// Cloned by Sagar Ramachandra Murthy on 27 Oct 2021 from Mind "Complex Mind" by Starter user
// Please leave this clone trail here.
// =================================================================================================
// Sample Mind for more complex starter World
// =================================================================================================
// World tells us agent position and enemy position
// World does not tell us of existence of walls
// if return invalid move (not empty square) World just ignores it and we miss a turn
// AB.clockTick = 10;
// // Speed of run: Step every n milliseconds.
// AB.maxSteps = 1000;
// // Length of run: Maximum length of run in steps.
// AB.screenshotStep = 50;
// // For automatic generation of World images.
// // Take screenshot on this step. (All resources should have finished loading.)
// AB.drawRunControls = true;
// // Add run controls (Run/Step/Pause) to the run window
// AB.mind.getAction = function ( x ) // x is an array of [ ai, aj, ei, ej ]
// {
// var ai = x[0];
// var aj = x[1];
// var ei = x[2];
// var ej = x[3];
// // if strictly move away, will get stuck at wall, so introduce randomness
// if ( ej < aj ) return ( AB.randomPick ( ACTION_UP, AB.randomPick(ACTION_RIGHT,ACTION_LEFT) ));
// if ( ej > aj ) return ( AB.randomPick ( ACTION_DOWN, AB.randomPick(ACTION_RIGHT,ACTION_LEFT) ));
// if ( ei < ai ) return ( AB.randomPick ( ACTION_RIGHT, AB.randomPick(ACTION_UP,ACTION_DOWN) ));
// if ( ei > ai ) return ( AB.randomPick ( ACTION_LEFT, AB.randomPick(ACTION_UP,ACTION_DOWN) ));
// return ( AB.randomIntAtoB (0,3) );
// };
// Port of
// https://github.com/nature-of-code/NOC-S17-2-Intelligence-Learning/tree/master/week1-graphs/05_astar
// Daniel Shiffman
// Nature of Code: Intelligence and Learning
// https://github.com/shiffman/NOC-S17-2-Intelligence-Learning
// Part 1: https://youtu.be/aKYlikFAV4k
// Part 2: https://youtu.be/EaZxUCWAjb0
// Part 3: https://youtu.be/jwRT4PCT6RU
// is diagonal move allowed
// const diagonal = true ;
// // canvas size
// const cw = 900;
// const ch = 600;
// // How many columns and rows
// // different each time
// var rando = AB.randomIntAtoB ( 1, 5 );
// var cols = 9 * rando;
// var rows = 6 * rando;
// // how many walls to make, from 0 to 1
// // different each time
// const wallAmount = AB.randomFloatAtoB ( 0, 0.6 );
// const backcolor = 'white';
// const wallcolor = 'black';
// const pathcolor = 'darkred';
// const opencolor = 'lightgreen';
// const closedcolor = 'lightpink';
// // 2D array
// var grid = new Array(cols);
// // Open and closed set
// var openSet = [];
// var closedSet = [];
// // Start and end
// var start;
// var end;
// // Width and height of each cell of grid
// var w, h;
// // The road taken
// var path = [];
// //=== heuristic ===========================
// // this must be always optimistic - real time will be this or longer
// function heuristic(a, b)
// {
// if ( diagonal ) return ( dist(a.i, a.j, b.i, b.j) );
// // 2D distance
// // dist is a P5 function
// else return ( abs(a.i - b.i) + abs(a.j - b.j) );
// // else not diagonal, can only go across and down
// // so this is optimistic
// // note this is not optimistic if we can do diagonal move
// }
// // Function to delete element from the array
// function removeFromArray(arr, elt)
// {
// // Could use indexOf here instead to be more efficient
// for (var i = arr.length - 1; i >= 0; i--)
// if (arr[i] == elt)
// arr.splice(i, 1);
// }
// // Daniel Shiffman
// // Nature of Code: Intelligence and Learning
// // https://github.com/shiffman/NOC-S17-2-Intelligence-Learning
// // Part 1: https://youtu.be/aKYlikFAV4k
// // Part 2: https://youtu.be/EaZxUCWAjb0
// // Part 3: https://youtu.be/jwRT4PCT6RU
// // An object to describe a spot in the grid
// function Spot(i, j)
// {
// // Location
// this.i = i;
// this.j = j;
// // f, g, and h values for A*
// this.f = 0;
// this.g = 0;
// this.h = 0;
// // Neighbors
// this.neighbors = [];
// // Where did I come from?
