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// Cloned by Rufus Tenali on 4 Nov 2023 from World "CA686 A Star Practical World 1 2021 by Damian Debny" by Damian Debny 
// Please leave this clone trail here.
 


// Cloned by Damian Debny on 31 Oct 2021 from World "Complex World" by Starter user 
// Please leave this clone trail here.
 



// ==== Starter World =================================================================================================
// This code is designed for use on the Ancient Brain site.
// This code may be freely copied and edited by anyone on the Ancient Brain site.
// To include a working run of this program on another site, see the "Embed code" links provided on Ancient Brain.
// ====================================================================================================================



// =============================================================================================
// A Star Practical World 1
// By Damian Debny
// Student Number: 21263489
// 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 using the A Star algorithm
// - 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 = true;						// Switch between 3d and 2d view (both using Three.js) 


 const TEXTURE_WALL 	= '/uploads/debnyd2/brick.jpg' ;
 const TEXTURE_MAZE 	= '/uploads/debnyd2/gold.jpg' ;
 const TEXTURE_AGENT 	= '/uploads/starter/pacman.jpg' ;
 const TEXTURE_ENEMY 	= '/uploads/starter/ghost.3.png' ;

// credits:
// https://free-3dtextureshd.com/download/gold-textures-square-wall-seamless-pack-bpr-material-background-high-resolution-free-download-hd-4k/
// https://www.freepik.com/premium-photo/very-old-brick-wall-texture-background-square-ratio_16851393.htm
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons

 
	const MUSIC_BACK  = '/uploads/debnyd2/chateau.mp3' ;
	const SOUND_ALARM = '/uploads/debnyd2/darthvaderno.mp3' ;

	
	
const gridsize = 50;						// number of squares along side of world	   

const NOBOXES =  Math.trunc ( (gridsize * gridsize) / 3 );
		// 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  

// Open and closed set
var openSet = [];
var closedSet = [];
// The road taken
var path = [];

var start;
var end;




//--- 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 


// urban photographic skyboxes, credit:
// http://opengameart.org/content/urban-skyboxes


 const SKYBOX_ARRAY = [										 
                "/uploads/debnyd2/posx.jpg",
                "/uploads/debnyd2/negx.jpg",
                "/uploads/debnyd2/posy.jpg",
                "/uploads/debnyd2/negy.jpg",
                "/uploads/debnyd2/posz.jpg",
                "/uploads/debnyd2/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;
 
 
const pathcolour     = 'darkred';
const opencolour     = 'lightgreen';
const closedcolour   = 'lightpink';
 

var BOXHEIGHT;		// 3d or 2d box height 

var GRID 	= new Array(gridsize);			// can query GRID about whether squares are occupied, will in fact be initialised as a 2D array   

var theagent, theenemy;
  
var wall_texture, agent_texture, enemy_texture, maze_texture; 


// enemy and agent position on squares
var ei, ej, ai, aj;

var badsteps;
var goodsteps;

function loadResources()		// asynchronous file loads - call initScene() when all finished 
{
	var loader1 = new THREE.TextureLoader();
	var loader2 = new THREE.TextureLoader();
	var loader3 = new THREE.TextureLoader();
	var loader4 = new THREE.TextureLoader();
	
	loader1.load ( TEXTURE_WALL, function ( thetexture )  		
	{
		thetexture.minFilter  = THREE.LinearFilter;
		wall_texture = thetexture;
		if ( asynchFinished() )	initScene();		// if all file loads have returned 
	});
		
	loader2.load ( TEXTURE_AGENT, function ( thetexture )  	 
	{
		thetexture.minFilter  = THREE.LinearFilter;
		agent_texture = thetexture;
		if ( asynchFinished() )	initScene();		 
	});	
	
	loader3.load ( TEXTURE_ENEMY, function ( thetexture )  
	{
		thetexture.minFilter  = THREE.LinearFilter;
		enemy_texture = thetexture;
		if ( asynchFinished() )	initScene();		 
	});
	
	loader4.load ( TEXTURE_MAZE, function ( thetexture )  
	{
		thetexture.minFilter  = THREE.LinearFilter;
		maze_texture = thetexture;
		if ( asynchFinished() )	initScene();		 
	});
	
}


function asynchFinished()		 // all file loads returned 
{
	if ( wall_texture && agent_texture && enemy_texture && maze_texture )   return true; 
	else return false;
}	
	
	
 

//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1

function heuristic(x, y) 
{
    //return ( Math.abs(x.i - y.i) + Math.abs(x.j - y.j) );
    
    return (Math.sqrt( (x.j - x.i)*(x.j - x.i) + (y.j - y.i)*(y.j - y.i)) );
}

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 removeFromArray(arr, item)
{
    for(var i = arr.length - 1; i >= 0; i--)
    {
        if(arr[i] == item)
        {
            arr.splice(i, 1);
        }
    }
}

function Spot(i, j)
{
    //Co-ordinates
    this.i = i;
    this.j = j;
    
