fix friction

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

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 536144b276bb4abe2b4f2dd9db33ca4e0223b1df..9b85eff73a81d68d98bc308d3bbc3b146f257d04 100644 (file)
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -29,9 +29,11 @@
 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)
+, state_mass{0.0} {
 }
 
 Composition::~Composition() {
@@ -49,6 +51,7 @@ void Composition::Add(int res, double amount) {
                if (c->resource == res) {
                        c->value += amount;
                        if (c->value <= 0.0) {
+                               amount += c->value;
                                components.erase(c);
                        }
                        found = true;
@@ -59,6 +62,7 @@ void Composition::Add(int res, double amount) {
                components.emplace_back(res, amount);
        }
        std::sort(components.begin(), components.end(), CompositionCompare);
+       state_mass[resources[res].state] += amount;
        total_mass += amount;
 }
 
@@ -84,14 +88,18 @@ double Composition::Proportion(int res) const noexcept {
        return Get(res) / TotalMass();
 }
 
-double Composition::Compatibility(const world::Set<world::Resource> &resources, int res) const noexcept {
+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 Proportion(res);
+               return StateProportion(res);
        }
        double max_compat = -1.0;
        double min_compat = 1.0;
        for (const auto &c : components) {
-               double prop = c.value / TotalMass();
+               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) {
@@ -115,7 +123,7 @@ Creature::Creature(world::Simulation &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)
@@ -145,8 +153,8 @@ void Creature::AddMass(int res, double amount) {
        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;
                }
        }
@@ -162,10 +170,10 @@ void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 void Creature::Ingest(int res, double amount) noexcept {
        if (sim.Resources()[res].state == world::Resource::SOLID) {
                // 30% of solids stays in body
-               AddMass(res, amount * 0.3 * composition.Compatibility(sim.Resources(), res));
+               AddMass(res, amount * 0.3 * composition.Compatibility(res));
        } else {
-               // 10% of fluids stays in body
-               AddMass(res, amount * 0.1 * composition.Compatibility(sim.Resources(), res));
+               // 5% of fluids stays in body
+               AddMass(res, amount * 0.05 * composition.Compatibility(res));
        }
        math::GaloisLFSR &random = sim.Assets().random;
        if (random.UNorm() < AdaptChance()) {
@@ -455,28 +463,31 @@ void Creature::TickState(double dt) {
        }
        situation.SetState(state);
        // work is force times distance
-       DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
+       // 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);
 }
 
 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
+       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(-glm::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 {
@@ -542,7 +553,7 @@ void Creature::TickBrain(double dt) {
        }
 }
 
-math::AABB Creature::CollisionBox() const noexcept {
+math::AABB Creature::CollisionBounds() const noexcept {
        return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 }
 
@@ -840,7 +851,7 @@ bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const
                        c.GetSimulation().Assets().random.SNorm(),
                        c.GetSimulation().Assets().random.SNorm(),
                        c.GetSimulation().Assets().random.SNorm());
-               pos += error * (2.0 * (1.0 - c.IntelligenceFactor()));
+               pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
                pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
                return true;
        } else {
@@ -919,6 +930,10 @@ bool Situation::OnSurface() const noexcept {
        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);
 }
@@ -941,11 +956,13 @@ void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
        EnforceConstraints(state);
 }
 
-void Situation::EnforceConstraints(State &s) noexcept {
+void Situation::EnforceConstraints(State &s) const noexcept {
        if (OnSurface()) {
                double r = GetPlanet().Radius();
                if (glm::length2(s.pos) < r * r) {
-                       s.pos = glm::normalize(s.pos) * r;
+                       const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
+                       s.pos = normal * r;
+                       s.vel -= normal * glm::dot(normal, s.vel);
                }
        }
 }
@@ -1051,6 +1068,10 @@ glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
                        result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, 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;
        }