// Cloned by Jay Boy on 14 Nov 2021 from World "Complex World" by Starter user
// Please leave this clone trail here.
// This is cloned for the assignemnt
// Complex World (clone by Jay Boy)
// ==== 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.
// =============================================================================================
//==================================================================================================
// My own Notes:
//
///
//
//
//
//
//
//===============================================================================================
// ===================================================================================================================
// === 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 = false; // Switch between 3d and 2d view (both using Three.js)
const TEXTURE_WALL = '/uploads/wolfy10/pup.JPG' ;
const TEXTURE_MAZE = '/uploads/wolfy10/whitewolf.jpg' ;
const TEXTURE_AGENT = '/uploads/wolfy10/planet.jpg' ; //good
const TEXTURE_ENEMY = '/uploads/wolfy10/whirl.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/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
//* ASK 3: Updated GridSize - 10 , change to 50 before finishing
const gridsize = 30; // number of squares along side of world
//* ASK 4: Change box density to no. of squares divided by 3
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 4 );
//ORIGINAL ^
//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 = 0xdedede; // 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
// mountain skybox, credit:
// http://stemkoski.github.io/Three.js/Skybox.html
// const SKYBOX_ARRAY = [
// "/uploads/starter/dawnmountain-xpos.png",
// "/uploads/starter/dawnmountain-xneg.png",
// "/uploads/starter/dawnmountain-ypos.png",
// "/uploads/starter/dawnmountain-yneg.png",
// "/uploads/starter/dawnmountain-zpos.png",
// "/uploads/starter/dawnmountain-zneg.png"
// ];
// 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"
];
*/
// 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;
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;
// just laoding textures
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();
});
}
//--------------------------------------------------------------
//finishing asnch
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
{
//check if the player or enemy is there
if ( ( ei == i ) && ( ej == j ) ) return true; // variable objects
if ( ( ai == i ) && ( aj == j ) ) return true;
// check if its hitting environemnt
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;
}
const COSTS_GRID = GRID; // jay added
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);
i = 1; //top left jay
j = 1; //top left jay
}
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
});
//jay
// populate costs globally for ease
for ( i=0; i < gridsize ; i++ ){
for ( j = 0; j < gridsize ; j++ ){
COSTS_GRID[i][j] = 1 ;
}
}
}
//- ------------------------------------------------------------------------------------------------ EnemyStartPosition
// --- 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 -----------------------------------
//OLD SPOT
// const poly1 = new Polygon();
// console.log(poly1.name);
// expected output: "Polygon"
// function Spot(i,j,previous){
// this.f = undefined;
// this.g = undefined;
// this.h = undefined;
// this.x = i;
// this.y = j;
// this.parent = previous;
// }
function moveLogicalEnemy(){
run_my_function();
}// ------------ ENEMY ----------------
// //function moveLogicalEnemy(){
// // move towards agent
// // put some randomness in so it won't get stuck with barriers
// //j is top or bottom line ---- i is across the grid
// // console.log('Agent i: %d -- Agent j is %d.', ai, aj);
// // var i,j;
// // var start = getBadyLocation(); //TODO
// // var end = [ai][aj]
// // OPEN_SET.push(start); // push this onto the li
// // if(OPEN_SET.length > 0){
// // console.log("working throug the openset")
// // }
// // else{
// // //dead end - no solution
// // }
// //Does a diagnal run into infinity (and beyond)
// // ei++;
// // ej++;
// // if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1);
// // if(!occupied(i,j) ) // if no obstacle then move, else just miss a turn
// // {
// // ei = i;
// // ej = j;
// // } // set the enemies position
// findbestnextstepforenemy();
// // ORIGINAL CODE BELOW: ---------------------------------------------------------------------------------------------------
// // var i, j;
// // if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1); // if enenmies i (1) is smaller than agents (5), then move the enemy +1 -- primativly going towards agent
// // if ( ei == ai ) i = ei; // stay the same then
// // if ( ei > ai ) i = AB.randomIntAtoB(ei-1, ei); //
// // if ( ej < aj ) j = AB.randomIntAtoB(ej, ej+1);
// // if ( ej == aj ) j = ej;
// // if ( ej > aj ) j = AB.randomIntAtoB(ej-1, ej);
// // if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
// // {
// // ei = i;
// // ej = j;
// // }
// }//-----------------------------------------------------
//foudn the end
// nothing left to look at open set and ive stoped - no soluytion.
