// Cloned by Tristan Everitt on 19 Oct 2022 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)
// Pool Water. CC0 1.0 Universal (CC0 1.0) Public Domain Dedication
// Source: https://www.publicdomainpictures.net/en/view-image.php?image=126102&picture=pool-water
const TEXTURE_WALL = '/uploads/tristan/water.jpg';
// Der Kothaufen-Emoji (💩) (englisch: pile of poo)
// Source: https://de.wikipedia.org/wiki/Kothaufen-Emoji
// Licence: Apache License 2.0
const TEXTURE_MAZE = '/uploads/tristan/poo.png';
// Liz Truss official portrait is licensed under the United Kingdom Open Government Licence v3.0.
// https://www.nationalarchives.gov.uk/doc/open-government-licence/version/3/
// Source: https://commons.wikimedia.org/wiki/File:Liz_Truss_official_portrait.jpg
const TEXTURE_AGENT = '/uploads/tristan/truss.jpg';
// Lettuce by Nick Youngson CC BY-SA 3.0 Alpha Stock Images
// Source: https://www.picserver.org/photo/32776/Lettuce.html
// Licence: Creative Commons 3 - CC BY-SA 3.0
// Attribution: Alpha Stock Images - http://alphastockimages.com/
// Original Author: Nick Youngson - link to - http://www.nyphotographic.com/
const TEXTURE_ENEMY = '/uploads/tristan/lettuce.jpg';
// 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
// ROYALTY-FREE “BENNY HILL THEME” STYLE ALTERNATIVE
// Source: http://toolofgod.com/my-music/royalty-free-benny-hill-theme-style-alternative/
const MUSIC_BACK = '/uploads/tristan/Benny-Hill-Theme-style-Royalty-free.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 = 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/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"
//];
// Union Square Skybox - https://opengameart.org/content/urban-skyboxes
// This is the work of Emil Persson, aka Humus. http://www.humus.name
// These were previously under a custom licence, but he re-licensed them to CC-BY-3.0.
const SKYBOX_ARRAY = [
"/uploads/tristan/union-square-posx.jpg",
"/uploads/tristan/union-square-negx.jpg",
"/uploads/tristan/union-square-posy.jpg",
"/uploads/tristan/union-square-negy.jpg",
"/uploads/tristan/union-square-posz.jpg",
"/uploads/tristan/union-square-negz.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 = 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;
let BOXHEIGHT; // 3d or 2d box height
let GRID = new Array(gridsize); // can query GRID about whether squares are occupied, will in fact be initialised as a 2D array
let theagent, theenemy;
let wall_texture, agent_texture, enemy_texture, maze_texture;
// enemy and agent position on squares
//et ei, ej, ai, aj;
let enemy = new Node();
let agent = new Node();
let badsteps;
let goodsteps;
function loadResources() // asynchronous file loads - call initScene() when all finished
{
let loader1 = new THREE.TextureLoader();
let loader2 = new THREE.TextureLoader();
let loader3 = new THREE.TextureLoader();
let 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
{
return !!(wall_texture && agent_texture && enemy_texture && maze_texture);
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
function occupied(i, j) // is this square occupied
{
const variableObjects = isEnemy(i, j) || isAgent(i,j);
return variableObjects || fixedObject(i, j);
}
function fixedObject(i, j) {
const outsideBoundary = i >= gridsize || j >= gridsize;
return outsideBoundary || GRID[i][j] === GRID_WALL || GRID[i][j] === GRID_MAZE;
}
// 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) {
let 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
{
let 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 (let 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
enemy.i = i;
enemy.j = 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
agent.i = i;
agent.j = 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(translateNode(enemy)); // 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(translateNode(agent)); // 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 moveLogicalEnemy() {
