/*
Eamonn Winston
Student Number - 20214830
CA686I Assignment 1
M.Sc. Computing - Artificial Intelligence via ICT Skillnet
*/
// Cloned by Eamonn Winston on 25 Nov 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 = 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/ewinston/1606510313.png' ;
const TEXTURE_MAZE = '/uploads/ewinston/1606512408.png' ;
const TEXTURE_PICARD = '/uploads/ewinston/1606510095.png' ;
const TEXTURE_Q = '/uploads/ewinston/1606510124.png' ;
const MUSIC_BACK = '/uploads/starter/Defense.Line.mp3' ;
const SOUND_ALARM = '/uploads/starter/air.horn.mp3' ;
const gridsize = 50; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3);// density of maze - number of internal boxes
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
const SKYBOX_ARRAY = [
"/uploads/ewinston/Starrysky.jpg",
"/uploads/ewinston/Starrysky.jpg",
"/uploads/ewinston/Starrysky.jpg",
"/uploads/ewinston/Starrysky.jpg",
"/uploads/ewinston/Starrysky.jpg",
"/uploads/ewinston/Earthimage.jpg"
];
/*
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",
];
*/
// ===================================================================================================================
// === 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;
// contents of a grid square
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
const GRID_Q = 10; // added if grid contains Q
const GRID_PICARD = 20; //added if grid contains Picard
var BOXHEIGHT; // 3d or 2d box height
var GRID = new Array(gridsize); // can query GRID to see if squares are occupied
var theagent, theenemy;
var wall_texture, picard_texture, q_texture, maze_texture;
// enemy and agent position on squares
var ei, ej, ai, aj;
// Eamonn's code: Set diagonal to true to add additional range of motion
var diagonal = true;
var badsteps;
var goodsteps;
const MAX_OPENSET = gridsize * gridsize;
// Needed to trace A* on grid
const LINETRACE = true;
var lineArray = [];
// End of Eamonn's code
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_PICARD, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
picard_texture = thetexture;
if (asynchFinished()) initScene();
});
loader3.load(TEXTURE_Q, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
q_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 && picard_texture && q_texture && maze_texture) return true;
else 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 ( occSquare(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: q_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 ( occSquare(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: picard_texture } );
ABWorld.scene.add(theagent);
drawAgent();
GRID[ai][aj] = GRID_PICARD;
GRID[ei][ej] = GRID_Q;
// 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)
}
//-Eamonn's code: grid setup -------------------------------------------------------------------------------
function occSquare(i, j) // is the square occupied
{
if (i <= gridsize && j <= gridsize &&
i >= 0 && j >= 0) {
switch (GRID[i][j]) {
case GRID_WALL:
case GRID_MAZE:
case GRID_Q:
case GRID_PICARD:
return true;
default:
return false;
}
}
return true;
}
function wallfunc(i, j) // square part of wall or maze
{
switch (GRID[i][j]) {
case GRID_WALL:
case GRID_MAZE:
return true;
default:
return false;
}
}
//A* Functions - Create a spot location data type to contain required parameters for A*
// To help pass coordinates
class coordinates {
constructor(i, j) {
this.i = i;
this.j = j;
}
}
var start = new coordinates();
var destination = new coordinates();
function gridSpot(i, j) {
// f, g, h, i and j values for A*
this.f = 0;
this.g = 0;
this.h = 0;
this.i = i;
this.j = j;
// Neighbors array
this.neighbors = [];
// Find my last location
this.parent = undefined;
this.closed = false; // are we in closed set
// Find the neighbours
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]);
if (diagonal)
{
if (i > 0 && j > 0) this.neighbors.push(aStarGrid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0) this.neighbors.push(aStarGrid[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1) this.neighbors.push(aStarGrid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1) this.neighbors.push(aStarGrid[i + 1][j + 1]);
}
}
}
// A* Grid Array
var aStarGrid = [];
// Parallel A* Grid
function aStarInit() {
var i, j;
for (i = 0; i < gridsize; i++) {
aStarGrid[i] = [];
for (j = 0; j < gridsize; j++) {
aStarGrid[i][j] = new gridSpot(i, j);
}
}
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
aStarGrid[i][j].addNeighbors();
