Rewrite ant behavior as priority stack with suppressors
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8bf718bbbe
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22B5C6D66A38B06C
1 changed files with 136 additions and 153 deletions
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@ -89,8 +89,6 @@ void main() {
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float pathIntDx = lastExtState.b;
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float pathIntDx = lastExtState.b;
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float pathIntDy = lastExtState.a;
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float pathIntDy = lastExtState.a;
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bool movementProcessed = false;
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// calculate this ant's index from its UV position in the texture
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// calculate this ant's index from its UV position in the texture
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ivec2 texSize = textureSize(tLastState, 0);
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ivec2 texSize = textureSize(tLastState, 0);
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int antIndex = int(vUv.y * float(texSize.y)) * texSize.x + int(vUv.x * float(texSize.x));
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int antIndex = int(vUv.y * float(texSize.y)) * texSize.x + int(vUv.x * float(texSize.x));
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@ -163,177 +161,162 @@ void main() {
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}
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}
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if (!isFalling) {
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if (!isFalling) {
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bool acted = false;
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if (isCarrying == 0.) {
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// ---- PRIORITY 1: DEPOSIT ----
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if (noise < 0.33) {
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if (!acted && isCarrying == 1.) {
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vec2 offset = vec2(cos(angle), sin(angle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryGetFood(point)) {
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movementProcessed = true;
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}
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} else if (noise < 0.66) {
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float newAngle = angle - ANT_ROTATION_ANGLE;
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vec2 offset = vec2(cos(newAngle), sin(newAngle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryGetFood(point)) {
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movementProcessed = true;
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angle = newAngle;
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}
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} else {
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float newAngle = angle + ANT_ROTATION_ANGLE;
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vec2 offset = vec2(cos(newAngle), sin(newAngle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryGetFood(point)) {
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movementProcessed = true;
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angle = newAngle;
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}
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}
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} else if (isCarrying == 1.) {
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if (noise < 0.33) {
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vec2 offset = vec2(cos(angle), sin(angle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryDropFood(point)) {
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movementProcessed = true;
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}
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} else if (noise < 0.66) {
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float newAngle = angle - ANT_ROTATION_ANGLE;
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vec2 offset = vec2(cos(newAngle), sin(newAngle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryDropFood(point)) {
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movementProcessed = true;
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angle = newAngle;
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}
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} else {
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float newAngle = angle + ANT_ROTATION_ANGLE;
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vec2 offset = vec2(cos(newAngle), sin(newAngle)) * sampleDistance;
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vec2 point = applyOffsetToPos(pos, offset);
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if (tryDropFood(point)) {
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movementProcessed = true;
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angle = newAngle;
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}
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}
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}
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if (!movementProcessed) {
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#if VIEW_MODE_SIDE
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// vertical bias for digging behavior
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if (isCarrying == 1. && int(cargoMaterialId) != MAT_FOOD) {
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// carrying powder: bias upward toward surface
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float upwardBias = PI * 0.5; // straight up
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float angleDiff = upwardBias - angle;
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// normalize to [-PI, PI]
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angleDiff = mod(angleDiff + PI, 2.0 * PI) - PI;
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// gentle steering toward up (blend 30% toward upward)
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angle += angleDiff * 0.3;
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} else if (isCarrying == 0.) {
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// not carrying: check if surrounded by diggable material
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// if so, prefer downward movement
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float cellMatId = texture(tWorld, roundUvToCellCenter(pos)).x;
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float cellMatId = texture(tWorld, roundUvToCellCenter(pos)).x;
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vec4 props = texelFetch(uMaterialProps, ivec2(int(cellMatId), 0), 0);
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// check cell below for diggable material
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// carrying food and at home -> drop food
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vec2 belowUv = roundUvToCellCenter(pos - vec2(0., cellSize));
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if (int(cargoMaterialId) == MAT_FOOD && tryDropFood(pos)) {
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float belowDigMat = texture(tWorld, belowUv).x;
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isCarrying = 0.;
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vec4 belowProps = texelFetch(uMaterialProps, ivec2(int(belowDigMat), 0), 0);
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cargoMaterialId = 0.;
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angle += PI;
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storage = getMaxScentStorage(vUv);
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acted = true;
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}
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if (belowProps.r == BEHAVIOR_POWDER && belowProps.b <= ANT_CARRY_STRENGTH) {
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// carrying powder and on surface (air cell, solid below) -> deposit
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// diggable material below — bias downward
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if (!acted && int(cargoMaterialId) != MAT_FOOD) {
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float downwardBias = -PI * 0.5; // straight down
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if (int(cellMatId) == MAT_AIR) {
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float angleDiff = downwardBias - angle;
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vec2 belowPos = pos - vec2(0., cellSize);
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float belowMatId = texture(tWorld, roundUvToCellCenter(belowPos)).x;
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vec2 abovePos = pos + vec2(0., cellSize);
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float aboveMatId = texture(tWorld, roundUvToCellCenter(abovePos)).x;
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if ((int(belowMatId) != MAT_AIR || belowPos.y <= 0.)
