// Cloned by Meenu Mathew on 11 Nov 2021 from World "The Pooh & The Bee 1.1" by Meenu Mathew
// Please leave this clone trail here.
// Cloned by Meenu Mathew on 11 Nov 2021 from World "The Pooh & The Bee 1.1" by Meenu Mathew
// Please leave this clone trail here.
// Cloned by Meenu Mathew on 25 Oct 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_WALL = '/uploads/meenumathew/brick_wall.JPG' ;
const TEXTURE_MAZE = '/uploads/meenumathew/brick_wall.JPG' ;
const TEXTURE_AGENT = '/uploads/meenumathew/pooh.png' ;
const TEXTURE_ENEMY = '/uploads/meenumathew/bee.png' ;
const TEXTURE_TUNNEL = '/uploads/meenumathew/tunnel.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
const MUSIC_BACK = '/uploads/meenumathew/Star-Wars-Cantina-Band-_Noize-Tank-Remix_-Gaming-Background-Music.mp3' ;
const SOUND_ALARM = '/uploads/meenumathew/Portal-Gun-Sound-Effect.mp3' ;
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
// code by meenu
var line_a = null;//line for agent
var line_e = null;//line for enemy
// end of code by meenu
//--- 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
// 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
// ===================================================================================================================
// === 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,thetunnel;
var wall_texture, agent_texture, enemy_texture, maze_texture,tunnel_texture;
// enemy ,agent,tunnel position on squares
var ei, ej, ai, aj, ti, tj;
var badsteps;
var goodsteps;
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();
var loader5 = 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();
});
//code by Meenu
loader5.load ( TEXTURE_TUNNEL, function ( thetexture )
{
thetexture.minFilter = THREE.LinearFilter;
tunnel_texture = thetexture;
if ( asynchFinished() ) initScene();
});
//end of code by Meenu
}
function asynchFinished() // all file loads returned
{
if ( wall_texture && agent_texture && enemy_texture && maze_texture && tunnel_texture ) return true;
else return false;
}
//--- grid system -------------------------------------------------------------------------------
// my numbering is 0 to gridsize-1
function occupied ( i, j ) // is this square occupied
{
// code by meenu
if ( ( ei == i ) && ( ej == j ) ) return true; // enemy exist
if ( ( ai == i ) && ( aj == j ) ) return true; //agent exist
//code by Meenu
if ( ( ti == i ) && ( tj == j ) ) return true; //agent exist
if ( GRID[i][j].wall) return true; //wall exist
//end of code by meenu
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 ) )
{
// adding spot object to GRID--- code by Meenu
GRID[i][j]=new Spot(i,j,true);
// end of code by meenu
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{
// code by meenu
GRID[i][j] = new Spot(i,j,false);
}
// adding the neighbour to GRID
for ( i = 0; i < gridsize ; i++ )
for ( j = 0; j < gridsize ; j++ )
GRID[i][j].addNeighbours(GRID);
// end of code by meenu
// 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);
// code by meenu
GRID[i][j].wall=true;
// end of code by meenu
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 );
//shape = new THREE.SphereGeometry ( 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 );
//shape = new THREE.SphereGeometry ( squaresize, BOXHEIGHT, squaresize);
theagent = new THREE.Mesh( shape );
theagent.material = new THREE.MeshBasicMaterial( { map: agent_texture } );
ABWorld.scene.add(theagent);
drawAgent();
//code by Meenu
// set up tunnel
// tunnel placed at random location
do
{
i = AB.randomIntAtoB(1,gridsize);
j = AB.randomIntAtoB(1,gridsize);
}while ( occupied(i,j) ); // search for empty square
ti = i;
tj = j;
// tunnel placed at the corner
/*ti=gridsize-2;
tj=1;*/
shape = new THREE.BoxGeometry ( squaresize, BOXHEIGHT, squaresize );
thetunnel = new THREE.Mesh( shape );
thetunnel.material = new THREE.MeshBasicMaterial( { map: tunnel_texture } );
