// Cloned by Aishwarya Ramesh on 07 Nov 2021 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 = 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/starter/door.jpg' ;
// const TEXTURE_MAZE = '/uploads/starter/latin.jpg' ;
// const TEXTURE_AGENT = '/uploads/starter/pacman.jpg' ;
// const TEXTURE_ENEMY = '/uploads/starter/ghost.3.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/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
// const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 );
// // density of maze - number of internal boxes
// // (bug) use trunc or can get a non-integer
// const squaresize = 100; // size of square in pixels
// const MAXPOS = gridsize * squaresize; // length of one side in pixels
// const SKYCOLOR = 0xddffdd; // a number, not a string
// const startRadiusConst = MAXPOS * 0.8 ; // distance from centre to start the camera at
// const maxRadiusConst = MAXPOS * 10 ; // maximum distance from camera we will render things
// //--- change ABWorld defaults: -------------------------------
// ABHandler.MAXCAMERAPOS = maxRadiusConst ;
// ABHandler.GROUNDZERO = true; // "ground" exists at altitude zero
// //--- 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 ==========================================================================================
// // ===================================================================================================================
// // 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 openSet = [];
// var closedSet = [];
// // Start and end
// var start;
// var 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;
// if ( GRID[i][j].wall == true ) return true; // fixed objects
// // if ( GRID[i][j].wall == 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] = new Spot(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
// GRID[i][j] = new Spot(i,j);
// // 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] = new Spot(i, j, true) ;
// 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);
// }
// 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].addNeighbors(GRID);
// // 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)
// }
// // --- take actions -----------------------------------
// function heuristic(a, b)
// {
// // if ( diagonal ) return ( dist(a.i, a.j, b.i, b.j) );
// // 2D distance
// // dist is a P5 function
// return ( Math.abs(a.i - b.i) + Math.abs(a.j - b.j) );
// // else not diagonal, can only go across and down
// // so this is optimistic
// // note this is not optimistic if we can do diagonal move
// }
// function moveLogicalEnemy()
// {
// let path = aStar(GRID[ei][ej] , GRID[ai][aj] );
// drawPath(path);
// console.log(path[path.length-2]);
// i = path[path.length-2].i
// j = path[path.length-2].j
// // 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;
// }
// 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 = 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 )
// {
// // debugger;
// console.log("aS")
// 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;
// // // 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 < 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]);
// // if (diagonal)
// // // diagonals are also neighbours:
// // {
// // if (i > 0 && j > 0) this.neighbors.push(grid[i - 1][j - 1]);
// // if (i < cols - 1 && j > 0) this.neighbors.push(grid[i + 1][j - 1]);
// // if (i > 0 && j < rows - 1) this.neighbors.push(grid[i - 1][j + 1]);
// // if (i < cols - 1 && j < rows - 1) this.neighbors.push(grid[i + 1][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 openSet=[start];
// let current;
// let closedSet=[];
// while (openSet.length>0) {
// // --- begin still searching -----------------------------
// // if (openSet.length > 0)
// // {
// // Best next option
// var winner = 0;
// for (var i = 0; i < openSet.length; i++)
// if (openSet[i].f < openSet[winner].f)
// winner = i;
// current = openSet[winner];
// // Did I finish?
// if (current === end)
// {
// console.log("success - found path");
// }
// // Best option moves from openSet to closedSetf
// removeFromArray(openSet, current);
// closedSet.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 (!closedSet.includes(neighbor) && !neighbor.wall)
// {
// var tempG = current.g + heuristic(neighbor, current);
// // Is this a better path than before?
