💿🐜 Antkeeper source code
https://antkeeper.com
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293 lines
8.0 KiB
293 lines
8.0 KiB
/*
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* Copyright (C) 2017 Christopher J. Howard
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*
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* This file is part of Antkeeper Source Code.
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*
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* Antkeeper Source Code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper Source Code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper Source Code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "ant.hpp"
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#include "colony.hpp"
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#include "pheromone-matrix.hpp"
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#include <cmath>
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float FRAMES_PER_SECOND = 60;
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float TIMESTEP = 1.0f / FRAMES_PER_SECOND;
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float ANT_LENGTH = 0.5f; // 0.5 cm, head to abdomen (not including legs / antennae)
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float ANT_COLLISION_RADIUS = ANT_LENGTH * 1.25f;
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float RECEPTOR_RADIUS = 0.4f;
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float RECEPTOR_SEPARATION = 0.882f;
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float RECEPTOR_DISTANCE = 0.588f;
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float MOUTH_DISTANCE = 0.2646f;
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float BITE_RADIUS = 0.0294f;
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float FOOD_PARTICLE_RADIUS = 0.1176f;
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float MAX_RECEPTOR_NOISE = 0.05f; // essentially an epsilon
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float MAX_EXCITEMENT = 1.0f;
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float MAX_PHEROMONE_TURNING_ANGLE = glm::radians(8.5f);
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float MIN_WALK_TIME = 0.5f; // seconds
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float MAX_WALK_TIME = 8.0f; // seconds
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float MIN_REST_TIME = 0.15f;
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float MAX_REST_TIME = 0.7f;
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float MIN_CHEW_TIME = 0.25f;
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float MAX_CHEW_TIME = 0.5f;
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float DEEXCITEMENT_FACTOR = 0.999f; // This should probably always be less than the evaporation factor
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float CALM_FACTOR = 0.995f;
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float MAX_WALK_FORCE = 1.5;
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float MAX_PANIC_FORCE = 0.1029f;
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float MAX_WALK_SPEED = 3.0f; // cm/s
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float MAX_PANIC_SPEED = 8.82f; // cm/s
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float PANIC_RADIUS = 7.35f;
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float WANDER_CIRCLE_DISTANCE = 0.441f;
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float WANDER_CIRCLE_RADIUS = 0.0294f;
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float MAX_WANDER_ANGLE = 0.15f;
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inline float fwrap(float angle, float limit)
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{
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return angle - std::floor(angle / limit) * limit;
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}
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Ant::Ant(Colony* colony):
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colony(colony),
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state(Ant::State::IDLE),
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transform(Transform::getIdentity()),
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pose(nullptr)
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{
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pose = new Pose(colony->getAntModel()->getSkeleton());
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pose->reset();
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pose->concatenate();
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modelInstance.setModel(colony->getAntModel());
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modelInstance.setPose(pose);
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animationTime = frand(0.0f, 60.0f);
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velocity = Vector3(0);
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acceleration = Vector3(0);
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wanderDirection = getForward();
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excitement = MAX_EXCITEMENT;
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}
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Ant::~Ant()
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{
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delete pose;
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}
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void Ant::animate()
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{
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colony->getTripodGaitAnimation()->animate(pose, animationTime);
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pose->concatenate();
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animationTime = fwrap(animationTime + 4.0f, colony->getTripodGaitAnimation()->getEndTime());
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}
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void Ant::suspend(const Vector3& suspensionPoint, const Quaternion& suspensionRotation)
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{
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transform.translation = suspensionPoint;
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transform.rotation = suspensionRotation;
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modelInstance.setTransform(transform);
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}
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void Ant::move(const Vector3& velocity)
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{
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std::vector<Navmesh::Step> traversal;
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Navmesh::traverse(getNavmeshTriangle(), getBarycentricPosition(), velocity, &traversal);
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if (!traversal.empty())
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{
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const Navmesh::Step& step = traversal.back();
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if (step.start != step.end)
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{
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if (step.triangle != getNavmeshTriangle())
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{
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Quaternion alignment = glm::rotation(getNavmeshTriangle()->normal, step.triangle->normal);
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Vector3 newForward = glm::normalize(project_on_plane(alignment * getForward(), Vector3(0.0f), step.triangle->normal));
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setOrientation(newForward, step.triangle->normal);
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}
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}
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setPosition(step.triangle, step.end);
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}
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}
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void Ant::turn(float angle)
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{
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// Rotate forward vector
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Vector3 newForward = glm::normalize(glm::angleAxis(angle, getUp()) * getForward());
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setOrientation(newForward, getUp());
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}
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void Ant::update(float dt)
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{
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float probeLateralOffset = 0.1f;
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float probeForwardOffset = 0.3f;
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animate();
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// Calculate positions of receptors
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receptorL = getPosition() + getForward() * RECEPTOR_DISTANCE;
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receptorR = receptorL;
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receptorL -= getRight() * RECEPTOR_SEPARATION * 0.5f;
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receptorR += getRight() * RECEPTOR_SEPARATION * 0.5f;
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// Steering
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if (state == Ant::State::WANDER)
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{
