Static ObstaclesΒΆ
STATIC OBSTACLES:
https://www.youtube.com/watch?v=mn2kX0C8XdM
In PandAI, use it via:
addStaticObstacle(NodePath obstacle);
The code for this tutorial:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 | # This tutorial provides an example of creating a character and having it walk
# around using PandAI pathfinding with static obstacle avoidance
from direct.showbase.ShowBase import ShowBase
from panda3d.core import *
from direct.showbase.DirectObject import DirectObject
from direct.interval.IntervalGlobal import *
from direct.task import Task
from direct.actor.Actor import Actor
import sys
import os
from direct.gui.DirectGui import *
from direct.gui.OnscreenText import OnscreenText
from panda3d.ai import *
base = ShowBase()
speed = 0.75
# Figure out what directory this program is in.
MYDIR = os.path.abspath(sys.path[0])
MYDIR = Filename.fromOsSpecific(MYDIR).getFullpath()
font = loader.loadFont("cmss12")
# Function to put instructions on the screen.
def addInstructions(pos, msg):
return OnscreenText(text=msg, style=1, fg=(1, 1, 1, 1), font=font,
pos=(-1.3, pos), align=TextNode.ALeft, scale=.05)
# Function to put title on the screen.
def addTitle(text):
return OnscreenText(text=text, style=1, fg=(1, 1, 1, 1), font=font,
pos=(1.3, -0.95), align=TextNode.ARight, scale=.07)
class World(DirectObject):
def __init__(self):
self.keyMap = {"left": 0, "right": 0, "up": 0, "down": 0}
addTitle("Pandai Tutorial: Adding Dynamic Obstacles")
addInstructions(0.95, "[ESC]: Quit")
addInstructions(0.90, "[Enter]: Start Pathfinding")
addInstructions(0.85, "[Arrow Keys]: Move Arrow")
addInstructions(0.80, "[1]: Small box")
addInstructions(0.75, "[2]: Big box")
addInstructions(0.70, "[Space]: Place box")
#base.disableMouse()
base.cam.setPosHpr(0, -210, 135, 0, 327, 0)
self.box = 0
self.pointer_move = False
self.loadModels()
self.setAI()
def loadModels(self):
self.environ1 = loader.loadModel("models/skydome")
self.environ1.reparentTo(render)
self.environ1.setScale(1)
self.environ2 = loader.loadModel("models/skydome")
self.environ2.reparentTo(render)
self.environ2.setP(180)
self.environ2.setH(270)
self.environ2.setScale(1)
self.environ = loader.loadModel("models/groundPlane")
self.environ.reparentTo(render)
# Create the main character, Ralph
#ralphStartPos = self.environ.find("**/start_point").getPos()
ralphStartPos = Vec3(-51, -64, 0)
self.ralph = Actor("models/ralph",
{"run": "models/ralph-run",
"walk": "models/ralph-walk"})
self.ralph.reparentTo(render)
self.ralph.setScale(2)
self.ralph.setPos(ralphStartPos)
self.pointer = loader.loadModel("models/arrow")
self.pointer.setColor(1, 0, 0)
self.pointer.setPos(60, -60, 0)
self.pointer.setScale(3)
self.pointer.reparentTo(render)
def setAI(self):
# Creating AI World
self.AIworld = AIWorld(render)
self.accept("enter", self.setMove)
self.accept("1", self.addBlock)
self.accept("2", self.addBigBlock)
self.accept("space", self.addStaticObstacle)
# Movement
self.accept("arrow_left", self.setKey, ["left", 1])
self.accept("arrow_right", self.setKey, ["right", 1])
self.accept("arrow_up", self.setKey, ["up", 1])
self.accept("arrow_down", self.setKey, ["down", 1])
self.accept("arrow_left-up", self.setKey, ["left", 0])
self.accept("arrow_right-up", self.setKey, ["right", 0])
self.accept("arrow_up-up", self.setKey, ["up", 0])
self.accept("arrow_down-up", self.setKey, ["down", 0])
self.AIchar = AICharacter("ralph", self.ralph, 60, 0.05, 15)
self.AIworld.addAiChar(self.AIchar)
self.AIbehaviors = self.AIchar.getAiBehaviors()
self.AIbehaviors.initPathFind("models/navmesh.csv")
# AI World update
taskMgr.add(self.AIUpdate, "AIUpdate")
# Movement task
taskMgr.add(self.Mover, "Mover")
self.dirnlight1 = DirectionalLight("dirn_light1")
self.dirnlight1.setColor((1.0, 1.0, 1.0, 1.0))
self.dirnlightnode1 = render.attachNewNode(self.dirnlight1)
self.dirnlightnode1.setHpr(0, 317, 0)
render.setLight(self.dirnlightnode1)
def setMove(self):
self.AIbehaviors.pathFindTo(self.pointer)
self.ralph.loop("run")
def addBlock(self):
self.pointer_move = True
self.box = loader.loadModel("models/box")
self.box.setPos(0, -60, 0)
self.box.setScale(1)
self.box.reparentTo(render)
def addBigBlock(self):
self.pointer_move = True
self.box = loader.loadModel("models/box")
self.box.setPos(0, -60, 0)
self.box.setScale(2)
self.box.setColor(1, 1, 0)
self.box.reparentTo(render)
def addStaticObstacle(self):
if self.box != 0:
self.AIbehaviors.addStaticObstacle(self.box)
self.box = 0
self.pointer_move = False
# To update the AIWorld
def AIUpdate(self, task):
self.AIworld.update()
#if self.AIbehaviors.behaviorStatus("pathfollow") == "done":
# self.ralph.stop("run")
# self.ralph.pose("walk", 0)
return Task.cont
def setKey(self, key, value):
self.keyMap[key] = value
def Mover(self, task):
startPos = self.pointer.getPos()
if self.keyMap["left"] != 0:
self.pointer.setPos(startPos + Point3(-speed, 0, 0))
if self.keyMap["right"] != 0:
self.pointer.setPos(startPos + Point3(speed, 0, 0))
if self.keyMap["up"] != 0:
self.pointer.setPos(startPos + Point3(0, speed, 0))
if self.keyMap["down"] != 0:
self.pointer.setPos(startPos + Point3(0, -speed, 0))
if self.pointer_move is True and self.box != 0:
self.box.setPos(self.pointer.getPos())
return Task.cont
w = World()
base.run()
|
The full working demo can be downloaded at :