// Cloned by Snavy Pitah on 30 Oct 2023 from World "Complex World (clone by Nakyung Kim)" by Nakyung Kim
// Please leave this clone trail here.
// Practical 1
// A* practical
// The practical is to use A* to make a better enemy in "Complex World".
// ====================================================================================================================
// =============================================================================================
// 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/jackie2002/gold.png' ; //changed done
const TEXTURE_MAZE = '/uploads/jackie2002/mercury.jpeg' ;
const TEXTURE_AGENT = '/uploads/jackie2002/moon1.jpeg' ;
const TEXTURE_ENEMY = '/uploads/jackie2002/sun.jpeg' ;
const MUSIC_BACK = '/uploads/jackie2002/spcae.mp3' ; // changed the BGM
const SOUND_ALARM = '/uploads/jackie2002/mario.mp3' ; // changed the alarm sound
const gridsize = 25; // number of squares along side of world 20 -> 25
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 6 );
// density of maze - number of internal boxes (gridsize * gridsize) / 10 -> (gridsize * gridsize) / 4
// (bug) use trunc or can get a non-integer
const squaresize = 150; // size of square in pixels -> change 100 -> 150
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
const SKYBOX_ARRAY = [
'/uploads/jackie2002/1px.png',
'/uploads/jackie2002/1nx.png',
'/uploads/jackie2002/1py.png',
'/uploads/jackie2002/1ny.png',
'/uploads/jackie2002/1pz.png',
'/uploads/jackie2002/1nz.png'
];
//background credit: https://pixexid.com/image/a-cyberpunk-city-skyline-at-night-gxxewnru
// https://jaxry.github.io/panorama-to-cubemap/
// I made my cubemap here. I used 3D AI generate image to make cube map.
// ===================================================================================================================
// === End of 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 constant in case of the grid contains enemy
const GRID_AGENT = 20; // // added constant in case of the grid contains agent
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;
// I don't want to make enemy to move diagonal direction, I deleted the code.
// if you want to see A* in action
const PROOF = true;
var proofArray = [];
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) {
// Check if indices are outside the grid boundaries
if (i < 0 || j < 0 || i >= gridsize || j >= gridsize) {
return true; // considered "occupied" if off the grid
}
// List of occupied grid values
const occupiedValues = [GRID_WALL, GRID_MAZE, GRID_ENEMY, GRID_AGENT];
// Check if the grid square at (i, j) is in the list of occupied values
return occupiedValues.includes(GRID[i][j]);
}
function iswall(i, j) {
// List of wall values
const wallValues = [GRID_WALL, GRID_MAZE];
// Check if the grid square at (i, j) is in the list of wall values
return wallValues.includes(GRID[i][j]);
}
// 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;
}
var animatedMeshes = []; // I made the wall to move.
function randomRotationSpeed(min, max) { // rotation speed of the wall
return Math.random() * (max - min) + min;
}
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.TorusGeometry ( squaresize/2.7, BOXHEIGHT/8, squaresize/2, 100 ) // I made the wall as animated ring
thering = new THREE.Mesh(shape);
thering.material = new THREE.MeshBasicMaterial({ map: wall_texture });
thering.position.copy(translate(i, j));
ABWorld.scene.add(thering);
animatedMeshes.push({ //It will be rotated.
mesh: thering,
rotationSpeedX: randomRotationSpeed(0.005, 0.02),
rotationSpeedY: randomRotationSpeed(0.005, 0.02)
});
} else {
GRID[i][j] = GRID_BLANK;
}
// set up maze
for (var c = 1; c <= NOBOXES; c++) {
i = AB.randomIntAtoB(1, 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));
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.SphereGeometry ( squaresize/1.7, BOXHEIGHT/1.7, squaresize ); // I made the wall as sphere like the sun.
