Code viewer [Ancient Brain]

Code viewer for World: FLESHMAN PLAYS GOLF (NumPa...
//THIS IS THE WORLD TO BE GRADED
//I'd also like to cheekily mention that I was the first person to create a world so anyone who did anything similar is a copycat ;P

//A list of some of the stuff I've implemented:
//  -lighting
//  -shadows(this was actually pretty hard, took me 2 or 3 days)
//  -turned the 2d grid structure 3d so you can place blocks on top of eachother
//  -implemented a scoring system based on par
//  -TRIED to implement pathfinding to get a more dynamic par and also make sure there's always a path from the ball to the hole
//  -I didn't get this finished but I commented out the code to look at
//  -Implemented a more interesting wall generation so that you don't just get blocks all over the place
//  -you can hit the ball at various strengths when you're beside it
//  -the ball bounces off surfaces
//  -the level is regenerated when you pot the ball
//  -fleshman

//WHY THIS IS AN INTERESTING PROBLEM FOR AN AI TO SOLVE:
//  -an AI must first calculate a path from the ball to the hole
//  -then the AI must calculate a path from itself to the appropriate side of the ball 
//  -the most simple AI will just putt the ball one square at a time to the hole, thus scoring exactly par (if i calculated the par correctly)
//  -a more complex AI would take distance into account and use varying strength to use less hits
//  -the best AI would take the 'bounce' effect into account, bouncing the ball off walls to line it up perfectly
//as you can see there are varying degrees of competence for the AI, the more challenging it is to implement, the more impressive the final product seems
//this, essentially, is what I think makes for an interesting problem for an AI to solve.






// World must define these:
 
const	 	CLOCKTICK 	= 75;				// speed of run - move things every n milliseconds
const		MAXSTEPS 	= 10000;				// length of a run before final score
 
const  SCREENSHOT_STEP = 50;    





//---- global constants: -------------------------------------------------------


const gridsize = 20;					// number of squares along side of world	
const NOBOXES = Math.trunc (((gridsize*gridsize)/100)*7); //around 7% of the level will be walls, seems to give favourable results   
const squaresize = 100;					// size of square in pixels
const MAXPOS = gridsize * squaresize;		// length of one side in pixels 
	
const SKYCOLOR 	= 0xffffcc;				// a number, not a string 
const BLANKCOLOR 	= SKYCOLOR ;			// make objects this color until texture arrives (from asynchronous file read)


const startRadiusConst	 	= MAXPOS * 0.8 ;		// distance from centre to start the camera at
const skyboxConst			= MAXPOS * 100 ;		// where to put skybox 
const maxRadiusConst 		= MAXPOS * 100 ;		// maximum distance from camera we will render things  

const show3d = true;						// Switch between 3d and 2d view (both using Three.js) 




//--- 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;
const ACTION_PUTT = 5; //hit the ball one square
const ACTION_SHOT = 6; //3 squares
const ACTION_DRIVE = 7; //6

// 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)




 


 
// --- some useful random functions  -------------------------------------------


function randomfloatAtoB ( A, B )			 
{
 return ( A + ( Math.random() * (B-A) ) );
}

function randomintAtoB ( A, B )			 
{
 return  ( Math.round ( randomfloatAtoB ( A, B ) ) );
}
  
function randomBoolean()			 
{
 if ( Math.random() < 0.5 ) { return false; }
 else { return true; }
}







//---- start of World class -------------------------------------------------------
 
function World() { 


// most of World can be private 
// regular "var" syntax means private variables:


var GRID 	= new Array(gridsize);			// can query GRID about whether squares are occupied, will in fact be initialised as a 3D array   
var WALLS 	= new Array ( 4 * gridsize );		// need to keep handle to each wall block object so can find it later to paint it 
var BASE    = new Array(gridsize);
var MAZE 	= new Array ( NOBOXES );
var theagent, theball;
var theagentmodel;
var goalModel;
var ballMoves = 0;
var ballDir = "up";	
var score = 0;
var par = 0;
var hits = 0;

