+ rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
+ if (rating > best_rating) {
+ best_rating = rating;
+ pos = k.second.last_loc.position;
+ }
+ }
+ }
+ if (best_rating > 0.0) {
+ glm::dvec3 error(
+ c.GetSimulation().Assets().random.SNorm(),
+ c.GetSimulation().Assets().random.SNorm(),
+ c.GetSimulation().Assets().random.SNorm());
+ pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
+ pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
+ return true;
+ } else {
+ return false;
+ }
+}
+
+void Memory::TrackCollision(Creature &other) {
+ // TODO: find out whose fault it was
+ // TODO: source values from personality
+ Profile &p = known_creatures[&other];
+ p.annoyance += 0.1;
+ const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
+ if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
+ AttackGoal *g = new AttackGoal(c, other);
+ g->SetDamageTarget(annoy_fact);
+ g->Urgency(annoy_fact);
+ c.AddGoal(std::unique_ptr<Goal>(g));
+ p.annoyance *= 0.5;
+ }
}
void Memory::Tick(double dt) {
if (s.OnSurface()) {
TrackStay({ &s.GetPlanet(), s.Position() }, dt);
}
+ // TODO: forget
}
void Memory::TrackStay(const Location &l, double t) {
return type == PLANET_SURFACE;
}
+bool Situation::OnGround() const noexcept {
+ return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
+}
+
+glm::dvec3 Situation::SurfaceNormal() const noexcept {
+ return planet->NormalAt(state.pos);
+}
+
world::Tile &Situation::GetTile() const noexcept {
return planet->TileAt(state.pos);
}
EnforceConstraints(state);
}
-void Situation::EnforceConstraints(State &s) noexcept {
+void Situation::EnforceConstraints(State &s) const noexcept {
if (OnSurface()) {
double r = GetPlanet().Radius();
- if (length2(s.pos) < r * r) {
- s.pos = normalize(s.pos) * r;
+ if (glm::length2(s.pos) < r * r) {
+ const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
+ s.pos = normal * r;
+ s.vel -= normal * glm::dot(normal, s.vel);
}
}
}
for (auto &other : s.GetPlanet().Creatures()) {
if (&*other == &c) continue;
glm::dvec3 diff = s.Position() - other->GetSituation().Position();
- if (length2(diff) > max_look * max_look) continue;
+ if (glm::length2(diff) > max_look * max_look) continue;
if (!c.PerceptionTest(other->GetSituation().Position())) continue;
- double sep = glm::clamp(length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
- repulse += normalize(diff) * (1.0 - sep / min_dist) * force;
+ double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
+ repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
}
result += repulse;
}
if (halting) {
- // break twice as hard
- result += -2.0 * s.vel * force;
+ // brake hard
+ result += -5.0 * s.vel * force;
}
if (seeking) {
glm::dvec3 diff = target - s.pos;
if (!allzero(diff)) {
- result += TargetVelocity(s, (normalize(diff) * speed), force);
+ result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
}
}
if (arriving) {
glm::dvec3 diff = target - s.pos;
- double dist = length(diff);
+ double dist = glm::length(diff);
if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
}
}
- if (length2(result) > max_force * max_force) {
- result = normalize(result) * max_force;
+ // remove vertical component, if any
+ const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
+ result -= normal * glm::dot(normal, result);
+ // clamp to max
+ if (glm::length2(result) > max_force * max_force) {
+ result = glm::normalize(result) * max_force;
}
return result;
}
projects / blobs.git / blobdiff