// Clicked Clone and edit on my already cloned world by mistake
// Cloned by Darragh McG on 2 Nov 2023 from World "Practical 1: Darragh McGonigle - A* - Complex World" by Darragh McG
// Please leave this clone trail here.
// Cloned by Darragh McG on 31 Oct 2023 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)
// Darragh - Changed Textures
// ----------------------------------------------------------------------------
const TEXTURE_WALL = '/uploads/darraghmcg/wall.png' ;
const TEXTURE_MAZE = '/uploads/darraghmcg/wall.png' ;
// Pacman image credit https://upload.wikimedia.org/wikipedia/commons/thumb/1/1a/Original_PacMan.svg/800px-Original_PacMan.svg.png
const TEXTURE_AGENT = '/uploads/darraghmcg/packman1.png' ;
// Enemy ghoat image credit https://i.pinimg.com/736x/05/05/ce/0505cea3c74abd202c39969568803da2.jpg
const TEXTURE_ENEMY = {
0: '/uploads/darraghmcg/ghost1.png',
1: '/uploads/darraghmcg/ghost2.png',
2: '/uploads/darraghmcg/ghost3.png',
3: '/uploads/darraghmcg/ghost4.png',
4: '/uploads/darraghmcg/ghost5.png'
} ;
const TEXTURE_SEARCHPATH = '/uploads/darraghmcg/searchpathtext.png';
// ----------------------------------------------------------------------------
// credits:
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons
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 = 40; // 20; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 4 ); // 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
// Darragh - Changed Skybox
// space skybox, credit:
// https://opengameart.org/content/space-skyboxes-0
// ----------------------------------------------------------------------------
const SKYBOX_ARRAY = [
"/uploads/darraghmcg/bkg1_right.png",
"/uploads/darraghmcg/bkg1_left.png",
"/uploads/darraghmcg/bkg1_top.png",
"/uploads/darraghmcg/bkg1_bot.png",
"/uploads/darraghmcg/bkg1_front.png",
"/uploads/darraghmcg/bkg1_back.png"
];
// ----------------------------------------------------------------------------
// Darragh - Tweaker Select Movement Pattern
// 0 - AStar
// 1 - BFS
// 2 - Naive
// 3 - AStar Longest Path
// 4 - AStar Achilles
// ----------------------------------------------------------------------------
const MOVEMENT_PATTERN = 0;
// ----------------------------------------------------------------------------
// ===================================================================================================================
// === 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
// Darragh - Added board variable to store game state
// ----------------------------------------------------------------------------
let BOARD = new Array(gridsize);
// ----------------------------------------------------------------------------
var theagent, theenemy;
// Darragh - Added search path texture for search path blocks
// ----------------------------------------------------------------------------
var wall_texture, agent_texture, enemy_texture, maze_texture, searchpath_texture;
// ----------------------------------------------------------------------------
// enemy and agent position on squares
var ei, ej, ai, aj;
var badsteps;
var goodsteps;
// Darragh - Added varibles to store the starting points of the enemy and the agent for analysis
let enemy_start;
let agent_start;
//Track if the enemy is using the achilles movemnet pattern if they performed recalculations this step
//Darragh - Variables to store most recent eval time and count
// ----------------------------------------------------------------------------
let enemyEvalTime = 0;
let enemyEvalCount = 0;
let achillesRecomp = false;
// ----------------------------------------------------------------------------
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();
// Darragh - Added texture loader for searchpath block texture
// ----------------------------------------------------------------------------
var loader5 = 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();
});
// Darragh - Added selector so that diffrent enemy texture is used for diffrent movement options
loader3.load ( TEXTURE_ENEMY[MOVEMENT_PATTERN], 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();
});
// Darragh - Added load call for searchpath block texture
// ----------------------------------------------------------------------------
loader5.load ( TEXTURE_SEARCHPATH, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
searchpath_texture = thetexture;
if ( asynchFinished() ) initScene();
});
// ----------------------------------------------------------------------------
}
function asynchFinished() // all file loads returned
{
