// Cloned by Pooja Salgar on 06 Nov 2023 from World "Complex World" by Starter user
// Please leave this clone trail here.
// ===================================================================================================================
// ==== Assignment 1 | Part 1 ========================================================================================
/*
STUDENT NAME: POOJA NAMDEV SALGAR
STUDENT NUMBER: 23267148
STUDENT EMAIL: pooja.salgar2@dcu.mail.ie
MODULE NAME: Foundations of AI (online)
MODULE CODE: CA686I
*/
// ===================================================================================================================
// ======================
// ==== 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.
// ====================================================================================================================
// =============================================================================================
// 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)
// =============================================================================================
// ===================================================================================================================
// === 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; // The speed of a single 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 variables and constant: ===============================
const show3d = true;
//=============chnages made by pooja=====================================================================================================================
//===============WALL AND MAZE========================================================================================================================================================
const TEXTURE_WALL = '/uploads/pooja20/tree2.jpg' ; //https://www.livewallpapers.com/christmas-ornament-light-christmas-tree-live-wallpaper-e7l6m3w
const TEXTURE_MAZE = '/uploads/pooja20/OIP5.jpeg' ; //https://clipart-library.com/clipart/dc456Bnni.htm
//===============AGENT AND ENEMY======================================================================
const TEXTURE_AGENT = '/uploads/pooja20/santa1.jpeg' ; //https://www.freepik.com/premium-photo/santa-claus-dancing-white-background_19440857.htm
const TEXTURE_ENEMY = '/uploads/pooja20/child12.jpeg' ; //https://cutewallpaper.org/21/animation-boys-wallpaper/view-page-21.html
//=============MUSIC and song========================================================================
const MUSIC_BACK = '/uploads/pooja20/JustinBieber-MistletoeOfficialMusicVideoeMP3.to.mp3';
const SOUND_ALARM = '/uploads/pooja20/firework-show-short-64657.mp3'; //https://pixabay.com/sound-effects/search/crackers/
//changed grid size to 30
const GRID_SIZE = 40; // 30;
//changed the count of number of obstacles
const NUMBER_OF_OBSTACLES = Math.trunc((GRID_SIZE * GRID_SIZE) / 4); // 7
// size of square in pixels
const SQUARE_SIZE = 100;
// length of one side in pixels
const MAXPOS = GRID_SIZE * SQUARE_SIZE;
// a number, not a string
const SKYCOLOR = 0xddffdd;
// distance from centre to start the camera at
const startRadiusConst = MAXPOS * 0.8;
// distance from centre to start the camera at
const maxRadiusConst = MAXPOS * 10;
//============ change ABWorld defaults: ============//
ABHandler.MAXCAMERAPOS = maxRadiusConst;
// "ground" exists at altitude zero
ABHandler.GROUNDZERO = true;
//===============Changes made by pooja =========================================================
/*I have downloaded the 3d christmas theme image from https://skybox.blockadelabs.com/ link and then used https://jaxry.github.io/panorama-to-cubemap/
for make 6 parts/dimenions of image*/
// skybox is a collection of 6 files
// x,y,z positive and negative faces have to be in certain order in the array
const SKYBOX_ARRAY = [
"/uploads/pooja20/px8.png",
"/uploads/pooja20/nx8.png",
"/uploads/pooja20/py8.png",
"/uploads/pooja20/ny8.png",
"/uploads/pooja20/pz8.png",
"/uploads/pooja20/nz8.png"
];
//========================================================================================================================================
//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"];
//===========These following actions can be picked by MIND===========================================================================
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;
// 3d or 2d box height
var BOXHEIGHT;
// can query GRID about whether squares are occupied, will in fact be initialised as a 2D array
var GRID = new Array(GRID_SIZE);
//declaring variable for AGENT(SANTA) and ENEMY(CHILD)
var AGENT, ENEMY;
var wall_texture, agent_texture, enemy_texture, maze_texture;
// enemy(CHILD) and agent(SANTA CLAUS) position on squares
var ei, ej, ai, aj;
var badsteps;
var goodsteps;
//======= Open and closed set on grid used in algorithim======================================================================================================
var openNodeSet = [];
var closedNodeSet = [];
var start;
var end;
var takeEuclideanDist = true;
//=====counter for counting total number of states====================================================================================================
let totalStatesSearched = 0;
//=======declaring the parameters for sphere, which i have used for child and santa (agent and enemy)=====================================