// // Globals for Nodes
// const node = {
// local_val: 0,
// global_val: 0,
// parent_ongrid: [1][1],
// };
// const path_list = [
// { grid_location: [-1][-1], visited: false}
// ]
// //constructor
// function createNode(axis_i, axis_j) {
// const obj = {};
// obj.axis_i = 0;
// obj.axis_j = 0;
// obj.visited = false;
// obj.is_obstacle = false;
// obj.greeting = function() {
// alert('Hi! I\'m ' + obj.name + '.');
// };
// return obj;
// }
//custom method
function findbestnextstepforenemy(){
//get agent location
// this will always be zero, because it has to be free to be in it
//console.log(GRID[ai][aj]);
//get my location
//check all neighbours
//getNeighbours
//if GRID[][]
//build potential moves
//choose move
//move if
//look at your environment
// get grid , print grid
// for(var i=1; i<GRID[i].length-1; i++) {
// for(var z=1; z<GRID.length-1; z++) {
// console.log(GRID[z][i]);
// }
// }
}
//----------------------------------------------------------------------
// function get_all_neighbors(current_pos)
// {
// for(var i=1; i<GRID[i].length-1; i++) {
// for(var z=1; z<GRID.length-1; z++) {
// console.log(GRID[z][i]);
// console.log();
// }
// }
// }
//===================================
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();
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
}
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ====================================== JAY ==========================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
// ===========================================================================================
function Spot_Obj(i,j){ //CLASS
// Location
this.i = i; //x is reserved in js ?
this.j = j;
this.f = 0;
this.g = 0;
this.h = 0;
this.neighbours = [];
this.prev_node = undefined;
// pump the GRID in here to use
this.set_neighbours = function(GRID){
var i = this.i;
var j = this.j;
// lets say 5i/7j
// 5<29 .... true... grid[5+1] [6][7]
//
//
//
//
// COLS repalce with COLUMNS... ONLY if i is not bigger than the largest column //wrong
// if its within the bounds of the MAZE & its ... se
if (i < gridsize-1){
this.neighbours.push([i+1,j]);
//this.neighbours.push(GRID[i + 1][j]); //right
console.log("Right neighbour is at : " + (i+1) +","+ j ); //adding the value
//console.log("ADDING RIGHT: " + GRID[i + 1][j]); //adding the value
//store i, j;
}
if (i > 0){
this.neighbours.push([i-1,j]);
//this.neighbours.push(GRID[i - 1][j]); // left
console.log("left neighbour is at : " + (i-1) +","+ j ); //adding the value
// console.log("ADDING LEFT: " + GRID[i - 1][j]);
}
if (j < gridsize-1){
this.neighbours.push([i,j+1]);
//this.neighbours.push(GRID[i][j + 1]); // down
// console.log("ADDING: DOWN : " + GRID[i][j + 1]);
console.log("DOWN neighbour is at : " + (i)+","+ (j+1) ); //adding the value
}
if (j > 0){
this.neighbours.push([i,j-1]);
//this.neighbours.push(GRID[i][j - 1]); // up
// console.log("ADDING UP : " + GRID[i][j - 1]);
console.log("UP neighbour is at : " + (i)+","+ (j-1) ); //adding the value
}
// // diagonals are also neighbours: /// 4 diagnals ----> leaving diags out for now
// if (diagonal){
// if (i > 0 && j > 0) this.neighbours.push(GRID[i - 1][j - 1]);
// if (i < gridsize - 1 && j > 0) this.neighbours.push(GRID[i + 1][j - 1]);
// if (i > 0 && j < gridsize - 1) this.neighbours.push(GRID[i - 1][j + 1]);
// if (i < gridsize - 1 && j < gridsize - 1) this.neighbours.push(GRID[i + 1][j + 1]);
// }
}// ------------------------------------------------END set set_neighbours
}
//================= SPOT OBJECT ======================================
// my global ////////////////////////////////////////////////////////////////////////////
const OPEN_SET=[];
const CLOSED_SET=[];
const PATH=[];
/////////////////////////////////////////////////////////////////////////////////////////
// main function for enemy
//-------------------------------------------------
