// Cloned by Tom McAllister on 29 Nov 2020 from World "Complex World" by Starter user
// Please leave this clone trail here.
AB.clockTick = 100;
AB.maxSteps = 1000;
AB.screenshotStep = 50;
const show3d = true;
const TEXTURE_WALL = '/uploads/tom/green-yellow.jpeg';
const TEXTURE_MAZE = '/uploads/tom/green-yellow.jpeg';
const TEXTURE_AGENT = '/uploads/tom/agent.jpg';
const TEXTURE_ENEMY = '/uploads/tom/enemy.jpg';
const MUSIC_BACK = '/uploads/starter/Defense.Line.mp3';
const SOUND_ALARM = '/uploads/starter/air.horn.mp3';
const gridsize = 50;
const NOBOXES = Math.trunc((gridsize * gridsize) / 3);
const diagonal = false;
const squaresize = 100;
const MAXPOS = gridsize * squaresize;
const SKYCOLOR = 0xddffdd;
const startRadiusConst = MAXPOS * 0.8;
const maxRadiusConst = MAXPOS * 10;
ABHandler.MAXCAMERAPOS = maxRadiusConst;
ABHandler.GROUNDZERO = true;
const SKYBOX_ARRAY = [
"/uploads/tom/black.jpeg",
"/uploads/tom/black.jpeg",
"/uploads/tom/black.jpeg",
"/uploads/tom/black.jpeg",
"/uploads/tom/black.jpeg",
"/uploads/tom/black.jpeg"
];
//--- 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;
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
var BOXHEIGHT;
var GRID = new Array(gridsize);
var SPOTGRID = new Array(gridsize);
var theagent, theenemy;
var wall_texture, agent_texture, enemy_texture, maze_texture;
var ei, ej, ai, aj;
var badsteps;
var goodsteps;
// ADDED THESE
var openSet = [];
var closedSet = [];
var path = [];
var counter = 0; // WAS FOR DEBUGGING TO MAKE SURE ASTAR WAS CALLED
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 = 1; c <= NOBOXES; c++) {
i = AB.randomIntAtoB(1, gridsize - 2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1, gridsize - 2);
GRID[i][j] = GRID_MAZE;
shape = new THREE.BoxGeometry(squaresize, BOXHEIGHT, squaresize);
thecube = new THREE.Mesh(shape);
thecube.material = new THREE.MeshBasicMaterial({
map: maze_texture
});
thecube.position.copy(translate(i, j)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
// set up enemy
// start in random location
do {
i = AB.randomIntAtoB(1, gridsize - 2);
j = AB.randomIntAtoB(1, gridsize - 2);
}
while (occupied(i, j)); // search for empty square
ei = i;
ej = j;
shape = new THREE.BoxGeometry(squaresize, BOXHEIGHT, squaresize);
theenemy = new THREE.Mesh(shape);
theenemy.material = new THREE.MeshBasicMaterial({
map: enemy_texture
});
ABWorld.scene.add(theenemy);
drawEnemy();
// set up agent
// start in random location
do {
i = AB.randomIntAtoB(1, gridsize - 2);
j = AB.randomIntAtoB(1, gridsize - 2);
}
while (occupied(i, j)); // search for empty square
ai = i;
aj = j;
shape = new THREE.BoxGeometry(squaresize, BOXHEIGHT, squaresize);
theagent = new THREE.Mesh(shape);
theagent.material = new THREE.MeshBasicMaterial({
map: agent_texture
});
ABWorld.scene.add(theagent);
drawAgent();
// finally skybox
// setting up skybox is simple
// just pass it array of 6 URLs and it does the asych load
ABWorld.scene.background = new THREE.CubeTextureLoader().load(SKYBOX_ARRAY, function() {
ABWorld.render();
AB.removeLoading();
AB.runReady = true; // start the run loop
});
// CREATE A SEPARATE GRID, COMPOSED OF SPOT OBJECTS, PURELY FOR A* FUNCTION
for (i = 0; i < gridsize; i++)
SPOTGRID[i] = new Array(gridsize);
for (var i = 0; i < gridsize; i++) {
for (var j = 0; j < gridsize; j++) {
SPOTGRID[i][j] = new Spot(i, j);
}
}
for (var i = 0; i < gridsize; i++) {
for (var j = 0; j < gridsize; j++) {
SPOTGRID[i][j].addNeighbors(SPOTGRID);
}
}
// WAS HERE FOR DEBUGGING
console.log(GRID)
console.log(SPOTGRID)
}
// DATA STRUCTURE SO A* CAN BE CALCULATED
function Spot(i, j) {
// Location
this.i = i;
this.j = j;
// 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.occupied = occupied(this.i, this.j); // CALLS OCCUPIED FUNCTION WITH GRID COORDINATES TO VERIFY IF WALL OR MAZE
// Figure out who my neighbors are
this.addNeighbors = function(grid) {
var i = this.i;
var j = this.j;
if (i < gridsize - 1) this.neighbors.push(grid[i + 1][j]);
if (i > 0) this.neighbors.push(grid[i - 1][j]);
if (j < gridsize - 1) this.neighbors.push(grid[i][j + 1]);
if (j > 0) this.neighbors.push(grid[i][j - 1]);
if (diagonal)
// diagonals are also neighbours:
{
if (i > 0 && j > 0) this.neighbors.push(grid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0) this.neighbors.push(grid[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1) this.neighbors.push(grid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1) this.neighbors.push(grid[i + 1][j + 1]);
