Code viewer for World: A* Assignment

// Cloned by Amrita Jain on 11 Aug 2020 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       = 1;    

	// Speed of run: Step every n milliseconds. Default 100.
	
AB.maxSteps        = 5000;    

	// 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) 


// credits:
//https://upload.wikimedia.org/wikipedia/commons/5/50/Helios%2C_Main_figure_%28Johannes_Benk%29_at_the_Naturhistorisches_Museum%2C_Wien-9958.jpg
//https://commons.wikimedia.org/w/index.php?sort=relevance&search=Devil&title=Special:Search&profile=advanced&fulltext=1&advancedSearch-current=%7B%7D&ns0=1&ns6=1&ns12=1&ns14=1&ns100=1&ns106=1&searchToken=5rkneauw0u45o83rca21yml2q#%2Fmedia%2FFile%3ADevil-307138.svg
//https://commons.wikimedia.org/w/index.php?sort=relevance&search=wall&title=Special:Search&profile=advanced&fulltext=1&advancedSearch-current=%7B%7D&ns0=1&ns6=1&ns12=1&ns14=1&ns100=1&ns106=1&searchToken=8vho5dx3bxhif2nf9v4zaabuu#%2Fmedia%2FFile%3AWavy_fence_and_a_wall_BW_version.jpg
//https://commons.wikimedia.org/wiki/File:Picture_maze.svg#/media/File:Picture_maze_unsolved.png

 const TEXTURE_WALL 	= '/uploads/amu94/256px-Wavy_fence_and_a_wall_BW_version.jpg';
 const TEXTURE_MAZE 	= '/uploads/amu94/Picture_maze_unsolved.png';
 const TEXTURE_AGENT 	= '/uploads/amu94/128px-Helios_Main_figure_Johannes_Benk_at_the_Naturhistorisches_Museum_Wien-9958.jpg';
 const TEXTURE_ENEMY 	= '/uploads/amu94/128px-Enemy.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 = 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 LIGHTCOLOR = 0xffffff;

 
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 

//skybox, Refrence:
// https://ancientbrain.com/uploads/starter/st.posx.jpg

 const SKYBOX_ARRAY = [										 
                "/uploads/amu94/st.posx.jpg",
                "/uploads/amu94/st.negx.jpg",
                "/uploads/amu94/st.posy.jpg",
                "/uploads/amu94/st.negy.jpg",
                "/uploads/amu94/st.posz.jpg",
                "/uploads/amu94/st.negz.jpg"
                ];


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


// 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;
const GRID_ENEMY = 10; // added information if grid contains the actors, rather than checking globals
const GRID_AGENT = 20; // added information if grid contains the actors, rather than checking globals
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;

// added new class to make it easier to pass coordinates
class coordinates {
    constructor(i, j) {
        this.i = i;
        this.j = j;
    }
}

//-------------------------------------------------------------------------------------------------------------------------------------------------------

var badsteps;
var goodsteps;


const Max_Node_Size = gridsize * gridsize;

// diagonal option enabled significantly increases performance of the enemy bot
// and allows access to shorter routes
var diagonal = true;

// if you want to see A* in action
const draw = true;
var drawArray = [];
	
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
{
    // Added check to ensure that occupied square is in grid.
    if (i <= gridsize && j <= gridsize &&
        i >= 0 && j >= 0) {

        switch (GRID[i][j]) {
            case GRID_WALL:
            case GRID_MAZE:
            case GRID_ENEMY:
            case GRID_AGENT:
                return true;
            default:
                return false;
        }
    }
    // off the grid
    return true;
}
 
function iswall(i, j) // is this square occupied
{
    switch (GRID[i][j]) {
        case GRID_WALL:
        case GRID_MAZE:
            return true;
        default:
            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 = -squaresize;
    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=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(); 

    GRID[ai][aj] = GRID_AGENT;
    GRID[ei][ej] = GRID_ENEMY;



   // 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()
{ 

    // move towards agent
    // put some randomness in so it won't get stuck with barriers

    var i, j;

    start.i = ei;
    start.j = ej;
    target.i = ai;
    target.j = aj;

    // call the a* algorithm to provide the best path between targets (GRID not necessary, as globals used)
    bestPath = Algorithm(GRID, start, target);

    // Only Move if the space is empty
    if (!occupied(bestPath.i, bestPath.j)) {
        GRID[ei][ej] = GRID_BLANK; // Store Agents Position
        // move enemy to new position
        ei = bestPath.i;
        ej = bestPath.j;
        GRID[ei][ej] = GRID_ENEMY;
    }
    console.info("enemy moving to : " + ei + "," + ej)
}


function moveLogicalAgent( a )			// this is called by the infrastructure that gets action a from the Mind 
{ 
    var i = ai;
    var j = aj;

