// Cloned by Anand on 12 Nov 2023 from World "Complex World (clone by Anand) (clone by Anand)" by Anand
// Please leave this clone trail here.
// Cloned by Anand on 28 Oct 2023 from World "Complex World (clone by Anand)" by Anand
// Please leave this clone trail here.
// Cloned by Anand on 27 Oct 2023 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 = 300; // 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)
//Anand W : Change world textures.
const TEXTURE_WALL = '/uploads/starter/minecraft.1.jpg' ;
const TEXTURE_MAZE = '/uploads/starter/minecraft.2.jpg' ;
const TEXTURE_AGENT = '/uploads/andy055/scared.jpg' ;
//const TEXTURE_ENEMY = '/uploads/starter/green.alien.png' ;
const TEXTURE_ENEMY = 'uploads/andy055/homlander.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/Interstellar.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 = 40; // 30; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 4 ); // 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 = 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/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;
const DIAGONAL_MOVE = true; //Anand W : Enable diagnoal moves for the enemy
const highlight_path = true;
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 last_direction = "z";
var badsteps;
var goodsteps;
//Anand W : Create priority queue
class QElement {
constructor(element, priority)
{
this.element = element;
this.priority = priority;
}
}
// PriorityQueue class
class PriorityQueue {
// An array is used to implement priority
constructor()
{
this.items = [];
}
q_contains(element) {
for (var i = 0; i < this.items.length; i++) {
if(this.items[i].element.i == element.i &&
this.items[i].element.j == element.j ) {
return true
}
}
//if(this.items.includes(element))
// return true;
return false;
}
// functions to be implemented
// enqueue(item, priority)
enqueue(element, priority) {
// creating object from queue element
var qElement = new QElement(element, priority);
var contain = false;
// iterating through the entire
// item array to add element at the
// correct location of the Queue
for (var i = 0; i < this.items.length; i++) {
if (this.items[i].priority > qElement.priority) {
// Once the correct location is found it is
// enqueued
this.items.splice(i, 0, qElement);
contain = true;
break;
}
}
// if the element have the highest priority
// it is added at the end of the queue
if (!contain) {
this.items.push(qElement);
}
}
// dequeue()
// dequeue method to remove
// element from the queue
dequeue()
{
// return the dequeued element
// and remove it.
// if the queue is empty
// returns Underflow
if (this.isEmpty())
return "Underflow";
return this.items.shift();
}
// front()
// front function
front() {
// returns the highest priority element
// in the Priority queue without removing it.
if (this.isEmpty())
return "No elements in Queue";
return this.items[0];
}
// rear function
rear()
{
// returns the lowest priority
// element of the queue
if (this.isEmpty())
return "No elements in Queue";
return this.items[this.items.length - 1];
}
// isEmpty()
isEmpty()
{
// return true if the queue is empty.
return this.items.length === 0;
}
// printPQueue()
printPQueue()
{
var str = "";
for (var i = 0; i < this.items.length; i++)
str += this.items[i].element + " ";
return str;
}
}
//Anand W : Create a grid object to store location, f, g, h, neighbours etc
// : Properties to mark grid
// : This object is very similar to the spot object from Daniel Shiffman's implementation of A Star
function grid_object (i, j) {
//Location
this.i = i;
this.j = j;
//A* values : f, g, h
this.f = 0;
this.g = 0;
this.h = 0;
//Neighbours
this.neighbours = [];
//Parent
this.parent = undefined;
this.grid_val = GRID_BLANK;
this.setwall = function (grid_wall) {
this.grid_val = GRID_WALL;
};
this.setobstacle = function (obs) {
this.grid_val = GRID_MAZE;
};
this.show = function(color) {
var m_coll ;
if(color == "open") m_coll = 0xff0000; //red
if(color == "closed") m_coll = 0x0008ff; //blue
if(color == "taken") m_coll = 0xffff00; //yellow
const geometry = new THREE.SphereGeometry( 15, 32, 16 );
const material = new THREE.MeshBasicMaterial( { color: m_coll } );
const sphere = new THREE.Mesh( geometry, material );
sphere.name = "highlight_path";
sphere.position.copy ( translate(this.i,this.j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add( sphere );
//fill(color);
}
this.addNeighbours = function(GRID) {
var i = this.i;
var j = this.j;
console.log("addNeighbours for : (" + i + "," + j + ")");
if(i < gridsize -1) this.neighbours.push(GRID[i+1][j]);
if(i > 0) this.neighbours.push(GRID[i-1][j]);
if(j < gridsize -1) this.neighbours.push(GRID[i][j+1]);
if(j > 0) this.neighbours.push(GRID[i][j-1]);
if(DIAGONAL_MOVE) {
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]);
}
};
}
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 ( ( ei == i ) && ( ej == j ) ) return true; // variable objects
if ( ( ai == i ) && ( aj == j ) ) return true;
if ( GRID[i][j].grid_val == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j].grid_val == 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
{
var i,j, shape, thecube;
// set up GRID as 2D array
for ( i = 0; i < gridsize ; i++ )
GRID[i] = new Array(gridsize);
for ( i = 0; i < gridsize ; i++ ) {
for ( j = 0; j < gridsize ; j++ ) {
GRID[i][j] = new grid_object(i,j); //Use grid object to ease out accessing all properties pertianing to the grid
}
}
for ( i = 0; i < gridsize ; i++ ) {
for ( j = 0; j < gridsize ; j++ ) {
GRID[i][j].addNeighbours(GRID); // Add neighbours
}
}
// 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_val = GRID_WALL; //Anand_W - use grid object access variables.
