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() {
if (c->resource == res) {
c->value += amount;
if (c->value <= 0.0) {
+ amount += c->value;
components.erase(c);
}
found = true;
components.emplace_back(res, amount);
}
std::sort(components.begin(), components.end(), CompositionCompare);
+ state_mass[resources[res].state] += amount;
total_mass += amount;
}
return 0.0;
}
+double Composition::Proportion(int res) const noexcept {
+ return Get(res) / TotalMass();
+}
+
+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 StateProportion(res);
+ }
+ double max_compat = -1.0;
+ double min_compat = 1.0;
+ for (const auto &c : components) {
+ 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) {
+ max_compat = value;
+ }
+ if (value < min_compat) {
+ min_compat = value;
+ }
+ }
+ }
+ if (min_compat < 0.0) {
+ return min_compat;
+ } else {
+ return max_compat;
+ }
+}
+
Creature::Creature(world::Simulation &sim)
: sim(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)
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;
}
}
}
void Creature::Ingest(int res, double amount) noexcept {
- // TODO: check foreign materials
if (sim.Resources()[res].state == world::Resource::SOLID) {
- // 15% of solids stays in body
- AddMass(res, amount * 0.15);
+ // 30% of solids stays in body
+ AddMass(res, amount * 0.3 * composition.Compatibility(res));
} else {
- // 10% of fluids stays in body
- AddMass(res, amount * 0.05);
+ // 5% of fluids stays in body
+ AddMass(res, amount * 0.05 * composition.Compatibility(res));
}
math::GaloisLFSR &random = sim.Assets().random;
if (random.UNorm() < AdaptChance()) {
}
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 {
}
}
-math::AABB Creature::CollisionBox() const noexcept {
+math::AABB Creature::CollisionBounds() const noexcept {
return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
}
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 {
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);
}
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);
}
}
}
result += repulse;
}
if (halting) {
- // break twice as hard
- result += -2.0 * s.vel * force;
+ // brake hard
+ result += -5.0 * s.vel * force;
}
if (seeking) {
glm::dvec3 diff = target - s.pos;
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;
}
projects / blobs.git / blobdiff