// Cloned by Sumit Khopkar on 6 Nov 2021 from World "Complex World" by Starter user
// Please leave this clone trail here.
// PRACTICAL 1 - PART 1
// ==== Starter World =================================================================================================
// This code is designed for use on the Ancient Brain site.
// This code may be freely copied and edited by anyone on the Ancient Brain site.
// To include a working run of this program on another site, see the "Embed code" links provided on Ancient Brain.
// ====================================================================================================================
// =============================================================================================
// More complex starter World
// 3d-effect Maze World (really a 2-D problem)
// Movement is on a semi-visible grid of squares
//
// This more complex World shows:
// - Skybox
// - Internal maze (randomly drawn each time)
// - Enemy actively chases agent
// - Music/audio
// - 2D world (clone this and set show3d = false)
// - User keyboard control (clone this and comment out Mind actions to see)
// =============================================================================================
// =============================================================================================
// Scoring:
// Bad steps = steps where enemy is within one step of agent.
// Good steps = steps where enemy is further away.
// Score = good steps as percentage of all steps.
//
// There are situations where agent is trapped and cannot move.
// If this happens, you score zero.
// =============================================================================================
// ===================================================================================================================
// === Start of tweaker's box ========================================================================================
// ===================================================================================================================
// The easiest things to modify are in this box.
// You should be able to change things in this box without being a JavaScript programmer.
// Go ahead and change some of these. What's the worst that could happen?
AB.clockTick = 100;
// Speed of run: Step every n milliseconds. Default 100.
AB.maxSteps = 1000;
// 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)
//CA686 Practical Start - Changed images to make this world my unique one//
const TEXTURE_WALL = '/uploads/sumitkhopkar25/250px-City_wall_close.jpg' ;
const TEXTURE_MAZE = '/uploads/sumitkhopkar25/green-maze-260nw-80722072.jpg' ;
const TEXTURE_AGENT = '/uploads/sumitkhopkar25/preview16.jpg' ;
const TEXTURE_ENEMY = '/uploads/sumitkhopkar25/MCDAMPS_EC020.jpg' ;
//CA686 Practical End
// 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 = 20; // number of squares along side of world
//CA686 Practical Start
const gridsize = 50; //Changed gridsize to 50x50
//CA686 Practical End
//CA686 Practical Start - Changed the number of boxes
//const NOBOXES = Math.trunc ( (gridsize * gridsize) / 10 );
// density of maze - number of internal boxes
// (bug) use trunc or can get a non-integer
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 );
//CA686 Practical End
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
//CA686 Practical Start - Change background
/*
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"
];
//CA686 Practical End
// 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;
//CA686 Practical Start
var openPaths = []; // Paths to be searched
var closedPaths = []; //Paths already searched
// Start and end
var start;
var end;
var opencolor = 'blue';
var closedcolor = 'red';
var pathcolor = 'orange'; //Color to indicate the path calculated using A* till the agent
//CA686 Practical End
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;
//CA686 Practical Start - instead of properties GRID_WALL and GRID_MAZE I have added a property "wall" for the class Loc which indicates
//if the location is a wall
/*if ( GRID[i][j] == GRID_WALL ) return true; // fixed objects
if ( GRID[i][j] == GRID_MAZE ) return true;*/
if(GRID[i][j].wall == true) return true;
//CA686 Practical End
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 ) )
{
//CA686 Practical Start - Assigning a new object of that location with the property of wall set as true
//GRID[i][j] = GRID_WALL;
GRID[i][j] = new Loc(i, j, true);
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
//Assigning a new object of that location with the property of wall set as false
//GRID[i][j] = GRID_BLANK;
GRID[i][j] = new Loc(i, j, false);
// 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);
//Setting property of wall as true
//GRID[i][j] = GRID_MAZE ;
GRID[i][j].wall = true;
//CA686 Practical End
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
});
//CA686 Practical Start
// Adding all the neighbors
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
GRID[i][j].addNeighbors();
// Initialising start and end to the locations of enemy and agent respectively
start = GRID[ei][ej];
end = GRID[ai][aj];
start.wall = false;
end.wall = false;
// openPaths starts with beginning only
openPaths.push(start);
console.log("initScene openPaths", openPaths);
//CA686 Practical End
}
// --- draw moving objects -----------------------------------
function drawEnemy() // given ei, ej, draw it
{
theenemy.position.copy ( translate(ei,ej) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.lookat.copy ( theenemy.position ); // if camera moving, look back at where the enemy is
}
function drawAgent() // given ai, aj, draw it
{
theagent.position.copy ( translate(ai,aj) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy ( theagent.position ); // follow vector = agent position (for camera following agent)
}
// --- take actions -----------------------------------
//CA686 Practical Start
//old_path is used to remove the previous path drawn before drawing the new path
var old_path = []
//Making a class for all the locations in the maze
