//Assignment 1 - World 1 - Nuno Correia
//Pratical 1 - World 1 changes are identified by "////"
//World 1 link - https://ancientbrain.com/world.php?world=4183445779
// World 2 link - https://ancientbrain.com/world.php?world=1579483516
// ==== 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 = false; // Switch between 3d and 2d view (both using Three.js)
const TEXTURE_WALL = '/uploads/nuno55/dd5eb9367bb0c67a4acfbbf8cdde6e03--hand-painted-textures-deserts.jpg' ;
const TEXTURE_MAZE = '/uploads/nuno55/f9581b41075c4e0259656a89cedbff5c.png' ;
const TEXTURE_AGENT = '/uploads/nuno55/Roadrunner3.jpg' ;
const TEXTURE_ENEMY = '/uploads/nuno55/Picture-Of-Wile-E.-Coyote.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/nuno55/blondie-one-way-or-another-audio_qSXCIcqx.mp3' ;
const SOUND_ALARM = '/uploads/nuno55/Meepmeep.mp3' ;
// credits:
// http://www.dl-sounds.com/royalty-free/defense-line/
// http://soundbible.com/1542-Air-Horn.html
const gridsize = 50;////*50 2500 // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 ); //// /3
// 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
// mountain skybox, credit:
// http://stemkoski.github.io/Three.js/Skybox.html
const SKYBOX_ARRAY = [
"/uploads/nuno55/eq1lhgkv-900.jpg",
"/uploads/nuno55/eq1lhgkv-900.jpg",
"/uploads/nuno55/eq1lhgkv-900.jpg",
"/uploads/nuno55/eq1lhgkv-900.jpg",
"/uploads/nuno55/eq1lhgkv-900.jpg",
"/uploads/nuno55/eq1lhgkv-900.jpg",
];
// 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;
const GRID_ENEMY = 10;
const GRID_AGENT = 20;
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;
var diagonal = true;////enable diagonal
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 (i <= gridsize && j <= gridsize &&
i >= 0 && j >= 0) {
switch (GRID[i][j]) {
case GRID_WALL:
case GRID_MAZE:
case GRID_ENEMY:
case GRID_AGENT:
return true;
default:return false;
}
}
return true;
}
function iswall(i, j)
{
switch (GRID[i][j]) {
case GRID_WALL:
case GRID_MAZE:
return true;
default:return false;
}
}
// translate my (i,j) grid newLocation to three.js (x,y,z) newLocation
// logically, newLocation 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;
////var aGrid = [];
// set up GRID as 2D array
for ( i = 0; i < gridsize ; i++ )
GRID[i] = new Array(gridsize);
/*
for (i = 0; i < gridsize; i++) {
aGrid[i] = [];
for (j = 0; j < gridsize; j++)
{
aGrid[i][j] = new spot(i, j);
}
// Neighbors
}
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
aGrid[i][j].addNeighbors();
}
}
*/
// 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 newLocation to three.js (x,y,z) newLocation
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 newLocation to three.js (x,y,z) newLocation
ABWorld.scene.add(thecube);
}
// set up enemy
// start in random location
do
{
i = AB.randomIntAtoB(1,gridsize-2);
j = AB.randomIntAtoB(1,gridsize-2);
}
while ( occupied(i,j) ); // search for empty square
ei = i;
ej = j;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
theenemy = new THREE.Mesh( shape );
theenemy.material = new THREE.MeshBasicMaterial( { map: enemy_texture } );
ABWorld.scene.add(theenemy);
drawEnemy();
// set up agent
// start in random location
do
{
i = AB.randomIntAtoB(1,gridsize-2);
j = AB.randomIntAtoB(1,gridsize-2);
}
while ( occupied(i,j) ); // search for empty square
ai = i;
aj = j;
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
theagent = new THREE.Mesh( shape );
theagent.material = new THREE.MeshBasicMaterial( { map: agent_texture } );
ABWorld.scene.add(theagent);
drawAgent();
// finally skybox
// setting up skybox is simple
// just pass it array of 6 URLs and it does the asych load
ABWorld.scene.background = new THREE.CubeTextureLoader().load ( SKYBOX_ARRAY, function()
{
ABWorld.render();
AB.removeLoading();
AB.runReady = true; // start the run loop
});
}
// --- draw moving objects -----------------------------------
function drawEnemy() // given ei, ej, draw it
{
theenemy.position.copy ( translate(ei,ej) ); // translate my (i,j) grid newLocation to three.js (x,y,z) newLocation
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 newLocation to three.js (x,y,z) newLocation
ABWorld.follow.copy ( theagent.position ); // follow vector = agent position (for camera following agent)
}
//// A* grid spot function: Location, A* calculations and array to the neighbours (including diagonal) - adapted from previous exercise
function spot(i, j) {
// Location
this.i = i;
this.j = j;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Walls
this.obstacle = 0;
// Neighbors
this.neighbors = [];
// Where did I come from?
