// Cloned by Patrick Travers on 5 Nov 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 = 100;
// Speed of run: Step every n milliseconds. Default 100.
AB.maxSteps = 1000;
// Length of run: Maximum length of run in steps. Default 1000.
AB.screenshotStep = 50;
// Take screenshot on this step. (All resources should have finished loading.) Default 50.
//---- global constants: -------------------------------------------------------
const show3d = true; // Switch between 3d and 2d view (both using Three.js)
const TEXTURE_WALL = '/uploads/ptraver/1635504236.png' ;
const TEXTURE_MAZE = '/uploads/ptraver/1635504506.png' ;
const TEXTURE_AGENT = '/uploads/ptraver/1635515031.png' ;
const TEXTURE_ENEMY = '/uploads/ptraver/1635515529.png' ;
// 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 = 50; // 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 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/ptraver/1635512764.png",
"/uploads/ptraver/1635512764.png",
"/uploads/ptraver/1635512764.png",
"/uploads/ptraver/1635512764.png",
"/uploads/ptraver/1635512764.png",
"/uploads/ptraver/1635512764.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;
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_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
{
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 -----------------------------------
/**************************
GENERIC
**************************/
// The search graph will be comprised of node objects
class Node
{
constructor(i, j, parent_i, parent_j, g, h, f)
{
//location of node
this.i = i;
this.j = j;
//parent location
this.parent_loc = [parent_i, parent_j];
//A* scores
this.g = g;
this.h = h;
this.f = f;
}
}
// Search graph for performing A*
class Graph_obj
{
constructor()
{
this.graph = {};
}
check_node_present(i,j)
{
return (i in this.graph) && (j in this.graph[i]);
}
add_node(node)
{
if (node.i in this.graph)
this.graph[node.i][node.j] = node;
else
this.graph[node.i] = {};
this.graph[node.i][node.j] = node;
}
}
//true if square is wall or maze, otherwise false
function is_block( i, j ){
//very like occupied(), but no check for agent or enemy here
if ( GRID[i][j] == GRID_WALL ) return true;
if ( GRID[i][j] == GRID_MAZE ) return true;
return false;
}
//take a square and determine whether it qualifies as a hole
function is_hole( i, j ) {
if (!is_block(i, j)) {
if (is_block(i, j-1) + is_block(i, j+1) + is_block(i-1, j) + is_block(i+1, j) == 3)
return true;
}
return false;
}
//take two objects and return a list of keys in common
function commonKeys(obj1, obj2) { //https://stackoverflow.com/questions/16888696/find-the-common-members-of-two-javascript-objects
var keys = [];
for(var i in obj1) {
if(i in obj2) {
keys.push(i);
}
}
return keys;
}
/**************************
AG
**************************/
//returns heuristic evaluation of agent's distance to hole
function ag_heuristic(i, j)
{
return Math.abs(i - ag_target_sq[0]) + Math.abs(j - ag_target_sq[1]);
}
function ag_score_node(i, j, parent_node)
{
return [parent_node.g + 1, ag_heuristic(i, j)];
}
//for a given node in graph_obj, return its path back to root node
function ag_traverse_path(node)
{
var nd = node;
var path = [];
path.push([nd.i, nd.j]);
while (nd.g > 0)
{
var par_loc = nd.parent_loc;
var par_i = par_loc[0];
var par_j = par_loc[1];
nd = ag_graph_obj.graph[par_i][par_j];
path.push([nd.i, nd.j]);
}
return path;
}
//when you get a new node, score it and add it to graph_obj. Assumes node is not already in graph_obj
function ag_node_operations(i, j, parent_node)
{
//score node
var score = ag_score_node(i, j, parent_node);
var f = score.reduce((a, b) => a + b, 0); //https:stackoverflow.com/questions/1230233/how-to-find-the-sum-of-an-array-of-numbers
//instantiate node
var node = new Node(i, j, parent_node.i, parent_node.j, score[0], score[1], f);
//add node to graph object
ag_graph_obj.add_node(node);