    // depending on the agent move, spin the sphere
    switch (a) {
        case ACTION_LEFT:
            i--;
            theagent.rotation.y = 0;
            break;
        case ACTION_RIGHT:
            i++;
            theagent.rotation.y = -1;
            break;
        case ACTION_UP:
            j++;
            theagent.rotation.y = -2;
            break;
        case ACTION_DOWN:
            j--;
            theagent.rotation.y = 2;
            break;
        default:
            break;
    }

    if (!occupied(i, j)) {
        GRID[ai][aj] = GRID_BLANK; // Clear Agents Previous Position
        ai = i;
        aj = j;
        GRID[ai][aj] = GRID_AGENT; // Store Agents Position

    }
}


// --- 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 ); 
}


function algoinitia()
{
    console.info ("A* Initialization Started");
    var i, j;
    for (i=0;i<gridsize;i++)
    {
        algorithmGrid [i] = [];
        for (j=0;j<gridsize;j++)
        {
            algorithmGrid [i][j] = new gridLoc (i ,j);
        }
    }
    
    for (i=0;i<gridsize ;i++)
    {
        for(j=0;j<gridsize;j++)
        {
            algorithmGrid [i][j].closest();  
        }
    }
    console.info ("A* Initialization finished");
}


AB.world.newRun = function() 
{
	AB.loadingScreen();

	AB.runReady = false;  

	badsteps = 0;	
	goodsteps = 0;
	algoinitia();

	
	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

    console.info("-: Agent: " + ai + "," + aj + " Enemy: " + ei + "," + ej);

    moveLogicalAgent(a);

    if ((AB.step % 2) === 0) { // slow the enemy down to every nth step
        playSound();
        moveLogicalEnemy();
    }

    console.info("+: Agent: " + ai + "," + aj + " Enemy: " + ei + "," + ej);

    // consoleGrid();

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

    // Spin the enemy around every turn
    enemyAngle += 0.2;
    theenemy.rotation.y = enemyAngle;
    // theagent.rotation.y -= 0.2;

    drawAgent();
    drawEnemy();
    updateStatusAfter(); // show status line after moves

    // enemy will agressively pin agen to wall, if score reaches 10%, generally pointless (and
    // and exponentially increasing time to claim run over
    if (agentBlocked() || ((goodsteps / AB.step) < 0.10)) // if agent blocked in, run over
    {
        AB.abortRun = true;
        goodsteps = 0; // you score zero as far as database is concerned
        //      musicPause();
        //      soundAlarm();
    }


  //Draw line of proof
    if (draw)
    {
        drawPath();
    }

};



AB.world.endRun = function () {
    //  musicPause();
    if (AB.abortRun) AB.msg(" <br> <font color=red> <B> Agent trapped.</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 
}

var start = new coordinates();
var target = new coordinates();


function algorithmHeuristics()
{
    if (diagonal)
        return (Math.pow(start.i - end.i, 2) + Math.pow((start.j - end.j), 2));
    else
        return (Math.abs(start.i - start.i) + Math.abs(start.j - end.j));
}

function gridLoc (i ,j)
{
    //Location
    this.i = i;
    this.j = j;
    
    // x, y, z vectors will be replaced with q, w and e respectively for A*
    this.q = 0;
    this.w = 0;
    this.e = 0;
    
    //Closest positions
    this.closest = [];
    
    // what is my parent location
    this.parentNode = undefined;
    this.closed =false; 
    
    this.addclosest = function ()
    {
        var i = this.i;
        var j = this.j;
        
        if (i < gridsize - 1) this.closest.push(algorithmGrid[i + 1][j]);
        if (i > 0) this.closest.push(algorithmGrid[i - 1][j]);
        if (j < gridsize - 1) this.closest.push(algorithmGrid[i][j + 1]);
        if (j > 0) this.closest.push(algorithmGrid[i][j - 1]);
    };
    
}

var  algorithmGrid = [];

function algoinitia()
{
    console.info ("A* Initialization Started");
    var i, j;
    for (i=0;i<gridsize;i++)
    {
        algorithmGrid [i] = [];
        for (j=0;j<gridsize;j++)
        {
            algorithmGrid [i][j] = new gridLoc (i ,j);
        }
    }
    
    for (i=0;i<gridsize ;i++)
    {
        for(j=0;j<gridsize;j++)
        {
            algorithmGrid [i][j].addclosest();  
        }
    }
    console.info ("A* Initialization finished");
}

//A* function for tracking and moving next position
function Algorithm(grid , start , target)
{

    // Initialize both open and closed list
    var openNodes = [];
    var childNode;
    var reached = false;
    var nextNode = aStarGrid[target.i][target.j]; // define the target
    var startNode = aStarGrid[start.i][start.j]; // define the target
    var currentNode;
    var nextMove = new coordinates(start.i, start.j);

