// Cloned by Toyatma Fedee on 13 Nov 2022 from World "Complex World using A* " by Toyatma Fedee
// Please leave this clone trail here.
//********************************************************************************************************************
//*******************************************************************************************************************
// Description: AB Starter World with addtional functions whenever the logicalMoveEnemy() function is called.
// The A* function uses a standalone grid made up of objects containg the A data elements, including the hueristic,
// distance. By Toyatma Fedee Student number 22267485 as part of
// 2022/2023 CA686I Foundations of Artificial Intelligence
// ===================================================================================================================
// The sets are managed by a sorted array containing the open set, while the closed set is based on a flag
// in the A* array.
// The visuals and the sound have been replaced by blue boxes and a click that gets slightly louder and faster
// when the enemy and agent are close to each other.
// ==== 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/f3d33/squarebox.jpg'; // wall texture
const TEXTURE_MAZE = '/uploads/f3d33/2.jpg'; // maze texture
const TEXTURE_AGENT = '/uploads/f3d33/mushroom.jpeg' ; // agent texture
const TEXTURE_ENEMY = '/uploads/f3d33/mario.jpg' ; // enemy tecture
const MUSIC_BACK = '/uploads//biradap2/music.mp3' ;
const SOUND_ALARM = '/uploads/starter/air.horn.mp3' ;
const gridsize = 50; // 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
//---------------------- NEW changes -------------------------------------------------------------------
const SKYBOX_ARRAY = [
"/uploads/f3d33//right.jpg",
"/uploads/f3d33//left.jpg",
"/uploads/f3d33//top.jpg",
"/uploads/f3d33//bottom.jpg",
"/uploads/f3d33//front.jpg",
"/uploads/f3d33//back.jpg"
];
//---------------------- END of changes------------------------------------------------------------------
//--- Mind can pick one of these actions -----------------
const ACTION_LEFT = 0;
const ACTION_RIGHT = 1;
const ACTION_UP = 2;
const ACTION_DOWN = 3;
const ACTION_STAYSTILL = 4;
// in initial view, (smaller-larger) on i axis is aligned with (left-right)
// in initial view, (smaller-larger) on j axis is aligned with (away from you - towards you)
// contents of a grid square
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
var BOXHEIGHT; // 3d or 2d box height
var GRID = new Array(gridsize); // can query GRID about whether squares are occupied, will in fact be initialised as a 2D array
var search_grid = new Array(gridsize); //this grid will be used by the A* algorithm
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;
}
//---------------------- NEW changes -------------------------------------------------------------------
// function to specifically check if the spot is either occupied
// by wall or maze
function isOccupied ( i, j ) // is this square occupied
{
if ( GRID[i][j] == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j] == GRID_MAZE ) return true;
return false;
}
//---------------------- END of changes------------------------------------------------------------------
// 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 = squaresize;
v.x = ( i * squaresize ) - ( MAXPOS/2 );
v.z = ( j * squaresize ) - ( MAXPOS/2 );
return v;
}
