//Author: Adeyemi Adebanjo, Adeyemi.adebanjo2@mail.dcu.ie, 20215012, MCM1
// Cloned by Rock on 9 Nov 2020 from World "Complex World" by Starter user
// Please leave this clone trail here.
// =============================================================================================
// 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.
// =============================================================================================
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/rock20/Bricktile.jpg' ;
const TEXTURE_MAZE = '/uploads/rock20/Box_wood.jpg' ;
const TEXTURE_AGENT = '/uploads/starter/pacman.jpg' ;
const TEXTURE_ENEMY = '/uploads/starter/ghost.3.png' ;
const TEXTURE_FLOOR = '/uploads/rock20/floorwood.jpg' ; //Author: Adeyemi Adebanjo
const TEXTURE_BRAIN = '/uploads/rock20/brain.jpg' ; //Author: Adeyemi Adebanjo
// 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 //Author: Adeyemi Adebanjo
const guidenum = gridsize * gridsize; // number of guides objects that exist that we can manipulate to show the path. //Author: Adeyemi Adebanjo
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 ); //Author: Adeyemi Adebanjo
// density of maze - number of internal boxes
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"
];
*/
// 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 ==========================================================================================
// ===================================================================================================================
//--- 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 guideObjects = []; // the guide objects //Author: Adeyemi Adebanjo
var theagent, theenemy;
var wall_texture, agent_texture, enemy_texture, maze_texture, floor_texture, brain_texture;
// enemy and agent position on squares
var ei, ej, ai, aj;
var badsteps;
var goodsteps;
// The last position of the agent, used to determine if its stuck. //Author: Adeyemi Adebanjo
var last_ai = 0;
var last_aj = 0;
var playerStuckCounter = 0; // How many steps the agent has been in the same place
function loadResources() // asynchronous file loads - call initScene() when all finished. //Author: Adeyemi Adebanjo
{
var loader1 = new THREE.TextureLoader();
var loader2 = new THREE.TextureLoader();
var loader3 = new THREE.TextureLoader();
var loader4 = new THREE.TextureLoader();
var loader5 = new THREE.TextureLoader();
var loader6 = 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();
});
loader5.load ( TEXTURE_FLOOR, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
floor_texture = thetexture;
if ( asynchFinished() ) initScene();
});
loader6.load ( TEXTURE_BRAIN, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
brain_texture = thetexture;
if ( asynchFinished() ) initScene();
});
}
function asynchFinished() // all file loads returned. //Author: Adeyemi Adebanjo
{
if ( wall_texture && agent_texture && enemy_texture && maze_texture && floor_texture && brain_texture) return true;
else return false;
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
function occupied ( i, j ) // is this square occupied by obstacles, or enitites //Author: Adeyemi Adebanjo
{
if ( ( ei == i ) && ( ej == j ) ) return true; // variable objects
if ( ( ai == i ) && ( aj == j ) ) return true;
return occupiedByWall(i, j);
}
function occupiedByWall(i, j) // is this square occupied by maze walls //Author: Adeyemi Adebanjo
{
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 //Author: Adeyemi Adebanjo
{
var i,j, shape, thecube, material;
// set up GRID as 2D array
for ( i = 0; i < gridsize ; i++ )
{
GRID[i] = new Array(gridsize);
}
// Create lights
// Create a white ambient light
var color = 0xFFFFFF;
var intensity = 0.4;
var light = new THREE.AmbientLight(color, intensity);
ABWorld.scene.add(light);
// Create a white directional light
// Enable shadows for the light.
// The position is important as this is where the shadow map camera will be placed
// I used the shadows in the skybox to roughly determine the direction of the light
intensity = 0.8;
light = new THREE.DirectionalLight(color, intensity);
light.position.set(0, 1000, 2000);
light.target.position.set(0, 0, 0);
light.castShadow = true;
ABWorld.scene.add(light);
ABWorld.scene.add(light.target);
// Set up shadowmap texture size
light.shadow.mapSize.width = 1024;
light.shadow.mapSize.height = 1024;
// Shadow camera frustum values
// We need these to be big enough to cover the objects in the scene
light.shadow.camera.left = -2500;
light.shadow.camera.right = 2500;
light.shadow.camera.top = 2500;
light.shadow.camera.bottom = -2500;
light.shadow.camera.near = 0.5;
light.shadow.camera.far = 5000;
ABWorld.renderer.shadowMap.type = THREE.PCFSoftShadowMap;
ABWorld.renderer.shadowMap.enabled = true;
// Only create box geometry once, not for every single onbject
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
material = new THREE.MeshPhongMaterial({ map: wall_texture } );
// 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;
thecube = new THREE.Mesh( shape, material );
thecube.castShadow = true;
thecube.receiveShadow = true;
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
}
// Only create the shape and material once, not for each box
material = new THREE.MeshPhongMaterial({ map: maze_texture } );
// 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 ;
thecube = new THREE.Mesh( shape, material);
thecube.castShadow = true;
thecube.receiveShadow = true;
thecube.position.copy ( translate(i,j) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.scene.add(thecube);
}
shape = new THREE.SphereGeometry( 10, 12, 12 );
// set up guide objects
// As I dont know how many will be used to draw the path,
// I create an array so that stores a number of the guide objects.
