// Cloned by Tony Forde on 25 Oct 2021 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 = 500;
// Speed of run: Step every n milliseconds. Default 500.
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/starter/door.jpg' ;
//const TEXTURE_MAZE = '/uploads/starter/latin.jpg' ;
const TEXTURE_WALL = '/uploads/fordea23/black_marble.jpg' ;
const TEXTURE_MAZE = '/uploads/fordea23/grey_marble.jpg' ;
const TEXTURE_AGENT = '/uploads/fordea23/Mouse.jpg' ;
const TEXTURE_ENEMY = '/uploads/fordea23/Cat.jpg' ;
const TEXTURE_PATH = '/uploads/fordea23/Green_Path.jpg'
const SHOW_PATH = false;
// 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
const gridsize = 52; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 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 MAX_SEARCH = 20;
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
const diagonal = false;
// For A*:
var cols = gridsize - 2; // Grid size includes walls / edges hence - 2
var rows = cols;
var grid = new Array(cols);
var openSet = []; // Unvisited nodes
var closedSet = []; // Visited nodes
var start; // Start
var end; // End
var path = []; // Path to goal
var currentSquare;
var nextMovej;
var nextMovei;
var winnerj;
var winneri;
var breakCalculate = false;
//--- 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"
];
// ===================================================================================================================
// === 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, thepath, pathShape;
var wall_texture, agent_texture, enemy_texture, maze_texture, path_texture;
// enemy and agent position on squares
var ei, ej, ai, aj, pi, pj;
var badsteps;
var goodsteps;
function loadResources() // asynchronous file loads - call initScene() when all finished
{
// console.log('Load resources...')
var loader1 = new THREE.TextureLoader();
var loader2 = new THREE.TextureLoader();
var loader3 = new THREE.TextureLoader();
var loader4 = new THREE.TextureLoader();
var loader5 = 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();
});
loader5.load ( TEXTURE_PATH, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
path_texture = thetexture;
if ( asynchFinished() ) initScene();
});
}
function asynchFinished() // all file loads returned
{
// console.log('asynchFinished');
if ( wall_texture && agent_texture && enemy_texture && maze_texture && path_texture ) return true;
else return false;
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
function occupied ( i, j ) // is this square occupied
{
if ( ( ei == i ) && ( ej == j ) ) return true; // variable objects
if ( ( ai == i ) && ( aj == j ) ) return true;
if ( GRID[i][j] == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j] == GRID_MAZE ) return true;
return false;
}
function blockedByWall ( i, j ) // is this a wall
{
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;
}
function initScene() // all file loads have returned
{
// console.log('Init scene...')
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 ( 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 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 -----------------------------------
function moveLogicalEnemy()
{
// move towards agent
// put some randomness in so it won't get stuck with barriers
console.log('****** NEW MOVE...');
console.log('Agent is at [row, col] [' + aj + ', ' + ai + ']');
console.log('Enemy is at [row, col] [' + ej + ', ' + ei + ']');
setupGrid();
breakCalculate = false;
// CalculateBestPath loops through all possible moves for the enemy, determines the best path and the first move in that path.
// The next move, on best path, is a move to square [row = nextMovej, col = nextMovei].
while (breakCalculate === false) {
calculateBestPath();
}
// console.log('****** Next Move - row / col: ' + nextMovej + ' ,' + nextMovei);
// console.log('****** Winner - row / col: ' + winnerj + ' ,' + winneri);
var i, j;
// Rows:
if ((typeof winnerj !== 'undefined') && (typeof winneri !== 'undefined')) {
// Winner coordinates can be undefined: at start and if no possible path found e.g due to being blocked by wall
j = winnerj;
i = winneri;
}
else {
// If winner coordinates undefined (see above), go with previous best move. This prevents error.
j = nextMovej;
i = nextMovej;
}
console.log('****** BEST MOVE ==> row / col: ' + j + ' ,' + i);
// In Part I, enemy holds back when it gets too close (within one space) of the agent. Here, in Part II, it is allowed trap the agent to end game.