    /*  
    *   f = evaluation function
    *   g = distance from current spot to start
    *   h = heuristic estimated distance from current spot to goal
    */
    this.f = 0;
    this.g = 0;
    this.h = 0;
    
    //Neighbours
    this.neighbours = [];
    
    //Previous spot
    this.previous = undefined;
    
    this.shape;
    this.thecube;
    
    //Spot type: blank, wall, maze
    this.type = GRID_BLANK;
    
    this.setBlank = function()
    {
        this.type = GRID_BLANK;
    };
    this.setWall = function()
    {
        this.type = GRID_WALL;
    };
    this.setMaze = function()
    {
        this.type = GRID_MAZE;
    };
    
    this.resetEvaluation = function()
    {
        this.f = 0;
        this.g = 0;
        this.h = 0;
    };
    
    // Daniel Shiffman
    // Nature of Code: Intelligence and Learning
    // https://github.com/shiffman/NOC-S17-2-Intelligence-Learning
    
    // Part 1: https://youtu.be/aKYlikFAV4k
    // Part 2: https://youtu.be/EaZxUCWAjb0
    // Part 3: https://youtu.be/jwRT4PCT6RU
    
    //Display spot
    this.show = function(col)
    {
        if(this.type == GRID_WALL)
        {
            this.shape    = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );			 
			this.thecube  = new THREE.Mesh( this.shape );
			this.thecube.material = new THREE.MeshBasicMaterial( { map: wall_texture } );
			
			this.thecube.position.copy ( translate(i,j) ); 		  	// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates 
			ABWorld.scene.add(this.thecube);
        }
        else if(this.type == GRID_MAZE)
        {
            this.shape    = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );			 
		    this.thecube  = new THREE.Mesh( this.shape );
		    this.thecube.material = new THREE.MeshBasicMaterial( { map: maze_texture } );		  

		    this.thecube.position.copy ( translate(i,j) ); 		  	// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates 
		    ABWorld.scene.add(this.thecube);
        }
        else if(col)
        {
            this.shape    = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );			 
			this.thecube  = new THREE.Mesh( this.shape );
			this.thecube.material = new THREE.MeshBasicMaterial( { color: col, wireframe: false } );
			
			this.thecube.position.copy ( translate(i,j) ); 		  	// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates 
			ABWorld.scene.add(this.thecube);
        }
    };
    
    //Remove cube from scene
    this.removeMesh = function()
    {
        ABWorld.scene.remove(this.thecube);
    };
    
    //Add this spot's neighbours
    this.addNeighbours = function(GRID)
    {
        var i = this.i;
        var j = this.j;
        if(i < gridsize - 2)
        {
            //Vertical and horizontal
            if (i < gridsize - 2)   this.neighbours.push(GRID[i + 1][j]);
            if (i > 1)              this.neighbours.push(GRID[i - 1][j]);
            if (j < gridsize - 2)   this.neighbours.push(GRID[i][j + 1]);
            if (j > 1)              this.neighbours.push(GRID[i][j - 1]);
            //Diagonal
            if (i > 1 && j > 1)                         this.neighbours.push(GRID[i - 1][j - 1]);
            if (i < gridsize - 2 && j > 1)              this.neighbours.push(GRID[i + 1][j - 1]);
            if (i > 1 && j < gridsize - 2)              this.neighbours.push(GRID[i - 1][j + 1]);
            if (i < gridsize - 2 && j < gridsize - 2)   this.neighbours.push(GRID[i + 1][j + 1]);
        }
    };
}
 
// 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;
}

// Empty the open and closed sets
function resetSets()
{
    closedSet = [];
    openSet = [];
}
	
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);		 
    
    //Populate the grid
    for(i = 0; i < gridsize; i++)
    {
        for(j = 0; j < gridsize; j++)
        {
            GRID[i][j] = new Spot(i, j);
        }
    }
    //Add the neighbours
    for(i = 0; i < gridsize; i++)
    {
        for(j = 0; j < gridsize; j++)
        {
            GRID[i][j].addNeighbours(GRID);
        }
    }
    
    
    
	// 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].setWall();
			GRID[i][j].show();
		}
		else 
   			GRID[i][j].setBlank();

		
   // 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].setMaze();
		GRID[i][j].show();
	}
	 	 
   
	// set up enemy 
	// start in random location
	
	 do
	 {
	  i = AB.randomIntAtoB(1,gridsize-2);
	  j = AB.randomIntAtoB(1,gridsize-2);
	 }
	 while ( occupied(i,j) );  	  // search for empty square 

	 ei = i;
	 ej = j;
	 
	 shape    = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );			 
	 theenemy = new THREE.Mesh( shape );
 	 theenemy.material =  new THREE.MeshBasicMaterial( { map: enemy_texture } );
	 ABWorld.scene.add(theenemy);
	 drawEnemy();		  

