// Cloned by Suraksha Shetty on 5 Nov 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 = 100; // Speed of run: Step every n milliseconds. Default 100.
AB.maxSteps = 1000; // 100; // 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.
var searchedStates = 0; // *S: This keeps track of number of states searched by A* algorithm
var totalStates = 0; // *S: This stores total number of states intotal
//---- global constants: -------------------------------------------------------
const show3d = true; // Switch between 3d and 2d view (both using Three.js)
// *S: Images of Wall, Maze, agent and enemy changed
const TEXTURE_WALL = '/uploads/shettys3/glass2.jpg' ;
const TEXTURE_MAZE = '/uploads/shettys3/wood2.jpg' ;
const TEXTURE_AGENT = '/uploads/shettys3/pizza2.png' ;
const TEXTURE_ENEMY = '/uploads/shettys3/seagull.png' ;
// credits:
// https://images.app.goo.gl/kHoDYTHXgtt5Sftr7
// https://images.app.goo.gl/PhpbCwEBNi2MB7fN7
// https://images.app.goo.gl/pCoHZL9CBYLVuLsr7
// https://images.app.goo.gl/54gVACqVUKDtGHAf9
// *S: Background music changed
const MUSIC_BACK = '/uploads/shettys3/archivo.mp3' ;
const SOUND_ALARM = '/uploads/shettys3/bite.mp3' ;
// credits:
// https://free-sound-effects.net/wings-flapping
// https://free-sound-effects.net/?q=bite
//S*
const gridsize = 40; // 20; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3);
//const NOBOXES = 50; //S*: For testing How many states A* searched v. How many states breadth-first would search (h=0) v. How many states there are.
//const NOBOXES = 0; //S*: For No Walls, keep gridsize - 20
//const NOBOXES = 120; //S*: For Many Walls, keep gridsize - 20
//const NOBOXES = 12; //S*: For very few Walls, keep gridsize - 20
// 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"
// ]
//S*: Changed skybox array images
// GamlaStan skyboxes, credit:
// http://opengameart.org/content/urban-skyboxes
const SKYBOX_ARRAY = [
"/uploads/shettys3/s_posx.jpg",
"/uploads/shettys3/s_negx.jpg",
"/uploads/shettys3/s_posy.jpg",
"/uploads/shettys3/s_negy.jpg",
"/uploads/shettys3/s_posz.jpg",
"/uploads/shettys3/s_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;
//S*: A* Algorithm code reference from "A star" world - https://ancientbrain.com/world.php?world=2230793148
// Open and closed set
var openArray = [];
var closedArray = [];
// Start and end
var start;
var end;
var pathcolor = 'yellow';
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;*/
if(GRID[i][j].wall == true) 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;
GRID[i][j] = new Wall_C(i, j, true); //S*: i,j position is 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;
GRID[i][j] = new Wall_C(i, j, false); //S*: i,j spot is left 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);
//S*: - Wall spot checks
//GRID[i][j] = GRID_MAZE ;
GRID[i][j].wall = true;
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, color: 0xFF0000 } );
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.SphereGeometry(squaresize / 2, BOXHEIGHT / 2, squaresize / 2);
//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
});
//S*:
// Loop for neighbours
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
GRID[i][j].addneighbours();
// Start and end
start = GRID[ei][ej];
end = GRID[ai][aj];
start.wall = false;
end.wall = false;
// openArray starts with beginning only
openArray.push(start);
console.log("initScene openArray", openArray);
}
//S*:End
// --- 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)
}
//S*:
var old_path = []
class Wall_C{
constructor(i, j, wall){
this.i = i;
this.j = j;
this.f = 0;
this.g = 0;
this.h = 0;
this.neighbours = [];
this.previous = undefined;
this.wall = wall;
}
checkWall(){
return this.wall;
}
// Used to show the pathcolor while chasing the agent
display(fillColor)
{
this.shape = new THREE.BoxGeometry ( squaresize, 1, squaresize );