// contents of a grid square

const GRID_BLANK 	= 0;
const GRID_WALL 	= 1;
const GRID_MAZE 	= 2;
const GRID_BASE     = 3;
const GRID_GOAL     = 4;
	  

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

var badsteps;
var goodsteps;
var  step;

  	var self = this;						// needed for private fn to call public fn - see below  




// regular "function" syntax means private functions:


function initGrid()
{
 for (var i = 0; i < gridsize ; i++) 
 {
  GRID[i] = new Array(gridsize);		// each element is an array 

  for (var j = 0; j < gridsize ; j++) 
  {
   GRID[i][j] = new Array(gridsize);
   
   for (var k = 0; k < gridsize; k++)
   {
    GRID[i][j][k] = GRID_BLANK;
   }
  }
 }
}

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][1] == GRID_WALL ) return true;			// fixed object
 if ( GRID[i][j][1] == GRID_MAZE ) return true;
 return false;
}

 
// 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 ( x ) 
{
 return ( x - ( MAXPOS/2 ) );
}

//--- skybox ----------------------------------------------------------------------------------------------


function initSkybox() 
{

// x,y,z positive and negative faces have to be in certain order in the array 

  var materialArray = [
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0001.bmp" ), side: THREE.BackSide } ) ),
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0004.bmp" ), side: THREE.BackSide } ) ),
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0003.bmp" ), side: THREE.BackSide } ) ),
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0006.bmp" ), side: THREE.BackSide } ) ),
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0005.bmp" ), side: THREE.BackSide } ) ),
 	( new THREE.MeshBasicMaterial ( { map: THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/skyrender0002.bmp" ), side: THREE.BackSide } ) )
 	];

  var skyGeometry = new THREE.CubeGeometry ( skyboxConst, skyboxConst, skyboxConst );	
  var skyMaterial = new THREE.MeshFaceMaterial ( materialArray );
  var theskybox = new THREE.Mesh ( skyGeometry, skyMaterial );
  threeworld.scene.add( theskybox );						// We are inside a giant Cube
}


// This does the file read the old way using loadTexture.
// (todo) Change to asynchronous TextureLoader. A bit complex:
// Make blank skybox. Start 6 asynch file loads to call 6 return functions.
// Each return function checks if all 6 loaded yet. Once all 6 loaded, paint the skybox.





// --- asynch load textures from file ----------------------------------------
// credits:
// http://commons.wikimedia.org/wiki/File:Old_door_handles.jpg?uselang=en-gb
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons
  
// loader return can call private function


function loadTextures()
{
	
 var manager = new THREE.LoadingManager();		
 var oloader = new THREE.OBJLoader( manager );
			
 oloader.load( "/uploads/seanhutchinson/Sporty_Man.obj", buildagent );
 oloader.load( "/uploads/seanhutchinson/usmcflag.obj", buildGoal );
 
 //ORIGINALLY USED MESHBASICMATERIAL BUT I CHANGED IT TO MESHLAMBERTMATERIAL BECAUSE THAT TAKES LIGHT AND SHADOWS
 var loader1 = new THREE.TextureLoader();
 loader1.load ( '/uploads/seanhutchinson/Brick-2378.jpg',		function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		paintWalls ( new THREE.MeshLambertMaterial( { map: thetexture } ) ); 
	} ); 

 var loader2 = new THREE.TextureLoader();
 loader2.load ( '/uploads/starter/pacman.jpg',	function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		theagent.material =  new THREE.MeshLambertMaterial( { map: thetexture } );
	} ); 

 var loader3 = new THREE.TextureLoader();
 loader3.load ( '/uploads/seanhutchinson/golf3.jpg',	function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		theball.material =  new THREE.MeshLambertMaterial( { map: thetexture } );
	} ); 
	
 var loader4 = new THREE.TextureLoader();
 loader4.load ( '/uploads/seanhutchinson/grass.jpg',		function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		paintBaseBlocks ( new THREE.MeshLambertMaterial( { map: thetexture } ) );
	} ); 
	
 loadMazeTexture();
	
 var loader6 = new THREE.TextureLoader();
 loader6.load ( '/uploads/seanhutchinson/goal.jpg',		function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		paintGoal ( new THREE.MeshLambertMaterial( { map: thetexture } ) );
	} ); 