// We set them all to invisible and then just use what we need
for ( var g = 0; g < guidenum; g++ )
{
var guide = new THREE.Mesh( shape );
guide.material = new THREE.MeshBasicMaterial({
color: 0x00FF00,
opacity: 0.5,
transparent: true,
});
guide.position.copy ( translate(0, 0) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
guide.scale.x = 1.0;
guide.scale.y = 1.0;
guide.scale.z = 1.0;
guide.visible = false;
guideObjects.push(guide);
ABWorld.scene.add(guide);
}
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
// 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;
theenemy = new THREE.Mesh( shape );
theenemy.material = new THREE.MeshPhongMaterial( { map: brain_texture, } );
theenemy.receiveShadow = true;
theenemy.castShadow = true;
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;
theagent = new THREE.Mesh( shape );
theagent.material = new THREE.MeshPhongMaterial( { map: agent_texture } );
theagent.receiveShadow = true;
theagent.castShadow = true;
ABWorld.scene.add(theagent);
drawAgent();
// Create floor
shape = new THREE.PlaneGeometry ( squaresize * gridsize, squaresize * gridsize, 1 );
thefloor = new THREE.Mesh( shape );
thefloor.material = new THREE.MeshPhongMaterial( { map: floor_texture } );
thefloor.receiveShadow = true; // The floor should receive shadows
thefloor.rotation.x = -Math.PI / 2; // Rotate 90 degrees so it faces upward
thefloor.position.x = -squaresize/2;
thefloor.position.z = -squaresize/2;
thefloor.position.y = -BOXHEIGHT/2;
ABWorld.scene.add(thefloor);
// We want the texture to tile accross the floor, not be stretched, so
// we set the texture wrapping to use RepeatWrapping and set the repeat to be a large number
floor_texture.wrapS = THREE.RepeatWrapping;
floor_texture.wrapT = THREE.RepeatWrapping;
floor_texture.repeat.set( gridsize / 2, gridsize / 2 ); // Using the grid size to determine the wrapping means it will work when someone edits the grid
// 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 -----------------------------------
// Draws the guide path to show the A* algorithm working
function drawPath(path) //Author: Adeyemi Adebanjo
{
// Set all the guide objects to invisible
for(var g = 0; g < guideObjects.length; g++)
{
guideObjects[g].visible = false;
}
var guideIndex = 0;
for(var i = 0; i < path.length; i++)
{
if(i + 1 < path.length)
{
// Get the position of the current node, and the next node
var position1 = translate(path[i].i, path[i].j);
var position2 = translate(path[i+1].i, path[i+1].j);
// Create a direction vector that points from position 1 to position 2
var direction = new THREE.Vector3(position2.x - position1.x, position2.y - position1.y, position2.z - position1.z);
var guidePosition = new THREE.Vector3();
// Draw several boxes in between the positions, so it looks like a line
for(var c = 0; c < 10; c++)
{
// Only use the guide objects we have. We should have enough,
// but just want to check to be sure.