this.parent = undefined;
this.closed = false; // are we in closed set
// Figure out who my neighbors are
this.addNeighbors = function () {
var i = this.i;
var j = this.j;
if (i < gridsize - 1) this.neighbors.push(aGrid[i + 1][j]);
if (i > 0) this.neighbors.push(aGrid[i - 1][j]);
if (j < gridsize - 1) this.neighbors.push(aGrid[i][j + 1]);
if (j > 0) this.neighbors.push(aGrid[i][j - 1]);
if (diagonal){
if (i > 0 && j > 0) this.neighbors.push(aGrid[i - 1][j - 1]);
if (i < gridsize - 1 && j > 0) this.neighbors.push(aGrid[i + 1][j - 1]);
if (i > 0 && j < gridsize - 1) this.neighbors.push(aGrid[i - 1][j + 1]);
if (i < gridsize - 1 && j < gridsize - 1) this.neighbors.push(aGrid[i + 1][j + 1]);
}
};
}
//// Adapted GRID from previous exercise
function aInitScen() {
var i, j;
//var aGrid = [];// aGrid
for (i = 0; i < gridsize; i++) {
aGrid[i] = [];
for (j = 0; j < gridsize; j++)
{
aGrid[i][j] = new spot(i, j);
}
// Neighbors
}
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
aGrid[i][j].addNeighbors();
}
}
}
var aGrid = [];
//failed experiment
/*
function aStar (spots,start,end){
const open_set = new PriorityQueue();
open_set.push[0,start]);
came_from = [];
for(var i =0; i < spots.length; i++) {
for(var j =0; j< spots[i].length;j++)
spots[i][j][4]
spots[i][j][5] = Infinity;
}
}
start[4] = 0;
start[5] = (Math.abs(start[0]-end[0])+ Math.abs(start[1]-end[1]));
open_set_hash = [start];
var current;
while (!(open_set.isEmpty())) {
current = open_set.pop()[1];
const index = Get_Index(open_set_hash,current);
if (index > -1) {
open_set_hash.splice(index,1);
}
if(current[0] == end[0] && current [1] ==end[1])
}
*/
//// A* function that returns the next location
function aStar(grid, start, end) {
var openSet = [];
var parent;
var completed = false;
var startNode = aGrid[start.i][start.j];
var endNode = aGrid[end.i][end.j];
var currentNode;
var approach = new newLocation(start.i, start.j);
openSet.push(startNode);
for (i = 0; i < gridsize; i++) {
for (j = 0; j < gridsize; j++) {
currentNode = aGrid[i][j];
currentNode.f = currentNode.h = currentNode.g = 0;
currentNode.closed = false;
currentNode.parent = null;
}
}
// --- begin search -----------------------------
while ((openSet.length > 0) && !completed) {
if (openSet.length > limit) {
completed = true;
return approach;
}
openSet.sort((a, b) => (a.f > b.f) ? 1 : -1);
currentNode = openSet.shift();
currentNode.closed = true;
if (currentNode == endNode) {
if (PATH){
pathArray.push(endNode);
}
// Best next option
while (currentNode.parent != startNode) {
if (PATH){
pathArray.push(currentNode);
}
currentNode = currentNode.parent;
}
completed = true;
if (PATH){
pathArray.push(startNode);
}
} else {
// Did I finish?
for (n = 0; n < currentNode.neighbors.length; n++) {
parent = currentNode.neighbors[n];
if (parent.closed) {
} else if (iswall(parent.i, parent.j)) {
parent.closed = true;
} else {
if ((parent.i == currentNode.i) || (parent.j == currentNode.j))
parent.g = currentNode.g;
else
parent.g = currentNode.g;
parent.h = aStarHeuristics(parent, endNode);
parent.f = parent.g + parent.h;
parent.parent = currentNode;
if (openSet.indexOf(parent) < 0) {
openSet.push(parent);}
}
}
}
}
approach.i = currentNode.i;
approach.j = currentNode.j;
return approach;
}
// --- end search -----------------------------
///(i,j) newLocation
class newLocation {
constructor(i, j) {
this.i = i;
this.j = j;}
}
var start = new newLocation();
var end = new newLocation();
const limit = gridsize * gridsize;
////Draw A*
const PATH = true;
var pathArray = [];
function drawPath(path, color)
{
//const material = new THREE.LineBasicMaterial({
//color:'#F10B0B', linewidth:1000 });
//var a;
//var b;
//var line;
//var points = [];
//var lastPathLine = [];
//var formerLine;
var geometry = new THREE.Geometry();
var material = new THREE.LineBasicMaterial( {
color:'#F10B0B', linewidth:1000 });
if(pathArray!== null){
if(pathArray.length >1){
for(let i = 0; i < pathArray.length-1; i++){
geometry.vertices.push(translate(pathArray[i].i,pathArray[i].j));
geometry.vertices.push(translate(pathArray[i+1].i,pathArray[i+1].j));
}
var line = new THREE.LineSegments(geometry,material);
ABWorld.scene.add(line);
}
}
}
////=== heuristic ===========================
// this must be always optimistic - real time will be this or longer
function aStarHeuristics(start, end)
{
if (diagonal) return (Math.pow(start.i - end.i, 2) + Math.pow((start.j - end.j), 2));
// 2D distance
else return (Math.abs(start.i - start.i) + Math.abs(start.j - end.j));
// else not diagonal, can only go across and down
// so this is optimistic
// note this is not optimistic if we can do diagonal move
}
//// --- take actions -----------------------------------
function moveLogicalEnemy() {
var i, j;
start.i = ei;
start.j = ej;
end.i = ai;
end.j = aj;
bestPath = aStar(GRID, start, end);//Call A*
if (!occupied(bestPath.i, bestPath.j)) {
GRID[ei][ej] = GRID_BLANK;
ei = bestPath.i;
ej = bestPath.j;
GRID[ei][ej] = GRID_ENEMY;
}
}
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;
aInitScen();
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();
}
if (PATH){
drawPath();
}
};
AB.world.endRun = function()
{
musicPause();
if ( AB.abortRun ) AB.msg ( " <br> <font color=red> <B> Roadrunner trapped. Final score zero. </B> </font> ", 3 );
else AB.msg ( " <br> <font color=#F10B0B> <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
}