// Cloned by Yibo Sun on 7 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 = 120;
// 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/yibo/1699623025.png' ;
const TEXTURE_MAZE = '/uploads/yibo/1699623847.png' ;
const TEXTURE_AGENT = '/uploads/yibo/1699622688.png' ;
const TEXTURE_ENEMY = '/uploads/yibo/demo.png' ;
// 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/yibo/2-02.Alpha.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 = 40; // 30; // number of squares along side of world
const NOBOXES = Math.trunc ( (gridsize * gridsize) /4 );
// 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/yibo/1699625876.png",//zheng
"/uploads/yibo/1699625934.png",//bei
"/uploads/yibo/1699625840.png",//shang
"/uploads/yibo/1699625860.png",//xia
"/uploads/yibo/1699625946.png",//zuo
"/uploads/yibo/1699625915.png"//you
];
// 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 ==========================================================================================
// ===================================================================================================================
// 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;
var shownPath = [];
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;
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;
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();
// finally skybox
// setting up skybox is simple
// just pass it array of 6 URLs and it does the asych load
ABWorld.scene.background = new THREE.CubeTextureLoader().load ( SKYBOX_ARRAY, function()
{
ABWorld.render();
AB.removeLoading();
AB.runReady = true; // start the run loop
});
}
// --- draw moving objects -----------------------------------
function drawEnemy() // given ei, ej, draw it
{
theenemy.position.copy ( translate(ei,ej) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.lookat.copy ( theenemy.position ); // if camera moving, look back at where the enemy is
}
function drawAgent() // given ai, aj, draw it
{
theagent.position.copy ( translate(ai,aj) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy ( theagent.position ); // follow vector = agent position (for camera following agent)
}
//====================================================================================================
//-----------------------------------------The code here was added by Yibo----------------------------
//====================================================================================================
// This is a utility function that is commonly used in many programming scenarios,
// especially when you need to manage the contents of an array dynamically.
function removeFromArray(arr, elem) {
const index = arr.indexOf(elem); // Find index of the element
if (index > -1) arr.splice(index, 1); // Remove if found
}
// These spots and their properties play a key role in the search process of the A* algorithm.
// They help the algorithm understand the likelihood of each position and how to move from one position to another.
function MakeSpot(i,j) {
this.i = i; //this is x point, so can draw
this.j = j; //this is y point, so can draw
this.f = 0; //the f value for spot (of f = g + h)
this.g = 0;
this.h = 0;
this.neighbors = []; //what should I add to the openset
this.previous = undefined; //unecessary because by definition, undefined.
this.wall = GRID[i][j] !== GRID_BLANK; //changed the wall bit from original script
this.addNeighbors = function(grid) {
var x = this.i;
var y = this.j;
if (x < gridsize - 1) this.neighbors.push(grid[x + 1][y]) //got these from original A* script
if (y < gridsize - 1) this.neighbors.push(grid[x][y + 1])
if (x > 0) this.neighbors.push(grid[x - 1][y])
if (y > 0) this.neighbors.push(grid[x][y - 1])
//this part is for diagonals
// if (x < gridsize - 1 && y > 0) this.neighbors.push(grid[x + 1][y - 1])
// if (x < gridsize - 1 && y < gridsize - 1) this.neighbors.push(grid[x + 1][y + 1])
// if (x > 0 && y > 0) this.neighbors.push(grid[x - 1][y - 1])
// if (x > 0 && y < gridsize - 1) this.neighbors.push(grid[x - 1][y + 1])
}
}
// This code defines four heuristic functions that are used in the A* algorithm to estimate the cost of getting from one node to another.
const heuristic = (a, b) => Math.abs(a.i - b.i) + Math.abs(a.j - b.j);
const eucHeuristic = (a, b) => Math.sqrt(Math.pow((a.i - b.i), 2) + Math.pow((a.j - b.j), 2));
const octHeuristic = (a, b) => Math.max(Math.abs(a.i - b.i), Math.abs(a.j - b.j)) + (Math.sqrt(2) - 1) * Math.min(Math.abs(a.i - b.i), Math.abs(a.j - b.j));
const chebyshevHeuristic = (a, b) => Math.max(Math.abs(a.i - b.i), Math.abs(a.j - b.j));
// It is used to visually display paths in a 3D scene
function highlightPath(pathName, colourName) {
//for each step up to the end (not including the end)
for (var i = 0; i < pathName.length -1; i++) {
//make the shape: https://threejs.org/docs/#api/en/geometries/BoxGeometry (squaresize set as a constant above)
shape = new THREE.BoxGeometry(squaresize, .1, squaresize)
//to draw the shape so unaffected by light: https://threejs.org/docs/#api/en/materials/MeshBasicMaterial.color; could change with the parameters
ShownPath = new THREE.Mesh(shape)
//set the colour https://threejs.org/docs/#api/en/materials/MeshBasicMaterial
ShownPath.material = new THREE.MeshBasicMaterial({color: colourName});
//using translate function above; translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ShownPath.position.copy(translate(pathName[i].i, pathName[i].j))
//add the ShownPath to the scene
ABWorld.scene.add(ShownPath)
//add the ShownPath to the drawn path (defined above before function)
shownPath.push(ShownPath)
}
}
// A star algorithm.