function run_my_function(){ //METHOD1
console.log("JIMMMMMMMMMMMMMMM");
for ( i = 0; i < COSTS_GRID[i].length ; i++ ){
for ( j = 0; j < COSTS_GRID.length ; j++ ){
console.log(COSTS_GRID[i][j]);
}
}
var heuristic;
var result = A_Star(new Spot_Obj(ei,ej), new Spot_Obj(ai,aj), heuristic);
// console.log("================STARTING ONE LOOP +============================")
// // J Step 1: Get enemy location /// create enemy object to start everything
// enemy_node = new Spot_Obj(ei,ej);
// enemy_node.set_neighbours(GRID); // send the const GRID in --> sending both location and if 0/1/2 blank,wall,maze
// //deprint neighbors --- perfect loop through
// for(var i=0; i<enemy_node.neighbours.length; i++){
// console.log("This is a neighbour of ENEMY: " + enemy_node.neighbours[i]);
// }
// //only check anything if its in the open set
// // calculate f,g,h for each neighbo? check PDSEDO
// // J Step 2: Get agent Object
// target_node = new Spot_Obj(ai,aj);
// J Step 3:
// J Step 4:
// J Step 5:
// J Step 6:
// J Step 7:
}// run_my_function /////////////////////////////////////////////////////////////////
function A_Star(start, goal, h){
OPEN_SET.push(start);
while(OPEN_SET.length > 0){
//sort by lowest F (closest to goal) -> set this as current node
OPEN_SET.sort(lowest_f);
var current_node = OPEN_SET[0];
if (current_node == goal){ // if thats it its over
console.log("COMPLETE!!!!!!!");
//return reconstruct_path(cameFrom, current)
}
OPEN_SET.shift(); //remove the lowest (pop it)
//LOOPING THROUGH CUR NODE
for(var i=0; i<current_node.neighbours.length; i++){
//console.log("This is a neighbour of ENEMY: " + current_node.neighbours[i]);
var cost = current_node.g + cost;
//1 d(current, neighbour)
//2 temp_G_score --- is from start to the neighbor through current
//3 if temp_G_score < gScore[neighbour]
// this path to neighbour is better than any previous one. RECORD IT
//cameFrom[neighbour] == current;
//gScore[neighbour] == temp_G_score
//fscore[neighbour] == gScore[neighibour] +h(neighboiur)
// if neighbour not in openSet
// add it
}
// loop through current's neighbours
//Step A: finding the lowest F value in the OPEN_SET
//Step B: Sort the OPEN_SET with shortest F as 0, then set that as our current NODE
// Step B2: If this node is the agent - then we win!!! Come back here to draw the PATH visually
// Step C:
//OPEN_SET.Remove(current
}//----------------------------------WHILE _ END ---/
}//============================= A-Star end
function d(current, neighbour){
}//=============================
// function to get euclidean distance FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
function find_F(g,h){
return g+h;
}// -----------------------------------FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
// function to get euclidean distance // HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
function find_H(x1,y1, x2,y2){
var a = x1 - x2;
var b = y1 - y2;
var c = Math.sqrt(a*a + b*b);
return c;
}// -----------------------------------HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
// function to get euclidean distance GGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGG
function find_G(start_node, current_node){
//starting position is going to move? dynamic - not from original starting position -- or is it
var g;
g = start_node.g + current_node.g ;
//get current_g from object
console.log("G of current: " + g)
return g;
}// -----------------------------------GGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGG
function lowest_f(a,b){
if(a.f < b.f){
return -1;
}
if (a.f>b.f){
return 1;
}
}
//////////////// SCRAP CODE //////////////////////////////////////////////////////////////////////////////
// // Figure out who my neighbors are
// this.addNeighbors = function(grid){
// var i = this.i;
// var j = this.j;
// // if i is less than 30 (or gridsize, 30 is wall so 29..)
