} else {
// go find somewhere else
SearchVicinity();
+ if (!found) {
+ Remember();
+ if (!found) {
+ RandomWalk();
+ }
+ }
}
} else {
// well, what now?
const world::Planet &planet = GetSituation().GetPlanet();
const glm::dvec3 &pos = GetSituation().Position();
const glm::dvec3 normal(planet.NormalAt(pos));
- const glm::dvec3 step_x(normalize(cross(normal, glm::dvec3(normal.z, normal.x, normal.y))));
- const glm::dvec3 step_y(normalize(cross(step_x, normal)));
+ const glm::dvec3 step_x(glm::normalize(glm::cross(normal, glm::dvec3(normal.z, normal.x, normal.y))));
+ const glm::dvec3 step_y(glm::normalize(glm::cross(step_x, normal)));
constexpr int search_radius = 2;
double rating[2 * search_radius + 1][2 * search_radius + 1] = {0};
// TODO: subtract minimum yield
rating[y + search_radius][x + search_radius] = yield->ubiquity * accept.Get(yield->resource);
// penalize distance
- double dist = std::max(0.125, 0.25 * glm::length(tpos - pos));
+ double dist = std::max(0.125, 0.25 * glm::length2(tpos - pos));
rating[y + search_radius][x + search_radius] /= dist;
}
}
for (int y = -search_radius; y < search_radius + 1; ++y) {
for (int x = -search_radius; x < search_radius + 1; ++x) {
const glm::dvec3 tpos(pos + (double(x) * step_x) + (double(y) * step_y));
- if (length2(tpos - c->GetSituation().Position()) < 1.0) {
+ if (glm::length2(tpos - c->GetSituation().Position()) < 1.0) {
rating[y + search_radius][x + search_radius] *= 0.8;
}
}
if (best_rating > 0.0) {
found = true;
searching = false;
- target_pos = normalize(pos + (double(best_pos.x) * step_x) + (double(best_pos.y) * step_y)) * planet.Radius();
+ target_pos = glm::normalize(pos + (double(best_pos.x) * step_x) + (double(best_pos.y) * step_y)) * planet.Radius();
GetSteering().GoTo(target_pos);
- } else if (!searching) {
- found = false;
- searching = true;
- target_pos = GetSituation().Position();
- target_pos += Random().SNorm() * step_x;
- target_pos += Random().SNorm() * step_y;
- // bias towards current heading
- target_pos += GetSituation().Heading() * 1.5;
- target_pos = normalize(target_pos) * planet.Radius();
+ }
+}
+
+void LocateResourceGoal::Remember() {
+ glm::dvec3 pos(0.0);
+ if (GetCreature().GetMemory().RememberLocation(accept, pos)) {
+ found = true;
+ searching = false;
+ target_pos = pos;
GetSteering().GoTo(target_pos);
}
}
+void LocateResourceGoal::RandomWalk() {
+ if (searching) {
+ return;
+ }
+
+ const world::Planet &planet = GetSituation().GetPlanet();
+ const glm::dvec3 &pos = GetSituation().Position();
+ const glm::dvec3 normal(planet.NormalAt(pos));
+ const glm::dvec3 step_x(glm::normalize(glm::cross(normal, glm::dvec3(normal.z, normal.x, normal.y))));
+ const glm::dvec3 step_y(glm::normalize(glm::cross(step_x, normal)));
+
+ found = false;
+ searching = true;
+ target_pos = GetSituation().Position();
+ target_pos += Random().SNorm() * step_x;
+ target_pos += Random().SNorm() * step_y;
+ // bias towards current heading
+ target_pos += GetSituation().Heading() * 1.5;
+ target_pos = glm::normalize(target_pos) * planet.Radius();
+ GetSteering().GoTo(target_pos);
+}
+
bool LocateResourceGoal::NearTarget() const noexcept {
const Situation &s = GetSituation();
- return s.OnSurface() && length2(s.Position() - target_pos) < 0.5;
+ return s.OnSurface() && glm::length2(s.Position() - target_pos) < 0.5;
}
}
void StrollGoal::Action() {
- if (length2(next - GetSituation().Position()) < 0.0001) {
+ if (glm::length2(next - GetSituation().Position()) < 0.0001) {
PickTarget();
}
}
next += GetSituation().Heading() * 1.5;
const glm::dvec3 normal(GetSituation().GetPlanet().NormalAt(GetSituation().Position()));
glm::dvec3 rand_x(GetSituation().Heading());
- if (std::abs(dot(normal, rand_x)) > 0.999) {
+ if (std::abs(glm::dot(normal, rand_x)) > 0.999) {
rand_x = glm::dvec3(normal.z, normal.x, normal.y);
}
- glm::dvec3 rand_y = cross(normal, rand_x);
+ glm::dvec3 rand_y = glm::cross(normal, rand_x);
next += ((rand_x * Random().SNorm()) + (rand_y * Random().SNorm())) * 1.5;
- next = normalize(next) * GetSituation().GetPlanet().Radius();
+ next = glm::normalize(next) * GetSituation().GetPlanet().Radius();
GetSteering().GoTo(next);
}