// this.previous = undefined;
// // Am I an wall?
// if (random(1) < wallAmount) this.wall = true;
// else this.wall = false;
// // Display me
// this.show = function(col)
// {
// if (this.wall)
// {
// fill(wallcolor);
// noStroke();
// // wall fills square
// rect ( this.i * w, this.j * h, w, h );
// // wall only partially fills square
// // ellipse ( this.i * w + w / 2, this.j * h + h / 2, w * 0.7, h * 0.7 );
// }
// else if (col)
// {
// fill(col);
// rect(this.i * w, this.j * h, w, h);
// }
// };
// // Figure out who my neighbors are
// this.addNeighbors = function(grid)
// {
// var i = this.i;
// var j = this.j;
// if (i < cols - 1) this.neighbors.push(grid[i + 1][j]);
// if (i > 0) this.neighbors.push(grid[i - 1][j]);
// if (j < rows - 1) this.neighbors.push(grid[i][j + 1]);
// if (j > 0) this.neighbors.push(grid[i][j - 1]);
// if (diagonal)
// // diagonals are also neighbours:
// {
// if (i > 0 && j > 0) this.neighbors.push(grid[i - 1][j - 1]);
// if (i < cols - 1 && j > 0) this.neighbors.push(grid[i + 1][j - 1]);
// if (i > 0 && j < rows - 1) this.neighbors.push(grid[i - 1][j + 1]);
// if (i < cols - 1 && j < rows - 1) this.neighbors.push(grid[i + 1][j + 1]);
// }
// }
// }
// function setup()
// {
// // slower frame rate to see how it is working
// // frameRate (2);
// createCanvas(cw, ch);
// // Grid cell size
// w = width / cols;
// h = height / rows;
// // Making a 2D array
// for (var i = 0; i < cols; i++)
// grid[i] = new Array(rows);
// for (var i = 0; i < cols; i++)
// for (var j = 0; j < rows; j++)
// grid[i][j] = new Spot(i, j);
// // All the neighbors
// for (var i = 0; i < cols; i++)
// for (var j = 0; j < rows; j++)
// grid[i][j].addNeighbors(grid);
// // Start and end
// start = grid[0][0];
// end = grid[cols - 1][rows - 1];
// start.wall = false;
// end.wall = false;
// // openSet starts with beginning only
// openSet.push(start);
// console.log('start search');
// }
// function draw()
// // the search goes on over many timesteps
// // each timestep, check one more square and draw current partial solution
// {
// // --- begin still searching -----------------------------
// if (openSet.length > 0)
// {
// // Best next option
// var winner = 0;
// for (var i = 0; i < openSet.length; i++)
// if (openSet[i].f < openSet[winner].f)
// winner = i;
// var current = openSet[winner];
// // Did I finish?
// if (current === end)
// {
// noLoop();
// console.log("success - found path");
// }
// // Best option moves from openSet to closedSet
// removeFromArray(openSet, current);
// closedSet.push(current);
// // Check all the neighbors
// var neighbors = current.neighbors;
// //--- start of for loop -----------
// for (var i = 0; i < neighbors.length; i++)
// {
// var neighbor = neighbors[i];
// // Valid next spot?
// if (!closedSet.includes(neighbor) && !neighbor.wall)
// {
// var tempG = current.g + heuristic(neighbor, current);
// // Is this a better path than before?
// var newPath = false;
// if (openSet.includes(neighbor))
// {
// if (tempG < neighbor.g)
// {
// neighbor.g = tempG;
// newPath = true;
// }
// }
// else
// {
// neighbor.g = tempG;
// newPath = true;
// openSet.push(neighbor);
// }
// // Yes, it's a better path
// if (newPath)
// {
// neighbor.h = heuristic(neighbor, end);
// neighbor.f = neighbor.g + neighbor.h;
// neighbor.previous = current;
// }
// }
// }
// //--- end of for loop -----------
// }
// // --- end still searching -----------------------------
// else
// {
// console.log('fail - no path exists');
// noLoop();
// return;
// }
// // Draw current state of everything
// background(backcolor);
// for (var i = 0; i < cols; i++)
// for (var j = 0; j < rows; j++)
// grid[i][j].show();
// for (var i = 0; i < closedSet.length; i++)
// closedSet[i].show( closedcolor );
// for (var i = 0; i < openSet.length; i++)
// openSet[i].show( opencolor );
// // Find the path by working backwards
// path = [];
// var temp = current;
// path.push(temp);
// while (temp.previous)
// {
// path.push(temp.previous);
// temp = temp.previous;
// }
// if (diagonal)
// {
// // path as continuous line
// noFill();
// stroke(pathcolor);
// strokeWeight(w / 8);
// beginShape();
// for (var i = 0; i < path.length; i++)
// vertex ( (path[i].i * w) + w / 2, (path[i].j * h) + h / 2 );
// endShape();
// }
// else
// {
// // path as solid blocks
// for (var i = 0; i < path.length; i++)
// path[i].show(pathcolor);
// }
// }
//New-------------------------------------------------------------------------------------------//
AB.clockTick = 100;
// Speed of run: Step every n milliseconds. Default 100.
