stats.Damage().Add(amount);
if (stats.Damage().Full()) {
std::cout << "[" << int(sim.Time()) << "s] " << name << " ";
- if (stats.Breath().Full()) {
+ if (stats.Exhaustion().Full()) {
+ std::cout << "died of exhaustion";
+ } else if (stats.Breath().Full()) {
std::cout << "suffocated";
} else if (stats.Thirst().Full()) {
std::cout << "died of thirst";
} else {
std::cout << "succumed to wounds";
}
- std::cout << std::endl;
+ 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';
+ }
+ std::cout << ")" << std::endl;
Die();
}
}
);
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);
- double turn_rate = PI * 0.5 * dt;
+ double turn_rate = PI * 0.75 * dt;
if (ang < turn_rate) {
state.dir = normalize(state.vel);
} else if (std::abs(ang - PI) < 0.001) {
}
}
situation.SetState(state);
- stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * dt);
+ stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * 0.5 * 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 = s.pos[(situation.Surface() + 2) % 3];
+ glm::dvec3 normal(world::Planet::SurfaceNormal(situation.Surface()));
+ 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 * dot(force, normal));
+ glm::dvec3 ft(force - fn);
+ double u = 0.4;
+ glm::dvec3 friction(-length(fn) * ft * u);
+ force += friction;
+ }
return {
s.vel,
- steering.Force(s) / Mass()
+ force / Mass()
};
}
constexpr double dps = 1.0 / 128.0;
Hurt(dps * dt);
}
+ if (!situation.Moving()) {
+ // double exhaustion recovery when standing still
+ stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
+ }
}
void Creature::TickBrain(double dt) {
}
}
-glm::dmat4 Creature::LocalTransform() noexcept {
+math::AABB Creature::CollisionBox() const noexcept {
+ return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
+}
+
+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::dmat4(srf);
+}
+
+glm::dmat4 Creature::LocalTransform() noexcept {
+ const double half_size = size * 0.5;
+ return CollisionTransform()
* glm::scale(glm::dvec3(half_size, half_size, half_size));
}
Genome genome;
genome.properties.Strength() = { 2.0, 0.1 };
- genome.properties.Stamina() = { 4.0, 0.1 };
+ genome.properties.Stamina() = { 2.0, 0.1 };
genome.properties.Dexerty() = { 2.0, 0.1 };
genome.properties.Intelligence() = { 1.0, 0.1 };
genome.properties.Lifetime() = { 480.0, 60.0 };
// TODO: duplicate situation somehow
a->GetSituation().SetPlanetSurface(
s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, a->Size() + 0.1, 0.0));
+ 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;
s.GetPlanet().AddCreature(b);
b->GetSituation().SetPlanetSurface(
s.GetPlanet(), s.Surface(),
- s.Position() + glm::dvec3(0.0, b->Size() - 0.1, 0.0));
+ 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;
void Memory::Tick(double dt) {
Situation &s = c.GetSituation();
- if (s.OnSurface()) {
+ if (s.OnTile()) {
TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
}
}
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]);
+ 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 {
- state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
+ 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]);
+ }
}
}
}
planet = &p;
surface = srf;
state.pos = pos;
+ EnforceConstraints(state);
}
separating = false;
}
+void Steering::ResumeSeparate() noexcept {
+ separating = true;
+}
+
void Steering::Halt() noexcept {
halting = true;
seeking = false;
projects / blobs.git / blobdiff