function moveLogicalEnemy() {
var grid = new Array(gridsize); //this is making a list, the number of columns in the grid
var openSet = []; //set of neighbors that we need to check
var closedSet = []; //set of nodes that we don't need to check anymore.
//need to remove past positions
for (var i = 0; i < shownPath.length; i++)
ABWorld.scene.remove(shownPath[i]);
//for each i up to gridsize, make a empty, at that point
for (i = 0; i < gridsize; i++)
grid[i] = new Array(gridsize);
//for each i, for each j, do function MakeSpot for i and j; makes the variables that will be filled in in future
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
grid[i][j] = new MakeSpot(i, j);
//for each i, for each j, make the neighbours
for (i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
grid[i][j].addNeighbors(grid);
//put the position of the enemy into openSet
//make sure openSet length > 0
for (openSet.push(grid[ei][ej]); openSet.length > 0;) {
//index of the winner in openSet
var winner = 0;
//for i in length openSet
for (var i = 0; i < openSet.length; i++)
//if the f value of openSet[i] < winner
if (openSet[i].f < openSet[winner].f)
//winner becomes i
winner = i;
//current is the openSet[0] which is the winner
var current = openSet[winner];
//setting the current to where we want to get to (e.g. if change to 5,9 the enemy just goes to 5,9 and then nothing happens)
if (current === grid[ai][aj]) {
//make a list
var MoveOptionsForEnemy = [];
//make a variable with our best option
var BestOption = current; //agent's current position
//pushed BestOption into MoveOptionsForEnemy because it's the agent's position
//then we push in all the nodes making up the path to goal
MoveOptionsForEnemy.push(BestOption);
while (BestOption.previous) {
//move the previous to the list
MoveOptionsForEnemy.push(BestOption.previous);
//the previous becomes the BestOption (and then that's iterated through)
BestOption = BestOption.previous;
}
//highlights the path between enemy and agent
highlightPath(MoveOptionsForEnemy, 255);
//to get the second last position in list (to be our next position)
var NumberOfOptionsMinusTwo = MoveOptionsForEnemy.length - 2;
//variable to check if occupied
var isOccupied = occupied(
MoveOptionsForEnemy[NumberOfOptionsMinusTwo].i,
MoveOptionsForEnemy[NumberOfOptionsMinusTwo].j
);
//if not occupied
if (!isOccupied) {
//move enemy from last position to second last
ei = MoveOptionsForEnemy[NumberOfOptionsMinusTwo].i;
ej = MoveOptionsForEnemy[NumberOfOptionsMinusTwo].j;
}
//finished
break
}
//if it's not going to go in the direction of the agent
removeFromArray(openSet, current)
//move to the closed list
closedSet.push(current);
//all the potential neighbors to be checked
var neighbors = current.neighbors;
//for each neighbor in the set of neighbors
for (i = 0; i < neighbors.length; i++) {
//make a variable called neighbor
var neighbor = neighbors[i];
//if any of the co-ordinate neighbours is the agent
if (neighbor[i] === grid[ai][aj]) {
//needs to know where it came from
neighbor.previous = current;
//break loop
break
}
//if the neighbor isn't in the closed set, and it's not a wall
if (!closedSet.includes(neighbor) && !neighbor.wall) {
//calculate the heuristic from that point
var tempG = current.g + heuristic (neighbor, current); // heuristic(neighbor, current); // chebyshevHeuristic
//variable called newPath, set to false.
var newPath = false;
//if it's already in openSet to be checked, if tempG is lower, make the g value the new one.
if (openSet.includes(neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
newPath = true;
}
}
//set the g of that neighbor to be tempG, it's a new path to be checked, send it to be checked.
else
{
neighbor.g = tempG;
newPath = true;
openSet.push(neighbor);
}
//if it's a new path to be checked, calculate info.