}
}
}
// --- 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() {
aStar(); // THIS IS A SOME EXCESS REDIRECTION BUT WANTED TO MAKE THE A* STAND ALONE
}
function aStar() {
openSet = [];
closedSet = [];
// BECAUSE A* IS CALLED REPEATEDLY, NEED TO RESET PATHS
for (var i = 0; i < gridsize; i++) {
for (var j = 0; j < gridsize; j++) {
SPOTGRID[i][j].previous = undefined;
}
}
counter = counter + 1;
console.log("A * called: " + counter);
var start = SPOTGRID[ei][ej];
var end = SPOTGRID[ai][aj];
console.log("AI:" + ai + " AJ: " + aj);
console.log("START: " + start.i + " " + start.j);
console.log("END: " + end.i + " " + end.j);
openSet.push(start);
var finished = false; // FLAG THAT IS USED TO BREAK WHILE LOOP EXECUTION EVEN WHEN OPENSET IS NOT EMPTY(ie WHEN END == CURRENT)
while (openSet.length > 0) {
var winner = 0;
for (var i = 0; i < openSet.length; i++) {
if (openSet[i].f < openSet[winner].f) {
winner = i;
}
}
var current = openSet[winner];
// Did I finish?
if (current === end) {
finished = true;
console.log("SUCCESS - FOUND PATH!!!!!!!"); // DEBUGGING
}
removeFromArray(openSet, current);
closedSet.push(current);
var neighbors = current.neighbors;
//--- start of for loop -----------
for (var i = 0; i < neighbors.length; i++) {
var neighbor = neighbors[i];
// Valid next spot?
if (!closedSet.includes(neighbor) && !neighbor.occupied) {
var tempG = current.g + heuristic(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openSet.includes(neighbor)) {
if (tempG < neighbor.g) {
neighbor.g = tempG;
newPath = true;
}
} else {
neighbor.g = tempG;
newPath = true;
openSet.push(neighbor);
}
// Yes, it's a better path
if (newPath) {
neighbor.h = heuristic(neighbor, end);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
if (finished) {
path = [];
var temp = current;
path.push(temp);
while (temp.previous) {
path.push(temp.previous);
temp = temp.previous;
}
console.log("PRINTING PATH"); // WAS HERE FOR DEBUGGING
for (var i = 0; i < path.length; i++) {
var spot = path[i];
console.log("i:" + spot.i + " j:" + spot.j);
}
if (path.length > 2) {
if (!SPOTGRID[path[path.length - 2].i][path[path.length - 2].j].occupied) {
console.log("Returning the next enemy spot") // AGAIN, MORE DEBUGGING
ei = path[path.length - 2].i;
ej = path[path.length - 2].j;
}
}
drawPath(path);
return;
}
}
if (!finished) {
console.log("NO PATH EXISTS");
return;
}
}
function drawPath(path) {
var points = [];
for (var i = 0; i < path.length; i++) {
points.push(translate(path[i].i, path[i].j));
}
var material = new THREE.LineBasicMaterial({
color: 0xffffff,
linewidth: 40,
linecap: 'round'
});
var geometry = new THREE.BufferGeometry().setFromPoints(points);
var line = new THREE.Line(geometry, material);
line.name = "path";
ABWorld.scene.add(line);
}
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();
ABWorld.scene.remove(ABWorld.scene.getObjectByName("path"));
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;
//ABWorld.scene.remove(ABWorld.scene.getObjectByName("astarpath"));
AB.msg(" y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2);
}
AB.world.newRun = function() {
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
if (show3d) {
BOXHEIGHT = squaresize;
ABWorld.init3d(startRadiusConst, maxRadiusConst, SKYCOLOR);
} else {
BOXHEIGHT = 1;
ABWorld.init2d(startRadiusConst, maxRadiusConst, SKYCOLOR);
}
loadResources(); // aynch file loads
// calls initScene() when it returns
document.onkeydown = keyHandler;
};
AB.world.getState = function() {
var x = [ai, aj, ei, ej];
return (x);
};
AB.world.takeAction = function(a) {
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ((AB.step % 2) == 0) {
console.log("MOVING LOGICAL ENEMY");
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
}
// HELPER FUNCTION USED IN A*
function removeFromArray(arr, elt) {
// Could use indexOf here instead to be more efficient
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
//=== heuristic ===========================
// this must be always optimistic - real time will be this or longer
function heuristic(a, b) {
const y = new THREE.Vector2(a.i, a.j);
const z = new THREE.Vector2(b.i, b.j);
if (diagonal) return (y.distanceTo(z));
// 2D distance
// dist is a P5 function
else return (Math.abs(y.x - z.x) + Math.abs(y.y - z.y));
// else not diagonal, can only go across and down
// so this is optimistic
// not this is not optimistic if we can do diagonal move
}