//---------------------- NEW changes--------------------------------------------------------------------
//A*
//Spot class
function Spot(i,j){
this.i = i;
this.j = j;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
this.maze = false;
this.neighbors = [];
this.previous = undefined;
if(search_grid[this.i][this.j] == GRID_MAZE){
this.maze = true;
}
// Figure out who my neighbors are
this.addNeighbors = function(search_grid) {
var i = this.i;
var j = this.j;
if (i < gridsize - 1)
this.neighbors.push(search_grid[i + 1][j]);
if (i > 0)
this.neighbors.push(search_grid[i - 1][j]);
if (j < gridsize - 1)
this.neighbors.push(search_grid[i][j + 1]);
if (j > 0)
this.neighbors.push(search_grid[i][j - 1]);
// to allow diagonal movements
/*if (i > 0 && j > 0)
this.neighbors.push(search_grid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0)
this.neighbors.push(search_grid[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1)
this.neighbors.push(search_grid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1)
this.neighbors.push(search_grid[i + 1][j + 1]);*/
};
}
//---------------------- END of changes------------------------------------------------------------------
function initScene() // all file loads have returned
{
var i,j, shape, thecube;
// set up GRID as 2D array
for ( i = 0; i < gridsize ; i++ )
GRID[i] = new Array(gridsize);
// set up walls
for ( i = 0; i < gridsize ; i++ )
for ( j = 0; j < gridsize ; j++ )
if ( ( i===0 ) || ( i===gridsize-1 ) || ( j===0 ) || ( j===gridsize-1 ) )
{
GRID[i][j] = GRID_WALL;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: wall_texture } );
thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
else
GRID[i][j] = GRID_BLANK;
// set up maze
for ( var c=1 ; c <= NOBOXES ; c++ )
{
i = AB.randomIntAtoB(1,gridsize-2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1,gridsize-2);
GRID[i][j] = GRID_MAZE ;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: maze_texture } );
thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
// 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
});
//---------------------- NEW changes -------------------------------------------------------------------
//make a 2D searchGrid Array
for (var z = 0; z < gridsize; z++) {
search_grid[z] = new Array(gridsize);
}
// create a new spot for each of the grid position
for(var x =0;x<gridsize;x++){
for(var y=0;y<gridsize;y++){
search_grid[x][y] = new Spot(x,y);
}
}
//add neighbors to a Spot
for(var m =0;m<gridsize;m++){
for(var n=0;n<gridsize;n++){
search_grid[m][n].addNeighbors(search_grid);
}
}
//---------------------- END of changes------------------------------------------------------------------
}
// --- 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)
}
//---------------------- NEW changes -------------------------------------------------------------------
//A*
function removeFromArray(arr, elt) {
for (var i = arr.length - 1; i >= 0; i--) {
if (arr[i] == elt) {
arr.splice(i, 1);
}
}
}
function heuristic(a,b){
var d = Math.abs(a.i-b.i) + Math.abs(a.j-b.j);
return d;
}
pathArray = []
function displayPath(path){
for(var i=0;i<path.length-1;i++){
var x = path[i].i;
var y = path[i].j;
var geometry = new THREE.CircleGeometry( x, y );
var material = new THREE.MeshBasicMaterial( { color: 0x7FFF00} );
var circle = new THREE.Mesh( geometry, material );
pathArray[i] = circle.uuid;
circle.position.copy ( translate(x,y) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add( circle );
}
}
function deletePath(){