if ( ! occupied(i,j) ) // if no obstacle then move
{
//console.log('No obstacle -- enemy can move.');
pi = i;
pj = j;
ei = i;
ej = j;
console.log('Enemy moves to moves to [row, col] [' + ej + ', ' + ei + ']');
if (SHOW_PATH) {
// *** BUG 1: The code "ABWorld.scene.remove(thepath)" seems to remove the
// path too quickly so you can't see the chosen path. Of course, if you leave
// it out, then the best paths accumulate on screen. Tried placing the remove
// path scene in different locations but same result, unfortunately.
pathShape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thepath = new THREE.Mesh( pathShape );
thepath.material = new THREE.MeshBasicMaterial( { map: path_texture } );
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
thepath.position.copy ( translate(pi,pj) );
ABWorld.scene.add(thepath);
// *** Related to BUG 1:
// ABWorld.scene.remove(thepath);
}
}
else
{
console.log('Obstacle in the way - try another square.');
if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1);
if ( ei == ai ) i = ei;
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
{
//console.log('No obstacle -- enemy can move.');
ei = i;
ej = j;
console.log('Alternative enemy move to moves to [row, col] [' + ej + ', ' + ei + ']');
}
// //console.log('Obstacle in the way - skip a turn.');
// console.log('Obstacle in the way - try another square.');
}
}
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();
// x = step before [colAgent, rowAgent, colEnemy, rowEnemy]
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();
// y = step after [colAgent, rowAgent, colEnemy, rowEnemy]
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()
{
// console.log('New run...');
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 )
{
//console.log('Take action...' + a);
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
//if ( ( AB.step % 2 ) == 0 ) // slow the enemy down to every nth step
moveLogicalEnemy();
// *** Related to BUG 1: remove path scene below...
// ABWorld.scene.remove(thepath);
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()
{
console.log('End run...');
//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()
{
console.log('Get score...');
// 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 ----------------------------------------
// TF: Switch off music
// 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
}
// --- The A* Stuff ---------------------------------------------------
function Spot(i, j) {
this.i = i;
this.j = j;
this.f = 0;
this.g = 0;
this.h = 0;
this.neighbors = []; // An array to store all neighbors of Spot
this.previous = undefined;
this.addNeighbors = function (grid) {
var i = this.i;
var j = this.j;
// Neighbors' comparative grid positions depend on where current node
// is on the grid, e.g. corner, edge, middle, etc... different options.
// Below allows for non-diagonal travel, i.e. it only caters for:
// 1. UP 2. DOWN 3. LEFT 4. RIGHT
if (i < cols - 1) this.neighbors.push(grid[i + 1][j]);
if (i > 0) this.neighbors.push(grid[i - 1][j]);
if (j < rows - 1) this.neighbors.push(grid[i][j + 1]);
if (j > 0) this.neighbors.push(grid[i][j - 1]);
// Below allows for non-diagonal travel, i.e. it also caters for:
// 5. TOP LEFT 6. TOP RIGHT 7. BOTTOM LEFT 8. BOTTOM RIGHT
if (diagonal) {
if (i > 0 && j > 0) this.neighbors.push(grid[i - 1][j - 1]);
if (i < cols - 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 < cols - 1 && j < rows - 1) this.neighbors.push(grid[i + 1][j + 1]);
}
};
}
function setupGrid() {
// // TF: Initialise open and closed lists
// openSet = [];
// closedSet = [];
currentSquare = 1;
// Making a 2D array
for (var i = 0; i < cols; i++) grid[i] = new Array(rows);
// Create a new object for each spot in the grid
// so we can assign some values to, i.e. f, g and h values for starters
for (var i = 0; i < cols; i++)
for (var j = 0; j < rows; j++) grid[i][j] = new Spot(i, j);
// Add the neighbors of the spot
for (var i = 0; i < cols; i++)
for (var j = 0; j < rows; j++) grid[i][j].addNeighbors(grid);
start = grid[ei-1][ej-1];
end = grid[ai-1][aj-1];
openSet.push(start);
//console.log(grid);
}
function calculateBestPath() {
breakCalculate = false;
//console.log('Calculate best path...');
if (openSet.length > 0) {
// While Open Set is not empty, keep going...
