#include "IdleGoal.hpp"
#include "../app/Assets.hpp"
#include "../math/const.hpp"
+#include "../ui/string.hpp"
#include "../world/Body.hpp"
#include "../world/Planet.hpp"
#include "../world/Simulation.hpp"
namespace creature {
Composition::Composition()
-: components() {
+: components()
+, total_mass(0.0) {
}
Composition::~Composition() {
void Composition::Add(int res, double amount) {
bool found = false;
- for (auto &c : components) {
- if (c.resource == res) {
- c.value += amount;
+ for (auto c = components.begin(); c != components.end(); ++c) {
+ if (c->resource == res) {
+ c->value += amount;
+ if (c->value <= 0.0) {
+ components.erase(c);
+ }
found = true;
break;
}
}
- if (!found) {
+ if (!found && amount > 0.0) {
components.emplace_back(res, amount);
}
std::sort(components.begin(), components.end(), CompositionCompare);
+ total_mass += amount;
}
bool Composition::Has(int res) const noexcept {
, mass(1.0)
, size(1.0)
, birth(sim.Time())
+, death(-1.0)
, on_death()
, removable(false)
+, parents()
, stats()
, memory(*this)
, bg_task()
, situation()
, steering(*this)
, vao() {
+ sim.SetAlive(this);
// all creatures avoid each other for now
steering.Separate(0.1, 1.5);
}
void Creature::AddMass(int res, double amount) {
composition.Add(res, amount);
- double mass = 0.0;
double nonsolid = 0.0;
double volume = 0.0;
for (const auto &c : composition) {
- mass += c.value;
volume += c.value / sim.Assets().data.resources[c.resource].density;
if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
nonsolid += c.value;
}
}
- Mass(mass);
+ Mass(composition.TotalMass());
Size(std::cbrt(volume));
- highlight_color.a = nonsolid / mass;
+ highlight_color.a = nonsolid / composition.TotalMass();
}
void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
void Creature::Ingest(int res, double amount) noexcept {
// TODO: check foreign materials
- // 10% stays in body
- AddMass(res, amount * 0.1);
+ if (sim.Resources()[res].state == world::Resource::SOLID) {
+ // 15% of solids stays in body
+ AddMass(res, amount * 0.15);
+ } else {
+ // 10% of fluids stays in body
+ AddMass(res, amount * 0.05);
+ }
+ math::GaloisLFSR &random = sim.Assets().random;
+ if (random.UNorm() < AdaptChance()) {
+ // change color to be slightly more like resource
+ glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
+ // solids affect base color, others highlight
+ double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
+ double q = random.UInt(3); // hue, sat, or val
+ double r = random.UInt(2); // mean or deviation
+ math::Distribution *d = nullptr;
+ double ref = 0.0;
+ if (p == 0) {
+ if (q == 0) {
+ d = &genome.base_hue;
+ ref = color.x;
+ } else if (q == 1) {
+ d = &genome.base_saturation;
+ ref = color.y;
+ } else {
+ d = &genome.base_lightness;
+ ref = color.z;
+ }
+ } else {
+ if (q == 0) {
+ d = &genome.highlight_hue;
+ ref = color.x;
+ } else if (q == 1) {
+ d = &genome.highlight_saturation;
+ ref = color.y;
+ } else {
+ d = &genome.highlight_lightness;
+ ref = color.z;
+ }
+ }
+ if (r == 0) {
+ double diff = ref - d->Mean();
+ if (q == 0) {
+ if (diff < -0.5) {
+ diff += 1.0;
+ } 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));
+ } else {
+ d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
+ }
+ } else {
+ // scale by ±15%, enforce bounds
+ d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
+ }
+ }
+}
+
+void Creature::DoWork(double amount) noexcept {
+ 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());
+ // make a copy to total remains constant and
+ // no entries disappear during iteration
+ Composition comp(composition);
+ for (auto &cmp : comp) {
+ 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 {
stats.Damage().Add(amount);
if (stats.Damage().Full()) {
- std::cout << "[" << int(sim.Time()) << "s] " << name << " ";
+ Die();
+ }
+}
+
+void Creature::Die() noexcept {
+ if (Dead()) return;
+
+ if (stats.Damage().Full()) {
+ std::ostream &log = sim.Log() << name << " ";
if (stats.Exhaustion().Full()) {
- std::cout << "died of exhaustion";
+ log << "died of exhaustion";
} else if (stats.Breath().Full()) {
- std::cout << "suffocated";
+ log << "suffocated";
} else if (stats.Thirst().Full()) {
- std::cout << "died of thirst";
+ log << "died of thirst";
} else if (stats.Hunger().Full()) {
- std::cout << "starved to death";
+ log << "starved to death";
} else {
- std::cout << "succumed to wounds";
- }
- std::cout << " at an age of ";
- {
- int age = int(Age());
- if (age >= 3600) {
- std::cout << (age / 3600) << "h ";
- age %= 3600;
- }
- if (age >= 60) {
- std::cout << (age / 60) << "m ";
- age %= 60;
- }
- std::cout << age << 's';
- }
- std::cout << " (" << int(Age() / properties.Lifetime() * 100)
- << "% of life expectancy of ";
- {
- int lt = int(properties.Lifetime());
- if (lt >= 3600) {
- std::cout << (lt / 3600) << "h ";
- lt %= 3600;
- }
- if (lt >= 60) {
- std::cout << (lt / 60) << "m ";
- lt %= 60;
- }
- std::cout << lt << 's';
+ log << "succumed to wounds";
}
- std::cout << ")" << std::endl;
- Die();
+ log << " at an age of " << ui::TimeString(Age())
+ << " (" << ui::PercentageString(Age() / properties.Lifetime())
