// Cloned by Dom on 3 Nov 2019 from World "Complex World" by Starter user
// Please leave this clone trail here.
// ==== Starter World ===============================================================================================
// (c) Ancient Brain Ltd. All rights reserved.
// This code is only for use on the Ancient Brain site.
// This code may be freely copied and edited by anyone on the Ancient Brain site.
// This code may not be copied, re-published or used on any other website.
// To include a run of this code on another website, see the "Embed code" links provided on the Ancient Brain site.
// ==================================================================================================================
// =============================================================================================
// 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.
// =============================================================================================
// ===================================================================================================================
// ========================== DOMINIC CALLAN=============================//
//This is my implementation of the A* Algorithm, an adaptation of the 'Complex World' program by Mark Humphrys on AncientBrain.com
//Set up of graphics, grid, agent and enemy below by is by Mark Humphrys, aside from minor adaptations to include 'Star Wars' themed images.
// I based my A* algorithm of the code from a demonstataion by Daniel Shiffman of 'The Coding Train' and adapted his code for this exercise.
// I have utilised Daniel's process workflow and many of his techniques and adapted them slightly for this exercise.
// I turned the GRID variable that had been created for this game, into an array of objects, each object representing a 'spot' on the grid
// I created a Spot() class (or constructor), which assigned i and j co-ordinates to each object, aswell as an f, g and h property. the GRID variable is passed to the Spot() class.
// These values assigned to each object will allow the A* algorthm to work out the joint shortest route to the target,
// as it seeks the grid spot with the lowest f value.
// The equation to calculate the f value is f(n) - g(n) + h(n). g(n) refers to the cost of travelling so far (how far the along the path the spot is) and the h(n)
// is the heuristic, it is an estimate of the distance to the end point (the agent).
// The openSet() and closedSet() arrays are created to store the nodes. The closedSet stores the nodes that have finished being evaluated.
// The nodes in openSet still need to be evaluated.
// Once openSet empties, the algorithm finishes (assuming we do arrive at the end point, otherwise there is no solution)
// I have also set 'start' and 'end' nodes, the start node is set as the enemy and the end is the agent. The neighbors() array keeps track
// of which nodes are connected and which is the parent node.
// Comments below commencing with my initials 'DC' are written by me, the rest of the comments are from the source code provided by Mark Humphrys
//Please note I have attached a word document with further analysis.
//DC - doubled the clockspeed from 100 to 50 for convenience when testing scores
AB.clockTick = 50;
// 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.
// DC -Adapted code from an A* Algorithm by Daniel Shiffman from https://github.com/CodingTrain/AStar
// DC - Introducing global variables to be used in implementing the A* Algorithm:
var diagonal = false;
var openSet = [];
var closedSet = [];
var neighbors = [];
var start;
var end;
var path = [];
//---- global constants: -------------------------------------------------------
const show3d = true; // Switch between 3d and 2d view (both using Three.js)
//DC - Star wars themed images:
const TEXTURE_WALL = '/uploads/dom84/walls.jpg';
const TEXTURE_MAZE = '/uploads/dom84/trooper.jpg';
const TEXTURE_AGENT = '/uploads/dom84/LukeSkywalker.jpg';
const TEXTURE_ENEMY = '/uploads/dom84/Vader_headshot.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
//DC - Star wars themed music:
const MUSIC_BACK = '/uploads/dom84/ImperialsongJohnWilliams.mp3';
const SOUND_ALARM = '/uploads/dom84/Thepowerofthedarkside.mp3';
//Set up of grid
const gridsize = 20; // number of squares along side of world
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
// DC - Star Wars themed images:
const SKYBOX_ARRAY = [
"/uploads/dom84/deathstar2.jpg",
"/uploads/dom84/deathstar2.jpg",
"/uploads/dom84/deathstar2.jpg",
"/uploads/dom84/deathstar2.jpg",
"/uploads/dom84/deathstar2.jpg",
"/uploads/dom84/deathstar2.jpg"
];
// space skybox, credit:
// http://en.spaceengine.org/forum/21-514-1
// x,y,z labelled differently
// ===================================================================================================================
// === End of 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; // DC - Variable for the agent and enemy
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 ((i >=19) || (j >= 19)){
return true
//DC - Experienced Issue with agent going outside of the walls of the grid, , utilising 'wall' argument in Spot() class parameter as a fix
}
if ( GRID[i][j].wall == true ) return true; // fixed objects
if ( GRID[i][j].wall == true ) 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;
//GRID[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);
GRID[i][j] = new Spot(i,j,true); // DC - true refers to wall argument in Spot()
}
else {
GRID[i][j] = GRID_BLANK;
GRID[i][j] = new Spot(i,j,false);
}
// 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);
GRID[i][j] = new Spot(i,j,true);
}
//DC - Setting up agent and enemy - unchanged from Mark Humphrys' code:
// set up enemy
// start in random location
do
{
i = AB.randomIntAtoB(1,gridsize-3);
j = AB.randomIntAtoB(1,gridsize-3);
}
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 -----------------------------------
// DC - No change from Mark Humphrys' code:
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 -----------------------------------
//******* DC - Below is adapted from an example on the Coding Train Youtube page by Daniel Shiffman.