class Loc{
constructor(i, j, wall){
this.i = i;
this.j = j;
this.f = 0;
this.g = 0;
this.h = 0;
this.neighbors = [];
this.prevNode = undefined;
this.wall = wall;
}
//Check if current position is a wall or not
checkWall(){
return this.wall;
}
// Display the path
drawPath(fillColor)
{
this.shape = new THREE.BoxGeometry ( squaresize, 1, squaresize );
this.pathBox = new THREE.Mesh( this.shape );
this.pathBox.position.copy(translate(this.i, this.j));
this.pathBox.material = new THREE.MeshBasicMaterial();
//ABWorld.scene.add(theagent);
this.pathBox.material.color.setColorName(fillColor);
ABWorld.scene.add(this.pathBox);
};
//Remove the path before drawing the new one
removePath()
{
ABWorld.scene.remove(this.pathBox);
}
// Figure out who the neighbors of the current location are
addNeighbors()
{
var i = this.i;
var j = this.j;
if (i < gridsize - 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 < gridsize - 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 to remove the element from the list
function removeFromArray(arr, elt)
{
for (var i = arr.length - 1; i >= 0; i--)
if (arr[i] == elt)
arr.splice(i, 1);
}
//Function to calculate the heurestic using Manhattan distance (since the enemy cannot move diagonally)
function heuristic(a, b)
{
return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
}
//Reset all parameters of concerned locations before proceeding with the A* algorithm
function resetFunctions()
{
for (var i = 0; i < gridsize; i++)
for (var j = 0; j < gridsize; j++)
if(!GRID[i][j].wall){
GRID[i][j].f = 0;
GRID[i][j].g = 0;
GRID[i][j].h = 0;
GRID[i][j].prevNode = undefined;
}
}
//Function to remove the old path
function callRemovePath()
{
for (var i = 0; i < old_path.length; i++)
{
old_path[i].removePath(pathcolor);
console.log("path[i] remove colour", old_path[i]);
}
}
//CA686 Practical End
function moveLogicalEnemy()
{
//CA686 Practical Start - Start of A* algorithm/
//Reset all the properties at every function call
resetFunctions();
//Remove path before finding a new one at every function call
callRemovePath()
//Initialise start as per enemy's current location
let start = GRID[ei][ej];
//Initialise end as the agent's current location
let end = GRID[ai][aj];
//Initialise openPaths to the starting location since that would be the beginning of the path
openPaths = [start]
closedPaths = []
old_path = []
console.log("openPaths with only start", openPaths);
//Current indicates the object for the currently accessed location
var current = null;
let path = [];
while(openPaths.length > 0){
console.log("openPaths", openPaths);
if (openPaths.length > 0)
{
//Evaluate the lowest F value from the paths
var lowestF = 0;
for (var i = 0; i < openPaths.length; i++)
if (openPaths[i].f < openPaths[lowestF].f)
lowestF = i;
//Currently selected location would be the one having the lowest F value
var current = openPaths[lowestF];
// If the currently selected location is the same as the end location then a path has been found
if (current === end)
{
console.log("Found path for current iteration");
break;
}
//After looking at the current location remove it from the openPaths array and push it into closedPaths array
removeFromArray(openPaths, current);
closedPaths.push(current);
// Check all the neighbors of the enemy
var neighbors = current.neighbors;
//Loop through all the neighbours and decide which neighbour has the lowest F value
for (var i = 0; i < neighbors.length; i++)
{
//Store the neighbour selected in current iteration into an object
var neighbor = neighbors[i];
//If the neighbour has not been previously visited or the neighbour isn't a wall
if (!closedPaths.includes(neighbor) && !neighbor.checkWall())
{
//Calculate depth of current neighbour's location which is g value
var tempG = current.g + heuristic(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openPaths.includes(neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
newPath = true;
}
}
else
{
neighbor.g = tempG;
newPath = true;
openPaths.push(neighbor);
}
// Yes, it's a better path
if (newPath)
{
//Calculate heuristic between neighbour and the end location
neighbor.h = heuristic(neighbor, end);
// Indicates the equation - F(n) = g(n) + h(n)
neighbor.f = neighbor.g + neighbor.h;
//Set the previous node as the current one before moving on to the next one
neighbor.prevNode = current;
}
}
}
//--- end of for loop -----------
}
// --- end still searching -----------------------------
}
// Find the path by working backwards
var temp = current;
path.push(temp);
while (temp.prevNode)
{
path.push(temp.prevNode);
temp = temp.prevNode;
}
//Reverse the path found because the last location is the first one, this is because we are working backwards
path.reverse()
//Set the old path to the current path before finding a new one
old_path = path
console.log("current location", ei, " ", ej);
console.log("path", path);
//If the path's end location is the same as the end condition then draw a path till the end condition's location
if(path[path.length - 1].i == ai && path[path.length - 1].j == aj)
{
for (var i = 1; i <= path.length-1; i++)
{
path[i].drawPath(pathcolor);
console.log("path[i] colour", path[i]);
}
if(path.length > 2)
{
//Path[1] consists of the location where the enemy should move next
console.log("path[1].i", path[1].i);
console.log("path[1].j", path[1].j);
i = path[1].i;
j = path[1].j;
}
else
{
i = ei;
j = ej;
}
if ( ! occupied(i,j) ) // if no obstacle then move, else just miss a turn
{
console.log("!occupied");
ei = i;
ej = j;
}
}
else
{
//When no path is found till the agent abort the run.
console.log('fail - no path exists');
AB.abortRun = true;
}
}
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();
//CA686 - Practical Start - Added code to indicate if path is not found
if ( AB.abortRun )
{
if(goodsteps == 0)
{
AB.msg ( " <br> <font color=red> <B> Agent trapped. Final score zero. </B> </font> ", 3 );
}
else
{
AB.msg ( " <br> <font color=red> <B> No Path Found. </B> </font> ", 3 );
}
}
//CA686 - Practical End
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
}