// Cloned by Reeve Barreto on 25 Oct 2023 from World "Complex World" by Starter user
// Please leave this clone trail here.
// ==== Starter World =================================================================================================
// This code is designed for use on the Ancient Brain site.
// This code may be freely copied and edited by anyone on the Ancient Brain site.
// To include a working run of this program on another site, see the "Embed code" links provided on Ancient Brain.
// ====================================================================================================================
// =============================================================================================
// 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 = 300;
// 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/reeve/water.png' ;
const TEXTURE_MAZE = '/uploads/reeve/land.png' ;
const TEXTURE_AGENT = '/uploads/reeve/caterpie.png' ;
const TEXTURE_ENEMY = '/uploads/reeve/ash.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/reeve/pokemonbattle.mp3' ;
const SOUND_ALARM = '/uploads/reeve/pokemoncaptured.mp3' ;
// credits:
// http://www.dl-sounds.com/royalty-free/defense-line/
// http://soundbible.com/1542-Air-Horn.html
const gridsize = 40; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3);
// density of maze - number of internal boxes
// (bug) use trunc or can get a non-integer
const squaresize = 100; // size of square in pixels
const MAXPOS = gridsize * squaresize; // length of one side in pixels
const SKYCOLOR = 0xddffdd; // a number, not a string
const startRadiusConst = MAXPOS * 0.8 ; // distance from centre to start the camera at
const maxRadiusConst = MAXPOS * 10 ; // maximum distance from camera we will render things
//--- 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
const SKYBOX_ARRAY = [
"/uploads/reeve/xp.png",
"/uploads/reeve/xn.png",
"/uploads/reeve/yp.png",
"/uploads/reeve/yn.png",
"/uploads/reeve/zp.png",
"/uploads/reeve/zn.png"
];
// ===================================================================================================================
// === 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
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;
}
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=0 ; c < NOBOXES ; c++ )
{
i = AB.randomIntAtoB(1,gridsize-2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1,gridsize-2);
// static maze
// const arri = [22,9,26,16,27,3,12,30,22,2,27,10,7,13,29,28,11,36,18,22,11,9,4,13,6,2,28,14,4,13,26,9,37,25,32,9,15,7,21,11,5,32,12,8,34,17,31,14,16,7,19,22,32,1,9,23,2,32,26,24,38,21,13,15,27,29,28,33,19,30,5,32,36,19,36,11,16,37,4,38,7,5,31,11,10,25,2,11,27,8,21,18,15,3,21,37,12,5,16,16,18,28,13,4,4,23,9,26,31,31,5,18,12,18,36,19,3,6,10,33,16,28,1,18,26,23,25,8,24,38,9,19,7,10,10,30,10,16,7,23,31,28,23,26,2,1,36,4,11,32,3,10,2,6,12,37,38,20,28,29,9,32,9,35,8,31,22,34,12,28,11,16,21,34,29,11,25,37,22,24,21,13,7,29,9,3,25,4,15,17,14,36,37,19,21,4,8,35,17,30,37,9,30,20,32,35,1,17,33,2,3,15,15,18,24,3,22,21,3,16,3,1,19,27,8,32,14,33,20,7,24,15,24,28,10,5,14,13,28,28,20,16,31,10,30,33,15,32,23,37,11,37,22,26,32,8,16,27,14,15,19,1,7,9,20,28,27,36,38,33,8,14,17,11,27,8,27,18,7,35,9,10,2,29,10,36,27,35,2,31,12,10,13,36,2,21,21,26,22,9,11,13,3,12,27,23,23,17,21,12,18,16,11,15,30,22,18,28,22,17,16,31,14,24,31,6,37,22,22,19,21,31,28,25,23,26,21,1,6,20,28,12,18,32,27,36,8,36,11,6,24,15,5,6,31,14,27,36,15,17,10,33,19,18,22,20,37,5,12,31,8,6,11,13,36,3,36,20,21,8,24,22,6,31,12,22,9,36,5,29,38,5,9,16,6,14,38,9,19,21,28,23,9,11,34,37,12,19,12,20,29,6,16,11,12,9,11,26,24,25,9,37,31,8,25,7,16,33,1,13,22,12,36,1,6,6,31,19,1,31,38,24,28,23,22,33,28,32,32,14,32,29,16,21,37,13,33,17,20,16,11,4,8,31,21,3,6,7,25,24,34,16,1,20,2,11,23,11,38,28,24,22,16,19,19,33,37,13,28,8,38,12,33,36,10,33,34,25,34,29,38,9,37,34,30,31,29,17,2,6,21,5,37,7,35,32,9,36,5,9,3,24,12,13,30,7,18,16,33,27,3,13,19];
