}
void Creature::DoWork(double amount) noexcept {
- stats.Exhaustion().Add(amount / Stamina());
+ stats.Exhaustion().Add(amount / (Stamina() + 1.0));
// burn resources proportional to composition
// factor = 1/total * 1/efficiency * amount * -1
double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
AddMass(cmp.resource, value);
}
+ // doing work improves strength a little
+ properties.Strength() += amount * 0.0001;
}
void Creature::Hurt(double amount) noexcept {
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;
+ if (glm::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();
+ if (glm::length2(diff) > range * range) return false;
+ return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
}
double Creature::OffspringChance() const noexcept {
void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
g->Enable();
+ if (goals.empty()) {
+ g->SetForeground();
+ }
goals.emplace_back(std::move(g));
}
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);
+ 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 = normalize(state.vel);
+ state.dir = glm::normalize(state.vel);
} else if (std::abs(ang - PI) < 0.001) {
- state.dir = rotate(state.dir, turn_rate, world::Planet::SurfaceNormal(situation.Surface()));
+ state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
} else {
- state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
+ state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
}
}
situation.SetState(state);
// work is force times distance
- DoWork(length(f.acc) * Mass() * length(f.vel) * dt);
+ DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
}
Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
s.vel += ds.acc * dt;
glm::dvec3 force(steering.Force(s));
// gravity = antinormal * mass * Gm / r²
- double elevation = s.pos[(situation.Surface() + 2) % 3];
- glm::dvec3 normal(world::Planet::SurfaceNormal(situation.Surface()));
+ double elevation = situation.GetPlanet().DistanceAt(s.pos);
+ glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
force += glm::dvec3(
-normal
* Mass() * situation.GetPlanet().GravitationalParameter()
// 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));
+ glm::dvec3 fn(normal * glm::dot(force, normal));
glm::dvec3 ft(force - fn);
double u = 0.4;
- glm::dvec3 friction(-length(fn) * ft * u);
+ glm::dvec3 friction(-glm::length(fn) * ft * u);
force += friction;
}
return {
for (auto &goal : goals) {
goal->Tick(dt);
}
+ Goal *top = &*goals.front();
// if active goal can be interrupted, check priorities
if (goals.size() > 1 && goals[0]->Interruptible()) {
std::sort(goals.begin(), goals.end(), GoalCompare);
}
+ if (&*goals.front() != top) {
+ top->SetBackground();
+ goals.front()->SetForeground();
+ top = &*goals.front();
+ }
goals[0]->Action();
for (auto goal = goals.begin(); goal != goals.end();) {
if ((*goal)->Complete()) {
++goal;
}
}
+ if (&*goals.front() != top) {
+ goals.front()->SetForeground();
+ }
}
math::AABB Creature::CollisionBox() const noexcept {
glm::dmat4 Creature::CollisionTransform() const noexcept {
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::rotate(glm::orientedAngle(-srf[2], situation.Heading(), srf[1]), srf[1])
- * glm::dmat4(srf);
+ glm::dmat3 orient;
+ orient[1] = situation.GetPlanet().NormalAt(pos);
+ orient[2] = situation.Heading();
+ 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] = 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));
}
glm::dmat4 Creature::LocalTransform() noexcept {
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]);
+ c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
+ c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
// probe surrounding area for common resources
int start = p.SideLength() / 2 - 2;
s.GetPlanet().AddCreature(a);
// TODO: duplicate situation somehow
a->GetSituation().SetPlanetSurface(
- s.GetPlanet(), s.Surface(),
+ s.GetPlanet(),
s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
a->BuildVAO();
c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
}
s.GetPlanet().AddCreature(b);
b->GetSituation().SetPlanetSurface(
- s.GetPlanet(), s.Surface(),
+ s.GetPlanet(),
s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
b->BuildVAO();
c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
void Memory::Tick(double dt) {
Situation &s = c.GetSituation();
- if (s.OnTile()) {
- TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
+ if (s.OnSurface()) {
+ TrackStay({ &s.GetPlanet(), s.Position() }, dt);
}
}
void Memory::TrackStay(const Location &l, double t) {
- const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
+ const world::TileType &type = l.planet->TileTypeAt(l.position);
auto entry = known_types.find(type.id);
if (entry != known_types.end()) {
if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
Situation::Situation()
: planet(nullptr)
, state(glm::dvec3(0.0), glm::dvec3(0.0))
-, surface(0)
, type(LOST) {
}
return type == PLANET_SURFACE;
}
-bool Situation::OnTile() const noexcept {
- if (type != PLANET_SURFACE) return false;
- glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
- return t.x >= 0 && t.x < planet->SideLength()
- && t.y >= 0 && t.y < planet->SideLength();
-}
-
-glm::ivec2 Situation::SurfacePosition() const noexcept {
- return planet->SurfacePosition(surface, state.pos);
-}
-
world::Tile &Situation::GetTile() const noexcept {
- glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
- return planet->TileAt(surface, t.x, t.y);
+ return planet->TileAt(state.pos);
}
const world::TileType &Situation::GetTileType() const noexcept {
- glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
- return planet->TypeAt(surface, t.x, t.y);
+ return planet->TileTypeAt(state.pos);
}
void Situation::Move(const glm::dvec3 &dp) noexcept {
void Situation::EnforceConstraints(State &s) noexcept {
if (OnSurface()) {
- if (Surface() < 3) {
- if (s.pos[(Surface() + 2) % 3] < GetPlanet().Radius()) {
- s.pos[(Surface() + 2) % 3] = GetPlanet().Radius();
- s.vel[(Surface() + 2) % 3] = std::max(0.0, s.vel[(Surface() + 2) % 3]);
- }
- } else {
- if (s.pos[(Surface() + 2) % 3] > -GetPlanet().Radius()) {
- s.pos[(Surface() + 2) % 3] = -GetPlanet().Radius();
- s.vel[(Surface() + 2) % 3] = std::min(0.0, s.vel[(Surface() + 2) % 3]);
- }
+ double r = GetPlanet().Radius();
+ if (glm::length2(s.pos) < r * r) {
+ s.pos = glm::normalize(s.pos) * r;
}
}
}
-void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
+void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
type = PLANET_SURFACE;
planet = &p;
- surface = srf;
state.pos = pos;
EnforceConstraints(state);
}
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 = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
- if (sep < min_dist) {
- repulse += normalize(diff) * (1.0 - sep / min_dist);
- }
+ 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 (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;
+ if (glm::length2(result) > max_force * max_force) {
+ result = glm::normalize(result) * max_force;
}
return result;
}
projects / blobs.git / blobdiff