+ << " of life expectancy of " << ui::TimeString(properties.Lifetime())
+ << ")" << std::endl;
}
-}
-void Creature::Die() noexcept {
- goals.clear();
- steering.Halt();
+ sim.SetDead(this);
+ death = sim.Time();
+ steering.Off();
if (on_death) {
on_death(*this);
}
Remove();
}
+bool Creature::Dead() const noexcept {
+ return death > birth;
+}
+
+void Creature::Remove() noexcept {
+ removable = true;
+}
+
+void Creature::Removed() noexcept {
+ bg_task.reset();
+ goals.clear();
+ memory.Erase();
+ KillVAO();
+}
+
+void Creature::AddParent(Creature &p) {
+ parents.push_back(&p);
+}
+
double Creature::Age() const noexcept {
return sim.Time() - birth;
}
// shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
// goes negative below -0.5 and starts to rise again above 1.0
double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
- return 1.0 - (3.0 * t * t) + (2.0 * t * t * t);
+ // guarantee at least 1%
+ return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
+}
+
+double Creature::EnergyEfficiency() const noexcept {
+ return 0.25 * AgeFactor(0.05);
}
double Creature::ExhaustionFactor() const noexcept {
return properties.Mutability();
}
+double Creature::Adaptability() const noexcept {
+ return properties.Adaptability();
+}
+
double Creature::OffspringMass() const noexcept {
return properties.OffspringMass();
}
+double Creature::PerceptionRange() const noexcept {
+ return 3.0 * (Dexerty() / (Dexerty() + 1)) + Size();
+}
+
+double Creature::PerceptionOmniRange() const noexcept {
+ return 0.5 * (Dexerty() / (Dexerty() + 1)) + Size();
+}
+
+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));
+}
+
+bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
+ const glm::dvec3 diff(p - situation.Position());
+ double omni_range = PerceptionOmniRange();
+ if (glm::length2(diff) < omni_range * omni_range) return true;
+ double range = PerceptionRange();
+ if (glm::length2(diff) > range * range) return false;
+ return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
+}
+
double Creature::OffspringChance() const noexcept {
return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
}
return GetProperties().Mutability() * (1.0 / 3600.0);
}
+double Creature::AdaptChance() const noexcept {
+ return GetProperties().Adaptability() * (1.0 / 120.0);
+}
+
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;
- if (length2(state.vel) > 0.000001) {
- glm::dvec3 nvel(normalize(state.vel));
- double ang = angle(nvel, state.dir);
- double turn_rate = PI * 0.5 * 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 = 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);
- stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * dt);
+ // work is force times distance
+ DoWork(glm::length(f.acc) * 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;
+ 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));
+ // 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 * glm::dot(force, normal));
+ glm::dvec3 ft(force - fn);
+ double u = 0.4;
+ glm::dvec3 friction(-glm::length(fn) * ft * u);
+ force += friction;
+ }
return {
s.vel,
- steering.Force(s) / Mass()
+ force / Mass()
};
}
for (auto &s : stats.stat) {
s.Add(s.gain * dt);
}
- stats.Breath().Add(stats.Breath().gain * stats.Exhaustion().value * dt);
// TODO: damage values depending on properties
if (stats.Breath().Full()) {
constexpr double dps = 1.0 / 4.0;
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 Creature::BuildVAO() {
- vao.Bind();
- vao.BindAttributes();
- vao.EnableAttribute(0);
- vao.EnableAttribute(1);
- vao.EnableAttribute(2);
- vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
- vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
- vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
- vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
+ vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
+ vao->Bind();
+ vao->BindAttributes();
+ vao->EnableAttribute(0);
+ vao->EnableAttribute(1);
+ vao->EnableAttribute(2);
+ vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
+ vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
+ vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
+ vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
{
- auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
+ auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
const float offset = 1.0f;
for (int surface = 0; surface < 6; ++surface) {
const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
attrib[4 * surface + 3].texture.z = surface;
}
}
- vao.BindElements();
- vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
+ vao->BindElements();
+ vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
{
- auto element = vao.MapElements(GL_WRITE_ONLY);
+ auto element = vao->MapElements(GL_WRITE_ONLY);
for (int surface = 0; surface < 3; ++surface) {
element[6 * surface + 0] = 4 * surface + 0;
element[6 * surface + 1] = 4 * surface + 2;
element[6 * surface + 5] = 4 * surface + 3;
}
}
- vao.Unbind();
+ vao->Unbind();
+}
+
+void Creature::KillVAO() {
+ vao.reset();
}
void Creature::Draw(graphics::Viewport &viewport) {
- vao.Bind();