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//setWanderCircleDistance(4.0f);
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//setWanderCircleRadius(0.3f);
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//setWanderRate(glm::radians(90.0f));
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//setSeparationRadius(0.5f);
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//setMaxSpeed(0.025f);
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// Calculate wander force
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Vector3 wanderForce = wander() * 1.5f;
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Vector3 followForce = follow() * 3.0f;
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// Setup containment probes
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//Vector3 leftProbe = getForward() * probeForwardOffset - getRight() * probeLateralOffset;
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//Vector3 rightProbe = getForward() * probeForwardOffset + getRight() * probeLateralOffset;
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// Calculate containment force
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//Vector3 containmentForce = containment(leftProbe) + containment(rightProbe);
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// Determine neighbors
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//float neighborhoodSize = 2.0f;
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//AABB neighborhoodAABB(getPosition() - Vector3(neighborhoodSize * 0.5f), getPosition() + Vector3(neighborhoodSize * 0.5f));
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//std::list<Agent*> neighbors;
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//colony->queryAnts(neighborhoodAABB, &neighbors);
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// Calculate separation force
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//Vector3 separationForce = separation(neighbors);
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applyForce(wanderForce);
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applyForce(followForce);
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float maxSpeed = MAX_WALK_SPEED * TIMESTEP;
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// Limit acceleration
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float accelerationMagnitudeSquared = glm::dot(acceleration, acceleration);
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if (accelerationMagnitudeSquared > MAX_WALK_FORCE * MAX_WALK_FORCE)
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{
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acceleration = glm::normalize(acceleration) * MAX_WALK_FORCE;
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}
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// Accelerate
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velocity += acceleration;
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// Limit speed
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float speedSquared = glm::dot(velocity, velocity);
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if (speedSquared > maxSpeed * maxSpeed)
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{
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velocity = glm::normalize(velocity) * maxSpeed;
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}
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Vector3 direction = glm::normalize(velocity);
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setOrientation(direction, getUp());
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// Deposit pheromones
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Vector2 position2D = Vector2(getPosition().x, getPosition().z);
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colony->getHomingMatrix()->deposit(position2D, excitement);
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excitement *= DEEXCITEMENT_FACTOR;
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// Move ant
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move(velocity);
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}
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else if (state == Ant::State::IDLE)
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{
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velocity = Vector3(0.0f);
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// Move ant
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move(velocity);
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}
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// Update transform
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if (state == Ant::State::WANDER || state == Ant::State::IDLE)
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{
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transform.translation = getPosition();
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transform.rotation = getRotation();
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// Update model instance
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modelInstance.setTransform(transform);
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}
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}
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void Ant::setState(Ant::State state)
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{
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this->state = state;
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}
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Vector3 Ant::seek(const Vector3& target)
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{
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Vector3 steer(0.0f);
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Vector3 difference = target - getPosition();
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float distanceSquared = glm::dot(difference, difference);
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if (distanceSquared > 0.0f)
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{
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float maxForce = MAX_WALK_FORCE;
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steer = glm::normalize(difference) * maxForce - velocity;
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}
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return steer;
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}
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Vector3 Ant::flee(const Vector3& target)
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{
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return -seek(target);
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}
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Vector3 Ant::wander()
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{
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// Determine center of wander circle
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Vector3 center = getPosition() + getForward() * WANDER_CIRCLE_DISTANCE;
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// Calculate wander target
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Vector3 target = center + wanderDirection * WANDER_CIRCLE_RADIUS;
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// Rotate wander direction by a random displacement angle
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float displacement = frand(-MAX_WANDER_ANGLE, MAX_WANDER_ANGLE);
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wanderDirection = glm::normalize(glm::angleAxis(displacement, getUp()) * wanderDirection);
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return seek(target);
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}
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Vector3 Ant::follow()
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{
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const PheromoneMatrix* pheromoneMatrix = colony->getRecruitmentMatrix();
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Vector2 receptorL2D = Vector2(receptorL.x, receptorL.z);
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Vector2 receptorR2D = Vector2(receptorR.x, receptorR.z);
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float signalL = pheromoneMatrix->query(receptorL2D, RECEPTOR_RADIUS);
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signalL += frand(0.0f, MAX_RECEPTOR_NOISE);
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float signalR = pheromoneMatrix->query(receptorR2D, RECEPTOR_RADIUS);
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signalR += frand(0.0f, MAX_RECEPTOR_NOISE);
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if (signalL + signalR > 0.0f)
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{
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float angle = -MAX_PHEROMONE_TURNING_ANGLE * ((signalL - signalR) / (signalL + signalR));
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Vector3 steer = glm::normalize(glm::angleAxis(angle, getUp()) * getForward());
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return steer;
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}
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return Vector3(0.0f);
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}
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void Ant::applyForce(const Vector3& force)
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{
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acceleration += force;
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}
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