useAStarSearch ? aStarEnemyMove() : legacyEnemyMove();
}
function legacyEnemyMove() {
// move towards agent
// put some randomness in so it won't get stuck with barriers
let i, j;
if (enemy.i < agent.i) i = AB.randomIntAtoB(enemy.i, enemy.i + 1);
if (enemy.i === agent.i) i = enemy.i;
if (enemy.i > agent.i) i = AB.randomIntAtoB(enemy.i - 1, enemy.i);
if (enemy.j < agent.j) j = AB.randomIntAtoB(enemy.j, enemy.j + 1);
if (enemy.j === agent.j) j = enemy.j;
if (enemy.j > agent.j) j = AB.randomIntAtoB(enemy.j - 1, enemy.j);
if (!occupied(i, j)) // if no obstacle then move, else just miss a turn
{
enemy.i = i;
enemy.j = j;
}
}
function moveLogicalAgent(a) // this is called by the infrastructure that gets action a from the Mind
{
let i = agent.i;
let j = agent.j;
if (a === ACTION_LEFT) i--;
else if (a === ACTION_RIGHT) i++;
else if (a === ACTION_UP) j++;
else if (a === ACTION_DOWN) j--;
if (!sittingDuck && !occupied(i, j)) {
agent.i = i;
agent.j = 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:
let 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
{
return (Math.abs(enemy.i - agent.i) < 2) && (Math.abs(enemy.j - agent.j) < 2);
}
function agentBlocked() // agent is blocked on all sides, run over
{
let count = 0;
let obstacles = [];
if (occupied(agent.i - 1, agent.j)) {
count++;
obstacles.push(occupiedBy(agent.i - 1, agent.j));
}
if (occupied(agent.i + 1, agent.j)) {
count++;
obstacles.push(occupiedBy(agent.i + 1, agent.j));
}
if (occupied(agent.i, agent.j + 1)) {
count++;
obstacles.push(occupiedBy(agent.i, agent.j + 1));
}
if (occupied(agent.i, agent.j - 1)) {
count++;
obstacles.push(occupiedBy(agent.i, agent.j - 1));
}
const blocked = obstacles.length === 4;
if (blocked) {
let o = '';
obstacles.forEach(obstacle => {
o += ' ' + obstacle
});
console.log('Agent blocked by: ' + o);
}
return blocked;
}
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
{
let x = AB.world.getState();
AB.msg(` Step: ${AB.step} x = (${x.toString()}) a = (${a}) `);
}
function updateStatusAfter() // agent and enemy have moved, can calculate score
{
// new state after both have moved
let y = AB.world.getState();
let score = (goodsteps / AB.step) * 100;
AB.msg(` y = (${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 () {
let x = [agent.i, agent.j, enemy.i, enemy.j];
return (x);
};
AB.world.takeAction = function (a) {
updateStatusBefore(a); // show status line before moves
moveLogicalAgent(a);
if ((AB.step % enemyNthStep) === 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
let s = (goodsteps / AB.maxSteps) * 100; // float like 93.4372778
let x = Math.round(s * 100); // 9344
return (x / 100); // 93.44
};
// --- music and sound effects ----------------------------------------
let backmusic = AB.backgroundMusic(MUSIC_BACK);
function musicPlay() {
backmusic.play();
}
function musicPause() {
backmusic.pause();
}
function soundAlarm() {
let alarm = new Audio(SOUND_ALARM);
alarm.play(); // play once, no loop
}
// ==================== [START] Tristan's parameters ====================
// [7] Change the enemy to use A* to make a move.
const useAStarSearch = true;
const useHeuristic = true; // false: h(n) = 0
const bestFirst = false; // true: f(n) = h(n); false: f(n) = g(n) + h(n)
// ///////////////////////////////////////////
// [6] Diagonal moves off: Change the World so the enemy cannot make diagonal moves. This makes obstacles much harder.
const diagonal = false;
// ///////////////////////////////////////////
// [10] Prove it is A* by drawing the paths on screen.
const drawAStarPath = true; // Draws the best path found by A*
const drawAStarClosedSet = true; // Draw the points added to the closed set
const drawAStarOpenSet = true; // Draw the points added to the open set, excluding the best path.