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&& int(aboveMatId) == MAT_AIR) {
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isCarrying = 0.;
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// keep cargoMaterialId set so discretize reads it this frame
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angle += PI;
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storage = getMaxScentStorage(vUv);
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acted = true;
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}
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}
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}
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}
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// ---- PRIORITY 2: NAVIGATE (carrying) ----
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if (!acted && isCarrying == 1.) {
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if (int(cargoMaterialId) == MAT_FOOD) {
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// follow toHome pheromone
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float sAhead = smell(applyOffsetToPos(pos, vec2(cos(angle), sin(angle)) * sampleDistance), 1.);
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float sLeft = smell(applyOffsetToPos(pos, vec2(cos(angle - ANT_ROTATION_ANGLE), sin(angle - ANT_ROTATION_ANGLE)) * sampleDistance), 1.);
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float sRight = smell(applyOffsetToPos(pos, vec2(cos(angle + ANT_ROTATION_ANGLE), sin(angle + ANT_ROTATION_ANGLE)) * sampleDistance), 1.);
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if (sLeft > sAhead && sLeft > sRight) {
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angle -= ANT_ROTATION_ANGLE;
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} else if (sRight > sAhead && sRight > sLeft) {
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angle += ANT_ROTATION_ANGLE;
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}
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} else {
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// carrying powder: bias upward toward surface
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#if VIEW_MODE_SIDE
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float upwardBias = PI * 0.5;
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float angleDiff = upwardBias - angle;
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angleDiff = mod(angleDiff + PI, 2.0 * PI) - PI;
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angleDiff = mod(angleDiff + PI, 2.0 * PI) - PI;
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// gentle steering toward down (20% blend)
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angle += angleDiff * 0.3;
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angle += angleDiff * 0.2;
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#endif
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}
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// add wander noise to carrying ants too
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float noise2 = rand(vUv * 1000. + fract(uTime / 1000.) + 0.2);
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if (noise2 > 0.5) {
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angle += ANT_ROTATION_ANGLE;
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} else {
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angle -= ANT_ROTATION_ANGLE;
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}
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acted = true;
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}
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// ---- PRIORITY 3: FORAGE (not carrying, food scent detected) ----
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if (!acted && isCarrying == 0.) {
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float sAhead = smell(applyOffsetToPos(pos, vec2(cos(angle), sin(angle)) * sampleDistance), 0.);
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float sLeft = smell(applyOffsetToPos(pos, vec2(cos(angle - ANT_ROTATION_ANGLE), sin(angle - ANT_ROTATION_ANGLE)) * sampleDistance), 0.);
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float sRight = smell(applyOffsetToPos(pos, vec2(cos(angle + ANT_ROTATION_ANGLE), sin(angle + ANT_ROTATION_ANGLE)) * sampleDistance), 0.);
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float maxSmell = max(sAhead, max(sLeft, sRight));
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if (maxSmell > SCENT_THRESHOLD) {
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if (sLeft > sAhead && sLeft > sRight) {
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angle -= ANT_ROTATION_ANGLE;
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} else if (sRight > sAhead && sRight > sLeft) {
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angle += ANT_ROTATION_ANGLE;
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}
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acted = true;
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}
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}
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// ---- PRIORITY 4: DIG (not carrying, diggable material nearby below surface) ----
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#if VIEW_MODE_SIDE
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if (!acted && isCarrying == 0.) {
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vec2 belowUv = roundUvToCellCenter(pos - vec2(0., cellSize));
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float belowMat2 = texture(tWorld, belowUv).x;
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vec4 belowProps2 = texelFetch(uMaterialProps, ivec2(int(belowMat2), 0), 0);
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// suppress digging if on the surface (air above) — don't dig topsoil into sky
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vec2 aboveUv = roundUvToCellCenter(pos + vec2(0., cellSize));
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float aboveMat2 = texture(tWorld, aboveUv).x;
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bool onSurfaceTop = (int(aboveMat2) == MAT_AIR);
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if (!onSurfaceTop
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&& belowProps2.r == BEHAVIOR_POWDER
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&& belowProps2.b <= ANT_CARRY_STRENGTH) {
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// bias angle toward ~40 degrees below horizontal (angle of repose)
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float targetAngle = (cos(angle) >= 0.)