// var newPath = false;
// if (openSet.includes(neighbor))
// {
// if (tempG < neighbor.g)
// {
// neighbor.g = tempG;
// newPath = true;
// }
// }
// else
// {
// neighbor.g = tempG;
// newPath = true;
// openSet.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;
// 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 < gridsize ; i++ )
// for ( j = 0; j < gridsize ; 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;
// }
// }
// // function drawPath(Path, colorLine="0xFFD700"){
// // var geometry = new THREE.Geometry();
// // var material = new THREE.LineBasicMaterial( { color: colorLine } );
// // if(Path!== null){
// // if(Path.length >1){
// // // console.log("Path length > 1");
// // for(let i = 0; i < Path.length-1; i++){
// // geometry.vertices.push(translate(Path[i].i,Path[i].j));
// // geometry.vertices.push(translate(Path[i+1].i,Path[i+1].j));
// // }
// // var line = new THREE.LineSegments( geometry, material );
// // ABWorld.scene.add(line);
// // setTimeout( () => {
// // geometry.dispose();
// // material.dispose();
// // ABWorld.scene.remove( line );
// // }, AB.clockTick);
// // }
// // }
// // }
// // draw a line using d3.js
// function drawPath(Path, colorLine="0xFFD700"){
// if(Path!== null){
// if(Path.length >1){
// // console.log("Path length > 1");
// var line = d3.line()
// .x(function(d) { return d.x; })
// .y(function(d) { return d.y; })
// .curve(d3.curveLinear);
// var path = line(Path);
// var svg = d3.select("#ABWorld").append("svg")
// .attr("width", AB.width)
// .attr("height", AB.height)
// .append("g")
// .attr("transform", "translate(" + AB.width/2 + "," + AB.height/2 + ")");
// svg.append("path")
// .attr("d", path)
// .attr("stroke", colorLine)
// .attr("stroke-width", 2)
// .attr("fill", "none");
// setTimeout( () => {
// svg.remove();
// }, AB.clockTick);
// }
// }
// 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(this.translate(this.idx, this.jdx)); // 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);
//------------------------------------------------------------------------------------------------------------------------------------------------------
// Cloned by Aishwarya Ramesh on 07 Nov 2021 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 = 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 show3d = false;
const TEXTURE_WALL = '/uploads/aishwarya/green.jpg' ;
const TEXTURE_MAZE = '/uploads/aishwarya/wall.jpg' ;
const TEXTURE_AGENT = '/uploads/aishwarya/jerry.png' ;
const TEXTURE_ENEMY = '/uploads/aishwarya/tom.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/sharon09/tom-and-jerry-ringtone.mp3' ;
const SOUND_ALARM = '/uploads/sharon09/8d82b5_Tom_Laughing_Sound_Effect.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
const NOBOXES = Math.trunc ( (gridsize * gridsize) / 3 );
// density of maze - number of internal boxes
// (bug) use trunc or can get a non-integer
const squaresize = 100; // size of square in pixels
const MAXPOS = gridsize * squaresize; // length of one side in pixels
const SKYCOLOR = 0xddffdd; // a number, not a string
const startRadiusConst = MAXPOS * 0.8 ; // distance from centre to start the camera at
const maxRadiusConst = MAXPOS * 10 ; // maximum distance from camera we will render things
//--- change ABWorld defaults: -------------------------------
ABHandler.MAXCAMERAPOS = maxRadiusConst ;
ABHandler.GROUNDZERO = true; // "ground" exists at altitude zero
//--- 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/aishwarya/background.jpg",
"/uploads/aishwarya/bg.jpg",
"/uploads/aishwarya/background.jpg",
"/uploads/aishwarya/bg.jpg",
"/uploads/aishwarya/background.jpeg",
"/uploads/aishwarya/bg.jpg"
];
*/
// 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 = 12;
const ACTION_RIGHT = 13;
const ACTION_UP = 14;
const ACTION_DOWN = 15;
const ACTION_STAYSTILL = 16;
// 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 openSet = [];
var closedSet = [];
// Start and end
var start;
var 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;
if ( GRID[i][j].wall == true ) return true; // fixed objects
// if ( GRID[i][j].wall == 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] = new Spot(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
GRID[i][j] = new Spot(i,j);
// 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] = new Spot(i, j, true) ;
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);
}
for ( i = 0; i < gridsize ; i++ )
for ( j = 0; j < gridsize ; j++ )
if (!( ( i==0 ) || ( i==gridsize-1 ) || ( j==0 ) || ( j==gridsize-1 )) ) //--> comment it
GRID[i][j].addNeighbors(GRID);
// 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)
}
// --- take actions -----------------------------------
// Function which calculates a* for the enemy
function heuristic(xx, yy)
{
// if ( diagonal ) return ( dist(xx.i, xx.j, yy.i, yy.j) );
// 2D distance
// dist is a P5 function
// return ( Math.abs(xx.i - yy.i) + Math.abs(xx.j - yy.j) );
return ( (yy.i - xx.i)*(yy.i - xx.i) + (yy.j - xx.j)*(yy.j - xx.j) );
