// Cloned by Jay Boy on 16 Nov 2021 from World "Complex World" by Starter user
// Please leave this clone trail here.
// ==== Starter World =================================================================================================
// This code is designed for use on the Ancient Brain site.
// This code may be freely copied and edited by anyone on the Ancient Brain site.
// To include a working run of this program on another site, see the "Embed code" links provided on Ancient Brain.
// ====================================================================================================================
// =============================================================================================
// More complex starter World
// 3d-effect Maze World (really a 2-D problem)
// Movement is on a semi-visible grid of squares
//
// This more complex World shows:
// - Skybox
// - Internal maze (randomly drawn each time)
// - Enemy actively chases agent
// - Music/audio
// - 2D world (clone this and set show3d = false)
// - User keyboard control (clone this and comment out Mind actions to see)
// =============================================================================================
// =============================================================================================
// Scoring:
// Bad steps = steps where enemy is within one step of agent.
// Good steps = steps where enemy is further away.
// Score = good steps as percentage of all steps.
//
// There are situations where agent is trapped and cannot move.
// If this happens, you score zero.
// =============================================================================================
// ===================================================================================================================
// === Start of tweaker's box ========================================================================================
// ===================================================================================================================
// The easiest things to modify are in this box.
// You should be able to change things in this box without being a JavaScript programmer.
// Go ahead and change some of these. What's the worst that could happen?
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 = 50;
// 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/wolfy10/planet.jpg' ;
const TEXTURE_MAZE = '/uploads/starter/latin.jpg' ;
const TEXTURE_AGENT = '/uploads/wolfy10/pup.JPG' ;
const TEXTURE_ENEMY = '/uploads/starter/pacman.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; // number of squares along side of world
//jay added++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// ive added in a cost array - and filled it with 1s. the cost is 1 for every cell
const COSTS_GRID = new Array(gridsize).fill(1).map(() => new Array(gridsize).fill(1));
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 10 );
// density of maze - number of internal boxes
// (bug) use trunc or can get a non-integer
const squaresize = 100; // 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.
//--- 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;
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);
// 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;
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;
// 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 ;
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);
}
// 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;
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;
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; // start the run loop
});
}
// --- 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)
}
// --- take actions -----------------------------------
function moveLogicalEnemy(){
run_my_function(); //JAY added 0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0+0
}// END ---- ENEMY -----------------------------------------------------
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;
}
}
// --- 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
{
return ( occupied (ai-1,aj) &&
occupied (ai+1,aj) &&
occupied ( ai,aj+1) &&
occupied ( ai,aj-1) );
}
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();
AB.msg ( " Step: " + AB.step + " x = (" + x.toString() + ") a = (" + a + ") " );
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after both have moved
var y = AB.world.getState();
var score = ( goodsteps / AB.step ) * 100;
AB.msg ( " y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2 );
}
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 ];
return ( x );
};
AB.world.takeAction = function ( a )
{
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
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() ) // 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> ", 3 );
else AB.msg ( " <br> <font color=green> <B> Run over. </B> </font> ", 3 );
};
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 ----------------------------------------
// JAY added xyz - removed music
// 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
}
//===================== JAYS Additions XYZ =====================
//===================== //===================== //===================== //=====================
//===================== //===================== //===================== //=====================
//===================== //===================== //===================== //=====================
function NODE_OBJ(i,j){ //CLASS
// Location
this.i = i; //x is reserved in js ?
