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