for (var e = 0; e < pathArray.length; e++) {
var t = pathArray[e];
const a = ABWorld.scene.getObjectByProperty("uuid", t);
ABWorld.scene.remove(a)
}
pathArray = [];
}
function findBestPath(grid,e,a){
var path = [];
var openSet = [];
var closedSet = [];
var return_spot;
openSet.push(e);
while(openSet.length > 0){
var winner = 0;
for (var i = 0; i < openSet.length; i++) {
if (openSet[i].f < openSet[winner].f) {
winner = i;
}
}
var current = openSet[winner];
if(current == a ){
// reached enemy, return the first element in the path array
var temp = current;
path.push(temp);
while(temp.previous){
if(temp.previous == e)
return_spot = temp;
path.push(temp.previous);
temp = temp.previous;
}
displayPath(path);
break;
}else{
//continue search
removeFromArray(openSet,current);
closedSet.push(current);
var neighbors = current.neighbors;
for(var j = 0;j<neighbors.length;j++){
var neighbor = neighbors[j];
if(!closedSet.includes(neighbor) && !isOccupied(neighbor.i,neighbor.j)){
var tempG = current.g + 1;
if(openSet.includes(neighbor)){
if(tempG< neighbor.g){
neighbor.g = tempG;
}
}else{
neighbor.g = tempG;
openSet.push(neighbor);
}
neighbor.h = heuristic(neighbor,a);
neighbor.f = neighbor.g + neighbor.f;
neighbor.previous = current;
}
}
}
}
return return_spot;
}
//---------------------- END of changes------------------------------------------------------------------
// --- take actions -----------------------------------
function moveLogicalEnemy()
{
// move towards agent
//---------------------- NEW changes -------------------------------------------------------------------
var enemy_position = search_grid[ei][ej];
var agent_position = search_grid[ai][aj];
var new_position = findBestPath(search_grid,enemy_position,agent_position)
// clear search_grid
var clear;
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
clear = search_grid[i][j];
clear.f = 0;
clear.h = 0;
clear.g = 0;
clear.previous = undefined;
}
}
ei = new_position.i;
ej = new_position.j;
}
//---------------------- END of changes------------------------------------------------------------------
function moveLogicalAgent( a ) // this is called by the infrastructure that gets action a from the Mind
{
var i = ai;
var j = aj;
if ( a == ACTION_LEFT ) i--;
else if ( a == ACTION_RIGHT ) i++;
else if ( a == ACTION_UP ) j++;
else if ( a == ACTION_DOWN ) j--;
if ( ! occupied(i,j) )
{
ai = i;
aj = j;
}
}
// --- key handling --------------------------------------------------------------------------------------
// This is hard to see while the Mind is also moving the agent:
// AB.mind.getAction() and AB.world.takeAction() are constantly running in a loop at the same time
// have to turn off Mind actions to really see user key control
// we will handle these keys:
var OURKEYS = [ 37, 38, 39, 40 ];
function ourKeys ( event ) { return ( OURKEYS.includes ( event.keyCode ) ); }
function keyHandler ( event )
{
if ( ! AB.runReady ) return true; // not ready yet
// if not one of our special keys, send it to default key handling:
if ( ! ourKeys ( event ) ) return true;
// else handle key and prevent default handling:
if ( event.keyCode == 37 ) moveLogicalAgent ( ACTION_LEFT );
if ( event.keyCode == 38 ) moveLogicalAgent ( ACTION_DOWN );
if ( event.keyCode == 39 ) moveLogicalAgent ( ACTION_RIGHT );
if ( event.keyCode == 40 ) moveLogicalAgent ( ACTION_UP );
// when the World is embedded in an iframe in a page, we want arrow key events handled by World and not passed up to parent