}

function loadMazeTexture() //we create this seperately so we can reset the level without messing with everything else
{
	var loader = new THREE.TextureLoader();
	loader.load ( '/uploads/seanhutchinson/Brick-2378.jpg',		function ( thetexture ) {			 
		thetexture.minFilter = THREE.LinearFilter;
		paintMaze ( new THREE.MeshLambertMaterial( { map: thetexture } ) );
	} ); 
}


function buildagent ( object ) 
{ 
	object.name = "agentmodel";
	object.traverse( paintAgent );
	object.scale.set(100,100,100);
	object.position.z = theagent.position.z;
	object.position.y = theagent.position.y - (squaresize/2);
	object.position.x = theagent.position.x;
	theagentmodel = object;
	threeworld.scene.add( theagentmodel ); 
}

function buildGoal ( object ) 
{ 
	object.name = "goalModel";
	object.traverse( paintGoalModel );
	object.scale.set(2,2,2);
	object.rotation.y =  Math.PI / 4;
	object.position.z = translate ( 2 * squaresize );
	object.position.y = 25;
	object.position.x = translate ( 2 * squaresize );
	goalModel = object;
	threeworld.scene.add( goalModel ); 
}

function paintGoalModel ( child ) 
{
	if ( child instanceof THREE.Mesh ) 
	{
       	child.material.map = THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/flag.jpg" );
		//child.material.map.wrapS = child.material.map.wrapT = THREE.RepeatWrapping;
		//child.material.map.repeat.set( 32, 32 );
		child.castShadow = true;
		child.receiveShadow = true;
	}
}

function paintAgent ( child ) 
{
	if ( child instanceof THREE.Mesh ) 
	{
       	child.material.map = THREE.ImageUtils.loadTexture( "/uploads/seanhutchinson/flesh.jpg" );
		child.material.map.wrapS = child.material.map.wrapT = THREE.RepeatWrapping;
		child.material.map.repeat.set( 8, 8 );
		child.castShadow = true;
		child.receiveShadow = true;
	}
}

 


// --- add fixed objects ---------------------------------------- 
// my numbering is 0 to gridsize-1

//HERE'S SOME MESSY CODE THAT GIVES US RANDOM WALLS INSTEAD OF JUST SINGULAR BLOCKS :D
//IT'S STILL DOESN'T YIELD 'INTELLIGENT-LOOKING' RESULTS BUT IT'S MUCH BETTER THAN BEFORE
function initLogicalMaze()		 
{
 for ( var c = 0 ; c < NOBOXES ; c++ )
 {
	//this gives us our random position for the starter piece
  	var i = randomintAtoB(1,gridsize-1);	// inner squares are 1 to gridsize-2 (NOTE: THIS IS AN ORIGINAL COMMENT BUT I THINK IT'S WRONG SO I CHANGED THE CODE)
  	var j = randomintAtoB(1,gridsize-1);
	if(!(i == ai && j == aj) && !(i == ei && j == ej) && !(i == 2 && j == 2)) //make sure the ball or player or goal  isn't there
	{
    	GRID[i][j][1] = GRID_MAZE ;	
	}	
	
	var randLength = randomintAtoB(5,15); //walls should be a random length from 5 to 15
	
    var xORy = randomintAtoB(1,2); //this is a pretty bad way of deciding if we're moving in the x or y axis
    if (xORy == 1) //we're changing the x
    {
		
		for(var n = i; n < randLength; n++)
		{
			if (n < gridsize && n > 0) //we wouldn't want to put a block off the grid now would we?
			{
				if(!(n == ai && j == aj) && !(n == ei && j == ej) && !(n == 2 && j == 2)) //make sure the ball or player or goal  isn't there
				{
					GRID[n][j][1] = GRID_MAZE ;
				}
			}
		}