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.SphereGeometry ( squaresize/1.7, BOXHEIGHT/1.7, squaresize ); // I made the wall as sphere like the moon.
theagent = new THREE.Mesh( shape );
theagent.material = new THREE.MeshBasicMaterial( { map: agent_texture } );
ABWorld.scene.add(theagent);
drawAgent();
//Indicates the location of the agent and enemy
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
});
animate();
}
//This code makes the wall to rotate.
function animate() {
animatedMeshes.forEach(obj => {
obj.mesh.rotation.x += obj.rotationSpeedX;
obj.mesh.rotation.y += obj.rotationSpeedY;
});
ABWorld.render();
requestAnimationFrame(animate);
}
// --- 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)
}
// Add the A* Algorithm
//To encapsulize start and target point.
class encapsulizations {
constructor(i, j) {
this.i = i;
this.j = j;
}
}
var start = new encapsulizations();
var target = new encapsulizations();
const MAX_OPENSET = gridsize * gridsize;
function PathNode(i, j) {
// Location
this.i = i;
this.j = j;
// Initialize A* values to zero
this.f = 0;
this.g = 0;
this.h = 0;
// Array to store neighboring nodes
this.neighbors = [];
// Reference to the previous node in the path
this.parent = undefined;
this.closed = false; // Flag to determine if the node has been processed
// next movable locations
this.addNeighbors = function () {
var i = this.i;
var j = this.j;
if (i < gridsize - 1) this.neighbors.push(aStarGrid[i + 1][j]);
if (i > 0) this.neighbors.push(aStarGrid[i - 1][j]);
if (j < gridsize - 1) this.neighbors.push(aStarGrid[i][j + 1]);
if (j > 0) this.neighbors.push(aStarGrid[i][j - 1]);
};
}
// Create Global A* Array
var aStarGrid = [];
// initialisation of A* Grid array.
function aStarInitialisation() {
var i, j;
// aStarGrid array initialisation
for (i = 0; i < gridsize; i++) {
aStarGrid[i] = [];
for (j = 0; j < gridsize; j++) {
aStarGrid[i][j] = new PathNode(i, j);
console.log("A* Initialisation: " + i + ", " + j);
}
}
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
aStarGrid[i][j].addNeighbors();
}
}
console.info("A* Initialisation is completed!");
}
// A* function that returns the next position in the as a coordinate (i,j)
function aStar(grid, start, target) {
// Initialise of both list of nodes
var openSet = [];
var child;
var completed = false;
var targetPoint = aStarGrid[target.i][target.j]; // To initialize the target location
var startPoint = aStarGrid[start.i][start.j]; // Enemy's startpoint
var currentPoint;
var nextMove = new encapsulizations(start.i, start.j);
var stateCount = 0; //adding
// start point will be pushed into openset
openSet.push(startPoint); //
// Initialise the previous results
console.info("Initialise the previous results");
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
currentPoint = aStarGrid[i][j];
currentPoint.f = currentPoint.h =currentPoint.g = 0;
currentPoint.closed = false;
currentPoint.parent = null;
}
}
// loop all of the a* openset.
while ((openSet.length > 0) && !completed) {
if (openSet.length > MAX_OPENSET) {
// Prevent against memory overload during OpenSet debugging.
console.error("Error occured!");
completed = true;
return nextMove;
}
// Sort the list by f value.
openSet.sort((a, b) => (a.f > b.f) ? 1 : -1);
currentPoint = openSet.shift();
stateCount++; // Increment the state count //adding
currentPoint.closed = true; // To check the closed status
console.info("Currently at position: (" + currentPoint.i + ", " + currentPoint.j + "). OpenSet count: " + openSet.length);
if (currentPoint == targetPoint) {
// Proof array
if (PROOF){
proofArray.push(targetPoint);
}
// If the target is founded, begin retracing steps.
while (currentPoint.parent != startPoint) {
if (PROOF){
proofArray.push(currentPoint);
}
// retracing
currentPoint = currentPoint.parent;
}
completed = true;
// Proof array
if (PROOF){
proofArray.push(startPoint);
}
} else {
// build openSet
for (n = 0; n < currentPoint.neighbors.length; n++) {
// for each of the neighbours, calculate the children
child = currentPoint.neighbors[n];
// To check closedSet : occupied or not?
if (child.closed) {
} else if (iswall(child.i, child.j)) {
child.closed = true;
} else {
// calculate values to add to openSet
if ((child.i == currentPoint.i) || (child.j == currentPoint.j))
child.g = currentPoint.g + 10;
else
child.g = currentPoint.g + 14;
child.h = aStarHeuristics(child, targetPoint);
child.f = child.g + child.h;
child.parent = currentPoint;
if (openSet.indexOf(child) < 0) {
// if not in openSet, push the childe node.