event.stopPropagation(); event.preventDefault(); return false;
}
// --- score: -----------------------------------
function badstep() // is the enemy within one square of the agent
{
if ( ( Math.abs(ei - ai) < 2 ) && ( Math.abs(ej - aj) < 2 ) ) return true;
else return false;
}
function agentBlocked() // agent is blocked on all sides, run over
{
return ( occupied (ai-1,aj) &&
occupied (ai+1,aj) &&
occupied ( ai,aj+1) &&
occupied ( ai,aj-1) );
}
function updateStatusBefore(a)
// this is called before anyone has moved on this step, agent has just proposed an action
// update status to show old state and proposed move
{
var x = AB.world.getState();
AB.msg ( " Step: " + AB.step + " x = (" + x.toString() + ") a = (" + a + ") " );
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after both have moved
var y = AB.world.getState();
var score = ( goodsteps / AB.step ) * 100;
AB.msg ( " y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2 );
}
AB.world.newRun = function()
{
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
if ( show3d )
{
BOXHEIGHT = squaresize;
ABWorld.init3d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
else
{
BOXHEIGHT = 1;
ABWorld.init2d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
loadResources(); // aynch file loads
// calls initScene() when it returns
document.onkeydown = keyHandler;
};
AB.world.getState = function()
{
var x = [ ai, aj, ei, ej ];
return ( x );
};
AB.world.takeAction = function ( a )
{
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ( ( AB.step % 2 ) === 0 ) // slow the enemy down to every nth step
moveLogicalEnemy();
setTimeout(deletePath, 100); // change made by Kushagra
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()
{
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
}
AB.clockTick=1e3,AB.maxSteps=1e3,AB.screenshotStep=100;const show3d=!0,TEXTURE_WALL="/uploads/paul79/wall2.jpg",TEXTURE_MAZE="/uploads/starter/latin.jpg",TEXTURE_AGENT="/uploads/paul79/rabbit-128.png",TEXTURE_ENEMY="/uploads/paul79/greyhound-silhouette.jpg",MUSIC_BACK="/uploads/starter/Defense.Line.mp3",SOUND_ALARM="/uploads/starter/air.horn.mp3",WALLMOVENO=150,WALLMOVETICK=4,gridsize=40,NOBOXES=Math.trunc(gridsize*gridsize/5),squaresize=100,MAXPOS=gridsize*squaresize,SKYCOLOR=14548957,startRadiusConst=1*MAXPOS,maxRadiusConst=10*MAXPOS;ABHandler.MAXCAMERAPOS=maxRadiusConst,ABHandler.GROUNDZERO=!0;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"],ACTION_LEFT=0,ACTION_RIGHT=1,ACTION_UP=2,ACTION_DOWN=3,ACTION_STAYSTILL=4,GRID_BLANK=0,GRID_WALL=1,GRID_MAZE=2,VERBOSE_LOG=!1;var BOXHEIGHT,theagent,theenemy,wall_texture,agent_texture,enemy_texture,maze_texture,ei,ej,ai,aj,badsteps,goodsteps,GRID=new Array(gridsize),MAZE_BLOCKS=[];function loadResources(){var e=new THREE.TextureLoader,t=new THREE.TextureLoader,a=new THREE.TextureLoader,r=new THREE.TextureLoader;e.load(TEXTURE_WALL,function(e){e.minFilter=THREE.LinearFilter,wall_texture=e,asynchFinished()&&initScene()}),t.load(TEXTURE_AGENT,function(e){e.minFilter=THREE.LinearFilter,agent_texture=e,asynchFinished()&&initScene()}),a.load(TEXTURE_ENEMY,function(e){e.minFilter=THREE.LinearFilter,enemy_texture=e,asynchFinished()&&initScene()}),r.load(TEXTURE_MAZE,function(e){e.minFilter=THREE.LinearFilter,maze_texture=e,asynchFinished()&&initScene()})}function asynchFinished(){return!!