	}
	else //we're changing the y
	{
		for(var n = j; n < randLength; n++)
		{
			if (n < gridsize && n > 0) //we wouldn't want to put a block off the grid now would we?
			{
				if(!(i == ai && n == aj) && !(i == ei && n == ej) && !(i == 2 && n == 2)) //make sure the ball or player or goal  isn't there
				{
					GRID[i][n][1] = GRID_MAZE ;
				}
			}
		}
	}
 }
}


function initThreeMaze()		  	
{
 var t = 0;
 for (var i = 0; i < gridsize ; i++) 
  for (var j = 0; j < gridsize ; j++) 
   if ( GRID[i][j][1] == GRID_MAZE )
   {
   	var shape    = new THREE.BoxGeometry( squaresize, BOXHEIGHT, squaresize );			 
  	var thecube  = new THREE.Mesh( shape );
	thecube.material.color.setHex( BLANKCOLOR  );			  

  	thecube.position.x = translate ( i * squaresize );   	
  	thecube.position.z = translate ( j * squaresize );   	
  	thecube.position.y =  squaresize;	
 
    thecube.castShadow = true;
	thecube.receiveShadow = true;
 	threeworld.scene.add(thecube);
	MAZE[t] = thecube;		// save it for later
	t++; 
   }
}


function paintMaze ( material )		 
{
 for ( var i = 0; i < MAZE.length; i++ )
 { 
   if ( MAZE[i] )  MAZE[i].material = material;
 }
}
   
 
function initLogicalWalls()		// set up logical walls in data structure, whether doing graphical run or not	
{
 for (var i = 0; i < gridsize ; i++) 
  for (var j = 0; j < gridsize ; j++) 
   if ( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 ) )
   {
    	GRID[i][j][1] = GRID_WALL;		// set up data structure, whether using Three.js or not
   }
}


function initThreeWalls()		// graphical run only, set up blank boxes, painted later 	
{
 var t = 0;
 for (var i = 0; i < gridsize ; i++) 
  for (var j = 0; j < gridsize ; j++) 
   if ( GRID[i][j][1] == true )
   {
 	 var shape    = new THREE.BoxGeometry( squaresize, squaresize, squaresize );			 
 	 var thecube  = new THREE.Mesh( shape );
	 thecube.material.color.setHex( BLANKCOLOR  );			  
 
    	 thecube.position.x = translate ( i * squaresize );   		// translate my simple (i,j) block-numbering coordinates to three.js (x,y,z) coordinates 
    	 thecube.position.z = translate ( j * squaresize );   	
    	 thecube.position.y =  squaresize;	
 
     thecube.castShadow = true;
	 thecube.receiveShadow = true;
 	 threeworld.scene.add(thecube);
	 WALLS[t] = thecube;		// save it for later
	 t++; 
   }
}


function paintWalls ( material )		// paint blank boxes  
{
 for ( var i = 0; i < WALLS.length; i++ )
 { 
   if ( WALLS[i] )  WALLS[i].material = material;
 }
}

function initLogicalBaseBlocks()		 
{
 for (var i = 0; i < gridsize ; i++) 
  for (var j = 0; j < gridsize ; j++) 
   //if ( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 ) )
   {
    	GRID[i][j][0] = GRID_BASE;		// set up data structure, whether using Three.js or not
   }
}

function initThreeBaseBlocks()		// graphical run only, set up blank boxes, painted later 	
{
 var t = 0;
 for (var i = 0; i < gridsize ; i++) 
  for (var j = 0; j < gridsize ; j++) 
   if ( GRID[i][j][0] == GRID_BASE )
   {
 	 var shape    = new THREE.BoxGeometry( squaresize, squaresize, squaresize );			 
 	 var thecube  = new THREE.Mesh( shape );
	 thecube.material.color.setHex( BLANKCOLOR  );			  
 
    	 thecube.position.x = translate ( i * squaresize );   		// translate my simple (i,j) block-numbering coordinates to three.js (x,y,z) coordinates 
    	 thecube.position.z = translate ( j * squaresize );   	
    	 thecube.position.y =  0;	                        //underneath all the other blocks   
 