//if path to within one square of agent found update path_found, draw the route, and move enemy one step
if (node.h === 0)
{
ag_path_found = true;
console.log('agent path found!');//Do AB print instead of console.log
//this needs to be bit different for agent
var route = ag_traverse_path(node);
//draw_path(route);
//find vector describing your desired agent step, and subtract it from agent's position to find enemy's target square
var step_loc = route.slice(-2,-1)[0];
var agent_step1_vector = [step_loc[0] - ai, step_loc[1] - aj];
enemy_target_sq = [ai - agent_step1_vector[0], aj - agent_step1_vector[1]];
return true;
}
//add the node to unexplored_nodes_holder
if (f in ag_unexplored_nodes_holder) {
ag_unexplored_nodes_holder[f].push([i, j]);
} else { ag_unexplored_nodes_holder[f] = [[i, j]];
}
return false;
}
//take a node and look at all its adjacent squares
function ag_expand_children(parent_node)
{
var i = parent_node.i;
var j = parent_node.j;
for (var a=-1; a < 2; a += 2) {
var x = i+a;
var y = j+a;
//should refactor the conditional contents into its own function
if(!occupied(x, j)){
if (!ag_graph_obj.check_node_present(x, j)) {
if (ag_node_operations(x, j, parent_node)) break;
}
if (ag_graph_obj.graph[x][j].g - parent_node.g >= 2) { //if faster route to node found change that node's parent
ag_graph_obj.graph[x][j].g = parent_node.g + 1;
ag_graph_obj.graph[x][j].f = ag_graph_obj.graph[x][j].g + ag_graph_obj.graph[x][j].h;
}
}
if(!occupied(i, y)){
if (!ag_graph_obj.check_node_present(i, y)) {
if (ag_node_operations(i, y, parent_node)) break;
}
if (ag_graph_obj.graph[i][y].g - parent_node.g >= 2) { //if faster route to node found change that node's parent
ag_graph_obj.graph[i][y].g = parent_node.g + 1;
ag_graph_obj.graph[i][y].f = ag_graph_obj.graph[i][y].g + ag_graph_obj.graph[i][y].h;
}
}
}
}
//determine shortest path to agent
function ag_find_path()
{
//expand root node
ag_expand_children(ag_root_node);
if (ag_path_found) return true;
//if root node has no children end the program
if (Object.keys(ag_unexplored_nodes_holder).length === 0)
{
console.log(Object.keys(unexplored_nodes_holder));
console.log('Agent trapped');//Do AB print instead of console.log//this case is taken care of already
return undefined;
}
//empty unexplored_nodes_holder into unexplored_nodes and clear holder
for (let score in ag_unexplored_nodes_holder) {
ag_unexplored_nodes[score] = ag_unexplored_nodes_holder[score];
}
for (let score in ag_unexplored_nodes_holder) {
delete ag_unexplored_nodes_holder[score];
}
//keep expanding nodes until path found or all available nodes exhausted
while (!ag_path_found)
{
//current score to search
var current_best = Math.min.apply(null, Object.keys(ag_unexplored_nodes));
//expand current relevant nodes and then remove from unexplored_nodes to prevent checking again
ls = ag_unexplored_nodes[current_best];
for (let node in ls)
{
let i = ls[node][0];
let j = ls[node][1];
ag_expand_children(ag_graph_obj.graph[i][j]);
}
delete ag_unexplored_nodes[current_best];
//if this particular hole can't be reached return false, and let nearest_hole() keep looking
if (Object.keys(ag_unexplored_nodes).length === 0 && Object.keys(ag_unexplored_nodes_holder).length === 0)
{
return false;
}
com_keys = commonKeys(ag_unexplored_nodes_holder, ag_unexplored_nodes);
//dump unexplored_nodes_holder in unexplored_nodes and then clear unexplored_nodes_holder
for (let score in ag_unexplored_nodes_holder)
{
if (com_keys.includes(score))
{
for (let node in ag_unexplored_nodes_holder[score])
ag_unexplored_nodes[score].push(ag_unexplored_nodes_holder[score][node]);
}
else
{
ag_unexplored_nodes[score] = ag_unexplored_nodes_holder[score];
}
}
for (var score in ag_unexplored_nodes_holder) delete ag_unexplored_nodes_holder[score];
}
return true; //this is true on the assumption that the agent will have at least one available hole
}
//new here
var enemy_target_sq;
var ag_target_sq;
