AB.clockTick = 100, AB.maxSteps = 1000, AB.screenshotStep = 50;
const show3d = true;
const TEXTURE_WALL = '/uploads/chinya07/BUSH.png'; // https://www.pinclipart.com/downpngs/xbb_transparent-background-tree-clipart-png-download/
const TEXTURE_MAZE = '/uploads/chinya07/grass.png'; // https://www.nicepng.com/downpng/u2q8a9q8i1t4o0a9_man-walking-his-dog-dog-and-man-png/
const TEXTURE_AGENT = '/uploads/chinya07/Dog.png'; // https://www.pngitem.com/middle/bbbmR_shrubs-bush-png-image-transparent-background-bush-png/
const TEXTURE_ENEMY = '/uploads/chinya07/Man.png'; // https://www.pngfind.com/download/ixTJhJo_cute-hypoallergenic-dogs-bichon-frise-png-transparent-png/
const MUSIC_BACK = '/uploads/chinya07/song.mp3'; //https://www.youtube.com/watch?v=o1iUYc1Y_fk
const SOUND_ALARM = '/uploads/chinya07/Dog_bark.mp3'; //https://orangefreesounds.com/sound-effects/animal-sounds/dog-sounds/
const GRID_SIZE = 50; // number of squares along side of world
const NUMBER_OF_OBSTACLES = Math.trunc((GRID_SIZE * GRID_SIZE) / 3);
const SQUARE_SIZE = 100; // size of square in pixels
const MAXPOS = GRID_SIZE * SQUARE_SIZE; // 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
ABHandler.MAXCAMERAPOS = maxRadiusConst;
ABHandler.GROUNDZERO = true;
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"
];
const ACTION_LEFT = 0;
const ACTION_RIGHT = 1;
const ACTION_UP = 2;
const ACTION_DOWN = 3;
const ACTION_STAYSTILL = 4;
const GRID_BLANK = 0;
const GRID_WALL = 1;
const GRID_MAZE = 2;
var BOXHEIGHT; // 3d or 2d box height
var GRID = new Array(GRID_SIZE); // can query GRID about whether squares are occupied, will in fact be initialised as a 2D array
var AGENT, ENEMY;
var wall_texture, agent_texture, enemy_texture, maze_texture;
var ei, ej, ai, aj;
var badsteps;
var goodsteps;
var openNodeSet = [];
var closedNodeSet = [];
var start;
var end;
var takeEuclideanDist = 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()) loadScene(); // if all file loads have returned
});
loader2.load(TEXTURE_AGENT, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
agent_texture = thetexture;
if (asynchFinished()) loadScene();
});
loader3.load(TEXTURE_ENEMY, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
enemy_texture = thetexture;
if (asynchFinished()) loadScene();
});
loader4.load(TEXTURE_MAZE, function (thetexture) {
thetexture.minFilter = THREE.LinearFilter;
maze_texture = thetexture;
if (asynchFinished()) loadScene();
});
}
/**
*
* @returns Checks if everything is properly loaded or not:Boolean
*/
function asynchFinished() {
if (wall_texture && agent_texture && enemy_texture && maze_texture) return true;
else return false;
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
/**
*
* @param {row position} i
* @param {*column position} j
* @returns Checks if the particular location is occupied or not by any component like wall, obstacle, agent or enemy:Boolean
*/
function occupied(i, j) {
if ((ei == i) && (ej == j)) return true;
if ((ai == i) && (aj == j)) return true;
if (GRID[i][j].wall == true) return true; // fixed objects
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 * SQUARE_SIZE) - (MAXPOS / 2);
v.z = (j * SQUARE_SIZE) - (MAXPOS / 2);
return v;
}
function loadScene() {
var i, j, shape, thecube;
// set up GRID as 2D array
for (i = 0; i < GRID_SIZE; i++)
GRID[i] = new Array(GRID_SIZE);
// set up walls
/**
* Initialsed GRID as a Spot() object
* Spot contains detailed information about a particular location in the grid
*/
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
if ((i == 0) || (i == GRID_SIZE - 1) || (j == 0) || (j == GRID_SIZE - 1)) {
GRID[i][j] = new Spot(i, j, true);
shape = new THREE.BoxGeometry(SQUARE_SIZE, BOXHEIGHT, SQUARE_SIZE);
thecube = new THREE.Mesh(shape);
thecube.material = new THREE.MeshBasicMaterial({
map: wall_texture
});
thecube.position.copy(translate(i, j));
ABWorld.scene.add(thecube);
}
else
GRID[i][j] = new Spot(i, j);
// set up maze