}
}
}
// A* function to find next best position
function aStar(grid, start, destination) {
// Initialise both open and closed list
var openSet = [];
var completed = false;
var child;
var startNode = aStarGrid[start.i][start.j];
var currentNode;
var destinationNode = aStarGrid[destination.i][destination.j];
var nextMove = new coordinates(start.i, start.j);
openSet.push(startNode);
// Clear search history
console.info("Clearing search history");
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;
}
}
// Create loop to find destination
while ((openSet.length > 0) && !completed) {
if (openSet.length > MAX_OPENSET) {
// Prevent Memory Issues when debugging the open set
console.error("Open set issue...");
completed = true;
return nextMove;
}
// Sort the list based on the f value
openSet.sort((a, b) => (a.f > b.f) ? 1 : -1);
currentNode = openSet.shift();
currentNode.closed = true;
if (currentNode == destinationNode) {
// Line Trace
if (LINETRACE){
lineArray.push(destinationNode);
}
// How to get next node
while (currentNode.parent != startNode) {
if (LINETRACE){
lineArray.push(currentNode);
}
currentNode = currentNode.parent;
}
completed = true;
if (LINETRACE){
lineArray.push(startNode);
}
} else {
// if destination isn't found, build open set
for (n = 0; n < currentNode.neighbors.length; n++) {
// for each of the neighbours, calculate the children
child = currentNode.neighbors[n];
// check if in closed set or occupied
if (child.closed) {
// move to next child
} else if (wallfunc(child.i, child.j)) {
child.closed = true;
} else {
child.h = aStarHeuristics(child, destinationNode);
child.f = child.g + child.h;
child.parent = currentNode;
if (openSet.indexOf(child) < 0) {
openSet.push(child);
}
}
}
}
}
nextMove.i = currentNode.i;
nextMove.j = currentNode.j;
return nextMove;
}
function aStarHeuristics(start, end) {
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 moveLogicalEnemy() {
var i, j;
start.i = ei;
start.j = ej;
destination.i = ai;
destination.j = aj;
// call the a* algorithm
routeAstar = aStar(GRID, start, destination);
// If space is empty then move the enemy
if (!occSquare(routeAstar.i, routeAstar.j)) {
GRID[ei][ej] = GRID_BLANK;
ei = routeAstar.i;
ej = routeAstar.j;
GRID[ei][ej] = GRID_Q;
}
}
// End of Eamonn's code----------------------------------------------------------------------------------
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 ( ! occSquare(i,j) )
{
ai = i;
aj = j;
}
}
//--Eamonn's Code-----Trace the movement of Q using A*
var lastLineTrace = [];
var previousLine;
function drawTrace()
{
var point1;
var point2;
var line;
//Create a green line to track A* range of motion
var mat = new THREE.LineBasicMaterial({color:'green', linewidth:200 });
var geo = new THREE.Geometry();
for ( i = lineArray.length; i > 1; i--)
{
point1 = lineArray.shift();
if (point1.parent){
point1 = point1.parent;
geo.vertices.push( translate(point1.i, point1.j) );
}
else {
geo.vertices.push( translate(point1.i, point1.j) );
}
}
line = new THREE.Line(geo, mat);
lastLineTrace.push(line);
ABWorld.scene.add(line);
}
//----------End of Eamonn's code--------------------------------------------------------------------------
// --- 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 (occSquare(ai - 1, aj) &&
occSquare(ai + 1, aj) &&
occSquare(ai, aj + 1) &&
occSquare(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 + "<br>x = (" + x.toString() + ")");
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
var y = AB.world.getState();
var score = (goodsteps / ABRun.step) * 100;
AB.msg( " Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2);
}
AB.world.newRun = function () {
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
aStarInit();
if (show3d) {
BOXHEIGHT = squaresize;
ABWorld.init3d(startRadiusConst, maxRadiusConst, SKYCOLOR);
} else {
BOXHEIGHT = 1;
ABWorld.init2d(startRadiusConst, maxRadiusConst, SKYCOLOR);
}
loadResources(); // aynch file loads
};
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
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
{
ABRun.abortRun = true;
goodsteps = 0; // you score zero as far as database is concerned
musicPause();
soundAlarm();
}
//Trace the movement
if (LINETRACE){
drawTrace();
}
};
AB.world.endRun = function () {
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 () {
var s = ( goodsteps / AB.maxSteps) * 100; // float like 93.4372778
var x = Math.round(s * 100); // 9344
return (x / 100); // 93.44
};
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
}