(wall_texture&&agent_texture&&enemy_texture&&maze_texture)}function occupied(e,t){return ei==e&&ej==t||(ai==e&&aj==t||(GRID[e][t]==GRID_WALL||GRID[e][t]==GRID_MAZE))}function translate(e,t){var a=new THREE.Vector3;return a.y=0,a.x=e*squaresize-MAXPOS/2,a.z=t*squaresize-MAXPOS/2,a}function initScene(){var e,t,a,r;for(e=0;e<gridsize;e++)GRID[e]=new Array(gridsize);for(e=0;e<gridsize;e++)for(t=0;t<gridsize;t++)0==e||e==gridsize-1||0==t||t==gridsize-1?(GRID[e][t]=GRID_WALL,a=new THREE.BoxGeometry(squaresize,BOXHEIGHT,squaresize),(r=new THREE.Mesh(a)).material=new THREE.MeshBasicMaterial({map:wall_texture}),r.position.copy(translate(e,t)),ABWorld.scene.add(r)):GRID[e][t]=GRID_BLANK;for(var i=1;i<=NOBOXES;i++){do{e=AB.randomIntAtoB(1,gridsize-2),t=AB.randomIntAtoB(1,gridsize-2)}while(occupied(e,t));GRID[e][t]=GRID_MAZE,a=new THREE.BoxGeometry(squaresize,BOXHEIGHT,squaresize),(r=new THREE.Mesh(a)).material=new THREE.MeshBasicMaterial({map:maze_texture}),r.position.copy(translate(e,t)),ABWorld.scene.add(r),MAZE_BLOCKS.push({i:e,j:t,cube:r})}if(VERBOSE_LOG){let e="Initial block pos: ";for(var n=0;n<MAZE_BLOCKS.length;n++)e=e+"["+MAZE_BLOCKS[n].i+","+MAZE_BLOCKS[n].j+"]";console.log(e)}do{e=AB.randomIntAtoB(1,10),t=AB.randomIntAtoB(1,10)}while(occupied(e,t));ei=e,ej=t,a=new THREE.BoxGeometry(squaresize,BOXHEIGHT,squaresize),(theenemy=new THREE.Mesh(a)).material=new THREE.MeshBasicMaterial({map:enemy_texture}),ABWorld.scene.add(theenemy),drawEnemy();do{e=AB.randomIntAtoB(gridsize-10,gridsize-2),t=AB.randomIntAtoB(gridsize-10,gridsize-2)}while(occupied(e,t));ai=e,aj=t,a=new THREE.BoxGeometry(squaresize,BOXHEIGHT,squaresize),(theagent=new THREE.Mesh(a)).material=new THREE.MeshBasicMaterial({map:agent_texture}),ABWorld.scene.add(theagent),drawAgent(),aStarSetup(),ABWorld.scene.background=(new THREE.CubeTextureLoader).load(SKYBOX_ARRAY,function(){ABWorld.render(),AB.removeLoading(),AB.runReady=!0})}function drawEnemy(){theenemy.position.copy(translate(ei,ej)),ABWorld.lookat.copy(theenemy.position)}function drawAgent(){theagent.position.copy(translate(ai,aj)),ABWorld.follow.copy(theagent.position)}var trail_lights=new Array;function moveEnemyA_Star(){console.log("Search for shortest path");let e=getPathToAgent(ai,aj,ei,ej);if(VERBOSE_LOG){console.log("agent pos:"+ai+" "+aj+" enemy pos:"+ei+" "+ej);for(var t="[",a=0;a<e.length;a++){let i=!1;for(var r=0;r<MAZE_BLOCKS.length;r++)MAZE_BLOCKS[r].i==e[a].i&&MAZE_BLOCKS[r].j==e[a].j&&(i=!0);t=t+"["+e[a].i+","+e[a].j+","+i+"]"}t+="]",console.log(t)}for(e.length>=2&&!occupied(e[1].i,e[1].j)&&(ei=e[1].i,ej=e[1].j);trail_lights.length>0;){let e=trail_lights.pop();ABWorld.scene.remove(e)}for(let t=1;t<e.length-1;t++){const a=new THREE.SphereGeometry(20,32),r=new THREE.MeshBasicMaterial({color:255});let i=new THREE.Mesh(a,r);ABWorld.scene.add(i),i.position.copy(translate(e[t].i,e[t].j)),trail_lights.push(i)}}function moveLogicalAgent(e){var t=ai,a=aj;e==ACTION_LEFT?t--:e==ACTION_RIGHT?t++:e==ACTION_UP?a++:e==ACTION_DOWN&&a--,occupied(t,a)||(ai=t,aj=a)}var OURKEYS=[37,38,39,40];function ourKeys(e){return OURKEYS.includes(e.keyCode)}function keyHandler(e){return!AB.runReady||(!ourKeys(e)||(37==e.keyCode&&moveLogicalAgent(ACTION_LEFT),38==e.keyCode&&moveLogicalAgent(ACTION_DOWN),39==e.keyCode&&moveLogicalAgent(ACTION_RIGHT),40==e.keyCode&&moveLogicalAgent(ACTION_UP),e.stopPropagation(),e.preventDefault(),!1))}function badstep(){return Math.abs(ei-ai)<2&&Math.abs(ej-aj)<2}function agentBlocked(){return occupied(ai-1,aj)&&occupied(ai+1,aj)&&occupied(ai,aj+1)&&occupied(ai,aj-1)}function