- vao.DrawTriangles(6 * 6);
+ if (!vao) return;
+ vao->Bind();
+ vao->DrawTriangles(6 * 6);
}
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;
genome.properties.Intelligence() = { 1.0, 0.1 };
genome.properties.Lifetime() = { 480.0, 60.0 };
genome.properties.Fertility() = { 0.5, 0.03 };
- genome.properties.Mutability() = { 1.0, 0.1 };
+ genome.properties.Mutability() = { 0.9, 0.1 };
+ genome.properties.Adaptability() = { 0.9, 0.1 };
genome.properties.OffspringMass() = { 0.3, 0.02 };
glm::dvec3 color_avg(0.0);
genome.base_hue = { hsl.x, 0.01 };
genome.base_saturation = { hsl.y, 0.01 };
genome.base_lightness = { hsl.z, 0.01 };
+ // use opposite color as start highlight
+ genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
+ genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
+ genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
genome.Configure(c);
}
glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
);
glm::dvec3 highlight_color(
- std::fmod(base_color.x + 0.5, 1.0),
- 1.0 - base_color.y,
- 1.0 - base_color.z
+ std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
+ glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
+ glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
);
c.BaseColor(hsl2rgb(base_color));
c.HighlightColor(hsl2rgb(highlight_color));
void Split(Creature &c) {
Creature *a = new Creature(c.GetSimulation());
const Situation &s = c.GetSituation();
+ a->AddParent(c);
a->Name(c.GetSimulation().Assets().name.Sequential());
c.GetGenome().Configure(*a);
for (const auto &cmp : c.GetComposition()) {
s.GetPlanet().AddCreature(a);
// TODO: duplicate situation somehow
a->GetSituation().SetPlanetSurface(
- s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, a->Size() + 0.1, 0.0));
+ s.GetPlanet(),
+ s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
a->BuildVAO();
- std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
- << a->Name() << " was born" << std::endl;
+ c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
Creature *b = new Creature(c.GetSimulation());
+ b->AddParent(c);
b->Name(c.GetSimulation().Assets().name.Sequential());
c.GetGenome().Configure(*b);
for (const auto &cmp : c.GetComposition()) {
}
s.GetPlanet().AddCreature(b);
b->GetSituation().SetPlanetSurface(
- s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, b->Size() - 0.1, 0.0));
+ s.GetPlanet(),
+ s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
b->BuildVAO();
- std::cout << "[" << int(c.GetSimulation().Time()) << "s] "
- << b->Name() << " was born" << std::endl;
+ c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
c.Die();
}
Memory::~Memory() {
}
+void Memory::Erase() {
+ known_types.clear();
+}
+
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 {
- glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
- return type == PLANET_SURFACE
- && 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 {
state.pos += dp;
+ EnforceConstraints(state);
+}
+
+void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
+ state.vel += dv;
+ EnforceConstraints(state);
+}
+
+void Situation::EnforceConstraints(State &s) noexcept {
if (OnSurface()) {
- // enforce ground constraint
- if (Surface() < 3) {
- state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
- } else {
- state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(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);
}
Steering::~Steering() {
}
+void Steering::Off() noexcept {
+ separating = false;
+ halting = false;
+ seeking = false;
+ arriving = false;
+}
+
void Steering::Separate(double min_distance, double max_lookaround) noexcept {
separating = true;
min_dist = min_distance;
}
void Steering::ResumeSeparate() noexcept {
- separating = false;
+ separating = true;
}
void Steering::Halt() noexcept {
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);
- }
+ if (glm::length2(diff) > max_look * max_look) continue;
+ if (!c.PerceptionTest(other->GetSituation().Position())) continue;
+ 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;
}
- SumForce(result, repulse, force);
+ result += repulse;
}
if (halting) {
- SumForce(result, s.vel * -force, force);
+ // break twice as hard
+ result += -2.0 * s.vel * force;
}
if (seeking) {
glm::dvec3 diff = target - s.pos;
if (!allzero(diff)) {
- SumForce(result, TargetVelocity(s, (normalize(diff) * speed), force), 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()) {
- SumForce(result, TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force), force);
+ result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
}
}
- return result;
-}
-
-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 - cur;
- if (rem < 0.0) {
- return true;
- }
- double add = length(in);
- if (add > rem) {
- // this method is off if in and out are in different
- // directions, but gives okayish results
- out += in * (1.0 / add);
- return true;
- } else {
- out += in;
- return false;
+ if (glm::length2(result) > max_force * max_force) {
+ result = glm::normalize(result) * max_force;
}
+ return result;
}
glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
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