this.j = j;
this.f = 0;
this.g = undefined;
this.h = 0;
this.neighbours = [];
this.prev_node = undefined;
// pump the GRID in here to use
// this.set_neighbours = function(GRID){
// var i = this.i;
// var j = this.j;
// // lets say 5i/7j
// // 5<29 .... true... grid[5+1] [6][7]
// //
// //
// //
// //
// // COLS repalce with COLUMNS... ONLY if i is not bigger than the largest column //wrong
// // if its within the bounds of the MAZE & its ... se
// if (i < gridsize-1){
// this.neighbours.push([i+1,j]);
// //this.neighbours.push(GRID[i + 1][j]); //right
// console.log("Right neighbour is at : " + (i+1) +","+ j ); //adding the value
// //console.log("ADDING RIGHT: " + GRID[i + 1][j]); //adding the value
// //store i, j;
// }
// if (i > 0){
// this.neighbours.push([i-1,j]);
// //this.neighbours.push(GRID[i - 1][j]); // left
// console.log("left neighbour is at : " + (i-1) +","+ j ); //adding the value
// // console.log("ADDING LEFT: " + GRID[i - 1][j]);
// }
// if (j < gridsize-1){
// this.neighbours.push([i,j+1]);
// //this.neighbours.push(GRID[i][j + 1]); // down
// // console.log("ADDING: DOWN : " + GRID[i][j + 1]);
// console.log("DOWN neighbour is at : " + (i)+","+ (j+1) ); //adding the value
// }
// if (j > 0){
// this.neighbours.push([i,j-1]);
// //this.neighbours.push(GRID[i][j - 1]); // up
// // console.log("ADDING UP : " + GRID[i][j - 1]);
// console.log("UP neighbour is at : " + (i)+","+ (j-1) ); //adding the value
// }
// // // diagonals are also neighbours: /// 4 diagnals ----> leaving diags out for now
// // if (diagonal){
// // if (i > 0 && j > 0) this.neighbours.push(GRID[i - 1][j - 1]);
// // if (i < gridsize - 1 && j > 0) this.neighbours.push(GRID[i + 1][j - 1]);
// // if (i > 0 && j < gridsize - 1) this.neighbours.push(GRID[i - 1][j + 1]);
// // if (i < gridsize - 1 && j < gridsize - 1) this.neighbours.push(GRID[i + 1][j + 1]);
// // }
// }// ------------------------------------------------END set set_neighbours
}
//================= NODE OBJECT ======================================
// REf is COSTS_GRID all 1s ////// 1,2 == 1 / 10/10 == 1
// main function for enemy
//-------------------------------------------------
function run_my_function(){ //METHOD1
//Start = Enemeny Node // Target-goal = Agent //H cost to reach --- h is the crow flies -- a2 + b2 = c
// console.log("TEST START");
const start_node = new NODE_OBJ(ei,ej);
const target_node = new NODE_OBJ(ai,aj);
//const h = find_H(start_node.i, start_node.j, target_node.i, target_node.j);
const QUEUE_TO_CHECK=[]; //array of objects - new cells to check
const CAME_FROM=[]; //array of objects - associative array - cell(i,j) => parent(i-1,j)
const PATH=[]; //array of objects
// const G_Scores = {};
// G_Scores[start_node] = {key: key.g}; //set start nodes parent (doesnt have one)
const G_SCORE={};
QUEUE_TO_CHECK.push(start_node);
CAME_FROM[start_node] = {key: start_node, parent:undefined}; //set start nodes parent (doesnt have one)
start_node.g = 0; //deafult g is undefined - delete this
G_SCORE[start_node] = 0;
// console.log("TEST------- jimmy");
// console.log("");
while(QUEUE_TO_CHECK.length > 0){ //revisit
console.log("QUE: " + QUEUE_TO_CHECK.length);
//sort by lowest F (closest to goal) -> set this as current node
QUEUE_TO_CHECK.sort(lowest_f);
var current_node = QUEUE_TO_CHECK[0];
var row = current_node.i;
var col = current_node.j;
// console.log(row + " x " + col);
if(current_node == target_node){
console.log("COMPLETE @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@");
//exit(0);
}
QUEUE_TO_CHECK.shift(); // remove the first element. This is sorted above so it will be the lowest f value popped, ie current
console.log("QUE - after removing: " + QUEUE_TO_CHECK.length);
// const neighbours = [
// {row: row+1, col},
// {row, col: col+1},
// {row: row+1, col},
// {row, col: col-1}
// ];
const neighbours = [
[current_node.i+1, current_node.j],
[current_node.i, current_node.j+1],
[current_node.i-1, current_node.j],
[current_node.i, current_node.j-1]
];
console.log("Current Node POS: " + current_node.i + " ~##~ " + current_node.j);
console.log("FIRST NEIGHBORS ARRAY: TEST::::: " + neighbours[0] + " ~~~ "+ neighbours[1] + " ~~~ "+ neighbours[2] + " ~~~ "+ neighbours[3] + " ~~~ ");
//loop through neighbors
for(let n=0;n<neighbours.length;n++){
// console.log("HEYA");
const cur_neighbour_Row = neighbours[n].row ;
const cur_neighbour_Col = neighbours[n].col ;
//skip any neihgbors that are outside the grid array / or a maze wall
if(cur_neighbour_Row < 0 || cur_neighbour_Row > gridsize.length -1 ){continue;}
if(cur_neighbour_Col < 0 || cur_neighbour_Col > gridsize.length -1 ){continue;}