// ///////////////////////////////////////////
const enemyNthStep = 2;
const sittingDuck = false; // No moving target used for debugging.
// ==================== [END] Tristan's parameters ====================
// ==================== [START] Tristan's functions ====================
function findMinimumNode(set) {
// Best next option
let winner = 0;
for (let i = 0; i < set.length; i++) {
winner = set[i].f < set[winner].f ? i : winner;
}
return set[winner];
}
function isFinalNode(source, target) {
return source.i === target.i && source.j === target.j;
}
function removeNode(set, n) {
set.splice(indexOfNode(set, n), 1);
}
function aStarEnemyMove() {
clearPlanOfAttack();
const planOfAttack = aStarMove(enemy, agent);
if (planOfAttack.bestPath && planOfAttack.bestPath.length > 0) {
const nextMove = planOfAttack.bestPath[0];
drawPlanOfAttack(planOfAttack);
console.log('[aStarEnemyMove] enemy=[' + enemy.i + ', ' + enemy.j + '] agent=[' + agent.i + ', ' + agent.j + '] nextMove: [' + nextMove.i + ', ' + nextMove.j + ', h=' + nextMove.h + ', g=' + nextMove.g + ', f=' + nextMove.f + ']');
enemy.i = nextMove.i;
enemy.j = nextMove.j;
} else {
console.log('[aStarEnemyMove] enemy=[' + enemy.i + ', ' + enemy.j + '] agent=[' + agent.i + ', ' + agent.j + '] nextMove: none');
}
}
function indexOfNode(collection, node) {
return collection.findIndex(e => e.i === node.i && e.j === node.j);
}
function containsNode(collection, node) {
return indexOfNode(collection, node) >= 0;
}
function aStarMove(subject, destination) {
let openSet = [];
let closedSet = [];
openSet.push(subject);
let current = createNode(subject.i, subject.j);
while (openSet.length > 0) {
current = findMinimumNode(openSet);
if (isFinalNode(current, destination)) {
let c = current;
let path = [];
// Build path from end to start
while (c.previous) {
path.push(c);
c = c.previous;
}
current.bestPath = path.reverse();
current.openSet = openSet;
current.closedSet = closedSet;
return current;
}
removeNode(openSet, current);
closedSet.push(current);
let neighbours = examineValidNeighbours(current);
neighbours.forEach(neighbour => {
const validMove = !containsNode(closedSet, neighbour);
if (validMove) {
const g = (bestFirst ? 0 : current.g);
const h = heuristic(neighbour, current);
const tempG = g + h;
// Is this a better path than before?
let optimal = false;
if (!containsNode(openSet, neighbour)) {
optimal = true;
neighbour.h = heuristic(neighbour, destination);
openSet.push(neighbour);
} else if (tempG < neighbour.g) {
optimal = true;
}
// Yes, it's a better path
if (optimal) {
neighbour.g = tempG;
neighbour.h = heuristic(neighbour, destination);
neighbour.f = neighbour.g + neighbour.h;
neighbour.previous = current;
}
}
});
}
console.log('No path found');
// Add empty defaults
current.bestPath = [];
current.openSet = [];
current.closedSet = [];
return current;
}
function examineValidNeighbours(subject) {
let i = subject.i;
let j = subject.j;
let neighbours = [];
if (!fixedObject(i + 1, j)) {
neighbours.push(createNode(i + 1, j));
}
if (!fixedObject(i - 1, j)) {
neighbours.push(createNode(i - 1, j));
}
if (!fixedObject(i, j + 1)) {
neighbours.push(createNode(i, j + 1));
}
if (!fixedObject(i, j - 1)) {
neighbours.push(createNode(i, j - 1));
}
if (diagonal)
// diagonals are also neighbours:
{
if (!fixedObject(i - 1, j - 1)) {
neighbours.push(createNode(i - 1, j - 1));
}
