// Cloned by Damian Debny on 16 Nov 2021 from World "CA686 A Star Practical World 1 2021 by Damian Debny" 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.
// ====================================================================================================================
// =============================================================================================
// A Star Practical World 2
// By Damian Debny
// Student Number: 21263489
// 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 using the A Star algorithm
// - 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/debnyd2/brick.jpg' ;
const TEXTURE_MAZE = '/uploads/debnyd2/gold.jpg' ;
const TEXTURE_AGENT = '/uploads/starter/pacman.jpg' ;
const TEXTURE_ENEMY = '/uploads/starter/ghost.3.png' ;
// credits:
// https://free-3dtextureshd.com/download/gold-textures-square-wall-seamless-pack-bpr-material-background-high-resolution-free-download-hd-4k/
// https://www.freepik.com/premium-photo/very-old-brick-wall-texture-background-square-ratio_16851393.htm
// https://commons.wikimedia.org/wiki/Category:Pac-Man_icons
// https://commons.wikimedia.org/wiki/Category:Skull_and_crossbone_icons
const MUSIC_BACK = '/uploads/debnyd2/chateau.mp3' ;
const SOUND_ALARM = '/uploads/debnyd2/darthvaderno.mp3' ;
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
// Open and closed set
var openSet = [];
var closedSet = [];
// The road taken
var path = [];
var start;
var end;
var diagonal = true;
//--- 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
// urban photographic skyboxes, credit:
// http://opengameart.org/content/urban-skyboxes
const SKYBOX_ARRAY = [
"/uploads/debnyd2/posx.jpg",
"/uploads/debnyd2/negx.jpg",
"/uploads/debnyd2/posy.jpg",
"/uploads/debnyd2/negy.jpg",
"/uploads/debnyd2/posz.jpg",
"/uploads/debnyd2/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 pathcolour = 'darkred';
const opencolour = 'lightgreen';
const closedcolour = 'lightpink';
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 heuristic(x, y)
{
if(diagonal)
{
return (Math.sqrt( (x.j - x.i)*(x.j - x.i) + (y.j - y.i)*(y.j - y.i)) );
}
else
{
return ( Math.abs(x.i - y.i) + Math.abs(x.j - y.j) );
}
}
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].type == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j].type == GRID_MAZE ) return true;
return false;
}
function removeFromArray(arr, item)
{
for(var i = arr.length - 1; i >= 0; i--)
{
if(arr[i] == item)
{
arr.splice(i, 1);
}
}
}
function Spot(i, j)
{
//Co-ordinates
this.i = i;
this.j = j;
/*
* f = evaluation function
* g = distance from current spot to start
* h = heuristic estimated distance from current spot to goal
*/
this.f = 0;
this.g = 0;
this.h = 0;
//Neighbours
this.neighbours = [];
//Previous spot
this.previous = undefined;
this.shape;
this.thecube;
//Spot type: blank, wall, maze
this.type = GRID_BLANK;
this.setBlank = function()
{
this.type = GRID_BLANK;
};
this.setWall = function()
{
this.type = GRID_WALL;
};
this.setMaze = function()
{
this.type = GRID_MAZE;
};
this.resetEvaluation = function()
{
this.f = 0;
this.g = 0;
this.h = 0;
};
// Daniel Shiffman
// Nature of Code: Intelligence and Learning
// https://github.com/shiffman/NOC-S17-2-Intelligence-Learning
// Part 1: https://youtu.be/aKYlikFAV4k
// Part 2: https://youtu.be/EaZxUCWAjb0
// Part 3: https://youtu.be/jwRT4PCT6RU
//Display spot
this.show = function(col)
{
if(this.type == GRID_WALL)
{
this.shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
this.thecube = new THREE.Mesh( this.shape );
this.thecube.material = new THREE.MeshBasicMaterial( { map: wall_texture } );
this.thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(this.thecube);
}
else if(this.type == GRID_MAZE)
{
this.shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
this.thecube = new THREE.Mesh( this.shape );
this.thecube.material = new THREE.MeshBasicMaterial( { map: maze_texture } );
this.thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(this.thecube);
}
else if(col)
{