console.log("TEST::::: " + cur_neighbour_Row +" +=+ " + cur_neighbour_Col );
console.log("neighbor node ===== " + GRID[cur_neighbour_Row][cur_neighbour_Col] );
//if(GRID[cur_neighbour_Row][cur_neighbour_Col] === 2){continue;}
if(GRID[cur_neighbour_Row][cur_neighbour_Col] === 2){continue;}
// new spot object for the new NEIGHBOR SPOT. Fill with cur neighbor details of loop
const neighbour_node = new NODE_OBJ(cur_neighbour_Row, cur_neighbour_Col);
console.log("neighbor node ===== " + neighbour_node.i );
//calculate cost by : the current_node's G +PLUS+ the weight from current to neighbor (always be 1 in this implimantat)
const cost = current_node.g + COSTS_GRID[cur_neighbour_Row][cur_neighbour_Col]; // the G score of the node you're on PLUS travel time to 'n' (weight)
//if the neighbor is not in the G_Score Array (i.e, has not been calculated yet) OR the neighbour is higher than cost
if (!neighbour_node in G_SCORE || cost < G_SCORE[neighbour_node]){
//THEN -- update the parent cell for history
CAME_FROM[neighbour_node] = { key: neighbour_node, parent: current_node };
//THEN -- update the G score for the neighbor
G_SCORE[neighbour_node] = cost; // gets the score
var h = find_H(current_node.i, current_node.j, target_node.i, target_node.j);
var f_of_cur_neighbour = find_F(G_SCORE[neighbour_node] , h );
//var f = find_F(g,h);
// console.log("current_node location is: " + current_node.i + "," + current_node.j);
// console.log("current_node G: " + current_node.g + "-- H: " + current_node.h + "--- F: " + current_node.f);
// console.log("--------------------------------- ");
}// cost ------------------------ cost --------------------- cost
// if(key in CAME_FROM){
// console.log("This is KEY: " + key);
// continue;
// }
//mark as discovered
console.log("neighbours node ===== " + neighbour_node);
console.log("neighbours[n]:::: " + neighbours[n]);
QUEUE_TO_CHECK.push(neighbours[n]); // throw this onto the QUEUE
} // neihgbor loop end ----------------------
// ei = current_node.i;
// ej = current_node.j;
// ei = current_node.i + 1;
// ej = current_node.j + 1;
}// While end ------------------------- While End
}// run_my_function /////////////////////////////////////////////////////////////////
// function A_Star(start, goal, h){
// OPEN_SET.push(start);
// while(OPEN_SET.length > 0){
// //sort by lowest F (closest to goal) -> set this as current node
// OPEN_SET.sort(lowest_f);
// var current_node = OPEN_SET[0];
// if (current_node == goal){ // if thats it its over
// console.log("COMPLETE!!!!!!!");
// //return reconstruct_path(cameFrom, current)
// }
// OPEN_SET.shift(); //remove the lowest (pop it)
// //LOOPING THROUGH CUR NODE
// for(var i=0; i<current_node.neighbours.length; i++){
// //console.log("This is a neighbour of ENEMY: " + current_node.neighbours[i]);
// var cost = current_node.g + cost;
// //1 d(current, neighbour)
// //2 temp_G_score --- is from start to the neighbor through current
// //3 if temp_G_score < gScore[neighbour]
// // this path to neighbour is better than any previous one. RECORD IT
// //cameFrom[neighbour] == current;
// //gScore[neighbour] == temp_G_score
// //fscore[neighbour] == gScore[neighibour] +h(neighboiur)
// // if neighbour not in openSet
// // add it
// }
// // loop through current's neighbours
// //Step A: finding the lowest F value in the OPEN_SET
// //Step B: Sort the OPEN_SET with shortest F as 0, then set that as our current NODE
// // Step B2: If this node is the agent - then we win!!! Come back here to draw the PATH visually
// // Step C:
// //OPEN_SET.Remove(current
// }//----------------------------------WHILE _ END ---/
// }//============================= A-Star end
// function to get euclidean distance FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
function find_F(g,h){
return g+h;
}// -----------------------------------FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
// function to get euclidean distance // HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
function find_H(x1,y1, x2,y2){
var a = x1 - x2;
var b = y1 - y2;
var c = Math.sqrt(a*a + b*b);
return c;
}// -----------------------------------HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
// function to get euclidean distance GGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGG
function find_G(start_node, current_node){
//starting position is going to move? dynamic - not from original starting position -- or is it
var g;
g = start_node.g + current_node.g ;
//get current_g from object
console.log("G of current: " + g)
return g;
}// -----------------------------------GGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGG
function lowest_f(a,b){
if(a.f < b.f){
return -1;
}
if (a.f>b.f){
return 1;
}
}