// Cloned by Prashant Kumar on 10 Nov 2022 from World "Assignment 1 - World 2 " by Prashant Kumar
// Please leave this clone trail here.
// Cloned by Prashant Kumar on 9 Nov 2022 from World "Assignment 1 - World 1" by Prashant Kumar
// Please leave this clone trail here.
// Cloned by Prashant Kumar on 29 Oct 2022 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; // 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 = true; // Switch between 3d and 2d view (both using Three.js)
const TEXTURE_WALL = '/uploads/prashantk047/1668047443.png' ;
const TEXTURE_MAZE = '/uploads/prashantk047/1668047655.png' ;
const TEXTURE_AGENT = '/uploads/prashantk047/1668048156.png' ;
const TEXTURE_ENEMY = '/uploads/prashantk047/1668048062.png' ;
// 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 = 20; // 20; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 10 ); // 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;
// ========== (prashantk047) My addition to the code ==============
let GRID_INFO = new Array(gridsize);
let path = []; // this array will store the path after each run of A* path finding algorithm
let line; // stores the THREE line object which is the path the enemy will take towards the agent
// ================================================
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);
}
// console.log(GRID_OBJS);
// 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();
// ========== (prashantk047) My addition to the code ==============
// setup path
let lg = new THREE.BufferGeometry();
lg.setAttribute('position', new THREE.BufferAttribute(
new Float32Array(500*3), 3
))
lg.setDrawRange(0, path.length);
const lmaterial = new THREE.LineBasicMaterial( { color: 0xffff00 } );
line = new THREE.Line( lg, lmaterial );
ABWorld.scene.add( line );
// ===================================================
// 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)
}
// ========== (prashantk047) My addition to the code ==============
// This is the huristics function which returns the euclidian distance between two blocks on the grid
// since all adjacent blocks are at same distance from eachother we can directly use the i, j index instead of translated position in world space
function h(i,j, a, b){
return Math.sqrt(Math.pow(i-a,2) + Math.pow(j-b,2));
}
// This function returns the index of the grid position still in open set with the minimum fscore value
function getMin(openset, GRID_INFO){
let minIndex = 0;
for(let i=0;i<openset.length;i++){
if(GRID_INFO[openset[i].i][openset[i].j].fscore < GRID_INFO[openset[minIndex].i][openset[minIndex].j].fscore){
minIndex = i;
}
}
return minIndex;
}
// helper function to check if a position is equal to other
function positionEqual(i,j,a,b){
return i===a && j===b;
}
// This function updates the verticies in the line geometry which draws the path;
function updatePath(){
line.geometry.setDrawRange( 0, path.length );
const pos = line.geometry.attributes.position.array;
let xp = 0;
let yp = 0;
let zp = 0;
let index = 0;
xp = yp = zp = index = 0;
for ( let i = 0, len = path.length; i < len; i ++ ) {
pos[ index ++ ] = ( path[i].i * squaresize ) - ( MAXPOS/2 ); // translating the grid coordinate to world coordinate;
pos[ index ++ ] = 0;
pos[ index ++ ] = ( path[i].j * squaresize ) - ( MAXPOS/2 ); // translating the grid coordinate to world coordinate;
}
line.geometry.attributes.position.needsUpdate = true;
}
// =====================================================
// --- take actions -----------------------------------
function moveLogicalEnemy(){
// move towards agent
// put some randomness in so it won't get stuck with barriers
// ========== (prashantk047) My addition to the code ==============
path = []; // reset the path to empty for each run of the enemy
// setup new infogrid for the A* algorithm
for( let i=0;i<gridsize;i++){
GRID_INFO[i] = new Array(gridsize);
}
// store information about each cell in the grid for the A* algorithm
// gscore is the cost of that node from the start node
// fscore is the final cost which includes the huristics
for ( let i=0;i<gridsize;i++){
for( let j=0;j<gridsize;j++){
GRID_INFO[i][j] = {
visited:false,
fscore:Infinity, // fscore = gscore + h()
gscore:Infinity,
from: undefined
}
}
}
// for the first run in the loop the gscore for the ememy position is zero as it is 0 distance from itself
// and the fscore is just the h() score as the gscore is already 0
GRID_INFO[ei][ej].gscore = 0;
GRID_INFO[ei][ej].fscore = h(ei,ej, ai,aj);
// initialize a new open set
let openset = [];
// adding the enemy position as the first position in the open set;
openset.push({i:ei,j:ej});
// we try to find a path until there are no nodes to explore in the openset
while(openset.length !== 0){
let minFIndex = getMin(openset, GRID_INFO); // get the index of position with min fscore
let current = openset[minFIndex]; // get reference to that cell in current variable
// If we reach the agent we trace back the path to the enemy and break the loop
if( positionEqual(current.i, current.j, ai, aj)){
//path found;
let from = GRID_INFO[ai][aj].from;
while(from !== undefined ){
path.push(from);
from = GRID_INFO[from.i][from.j].from;
}
break;
}
// remove the current from the openset and set its visited property to true as we will not need to visit this cell again
openset.splice(minFIndex, 1);
GRID_INFO[current.i][current.j].visited = true;
// array to store all the valid neighours;
// the following if chain check if the adjecent node is inside the bounds of the grid and is not already occupied or if that node is the enemy
// if the conditions are meet its added to the valid neighbours list;
let neighbours = []
//up
if(positionEqual(current.i-1, current.j, ai, aj)||(current.i-1 > 0 && !occupied(current.i-1,current.j))){
neighbours.push({i:current.i-1,j:current.j});
}
//down
if(positionEqual(current.i+1, current.j, ai, aj) || (current.i+1 < gridsize-1 && !occupied(current.i+1,current.j))){
neighbours.push({i:current.i+1,j:current.j})
}
//right
if(positionEqual(current.i, current.j+1, ai, aj)||(current.j+1 < gridsize-1 && !occupied(current.i,current.j+1))){
neighbours.push({i:current.i,j:current.j+1})
}
//left
if(positionEqual(current.i, current.j-1, ai,aj)||(current.j-1 > 0 && !occupied(current.i,current.j-1))){
neighbours.push({i:current.i,j:current.j-1})
}
// now we loop through all the valid neighbours to check and update their gscore and fscore.
// this loop also checks if this neighbour is visited or not, if it is visited it is not added to the openset else it is added.
neighbours.forEach((neighbour) => {
let tent_score = GRID_INFO[current.i][current.j].gscore + 1; // store the tentative gscore and as all the adjacent nodes are a distance of 1 form eachother we add 1
if (tent_score < GRID_INFO[neighbour.i][neighbour.j].gscore){ // if we get a getter gscore than it was previously
GRID_INFO[neighbour.i][neighbour.j].from = {i:current.i,j:current.j}; // update the from of this neighbour to the current node
GRID_INFO[neighbour.i][neighbour.j].gscore = tent_score; // update the gscore
GRID_INFO[neighbour.i][neighbour.j].fscore = tent_score + h(neighbour.i,neighbour.j, ai, aj); // update the fscore with the huristics value
if(!GRID_INFO[neighbour.i][neighbour.j].visited){ // checking if the neighbour is visited already or not
openset.push({i:neighbour.i,j:neighbour.j});
}
}
})
}
// We give the enemy the next node in the path calculated above
let step = path[path.length-2];
ei = step.i;
ej = step.j;
// =====================================================
// 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(Math.abs(i-ei) == 1 && Math.abs(j-ej) ==1){
// i = ei;
// j = 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;
}
}
// --- 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();
// ========== (prashantk047) My addition to the code ==============
updatePath(); // update the path for THREE to draw
// =================================================
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
}