for (var c = 1; c <= NUMBER_OF_OBSTACLES; c++) {
i = AB.randomIntAtoB(1, GRID_SIZE - 2); // inner squares are 1 to gridsize-2
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
GRID[i][j] = new Spot(i, j, true);
shape = new THREE.BoxGeometry(SQUARE_SIZE, BOXHEIGHT, SQUARE_SIZE);
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);
}
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
GRID[i][j].addNeighbors(GRID);
// set up enemy
// start in random location
do {
i = AB.randomIntAtoB(1, GRID_SIZE - 2);
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
}
while (occupied(i, j)); // search for empty square
ei = i;
ej = j;
shape = new THREE.BoxGeometry(SQUARE_SIZE, BOXHEIGHT, SQUARE_SIZE);
ENEMY = new THREE.Mesh(shape);
ENEMY.material = new THREE.MeshBasicMaterial({
map: enemy_texture
});
ABWorld.scene.add(ENEMY);
drawEnemy();
// set up agent
// start in random location
do {
i = AB.randomIntAtoB(1, GRID_SIZE - 2);
j = AB.randomIntAtoB(1, GRID_SIZE - 2);
}
while (occupied(i, j)); // search for empty square
ai = i;
aj = j;
shape = new THREE.BoxGeometry(SQUARE_SIZE, BOXHEIGHT, SQUARE_SIZE);
AGENT = new THREE.Mesh(shape);
AGENT.material = new THREE.MeshBasicMaterial({
map: agent_texture
});
ABWorld.scene.add(AGENT);
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
AB.msg("Enemy: <button class='altbutton' onclick='calcEuclideanDist()'>Euclidean Distance</button>");
});
}
function calcEuclideanDist() {
if (takeEuclideanDist)
takeEuclideanDist = false;
else
takeEuclideanDist = true;
}
// --- draw moving objects -----------------------------------
function drawEnemy() // given ei, ej, draw it
{
ENEMY.position.copy(translate(ei, ej)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.lookat.copy(ENEMY.position); // if camera moving, look back at where the enemy is
}
function drawAgent() // given ai, aj, draw it
{
AGENT.position.copy(translate(ai, aj)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy(AGENT.position); // follow vector = agent position (for camera following agent)
}
// --- take actions -----------------------------------
function heuristic(a, b) {
// if ( takeEuclideanDist === true){
// AB.msg( " <br> <font color=red> <B> ED! </B> </font> ", 5 );
// return (Math.sqrt((a.i - b.i)*(a.i - b.i) + (a.j - b.j)*(a.j - b.j)));
// }
// else{
// AB.msg( " <br> <font color=red> <B> ED! </B> </font> ", 5 );
return( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) ); //Manhattan Distance
// }
// return ((a.i - b.i) * (a.i - b.i) + (a.j - b.j) * (a.j - b.j));
// return Math.hypot(a.i - b.i, a.j - b.j) //Euclidean Distance
// return 0; //Dkstras Algorithm
}
function moveLogicalEnemy() {
let path = aStar(GRID[ei][ej], GRID[ai][aj]);
if (path.length < 10) {
AB.msg(" <br> <font color=red> <B> DANGER! </B> </font> ", 5);
}
for (var x = 0; x < path.length; x++) {
path[x].show()
}
i = path[path.length - 2].i
j = path[path.length - 2].j
while (path.length < 3) {
// 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);
break;
}
if (!occupied(i, j)) // if no obstacle then move, else just miss a turn
{
ei = i;
ej = j;
}
console.log("PATH ", path);
}
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 = SQUARE_SIZE;
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
}
function Spot(i, j, wall) {
// Location
this.i = i;
this.j = j;
this.wall = wall || false;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Neighbors
this.neighbors = [];
// Where did I come from?
this.previous = undefined;
this.show = function () {
this.tempShape = new THREE.BoxGeometry(30, 30, 30);
this.tempCube = new THREE.Mesh(this.tempShape);
this.tempCube.material = new THREE.MeshBasicMaterial();
this.tempCube.position.copy(translate(this.i, this.j)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
this.tempCube.material.color.setColorName("blue");
this.tempCube.material.opacity = 0.25;
ABWorld.scene.add(this.tempCube);
}
this.hide = function () {
ABWorld.scene.remove(this.tempCube);
}
//
// // Am I an wall?
