// Cloned by Adrian Sweeney on 29 Oct 2019 from World "Complex World" by Starter user
// Please leave this clone trail here.
AB.clockTick = 100;
AB.maxSteps = 1000;
AB.screenshotStep = 50;
// -------------Global Constants-----------------------
const show3d = false;
const TEXTURE_WALL = '/uploads/ajsweeney/metal.jpg' ;
const TEXTURE_MAZE = '/uploads/ajsweeney/steel.jpg' ;
const TEXTURE_AGENT = '/uploads/starter/pacman.jpg' ;
const TEXTURE_ENEMY = '/uploads/ajsweeney/enemy.JPG' ;
const MUSIC_BACK = '/uploads/starter/Defense.Line.mp3' ;
const SOUND_ALARM = '/uploads/starter/air.horn.mp3' ;
const gridsize = 20;
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 10 );
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
const diagonal = true ;
//--- change ABWorld defaults: -------------------------------
ABHandler.MAXCAMERAPOS = maxRadiusConst ;
ABHandler.GROUNDZERO = true; // "ground" exists at altitude zero
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"
];
//--- 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;
// --------------------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 openList = [];
var closedList = [];
var start;
var end;
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;
var path = [];
var pathlength;
var previouslength = 0;
var fullPathFound = false;
var pathRun = 0;
// Adrian_S added
function heuristic(a, b)
{
var first = a.i - b.i;
var second = a.j - b.j;
if ( diagonal ) return ( Math.sqrt( first*first + second*second))
console.log('Calculation is ' + Math.sqrt( first*first + second*second));
/*if ( diagonal ) return ( dist(a.i, a.j, b.i, b.j) );
// 2D distance
// dist is a P5 function
else return ( abs(a.i - b.i) + abs(a.j - b.j) );
// else not diagonal, can only go across and down
// so this is optimistic
// not this is not optimistic if we can do diagonal move */
}
// Adrian_S added
function Spot(i, j, type)
{
// Location
this.i = i;
this.j = j;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// type of - WALL - MAZE - BLANK
this.type = type;
// Neighbors
this.neighbors = [];
// Where did I come from?
this.previous = undefined;
// Figure out who my neighbors are
this.addNeighbors = function(GRID)
{
var i = this.i;
var j = this.j;
if (i < gridsize - 1) this.neighbors.push(GRID[i + 1][j]);
if (i > 0) this.neighbors.push(GRID[i - 1][j]);
if (j < gridsize - 1) this.neighbors.push(GRID[i][j + 1]);
if (j > 0) this.neighbors.push(GRID[i][j - 1]);
if (diagonal)
// diagonals are also neighbours:
{
if (i > 0 && j > 0) this.neighbors.push(GRID[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0) this.neighbors.push(GRID[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1) this.neighbors.push(GRID[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1) this.neighbors.push(GRID[i + 1][j + 1]);
}
}
}
// Adrian_S added Function to delete element from the array
function removeFromArray(arr, elt)
{
// Could use indexOf here instead to be more efficient
for (var i = arr.length - 1; i >= 0; i--) {
if (arr[i] == elt) {
// console.log('removing from array function berfore');
arr.splice(i, 1);
// console.log('removing from array function after');
}
}
}
function searchNew(openList,start,end)
// the search goes on over many timesteps
// each timestep, check one more square and draw current partial solution
{
//current = new Spot(start.i, start.j, GRID_BLANK) ;
// --- begin still searching -----------------------------
if (openList.length > 0)
{
console.log('in search new function - length more than zero');
// Best next option
var winner = 0;
for (var i = 0; i < openList.length; i++) {
if (openList[i].f < openList[winner].f) {
winner = i;
console.log(openList[i].f + 'openlist f less then winner f');
}
console.log(openList[i].f + 'openlist f not less then winner f');
}
var current= openList[winner];
console.log('after current assignment to openList[winner] j is ' + current.j + current.type + current.i + 'end j and i' + end.j + end.i );
// Did I finish?
if (current == end)
{
console.log("success - found path");
//noLoop(); // this is giving an error
}else{
console.log("fail - not found path yet");
}
// Best option moves from openSet to closedSet
removeFromArray(openList, current);
// console.log('removed from array function');
closedList.push(current);
// console.log('moved current to closedset');
console.log('closedList num of items' + closedList.length);
//console.log('before assigning neighbors' + current.neighbors.length);
// Check all the neighbors
var neighbors = current.neighbors;
console.log('after assigning neighbors' + neighbors.length);
//--- start of for loop -----------
for (i = 0; i < neighbors.length; i++)
{
console.log('in neighbors loop' + neighbors.length);
var neighbor = neighbors[i];
console.log( 'var neighbors locations '+ neighbor.i + neighbor.j);
// Valid next spot?
if (!closedList.includes(neighbor) && neighbor.type!=GRID_WALL)
{
//console.log( 'in the !closedList condition check ' + neighbor.type );
var tempG = current.g + heuristic(neighbor, current);
console.log( 'in !closedList check - output of temp value ' + tempG );
// Is this a better path than before?