ABWorld.scene.add(thetunnel);
drawTunnel();
// end of code by Meenu
// 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)
}
//code by Meenu
function drawTunnel() // given ti, tj, draw it
{
//console.log("tunnel ti= "+ti+" tj= "+tj)
thetunnel.position.copy ( translate(ti,tj) ); // translate my (i,j) grid coordinates to three.js (x,y,z) coordinates
ABWorld.follow.copy ( thetunnel.position ); // follow vector = agent position (for camera following agent)
}
//end of code by Meenu
// --- take actions -----------------------------------
function moveLogicalEnemy(ai,aj)
{
//this give agent to move towards the enemy based on Astar search
//code by Meenu
var pathcolor=0x0000ff;
//console.log("moveLogicalEnemy_fn new_ai= "+ai+" new_aj= "+aj+" new_ei="+ti+" new_ej= "+tj)
res =pathToAgent(ei,ej,ai,aj,pathcolor);//find the shortest path towards the agent current position
if(res[0] == ai && res[1] == aj){
}
else{
ei = res[0];
ej = res[1];
//console.log("moveLogicalEnemy_fn new_ai= "+ai+" new_aj= "+aj+" new_ei="+ti+" new_ej= "+tj)
}
}
function moveLogicalAgent( )
{
var pathcolor=0xffffff;
//console.log("ai= "+ai+" aj= "+aj+" ti="+ti+" tj= "+tj)
res =pathToTunnel(ai,aj,ti,tj,pathcolor);
if(res[0] == ti && res[1] == tj){
}else{
ai = res[0];
aj = res[1];
moveLogicalEnemy(ai,aj);//pass the current position of agent
console.log("moveLogicalAgent_fn: new_ai= "+ai+" new_aj= "+aj+" new_ti="+ti+" new_tj= "+tj)
}
}
//end of cocde by Meenu Mathew
//Code by Meenu Mathew
function Spot(i,j,is_wall=false){
// Location
this.i = i;
this.j = j;
// f, g, and h values for A*
this.f = 0;
this.g = 0;
this.h = 0;
// Neighbours
this.neighbours = [];
//this.previous define Where did I come from?
this.previous = undefined;
//wall is an obstacle and here we assign value to wall
this.wall =is_wall;
// Figure out who my neighbours are
this.addNeighbours = function(grid){
var i = this.i;
var j = this.j;
if (i < gridsize - 1) this.neighbours.push(grid[i + 1][j]);
if (i > 0) this.neighbours.push(grid[i - 1][j]);
if (j < gridsize - 1) this.neighbours.push(grid[i][j + 1]);
if (j > 0) this.neighbours.push(grid[i][j - 1]);
// if (i > 0 && j > 0) this.neighbours.push(grid[i - 1][j - 1]);
// if (i < gridsize - 1 && j > 0) this.neighbours.push(grid[i + 1][j - 1]);
// if (i > 0 && j < gridsize - 1) this.neighbours.push(grid[i - 1][j + 1]);
// if (i < gridsize - 1 && j < gridsize - 1) this.neighbours.push(grid[i + 1][j + 1]);
}//end of this
}
//-----------------------------------------------------------Path towards Tunnel--------------------------------------------------------
function pathToTunnel(a_i,a_j,t_i,t_j,pathcolor){
//console.log("within pathtoTunnel function a_i= "+ a_i + " a_j= "+a_j + " t_i= "+ t_i + " t_j= "+tj);
//varible declaration
var openSet = [];//openSet stores the list of nodes that needs to be examine.
var closedSet = [];//closed stores the list of evaluated nodes.
var newPath = false;
// openSet starts with agent's current position
var path=[];//store path info
var noSolution=false;
openSet.push(GRID[a_i][a_j]);
while(openSet.length > 0){
console.log("i am here");
//here winner is the index of the node with mini values
var winner = 0;
/* to find the node with the lowest f value (distance to the agent/goal),
compare each values of openSet and if find any values is less than winner's f value assign that index as winner*/
for (var i = 0; i < openSet.length; i++){
if (openSet[i].f < openSet[winner].f)
winner = i;
//console.log("openSetF = "+openSet[i].f+ "WinnerF = "+openSet[winner].f);
}
// console.log("winner = "+winner+ "openset winner = "+openSet[winner]);
//set current to this highest potential node(ie node with lowest f value).
var current = openSet[winner]; console.log("winner = "+winner+ "openset winner = "+openSet[winner]);
// console.log("current = "+current);
// if current === tunnel's position, means we found the tunnel and No more search is needed.
