Code viewer [Ancient Brain]

Code viewer for World: V2( A Star search complex ...

// Cloned by Kilian C on 1 Nov 2022 from World "A Star search complex world Attempt2" by Kilian C 
// Please leave this clone trail here.
// Keeping V1 as fall back incase I break
 


// Cloned by Kilian C on 27 Oct 2022 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       = 1000;    

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


 const TEXTURE_WALL 	= '/uploads/starter/door.jpg' ;
 const TEXTURE_MAZE 	= '/uploads/starter/latin.jpg' ;
 const TEXTURE_AGENT 	= 'uploads/kcarolan96/white_pebble.jpg' ;
 const TEXTURE_ENEMY 	= 'uploads/kcarolan96/blackpebble.jpg' ;


// credits:
// http://commons.wikimedia.org/wiki/File:Old_door_handles.jpg
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons
// http://en.wikipedia.org/wiki/File:Inscription_displaying_apices_(from_the_shrine_of_the_Augustales_at_Herculaneum).jpg

 
// 	const MUSIC_BACK  = '/uploads/starter/Defense.Line.mp3' ;
// 	const SOUND_ALARM = '/uploads/starter/air.horn.mp3' ;

// credits:
// http://www.dl-sounds.com/royalty-free/defense-line/
// http://soundbible.com/1542-Air-Horn.html 

	
	
const gridsize = 20;						// number of squares along side of world	   

const NOBOXES =  Math.trunc ( (gridsize * gridsize) / 10 );
		// density of maze - number of internal boxes
		// (bug) use trunc or can get a non-integer 

const squaresize = 100;					// size of square in pixels

const MAXPOS = gridsize * squaresize;		// length of one side in pixels 
	
const SKYCOLOR 	= 0xddffdd;				// a number, not a string 

 
const startRadiusConst	 	= MAXPOS * 0.8 ;		// distance from centre to start the camera at
const maxRadiusConst 		= MAXPOS * 10  ;		// maximum distance from camera we will render things  



//--- change ABWorld defaults: -------------------------------

ABHandler.MAXCAMERAPOS 	= maxRadiusConst ;

ABHandler.GROUNDZERO		= true;						// "ground" exists at altitude zero



//--- skybox: -------------------------------
// skybox is a collection of 6 files 
// x,y,z positive and negative faces have to be in certain order in the array 
// https://threejs.org/docs/#api/en/loaders/CubeTextureLoader 

// mountain skybox, credit:
// http://stemkoski.github.io/Three.js/Skybox.html

//  const SKYBOX_ARRAY = [										 
//                 "/uploads/starter/dawnmountain-xpos.png",
//                 "/uploads/starter/dawnmountain-xneg.png",
//                 "/uploads/starter/dawnmountain-ypos.png",
//                 "/uploads/starter/dawnmountain-yneg.png",
//                 "/uploads/starter/dawnmountain-zpos.png",
//                 "/uploads/starter/dawnmountain-zneg.png"
//                 ];


// space skybox, credit:
// http://en.spaceengine.org/forum/21-514-1
// x,y,z labelled differently


 const SKYBOX_ARRAY = [										 
                "/uploads/starter/sky_pos_z.jpg",
                "/uploads/starter/sky_neg_z.jpg",
                "/uploads/starter/sky_pos_y.jpg",
                "/uploads/starter/sky_neg_y.jpg",
                "/uploads/starter/sky_pos_x.jpg",
                "/uploads/starter/sky_neg_x.jpg"
                ];
				


// urban photographic skyboxes, credit:
// http://opengameart.org/content/urban-skyboxes

/*
 const SKYBOX_ARRAY = [										 
                "/uploads/starter/posx.jpg",
                "/uploads/starter/negx.jpg",
                "/uploads/starter/posy.jpg",
                "/uploads/starter/negy.jpg",
                "/uploads/starter/posz.jpg",
                "/uploads/starter/negz.jpg"
                ];
*/



// ===================================================================================================================
// === End of tweaker's box ==========================================================================================
// ===================================================================================================================


// You will need to be some sort of JavaScript programmer to change things below the tweaker's box.