if (newPath)
{
neighbor.h = heuristic(neighbor, grid[ai][aj]);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current; //keeps track of where you've been
}
}
}
}
}
//===============================================================================================
//===============================================================================================
// --- take actions -----------------------------------
// function moveLogicalEnemy()
// {
// // move towards agent
// // put some randomness in so it won't get stuck with barriers
// 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);
// if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
// {
// ei = i;
// ej = j;
// }
// }
function moveLogicalAgent( a ) // this is called by the infrastructure that gets action a from the Mind
{
var i = ai;
var j = aj;
if ( a == ACTION_LEFT ) i--;
else if ( a == ACTION_RIGHT ) i++;
else if ( a == ACTION_UP ) j++;
else if ( a == ACTION_DOWN ) j--;
if ( ! occupied(i,j) )
{
ai = i;
aj = j;
}
}
// --- key handling --------------------------------------------------------------------------------------
// This is hard to see while the Mind is also moving the agent:
// AB.mind.getAction() and AB.world.takeAction() are constantly running in a loop at the same time
// have to turn off Mind actions to really see user key control
// we will handle these keys:
var OURKEYS = [ 37, 38, 39, 40 ];
function ourKeys ( event ) { return ( OURKEYS.includes ( event.keyCode ) ); }
function keyHandler ( event )
{
if ( ! AB.runReady ) return true; // not ready yet
// if not one of our special keys, send it to default key handling:
if ( ! ourKeys ( event ) ) return true;
// else handle key and prevent default handling:
if ( event.keyCode == 37 ) moveLogicalAgent ( ACTION_LEFT );
if ( event.keyCode == 38 ) moveLogicalAgent ( ACTION_DOWN );
if ( event.keyCode == 39 ) moveLogicalAgent ( ACTION_RIGHT );
if ( event.keyCode == 40 ) moveLogicalAgent ( ACTION_UP );
// when the World is embedded in an iframe in a page, we want arrow key events handled by World and not passed up to parent
event.stopPropagation(); event.preventDefault(); return false;
}
// --- score: -----------------------------------
function badstep() // is the enemy within one square of the agent
{
if ( ( Math.abs(ei - ai) < 2 ) && ( Math.abs(ej - aj) < 2 ) ) return true;
else return false;
}
function agentBlocked() // agent is blocked on all sides, run over
{
return ( occupied (ai-1,aj) &&
occupied (ai+1,aj) &&
occupied ( ai,aj+1) &&
occupied ( ai,aj-1) );
}
function updateStatusBefore(a)
// this is called before anyone has moved on this step, agent has just proposed an action
// update status to show old state and proposed move
{
var x = AB.world.getState();
AB.msg ( " Step: " + AB.step + " x = (" + x.toString() + ") a = (" + a + ") " );
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after both have moved
var y = AB.world.getState();
var score = ( goodsteps / AB.step ) * 100;
AB.msg ( " y = (" + y.toString() + ") <br>" +
" Bad steps: " + badsteps +
" Good steps: " + goodsteps +
" Score: " + score.toFixed(2) + "% ", 2 );
}
AB.world.newRun = function()
{
AB.loadingScreen();
AB.runReady = false;
badsteps = 0;
goodsteps = 0;
if ( show3d )
{
BOXHEIGHT = squaresize;
ABWorld.init3d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
else
{
BOXHEIGHT = 1;
ABWorld.init2d ( startRadiusConst, maxRadiusConst, SKYCOLOR );
}
loadResources(); // aynch file loads
// calls initScene() when it returns
document.onkeydown = keyHandler;
};
AB.world.getState = function()
{
var x = [ ai, aj, ei, ej ];
return ( x );
};
AB.world.takeAction = function ( a )
{
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ( ( AB.step % 2 ) == 0 ) // slow the enemy down to every nth step
moveLogicalEnemy();
if ( badstep() ) badsteps++;
else goodsteps++;
drawAgent();
drawEnemy();
updateStatusAfter(); // show status line after moves
if ( agentBlocked() ) // if agent blocked in, run over
{
AB.abortRun = true;
goodsteps = 0; // you score zero as far as database is concerned
musicPause();
soundAlarm();
}
};
AB.world.endRun = function()
{
musicPause();
if ( AB.abortRun ) AB.msg ( " <br> <font color=red> <B> Agent trapped. Final score zero. </B> </font> ", 3 );
else AB.msg ( " <br> <font color=green> <B> Run over. </B> </font> ", 3 );
};
AB.world.getScore = function()
{
// only called at end - do not use AB.step because it may have just incremented past AB.maxSteps
var s = ( goodsteps / AB.maxSteps ) * 100; // float like 93.4372778
var x = Math.round (s * 100); // 9344
return ( x / 100 ); // 93.44
};
// --- music and sound effects ----------------------------------------
var backmusic = AB.backgroundMusic ( MUSIC_BACK );
function musicPlay() { backmusic.play(); }
function musicPause() { backmusic.pause(); }
function soundAlarm()
{
var alarm = new Audio ( SOUND_ALARM );
alarm.play(); // play once, no loop
}