// Sanchit Shreepraksh Akhauri 20210205
// Cloned by Sanchit Akhauri on 20 Nov 2020 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 = 200;
// 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 diagonal = true; // true; // Sanchit :- Allows diagonal run of enemy
const TEXTURE_WALL = '/uploads/sanchit08/forest.jpg';
const TEXTURE_MAZE = '/uploads/sanchit08/Tree_snap.jpg';
const TEXTURE_AGENT = '/uploads/sanchit08/Deer.jpg';
const TEXTURE_ENEMY = '/uploads/sanchit08/Tiger.jpg';
const MUSIC_BACK = '/uploads/sanchit08/Forest.mp3';
const SOUND_ALARM = '/uploads/sanchit08/Tiger.mp3';
const gridsize = 50; // 50 // number of squares along side of world
const NOBOXES = Math.trunc((gridsize * gridsize) / 3); // 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
var targeti = 1; // Sanchit : -target i co-ordinate for smart agent
var targetj = 1; // Sanchit : -target j co-ordinate for smart agent
var targetIndex = 0; // Sanchit : current index of targetValue
var targetValue = new Array(4); // Sanchit : Stored value of four random edges co-ordinates.
//--- skybox: -------------------------------
const SKYBOX_ARRAY = [
"/uploads/sanchit08/snap1_resize.png",
"/uploads/sanchit08/snap2_resize.png",
"/uploads/sanchit08/sky_resize.png",
"/uploads/sanchit08/grass_snap.png",
"/uploads/sanchit08/snap3_resize.png",
"/uploads/sanchit08/snap4_resize.png"
];
// ===================================================================================================================
// === End of tweaker's box ==========================================================================================
// ===================================================================================================================
// You will need to be some sort of JavaScript programmer to change things below the tweaker's box.
//--- Mind can pick one of these actions -----------------
const ACTION_LEFT = 0;
const ACTION_RIGHT = 1;
const ACTION_UP = 2;
const ACTION_DOWN = 3;
const ACTION_STAYSTILL = 4;
// in initial view, (smaller-larger) on i axis is aligned with (left-right)
// in initial view, (smaller-larger) on j axis is aligned with (away from you - towards you)
// contents of a grid square
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
const TARGET = 3; // Sanchit :- 4 targets for the smart agent is defined as 3 in the GRID variable
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;
// Sanchit : - Store co-ordinates of agent and enemy at every step
var source;
var destination;
// Sanchit : -Stores position of co-ordinates which are closed
var closedList = new Array(gridsize);
// Sanchit : - Stores position of co-ordinates which are open to access and not in closed list.
var openList = {};
function pair(i, j) { // Sanchit : - Stores x and y coordinates
this.i = i;
this.j = j;
}
function Details(f, g, h, parent_i, parent_j) { // Sanchit : - Stores evaluation function value of each step and parent co-ordinates
this.f = f;
this.g = g;
this.h = h;
this.parent_i = parent_i;
this.parent_j = parent_j;
}
function pPair(f, i, j) { // Sanchit : - Store f(n) value and co-ordinates of each square
this.f = f;
this.set = new pair(i, j);
}
// Sanchit : - A Utility Function to check whether given cell (row, col)
// is a valid cell or not.
function isValid(row, col) {
// Returns true if row number and column number
// is in range
return (row >= 0) && (row < gridsize) &&
(col >= 0) && (col < gridsize);
}
// Sanchit : - A Utility Function to check whether destination cell has
// been reached or not
function isDestination(row, col, destination) {
if (row == destination.i && col == destination.j)
return (true);
else
return (false);
}
// Sanchit : - A Utility Function to trace the path from the source
// to destination
var finalpath = [];
function tracePath(cellDetails, dest) {
finalpath = [];
var row = dest.i;
var col = dest.j;
var Path = [];
//Stores the co-orinates of parents from distination to source in path variable
while (!(cellDetails[row][col].parent_i == row
&& cellDetails[row][col].parent_j == col)) {
Path.push(new pair(row, col));
var temp_row = cellDetails[row][col].parent_i;
var temp_col = cellDetails[row][col].parent_j;
row = temp_row;
col = temp_col;
}
Path.push(new pair(row, col));
// Stores values from path variable to finalpath variable in the order from enemy to agent
while (Path.length > 0)
finalpath.push(Path.pop());
}
// Sanchit : - Heuristic evaluation function
function heuristic(i, j) {
// return euclidean distance
axisj_distance = aj - j;
axisi_distance = ai - i;
var result = Math.sqrt(Math.pow(axisi_distance, 2) + Math.pow(axisj_distance, 2));
return result;
}
// Sanchit : - Check if the co-ordinate is not bloxed by boundary and obstacles.