    // Push the start node onto the openlist to start the analysis
    openNodes.push(startNode); // push startnode onto openNodes

    // clearup previous search - need to be more efficient with memory
    console.info("cleaning up previous results");
    for (i = 0; i < gridsize; i++) {
        for (j = 0; j < gridsize; j++) {
            currentNode = aStarGrid[i][j];
            currentNode.f = currentNode.h = currentNode.g = 0;
            currentNode.closed = false;
            currentNode.parent = null;
        }
    }

    // loop through all of the a* openlist or until target or error found
    while ((openNodes.length > 0) && !reached) {

        if (openNodes.length > MAX_openNodes) {
            // Prevent Memory Issues when debugging openNodes
            console.error("there is a problem with the openNodes, bail out!");
            reached = true;
            return nextMove;
        }

        // Sort the list based on the f value
        openNodes.sort((a, b) => (a.f > b.f) ? 1 : -1); //sort set by f
        currentNode = openNodes.shift(); // shift the first entry of openNodes
        currentNode.closed = true; // quick check for closed

        console.info("Current: " + currentNode.i + ", " + currentNode.j + " - (O/C) is " + openNodes.length);
        if (currentNode == nextNode) {

            // Proof array
            if (PROOF){
                proofArray.push(nextNode);
            }

            // Found Target - now backtrack to get next node
            while (currentNode.parent != startNode) {

                 // if we require proof, push store path
                if (PROOF){
                    proofArray.push(currentNode);
                }
                
                // backtrack to return the next move                
                currentNode = currentNode.parent;
            }
            reached = true;

            // Proof array
            if (PROOF){
                proofArray.push(startNode);
            }


        } else {
            // if we are not at target, build openNodes
            for (n = 0; n < currentNode.neighbors.length; n++) {
                // for each of the neighbours, calculate the childNoderen
                childNode = currentNode.neighbors[n];

                // check if in closedSet or occupied
                if (childNode.closed) {
                    // move to next childNode
                } else if (iswall(childNode.i, childNode.j)) {
                    // closedSet.push(childNode);
                    childNode.closed = true;
                } else {
                    // calculate values and add to openNodes
                    if ((childNode.i == currentNode.i) || (childNode.j == currentNode.j))
                        childNode.g = currentNode.g + 10; // if not diagonal, use 10 as metric
                    else
                        childNode.g = currentNode.g + 14; // rougly the square path if diagonal

                    childNode.h = aStarHeuristics(childNode, nextNode);
                    childNode.f = childNode.g + childNode.h;
                    childNode.parent = currentNode;
                    if (openNodes.indexOf(childNode) < 0) {
                        // if not in openNodes
                        openNodes.push(childNode);
                    }

                } // check if closedSet
            } // loop through neighbours
        } //check if we have reached target
    }

    nextMove.i = currentNode.i;
    nextMove.j = currentNode.j;

    console.info("returning form a*: ");
    return nextMove;
    // end of openNodes, and not reached.
 
}


// Draw the A* algortihm on the screen
// Needs more work in terms of the path changing and colours, but good enough
// To slow down the path and see it.

var lastProofLine = [];
var previousLine;

function drawPath()
{
	var point1; // local "Spots"
	var point2; // local "Spots"
	var line;

	var oldMaterial = new THREE.LineBasicMaterial({color:0x222222, linewidth:5 });
    
    // clear old line

    /*if (lastProofLine.length > 0){
        line = lastProofLine.shift();
        lastProofLine[0].material = oldMaterial;
        if (previousLine)
        {
            ABWorld.scene.remove(previousLine);
        }
        ABWorld.scene.add(line);
        previousLine = line;
    }*/
    var mat = new THREE.LineBasicMaterial({color:'blue', linewidth:2 });
    var geo = new THREE.Geometry();   
    
    // in the drawArray
    for ( i = drawArray.length; i > 1; i--)
    {
        
        console.log("inside of for loop");
         
         
        point1 = drawArray.shift();

        // geo.vertices.push( translate(point1.i, point1.j) );
        if (point1.parentNode){
            
            point1 = point1.parentNode;
            // drawline between proofArrayPoints
            geo.vertices.push( translate(point1.i, point1.j) );
            console.log("Line between " + point1.i + "," + point1.j + " and ")
        }
        else {
            geo.vertices.push( translate(point1.i, point1.j) );
            console.log("Line between " + point1.i + "," + point1.j + " and ")

        }        

    }
        line = new THREE.Line(geo, mat);
        // line.castShadow = true;
    lastProofLine.push(line);
    ABWorld.scene.add(line);
}