var newPath = false;
if (openList.includes(neighbor))
{
console.log( 'if neighbor is in the open list ' + neighbor.i );
if (tempG < neighbor.g)
{
console.log( 'tempG less than neighbor.g ' + neighbor.g );
neighbor.g = tempG;
newPath = true;
}
}
else
{
console.log( 'if neighbor is not in the open list ' + neighbor.i );
neighbor.g = tempG;
newPath = true;
openList.push(neighbor);
console.log( 'open list lenght ' + openList.length );
}
// Yes, it's a better path
if (newPath)
{
console.log( 'if new path is true ');
neighbor.h = heuristic(neighbor, end);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
console.log( 'neighbor h - distance to end'+ neighbor.h + 'neighbor f - distance of start to end'+ neighbor.f );
}
}
}
//--- end of for loop -----------
}
// --- end still searching -----------------------------
else
{
console.log('fail - no path exists');
//noLoop();
return;
}
console.log( 'end of newpath loop ');
// Find the path by working backwards
path = [];
var temp = current;
path.push(temp);
while (temp.previous)
{
console.log( 'in the loop for creating path ');
path.push(temp.previous);
temp = temp.previous;
}
pathlength = path.length;
console.log('pathlength assigned: ' + pathlength );
if (current.i == end.i && current.j == end.j){
fullPathFound = true;
console.log('full path length: ' + path.length );
}
/* if (diagonal)
{
// path as continuous line
noFill();
stroke(pathcolor);
strokeWeight(w / 8);
beginShape();
for (i = 0; i < path.length; i++)
vertex ( (path[i].i * w) + w / 2, (path[i].j * h) + h / 2 );
endShape();
}
else
{
// path as solid blocks
for (i = 0; i < path.length; i++)
path[i].show(pathcolor);
}*/
}
//Function to load files
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].type == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j].type == GRID_MAZE ) return true;
return false;
}
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
// Adrian_S added GRID f,g,h values
for ( i = 0; i < gridsize ; i++ )
for ( j = 0; j < gridsize ; j++ )
if ( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 ) )
{
// Adrian_S added
GRID[i][j] = new Spot(i,j,GRID_WALL);
// 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
{
// Adrian_S added
GRID[i][j] = new Spot(i,j,GRID_BLANK);
/*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);
//Adrian_S added
GRID[i][j] = new Spot(i,j,GRID_MAZE);
//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;
for ( i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
GRID[i][j].addNeighbors(GRID);
}
}
console.log('1,1 grid number of neighbors ' + GRID[1][1].neighbors.length);
shape = new THREE.SphereGeometry ( 50, 50, 50 );
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();
// Adrian_S added - setting start and stop variables to enemy & agent
start = GRID[ai][aj]; //new Spot(ai,aj,GRID_BLANK); // dont forget to check
end= GRID[ei][ej]; // new Spot(ei,ej,GRID_BLANK); // dont forget to check
// Adrian_S added
// openList starts with beginning only
openList.push(start);
//console.log('start i location in openlist' + openList[0].i + 'start j location in openlist' + openList[0].j );
//searchNew(openList,start,end);
while (!fullPathFound){
searchNew(openList,start,end);
}
// 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)
}
// ------------------------------Function to move the Enemy-------------------------------
function moveLogicalEnemy()
{
// move towards agent
var i, j;
if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1);
if ( ei == ai ) i = ei;
if ( ei > ai ) i = AB.randomIntAtoB(ei-1, ei);
if ( ej < aj ) j = AB.randomIntAtoB(ej, ej+1);
if ( ej == aj ) j = ej;
if ( ej > aj ) j = AB.randomIntAtoB(ej-1, ej);
if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
{
ei = i;
ej = j;
}
}
// Function to move the Agent
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;
}
}
function newMoveAgent(list){
var i = list.i;
var j = list.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;
}
// Below Functions are all about 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 to update score after move
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 );
}
// Function for new run
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;
};
// Function to get state of world
AB.world.getState = function()
{
var x = [ ai, aj, ei, ej ];
return ( x );
};
// Function to take Action if Agent gets trapped
AB.world.takeAction = function ( a )
{
updateStatusBefore(a); // show status line before moves
//var openList = [];
//var closedList = [];
//var path = [];
//openList.push(start);
/*searchNew(openList,closedList,start,end,path);
newMoveAgent(path[0]);
start.i = ai;
start.j = aj;
moveLogicalEnemy();
end.i = ei;
end.j = ej;*/
// Adrian_S added
/// Adrian_S --- This piece need to be updated
/*searchNew(openList,start,end); //// recently deactivated this piece
newMoveAgent(path[pathlength-1]);
start.i = ai;
start.j = aj;
moveLogicalEnemy();
end.i = ei;
end.j = ej;*/
if (pathlength>=0){
if ( ( AB.step % 2 ) == 0 ) {
newMoveAgent(path[pathlength-1]);
pathlength--;
//console.log('path number ' + i + 'locations ' + path[i].i + path[i].j);
}
}
/*for (var i=path.length-1; i>0; i--){
if ( ( AB.step % 2 ) == 0 ) {
newMoveAgent(path[i]);
console.log('path number ' + i + 'locations ' + path[i].i + path[i].j);
}
}*/
/* if (pathlength > previouslength)
{
previouslength = pathlength;
searchNew(openList,start,end);
}
else{
console.log('entering into newMoveAgent current pathlength: ' + pathlength );
}*/
// Adrian_S removed this function
//moveLogicalAgent(a);
//if ( ( AB.step % 2 ) == 0 ) // slow the enemy down to every nth step
// Adrian_S added - will comment out below task in order to see if it does not move
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();
}
};
// Function to End Run
AB.world.endRun = function()
{
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 );
};
// Function to get Score
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
};
// Sound Effects
function soundAlarm()
{
var alarm = new Audio ( SOUND_ALARM );
alarm.play(); // play once, no loop
}