if (current === GRID[t_i][t_j]){
//console.log("Best Path Found")
//then we need to find the path
//if(!noSolution){
path = []; //create array for storing path info
var temp = current;//assign agent's current info to temp
path.push(temp);//put temp value to arrayPath
//console.log("temp = "+temp + "temp _prev = "+temp.previous);
//the following while loop will help to traverse back until the previous grid equal to agent's current grid
while(temp.previous){
//assign previous node as current
// console.log("X: " + temp.previous.i + " Y: " + temp.previous.j + " added to path");
path.push(temp.previous);
previous_temp = temp;
temp = temp.previous;
//Erasing the previous value for the next AstarSearch
previous_temp.previous = undefined;
//}
}
//console.log("path length="+ path.length);
//assign agent's next step is second last element in path array because last element of path array is agent's current position
var agent_next_step = null;
if(path.length >= 2){
agent_next_step = path[path.length - 2];
}
//console.log(agent_next_step);
//console.log("new_ei= "+ agent_next_step.i + "new_ej= "+agent_next_step.j);
res = [];
res.push(agent_next_step.i);
res.push(agent_next_step.j);
console.log(path);
drawAgentPath(path, pathcolor);
console.log("new a_i= "+res[0]+"new a_j= "+res[1]);
return res ;
}
// if we get to here, we still haven't reached agent and the Best option is moves from openSet to closedSet
// move current from openSet to closedSet to ensure we only check on openSet once.
removeFromArray(openSet, current);
// insert current value to closedSet
closedSet.push(current);
//--------------------------Neigbors---------------------------------------------
// Get all neighbours of the node from the list.
var neighbours = current.neighbours;
// Check the all neighbours------------------------------------------
for (var i = 0; i < neighbours.length; i++){
// set neighbours as one of the neighbour from all its neighbours
var neighbour = current.neighbours[i];
// if neighbour is not a element in closedSet and not a wall we caluculate g value of neighbour and assign it as tempG
if (!closedSet.includes(neighbour) && !neighbour.wall){
// set tempG = the cuurent.g + the distance from enemy to neigbor
var tempG = current.g + heuristic(neighbour, current);
//if neighbour is present in openSet
if (openSet.includes(neighbour)){
if (tempG < neighbour.g){
//ie, A new shorter path from enemy to this neighbour is found.
//set newPath to true so that we update f, g, h and previous node later.
neighbour.g = tempG;// update with new g value
newPath = true;
}
}else{ //if neighbour is not present in openSet
neighbour.g = tempG; // store the step it takes to get to this neighbour node in g.
newPath = true;
//console.log("neighbour_i= "+neighbour.i+ "neighbour_j="+neighbour.j);
openSet.push(neighbour); // add the node to openSet for later study.
}
// So if it is a new path set f , h and previous value.
if (newPath){
neighbour.h = heuristic(neighbour, GRID[a_i][a_j]); // the distance from neighbour node to agent
neighbour.f = neighbour.g + neighbour.h;
neighbour.previous = current;//update neighbour's previous node as current because we find shorter path than previous
}
}
}//end of for
}//end of while
}
function drawAgentPath(path, colorLine){
if(line_a != null){
ABWorld.scene.remove(line_a);
}
const material = new THREE.LineBasicMaterial( { color: colorLine } );
const points = [];
for(var i = 0;i<path.length;i++){
points.push(translate(path[i].i,path[i].j))
}
const geometry = new THREE.BufferGeometry().setFromPoints( points );
line_a = new THREE.Line( geometry, material );
ABWorld.scene.add( line_a );
}
//-----------------------------------------------------------Path towards agent--------------------------------------------------------
function pathToAgent(e_i,e_j,a_i,a_j,pathcolor){
//console.log("within pathtoAgent : e_i= "+ e_i + " e_j= "+e_j + " a_i= "+ a_i + " a_j= "+a_j);
//varible declaration
var openSet = [];//openSet stores the list of nodes that needs to be examine.
var closedSet = [];//closed stores the list of evaluated nodes.
var newPath = false;
// openSet starts with enemy's current position
var path=[];//store path info
var noSolution=false;
openSet.push(GRID[e_i][e_j]);
while(openSet.length > 0){
//here winner is the index of the node with mini values
var winner = 0;
/* to find the node with the lowest f value (distance to the agent/goal),
compare each values of openSet and if find any values is less than winner's f value assign that index as winner*/
for (var i = 0; i < openSet.length; i++){
if (openSet[i].f < openSet[winner].f)
winner = i;
//console.log("openSetF = "+openSet[i].f+ "WinnerF = "+openSet[winner].f);
}
// console.log("winner = "+winner+ "openset winner = "+openSet[winner]);
//set current to this highest potential node(ie node with lowest f value).