const sphereRadius = 70;
const sphereHeight = 20;
const sphereWidth = 30;
const pathRadius = 20;
const pathHeight = 5;
const pathWidth = 5;
// asynchronous file loads - call initScene() when all finished
function loadResources()
{
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()) loadScene(); // if all file loads have returned
});
loader2.load(TEXTURE_AGENT, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
agent_texture = thetexture;
if (asynchFinished()) loadScene();
});
loader3.load(TEXTURE_ENEMY, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
enemy_texture = thetexture;
if (asynchFinished()) loadScene();
});
loader4.load(TEXTURE_MAZE, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
maze_texture = thetexture;
if (asynchFinished()) loadScene();
});
}
//=============================================================================================================================================================
/**
*
* @returns Checks if everything is properly loaded or not:Boolean
*/
function asynchFinished() {
if (wall_texture && agent_texture && enemy_texture && maze_texture) return true;
else return false;
}
//===========grid system =====================================================================================================================================
// my numbering is 0 to gridsize-1
/**
*
* @param {row position} i
* @param {*column position} j
* @returns Checks if the particular location is occupied or not by any component like wall, obstacle, agent or enemy:Boolean
*/
function occupied(i, j) {
// variable objects
if ((ei == i) && (ej == j)) return true;
if ((ai == i) && (aj == j)) return true;
if (GRID[i][j].wall == true) return true; // fixed objects
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 * SQUARE_SIZE) - (MAXPOS / 2);
v.z = (j * SQUARE_SIZE) - (MAXPOS / 2);
return v;
}
//=========loadScene()====================================================================================================================================
function loadScene() {
var i, j, shape, thecube;
// set up GRID as 2D array
for (i = 0; i < GRID_SIZE; i++)
GRID[i] = new Array(GRID_SIZE);
//======================= set up walls=========================================================================================================================
/**
* Initialsed GRID as a Spot() object
* Spot contains detailed information about a particular location in the grid
*/
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
if ((i == 0) || (i == GRID_SIZE - 1) || (j == 0) || (j == GRID_SIZE - 1)) {
GRID[i][j] = new Spot(i, j, true);
//here I have made changes, changed to Cone geometery and represented as christmas tree=======================================
shape = new THREE.ConeGeometry( 45, 150, 32 );
thecube = new THREE.Mesh( shape );
thecube.material = new THREE.MeshBasicMaterial( { map: wall_texture } );
thecube.position.copy(translate(i, j));
ABWorld.scene.add(thecube);
}
else
GRID[i][j] = new Spot(i, j);
//==========================================set up maze==========================================================================================================
for (var c = 1; c <= NUMBER_OF_OBSTACLES; c++) {
i = AB.randomIntAtoB(1, GRID_SIZE - 2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
GRID[i][j] = new Spot(i, j, true);
shape = new THREE.BoxGeometry(SQUARE_SIZE, BOXHEIGHT, SQUARE_SIZE);
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);
}
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
GRID[i][j].addNeighbors(GRID);
//==============set up enemy=================================================================================================================================
// start in random location
do {
i = AB.randomIntAtoB(1, GRID_SIZE - 2);
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
}
while (occupied(i, j)); // search for empty square
ei = i;
ej = j;
//====Made changes, changed to Sphere shape==================================================================================================================
//previous code- shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
shape = new THREE.SphereGeometry ( sphereRadius, sphereHeight, sphereWidth );
ENEMY = new THREE.Mesh(shape);
ENEMY.material = new THREE.MeshBasicMaterial({
map: enemy_texture
});
ABWorld.scene.add(ENEMY);
drawEnemy();
//======================================= set up agent=====================================================================================================
//=================start in random location
do {
i = AB.randomIntAtoB(1, GRID_SIZE - 2);
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
}
while (occupied(i, j)); // search for empty square
ai = i;
aj = j;
//====Made changes, changed to Sphere shape==================================================================================================================
//previous code- shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
shape = new THREE.SphereGeometry ( sphereRadius, sphereHeight, sphereWidth );
AGENT = new THREE.Mesh(shape);
AGENT.material = new THREE.MeshBasicMaterial({
map: agent_texture
});
ABWorld.scene.add(AGENT);
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();
// start the run loop
AB.runReady = true;
AB.msg("Enemy: <button class='altbutton' onclick='calcEuclideanDist()'>Euclidean Distance</button>");