updateStatusBefore(e){var t=AB.world.getState();AB.msg(" Step: "+AB.step+" x = ("+t.toString()+") a = ("+e+") ")}function updateStatusAfter(){var e=AB.world.getState(),t=goodsteps/AB.step*100;AB.msg(" y = ("+e.toString()+") <br> Bad steps: "+badsteps+" Good steps: "+goodsteps+" Score: "+t.toFixed(2)+"% ",2)}AB.world.newRun=function(){AB.loadingScreen(),AB.runReady=!1,badsteps=0,goodsteps=0,BOXHEIGHT=squaresize,ABWorld.init3d(startRadiusConst,maxRadiusConst,14548957),loadResources(),document.onkeydown=keyHandler},AB.world.getState=function(){return[ai,aj,ei,ej]},AB.world.takeAction=function(e){var t;if(updateStatusBefore(e),console.log("Move some blocks"),AB.step%4==0){for(var a=0;a<Math.min(150,NOBOXES);a++){let e,r,i=MAZE_BLOCKS[a];do{e=AB.randomIntAtoB(1,gridsize-2),r=AB.randomIntAtoB(1,gridsize-2)}while(occupied(e,r));GRID[e][r]=GRID_MAZE,GRID[i.i][i.j]=GRID_BLANK,VERBOSE_LOG&&(t=t+"["+i.i+","+i.j+"] -> ["+e+","+r+"]"),i.cube.position.copy(translate(e,r)),i.i=e,i.j=r}if(VERBOSE_LOG){console.log("Position changes: "+t),t="New block pos: ";for(a=0;a<MAZE_BLOCKS.length;a++)t=t+"["+MAZE_BLOCKS[a].i+","+MAZE_BLOCKS[a].j+"]";console.log(t)}}moveLogicalAgent(e),moveEnemyA_Star(),badstep()?badsteps++:goodsteps++,drawAgent(),drawEnemy(),updateStatusAfter(),agentBlocked()&&(AB.abortRun=!0,goodsteps=0,musicPause(),soundAlarm())},AB.world.endRun=function(){musicPause(),AB.abortRun?AB.msg(" <br> <font color=red> <B> Agent trapped. Final score zero. </B> </font> ",3):AB.msg(" <br> <font color=green> <B> Run over. </B> </font> ",3)},AB.world.getScore=function(){var e=goodsteps/AB.maxSteps*100;return Math.round(100*e)/100};var backmusic=AB.backgroundMusic(MUSIC_BACK);function musicPlay(){backmusic.play()}function musicPause(){backmusic.pause()}function soundAlarm(){new Audio(SOUND_ALARM).play()}const aStarGrid=new Array(gridsize-2);function aStarSetup(){for(var e=0;e<gridsize-2;e++)aStarGrid[e]=new Array(gridsize-2);for(e=0;e<gridsize-2;e++)for(var t=0;t<gridsize-2;t++)aStarGrid[e][t]=new AStarCell(e,t,GRID[e+1][t+1]==GRID_MAZE),e>0&&(aStarGrid[e][t].addNeighbour(aStarGrid[e-1][t]),aStarGrid[e-1][t].addNeighbour(aStarGrid[e][t])),t>0&&(aStarGrid[e][t].addNeighbour(aStarGrid[e][t-1]),aStarGrid[e][t-1].addNeighbour(aStarGrid[e][t]))}function AStarCell(e,t,a){this.i=e,this.j=t,this.f=0,this.g=0,this.h=0,this.neighbours=[],this.previous=void 0,this.maze=a,this.addNeighbour=function(e){this.neighbours.push(e)},this.reset=function(e){this.f=0,this.g=0,this.h=0,this.previous=void 0,this.maze=e}}function heuristic(e,t){return Math.abs(e.i-t.i)+Math.abs(e.j-t.j)}function getPathToAgent(e,t,a,r){let i,n=e-1,o=t-1,s=r-1,d=[],u=[],l=aStarGrid[a-1][s],c=aStarGrid[n][o];for(let e=0;e<gridsize-2;e++)for(let t=0;t<gridsize-2;t++)aStarGrid[e][t].reset(GRID[e+1][t+1]==GRID_MAZE);d.push(l);let A=e=>e==i;for(;d.length>0;){let e=0;for(let t=0;t<d.length;t++)d[t].f<d[e].f&&(e=t);if((i=d[e])===c){console.log("success - found path");break}d.splice(d.findIndex(A),1),u.push(i);for(let e=0;e<i.neighbours.length;e++){let t=i.neighbours[e];if(!u.includes(t)&&!t.maze){let e=i.g+heuristic(t,i),a=d.includes(t);(!a||e<t.g)&&(t.g=e,t.h=heuristic(t,c),t.f=t.g+t.h,t.previous=i),a||d.push(t)}}}if(0==d.length)return console.log("failure - no path found."),[];let g=[],p=i;for(g.push(p);p.previous;)g.push(p.previous),p=p.previous;let E=new Array;for(let e=g.length-1;e>=0;e--)E.push({i:g[e].i+1,j:g[e].j+1});return E}