// 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]);
// }//diagnal
// }// ------------------------------------------------- METHOD set neighbors
// // Am I an wall?
// if (random(1) < wallAmount) this.wall = true;
// else this.wall = false;
// // Display me
// this.show = function(col)
// {
// if (this.wall)
// {
// fill(wallcolor);
// noStroke();
// // wall fills square
// rect ( this.i * w, this.j * h, w, h );
// // wall only partially fills square
// // ellipse ( this.i * w + w / 2, this.j * h + h / 2, w * 0.7, h * 0.7 );
// }
// else if (col)
// {
// fill(col);
// rect(this.i * w, this.j * h, w, h);
// }
// };
// overkill yes but sure look
// class Spot{
// constructor() {
// this.f = 0;
// this.g = 0;
// this.h = 0;
// this.x = 0;
// this.y = 0;
// this.prev_node = undefined;
// this.neighbours = [];
// //this.parent[0]=[1,1];
// //this.parent = new Set ([1,1], [1,1], [1,1]);
// this.set_neighbours = function(grid){
// var i = this.i;
// var j = this.j;
// //gridsize
// 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]);
// // diagonals are also neighbours: // not sure im using this
// if (diagonal){
// 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 < rows - 1) this.neighbors.push(grid[i - 1][j + 1]);
// if (i < gridsize - 1 && j < gridsize - 1) this.neighbors.push(grid[i + 1][j + 1]);
// }
// }// --- set neighbors
// }// deafult constructor
// //Gets
// get_x(){return this.x;}
// get_y(){return this.y;}
// get_f(){return this.f;}
// get_g(){return this.g;}
// get_h(){return this.h;}
// get_prev_node(){return this.prev_node;}
// get_neighbours(){return this.neighbours;}
// //sets
// set_f(f){ this.f = f;}
// set_g(g){ this.g = g;}
// set_h(h){ this.h = h;}
// set_x(x){ this.x = x;}
// set_y(y){ this.y = y;}
// set_prev_node(prev_node){this.prev_node = prev_node;}
// // define neighbours
// set_valid_neighbour(neighbour){
// this.neighbours.push({neighbour});
// }
// // set_prev_node(x,y){
// // this.prev_node.push({x, y});
// // }
// check_neighbours(){
// console.log("checking neighbours of ");
// }
// calculat_h_and_g(){
// console.log("checking neighbours");
// }
// // console.log(tyeof x1)
// // 0xf anything 0x can be hex
// }// Spot ===================================================
// //Step 1 get enemy location
// var enemy_location_x = ei, enemy_location_y = ej;
// //Step 2 get agent location
// var target_location_x = ai, target_location_y = aj;
// enemy_node = new Spot();
// enemy_node.set_x(enemy_location_x);
// enemy_node.set_y(enemy_location_y);
// enemy_node.set_f(65);
// //enemy_node.set_prev_node([1,1]);
// enemy_node.set_prev_node([]); // blank -> no parent :(
// target_node = new Spot();
// target_node.set_x(target_location_x);
// target_node.set_y(target_location_y);
// target_node.set_prev_node([]); // blank -> no parent :(
// //Step 3 get neighbors for X Spot
// // var px = enemy_location_x;
// // var oy = enemy_location_y;
// //if not wall, if not maze, add to openset? add to neighbors? both?