this.pathBox = new THREE.Mesh( this.shape );
this.pathBox.position.copy(translate(this.i, this.j));
this.pathBox.material = new THREE.MeshBasicMaterial();
this.pathBox.material.color.setColorName(fillColor);
ABWorld.scene.add(this.pathBox);
};
removePath()
{
ABWorld.scene.remove(this.pathBox);
}
// Neighbours of agent(Pizza)
addneighbours()
{
var i = this.i;
var j = this.j;
if (i < gridsize - 1 && !GRID[i + 1][j].wall) {
this.neighbours.push(GRID[i + 1][j]);
totalStates++;
}
if (i > 0 && !GRID[i - 1][j].wall) {
this.neighbours.push(GRID[i - 1][j]);
totalStates++;
}
if (j < gridsize - 1 && !GRID[i][j + 1].wall) {
this.neighbours.push(GRID[i][j + 1]);
totalStates++;
}
if (j > 0 && !GRID[i][j - 1].wall) {
this.neighbours.push(GRID[i][j - 1]);
totalStates++;
}
};
}
function removeFromArray(arr, elt)
{
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
function heuristic(a, b)
{
// return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
// return 0; //S*: for breadth-first search(heuristic=0)
return 1; //S*: for bad heuristic(heuristic=1)
}
function resetFunctions()
{
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
if(!GRID[i][j].wall){
GRID[i][j].f = 0;
GRID[i][j].g = 0;
GRID[i][j].h = 0;
GRID[i][j].previous = undefined;
}
}
//S*:End
function moveLogicalEnemy()
{
// move towards agent
//S*: A* algorithm
let start = GRID[ei][ej];
let end = GRID[ai][aj];
resetFunctions();
for (var i = 0; i < old_path.length; i++){
old_path[i].removePath(pathcolor);
console.log("path[i] remove colour", old_path[i]);
}
openArray = [start]
closedArray = []
console.log("openArray with only start", openArray);
var current = null;
let path = [];
while(openArray.length > 0){
console.log("openArray", openArray);
if (openArray.length > 0)
{
// Best next option
var win = 0;
for (var i = 0; i < openArray.length; i++)
if (openArray[i].f < openArray[win].f)
win = i;
var current = openArray[win];
// Did I finish?
if (current === end)
{
console.log("success - found path");
break;
}
searchedStates++;
// Best option moves from openArray to closedArray
removeFromArray(openArray, current);
closedArray.push(current);
// Check all the neighbours
var neighbours = current.neighbours;
//--- start of for loop -----------
for (var i = 0; i < neighbours.length; i++)
{
var neighbor = neighbours[i];
// Valid next spot?
if (!closedArray.includes(neighbor) && !neighbor.checkWall())
{
var tempG = current.g + heuristic(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openArray.includes(neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
newPath = true;
}
}
else
{
neighbor.g = tempG;
newPath = true;
openArray.push(neighbor);
}
// Yes, it's a better path
if (newPath)
{
neighbor.h = heuristic(neighbor, end);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
//--- end of for loop -----------
}
// --- end still searching -----------------------------
else
{
console.log('fail - no path exists');
return;
}
}
var temp = current;
path.push(temp);
while (temp && temp.previous)
{
path.push(temp.previous);
temp = temp.previous;
}
old_path = path
for (var i = 0; i < path.length; i++){
path[i].display(pathcolor);
console.log("path[i] colour", path[i]);
}
console.log("current location", ei, " ", ej);
console.log("path", path);
if(path.length > 2)
{
console.log("path[path.length - 2].i", path[path.length - 2].i);
console.log("path[path.length - 2].j", path[path.length - 2].j);
i = path[path.length - 2].i;
j = path[path.length - 2].j;
}
else
{
i = ei;
j = ej;
}
if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
{
console.log("!occupied");
ei = i;
ej = j;
}
}
//S*:End
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 );
//S*:
AB.msg(" y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% " +
" Searched States: " + searchedStates +
" Total States: " + totalStates,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
}