if ( wall_texture && agent_texture && enemy_texture && maze_texture && searchpath_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;
}
// Darragh - Added Logging Classes to enable download of stats
// ----------------------------------------------------------------------------
const logHeadings = ["gridsize", "no_boxes", "max_step", "enemy_start", "agent_start", "step", "agent_pos", "enemy_pos", "bad_steps", "good_steps", "score", "distance", "enemy_eval_count", "enemy_eval_time", "achilles_recomp", "heat_map"];
class LogFile
{
constructor()
{
this.lines = [logHeadings];
}
addLine(logMesssage)
{
const logline = [logMesssage.gridsize,
logMesssage.no_boxes,
logMesssage.max_step,
logMesssage.enemy_start,
logMesssage.agent_start,
logMesssage.step,
logMesssage.agent_pos,
logMesssage.enemy_pos,
logMesssage.bad_steps,
logMesssage.good_steps,
logMesssage.score,
logMesssage.distance,
logMesssage.enemy_eval_count,
logMesssage.enemy_eval_time,
logMesssage.achilles_recomp,
logMesssage.heat_map];
this.lines.push(logline);
}
}
const LOGFILE = new LogFile();
//Darragh - Download array example used
//https://medium.com/@idorenyinudoh10/how-to-export-data-from-javascript-to-a-csv-file-955bdfc394a9
function downloadLogFile()
{
tsvString = LOGFILE.lines.map(line => line.map(field => JSON.stringify(field)).join("\t")).join("\n");
const blob = new Blob([tsvString], { type: 'text/tsv;charset=utf-8,' });
const objUrl = URL.createObjectURL(blob);
const link = document.createElement('a');
link.setAttribute('href', objUrl);
link.setAttribute('download', `${new Date().toLocaleString("ja-JP")}ResultsMode${MOVEMENT_PATTERN}.tsv`);
link.textContent = 'Click to Download';
document. getElementById('user_span3').append(link);
}
class LogMessage
{
constructor(step, agent_pos, enemy_pos, bad_steps, good_steps, score, distance)
{
this.gridsize = gridsize;
this.no_boxes = NOBOXES;
this.max_step = AB.maxSteps;
this.enemy_start = enemy_start;
this.agent_start = agent_start;
this.step = step;
this.agent_pos = agent_pos;
this.enemy_pos = enemy_pos;
this.bad_steps = bad_steps;
this.good_steps = good_steps;
this.score = score;
this.distance = distance;
this.enemy_eval_count = enemyEvalCount,
this.enemy_eval_time = enemyEvalTime,
this.achilles_recomp = achillesRecomp,
this.heat_map = structuredClone(heatmap.map);
}
}
let heatmap;
class HeatMap
{
constructor()
{
this.map = new Array(gridsize);
for(let i=0; i < gridsize; i++)
{
this.map[i] = [];
for(let j=0; j < gridsize; j++)
{
if (BOARD[i][j].wall) this.map[i].push(-1);
else this.map[i].push(0);
}
}
}
increase(position)
{
this.map[position[1]][position[0]] = this.map[position[1]][position[0]] + 1;
}
}
// ----------------------------------------------------------------------------
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();
//Darragh - Store the initial starting points of Agent and Enemy
// ----------------------------------------------------------------------------
enemy_start = [ei, ej];
agent_start = [ai, aj];
// ----------------------------------------------------------------------------
// 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
});
// Darragh - Create initial board and heatmap
// ----------------------------------------------------------------------------
resetBoard();
heatmap = new HeatMap();
// ----------------------------------------------------------------------------
}
// Darragh
// -- Reset Game Board
// Reinistialised a blacnk game board to clear previous BoardPositions
// ----------------------------------------------------------------------------
function resetBoard()
{
for(let i = 0; i < GRID.length; i++){
const row = GRID[i];
const rowList = new Array(row.length);
for (let j = 0; j < row.length; j++)
{
const isWall = row[j] > 0;
const position = new BoardPosition(i, j, isWall);
rowList[j] = position;
}
BOARD[i] = rowList;
}
}
// ----------------------------------------------------------------------------
// --- 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)
}
// Darragh - Options for enemy movement patters
// ----------------------------------------------------------------------------
// Darragh - Naive Movement Pattern
// This is the defualt movement but with no diagonals
// It simply aims to reduce distance between itself and the target with no regard for obstacles
function moveEnemyNaive()
{
// move towards agent
// put some randomness in so it won't get stuck with barriers
const start = new Date().getTime();
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);
// Count the 6 evalutaions above
enemyEvalCount += 6;
// Darragh -
// Remove Diagonal Moves by only allowing enemy to move in either the i of the j direction per game step