// //while open set has stuff in it. check nb
// OPEN_SET.push(enemy_node);
// // Testing //---------------------------
// // t1 = new Spot();
// // t1.set_f(100);
// // t2 = new Spot();
// // t2.set_f(1000);
// // OPEN_SET.push(t2);
// // OPEN_SET.push(t1);
// while(OPEN_SET.length > 0){
// //Step A: finding the lowest F value in the OPEN_SET
// // var min_f = Number.POSITIVE_INFINITY;
// // var obj;
// // for(let i=0, l=OPEN_SET.length; i<l; i++){
// // min_f = Math.min(min_f, OPEN_SET[i].f);
// // }
// // console.log(OPEN_SET.length);
// //Step B: Sort the OPEN_SET with shortest F as 0, then set that as our current NODE
// OPEN_SET.sort(lowest_f);
// var current_node = OPEN_SET[0];
// // Step B2: If this node is the agent - then we win!!! Come back here to draw the PATH visually
// if (current_node == target_node){
// console.log("COMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\nCOMPLETE!!!!!!!\n");
// //return reconstruct_path(cameFrom, current);
// }
// // Step C:
// //OPEN_SET.Remove(current)
// OPEN_SET.shift();
// // Step D: for each neighbor of current
// //
// //
// var neighbour_node;
// for (n=0; n<current_node.neighbours.length; n++) {
// // for each of the neighbours, calculate the childNoderen
// childNode = current_node.neighbours[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 == current_node.i) || (childNode.j == current_node.j))
// childNode.g = current_node.g + 10; // if not diagonal, use 10 as metric
// else
// childNode.g = current_node.g + 14; // rougly the square path if diagonal
// childNode.h = aStarHeuristics(childNode, nextNode);
// childNode.f = childNode.g + childNode.h;
// childNode.parent = current_node;
// if (openNodes.indexOf(childNode) < 0) {
// // if not in openNodes
// openNodes.push(childNode);
// }
// } // check if closedSet
// }
// // Step C:
// // Step C:
// // console.log("JAY TESTY - should be...... 65/100/1000");
// // console.log(OPEN_SET[0]);
// // console.log(OPEN_SET[1]);
// // console.log(OPEN_SET[2]);
// // console.log("HEYA - I just want to tell you im the lowest in the set: " + OPEN_SET[0].f);
// // console.log("HEYA - I just want to tell you im the SECOND in the set: " + OPEN_SET[1].f);
// // console.log("HEYA - I just want to tell you im the HIGHEST in the set: " + OPEN_SET[2].f);
// console.log("JAY min");
// // console.log(min_f);
// // console.log(min_f);
// //current =
// console.log("test");
// OPEN_SET.pop();
// console.log(OPEN_SET.length);
// }
// // while(OPEN_SET.length > 0){
// // console.log(OPEN_SET.length);
// // console.log("test");
// // OPEN_SET.pop();
// // console.log(OPEN_SET.length);
// // }
// //OPEN_SET.pop(enemy_node);
// //get neighbours, then current becomes open set?
// //var current_node = enemy_node;
// // add to openset first
// // get cur neihgbors
// //calculate f,g,h
// var cur_h = find_H( current_node.x,current_node.y , target_location_x,target_location_y); // H(a)
// //start node //to// //current node
// var cur_g = find_G( enemy_node, current_node);
// // console.log("HEYA");
// // console.log(cur_h);
// // console.log("HEYA----end");
// //console.log(typeof node.prev_node);
// // ei, ej / ai, aj
// // console.log("EI, then EJ");
// // console.log(ei);
// // console.log(ej);
// // //Step 3 - calculate distance?
// // // var distance = find_euclidean(ei,ej,ai,aj); // H(a)
// // console.log("Euclidean DISTANCE to target: "+distance);
// // console.log(node.x)
// // console.log(node.y)
// // console.log(node.parent_x)
// // console.log(node.parent_y)