if(guideIndex < guideObjects.length)
{
guideObjects[guideIndex].visible = true;
guidePosition.x = position1.x + (direction.x * (c / 10));
guidePosition.y = BOXHEIGHT - 45;
guidePosition.z = position1.z + (direction.z * (c / 10));
guideObjects[guideIndex].position.copy ( guidePosition );
guideIndex++;
}
}
}
}
}
function drawEnemy() // given ei, ej, draw the enemy
{
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 that returns true if the position is next to the player
// Diagonals are included
function isNextToPlayer(i, j) //Author: Adeyemi Adebanjo
{
if(Math.abs(i - ai) <= 1 && Math.abs(j - aj) <= 1)
{
return true;
}
return false;
}
// Array containing the offsets needed for the 8 surrounding tiles of a tile. //Author: Adeyemi Adebanjo
var neighborPositions = [{i:-1, j:-1}, {i:1, j:-1}, {i:1, j:1}, {i:-1, j:1}, {i:0, j:1}, {i:0, j:-1}, {i:1, j:0}, {i:-1, j:0}];
// Randomly moves the enemy towards the agent. //Author: Adeyemi Adebanjo
function moveLogicalEnemy()
{
// Use A* to find the best path towards the player
var path = createAStarPath(ei, ej, ai, aj);
// If the path length is larger than 0 and the first step isnt the agents position, move the enemy there
// (We do this because we dont want to move the enemy onto the players square)
if(path.length > 0 && !(path[0].i == ai && path[0].j == aj))
{
ei = path[0].i;
ej = path[0].j;
}
else
{
// The enemy has essentially reached the target (a space next to player) and isnt 'stuck' yet
// The enemy can wait for the player to move, but as the goal of the enemy is to block the player in,
// I found it works better if the enemy moves to squares next to the player. This seems to help us block the player in,
// or force something to happen. What square we check first is set to be random, so the enemy doesnt always choose the same spot
// If a square cant be found next to the player that isnt occupied, the enemy will just stay in its current position
var testedPositionNum = 0;
var enemyMoved = false;
// Generate a random number between 0 and 7
var index = Math.floor(Math.random() * 8);
while(!enemyMoved && testedPositionNum != 7)
{
// Get the position to test near the enemy
var ei_test = ei + neighborPositions[index].i;
var ej_test = ej + neighborPositions[index].j;
// Only move to an nearby square if its not occupied and the square is next to the player
if(!occupied(ei_test, ej_test) && isNextToPlayer(ei_test, ej_test))
{
ei = ei_test;
ej = ej_test;
enemyMoved = true; // Just so we dont make more than one move per turn
}
// Keep track of how many positions weve tested
testedPositionNum++;
// Increase index to look at next position
index++;
if(index > 7)
{
index = 0;
}
}
// Check if the player has been stuck in the same position for a while
// This may indicate the player and enemy are in a state where the enemy is just moving to neaby tiles and not allowing the player to do anything
// This is rare but when it happens it just means the game will come to a halt and time out until the step limit is hit
// In order to force something to happen, it would be beneficial in this case to move the enemy away from the player
// We only check if the player has been stuck when the enemy is touching it, as it can easily get stuck when we are moving towards it.
if(isNextToPlayer(ei, ej))
{
if(ai == ai_last && aj == aj_last)
{
playerStuckCounter++;
}
else
{
playerStuckCounter = 0;
}
// If there has been 10 steps where the player has been in the same place while the enemy is on an adjacent tile, I consider it stuck.
if(playerStuckCounter > 10)
{
console.log("STUCK");
// Try to move enemy to square thats not touching the player
// The first square we check is random so that we add some unpredictability into the enemy
// Generate a random number between 0 and 7
var index = Math.floor(Math.random() * 8);
var enemyMoved = false;
while(!enemyMoved && testedPositionNum != 7)
{
// Get the position to test near the enemy
var ei_test = ei + neighborPositions[index].i;;
var ej_test = ej + neighborPositions[index].j;
// Only move to an nearby square if its not occupied and the square is next to the player
if(!occupied(ei_test, ej_test) && !isNextToPlayer(ei_test, ej_test))
{
ei = ei_test;
ej = ej_test;
enemyMoved = true; // Just so we dont make more than one move per turn
}
// Keep track of how many positions we've tested
testedPositionNum++;
// Increase index to look at next position
index++;
if(index > 7)
{
index = 0;
}
}
}
// Set player stuck counter to 0, so enemy doensnt keep moving away
playerStuckCounter = 0;
}
// Create guide path
// As we are right next to the player, we just need to draw a line from the enemy to the player.
path = [];
path.push({i: ei, j: ej});
path.push({i: ai, j: aj});
}
drawPath(path);
}
//Author: Adeyemi Adebanjo
// Function that creates a node for use in the A* algorithm
// i: i grid position
// j: j grid position
// g: the g value used for the A* algorithm
// h: the heuristic value used for the A* algorithm
// parent: the parent node of the created node
function createNode(i, j, g, h, parent)
{
var node = {};
node.i = i;
node.j = j;
node.g = g;
node.h = h;
node.f = g + h;
node.parent = parent;
return node;
}
//Author: Adeyemi Adebanjo
// Function that returns true if a node is at a specific position
function isNodeAtPosition(node, di, dj)
{
if(node.i == di && node.j == dj)
{
return true;
}
else
{
return false;
}
}
//Author: Adeyemi Adebanjo
// Gets the index of a node in the specified list
// The nodes position is used for comparison
function getIndexOfNodeInList(node, list)
{
for(var i = 0; i < list.length; i++)
{
if(list[i].i == node.i && list[i].j == node.j)
{
return i;
}
}
return -1;
}
//Author: Adeyemi Adebanjo
// Removes a node from the specified list
function removeNodeFromList(node, list)
{
var index = getIndexOfNodeInList(node, list);
if(index != -1)
{
list.splice(index, 1);
}
}
//Author: Adeyemi Adebanjo
// Calculates the H value of a node for the A* algorithm
// Uses the euclidean distance
function calculateHValue(i, j, destinationI, destinationJ)
{
return Math.sqrt((i - destinationI) * (i - destinationI) + (j - destinationJ) * (j - destinationJ));
}
//Author: Adeyemi Adebanjo
// Creates a path from the node passed in
// Iterates over the nodes and their parents and creates an array of points that
// make up the path to get from the start destination to the end destination.