AB.maxSteps = 1000;
// Length of run: Maximum length of run in steps. Default 1000.
AB.screenshotStep = 10;
// Take screenshot on this step. (All resources should have finished loading.) Default 50.
//---- global constants: -------------------------------------------------------
const show3d = false; // Switch between 3d and 2d view (both using Three.js)
const TEXTURE_WALL = '/uploads/jobrien14/red-brick.jpg' ;
const TEXTURE_MAZE = '/uploads/jobrien14/trashcan2.png' ;
const TEXTURE_AGENT = '/uploads/jobrien14/mouse.png' ;
const TEXTURE_ENEMY = '/uploads/jobrien14/angry_cat.jpg' ;
// credits:
// http://commons.wikimedia.org/wiki/File:Old_door_handles.jpg
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons
// http://en.wikipedia.org/wiki/File:Inscription_displaying_apices_(from_the_shrine_of_the_Augustales_at_Herculaneum).jpg
const MUSIC_BACK = '/uploads/starter/Defense.Line.mp3' ;
const SOUND_ALARM = '/uploads/starter/air.horn.mp3' ;
// credits:
// http://www.dl-sounds.com/royalty-free/defense-line/
// http://soundbible.com/1542-Air-Horn.html
const gridsize = 50; // 50; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 ); // 3
// density of maze - number of internal boxes
// (bug) use trunc or can get a non-integer
const squaresize = 2000; // size of square in pixels
const MAXPOS = gridsize * squaresize; // length of one side in pixels
const SKYCOLOR = 0xddffdd; // a number, not a string
const startRadiusConst = MAXPOS * 0.8 ; // distance from centre to start the camera at
const maxRadiusConst = MAXPOS * 10 ; // maximum distance from camera we will render things
//--- change ABWorld defaults: -------------------------------
ABHandler.MAXCAMERAPOS = maxRadiusConst ;
ABHandler.GROUNDZERO = true; // "ground" exists at altitude zero
//--- skybox: -------------------------------
// skybox is a collection of 6 files
// x,y,z positive and negative faces have to be in certain order in the array
// https://threejs.org/docs/#api/en/loaders/CubeTextureLoader
// mountain skybox, credit:
// http://stemkoski.github.io/Three.js/Skybox.html
// const SKYBOX_ARRAY = [
// "/uploads/starter/dawnmountain-xpos.png",
// "/uploads/starter/dawnmountain-xneg.png",
// "/uploads/starter/dawnmountain-ypos.png",
// "/uploads/starter/dawnmountain-yneg.png",
// "/uploads/starter/dawnmountain-zpos.png",
// "/uploads/starter/dawnmountain-zneg.png"
// ];
// space skybox, credit:
// http://en.spaceengine.org/forum/21-514-1
// x,y,z labelled differently
const SKYBOX_ARRAY = [
"/uploads/starter/sky_pos_z.jpg",
"/uploads/starter/sky_neg_z.jpg",
"/uploads/starter/sky_pos_y.jpg",
"/uploads/starter/sky_neg_y.jpg",
"/uploads/starter/sky_pos_x.jpg",
"/uploads/starter/sky_neg_x.jpg"
];
// urban photographic skyboxes, credit:
// http://opengameart.org/content/urban-skyboxes
/*
const SKYBOX_ARRAY = [
"/uploads/starter/posx.jpg",
"/uploads/starter/negx.jpg",
"/uploads/starter/posy.jpg",
"/uploads/starter/negy.jpg",
"/uploads/starter/posz.jpg",
"/uploads/starter/negz.jpg"
];
*/
// ===================================================================================================================
// === End of tweaker's box ==========================================================================================
// ===================================================================================================================
// You will need to be some sort of JavaScript programmer to change things below the tweaker's box.
