#include "Situation.hpp"
#include "Steering.hpp"
+#include "BlobBackgroundTask.hpp"
#include "Goal.hpp"
#include "IdleGoal.hpp"
#include "InhaleNeed.hpp"
#include "IngestNeed.hpp"
#include "Need.hpp"
#include "../app/Assets.hpp"
+#include "../math/const.hpp"
#include "../world/Body.hpp"
#include "../world/Planet.hpp"
#include "../world/Simulation.hpp"
, on_death()
, removable(false)
, memory(*this)
+, bg_task()
, needs()
, goals()
, situation()
-, steering()
+, steering(*this)
, vao() {
+ // all creatures avoid each other for now
+ steering.Separate(0.1, 1.5);
}
Creature::~Creature() {
health = std::max(0.0, health - dt);
if (health == 0.0) {
std::cout << "[" << int(sim.Time()) << "s] "
- << name << " died" << std::endl;
+ << name << " died" << std::endl;
Die();
}
}
}
double Creature::Fertility() const noexcept {
- return AgeLerp(CurProps().fertility, NextProps().fertility) / 3600.0;
+ return AgeLerp(CurProps().fertility, NextProps().fertility) * (1.0 / 3600.0);
+}
+
+double Creature::Mutability() const noexcept {
+ return GetProperties().mutability * (1.0 / 3600.0);
}
void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
- std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
g->Enable();
goals.emplace_back(std::move(g));
}
std::cout << "[" << int(sim.Time()) << "s] "
<< name << " died of old age" << std::endl;
Die();
+ } else {
+ std::cout << "[" << int(sim.Time()) << "s] "
+ << name << " grew up to " << AgeName() << std::endl;
}
}
Situation::Derivative d(Step(c, dt));
Situation::Derivative f(
(1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
- (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc),
- (1.0 / 6.0) * (a.turn + 2.0 * (b.turn + c.turn) + d.turn)
+ (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
);
state.pos += f.vel * dt;
state.vel += f.acc * dt;
- constexpr double turn_speed = 10.0;
- state.dir = glm::normalize(state.dir + f.turn * turn_speed * dt);
+ if (length2(state.vel) > 0.000001) {
+ glm::dvec3 nvel(normalize(state.vel));
+ double ang = angle(nvel, state.dir);
+ double turn_rate = PI * 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, world::Planet::SurfaceNormal(situation.Surface()));
+ } else {
+ state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
+ }
+ }
+
situation.SetState(state);
}
+ bg_task->Tick(dt);
+ bg_task->Action();
memory.Tick(dt);
for (auto &need : needs) {
need->Tick(dt);
Situation::State s = situation.GetState();
s.pos += ds.vel * dt;
s.vel += ds.acc * dt;
- s.dir = normalize(s.dir + ds.turn * dt);
return {
s.vel,
- steering.Acceleration(s),
- allzero(s.vel) ? glm::dvec3(0.0) : normalize(s.vel) - s.dir
+ steering.Acceleration(s)
};
}
glm::dmat4 Creature::LocalTransform() noexcept {
- // TODO: surface transform
const double half_size = size * 0.5;
const glm::dvec3 &pos = situation.Position();
+ const glm::dmat3 srf(world::Planet::SurfaceOrientation(situation.Surface()));
return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
- * glm::dmat4(world::Planet::SurfaceOrientation(situation.Surface()))
- * glm::rotate(glm::orientedAngle(glm::dvec3(0.0, 0.0, -1.0), situation.Heading(), glm::dvec3(0.0, 1.0, 0.0)), glm::dvec3(0.0, 1.0, 0.0))
+ * glm::rotate(glm::orientedAngle(-srf[2], situation.Heading(), srf[1]), srf[1])
+ * glm::dmat4(srf)
* glm::scale(glm::dvec3(half_size, half_size, half_size));
}
void Spawn(Creature &c, world::Planet &p) {
p.AddCreature(&c);
c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
+ c.GetSituation().Heading(-world::Planet::SurfaceOrientation(0)[2]);
// probe surrounding area for common resources
int start = p.SideLength() / 2 - 2;
genome.properties.Youth().highlight = { 0.9, 0.1 };
genome.properties.Adult().age = { 120.0, 10.0 };
- genome.properties.Adult().mass = { 1.2, 0.1 };
+ genome.properties.Adult().mass = { 1.3, 0.1 };