// const arrj = [10,4,7,8,4,18,36,38,21,24,38,5,8,33,23,21,19,21,18,1,10,22,2,34,3,19,14,21,9,31,15,12,21,28,27,11,35,6,30,18,31,31,7,27,30,3,33,37,15,14,19,13,28,35,25,3,30,9,30,11,24,8,23,7,13,34,15,24,4,34,21,10,30,25,30,37,23,11,18,3,36,34,23,37,25,19,7,8,3,4,31,29,10,36,10,34,33,19,20,29,13,1,5,26,8,24,5,20,1,14,3,29,37,32,37,27,14,3,18,2,2,19,36,20,21,28,14,37,13,38,25,4,9,6,1,19,7,18,27,6,9,5,22,18,18,10,24,21,33,24,8,12,30,23,3,3,7,6,28,11,29,34,22,23,21,14,11,3,7,11,27,3,17,8,1,34,8,24,23,22,23,10,5,2,3,31,28,3,11,29,31,29,2,35,37,8,16,12,11,9,8,32,28,8,9,5,18,20,13,2,36,14,12,3,16,24,25,22,35,8,17,25,6,9,22,20,9,3,12,10,2,33,20,24,27,12,8,8,6,1,25,27,11,13,28,22,25,1,35,30,30,27,6,10,32,3,23,29,10,12,23,25,13,35,11,28,14,18,17,37,18,32,9,3,7,24,21,27,22,7,29,3,5,14,37,8,36,20,37,7,12,25,3,37,1,6,30,3,5,19,26,3,25,38,27,2,15,8,37,10,29,22,34,18,33,20,29,19,24,21,32,11,9,1,38,12,17,28,36,30,28,24,22,37,2,34,19,18,37,11,2,4,31,7,31,30,19,18,35,21,12,4,3,22,31,2,15,4,34,34,10,8,24,27,17,11,34,21,11,6,12,36,10,29,28,28,20,15,6,22,31,27,35,16,17,16,31,21,31,36,7,22,3,9,33,7,27,30,35,36,23,14,7,22,19,10,28,3,20,7,20,6,29,7,29,27,33,11,14,31,14,4,22,12,29,36,12,4,10,13,9,3,14,22,38,7,17,19,9,21,37,24,8,1,22,25,27,13,21,38,26,5,17,33,8,38,11,33,36,15,9,17,25,16,34,23,16,5,28,31,36,1,31,20,1,23,29,19,15,33,9,19,30,5,33,5,22,11,23,4,26,7,21,27,15,8,34,4,27,7,38,3,25,26,17,27,18,6,25,33,34,19,4,35,4,10,15,23,19,10,11,23,29,12,34,17,11,34,18,35,33,29,27];
// i = arri[c];
// j = arrj[c];
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
});
}
// --- 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()
{
let start = new Node(ei, ej);
let target = new Node(ai, aj);
AStar(start, target);
// BFS(start, target);
}
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 +
"States Searched: " + TSS +
" 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();
if ( badstep() ) badsteps++;
else goodsteps++;
drawAgent();
drawEnemy();
updateStatusAfter(); // show status line after moves
if ( agentBlocked() ) // if agent blocked in, run over
{
gameOverMessage = "Cateripe can't move"
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=green> <B>" + gameOverMessage + "</B> </font> ", 3 );
else AB.msg ( " <br> <font color=red> <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
}
// -----------------My Code -------------------------------
class Node {
constructor (i, j) {
this.i = i;
this.j = j;
this.f = null;
this.g = null;
this.h = null;
this.neighbours = null;
this.parent = null;
}
}
let pathline;
let dots = new Set();
let gameOverMessage = null;
let TSS = 0; // total states searched
function isWallOrMaze(i, j) {
return GRID[i][j] == GRID_WALL || GRID[i][j] == GRID_MAZE;
}
function getNeighboursOfNode(node) {
const neighbours = new Set();
// Define the potential moves
const moves = [
{ i: node.i - 1, j: node.j },
{ i: node.i + 1, j: node.j },
{ i: node.i, j: node.j - 1 },
{ i: node.i, j: node.j + 1 },
];
// Check if each move is valid and not a wall or maze
for (const move of moves) {
const { i, j } = move;
if (!isWallOrMaze(i, j)) {
neighbours.add(new Node(i, j));
}
}
return neighbours;
}
function hCost (a, b) {
// Return the Manhattan Distance between a & b
return Math.abs(a.i - b.i) + Math.abs(a.j - b.j);
}
function makeNextMove(node) {
// Initialise the path list
const path = []
// Through backwards propogation make the path
while (node) {
path.push(node);
node = node.parent;
}
// Second to last element in path is the next move
let nextMove = path[path.length - 2]
// Check if next move will capture the agent
if (nextMove.i == ai && nextMove.j == aj)
return gameOver("You caught a Caterpie!");
// Clear the old path from the world
if (pathline) {
ABWorld.scene.remove(pathline);
pathline = null;
}
// Move our guy
ei = nextMove.i;
ej = nextMove.j;
// Draw the path between our guy and agent
path.pop();
drawPath(path);
}
function drawPath(path) {
// Create a line with the path vertices
const lineGeometry = new THREE.BufferGeometry();
const lineVertices = [];
// Add the vertices of the line based on the path
for (const node of path) {