if (i !== ei && ! occupied(i,ej) ) // if no obstacle then move, else just miss a turn
{
ei = i;
}
else if (!occupied(ei, j))
{
ej = j;
}
enemyEvalTime = new Date().getTime() - start;
}
// - End of Naive Movement Pattern
// Darragh - A* Movement Pattern
// As described by the brief enemy will use A* to find the shortest path to the enemy
// This will be recalculated each step
// Work based on "World: A star" https://ancientbrain.com/world.php?world=2230793148 as shown in the lab session
// Also based on Daniel Shiffman
// Darragh - Adapted Shiffman's functions "Spot" and changed it to a class as personal preference
class BoardPosition{
constructor(i, j, wall)
{
// Position coords i = x, j = y
this.i = i;
this.j = j;
// f, g, h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
//Neighbours
this.neighbours = [];
//Previous Postion in path
this.previous = undefined;
// Darragh - Changed wall check to be done prior to creation
this.wall = wall;
}
addNeighbours()
{
if (this.i < GRID.length - 1) this.neighbours.push(BOARD[this.i + 1][this.j]);
if (this.i > 0) this.neighbours.push(BOARD[this.i - 1][this.j]);
if (GRID.length && this.j < GRID[0].length - 1) this.neighbours.push(BOARD[this.i][this.j + 1]);
if (this.j > 0) this.neighbours.push(BOARD[this.i][this.j - 1]);
}
}
// Default AStar hueristic from "World: A star" with abs replaces with Math.abs as abs is a p5 function
function defaultAStarHeuristic ( a, b )
{
return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
}
// Darragh - Hueristic that returns constant value
// As shown in the lab exercise this should effectivly perform BFS instead of AStar
function bfsHeuristic ( a, b )
{
return ( 0 );
}
// Darragh - Hueristic that returns inverted value to allow for longest path search
function invertedAStarHeuristic (a, b)
{
return -( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
}
// Default AStar gfn from "World: A star" with abs replaces with Math.abs as abs is a p5 function
function defaultGFN ( a, b )
{
return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
}
// Darragh - GFN that returns inverted value to allow for longest path search
function invertedGFN ( a, b )
{
return -( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
}
// Darragh - Removes old search path blocks between runs to avoid clutter
function cleanOldPath()
{
// Find all objects in the Three.js scene with the searchpath texture and remove them
const cubesToDelete = ABWorld.scene.children.filter((child) => child.material && child.material.map.image.src.includes(TEXTURE_SEARCHPATH));
for (let cube of cubesToDelete) ABWorld.scene.remove(cube);
}
// Darragh - Helper fucntion to return a list containing the path from enemy to agent
function getPath(end)
{
const path = [];
//If no path exists
if(!end.previous)
{
console.log("No Path Found")
return path;
}
// Start from the position before agent
let current = end.previous;
//While not back to enemy
while (current.previous)
{
path.unshift(current);
current = current.previous;
}
return path;
}
// Darragh - Helper function to draw a path of positions
// In the "World: A star" example the draw function is internalied into the "Spot" function
// However I chose to split it out as in that case it handles the drawing of the whole board where in this case the board is already drawn so I just need to draw a few positions
function drawPath(path)
{
for (let square of path)
{
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: searchpath_texture } );
thecube.position.copy ( translate(square.i,square.j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
}
// Darragh - Adapted default "World: A star" AStar fucntion
// Darragh - Added "heurictic" as a property so that diffrent heuristics can be passed in
function calculateAStar(heuristic, gfn, endPos=BOARD[ai][aj])
{
const openSet = [];
const closedSet = [];
// Start search at current enemy position
let startPos = BOARD[ei][ej];
openSet.push(startPos);
while (openSet.length)
{
//Track squares evalutated
enemyEvalCount++
let winner = 0;
for (let i = 0; i < openSet.length; i++)
if (openSet[i].f < openSet[winner].f)
winner = i;
const current = openSet[winner];
//If the endPosition is found
if (current === endPos)
{
break;
}
// Darragh - Opt to use the "winner" index as opposed to "World: A star" which uses a seperate function to iterate the openSet and remove
// This serves the same purpose, as "winner" is the index of current in the openSet as seen on the line above
// Remove current from openSet and put it in closedSet
openSet.splice(winner, 1);
closedSet.push(current);
// Darragh - Added call to "addNeighbours" function only when needed