function isUnBlocked(i, j) {
// Returns true if the cell is not blocked else false
if (GRID[i][j] == GRID_WALL) return false;
if (GRID[i][j] == GRID_MAZE) return false;
if (GRID[i][j] == TARGET) return false;
return true;
}
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] == TARGET) 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 setupLine(finalPath) { // Sanchit : - This function draws the A* path from the enemy to the agent with blue line every time enemy takes a step.
const material = new THREE.LineBasicMaterial( { color: 0xFF0000 } );
const points = [];
for(var i=1;i<finalPath.length;i++)
points.push( translate(finalPath[i].i, finalPath[i].j));
const geometry = new THREE.BufferGeometry().setFromPoints( points );
const line = new THREE.Line( geometry, material );
ABWorld.scene.add(line);
setTimeout(() => {
geometry.dispose();
material.dispose();
ABWorld.scene.remove(line);
},AB.clockTick);
}
function initScene() // all file loads have returned
{
var i, j, shape, thecube;
// set up GRID, closedList, openList as 2D array
for (i = 0; i < gridsize; i++) {
closedList[i] = new Array(gridsize);
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();
if(agentIntelligent) // Sanchit : - Setup 4 edges value when the agent is smart
updateTargetValue(); // Sanchit : - update target value for the agent
// Sanchit : -Store co-ordinates of enemy and agent
source = new pair(ei, ej);
destination = new pair(ai, aj);
// 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
});
}
function updateTargetValue(){ // Sanchit : - updates target value for the agent by calling checkEmptySquare function.
checkEmptySquare(1, Math.abs((gridsize - 2)/2),1, Math.abs((gridsize - 2)/2),0);
checkEmptySquare(1, Math.abs((gridsize - 2)/2),Math.abs((gridsize - 2)/2), gridsize - 2,1);
checkEmptySquare(Math.abs((gridsize - 2)/2), gridsize - 2,1, Math.abs((gridsize - 2)/2),2);
checkEmptySquare(Math.abs((gridsize - 2)/2),gridsize-2,Math.abs((gridsize - 2)/2),gridsize-2,3);
}
function checkEmptySquare(a,b,c,d,index){ // Sanchit : - Finds the available 4 co-ordinates from the four parts of the maze randomnly.
var i =0;
var j =0;
do {
i = AB.randomIntAtoB(a,b);
j = AB.randomIntAtoB(c,d);
}
while (occupied(i, j));
targetValue[index] = new pair(i,j);
GRID[i][j] = TARGET;
}
// --- 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 updateOpenList(i, j, open_i, open_j, cellDetails) { // Sanchit : - this function updates the value of successor in openList
// To store the 'g', 'h' and 'f' of the 8 successors
var gNew, hNew, fNew;
var foundDest =false; // Flag to inform if the destination is found
if (isValid(i, j)) {
// If the destination cell is the same as the
// current successor
if (isDestination(i, j, destination)) {
// Set the Parent of the destination cell
cellDetails[i][j].parent_i = open_i;
cellDetails[i][j].parent_j = open_j;
tracePath(cellDetails, destination);
foundDest = true;
}
// If the successor is already on the closed
// list or if it is blocked, then ignore it.