// My code
var myGrid = new Array(gridsize);
// Open and closed set
var openSet = [];
var closedSet = [];
// Added by JOB
var Path = [];
var Best =[]
var showDirectLine = true;
var showBresenhamLine = true;
// Added by JOB
// Adding code to create spot objects to be used in the A* calculations
function spot(x, y){
// location
this.i = x;
this.j = y;
// Wall or Mazw
this.wall = false;
this.maze = false;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Neighbors
// Where did I come from?
this.previous = undefined;
// Figure out who my neighbors are
this.addNeighbors = function(gridsize){
this.neighbors = [];
var i = this.i;
var j = this.j;
if (i < gridsize - 1)
this.neighbors.push(myGrid[i + 1][j]);
if (i > 1)
this.neighbors.push(myGrid[i - 1][j]);
if (j < gridsize - 1)
this.neighbors.push(myGrid[i][j + 1]);
if (j > 1)
this.neighbors.push(myGrid[i][j - 1]);
if (i > 1 && j > 1)
this.neighbors.push(myGrid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 1)
this.neighbors.push(myGrid[i + 1][j - 1]);
if (i > 1 && j < gridsize - 1)
this.neighbors.push(myGrid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1)
this.neighbors.push(myGrid[i + 1][j + 1]);
}
this.addBlockingNeighbors = function(gridsize){
this.blockingNeighbors = [];
var i = this.i;
var j = this.j;
if (i < gridsize - 1)
this.blockingNeighbors.push(myGrid[i + 1][j]);
if (i > 1)
this.blockingNeighbors.push(myGrid[i - 1][j]);
if (j < gridsize - 1)
this.blockingNeighbors.push(myGrid[i][j + 1]);
if (j > 1)
this.blockingNeighbors.push(myGrid[i][j - 1]);
}
this.addDiagonalNeighbors = function(gridsize){
this.diagonalNeighbors = [];
var i = this.i;
var j = this.j;
if (i > 1 && j > 1)
this.diagonalNeighbors.push(myGrid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 1)
this.diagonalNeighbors.push(myGrid[i + 1][j - 1]);
if (i > 1 && j < gridsize - 1)
this.diagonalNeighbors.push(myGrid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1)
this.diagonalNeighbors.push(myGrid[i + 1][j + 1]);
}
}
// Added by JOB
//Drawing and Console output related functions
function listNeighbors(spot){
console.log(spot.neighbors.length + " Neighbors:");
for(let i=0; i<= spot.neighbors.length -1; i++){
console.log("X: " + spot.neighbors[i].i + "; Y: "+ spot.neighbors[i].j);
}
}
function listPath(path){
console.log("Path: ");
for(let i=0; i<= path.length -1; i++){
console.log("X: " + path[i].i + "; Y: "+ path[i].j);
}
}
function drawPath(Path, colorLine){
var geometry = new THREE.Geometry();
var material = new THREE.LineBasicMaterial( { color: colorLine } );
if(Path!== null){
if(Path.length >1){
// console.log("Path length > 1");
for(let i = 0; i < Path.length-1; i++){
geometry.vertices.push(translate(Path[i].i,Path[i].j));
geometry.vertices.push(translate(Path[i+1].i,Path[i+1].j));
}
var line = new THREE.LineSegments( geometry, material );
ABWorld.scene.add(line);
setTimeout( () => {
geometry.dispose();
material.dispose();
ABWorld.scene.remove( line );
}, AB.clockTick);
}
}
}
//--- Mind can pick one of these actions -----------------
const ACTION_LEFT = 0;
const ACTION_RIGHT = 1;
const ACTION_UP = 2;
const ACTION_DOWN = 3;
const ACTION_STAYSTILL = 4;
// in initial view, (smaller-larger) on i axis is aligned with (left-right)
// in initial view, (smaller-larger) on j axis is aligned with (away from you - towards you)
// contents of a grid square
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
var BOXHEIGHT; // 3d or 2d box height
var GRID = new Array(gridsize); // can query GRID about whether squares are occupied, will in fact be initialised as a 2D array
var theagent, theenemy;
var wall_texture, agent_texture, enemy_texture, maze_texture;
// enemy and agent position on squares
var ei, ej, ai, aj;
// Added by JOB
var enemyLocation;
var agentLocation;
var badsteps;
var goodsteps;
function loadResources() // asynchronous file loads - call initScene() when all finished
{
var loader1 = new THREE.TextureLoader();