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? -0.7 // ~-40 degrees (right and down)
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: -(PI - 0.7); // ~-(180-40) degrees (left and down)
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float angleDiff2 = targetAngle - angle;
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angleDiff2 = mod(angleDiff2 + PI, 2.0 * PI) - PI;
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angle += angleDiff2 * 0.2;
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acted = true;
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}
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}
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}
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}
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#endif
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#endif
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float noise2 = rand(vUv * 1000. + fract(uTime / 1000.) + 0.2);
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// ---- PRIORITY 5: WANDER (fallback) ----
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if (!acted) {
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float sampleAhead = smell(applyOffsetToPos(pos, vec2(cos(angle), sin(angle)) * sampleDistance), isCarrying);
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if (noise < 0.33) {
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float sampleLeft = smell(applyOffsetToPos(pos, vec2(cos(angle - ANT_ROTATION_ANGLE), sin(angle - ANT_ROTATION_ANGLE)) * sampleDistance), isCarrying);
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angle += ANT_ROTATION_ANGLE;
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float sampleRight = smell(applyOffsetToPos(pos, vec2(cos(angle + ANT_ROTATION_ANGLE), sin(angle + ANT_ROTATION_ANGLE)) * sampleDistance), isCarrying);
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} else if (noise < 0.66) {
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angle -= ANT_ROTATION_ANGLE;
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if (sampleAhead > sampleLeft && sampleAhead > sampleRight) {
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}
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// don't change direction
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float noise2 = rand(vUv * 1000. + fract(uTime / 1000.) + 0.2);
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} else if (sampleLeft > sampleAhead && sampleLeft > sampleRight) {
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if (noise2 > 0.5) {
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angle -= ANT_ROTATION_ANGLE; // steer left
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angle += ANT_ROTATION_ANGLE * 2.;
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} else if (sampleRight > sampleAhead && sampleRight > sampleLeft) {
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} else {
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angle += ANT_ROTATION_ANGLE; // steer right
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angle -= ANT_ROTATION_ANGLE * 2.;
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} else if (noise < 0.33) {
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}
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angle += ANT_ROTATION_ANGLE; // no smell detected, do random movement
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} else if (noise < 0.66) {
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angle -= ANT_ROTATION_ANGLE;
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}
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}
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if (noise2 > 0.5) {
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// ---- MOVEMENT APPLICATION ----
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angle += ANT_ROTATION_ANGLE * 2.;
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vec2 offset = vec2(cos(angle), sin(angle));
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} else {
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pos = applyOffsetToPos(pos, offset);
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angle -= ANT_ROTATION_ANGLE * 2.;
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if (fract(pos.x) == 0. || fract(pos.y) == 0. || (!wasObstacle && isObstacle(pos + offset * cellSize))) {
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angle += PI * (noise - 0.5);
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}
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}
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}
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vec2 offset = vec2(cos(angle), sin(angle));
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// ---- PICKUP ----
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pos = applyOffsetToPos(pos, offset);
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if (isCarrying == 0.) {
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float cellMatId = texture(tWorld, roundUvToCellCenter(pos)).x;
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int cellMatInt = int(cellMatId);
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if (fract(pos.x) == 0. || fract(pos.y) == 0. || (!wasObstacle && isObstacle(pos + offset * cellSize))) {
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if (cellMatInt == MAT_FOOD) {
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angle += PI * (noise - 0.5);
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}
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if (isCarrying == 0.) {
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float cellMatId = texture(tWorld, roundUvToCellCenter(pos)).x;
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int cellMatInt = int(cellMatId);
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if (cellMatInt == MAT_FOOD) {
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// food pickup (existing foraging behavior)
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isCarrying = 1.;
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cargoMaterialId = cellMatId;
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angle += PI;
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storage = getMaxScentStorage(vUv);
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} else if (cellMatInt != MAT_AIR && cellMatInt != MAT_HOME) {
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// check if diggable powder material
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vec4 props = texelFetch(uMaterialProps, ivec2(cellMatInt, 0), 0);
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float behavior = props.r;
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float hardness = props.b;
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if (behavior == BEHAVIOR_POWDER && hardness <= ANT_CARRY_STRENGTH) {
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isCarrying = 1.;
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isCarrying = 1.;
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cargoMaterialId = cellMatId;
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cargoMaterialId = cellMatId;
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angle += PI;
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angle += PI;
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storage = getMaxScentStorage(vUv);
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storage = getMaxScentStorage(vUv);
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} else if (cellMatInt != MAT_AIR && cellMatInt != MAT_HOME) {
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vec4 props = texelFetch(uMaterialProps, ivec2(cellMatInt, 0), 0);
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float behavior = props.r;
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float hardness = props.b;
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if (behavior == BEHAVIOR_POWDER && hardness <= ANT_CARRY_STRENGTH) {
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isCarrying = 1.;
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cargoMaterialId = cellMatId;
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angle += PI;
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storage = getMaxScentStorage(vUv);
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}
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}
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}
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}
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}
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}
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if (tryDropFood(pos)) {
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storage = getMaxScentStorage(vUv);
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if (isCarrying == 1.) {
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isCarrying = 0.;
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cargoMaterialId = 0.;
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angle += PI;
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}
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}
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// deposit carried powder material when standing on air with solid ground below
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if (isCarrying == 1. && int(cargoMaterialId) != MAT_FOOD) {
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float cellMatId = texture(tWorld, roundUvToCellCenter(pos)).x;
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if (int(cellMatId) == MAT_AIR) {
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vec2 belowPos = pos - vec2(0., cellSize);
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float belowMatId = texture(tWorld, roundUvToCellCenter(belowPos)).x;
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if (int(belowMatId) != MAT_AIR || belowPos.y <= 0.) {
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isCarrying = 0.;
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// keep cargoMaterialId set so discretize can read it this frame
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angle += PI;
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storage = getMaxScentStorage(vUv);
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}
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}
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}
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} // end !isFalling
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} // end !isFalling
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FragColor = vec4(
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FragColor = vec4(
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