// Else do the following
else if (closedList[i][j] == false &&
isUnBlocked(i, j) == true) {
gNew = cellDetails[open_i][open_j].g + 1.0;
hNew = heuristic(i, j);
fNew = gNew + hNew;
if (cellDetails[i][j].f == Number.MAX_VALUE ||
cellDetails[i][j].f > fNew) {
openList[i + " " + j] = new pPair(fNew, i, j);
// Update the details of this cell
cellDetails[i][j].f = fNew;
cellDetails[i][j].g = gNew;
cellDetails[i][j].h = hNew;
cellDetails[i][j].parent_i = open_i;
cellDetails[i][j].parent_j = open_j;
}
}
}
return foundDest;
}
function moveLogicalEnemy() { // Sanchit : - This function uses A* algorithm to provide the next possible optimal distance movement for the enemy
// Store co-ordinates of enemy
source.i = ei;
source.j = ej;
// Stores position of co-ordinates which are closed
closedList = Array.from({ length: gridsize }, () => Array.from({ length: gridsize }, () => false));
//Store details of each square
var cellDetails = new Array(gridsize);
cellDetails = Array.from({ length: gridsize }, () => new Array(gridsize));
cellDetails = Array.from({ length: gridsize }, () => Array.from({ length: gridsize }, () =>
new Details(Number.MAX_VALUE, Number.MAX_VALUE, Number.MAX_VALUE, -1, -1)));
//Update cellDetails value of enemy starting point
var i = source.i;
var j = source.j;
cellDetails[i][j].f = 0.0;
cellDetails[i][j].g = 0.0;
cellDetails[i][j].h = 0.0;
cellDetails[i][j].parent_i = i;
cellDetails[i][j].parent_j = j;
//Store f(n) and co-ordinates value in openList
openList = {};
openList[i + " " + j] = (new pPair(0.0, i, j));
while (Object.keys(openList).length > 0) {
//Pop the first value in openList
var firstKey = Object.keys(openList)[0];
var p = openList[firstKey];
delete openList[firstKey];
// Add this vertex to the closed list
open_i = p.set.i;
open_j = p.set.j;
closedList[open_i][open_j] = true;
// Update openList value with successor co-ordinates which are valid
if (updateOpenList(open_i + 1, open_j, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i, open_j + 1, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i - 1, open_j, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i, open_j - 1, open_i, open_j, cellDetails)) break;
if(diagonal)
{
if (updateOpenList(open_i + 1, open_j - 1, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i + 1, open_j + 1, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i - 1, open_j + 1, open_i, open_j, cellDetails)) break;
if (updateOpenList(open_i - 1, open_j - 1, open_i, open_j, cellDetails)) break;
}
}
if (finalpath.length > 2) { // If finalpath's length is greater than 2 then the value in 1 index contains the next step.
var bestPositionEnemy = finalpath[1];
ei = bestPositionEnemy.i;
ej = bestPositionEnemy.j
}
else if (finalpath.length == 0) { // If final path is zero then no possible path is possible from the enemy to agent
AB.abortRun = true;
musicPause();
AB.msg(" Tiger unable to find the deer");
}
else { // If the enemy is near the agent in diaginal posiion then it is better to move to valid horizontal
//or perpendicular position as the chances to trapping the agent increases.
if ((ei + 1 == ai && ej + 1 == aj) || (ei - 1 == ai && ej - 1 == aj) || (ei + 1 == ai && ej - 1 == aj) || (ei - 1 == ai && ej + 1 == aj)) {
if (ei + 1 == ai && !occupied(ei + 1, ej))
ei = ei + 1;
if (ei - 1 == ai && !occupied(ei - 1, ej))
ei = ei - 1;
if (ej + 1 == aj && !occupied(ei, ej + 1))
ej = ej + 1;
if (ej - 1 == aj && !occupied(ei, ej - 1))
ej = ej - 1;
}
}
setupLine(finalpath); // Draw A* alogorithm suggested path on the screen
}
function moveLogicalAgent(a) // this is called by the infrastructure that gets action a from the Mind
{
// Store co-ordinates of agent
destination.i = ai;
destination.j = aj;
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);
};
function changeTargetValue(){ // Sanchit : - returns the next co-ordinate value from targetValue
targetIndex = (targetIndex +1) % 4;
var temp = targetValue[targetIndex];
targeti = temp.i;
targetj = temp.j;
}
AB.world.takeAction = function ( a )
{
// Sanchit :- Change targeti and targej valuw when no. of steps by smart agent is gridsize or when
//distance between agent and target is <= gridsize/4
if(agentIntelligent && (AB.step % (gridsize) == 0 || ((Math.abs(ai - targeti) <= gridsize/4) && (Math.abs(aj - targetj) <= gridsize/4))))
changeTargetValue()
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
}