     thecube.receiveShadow = true;
 	 threeworld.scene.add(thecube);
	 BASE[t] = thecube;		// save it for later
	 t++; 
   }
}

function paintBaseBlocks ( material )		// paint blank boxes  
{
 for ( var i = 0; i < BASE.length; i++ )
 { 
   if ( BASE[i] )  BASE[i].material = material;
 }
}

function initLogicalGoal()
{
	GRID[2][2][0] = GRID_GOAL;
}


function initThreeGoal()		// graphical run only, set up blank boxes, painted later 	
{
 var shape    = new THREE.BoxGeometry( squaresize, squaresize, squaresize );			 
 var thecube  = new THREE.Mesh( shape );
 thecube.material.color.setHex( BLANKCOLOR  );			  
 
 thecube.position.x = translate ( 2 * squaresize );   		// translate my simple (i,j) block-numbering coordinates to three.js (x,y,z) coordinates 
 thecube.position.z = translate ( 2 * squaresize );   	
 thecube.position.y =  0;	                        //underneath all the other blocks   
 
 thecube.receiveShadow = true;
 threeworld.scene.add(thecube);
 BASE[gridsize*gridsize] = thecube;
}

function paintGoal ( material )		// paint blank boxes  
{
   BASE[gridsize*gridsize].material = material;
}

function clearMaze()
{
	for (var i = 1; i < gridsize-1 ; i++) 
		for (var j = 1; j < gridsize-1 ; j++) 
		//if ( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 ) )
		{
			GRID[i][j][1] = GRID_BLANK;		// set up data structure, whether using Three.js or not
		}
	for (var i = 0; i <  MAZE.length; i++)
	{
		threeworld.scene.remove(  MAZE[i] );
	}
}

function resetLevel()
{
	clearMaze();
	ai = gridsize-2;
	aj = gridsize-2;
	ei = gridsize-3;
	ej = gridsize-3;
	hits = 0;
	initLogicalMaze();
	if ( true  )
	{
		initThreeMaze();
		loadMazeTexture();
	}
}

function initThreeLights()
{
	//this acts like a sun
	var dirLight = new THREE.DirectionalLight(0xffffff, 1); //white light
	dirLight.position.set((gridsize*squaresize)*2,(gridsize*squaresize)*3,(gridsize*squaresize)); //this will put our light in the bottom corner
	dirLight.CameraLightHelper = true;
	threeworld.scene.add(dirLight);
	
	//give us some light everywhere to make sure we have no 100% black
	var ambiLight = new THREE.AmbientLight(0x1a1a1a);
	threeworld.scene.add(ambiLight);
	
	//THIS GIVES US BEAUTIFUL SHADOWS
	//SHADOWS ARE A BIT PIXELATED BUT THIS IS AS GOOD AS YOU'LL GET WITH JUST THE ONE LIGHT COVERING EVERYTHING
	var spotLight = new THREE.SpotLight(0xffffff, 0, (gridsize*squaresize)*3, 75, 10);
	spotLight.position.set((gridsize*squaresize),(gridsize*squaresize),(gridsize*squaresize));
	spotLight.castShadow = true;
	var spotTarget = new THREE.Object3D();
	threeworld.scene.add(spotLight);
	spotTarget.position.set(0,0,0);
	spotLight.target = spotTarget;
	threeworld.scene.add(spotLight);
}


// --- BALL functions -----------------------------------


function drawBall()		// given ei, ej, draw it 
{
  var x = translate ( ei * squaresize );   	
  var z = translate ( ej * squaresize );   	
  var y =  (5*squaresize)/8;	

 theball.position.x = x;
 theball.position.y = y;
 theball.position.z = z;
 threeworld.scene.add(theball);