// DC - Can be viewed at https://www.youtube.com/watch?v=aKYlikFAV4k&feature=youtu.be
//DC - Firstly, we create a heuristic function:
function heuristic(a, b)
{
if ( diagonal ) {
return Math.hypot(a.i-b.i, a.j-b.j); // DC Needed to use Math.hypot method as the dist() method in the example only works in P5.js
// 2D distance
// dist is a P5 function - not used
} else {
return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
// else not diagonal, can only go across and down
// so this is optimistic
// not this is not optimistic if we can do diagonal move
}
}
// DC - The removeFromArray function will be used to remove objects from the openSet() array when they are to be added to closedSet()
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);
}
// DC - We will now create a class Spot() with the required properties for our grid objects, this will be the template for each grid spot
// DC - Takes three arguments, i, j for index and also 'wall'
function Spot(i, j, wall)
{
this.wall = wall;
// 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;
}
// DC - We want to know which grid spots are closest to the start node, so that their f(n) can be checked
// DC - Adding a new function to the GRID object to store neighbours of an object in the neighbors array:
GRID.addNeighbors = function(i,j)
{
if (i < gridsize - 1) GRID[i][j].neighbors.push(GRID[i + 1][j]);
if (i > 0) GRID[i][j].neighbors.push(GRID[i - 1][j]);
if (j < gridsize - 1) GRID[i][j].neighbors.push(GRID[i][j + 1]);
if (j > 0) GRID[i][j].neighbors.push(GRID[i][j - 1]);
if (diagonal)
// diagonals are also neighbours:
{
if (i > 0 && j > 0) GRID[i][j].neighbors.push(GRID[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0) GRID[i][j].neighbors.push(GRID[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1) GRID[i][j].neighbors.push(GRID[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1) GRID[i][j].neighbors.push(GRID[i + 1][j + 1]);
}
};
//DC - Below is the function that will tell our enemy to move, we need to now implement the A* algorithm, utilising the arrays and functions created
//DC - Assign the grid array to the Spot() class
function moveLogicalEnemy()
{
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++) {
var wall = GRID[i][j].wall;
GRID[i][j] = new Spot(i, j, wall); ////Assigning our GRID array to the class Spot(), so that they adopt those properties, including f, g and h values, and neighbor array
}
// All the neighbors
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
GRID.addNeighbors(i,j);
//DC - clear openset and closed set
openSet = [];
closedSet = [];
//DC - Start and end spots for enemy and agent
start = GRID[ei][ej];
end = GRID[ai][aj];
// DC - openSet begins with just start variable
openSet.push(start);
while (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];
// DC - Did I finish?
if (current === end)
{
// DC - We need the last 'previous' position
path = [];
var temp = current;
while ((temp.previous) && (temp.previous.previous)) {
path.push(temp);
temp = temp.previous;
}
if (path.length >= 1) { // DC - Write an if statement so as not to let the enemy and agent overlap
if (!(ei == ai && ej == aj)){
ei = temp.i;
ej = temp.j;
}
}
console.log("success - found path");
}
//DC - Best option moves from openSet to closedSet
removeFromArray(openSet, current);
closedSet.push(current);
//DC - Check all the neighbors
var neighbors = GRID[current.i][current.j].neighbors;
//--- start of for loop -----------
for (var i = 0; i < neighbors.length; i++)
{
var neighbor = neighbors[i];
// DC - We now need to find the next valid spot
if (!closedSet.includes(neighbor) && !neighbor.wall)
{
var tempG = current.g + heuristic(neighbor, current); //setting a temproary g score until it checks if that gridspot was better than what was in openSet()
// 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);
}
//DC - Yes, it's a better path
if (newPath)
{
neighbor.h = heuristic(neighbor, end); // how long will it take to get to then end? (estimate)
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
//--- end of for loop -----------
}
// --- end still searching -----------------------------
}
//*********************** Dominic Callan - I have not made any changes to the below code, all my work is above ***********************//
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 ----------------------------------------
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
}