this.shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
this.thecube = new THREE.Mesh( this.shape );
this.thecube.material = new THREE.MeshBasicMaterial( { color: col, wireframe: false } );
this.thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(this.thecube);
}
};
//Remove cube from scene
this.removeMesh = function()
{
ABWorld.scene.remove(this.thecube);
};
//Add this spot's neighbours
this.addNeighbours = function(GRID)
{
this.neighbours = [];
var i = this.i;
var j = this.j;
if(i < gridsize - 2)
{
//Vertical and horizontal
if (i < gridsize - 2) this.neighbours.push(GRID[i + 1][j]);
if (i > 1) this.neighbours.push(GRID[i - 1][j]);
if (j < gridsize - 2) this.neighbours.push(GRID[i][j + 1]);
if (j > 1) this.neighbours.push(GRID[i][j - 1]);
if(diagonal)
{
if (i > 1 && j > 1) this.neighbours.push(GRID[i - 1][j - 1]);
if (i < gridsize - 2 && j > 1) this.neighbours.push(GRID[i + 1][j - 1]);
if (i > 1 && j < gridsize - 2) this.neighbours.push(GRID[i - 1][j + 1]);
if (i < gridsize - 2 && j < gridsize - 2) this.neighbours.push(GRID[i + 1][j + 1]);
}
}
};
}
// 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;
}
// Empty the open and closed sets
function resetSets()
{
closedSet = [];
openSet = [];
}
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);
//Populate the grid
for(i = 0; i < gridsize; i++)
{
for(j = 0; j < gridsize; j++)
{
GRID[i][j] = new Spot(i, j);
}
}
//Add the neighbours
for(i = 0; i < gridsize; i++)
{
for(j = 0; j < gridsize; j++)
{
GRID[i][j].addNeighbours(GRID);
}
}
// 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].setWall();
GRID[i][j].show();
}
else
GRID[i][j].setBlank();
// 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].setMaze();
GRID[i][j].show();
}
// 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 by using an A Star algorithm
var i, j;
start = GRID[ei][ej];
start.previous = undefined;
end = GRID[ai][aj];
openSet.push(start);
var complete = false;
console.log('Start search...');
//Re-add the neighbours according to enemy's proximity to agent
for(i = 0; i < gridsize; i++)
{
for(j = 0; j < gridsize; j++)
{
GRID[i][j].addNeighbours(GRID);
}
}
//Remove current path from scene
for(i = 0; i < path.length-1; i++)
{
path[i].removeMesh();
}
Loop1:
while(!complete)
{
if(openSet.length > 0)
{
//Best option
var winner = 0;
for (i = 0; i < openSet.length; i++)
{
if(openSet[i].f < openSet[winner].f)
{
winner = i;
}
}
var current = openSet[winner];
//Is it finished?
if(current === end)
{
complete = true;
//Create path by working backwards
path = [];
var tmp = current;
path.push(tmp);
while(tmp.previous)
{
path.push(tmp.previous);
tmp = tmp.previous;
}
if(path.length > 1)
{
//Update enemy position if new position isn't occupied
var tmpI, tmpJ;
tmpI = path[path.length-2].i;
tmpJ = path[path.length-2].j;
if(!occupied(tmpI, tmpJ))
{
ei = tmpI;
ej = tmpJ;
}
}
//Draw path as solid blocks
for(i = 1; i < path.length - 2; i++)
{
path[i].show(pathcolour);
}
console.log("Success - path was found");
resetSets();
//Change search mode
if(path.length < 5)
{
diagonal = false;
}
else
{
diagonal = true;
}
break Loop1;
}
//Best option moves from openSet to closedSet
removeFromArray(openSet, current);
closedSet.push(current);
//Check all neighbours
var neighbours = current.neighbours;
for(i = 0; i < neighbours.length; i++)
{
var neighbour = neighbours[i];
//Next valid spot
if(!closedSet.includes(neighbour) && neighbour.type != GRID_WALL && neighbour.type != GRID_MAZE)
{
var tmpG = current.g + heuristic(neighbour, current);
//Is this a better path
var newPath = false;
if(openSet.includes(neighbour))
{
if(tmpG < neighbour.g)
{
neighbour.g = tmpG;
newPath = true;
}
}
else
{
neighbour.g = tmpG;
newPath = true;
openSet.push(neighbour);
}
//If it's a better path
if(newPath)
{
neighbour.h = heuristic(neighbour, end);
neighbour.f = neighbour.g + neighbour.h;
neighbour.previous = current;
}
}
}
}
else
{
console.log("Failure - no path exists" + " " + openSet.length);
complete = true;
break Loop1;
}
}
}
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
}