better heading implementation

[blobs.git] / src / creature / creature.cpp

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 7ad0657e0d176f2a14412b5eb984255e6f707706..0a8b460c09e8b568af1e138ae7ae962386fc98ca 100644 (file)
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -142,6 +142,8 @@ Creature::Creature(world::Simulation &sim)
 , 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)
@@ -224,10 +226,10 @@ void Creature::Ingest(int res, double amount) noexcept {
                                } 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
@@ -430,6 +432,14 @@ void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
        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) {
@@ -470,23 +480,27 @@ void Creature::TickState(double dt) {
        state.pos += f.vel * dt;
        state.vel += f.acc * dt;
        situation.EnforceConstraints(state);
-       if (glm::length2(state.vel) > 0.000001) {
-               glm::dvec3 nvel(glm::normalize(state.vel));
-               double ang = glm::angle(nvel, state.dir);
-               double turn_rate = PI * 0.75 * dt;
-               if (ang < turn_rate) {
-                       state.dir = glm::normalize(state.vel);
-               } else if (std::abs(ang - PI) < 0.001) {
-                       state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
-               } else {
-                       state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::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
-       // exclude gravity for no apparent reason
-       // actually, this should solely be based on steering force
-       DoWork(glm::length(f.acc - situation.GetPlanet().GravityAt(state.pos)) * Mass() * glm::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 {
@@ -702,6 +716,7 @@ void Spawn(Creature &c, world::Planet &p) {
        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;
@@ -820,7 +835,7 @@ void Split(Creature &c) {
        // TODO: duplicate situation somehow
        a->GetSituation().SetPlanetSurface(
                s.GetPlanet(),
-               s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
+               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;
 
@@ -834,7 +849,7 @@ void Split(Creature &c) {
        s.GetPlanet().AddCreature(b);
        b->GetSituation().SetPlanetSurface(
                s.GetPlanet(),
-               s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
+               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;