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



function initLogicalBall()
{
// start at same place every time:
 ei = gridsize - 3;		// this square will be free 
 ej = gridsize - 3;		// (bug) use Math.trunc or else you get a bad square number if gridsize is odd
}


function initThreeBall()
{
 var shape    = new THREE.SphereGeometry( squaresize/8, squaresize/8, squaresize/8 );			 
 theball = new THREE.Mesh( shape );
 theball.material.color.setHex( BLANKCOLOR  );	
 theball.castShadow = true;
 theball.receiveShadow = false; //it can be hard to see in shadow
 drawBall();		  
}


function moveLogicalBall()
{ 
// small random move

 var i = ei;
 var j = ej;
 if (ballDir == "right")
 {
	 i = ei+1;
 }
 if (ballDir == "left")
 {
	 i = ei-1;
 }
 if (ballDir == "down")
 {
	 j = ej+1;
 }
 if (ballDir == "up")
 {
	 j = ej-1;
 }
 
 if (ballMoves > 0)
 {
	if ( ! occupied(i,j) )  	// if no obstacle then move, else just miss a turn
	{
		//ROTATE THE BALL SO IT LOOKS LIKE IT'S ROLLING
		if( ei < i) //move right
		{
			theball.rotation.z -= 0.75;
		}
		else if (ei > i)//move left
		{
			theball.rotation.z += 0.75;
		}
		else if( ej < j) //move down
		{
			theball.rotation.x += 0.75;
		}
		else if (ej > j) //move up
		{
			theball.rotation.x -= 0.75;
		}
		ei = i;
		ej = j;
		ballMoves--;
	}
	else //if you've hit a wall
	{
		if (ballDir == "right")
		{
			ballDir = "left";
		}
		else if (ballDir == "left")
		{
			ballDir = "right";
		}
		else if (ballDir == "down")
		{
			ballDir = "up";
		}
		else if (ballDir == "up")
		{
			ballDir = "down";
		}
	}
 }
 else if ((ei == 2) && (ej == 2)) //if you're not moving AND you're on the goal
 {
	 //the ball disappears (an illusion that it's been sunk)
	 ei = 0;
	 ej = 0;
	 score += self.getScore();
	 resetLevel()
 }
}





// --- agent functions -----------------------------------


function drawAgent()	// given ai, aj, draw it 
{
  var x = translate ( ai * squaresize );   	
  var z = translate ( aj * squaresize );   	
  var y =  squaresize;	

 theagent.position.x = x;
 theagent.position.y = y;
 theagent.position.z = z;
 //threeworld.scene.add(theagent);
 
 if ( theagentmodel )
 {
	theagentmodel.position.x = x;
	theagentmodel.position.y = y - (squaresize/2);
	theagentmodel.position.z = z;
	
	theagentmodel.rotation.y = theagent.rotation.y;
 }
 threeworld.follow.copy ( theagent.position );		// follow vector = agent position (for camera following agent)
}


function initLogicalAgent()
{
// start at same place every time:
 ai = gridsize - 2;		// this square will be free 
 aj = gridsize - 2;
}

function initThreeAgent()
{
 var shape    = new THREE.BoxGeometry( squaresize, squaresize, squaresize );			 
 theagent = new THREE.Mesh( shape );
 theagent.material.color.setHex( BLANKCOLOR );	
 theagent.castShadow = true;
 theagent.receiveShadow = true;
 drawAgent(); 		  
}


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 )
      {
		theagent.rotation.y = Math.PI / -2;
		i--;
	  }
	  else if ( a == ACTION_RIGHT )
      {
		theagent.rotation.y = Math.PI / 2;
		i++;
	  }
	  else if ( a == ACTION_UP ) 
      {		
        theagent.rotation.y = 0;  
        j++;
	  }
      else if ( a == ACTION_DOWN ) 	
	  {
		theagent.rotation.y =  Math.PI; 
		j--;
	  }