});
}
function calcEuclideanDist() {
if (takeEuclideanDist)
takeEuclideanDist = false;
else
takeEuclideanDist = true;
}
// =======================draw moving objects ===============================================================================================================
//====================given ei, ej, draw it=================================================================================================================
function drawEnemy()
{
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ENEMY.position.copy(translate(ei, ej));
// if camera moving, look back at where the enemy is
ABWorld.lookat.copy(ENEMY.position);
}
//=================== given ai, aj, draw it====================================================================================================================
function drawAgent()
{
AGENT.position.copy(translate(ai, aj)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy(AGENT.position); // follow vector = agent position (for camera following agent)
}
// ==================Changes by pooja , writtien heuristic function ===========================================================================================
function heuristic(a, b) {
//Manhattan Distance
return( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
//Distance Formula
return Math.sqrt(sqsum);
//================================ call this function when we have to use badheuristic function===========================================================================
//*return badHeuristic(a, b);*/
/*previous if ( takeEuclideanDist === true){
AB.msg( " <br> <font color=red> <B> ED! </B> </font> ", 5 );
return (Math.sqrt((a.i - b.i)*(a.i - b.i) + (a.j - b.j)*(a.j - b.j))); }
else{
AB.msg( " <br> <font color=red> <B> ED! </B> </font> ", 5 );
}
return ((a.i - b.i) * (a.i - b.i) + (a.j - b.j) * (a.j - b.j));
return Math.hypot(a.i - b.i, a.j - b.j)รท //Euclidean Distance
return 0; //Dkstras Algorithm
var sqsum = Math.pow(a.i - b.i, 2) + Math.pow(a.j - b.j, 2);*/
}
//======================================================================================================================================================================
// move towards agent
// put some randomness in so it won't get stuck with barriers
function moveLogicalEnemy() {
let path = aStar(GRID[ei][ej], GRID[ai][aj]);
if (path.length < 10) {
AB.msg(" <br> <font color=BLUE> <B> <I>CHILD IS NEAR, SANTA RUN FAST!</I> </B> </font> ", 5);
}
for (var x = 0; x < path.length; x++) {
path[x].show()
}
i = path[path.length - 2].i
j = path[path.length - 2].j
// if no obstacle then move, else just miss a turn
if (!occupied(i, j))
{
ei = i;
ej = j;
}
console.log("PATH ", path);
}
//===============================================================================================================================================================
// this is called by the infrastructure that gets action a from the Mind
// this is called by the infrastructure that gets action a from the Mind
function moveLogicalAgent(a)
{
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 ================================================================================================================
// is the enemy within one square of the agent
function badstep()
{
if ((Math.abs(ei - ai) < 2) && (Math.abs(ej - aj) < 2)) return true;
else return false;
}
// agent is blocked on all sides, run over
function agentBlocked()
{
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) + "% <br>"+
"<b>Total States searched ::</b>"+totalStatesSearched,2);
}
//=====================================================================================================================================
AB.world.newRun = function () {
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
if (show3d) {
BOXHEIGHT = SQUARE_SIZE;
ABWorld.init3d(startRadiusConst, maxRadiusConst, SKYCOLOR);
} else {
BOXHEIGHT = 1;
ABWorld.init2d(startRadiusConst, maxRadiusConst, SKYCOLOR);
}
// aynch file loads
// calls initScene() when it returns
loadResources();
// document.onkeydown = keyHandler;
};
AB.world.getState = function () {
var x = [ai, aj, ei, ej];
return (x);
};
AB.world.takeAction = function (a) {
// show status line before moves
updateStatusBefore(a);
moveLogicalAgent(a);
// slow the enemy down to every nth step
if (AB.step % 2 == 0)
moveLogicalEnemy();
if (badstep()) badsteps++;
else goodsteps++;
drawAgent();
drawEnemy();
// show status line after moves
updateStatusAfter();
// if agent blocked in, run over
if (agentBlocked())
{
AB.abortRun = true;
// you score zero as far as database is concerned
goodsteps = 0;
musicPause();
soundAlarm();
}
};
//=============Changes made=========================================================================================================================
AB.world.endRun = function () {
musicPause();
//message to be displayed is changed, color of message and font and style is changed
if (AB.abortRun) AB.msg(" <br> <font color=red> <B><I> SANTA IS CAUGHT. Final score zero.</I> </B> </font> ", 3);
else AB.msg(" <br> <font color=green> <B> GAME 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
}
function Spot(i, j, wall) {
// Location
this.i = i;
this.j = j;
this.wall = wall || false;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Neighbors
this.neighbors = [];
// Where did I come from?