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_val = 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_val = 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_custom(i, j) {
// move towards agent
var ti = 0;
var tj = 0;
console.log("moving enemy");
//Post process the final step - when the enemy is about to trap the agent
//It is one diagonal step away - however the enemy aims to take agent's co-ordinates
//This is where it should take just one step and block the agent rather than trying to move into the agent occupied location
if(i == ai && j == aj) {
//A* is leading me into agent's location
//make a move in agent's direction
if ( ei < ai ) ti = AB.randomIntAtoB(ei, ei+1);
if ( ei == ai ) ti = ei;
if ( ei > ai ) ti = AB.randomIntAtoB(ei-1, ei);
if ( ej < aj ) tj = AB.randomIntAtoB(ej, ej+1);
if ( ej == aj ) tj = ej;
if ( ej > aj ) tj = AB.randomIntAtoB(ej-1, ej);
} else {
ti = i;
tj = j
}
if ( ! occupied(ti,tj) ) // if no obstacle then move, else just miss a turn
{
ei = ti;
ej = tj;
}
}
function moveLogicalEnemy()
{
// move towards agent
// put some randomness in so it won't get stuck with barriers
var i, j;
//Disable diagonal moves - move only in i or j direction. (i and j cannot move in the same direction)
if(DIAGONAL_MOVE === true) {
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);
} else {
// Anand W : change only i or j at a given time - don't change both to avoid diagonal moves
if(last_direction == "x" || last_direction == "z" ) {
if ( ei < ai ) i = AB.randomIntAtoB(ei, ei+1);
if ( ei == ai ) i = ei;
if ( ei > ai ) i = AB.randomIntAtoB(ei-1, ei);
j = ej; //Assign same value to variable to avoid undefined values.
last_direction = "y";
} else if (last_direction == "y" || last_direction == "z" ) {
if ( ej < aj ) j = AB.randomIntAtoB(ej, ej+1);
if ( ej == aj ) j = ej;
if ( ej > aj ) j = AB.randomIntAtoB(ej-1, ej);
i = ei; // Assign same value to variable to avoid undefined values.
last_direction = "x";
}
}
if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
{
ei = i;
ej = j;
}
}
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 );
}
function gfunc ( a, b )
{
if ( DIAGONAL_MOVE ) {
var x = new THREE.Vector2(a.i, a.j);
var y = new THREE.Vector2(b.i, b.j);
var d = Math.floor(x.distanceTo(y));
//console.log("a : b distance = " + d);
return ( d ); // 2D distance
}
else return ( abs(a.i - b.i) + abs(a.j - b.j) ); // else go across and down
}
function heuristic ( a, b )
{
if ( DIAGONAL_MOVE ) {
var x = new THREE.Vector2(a.i, a.j);
var y = new THREE.Vector2(b.i, b.j);
var d = Math.floor(x.distanceTo(y));
//console.log(typeof d);
//console.log("a : b distance = " + d);
return ( d ); // 2D distance
}
else {
return ( abs(a.i - b.i) + abs(a.j - b.j) ); // else go across and down
}
}
function removefromArray(arr, elt)
{
// Could use indexOf here instead to be more efficient
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
function computeAStar(start_i, start_j, goal_i, goal_j){
var openSet = [];
var closedSet = [];
var path = [];
var start = GRID[start_i][start_j];
var end = GRID[goal_i][goal_j];
var priorityQueue = new PriorityQueue();
//console.log("Priority queue " + priorityQueue.isEmpty());
//console.log("Priority queue " + priorityQueue.front());
//Anand W : Make use of Priority queue for openset
priorityQueue.enqueue(start, start.f);
//console.log("Priority queue contains ------ " + priorityQueue.q_contains(start));
//if(priorityQueue.q_contains(start) === true) {
//console.log("contain function works fine !! ");
//}
//console.log("Priority queue print " + priorityQueue.printPQueue());
//console.log("Priority queue " + priorityQueue.isEmpty());
//openSet.push(start);
console.log("Starting A* algorithm with start : (" + start_i + "," + start_j + ")");
//while (openSet.length > 0) {
while (!priorityQueue.isEmpty()) {
var winner = 0;
//for(var i=0; i < openSet.length; i++) {
// //Parse through openSet to select state with least cost (f)