var loader2 = new THREE.TextureLoader();
var loader3 = new THREE.TextureLoader();
var loader4 = new THREE.TextureLoader();
loader1.load ( TEXTURE_WALL, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
wall_texture = thetexture;
if ( asynchFinished() ) initScene(); // if all file loads have returned
});
loader2.load ( TEXTURE_AGENT, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
agent_texture = thetexture;
if ( asynchFinished() ) initScene();
});
loader3.load ( TEXTURE_ENEMY, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
enemy_texture = thetexture;
if ( asynchFinished() ) initScene();
});
loader4.load ( TEXTURE_MAZE, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
maze_texture = thetexture;
if ( asynchFinished() ) initScene();
});
}
function asynchFinished() // all file loads returned
{
if ( wall_texture && agent_texture && enemy_texture && maze_texture ) return true;
else return false;
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
function occupied ( i, j ) // is this square occupied
{
if ( ( ei == i ) && ( ej == j ) ) return true; // variable objects
if ( ( ai == i ) && ( aj == j ) ) return true;
if ( GRID[i][j] == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j] == GRID_MAZE ) return true;
return false;
}
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
// logically, coordinates are: y=0, x and z all positive (no negative)
// logically my dimensions are all positive 0 to MAXPOS
// to centre everything on origin, subtract (MAXPOS/2) from all dimensions
function translate ( i, j )
{
var v = new THREE.Vector3();
v.y = 0;
v.x = ( i * squaresize ) - ( MAXPOS/2 );
v.z = ( j * squaresize ) - ( MAXPOS/2 );
return v;
}
function initScene() // all file loads have returned
{
var i,j, shape, thecube;
// set up GRID as 2D array
for ( i = 0; i < gridsize ; i++ ) {
GRID[i] = new Array(gridsize);
myGrid[i] = new Array(gridsize);
}
// set up walls
for ( i = 0; i < gridsize ; i++ )
for ( j = 0; j < gridsize ; j++ )
if ( ( i===0 ) || ( i==gridsize-1 ) || ( j===0 ) || ( j==gridsize-1 ) )
{
GRID[i][j] = GRID_WALL;
// Added by JOB
myGrid[i][j] = new spot(i, j);
myGrid[i][j].wall = true;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: wall_texture } );
thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
else {
GRID[i][j] = GRID_BLANK;
// Added by JOB
myGrid[i][j] = new spot(i, j);
}
// set up maze
for ( var c=1 ; c <= NOBOXES ; c++ )
{
i = AB.randomIntAtoB(1,gridsize-2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1,gridsize-2);
GRID[i][j] = GRID_MAZE ;
// Added by JOB
myGrid[i][j].maze = true;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: maze_texture } );
thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
// All the neighbors
// Added by JOB
for (var i = 0; i <= gridsize-2; i++)
for (var j = 0; j <= gridsize-2; j++){
myGrid[i][j].addNeighbors(gridsize);
myGrid[i][j].addBlockingNeighbors(gridsize);
}
// set up enemy
// start in random location
do
{
i = AB.randomIntAtoB(1,gridsize-2);
j = AB.randomIntAtoB(1,gridsize-2);
}
while ( occupied(i,j) ); // search for empty square
ei = i;
ej = j;
// Added by JOB
enemyLocation = new spot(ei, ej);
enemyLocation.addNeighbors(gridsize);
// openSet starts with beginning only
// openSet.push(enemyLocation);
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
theenemy = new THREE.Mesh( shape );
theenemy.material = new THREE.MeshBasicMaterial( { map: enemy_texture } );
ABWorld.scene.add(theenemy);
drawEnemy();
// set up agent
// start in random location
do
{
i = AB.randomIntAtoB(1,gridsize-2);
j = AB.randomIntAtoB(1,gridsize-2);
}
while ( occupied(i,j) ); // search for empty square
ai = i;
aj = j;
// Added by JOB
agentLocation = new spot(ai, aj);
agentLocation.addNeighbors(gridsize);
agentLocation.addBlockingNeighbors(gridsize);
agentLocation.addDiagonalNeighbors(gridsize);
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
theagent = new THREE.Mesh( shape );