//--- Mind can pick one of these actions -----------------

const ACTION_LEFT 			= 0;		   
const ACTION_RIGHT 			= 1;
const ACTION_UP 			= 2;		 
const ACTION_DOWN 			= 3;
const ACTION_STAYSTILL 		= 4;

// in initial view, (smaller-larger) on i axis is aligned with (left-right)
// in initial view, (smaller-larger) on j axis is aligned with (away from you - towards you)


// contents of a grid square

const GRID_BLANK 	= 0;
const GRID_WALL 	= 1;
const GRID_MAZE 	= 2;


var BOXHEIGHT;		// 3d or 2d box height 

var GRID 	= new Array(gridsize);			// can query GRID about whether squares are occupied, will in fact be initialised as a 2D array   

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;

//**************Creating Global Variables**********************

var path =[];
var flag;
var openSet = [];
var closedSet = [];

var start;
var end;




	
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].obstacle == GRID_WALL ) return true;		// fixed objects	 
 if ( GRID[i][j].obstacle == 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;
}

//*************My Functions ****************

// Heuristic Function h(x) using Manhattan Distance as each node there are only 4 possible next steps (noDiagonal)
//formula = D*|X1-X2| + |Y1-Y2|

function hFx(x,y)
{
   var distI = Math.abs(x.i-y.i);
   var distJ = Math.abs(x.j-y.j);
   var manhat= distI+distJ;
   return manhat;
    
}

function removeFromArray(arr,elt){
    for (var i = arr.length - 1; i >= 0; i--){
        if(arr[i]==elt){
            arr.splice(i,1);
        }
    }
}

//constructor for nodes
function node(i,j){
    this.i = i;
    this.j= j;
    this.obstacle =0;
    //astar constructors
    this.fx=0;
    this.gx=0;
    this.hx=0;
    this.preNode = undefined;
    this.neighbours=[];
    this.getNeighbours= function(grid){
        var i = this.i;
        var j = this.j;
        if (i < gridsize - 1)   this.neighbours.push(grid[i + 1][j]);
        if (i > 0)              this.neighbours.push(grid[i - 1][j]);
        if (j < gridsize - 1)   this.neighbours.push(grid[i][j + 1]);
        if (j > 0)              this.neighbours.push(grid[i][j - 1]);
    };
    
}


//USER CODE//

var Draw;
var current;
function aStar(startPos,endPos)
{   
    start=startPos;
    end= endPos;
    
    //debugger;
    //check is draw been assigned below
    if (Draw){
        ABWorld.scene.remove(Draw);
        path.splice(0,path.length);
        openSet.length=0;
        closedSet.length=0;
         
    }
    
    console.log("START " + start);
    openSet.push(start);
    while (openSet.length > 0)
    {   
        //best next option
        let best = 0;
        for (var i = 0; i < openSet.length; i++)
        {
            if (openSet[i].f < openSet[best].f)
            {
                best = i;
            }
        }
        let current = openSet[best]; //when i say let rather than var it works, pretty sure scope issue
        
        if(hFx(current,end) == 1)
        {
            console.log("ENDING");
            flag = current;
            break;
        }
        openSet.splice(best,1);
        closedSet.push(current);
    
    let neighbours = current.neighbours;
    
    for(var i = 0; i < neighbours.length; i++)
    {
        let neighbour = neighbours[i];
        //check if neighbour already been checked and is not occupied
        if(!closedSet.includes(neighbour) && (!neighbour.obstacle))
        {
            let tempG = current.g +1;
            
            if(!openSet.includes(neighbour)){
                openSet.push(neighbour);
            }else if (tempG >= neighbour.g){
                continue;
            }
            neighbour.g = tempG;
            neighbour.h = hFx(neighbour,end);
            neighbour.f = neighbour.g + neighbour.h;
            neighbour.preNode = current;
        }
      } 
      
      
  
    }
            var temp =flag;
            path.push(temp.preNode);
            while(temp.preNode)
            {
              path.push(temp.preNode);
              temp =temp.preNode;
        
            }
            Draw = drawPath(path);
    