var ag_path_found;
var ag_root_heuristic;
var ag_root_node;
var ag_graph_obj;
var ag_unexplored_nodes_holder;
var ag_unexplored_nodes;
//since this function contains a call to ag_find_path it will update enemy_target_sq, as well as ag_target_sq
//this function call will update enemy_target_sq and agent_target_sq (the main point of the precending few hundred lines)
function nearest_hole() {
var a = 1;
var hole_found = false;
var candidate_i;
var candidate_j;
//include special condition here to check if agent is in a hole, becuase if its path is less than 1, ag_traverse_path (called later in ag_node_operations) won't work
if (is_hole(ai, aj)) {
if (!is_block(ai, aj-1)) enemy_target_sq = [ai, aj-1];
else if (!is_block(ai, aj+1)) enemy_target_sq = [ai, aj+1];
else if (!is_block(ai-1, aj)) enemy_target_sq = [ai-1, aj];
else if (!is_block(ai+1, aj)) enemy_target_sq = [ai+1, aj];
hole_found = true;
return true;
}
while (!hole_found) {
for (var x = -a; x < a+1 ; x++) {
if (hole_found) break;
candidate_i = ai+x;
if (candidate_i < 1 || candidate_i >= gridsize - 1) continue;
for (var y = -a; y < a+1 ; y++) {
if (hole_found) break;
candidate_j = aj+y;
if (candidate_j < 1 || candidate_j >= gridsize - 1) continue;
if (is_hole(candidate_i, candidate_j)) {
ag_target_sq = [candidate_i, candidate_j];
ag_root_heuristic = ag_heuristic(ai, aj);
ag_root_node = new Node(ai, aj, undefined, undefined, 0, ag_root_heuristic, ag_root_heuristic);
ag_path_found = false;
ag_graph_obj = new Graph_obj();
ag_graph_obj.add_node(ag_root_node);
ag_unexplored_nodes_holder = {};
ag_unexplored_nodes = {};
if (ag_find_path())//will give back true or false
hole_found = true;
return true;
}
}
}
a += 1;
}
}
/**************************
STUFF FROM NORMAL VERSISION, CHANGED
**************************/
//most informed permissable heuristic pssible given no knowledge of block locations
function not_blocked_heuristic(i, j)
{
return Math.max(Math.abs(i - enemy_target_sq[0]), Math.abs(j - enemy_target_sq[1]));
}
function blocked_heuristic(i, j)
{
return Math.max(Math.abs(i - ai), Math.abs(j - aj));
}
function score_node(i, j, parent_node)
{
return (enemy_target_sq_blocked) ? [parent_node.g + 1, blocked_heuristic(i, j)] : [parent_node.g + 1, not_blocked_heuristic(i, j)];
}
//for a given node in graph_obj, return its path back to root node
function traverse_path(node)
{
var nd = node;
var path = [];
path.push([nd.i, nd.j]);
while (nd.g > 0)
{
var par_loc = nd.parent_loc;
var par_i = par_loc[0];
var par_j = par_loc[1];
nd = graph_obj.graph[par_i][par_j];
path.push([nd.i, nd.j]);
}
return path;
}
//when you get a new node, score it and add it to graph_obj. Assumes node is not already in graph_obj
function node_operations(i, j, parent_node)
{
//score node
var score = score_node(i, j, parent_node);
var f = score.reduce((a, b) => a + b, 0); //https:stackoverflow.com/questions/1230233/how-to-find-the-sum-of-an-array-of-numbers
//instantiate node
var node = new Node(i, j, parent_node.i, parent_node.j, score[0], score[1], f);
//add node to graph object
graph_obj.add_node(node);
var route;
var step_loc;
//if path found update path_found, draw the route, and move enemy one step
if ((enemy_target_sq_blocked && node.h == 1) || ((!enemy_target_sq_blocked) && node.h === 0))
{
path_found = true;
console.log('path found!');//Do AB print instead of console.log
route = traverse_path(node);
//draw_path(route);
step_loc = route.slice(-2,-1);
ei = step_loc[0][0];
ej = step_loc[0][1];
return true;
}
//add the node to unexplored_nodes_holder
if (f in unexplored_nodes_holder) {
unexplored_nodes_holder[f].push([i, j]);
} else { unexplored_nodes_holder[f] = [[i, j]];
}
return false;
}
//take a node and look at all its adjacent squares
function expand_children(parent_node)
{
var i = parent_node.i;
var j = parent_node.j;
for (var a = i-1; a < i+2; a++)
{
for (var b = j-1; b < j+2; b++)
{
if (!occupied(a, b)) {