// if(openSet[i].f < openSet[winner].f) {
// winner = i;
// }
//}
//var selected_state = openSet[winner];
//var selected_state = priorityQueue.front();
var selected_state_q = priorityQueue.dequeue();
var selected_state = selected_state_q.element;
if(selected_state === end) {
//console.log("-------FOUND AGENT------");
break; //Break from while Loop
}
//removefromArray(openSet, selected_state);
closedSet.push(selected_state);
var neighbours = selected_state.neighbours;
for(var i = 0; i<neighbours.length; i++) {
var neighbour = neighbours[i];
if(!closedSet.includes(neighbour) && neighbour.grid_val == GRID_BLANK) {
//If neighbour wasn't already analyzed and neighbour isn't wall or obstacle
var g = selected_state.g + gfunc(neighbour, selected_state); //compute distance from start cumulatively
var newPath = false;
//if(openSet.includes(neighbour)) {
if(priorityQueue.q_contains(neighbour)) {
if(g < neighbour.g) {
//A new way was discovered to get to this node from another route
neighbour.g = g;
newPath = true;
}
} else {
//Found new neighbour - add to openSet
neighbour.g = g;
newPath = true;
//openSet.push(neighbour);
}
if(newPath) {
neighbour.h = heuristic(neighbour, end);
neighbour.f = neighbour.g + neighbour.h;
neighbour.parent = selected_state;
priorityQueue.enqueue(neighbour, neighbour.f);
neighbour.show("open");
}
}
} //Neighbour Loop
} //While Loop for openSet
//Anand W :
//Move to the next step from computedAStar - backtrack from selectedstate
//not interested in getting to the target state - need to get the state right after the start state on the golden path choosen by A*
//total states searched = openset.length + closedset.length
// var total_states_searched = openSet.length + closedSet.length;
//for(var i =0; i<openSet.length; i++) {
// openSet[i].show("open");
//}
for(var i =0; i<closedSet.length; i++) {
closedSet[i].show("closed");
}
//console.log("states assessed : " + total_states_searched);
path = [];
var temp = selected_state;
path.push(temp);
var iter = 0;
while(temp.parent && (iter <= 1.414 * gridsize)) { //At any given time - I will never be larger than diagnoal in the grid - worst case scenario - don't let the loop go on forever
console.log("selected state params : g=" + temp.g + " h = " + temp.h + " f = "+ temp.f);
console.log("selected state loc : i=" + temp.i + " j = " + temp.j );
temp = temp.parent;
path.push(temp);
if(highlight_path)
temp.show("taken");
if(temp == start) {
//For some cases the start node was linked back to another node causing an uncontrollable loop
console.log("found start - parent "+ temp.parent);
break;
}
iter++;
}
if(iter == 1.414 * gridsize) {
//At any given time - I will never be larger than diagnoal in the grid - worst case scenario
console.log("_________ iter maxed out --------- something went wrong");
}
//console.log("Found agent: agent : (" + ai + "," + aj + ")");
//console.log("Found agent: selected_state : (" + selected_state.i + "," + selected_state.j + ")");
//console.log("next_step : (" + path[path.length -2].i + "," + path[path.length -2].j + ")");
//path[path.length -2] will be my next step .
return([path[path.length -2].i, path[path.length -2].j]);
}
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);
//After this state - I have the end state for A* algorithm
if ( ( AB.step % 2 ) === 0 ) { // slow the enemy down to every nth step
//Insert A* algorithm here :
//1. capture agent location
//2. compute A*
// 2.1 observe nodes : need to compute f*(n) for each node :
// g*(n) = distance from initial location
// h*(n) = minimum distance from goal node (agent's location)
//
// ai, aj will be the goal co-ordinates
// ei, ej will be the start co-ordinates
const [next_enemy_i, next_enemy_j] = computeAStar(ei, ej, ai, aj);
//Get next step after this which moveLogicalEnemy should use to move enemy
//moveLogicalEnemy();
moveLogicalEnemy_custom(next_enemy_i, next_enemy_j);
}
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
}