 if ( ! occupied(i,j) ) 
 {
  ai = i;
  aj = j;
 }
 
  if (a == ACTION_PUTT)
  {
	 //check if the ball is beside us
	 if ((ei == ai+1) && (ej == aj)) //ball is to our immediate right
	 {
		 hits++;
		 ballMoves = 1;
		 ballDir = "right";
	 }
	 if ((ei == ai-1) && (ej == aj)) //ball is to our immediate left
	 {
		 hits++;
		 ballMoves = 1;
		 ballDir = "left";
	 }
	 if ((ej == aj+1) && (ei == ai)) //ball is to our immediate underneath
	 {
		 hits++;
		 ballMoves = 1;
		 ballDir = "down";
	 }
	 if ((ej == aj-1) && (ei == ai)) //ball is to our immediate above
	 {
		 hits++;
		 ballMoves = 1;
		 ballDir = "up";
	 }
  }
  if (a == ACTION_SHOT)
  {
	 //check if the ball is beside us
	 if ((ei == ai+1) && (ej == aj)) //ball is to our immediate right
	 {
		 hits++;
		 ballMoves = 3;
		 ballDir = "right";
	 }
	 if ((ei == ai-1) && (ej == aj)) //ball is to our immediate left
	 {
		 hits++;
		 ballMoves = 3;
		 ballDir = "left";
	 }
	 if ((ej == aj+1) && (ei == ai)) //ball is to our immediate underneath
	 {
		 hits++;
		 ballMoves = 3;
		 ballDir = "down";
	 }
	 if ((ej == aj-1) && (ei == ai)) //ball is to our immediate above
	 {
		 hits++;
		 ballMoves = 3;
		 ballDir = "up";
	 }
  }
  if (a == ACTION_DRIVE)
  {
	 //check if the ball is beside us
	 if ((ei == ai+1) && (ej == aj)) //ball is to our immediate right
	 {
		 hits++;
		 ballMoves = 6;
		 ballDir = "right";
	 }
	 if ((ei == ai-1) && (ej == aj)) //ball is to our immediate left
	 {
		 hits++;
		 ballMoves = 6;
		 ballDir = "left";
	 }
	 if ((ej == aj+1) && (ei == ai)) //ball is to our immediate underneath
	 {
		 hits++;
		 ballMoves = 6;
		 ballDir = "down";
	 }
	 if ((ej == aj-1) && (ei == ai)) //ball is to our immediate above
	 {
		 hits++;
		 ballMoves = 6;
		 ballDir = "up";
	 }
  }
}


 


// --- score and pathfinding: -----------------------------------

/*
function pathFinding(startX,startY,goalX,goalY)
{
	//START AT STARTX, STARTY
	
	//SEARCH QUEUE
	//FIRST TAKE THE NODE OFF THE QUEUE
	//THEN VISITED = TRUE
	//IF THE NODE IS THE GOAL THEN BREAK
	//ELSE CHECK IF ALL ADJACENT NODES ARE VIABLE
	//IF THEY'RE NOT VISITED, THEY ARE NOW
		//ADD YOUR CURRENT NODE'S PATH ARRAY + THE NEW NODE (append) TO EACH THEM
		//ADD THEM TO THE QUEUE
		
	//NOW WE CAN JUST CHECK THE PATH OF THE GOAL NODE
	var nodeList = [];
	var openList = [];
	var closedList = [];
	
	//initialise our openList with all the spaces on the map
	for(var i = 0; i < NOBOXES; i++)
	{
		for(var j = 0; j < NOBOXES; j++)
		{
			var node;
			var node.x = i;
			node.y = j;
			node.path = [];
			node.distance = distance(x, y, goalX, goalY); //this will be our 'h value'
			node.moveCost = path.length; //this will be our 'g value'
			node.fVal = distance + moveCost;
				//x: i,
				//y: j,
				//path: [],
				//distance: distance(x, y, goalX, goalY), //this will be our 'h value'
				//moveCost: path.length, //this will be our 'g value'
				//fVal: distance + moveCost
			
			nodeList.push(node);
		}
	}
	//find our start node
	for (var i = 0; i < nodeList.length; i++) 
	{
		if(nodeList[i].x == startX && nodeList[i].y == startY)
		{
			openList.push(nodeList[i]);
		    break;
		}
	}
	
	while(openList.length > 0)
	{
		var i = smallestFVal(openList);
	}
	
	
}
*/
function distance(x1,y1,x2,y2)
{
	//'MANHATTAN' DISTANCE
	return Math.abs(x1-x2) + Math.abs(y1-y2);
}

function smallestFVal(list)
{
	var smallestIndex = 0;
	var smallest = list[0].fVal;
	for(var i = 0; i < list.length; i++)
	{
		if(list[i].fVal < smallest)
		{
			smallest = list[i].fVal;
			smallestIndex = i;
		}
	}
	return smallestIndex;
}