// return ( (xx.i - yy.i)*(xx.i - yy.i) + (xx.j - yy.j)*(xx.j - yy.j) );
// else not diagonal, can only go across and down
// so this is optimistic
// note this is not optimistic if we can do diagonal move
}
/*let previousPath=[]
function astarenemy()
{
for(let i=0; i<previousPath.length; i++)
{
ABWorld.scene.remove(previousPath[i]);
}
previousPath=[];
let path = aStar(GRID[ei][ej] , GRID[ai][aj]);
console.log("TYPE OF PATH: ",typeof(path));
console.log(path[path.length-2]);
i = path[path.length-2].i
j = path[path.length-2].j
for (var m=0; m<path.length; m++)
{
tempShape = new THREE.BoxGeometry(20,200,20);
tempCube = new THREE.Mesh(tempShape);
//tempCube = new THREE.Mesh(boxGeometry);
tempCube.material = new THREE.MeshBasicMaterial({ wireframeLinecap: "sphere", wireframeLinewidth: 0.01 });
tempCube.position.copy(translate(path[m].i,path[m].j)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
tempCube.material.color.setColorName("green");
tempCube.material.wireframeLinewidth = 0.01;
tempCube.material.opacity = 0.3;
ABWorld.scene.add(tempCube);
previousPath.push(tempCube);
}
*/
let previousPath=[]
function astarenemy()
{
for(let i=0; i<previousPath.length; i++)
{
ABWorld.scene.remove(previousPath[i]);
}
previousPath=[];
let path = aStar(GRID[ei][ej] , GRID[ai][aj]);
console.log("TYPE OF PATH: ",typeof(path));
console.log(path[path.length-2]);
i = path[path.length-2].i
j = path[path.length-2].j
for (var m=0; m<path.length; m++)
{
tempShape = new THREE.SphereGeometry(20,200,20);
tempCube = new THREE.Mesh(tempShape);
//tempCube = new THREE.Mesh(boxGeometry);
tempCube.material = new THREE.MeshBasicMaterial({ wireframeLinecap: "sphere", wireframeLinewidth: 0.01 });
tempCube.position.copy(translate(path[m].i,path[m].j)); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
tempCube.material.color.setColorName("orange");
tempCube.material.wireframeLinewidth = 0.01;
tempCube.material.opacity = 0.3;
ABWorld.scene.add(tempCube);
previousPath.push(tempCube);
}
// 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;
}
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 COUNTER = [ 22, 23, 24, 25 ];
function counter ( event ) { return ( COUNTER.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 ( ! counter ( event ) ) return true;
// else handle key and prevent default handling:
if ( event.keyCode == 22 ) moveLogicalAgent ( ACTION_LEFT );
if ( event.keyCode == 23 ) moveLogicalAgent ( ACTION_DOWN );
if ( event.keyCode == 24 ) moveLogicalAgent ( ACTION_RIGHT );
if ( event.keyCode == 25 ) 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 )
{
// debugger;
// console.log("aS")
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ( ( AB.step % 2 ) == 0 ) // slow the enemy down to every nth step
astarenemy();
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.takeAction = function ( a )
{
// debugger;
// console.log("aS")
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ( ( AB.step % 2 ) == 0 ) // slow the enemy down to every nth step
astarenemy();
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;
// // Am I a 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 < 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]);
// if (diagonal)
// // diagonals are also neighbours:
// {
// if (i > 0 && j > 0) this.neighbors.push(grid[i - 1][j - 1]);
// if (i < cols - 1 && j > 0) this.neighbors.push(grid[i + 1][j - 1]);
// if (i > 0 && j < rows - 1) this.neighbors.push(grid[i - 1][j + 1]);
// if (i < cols - 1 && j < rows - 1) this.neighbors.push(grid[i + 1][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) // --> this is where the code works for astar
{
resetParam();
// console.log("GRID",GRID[i][j]);
let openSet=[start];
let current;
let closedSet=[];
while (openSet.length>0) {
// --- begin still searching -----------------------------
// if (openSet.length > 0)
// {
// Best next option
var winner = 0;
for (var i = 0; i < openSet.length; i++)
if (openSet[i].f < openSet[winner].f)
winner = i;
current = openSet[winner];
// Did I finish?
if (current === end)
{
console.log("success - found path");
break;
}
// Best option moves from openSet to closedSetf
removeFromArray(openSet, current);
// console.log("CURRENTTTTTT: ",current)
closedSet.push(current);
// Check all the neighbors
var neighbors = current.neighbors;
//--- start of for loop -----------
for (i = 0; i < neighbors.length; i++)
{
var neighbor = neighbors[i];
// Valid next spot?
if (!closedSet.includes(neighbor) && !neighbor.wall)
{
var tempG = current.g + heuristic(neighbor, current);
// Is this a better path than before?
var newPath = false;
if (openSet.includes(neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
newPath = true;
}
}
else
{
neighbor.g = tempG;
newPath = true;
openSet.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;
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 < gridsize ; i++ )
for ( j = 0; j < gridsize ; 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;
}
}