theagent.material = new THREE.MeshBasicMaterial( { map: agent_texture } );
ABWorld.scene.add(theagent);
drawAgent();
// finally skybox
// setting up skybox is simple
// just pass it array of 6 URLs and it does the asych load
ABWorld.scene.background = new THREE.CubeTextureLoader().load ( SKYBOX_ARRAY, function()
{
ABWorld.render();
AB.removeLoading();
AB.runReady = true;
AB.msg ("Enemy: <button class='altbutton' onclick='showDirect()'>Direct Line</button> <button class='altbutton' onclick='showBresenham()'>Bresenham's Line</button><br><br>\
Agent: <button class='altbutton' onclick='showPath()'>Path</button> <button class='altbutton' onclick='showFullPath()'>Full Search Path</button><br>");
});
}
//Enemy toggles
function showDirect(){
if(showDirectLine)
showDirectLine=false;
else
showDirectLine=true;
}
function showBresenham(){
if(showBresenhamLine)
showBresenhamLine=false;
else
showBresenhamLine=true;
}
// Agent toggles
function showPath(){
if(showPathAgent)
showPathAgent=false;
else
showPathAgent=true;
}
function showFullPath(){
if(showAllAgent)
showAllAgent=false;
else
showAllAgent=true;
}
function resetValues(Values){
for(let i =0; i<Values.length; i++){
Values[i].f = 0;
Values[i].g = 0;
Values[i].h = 0;
}
}
// --- draw moving objects -----------------------------------
function drawEnemy() // given ei, ej, draw it
{
theenemy.position.copy ( translate(ei,ej) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.lookat.copy ( theenemy.position ); // if camera moving, look back at where the enemy is
}
function drawAgent() // given ai, aj, draw it
{
theagent.position.copy ( translate(ai,aj) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy ( theagent.position ); // follow vector = agent position (for camera following agent)
}
// Added by JOB
//Bresenham's algorithm
function lowLine(p1, p2){
let diffX = p2.i - p1.i;
let diffY = p2.j - p1.j;
let yi = 1;
if(diffY < 0){
yi = -1;
diffY = -diffY;
}
let D = (2 * diffY) - diffX;
let y = p1.j;
let result = []
for(var x = p1.i; x<= p2.i; x++){
result.push(new spot(x, y));
if(D > 0){
y = y + yi;
D = D + (2*(diffY - diffX));
}
else {
D = D + (2*diffY);
}
}
return result;
}
function highLine(p1, p2){
let diffX = p2.i - p1.i;
let diffY = p2.j - p1.j;
let xi = 1;
if(diffX < 0){
xi = -1;
diffX = -diffX;
}
let D = (2 * diffX) - diffY;
let x = p1.i;
let result = []
for(var y = p1.j; y<= p2.j; y++){
result.push(new spot(x, y));
if(D > 0){
x = x + xi;
D = D + (2*(diffX - diffY));
}
else {
D = D + (2*diffX);
}
}
return result;
}
function bresenhams(p1, p2){
var output = [];
if(Math.abs(p2.j - p1.j) < Math.abs(p2.i - p1.i)){
if(p1.i > p2.i)
output = lowLine(p2, p1);
else
output = lowLine(p1, p2);
}
else{
if(p1.j > p2.j)
output = highLine(p2, p1);
else
output = highLine(p1, p2);
}
return output;
}
//End Bresenham's algorithm
// Added by JOB
// A* search
function aStar(a, b){
var testPath = bresenhams(a, b);
var numBlocks = countBlocks(testPath);
var distance = Math.sqrt(Math.pow(a.i -b.i, 2) + Math.pow(a.j -b.j, 2));
return distance + (numBlocks*0.75);
// return distance(a, b);
}
function removeFromArray(arr, elt)
{
// Could use indexOf here instead to be more efficient
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
// Added by JOB
function path(){
openSet=[];
closedSet=[];
enemyLocation = new spot(ei, ej);
enemyLocation.addNeighbors(gridsize);
openSet.push(enemyLocation);
while (openSet.length > 0){
var winner = 0;
for (var i = 0; i < openSet.length; i++)
if (openSet[i].f < openSet[winner].f){
winner = i;
}
var current = openSet[winner];
if (agentLocation.blockingNeighbors.includes(current) && agentBlocked() >= 3)
{
// resetValues(closedSet);
Path = [];
var temp = current;
Path.push(temp);
while (temp.previous)
{
Path.push(temp.previous);
temp = temp.previous;
}
return Path;
}
else if (agentLocation.diagonalNeighbors.includes(current))
{
// resetValues(closedSet);
Path = [];
var temp = current;
Path.push(temp);
while (temp.previous)