// if (random(1) < wallAmount) this.wall = true;
// else this.wall = false;
// // Display me
// this.show = function(col)
// {
// if (this.wall)
// {
// fill(wallcolor);
// noStroke();
// // wall fills square
// rect ( this.i * w, this.j * h, w, h );
// // wall only partially fills square
// // ellipse ( this.i * w + w / 2, this.j * h + h / 2, w * 0.7, h * 0.7 );
// }
// else if (col)
// {
// fill(col);
// rect(this.i * w, this.j * h, w, h);
// }
// };
// Figure out who my neighbors are
this.addNeighbors = function (grid) {
var i = this.i;
var j = this.j;
if (i < GRID_SIZE - 1 && !grid[i + 1][j].wall) this.neighbors.push(grid[i + 1][j]);
if (i > 0 && !grid[i - 1][j].wall) this.neighbors.push(grid[i - 1][j]);
if (j < GRID_SIZE - 1 && !grid[i][j + 1].wall) this.neighbors.push(grid[i][j + 1]);
if (j > 0 && !grid[i][j - 1].wall) this.neighbors.push(grid[i][j - 1]);
}
}
function removeFromArray(arr, elt) {
// Could use indexOf here instead to be more efficient
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
function aStar(start, end) {
resetParam();
// console.log("GRID",GRID[i][j]);
let openNodeSet = [start];
let current;
let closedNodeSet = [];
while (openNodeSet.length > 0) {
// --- begin still searching -----------------------------
// if (openSet.length > 0)
// {
// Best next option
var winner = 0;
for (var i = 0; i < openNodeSet.length; i++)
if (openNodeSet[i].f < openNodeSet[winner].f)
winner = i;
current = openNodeSet[winner];
// Did I finish?
if (current === end) {
console.log("success - found path");
break;
}
// Best option moves from openSet to closedSetf
removeFromArray(openNodeSet, current);
// console.log("CURRENTTTTTT: ",current)
closedNodeSet.push(current);
// Check all the neighbors
var neighbors = current.neighbors;
//--- start of for loop -----------
for (var i = 0; i < neighbors.length; i++) {
var neighbor = neighbors[i];
// Valid next spot?
if (!closedNodeSet.includes(neighbor) && !neighbor.wall) {
var tempG = current.g + heuristic(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openNodeSet.includes(neighbor)) {
if (tempG < neighbor.g) {
neighbor.g = tempG;
newPath = true;
}
} else {
neighbor.g = tempG;
newPath = true;
openNodeSet.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 -----------------------------
// Draw current state of everything
// background(backcolor);
// for (var i = 0; i < cols; i++)
// for (var j = 0; j < rows; j++)
// grid[i][j].show();
// for (var i = 0; i < closedSet.length; i++)
// closedSet[i].show( closedcolor );
// for (var i = 0; i < openSet.length; i++)
// openSet[i].show( opencolor );
// Find the path by working backwards
// debugger;
let path = [];
var temp = current;
path.push(temp);
console.log("previous path: " + temp.previous);
while (temp.previous) {
path.push(temp.previous);
temp = temp.previous;
}
return path;
}
function resetParam() {
for (i = 0; i < GRID_SIZE; i++)
for (j = 0; j < GRID_SIZE; j++)
//if (!( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 )) )
if ((GRID[i][j] && !GRID[i][j].wall)) {
GRID[i][j].previous = null;
GRID[i][j].g = 0;
GRID[i][j].h = 0;
GRID[i][j].f = 0;
GRID[i][j].hide();
}
}