genome.properties.Adult().fertility = { 0.4, 0.01 };
genome.properties.Adult().highlight = { 0.7, 0.1 };
need->gain = intake * 0.5;
}
need->name = c.GetSimulation().Resources()[comp.resource].label;
+ need->growth = comp.growth.FakeNormal(random.SNorm());
+ need->value = 0.4;
need->inconvenient = 0.5;
need->critical = 0.95;
c.AddNeed(std::move(need));
c.Density(mass / volume);
c.GetSteering().MaxAcceleration(1.4 * std::atan(c.GetProperties().strength));
c.GetSteering().MaxSpeed(4.4 * std::atan(c.GetProperties().dexerty));
+ c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
}
Creature *a = new Creature(c.GetSimulation());
const Situation &s = c.GetSituation();
a->Name(c.GetSimulation().Assets().name.Sequential());
- // TODO: mutate
c.GetGenome().Configure(*a);
s.GetPlanet().AddCreature(a);
// TODO: duplicate situation somehow
s.GetPlanet(), s.Surface(),
s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
a->BuildVAO();
+ std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
+ << a->Name() << " was born" << std::endl;
Creature *b = new Creature(c.GetSimulation());
b->Name(c.GetSimulation().Assets().name.Sequential());
s.GetPlanet(), s.Surface(),
s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
b->BuildVAO();
+ std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
+ << b->Name() << " was born" << std::endl;
c.Die();
}
}
-Steering::Steering()
-: target(0.0)
+Steering::Steering(const Creature &c)
+: c(c)
+, target(0.0)
+, haste(0.0)
, max_accel(1.0)
, max_speed(1.0)
-, halting(false)
+, min_dist(0.0)
+, max_look(0.0)
+, separating(false)
+, halting(true)
, seeking(false)
, arriving(false) {
}
Steering::~Steering() {
}
+void Steering::Separate(double min_distance, double max_lookaround) noexcept {
+ separating = true;
+ min_dist = min_distance;
+ max_look = max_lookaround;
+}
+
+void Steering::DontSeparate() noexcept {
+ separating = false;
+}
+
void Steering::Halt() noexcept {
halting = true;
seeking = false;
}
glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
- glm::dvec3 acc(0.0);
+ double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
+ double accel = max_speed * glm::clamp(max_accel * haste * haste, 0.5, 1.0);
+ glm::dvec3 result(0.0);
+ if (separating) {
+ // TODO: off surface situation
+ glm::dvec3 repulse(0.0);
+ const Situation &s = c.GetSituation();
+ 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;
+ double sep = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
+ if (sep < min_dist) {
+ repulse += normalize(diff) * (1.0 - sep / min_dist);
+ }
+ }
+ SumForce(result, repulse, accel);
+ }
if (halting) {
- SumForce(acc, s.vel * -max_accel);
+ SumForce(result, s.vel * -accel, accel);
}
if (seeking) {
glm::dvec3 diff = target - s.pos;
if (!allzero(diff)) {
- SumForce(acc, TargetVelocity(s, (normalize(diff) * max_speed)));
+ SumForce(result, TargetVelocity(s, (normalize(diff) * speed), accel), accel);
}
}
if (arriving) {
glm::dvec3 diff = target - s.pos;
double dist = length(diff);
if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
- SumForce(acc, TargetVelocity(s, diff * std::min(dist * max_accel, max_speed) / dist));
+ SumForce(result, TargetVelocity(s, diff * std::min(dist * accel, speed) / dist, accel), accel);
}
}
- return acc;
+ return result;
}
-bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
+bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in, double max) const noexcept {
if (allzero(in) || anynan(in)) {
return false;
}
double cur = allzero(out) ? 0.0 : length(out);
- double rem = max_accel - cur;
+ double rem = max - cur;
if (rem < 0.0) {
return true;
}
}
}
-glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel) const noexcept {
- return (vel - s.vel) * max_accel;
+glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
+ return (vel - s.vel) * acc;
}
}
projects / blobs.git / blobdiff