this.previous = undefined;
this.show = function () {
this.tempShape = new THREE.BoxGeometry(30, 30, 30);
this.tempCube = new THREE.Mesh(this.tempShape);
this.tempCube.material = new THREE.MeshBasicMaterial();
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
this.tempCube.position.copy(translate(this.i, this.j));
this.tempCube.material.color.setColorName("blue");
this.tempCube.material.opacity = 0.10;
ABWorld.scene.add(this.tempCube);
}
this.hide = function () {
ABWorld.scene.remove(this.tempCube);
}
// Figure out who my neighbors are
this.addNeighbors = function (grid) {
var i = this.i;
var j = this.j;
if (i < GRID_SIZE - 1 && !grid[i + 1][j].wall) this.neighbors.push(grid[i + 1][j]);
if (i > 0 && !grid[i - 1][j].wall) this.neighbors.push(grid[i - 1][j]);
if (j < GRID_SIZE - 1 && !grid[i][j + 1].wall) this.neighbors.push(grid[i][j + 1]);
if (j > 0 && !grid[i][j - 1].wall) this.neighbors.push(grid[i][j - 1]);
}
}
function removeFromArray(arr, elt) {
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
// ==============A bad heuristic function that always returns a constant value============================================================================
// A bad heuristic function that always returns a constant value
function badHeuristic(a, b) {
return 1; // Constant value instead of actual distance
}
//==========================implementation of A* algorithum=============================================================================================================================
function aStar(start, end) {
/**
* Reseting location and f,g,h values for each new iteration
*
*/
resetParam();
let openNodeSet = [start];
let current;
let closedNodeSet = [];
while (openNodeSet.length > 0) {
var winner = 0;
for (var i = 0; i < openNodeSet.length; i++)
if (openNodeSet[i].f < openNodeSet[winner].f)
winner = i;
current = openNodeSet[winner];
// Did I catch my SANTA CLAUS?
if (current === end) {
console.log("success - found path");
break;
}
removeFromArray(openNodeSet, current);
closedNodeSet.push(current);
// Check all the neighbors
var neighbors = current.neighbors;
for (var i = 0; i < neighbors.length; i++) {
var neighbor = neighbors[i];
// Valid next spot?
if (!closedNodeSet.includes(neighbor) && !neighbor.wall) {
var tempG = current.g + heuristic(neighbor, current);
//to see total number of states
totalStatesSearched++;
// Better path than previous ?
var newPath = false;
//
if (openNodeSet.includes(neighbor)) {
if (tempG < neighbor.g) {
neighbor.g = tempG;
newPath = true;
}
} else {
neighbor.g = tempG;
newPath = true;
openNodeSet.push(neighbor);
}
// To search if there is a better path
if (newPath) {
neighbor.h = heuristic(neighbor, end);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
}
let path = [];
var temp = current;
path.push(temp);
console.log("previous path: " + temp.previous);
while (temp.previous) {
path.push(temp.previous);
temp = temp.previous;
}
return path;
}
function resetParam() {
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
//if (!( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 )) )
if ((GRID[i][j] && !GRID[i][j].wall)) {
GRID[i][j].previous = null;
GRID[i][j].g = 0;
GRID[i][j].h = 0;
GRID[i][j].f = 0;
GRID[i][j].hide();
}
}