	// set up agent 
	// start in random location
	
	 do
	 {
	  i = AB.randomIntAtoB(1,gridsize-2);
	  j = AB.randomIntAtoB(1,gridsize-2);
	 }
	 while ( occupied(i,j) );  	  // search for empty square 

	 ai = i;
	 aj = j;
 
	 shape    = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );			 
	 theagent = new THREE.Mesh( shape );
	 theagent.material =  new THREE.MeshBasicMaterial( { map: agent_texture } );
	 ABWorld.scene.add(theagent);
	 drawAgent(); 


  // finally skybox 
  // setting up skybox is simple 
  // just pass it array of 6 URLs and it does the asych load 
  
  	 ABWorld.scene.background = new THREE.CubeTextureLoader().load ( SKYBOX_ARRAY, 	function() 
	 { 
		ABWorld.render(); 
	 
		AB.removeLoading();
	
		AB.runReady = true; 		// start the run loop
	 });
 		
}
 

// --- draw moving objects -----------------------------------


function drawEnemy()		// given ei, ej, draw it 
{
	theenemy.position.copy ( translate(ei,ej) ); 		  	// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates 

	ABWorld.lookat.copy ( theenemy.position );	 		// if camera moving, look back at where the enemy is
	
}


function drawAgent()		// given ai, aj, draw it 
{
	theagent.position.copy ( translate(ai,aj) ); 		  	// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates 

	ABWorld.follow.copy ( theagent.position );			// follow vector = agent position (for camera following agent)
}




// --- take actions -----------------------------------

function moveLogicalEnemy()
{ 
// move towards agent by using an A Star algorithm

    var i, j;
    start = GRID[ei][ej];
    start.previous = undefined;
    end = GRID[ai][aj];
    
    openSet.push(start);
    var complete = false;
    console.log('Start search...');
    
    //Remove current path from scene
    for(i = 0; i < path.length-1; i++)
    {
        path[i].removeMesh();
    }
    
    Loop1:
    while(!complete)
    {
        if(openSet.length > 0)
        {
            //Best option
            var winner = 0;
            for (i = 0; i < openSet.length; i++)
            {
                
                if(openSet[i].f < openSet[winner].f)
                {
                    winner = i;
                }
            }
            var current = openSet[winner];
            //Is it finished?
            if(current === end)
            {
                complete = true;
                //Create path by working backwards
                path = [];
                var tmp = current;
                path.push(tmp);
                while(tmp.previous)
                {
                    path.push(tmp.previous);
                    tmp = tmp.previous;
                }
                
                if(path.length > 1)
                {
                    //Update enemy position if new position isn't occupied
                    var tmpI, tmpJ;
                    tmpI = path[path.length-2].i;
                    tmpJ = path[path.length-2].j;
                    if(!occupied(tmpI, tmpJ))
                    {
                        ei = tmpI;
                        ej = tmpJ;
                    }
                }
                
                //Draw path as solid blocks
                for(i = 1; i < path.length - 2; i++)
                {
                    path[i].show(pathcolour);
                }
                
                console.log("Success - path was found");
                resetSets();
                break Loop1;
            }
            
            //Best option moves from openSet to closedSet
            removeFromArray(openSet, current);
            closedSet.push(current);
            
            //Check all neighbours
            var neighbours = current.neighbours;
            
            for(i = 0; i < neighbours.length; i++)
            {
                var neighbour = neighbours[i];
                
                //Next valid spot
                if(!closedSet.includes(neighbour) && neighbour.type != GRID_WALL && neighbour.type != GRID_MAZE)
                {
                    var tmpG = current.g + heuristic(neighbour, current);
                    //Is this a better path
                    var newPath = false;
                    if(openSet.includes(neighbour))
                    {
                        if(tmpG < neighbour.g)
                        {
                            neighbour.g = tmpG;
                            newPath = true;
                        }
                    }
                    else
                    {
                        neighbour.g = tmpG;
                        newPath = true;
                        openSet.push(neighbour);
                    }
                    //If it's a better path
                    if(newPath)
                    {
                        neighbour.h = heuristic(neighbour, end);
                        neighbour.f = neighbour.g + neighbour.h;
                        neighbour.previous = current;
                    }
                }
            }
        }
        else
        {
            console.log("Failure - no path exists" + " " + openSet.length);
            complete = true;
            resetSets();
            break Loop1;
        }
    }
}


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 + " &nbsp; x = (" + x.toString() + ") &nbsp; 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 ( " &nbsp; y = (" + y.toString() + ") <br>" +
		" Bad steps: " + badsteps + 
		" &nbsp; Good steps: " + goodsteps + 
		" &nbsp; 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 
}