var current = openSet[winner]; console.log("winner = "+winner+ "openset winner = "+openSet[winner]);
// console.log("current = "+current);
// if current === agent's position, means we found the agent and No more search is needed.
if (current === GRID[a_i][a_j]){
//console.log("Best Path Found")
//then we need to find the path
//if(!noSolution){
path = []; //create array for storing path info
var temp = current;//assign agent's current info to temp
path.push(temp);//put temp value to arrayPath
//console.log("temp = "+temp + "temp _prev = "+temp.previous);
//the following while loop will help to traverse back until the previous grid equal to enemy's current grid
while(temp.previous){
//assign previous node as current
// console.log("X: " + temp.previous.i + " Y: " + temp.previous.j + " added to path");
path.push(temp.previous);
previous_temp = temp;
temp = temp.previous;
//Erasing the previous value for the next AstarSearch
previous_temp.previous = undefined;
//}
}
//console.log("path length="+ path.length);
//assign enemy's next step is second last element in path array because last element of path array is enemy's current position
var enemy_next_step = null;
if(path.length >= 2){
enemy_next_step = path[path.length - 2];
}
//console.log(enemy_next_step);
//console.log("new_ei= "+ enemy_next_step.i + "new_ej= "+enemy_next_step.j);
res = [];
res.push(enemy_next_step.i);
res.push(enemy_next_step.j);
console.log(path);
drawEnemyPath(path, pathcolor);
//console.log("res_ei= "+res[0]+"res_ej= "+res[1]);
return res ;
}
// if we get to here, we still haven't reached agent and the Best option is moves from openSet to closedSet
// move current from openSet to closedSet to ensure we only check on openSet once.
removeFromArray(openSet, current);
// insert current value to closedSet
closedSet.push(current);
//--------------------------Neigbors---------------------------------------------
// Get all neighbours of the node from the list.
var neighbours = current.neighbours;
// Check the all neighbours------------------------------------------
for (var i = 0; i < neighbours.length; i++){
// set neighbours as one of the neighbour from all its neighbours
var neighbour = current.neighbours[i];
// if neighbour is not a element in closedSet and not a wall we caluculate g value of neighbour and assign it as tempG
if (!closedSet.includes(neighbour) && !neighbour.wall){
// set tempG = the cuurent.g + the distance from enemy to neigbor
var tempG = current.g + heuristic(neighbour, current);
//if neighbour is present in openSet
if (openSet.includes(neighbour)){
if (tempG < neighbour.g){
//ie, A new shorter path from enemy to this neighbour is found.
//set newPath to true so that we update f, g, h and previous node later.
neighbour.g = tempG;// update with new g value
newPath = true;
}
}else{ //if neighbour is not present in openSet
neighbour.g = tempG; // store the step it takes to get to this neighbour node in g.
newPath = true;
//console.log("neighbour_i= "+neighbour.i+ "neighbour_j="+neighbour.j);
openSet.push(neighbour); // add the node to openSet for later study.
}
// So if it is a new path set f , h and previous value.
if (newPath){
neighbour.h = heuristic(neighbour, GRID[e_i][e_j]); // the distance from neighbour node to agent
neighbour.f = neighbour.g + neighbour.h;
neighbour.previous = current;//update neighbour's previous node as current because we find shorter path than previous
}
}
}//end of for
}//end of while
}
function drawEnemyPath(path, colorLine){
if(line_e != null){
ABWorld.scene.remove(line_e);
}
const material = new THREE.LineBasicMaterial( { color: colorLine } );
const points = [];
for(var i = 0;i<path.length;i++){
points.push(translate(path[i].i,path[i].j))
}
const geometry = new THREE.BufferGeometry().setFromPoints( points );
line_e = new THREE.Line( geometry, material );
ABWorld.scene.add( line_e );
}
// Function to delete element from the array
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);
}
//=== heuristic ===========================
// this must be always optimistic - real time will be this or longer
function heuristic(a, b)
{
var x = b.i - a.i;
var y = b.j - a.j;
var dist = Math.sqrt( x*x + y*y );
return dist;
}
// end of code by Meenu Mathew
// --- 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
};
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();
//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
}
*/