{
Path.push(temp.previous);
temp = temp.previous;
}
return Path;
}
else if (agentLocation.neighbors.includes(current))
{
// resetValues(closedSet);
Path = [];
var temp = current;
Path.push(temp);
while (temp.previous)
{
Path.push(temp.previous);
temp = temp.previous;
}
return Path;
}
// Best option moves from openSet to closedSet
removeFromArray(openSet, current);
closedSet.push(current);
// Check all the neighbors
var neighbors = current.neighbors;
//--- start of for loop -----------
if(neighbors){
for (var i = 0; i < neighbors.length; i++)
{
var neighbor = neighbors[i];
var distNToAgent = aStar(neighbor, agentLocation);
// Valid next spot?!closedSet.includes(neighbor) && && distNToAgent < distCToAgent
if ( !occupied(neighbor.i, neighbor.j) && !closedSet.includes(neighbor))
{
// console.log("Spot " + i + " is not occupied");
var tempG = current.g + aStar(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openSet.includes(neighbor))
{
// console.log("Current node is present in openSet");
if (tempG < neighbor.g)
{
// console.log("tempG: " + tempG + " , neighbor G: " + neighbor.g);
// console.log("Comparing G of current node to neighbor " + i + " , current G is less than neighbors G");
neighbor.g = tempG;
newPath = true;
}
// console.log("tempG: " + tempG + " , neighbor G: " + neighbor.g);
// console.log("Comparing G of current node to neighbor " + i + " , current G is greater than neighbors G");
}
else
{
neighbor.g = tempG;
newPath = true;
openSet.push(neighbor);
// console.log("Current node is not present in openSet and is closer to agent, neighbor G is set to tempG. openSet now contains " + openSet.length + " points.");
}
if (newPath)
{
// console.log("New Path set to true, neighbors h and f values are set using heuristic");
neighbor.h = aStar(neighbor, agentLocation);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
}
Path = [];
var temp2 = current;
Path.push(temp2);
while (temp2.previous)
{
// console.log("X: " + temp.previous.i + " Y: " + temp.previous.j + " added to path");
Path.push(temp2.previous);
temp2 = temp2.previous;
}
drawPath(Path, 0xff0000);
}
}
// Added by JOB
function countBlocks(path){
var count =0;
for(let i =0; i<path.length; i++){
if(myGrid[path[i].i][path[i].j].maze === true)
count++;
}
return count;
}
// --- take actions -----------------------------------
function moveLogicalEnemy(Path)
{
// move towards agent
// put some randomness in so it won't get stuck with barriers
// Added by JOB
var move = path();
drawPath(move, 0x00ff00);
if(showDirectLine ==true){
var directLine = []
directLine.push(move[0]);
directLine.push(move[move.length-1]);
drawPath(directLine, 0x0000FF);
}
if(showBresenhamLine==true){
var testPath = bresenhams(move[0], move[move.length-1]);
drawPath(testPath, 0xFFD700);
}
for(let x=0; x<move.length-1; x++){
// drawPath(move, 0x00ff00);
ei = move[x].i;
ej = move[x].j;
}
//Code for dumb enemy, comment out above section and uncomment this section to make enemy dumb
// var i, j;
// if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1);
// if ( ei == ai ) i = ei;
// if ( ei > ai ) i = AB.randomIntAtoB(ei-1, ei);
// if ( ej < aj ) j = AB.randomIntAtoB(ej, ej+1);
// if ( ej == aj ) j = ej;
// if ( ej > aj ) j = AB.randomIntAtoB(ej-1, ej);
// if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
// {
// ei = i;
// ej = j;
// }
}
function moveLogicalAgent( a ) // this is called by the infrastructure that gets action a from the Mind
{
var i = ai;
var j = aj;
if ( a == ACTION_LEFT ) i--;
else if ( a == ACTION_RIGHT ) i++;
else if ( a == ACTION_UP ) j++;
else if ( a == ACTION_DOWN ) j--;
if ( ! occupied(i,j) )
{
ai = i;
aj = j;
// Added by JOB
agentLocation = new spot(ai, aj);
agentLocation.addNeighbors(gridsize);
agentLocation.addBlockingNeighbors(gridsize);
agentLocation.addDiagonalNeighbors(gridsize);
}
}
// --- key handling --------------------------------------------------------------------------------------
