// ==== 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.
// =============================================================================================
// ===================================================================================================================
// === 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/starter/door.jpg' ;
const TEXTURE_MAZE = '/uploads/starter/latin.jpg' ;
const TEXTURE_AGENT = '/uploads/starter/pacman.jpg' ;
const TEXTURE_ENEMY = '/uploads/starter/ghost.3.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; // 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
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
//A* Stuff
var SpotGrid = new Array(gridsize);
var openSet = [];
var closedSet = [];
var enemy;
var agent;
var path = [];
function dist(x1,y1,x2,y2){
var distX = Math.abs(x1 - x2);
var distY = Math.abs(y1 - y2);
return Math.sqrt( distX*distX + distY*distY );
}
function heuristic(a, b) {
//if (diagonal) // 2D distance - dist is a P5 function
return (dist(a.i, a.j, b.i, b.j));
//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
}
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);
}
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 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;
}
// An object to describe a spot in the grid
function Spot(i, j) {
// Location
this.i = i;
this.j = j;
this.wall = false;
this.neighbors = [];
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Where did I come from?
this.previous = undefined;
// Figure out who my neighbors are
this.addNeighbors = function () {
var i = this.i;
var j = this.j;
if (i < gridsize - 1)
this.neighbors.push(SpotGrid[i + 1][j]);
if (i > 0)
this.neighbors.push(SpotGrid[i - 1][j]);
if (j < gridsize - 1)
this.neighbors.push(SpotGrid[i][j + 1]);
if (j > 0)
this.neighbors.push(SpotGrid[i][j - 1]);
if (true) //diagonal are also neighbours:
{
if (i > 0 && j > 0)
this.neighbors.push(SpotGrid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0)
this.neighbors.push(SpotGrid[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1)
this.neighbors.push(SpotGrid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1)
this.neighbors.push(SpotGrid[i + 1][j + 1]);
}
}
}
function initScene() // all file loads have returned
{
var i, j, shape, thecube;
// set up GRID as 2D array
SpotGrid = new Array(gridsize);
for (i = 0; i < gridsize; i++) {
GRID[i] = new Array(gridsize);
SpotGrid[i] = new Array(gridsize);
}
// set up walls
for (i = 0; i < gridsize; i++)
for (j = 0; j < gridsize; j++) {
SpotGrid[i][j] = new Spot(i, j);
if ((i == 0) || (i == gridsize - 1) || (j == 0) || (j == gridsize - 1)) {
GRID[i][j] = GRID_WALL;
SpotGrid[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);
}
else {
GRID[i][j] = GRID_BLANK;
SpotGrid[i][j].wall = 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;
SpotGrid[i][j].wall = true;
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);
}
// All the neighbors
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
SpotGrid[i][j].addNeighbors();
console.log('start app');
console.log(SpotGrid);
// 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;
ei = 1;
ej = 1;
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;
ai = gridsize - 2;
aj = gridsize - 2;
SetupAStar();
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
});
}
function SetupAStar(){
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++){
SpotGrid[i][j].f = 0;
SpotGrid[i][j].g = 0;
SpotGrid[i][j].h = 0;
SpotGrid[i][j].previous = undefined;
}
// closedSet starts empty
closedSet = [];
// openSet starts with beginning only
openSet = [];
}
// --- 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
// // put some randomness in so it won't get stuck with barriers
// 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 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;
}
SpotGrid[ai][aj].wall = false;
}
// --- 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);
};
function getAStarPath(begin, end) {
openSet.push(begin);
// each timestep, check one more square and draw current partial solution
// while has nodes to investigate
while (openSet.length > 0) {
var indexBetterF = 0;
//neighbor with lowest f (previous one can not be in the openset)
for (var i = 0; i < openSet.length; i++)
if (openSet[i].f < openSet[indexBetterF].f)
indexBetterF = i;
// Best option moves from openSet to closedSet
var current = openSet[indexBetterF];
removeFromArray(openSet, current);
closedSet.push(current);
// End?
if (current === end) {
console.log("success - found path");
printPath(current);
return getPath(current);
}
// Check all the neighbors
var neighbors = current.neighbors;
for (var i = 0; i < neighbors.length; i++) {
var neighbor = neighbors[i];
// Valid neighbor?
if (!closedSet.includes(neighbor) && !neighbor.wall) {
//tempG = current.G + distance to other node. Not heuristic!
//But our heuristic measure the distance so...UGLY STUFF!
var tempG = current.g + heuristic(neighbor, current);
//We could set G directly, but for the nodes in the openSet, they may have an better G than this one.
//Maybe due a previous attempt that was better than that.
// Is this a better path than before?
var isBetterPath = false;
var isFirstVist = false;
//It is not in the openSet, so the only option we have is tempG
if (!openSet.includes(neighbor)) {
neighbor.g = tempG;
isFirstVist = true;
} else {
//It is in the open set. We just update neibhbor.g value with tempG if it is better.
//In other words, we want the min(neighbor.g, tempG)
if (tempG < neighbor.g) {
neighbor.g = tempG;
isBetterPath = true;
}
}
// Update values if it is a better path (or first visit)
if (isBetterPath || isFirstVist) {
neighbor.h = heuristic(neighbor, agent);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
//if is the first visit to this neighbor...
if (!openSet.includes(neighbor))
openSet.push(neighbor);
}
}
} //here I should move? next step is the current?
// else {
// //console.log('fail - no path exists');
// //noLoop();
// //return;
// }
//end searching
// if (path.length > 0) {
// findPath(current);
// }
}
function printPath(current) {
// Find the path by working backwards
path = [];
var temp = current;
path.push(temp);
while (temp.previous) {
path.push(temp.previous);
temp = temp.previous;
}
var pathStr = "";
for (i = path.length-1; i >= 0; i--) {
pathStr = pathStr + "(" + path[i].i + "," + path[i].j + ")";
}
console.log(pathStr);
}
function getPath(current) {
// Find the path by working backwards
path = [];
var temp = current;
path.push(temp);
while (temp.previous) {
path.push(temp.previous);
temp = temp.previous;
}
var pathInOrder = [];
for (i = path.length-1; i >= 0; i--) {
pathInOrder.push(path[i]);
}
return pathInOrder;
console.log(pathStr);
}
AB.world.takeAction = function (a) {
enemy = SpotGrid[ei][ej];
agent = SpotGrid[ai][aj];
SetupAStar();
var aStarPath = getAStarPath(enemy,agent);
if (aStarPath.length == 0){
console.log("are they in same cell?");
}else if (aStarPath.length == 1){
console.log("they are one cell away");
}else if (aStarPath.length == 2){
//Put trapping movement here
console.log("what happens here?");
}else {
var nextStep = aStarPath[1];
ei = nextStep.i;
ej = nextStep.j;
}
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
}