const position = translate(node.i, node.j);
lineVertices.push(position.x, position.y + BOXHEIGHT / 2, position.z);
}
lineGeometry.setAttribute('position', new THREE.Float32BufferAttribute(lineVertices, 3));
const lineMaterial = new THREE.LineBasicMaterial({ color: 0x0000ff });
const line = new THREE.Line(lineGeometry, lineMaterial);
ABWorld.scene.add(line);
// For reference when clearing
pathline = line;
}
function drawDots(points, color) {
// Create a sphere for each point and add to the world
for (const point of points) {
const sphereGeometry = new THREE.SphereGeometry(squaresize / 4, 10, 10); // Adjust size and resolution as needed
const sphereMaterial = new THREE.MeshBasicMaterial({ color }); // Specify color
const sphere = new THREE.Mesh(sphereGeometry, sphereMaterial);
const {x, y, z} = translate(point.i, point.j);
sphere.position.set(x, y, z); // Set the position of the sphere
// Add the dot to the scene
ABWorld.scene.add(sphere);
// Add the dot to the set for reference
dots.add(sphere);
}
}
function clearDots() {
// For remove each value in dots set from the world
for (const dot of dots) {
ABWorld.scene.remove(dot);
dots.delete(dot);
}
}
function gameOver (msg) {
// Set the game over messasge
gameOverMessage = msg;
AB.abortRun = true;
goodsteps = 0;
musicPause();
soundAlarm();
}
function AStar(start, target) {
// Initialise the open and closed list
let open = [];
let closed = [];
// Push the start node to open
open.push(start);
// Repeat until open list empty or found target
while (open.length > 0) {
let current = null;
// set current to the node with lowest f
for (const node of open)
if (!current || node.f < current.f)
current = node;
// Remove current from open
open.splice(open.indexOf(current), 1);
// If current is equal to the target then target found! Make next move
if (current.i == target.i && current.j == target.j) {
// Clear previous dots before drawing new Dots
clearDots();
drawDots(open, 0x00ff00);
drawDots(closed, 0xff0000);
TSS += closed.length;
return makeNextMove(current);
}
// Push current to closed
closed.push(current); // add current to closed
// Fetch the neighbours of current
current.neighbours = getNeighboursOfNode(current);
// For each neighbour of current
for (const neighbour of current.neighbours) {
// Skip if neighbour is already in closed set
if (closed.find((val) => val.i == neighbour.i && val.j == neighbour.j))
continue;
// Calculate g for the neighbour
let g = current.g + 1;
// If new g is less than old g or neighbour is not in open set
if (g < neighbour.g || !open.find((val) => val.i == neighbour.i && val.j == neighbour.j)) {
neighbour.parent = current;
neighbour.g = g
neighbour.h = hCost(neighbour, target);
neighbour.f = neighbour.g + neighbour.h;
open.push(neighbour);
}
}
}
// If no solution
return gameOver("Sighs.. no way to the caterpie");
}
function BFS(start, target) {
// Initialise the queue and visited list
const queue = [];
const visited = [];
// Push the start node to queue
queue.push(start);
// Repeat uptil queue is empty or target found
while(queue.length > 0) {
// Pop the next value from the queue to current
const current = queue.shift();
// If current is equal to the target then target found! Make next move
if (current.i == target.i && current.j == target.j) {
// Clear previous dots before drawing new Dots
clearDots();
drawDots(queue, 0x00ff00);
drawDots(visited, 0xff0000);
TSS += visited.length;
return makeNextMove(current);
}
// Check if current is not in visited list
if (!visited.find((val) => val.i == current.i && val.j == current.j)) {
// Fetch the neighbours of current
current.neighbours = getNeighboursOfNode(current);
// Push current to visited
visited.push(current);
// For each neighbour of current
for (const neighbour of current.neighbours) {
// Push neighbours to queue if they don't exist
if (!visited.find((val) => val.i == neighbour.i && val.j == neighbour.j)) {
neighbour.parent = current;
queue.push(neighbour);
}
}
}
}
// If no solution
return gameOver("Sighs.. no way to the caterpie");
}