// This is hard to see while the Mind is also moving the agent:
// AB.mind.getAction() and AB.world.takeAction() are constantly running in a loop at the same time
// have to turn off Mind actions to really see user key control
// we will handle these keys:
var OURKEYS = [ 37, 38, 39, 40 ];
function ourKeys ( event ) { return ( OURKEYS.includes ( event.keyCode ) ); }
function keyHandler ( event )
{
if ( ! AB.runReady ) return true; // not ready yet
// if not one of our special keys, send it to default key handling:
if ( ! ourKeys ( event ) ) return true;
// else handle key and prevent default handling:
if ( event.keyCode == 37 ) moveLogicalAgent ( ACTION_LEFT );
if ( event.keyCode == 38 ) moveLogicalAgent ( ACTION_DOWN );
if ( event.keyCode == 39 ) moveLogicalAgent ( ACTION_RIGHT );
if ( event.keyCode == 40 ) moveLogicalAgent ( ACTION_UP );
// when the World is embedded in an iframe in a page, we want arrow key events handled by World and not passed up to parent
event.stopPropagation(); event.preventDefault(); return false;
}
// --- score: -----------------------------------
function badstep() // is the enemy within one square of the agent
{
if ( ( Math.abs(ei - ai) < 2 ) && ( Math.abs(ej - aj) < 2 ) ) return true;
else return false;
}
function agentBlocked() // agent is blocked on all sides, run over
{
var score =0;
if(occupied (ai-1,aj))
score ++;
if(occupied (ai+1,aj))
score ++;
if(occupied ( ai,aj+1))
score++;
if(occupied ( ai,aj-1))
score++;
return score;
}
function updateStatusBefore(a)
// this is called before anyone has moved on this step, agent has just proposed an action
// update status to show old state and proposed move
{
var x = AB.world.getState();
removeFromArray(x, x[x.length-1]);
AB.msg ( " Step: " + AB.step + " x = (" + x.toString() + ") a = (" + a + ") " , 2);
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after both have moved
var y = AB.world.getState();
removeFromArray(y, y[y.length-1]);
var score = ( goodsteps / AB.step ) * 100;
AB.msg ( " y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 3 );
}
AB.world.newRun = function()
{
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
if ( show3d )
{
BOXHEIGHT = squaresize;
ABWorld.init3d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
else
{
BOXHEIGHT = 1;
ABWorld.init2d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
loadResources(); // aynch file loads
// calls initScene() when it returns
document.onkeydown = keyHandler;
};
AB.world.getState = function()
{
var x = [ ai, aj, ei, ej, myGrid];
return ( x );
};
AB.world.takeAction = function ( a )
{
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
// console.log('Agent location: x = ' + ai + '; y = ' + aj);
if ( ( AB.step % 2 ) == 0 ){ // slow the enemy down to every nth step
moveLogicalEnemy();
}
if ( badstep() ) badsteps++;
else goodsteps++;
drawAgent();
drawEnemy();
updateStatusAfter(); // show status line after moves
if ( agentBlocked() >= 4 ) // if agent blocked in, run over
{
AB.abortRun = true;
goodsteps = 0; // you score zero as far as database is concerned
// musicPause();
soundAlarm();
}
};
AB.world.endRun = function()
{
// musicPause();
if ( AB.abortRun ) AB.msg ( " <br> <font color=red> <B> Agent trapped. Final score zero. </B> </font> ", 4 );
else AB.msg ( " <br> <font color=green> <B> Run over. </B> </font> ", 4 );
};
AB.world.getScore = function()
{
// only called at end - do not use AB.step because it may have just incremented past AB.maxSteps
var s = ( goodsteps / AB.maxSteps ) * 100; // float like 93.4372778
var x = Math.round (s * 100); // 9344
return ( x / 100 ); // 93.44
};
// --- music and sound effects ----------------------------------------
// var backmusic = AB.backgroundMusic ( MUSIC_BACK );
// function musicPlay() { backmusic.play(); }
// function musicPause() { backmusic.pause(); }
function soundAlarm()
{
var alarm = new Audio ( SOUND_ALARM );
alarm.play(); // play once, no loop
}