    // openSet.splice(0,openSet.length);
    // closedSet.splice(0,closedSet.length);

}

	
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);
		
	//get gridNodes
	 for (i = 0; i < gridsize; i++){
	     for(j=0; j < gridsize; j++){
	         GRID[i][j]=new node(i,j);
	     }
	 }
	 
	 //get Node Neighbours
    	 for (i = 0; i < gridsize; i++){
	         for(j=0; j < gridsize; j++){
	         GRID[i][j].getNeighbours(GRID);
	     }
	 }

	// 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].obstacle = 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].obstacle = 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].obstacle = 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;
	 start = GRID[ei][ej];
	 openSet.push(start);
	 
	 
	 shape    = new THREE.CylinderGeometry ( squaresize/2, squaresize/2, BOXHEIGHT );					 
	 theenemy = new THREE.Mesh( shape );
 	 theenemy.material =  new THREE.MeshBasicMaterial( { map: enemy_texture } );
	 ABWorld.scene.add(theenemy);
	 drawEnemy();		  
    //statPosition
	 
	
	// 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;
     end = GRID[ai][aj];
     //console.log({end});
	 shape    = new THREE.OctahedronGeometry ( squaresize*0.5 );				 
	 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 drawPath(path)
{
    var x;
    var y;
    var coords=[];
    pathCol = '#2FF924';
    for(var k = path.length; k>0; k--)
    {
        x = path[k-1].i;
        y = path[k-1].j;
        //console.log(x);
        //console.log(x + "," + y);
        coords.push(translate(x,y));
    }
    //draw line
   // https://threejs.org/docs/#api/en/materials/LineBasicMaterial

    const lineConstruct = new THREE.LineBasicMaterial( {
	color: pathCol,
	linewidth: 1,} );
	var connect = new THREE.BufferGeometry().setFromPoints(coords);
	line = new THREE.Line(connect,lineConstruct);
    ABWorld.scene.add( line );
  
    return line;
  
    
    
}

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()
{
//debugger;
aStar(start,end);
    
    var reverse= path.slice().reverse();
    //  openSet=[];
    //  closetSet=[];
    //console.log({closedSet});
    if(reverse.length > 1)
    {
        var nextmove = reverse[1];
        console.log(reverse);
        ei = nextmove.i;
        ej = nextmove.j;
        removeFromArray(path,nextmove);
        start = GRID[ei][ej];
        console.log("Next Move is: " + ei + ", " + ej);
    }
    
    

// else
// {
//      console.log("No Move: Adjacent to Agent");
// }

}


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;
 }
 
 end = GRID[ai][aj];
 //console.log(end);
 
}




// --- 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 + " &nbsp; x = (" + x.toString() + ") &nbsp; 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 ( " &nbsp; y = (" + y.toString() + ") <br>" +
		" Bad steps: " + badsteps + 
		" &nbsp; Good steps: " + goodsteps + 
		" &nbsp; 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 
  {
	AB.abortRun = true;
	goodsteps = 0;			// you score zero as far as database is concerned 			 
	musicPause();
	soundAlarm();
  }

};



AB.world.endRun = function()
{
  musicPause(); 
  if ( AB.abortRun ) AB.msg ( " <br> <font color=red> <B> Agent trapped. Final score zero. </B> </font>   ", 3  );
  else    				AB.msg ( " <br> <font color=green> <B> Run over. </B> </font>   ", 3  );
};

 
AB.world.getScore = function()
{
    // only called at end - do not use AB.step because it may have just incremented past AB.maxSteps
    
    var s = ( goodsteps / AB.maxSteps ) * 100;   // float like 93.4372778 
    var x = Math.round (s * 100);                // 9344
    return ( x / 100 );                          // 93.44
};


 




// --- music and sound effects ----------------------------------------

var backmusic = AB.backgroundMusic ( MUSIC_BACK );

function musicPlay()   { backmusic.play();  }
function musicPause()  { backmusic.pause(); }

											 
function soundAlarm()
{
	var alarm = new Audio ( SOUND_ALARM );
	alarm.play();							// play once, no loop 
}