// This should save on memory as opposed to the alternative approach from "World: A star" where neighbours are computed at setup time for every "Spot" even those that are never visited
current.addNeighbours();
const neighbours = current.neighbours;
// Darragh - Changed to a for of loop rather than standard i=0; i < lenght; i++
for(let neighbour of neighbours)
{
if (!closedSet.includes(neighbour) && !neighbour.wall)
{
var g = current.g + gfn(neighbour, current);
// Is this a better path
let newPath = false;
if (openSet.includes(neighbour))
{
if (g < neighbour.g)
{
neighbour.g = g;
newPath = true;
}
}
else{
neighbour.g = g;
newPath = true;
openSet.push(neighbour);
}
if(newPath)
{
neighbour.h = heuristic ( neighbour, endPos );
neighbour.f = neighbour.g + neighbour.h;
neighbour.previous = current;
}
}
}
}
return endPos;
}
// Darragh - Seperated AStar calulation into another function to allow resuse in other movement patterns with diffrent heuristics
function moveEnemyAStar(heuristic, gfn=defaultGFN)
{
const start = new Date().getTime();
const endPosition = calculateAStar(heuristic, gfn);
//Perform Time analysis before drawing path to eliminate bias of long path draw times
enemyEvalTime = new Date().getTime() - start;
const path = getPath(endPosition);
// Don't move if next to agent
// Program will work without this check but there will be console errors
if (path.length)
{
ei = path[0].i;
ej = path[0].j;
}
drawPath(path.slice(1));
}
// Darragh - Inspired by the paradox of Achilles and the tortoise the enemy performs AStar and determines a path to the enemys potistion
// It will not adjust its target until it reaches its previous target
// It does still recompute its path every step as to avoid collisions with the agent
//variable that holds current target location of the achillesAStar search
let achillesTarget = null;
function moveEnemyAchillesAStar()
{
const start = new Date().getTime()
// If enemy has reached its target reset target
if (achillesTarget){
if (ei === achillesTarget[0] && ej === achillesTarget[1])
{
achillesTarget = null;
}
}
//If enemy has no target observe agent position
if (!achillesTarget){
achillesRecomp = true
achillesTarget = [ai, aj];
}
// Perform a star towards target
const endPosition = calculateAStar(defaultAStarHeuristic, defaultGFN, BOARD[achillesTarget[0]][achillesTarget[1]]);
//Perform Time analysis before drawing path to eliminate bias of long path draw times
enemyEvalTime = new Date().getTime() - start;
const path = getPath(endPosition);
// getPath function doesn't include endPosition so add it back
path.push(endPosition);
// if there is a space to move to move
if (path.length && !occupied(path[0].i, path[0].j))
{
ei = path[0].i;
ej = path[0].j;
}
drawPath(path.slice(1));
}
// - End of Options for enemy movement patters
// --- take actions -----------------------------------
// Darragh - Enemy Movement Selector
// variables holding analysis data about emeny eval time and number
function moveLogicalEnemy()
{
// Remove old search path
resetBoard();
cleanOldPath();
//Reset eval time and count variables
enemyEvalTime = 0
enemyEvalCount = 0
achillesRecomp = false
// 0 - AStar
// 1 - BFS
// 2 - Naive
// 3 - AStar Longest Path
// 4 - AStar Achilles
switch(MOVEMENT_PATTERN)
{
case 0:
moveEnemyAStar(defaultAStarHeuristic);
break;
case 1:
moveEnemyAStar(bfsHeuristic);
break;
case 2:
moveEnemyNaive();
break;
case 3:
moveEnemyAStar(invertedAStarHeuristic, invertedGFN);
break;
case 4:
moveEnemyAchillesAStar();
break;
}
heatmap.increase([ei,ej]);
}
// ----------------------------------------------------------------------------
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;
//Darragh Added distance readout
// ----------------------------------------------------------------------------
let distance = defaultAStarHeuristic(BOARD[ai][aj], BOARD[ei][ej]);
// ----------------------------------------------------------------------------
AB.msg ( " y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% " +
" Distance: " + distance, 2 );
//Darragh - Save status to log file
const logMessage = new LogMessage(AB.step, [ai, aj], [ei, ej], badsteps, goodsteps, score, distance);
LOGFILE.addLine(logMessage);
}
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()
{
console.log(LOGFILE);
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.msg ( ' <br> <input id="clickMe" type="button" value="Request LogFile" onclick="downloadLogFile();" /> ', 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 ----------------------------------------
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
}