if (!fixedObject(i + 1, j - 1)) {
neighbours.push(createNode(i + 1, j - 1));
}
if (!fixedObject(i - 1, j + 1)) {
neighbours.push(createNode(i - 1, j + 1));
}
if (!fixedObject(i + 1, j + 1)) {
neighbours.push(createNode(i + 1, j + 1));
}
}
return neighbours;
}
function heuristic(a, b) {
if (useHeuristic) {
return diagonal ? euclideanDistance(a, b) : Math.abs(a.i - b.i) + Math.abs(a.j - b.j);
} else {
return 0;
}
}
function euclideanDistance(a, b) {
//http://en.wikipedia.org/wiki/Euclidean_distance
return Math.sqrt(Math.pow((a.i - b.i), 2) + Math.pow((a.j - b.j), 2));
}
function createNode(i, j) {
const n = new Node();
n.i = i;
n.j = j;
return n;
}
function Node() {
// Location
this.i = null;
this.j = null;
this.previous = null;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
}
function drawPlanOfAttack(planOfAttack) {
if (drawAStarPath) {
const points = [];
planOfAttack.bestPath.forEach(node => {
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
points.push(translateNode(node));
});
// A yellow diamond
const meshParams = {color: 0xffff00};
const radius = 15;
const widthSegments = 32;
const heightSegments = 32;
showSpheres(points,meshParams, radius, widthSegments, heightSegments);
}
drawOpenSet(planOfAttack);
drawClosedSet(planOfAttack);
}
function drawOpenSet(planOfAttack) {
if (drawAStarOpenSet) {
const points = [];
planOfAttack.openSet.forEach(node => {
if(!(isEnemy(node.i,node.j) || isAgent(node.i,node.j))) {
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
points.push(translateNode(node));
}
});
// A blue sphere
const meshParams = {color: 0x0b5394};
const radius = 10;
const widthSegments = 10;
const heightSegments = 2;
showSpheres(points,meshParams, radius, widthSegments, heightSegments);
}
}
function drawClosedSet(planOfAttack) {
if (drawAStarClosedSet) {
const points = [];
planOfAttack.closedSet.forEach(node => {
if(!(isEnemy(node.i,node.j) || isAgent(node.i,node.j))) {
// translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
points.push(translateNode(node));
}
});
// A red diamond
const meshParams = {color: 0xe06666};
const radius = 10;
const widthSegments = 10;
const heightSegments = 2;
showSpheres(points,meshParams, radius, widthSegments, heightSegments);
}
}
let meshCleanup = [];
function showSpheres(points, meshParameters, radius, widthSegments, heightSegments) {
// Remove first and last from list since they are the enemy/agent
points.shift();
points.pop();
points.forEach(point => {
const geometry = new THREE.SphereGeometry(radius, widthSegments, heightSegments);
const material = new THREE.MeshBasicMaterial(meshParameters);
const mesh = new THREE.Mesh(geometry, material);
meshCleanup.push(mesh);
ABWorld.scene.add(mesh);
mesh.position.copy(point);
});
}
function clearPlanOfAttack() {
meshCleanup.forEach(mesh => {
ABWorld.scene.remove(mesh);
});
meshCleanup = [];
}
function occupiedBy(i, j) {
if (i >= gridsize || j >= gridsize) {
return 'boundary';
} else if (GRID[i][j] === GRID_WALL) {
return 'wall';
} else if (GRID[i][j] === GRID_MAZE) {
return 'pillar';
} else if (enemy.i === i && enemy.j === j) {
return 'enemy';
} else {
return '';
}
}
function translateNode(n) {
return translate(n.i, n.j);
}
function isEnemy(i, j)
{
return enemy.i === i && enemy.j === j;
}
function isAgent(i, j)
{
return agent.i === i && agent.j === j;
}
// ==================== [END] Tristan's functions ====================