// Cloned by Kilian C on 7 Nov 2022 from World "V2( A Star search complex world Attempt2 clone by Kilian C)" by Kilian C
// Please leave this clone trail here.
// 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 = 100;
// 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/kcarolan96/spacewall.jpg';
const TEXTURE_MAZE = '/uploads/kcarolan96/yellowSpace.png';
const TEXTURE_AGENT = 'uploads/kcarolan96/white_pebble.jpg';
const TEXTURE_ENEMY = 'uploads/kcarolan96/redspace.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/kcarolan96/midnight-123895.mp3'; // credit https://pixabay.com/music/modern-classical-midnight-123895/
const SOUND_ALARM = 'uploads/kcarolan96/Success-sound-effect.mp3'; // credit https://orangefreesounds.com/success-sound-effect/#google_vignette
const gridsize = 50; // number of squares along side of world
const NOBOXES = Math.trunc((gridsize * gridsize) / 5 ); // 5
// 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
// 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"
];
// ===================================================================================================================
// === 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;
//My code
var drawnPath;
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;
}
// Search through array and remove specific element -> taken from coding train
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) { //gets this nodes neighbour (not diagonal)
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]);
};
}
function getEnemyPos() {
var enemy = GRID[ei][ej];
return enemy;
}
function aStar() {
var openSet = [];
var closedSet = [];
eBall = getEnemyPos();
//eBall.debug;
//start.debug = " START" + start.i +","+start.j;
openSet.push(eBall); //Add the black ball to the openSet
if (drawnPath) {
ABWorld.scene.remove(drawnPath);
} // Checking if drawnPath if yes remove path
while (openSet.length > 0) {
var best = 0;
for (var i = 0; i < openSet.length; i++) {
if (openSet[i].f < openSet[best].f) {
best = i;
}
}
var currentNode = openSet[best];
// End case -- result has been found, return the traced path
if (currentNode.i == end.i && currentNode.j == end.j) {
//debugger;
var curr = currentNode;
var path = [];
while (curr.preNode) {
path.push(curr);
curr = curr.preNode;
if (curr == eBall) {
break;
} //stops the infinity loop on second run
}
drawnPath = drawPath(path); // draw the path and give drawnPath a value so that second time function is called it removes the line
return path.reverse();
}
removeFromArray(openSet, currentNode); //Remove the current node from the openSet
closedSet.push(currentNode); // Add the current node to the closed set
var neighbours = currentNode.neighbours; //get currentNodes neighbours
for (var i = 0; i < neighbours.length; i++) // Go through each neighbour
{
var neighbour = neighbours[i];
if (closedSet.includes(neighbour) || neighbour.obstacle) //Skip if neighbout is in closed set or an obstacle
{
continue;
}
var gScore = currentNode.gx + 1; // Node to neighbour
var gScoreIsBest = false;
if (!openSet.includes(neighbour)) {
//Gets the nieghbour if not in openSet already i.e not visited
//Calculate the heuristic
gScoreIsBest = true;
neighbour.hx = hFx(neighbour, end);
openSet.push(neighbour);
} else if (gScore < neighbour.gx) {
gScoreIsBest = true;
}
if (gScoreIsBest) {
//Gets the best path found so far (not neccessarily the best path)
//neighbour.debug = "NEIGHBOUR: " + neighbour.i + "," + neighbour.j;
neighbour.preNode = currentNode;
neighbour.gx = gScore;
neighbour.hx = hFx(neighbour, end);
neighbour.fx = neighbour.gx + neighbour.hx;
//neighbour.debug = "Fx = Hx + Gx: " + neighbour.fx + "=" + neighbour.gx + "+" + neighbour.hx;
}
}
}
// If we cant find a path return an empty array
console.log("No path found");
return [];
}
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);
//mycode
//get gridNodes applies node constuctors to the grid positions
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.CylinderGeometry(0,squaresize/2, BOXHEIGHT, squaresize);
thecube = new THREE.Mesh(shape);
thecube.material = new THREE.MeshBasicMaterial({
map: maze_texture
});
// var geometry = new THREE.CylinderGeometry(0, radius, height, 4, 1)
// var material = new THREE.MeshNormalMaterial();
// var pyramid = new THREE.Mesh(geometry, material);
// scene.add(pyramid);
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.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 -----------------------------------
//MY CODE Draw the Path
function drawPath(path) {
var x;
var y;
var coords = [];
pathCol = '#2FF924'; //Starwars green as its in space
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 using
// https://threejs.org/docs/#api/en/materials/LineBasicMaterial
const lineConstruct = new THREE.LineBasicMaterial({
color: pathCol,
});
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 -----------------------------------
//My Code
function moveLogicalEnemy() {
// debugger;
// start = GRID[ei][ej];
// start.debug="START: " + start.i;
//calls the aStar()
//This is called on takeAction.
//Changes the enemy postion by setting it to index 0 on the reversedPath
var revPath = aStar();
if (!occupied(revPath[0].i, revPath[0].j)) {
ei = revPath[0].i;
ej = revPath[0].j;
}
}
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 + " 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) + "% ", 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
}