if (!graph_obj.check_node_present(a, b)) {
if (node_operations(a, b, parent_node)) {
return true;
}
} else if (graph_obj.graph[a][b].g - parent_node.g >= 2) { //if faster route to node found change that node's parent
graph_obj.graph[a][b].g = parent_node.g + 1;
graph_obj.graph[a][b].f = graph_obj.graph[a][b].g + graph_obj.graph[a][b].h;
}
}
}
}
}
//determine shortest path to agent
function find_path()
{
//expand root node
if (expand_children(root_node)) return true;
//if root node has no children end the program
if (Object.keys(unexplored_nodes_holder).length === 0)
{
console.log('enemy has no moves');//Do AB print instead of console.log
return undefined;
}
//empty unexplored_nodes_holder into unexplored_nodes and clear holder
for (let score in unexplored_nodes_holder) {
unexplored_nodes[score] = unexplored_nodes_holder[score];
}
for (let score in unexplored_nodes_holder) {
delete unexplored_nodes_holder[score];
}
//keep expanding nodes until path found or all available nodes exhausted
while (!path_found)
{
//current score to search
var current_best = Math.min.apply(null, Object.keys(unexplored_nodes));
//expand current relevant nodes and then remove from unexplored_nodes to prevent checking again
ls = unexplored_nodes[current_best];
for (let node in ls)
{
let i = ls[node][0];
let j = ls[node][1];
if (expand_children(graph_obj.graph[i][j])) return true;
}
delete unexplored_nodes[current_best];
//if nothing left to search end the program
if (Object.keys(unexplored_nodes).length === 0 && Object.keys(unexplored_nodes_holder).length === 0)
{
//need a final check here - if you can't find a path to enemy_target_sq but you can to within 1 of ai, aj, just go with that path
//this is for the case when the agent is blocking the agent's only way of reaching enemy_target_sq
if (!enemy_target_sq_blocked) {
enemy_target_sq_blocked = true;
root_heuristic = blocked_heuristic(ei,ej);
root_node = new Node(ei, ej, undefined, undefined, 0, root_heuristic, root_heuristic);
graph_obj = new Graph_obj();
graph_obj.add_node(root_node);
unexplored_nodes_holder = {};
unexplored_nodes = {};
if (find_path()) return true;
}
console.log('no path from enemy to agent found');//Do AB print instead of console.log
return false; //is a return correct here
}
com_keys = commonKeys(unexplored_nodes_holder, unexplored_nodes);
//dump unexplored_nodes_holder in unexplored_nodes and then clear unexplored_nodes_holder
for (let score in unexplored_nodes_holder)
{
if (com_keys.includes(score))
{
for (let node in unexplored_nodes_holder[score])
unexplored_nodes[score].push(unexplored_nodes_holder[score][node]);
}
else
{
unexplored_nodes[score] = unexplored_nodes_holder[score];
}
}
for (var score in unexplored_nodes_holder) delete unexplored_nodes_holder[score];
}
}
//new here
var enemy_target_sq_blocked;
var path_found;
var root_heuristic;
var root_node;
var graph_obj;
var unexplored_nodes_holder;
var unexplored_nodes;
function moveLogicalEnemy()
{
nearest_hole();
//new here
is_block(enemy_target_sq[0], enemy_target_sq[1]) ? enemy_target_sq_blocked = true : enemy_target_sq_blocked = false;
//initialisations
path_found = false;
//if (enemy_target_sq_blocked && blocked_heuristic(ei, ej) == 1) return true;
if ((!enemy_target_sq_blocked) && not_blocked_heuristic(ei, ej) === 0) return true;
enemy_target_sq_blocked ? root_heuristic = blocked_heuristic(ei,ej) : root_heuristic = not_blocked_heuristic(ei, ej);
root_node = new Node(ei, ej, undefined, undefined, 0, root_heuristic, root_heuristic);
graph_obj = new Graph_obj();
graph_obj.add_node(root_node);
unexplored_nodes_holder = {};
unexplored_nodes = {};
find_path();
/*
// move towards agent
// put some randomness in so it won't get stuck with barriers
var i, j;
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, 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 );
}
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
}