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   updateStatus()		 
{
 var status =  "   Par: " + par + "   Hits: " + hits + "   Score: " + score;

 $("#user_span1").html( status );
}






//--- public functions / interface / API ----------------------------------------------------------


// must have this public variable:

	this.endCondition;			// If set to true, run will end. 

  this.keyHandler = function (e)
  {
    if (e.keyCode == 37)   // left
    { 
        moveLogicalAgent( ACTION_LEFT );
    }
    if (e.keyCode == 39)   // right
    { 
         moveLogicalAgent( ACTION_RIGHT );
    }
	if (e.keyCode == 38)   // down
    { 
         moveLogicalAgent( ACTION_DOWN );
    }
	if (e.keyCode == 40)   // up
    { 
         moveLogicalAgent( ACTION_UP );
    }
	if (e.keyCode == 97)   // numpad1 is putt
    { 
         moveLogicalAgent( ACTION_PUTT );
    }
	if (e.keyCode == 98)   // numpad2 is shot
    { 
         moveLogicalAgent( ACTION_SHOT );
    }
	if (e.keyCode == 99)   // numpad3 is drive
    { 
         moveLogicalAgent( ACTION_DRIVE );
    }
  };


this.newRun = function() 
{
  
  document.onkeydown = this.keyHandler;
// (subtle bug) must reset variables like these inside newRun (in case do multiple runs)

  this.endCondition = false;
  badsteps = 0;		
  goodsteps = 0;
	step = 0;


  // define logical data structure for the World, even if no graphical representation:

 	initGrid();
	initLogicalWalls(); 
	initLogicalBaseBlocks();
	initLogicalAgent();
	initLogicalBall();
	initLogicalMaze();
	initLogicalGoal();
	par = distance(ai,aj,2,2);


  // if Three.js graphical representation:

  if ( true  )
  {
	  if ( show3d )
	  {
	        BOXHEIGHT = squaresize;
	        threeworld.init3d ( startRadiusConst, maxRadiusConst, SKYCOLOR  ); 	
	  }	     
	  else
	  {
	        BOXHEIGHT = 1;
	        threeworld.init2d ( startRadiusConst, maxRadiusConst, SKYCOLOR  ); 		     
	  } 
	  initSkybox();

	// Set up blank objects first:

	  threeworld.renderer.shadowMap.enabled = true;
	  threeworld.renderer.shadowMapSoft = false; //soft shadows is nice in theory but their anti-aliasing is shite so don't bother
	  //console.log(threeworld.renderer);
	  initThreeLights();
	  initThreeWalls();
	  initThreeBaseBlocks();
	  initThreeMaze();
	  initThreeAgent();
	  initThreeBall();
	  initThreeGoal();

	// Then paint them with textures - asynchronous load of textures from files. 
	// The texture file loads return at some unknown future time in some unknown order.
	// Because of the unknown order, it is probably best to make objects first and later paint them, rather than have the objects made when the file reads return.
	// It is safe to paint objects in random order, but might not be safe to create objects in random order. 

	  loadTextures();			// will return sometime later, but can go ahead and render now	
	  
  }		
};



this.getState = function()
{
 var x = [ ai, aj, ei, ej ];
  return ( x );  
};



this.nextStep = function()		 
{
 var a = 4;

  step++;

  moveLogicalAgent(a);
  moveLogicalBall();

  if ( badstep() )
   badsteps++;
  else
   goodsteps++;

  if ( true  )
  {
   drawAgent();
   drawBall();
   updateStatus();
  }

};



this.endRun = function()
{
};


this.getScore = function()
{
 return (par - hits);
};


}

//---- end of World class -------------------------------------------------------