var winner = 0; // Set the lowest, i.e. WINNING, index
// Check which one is the lowest, i.e. current WINNER
for (var i = 0; i < openSet.length; i++){
// console.log('Current check index: ' + i + ' -- Current check value : ' + openSet[i].f);
if (openSet[i].f < openSet[winner].f) {
winner = i;
// console.log('Found new winner index: ' + i + ' better than index ' + winner);
// console.log('Found new winner value: ' + openSet[i].f + ' better than vale ' + openSet[winner].f);
}
}
var current = openSet[winner];
// If current node equals END node, then we are done!
if (current === end) {
winnerj = null;
winneri = null;
console.log("FOUND BEST PATH!");
//console.log('*** Next Move - row / col: ' + nextMovej + ' ,' + nextMovei);
winnerj = nextMovej;
winneri = nextMovei;
//console.log('*** Winner - row / col: ' + winnerj + ' ,' + winneri);
breakCalculate = true;
}
else
{
}
// Else continue below...
// Remove current node from Open Set
removeFromArray(openSet, current);
// And push current to Closed Set
closedSet.push(current);
// Evaluate all neighbors before pushing them to Open Set
var neighbors = current.neighbors;
for (var i = 0; i < neighbors.length; i++) {
var neighbor = neighbors[i];
// If Closed Set does NOT include the neighbor
// AND it is NOT a wall
if (!closedSet.includes(neighbor)) {
// var xi = neighbor.i + 1;
// var xj = neighbor.j = 1;
var tempG = current.g + 1;
var newPath = false; // Default
// Check if Open Set includes neighbor
if (openSet.includes(neighbor)) {
if (tempG < neighbor.g) {
neighbor.g = tempG;
newPath = true;
}
} else {
neighbor.g = tempG;
newPath = true;
openSet.push(neighbor);
}
if (newPath) {
// Only need to calulate heuristic if we've found a new path
// Now assign a heuristic value to the neighbor, i.e. distance to end goal:
neighbor.h = heuristic(neighbor, end);
// Now calculate f(n) = g(n) + h(n):
neighbor.f = neighbor.g + neighbor.h;
// console.log("current winner is square " + winner + 1);
// console.log("current winner has f(n) = " + openSet[winner].f);
// console.log("now check square " + currentSquare + " where...");
// console.log("g(" + currentSquare + ") = " + neighbor.g);
// console.log("h(" + currentSquare + ") = " + neighbor.h);
// console.log("f(" + currentSquare + ") = " + neighbor.f);
currentSquare++;
// Set current spot to be parent of the next one (in next for loop interation)
neighbor.previous = current;
}
}
}
}
else {
console.log("No solution.");
//noLoop();
return;
// No solution
}
path = [];
var temp = current;
path.push(temp);
while (temp.previous) {
// While there is a path history, i.e. previous node
path.push(temp.previous);
temp = temp.previous;
}
// Loop through path to find next move, i.e. which square to move to on the best path.
for (var i = path.length-1; i >= 0; i--) {
var pathj = path[i].j+1;
var pathi = path[i].i+1;
// console.log('Path - row, col: ' + path[i].j + ', ' + path[i].i);
//console.log('Path - row, col: ' + pathj + ', ' + pathi);
var firstIndex = path.length - 1;
var nextMoveIndex;
// console.log('firstIndex: ' + firstIndex);
// console.log('Start - row / col: ' + path[firstIndex].j + ' ,' + path[firstIndex].i);
if (firstIndex > 0) {
nextMoveIndex = path.length - 2;
nextMovej = path[nextMoveIndex].j+1;
nextMovei = path[nextMoveIndex].i+1;
}
//console.log('Next Move - row / col: ' + nextMovej + ' ,' + nextMovei);
}
}
function removeFromArray(arr, elt) {
// Custom function to remove an object from an array.
// Loop backwards through array.
// Only reason for going backwards is if we delete something it shortens the array length.
// So we could skip an element in the loop.
for (var i = arr.length - 1; i >= 0; i--) if (arr[i] == elt) arr.splice(i, 1); // Splice deletes a particular element in an array at an index
}
function heuristic(a, b) {
// Custom function to estimate distance from points a to b.
var d;
if (diagonal) {
// Calculate the Euclidean or 2D distance for diagonal search
d = dist(a.i, a.j, b.i, b.j);
} else {
// Calculate the "Manhattan" or "Taxi Cab" distance for non-diagonal search
d = Math.abs(a.i - b.i) + Math.abs(a.j - b.j);
}
return d;
}