function createPathFromEndNode(node)
{
var nodeList = [];
var nextNode = node;
while(nextNode.parent !== null)
{
nodeList.push({i: nextNode.i, j: nextNode.j});
nextNode = nextNode.parent;
}
// Reverse array (as we started at end node and worked backwards)
// This way our path will be from start location to destination.
nodeList.reverse();
return nodeList;
}
//Author: Adeyemi Adebanjo
// Function that uses the A* algorithm to determine the best path from a start location
// to a destination.
function createAStarPath(startI, startJ, destinationI, destinationJ)
{
// Create the open and closed list to keep track of what nodes have been processed/awaiting processing
var openlist = []; // Contains nodes that need to be processed
var closedlist = []; // Contains nodes that have been processed
// Create the start node and add it to the open list with a F score of 0
var startNode = createNode(startI, startJ, 0, 0, null);
openlist.push(startNode);
// Iterate through the open list
// If no nodes are left in the openlist, then a path could not be found
while(openlist.length > 0)
{
// Get the node with the lowest f from the open list
var currentNode = openlist[0];
for (var i = 0; i < openlist.length; i++)
{
if(openlist[i].f < currentNode.f)
{
currentNode = openlist[i];
}
}
// Check if this node is our destination node
if(isNodeAtPosition(currentNode, destinationI, destinationJ))
{
// Reached the destination, create a path and return it
return createPathFromEndNode(currentNode);
}
else
{
// Remove the current node from open list
removeNodeFromList(currentNode, openlist);
// Put the current node in the closed list
// Then check the neighbor nodes
closedlist.push(currentNode);
// Create the neighbor nodes
var neighbors = [];
for(var x = -1; x <= 1; x++)
{
for(var y = -1; y <= 1; y++)
{
// We dont want to create a node for 0,0 because this will be the same position as the current node
if((x === 0 && y === 0) === false)
{
var neighborNode = createNode(currentNode.i + x, currentNode.j + y, currentNode.g + 1, calculateHValue(currentNode.i + x, currentNode.j + y, destinationI, destinationJ), currentNode);
neighbors.push(neighborNode);
}
}
}
// Iterate through the neighbor nodes
for(var n = 0; n < neighbors.length; n++)
{
var closedlistIndex = getIndexOfNodeInList(neighbors[n], closedlist);
var openlistIndex = getIndexOfNodeInList(neighbors[n], openlist);
// Only process this neighbor node if is not an obstacle and not on the closed list
if(occupiedByWall(neighbors[n].i, neighbors[n].j) || closedlistIndex != -1)
{
continue;
}
// If this neighbor node is not on the open list, add it to the open list so it will be processed
if(openlistIndex == -1)
{
openlist.push(neighbors[n]);
}
else
{
// A node with this position already exists in the open list and is waiting to be processed
// Check to see if g is lower, as this indicates a better path
// If it is, we should update the node in the open list with the new G value, and set its parent to be the current node.
if(neighbors[n].g < openlist[openlistIndex].g)
{
// update the node in the open list with the new value of g, and set its parent to be the current node
openlist[openlistIndex].g = neighbors[n].g;
openlist[openlistIndex].f = openlist[openlistIndex].g + openlist[openlistIndex].h;
openlist[openlistIndex].parent = currentNode;
}
}
}
}
}
// We didnt find a path, so just return an empty one
return [];
}
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;
}
//Author: Adeyemi Adebanjo
ai_last = ai;
aj_last = aj;
}
// --- 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;
musicPause();
soundAlarm();
}
};
AB.world.endRun = function()
{
musicPause();
if ( AB.abortRun )
{
if(agentBlocked())
{
AB.msg ( " <br> <font color=red> <B> Agent trapped by Enemy. 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
}