openSet.push(child);
}
}
}
}
}
nextMove.i = currentPoint.i;
nextMove.j = currentPoint.j;
console.log("Total states explored: " + stateCount); //adding
return nextMove;
}
function aStarHeuristics(start, end) {
return Math.sqrt(Math.pow(start.i - end.i, 2) + Math.pow(start.j - end.j, 2));
}
// --- 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
bestPath = aStar(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 moves 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
}
}
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()
{
if ((Math.abs(ei - ai) < 2) && (Math.abs(ej - aj) < 2)) return true;
else return false;
}
function agentBlocked()
{
return (occupied(ai - 1, aj) &&
occupied(ai + 1, aj) &&
occupied(ai, aj + 1) &&
occupied(ai, aj - 1));
}
function updateStatusBefore(a)
{
var x = AB.world.getState();
AB.msg("Step: " + AB.step + "<br>x = (" + x.toString() + ")");
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after agent and enemy moved
var y = AB.world.getState();
var score = (goodsteps / AB.step) * 100;
AB.msg(" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2);
}
function playSound() // is the enemy within one square of the agent
{
// load click sound & based on distance, speed up and change volume
var sound = new Audio('/uploads/brendanb/click.ogg');
var soundRate = 1 + (((Math.abs(ei - ai)) + Math.abs((ej - aj))) / (gridsize));
console.log("PlaybackRate: " + soundRate);
sound.playbackRate = soundRate;
sound.volume = 1 / soundRate;
if (Math.abs(ei - ai) + Math.abs(ej - aj) < 2) {
sound.playbackRate = soundRate * 2;
sound.play();
}
sound.play();
}
AB.world.newRun = function () {
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
aStarInitialisation(); //initialization of A* Algorithm
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
// Initiailise A* Array
document.onkeydown = keyHandler;
};
AB.world.getState = function () {
var x = [ai, aj, ei, ej];
return (x);
};
var enemyAngle = 0;
var cameraAngle;
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);
if (badstep()) badsteps++;
else goodsteps++;
// Spin the enemy
enemyAngle += 0.2;
theenemy.rotation.y = enemyAngle;
drawAgent();
drawEnemy();
updateStatusAfter(); // show status line after moves
if (agentBlocked() ) // if agent blocked in, run over
{
AB.abortRun = true;
goodsteps = 0;
musicPause();
soundAlarm();
}
// // Proof array
if (PROOF){
drawProof();
}
};
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
};
// Draw the path on the map based on a* algorithm
var finalLine = [];
var existingLine;
function drawProof() {
var drawstartpoint; // Represents the start point of a line segment
var drawendpoint; // Represents the end point of a line segment
var line; // The drawn line
var oldMaterial = new THREE.LineBasicMaterial({color: 0x222222, linewidth: 1 });
// newMaterial to be used for drawing the line
var newMaterial = new THREE.LineBasicMaterial({color: 'yellow', linewidth: 2 });
// newGeometry to hold the vertices for the line
var newGeometry = new THREE.BufferGeometry();
// Array to store the translated vertex positions for the line
var vertices = [];
// Loop through the proofArray to extract and draw lines between consecutive points
for (var i = proofArray.length; i > 1; i--) {
drawstartpoint = proofArray.shift();
if (drawstartpoint.parent) {
drawstartpoint = drawstartpoint.parent;
var translatedPoint = translate(drawstartpoint.i, drawstartpoint.j);
vertices.push(translatedPoint.x, translatedPoint.y, translatedPoint.z);
// console.log("Line between " + drawstartpoint.i + "," + drawstartpoint.j + " and ");
} else {
var translatedPoint = translate(drawstartpoint.i, drawstartpoint.j);
vertices.push(translatedPoint.x, translatedPoint.y, translatedPoint.z);
// console.log("Line between " + drawstartpoint.i + "," + drawstartpoint.j + " and ");
}
}
// Assign the vertices array to the geometry
newGeometry.setAttribute('position', new THREE.Float32BufferAttribute(vertices, 3));
line = new THREE.Line(newGeometry, newMaterial);
// Store the drawn line for future references (or operations)
finalLine.push(line);
ABWorld.scene.add(line);
}
// --- 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
}