Dynamic ObstaclesΒΆ
DYNAMIC OBSTACLES:
https://www.youtube.com/watch?v=8BZ_3gua5Bs
In PandAI, use it via:
addDynamicObstacle(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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 | # This tutorial provides an example of creating a character and having it walk
# around using PandAI and dynamic obstacle pathfinding
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 random
import sys
import os
from direct.gui.DirectGui import *
from direct.gui.OnscreenText import OnscreenText
from panda3d.ai import *
base = ShowBase()
speed = 0.2
turnspeed = 3.5
# 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, "forward": 0}
#base.disableMouse()
base.cam.setPosHpr(0, -210, 135, 0, 327, 0)
self.done = []
for i in range(4):
self.done.append(False)
self.toggle = False
self.firstTime = False
addTitle("Pandai Tutorial: Dynamic Avoidance of Moving Obstacles")
addInstructions(0.95, "[ESC]: Quit")
addInstructions(0.90, "[Arrow Keys]: Move the blue Ralph")
addInstructions(0.85, "Try and move the blue Ralph in the path of the "
"other Ralphs")
self.loadModels()
self.setAI()
def loadModels(self):
self.environ1 = loader.loadModel("models/skydome")
self.environ1.reparentTo(render)
self.environ1.setPos(0, 0, 0)
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/plane_demo1")
self.environ.reparentTo(render)
self.environ.setPos(0, 0, 0)
self.Target = Actor("models/ralph",
{"run": "models/ralph-run",
"walk": "models/ralph-walk"})
self.Target.setColor(0, 0, 1)
self.Target.setPos(60, -60, 0)
self.Target.setScale(2)
self.Target.reparentTo(render)
self.Target.loop("run")
self.Targetforward = NodePath("Targetforward")
self.Targetforward.setPos(0, -1, 0)
self.Targetforward.reparentTo(self.Target)
# Create the main character, Ralph
self.ralph = []
self.positions = []
self.positions_new = []
for i in range(4):
self.ralph.append(Actor("models/ralph",
{"run": "models/ralph-run",
"walk": "models/ralph-walk"}))
self.ralph[i].reparentTo(render)
self.ralph[i].setScale(2)
self.positions.append(NodePath(str(i)))
self.positions_new.append(NodePath(str(i)))
if i < 2:
self.ralph[i].setPos(Point3(-61, -34 + (i * 40), 0))
else:
self.ralph[i].setPos(Point3(61, -34 + ((i - 2) * 40), 0))
self.positions.append(NodePath(str(i)))
self.positions_new.append(NodePath(str(i)))
self.positions[0].setPos(Point3(-61, -34 + ((0) * 40), 0))
self.positions[1].setPos(Point3(-53, -34 + ((1) * 40), 0))
self.positions[2].setPos(Point3(53, -44 + ((0) * 40), 0))
self.positions[3].setPos(Point3(61, -24 + ((1) * 40), 0))
self.positions_new[0].setPos(Point3(61, -44 + ((0) * 40), 0))
self.positions_new[1].setPos(Point3(53, -44 + ((1) * 40), 0))
self.positions_new[2].setPos(Point3(-53, -24 + ((0) * 40), 0))
self.positions_new[3].setPos(Point3(-61, -24 + ((1) * 40), 0))
def setAI(self):
# Creating AI World
self.AIworld = AIWorld(render)
#self.accept("enter", self.setMove)
# Movement
self.accept("arrow_left", self.setKey, ["left", 1])
self.accept("arrow_right", self.setKey, ["right", 1])
self.accept("arrow_up", self.setKey, ["forward", 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, ["forward", 0])
self.AIchar = []
self.AIbehaviors = []
for i in range(4):
maxForce = 25 - (5 * random.random())
char = AICharacter("ralph", self.ralph[i], 60, 0.05, maxForce)
self.AIchar.append(char)
self.AIworld.addAiChar(char)
self.AIbehaviors.append(char.getAiBehaviors())
self.AIbehaviors[i].initPathFind("models/navmesh.csv")
# AI World update
taskMgr.add(self.AIUpdate, "AIUpdate")
taskMgr.add(self.Mover, "mover")
self.setMove(1)
def setMove(self, type):
if type == 1:
for i in range(4):
if i == 0:
self.AIbehaviors[i].pathFindTo(self.positions_new[0], "addPath")
self.AIbehaviors[i].addDynamicObstacle(self.ralph[2])
if i == 1:
self.AIbehaviors[i].pathFindTo(self.positions_new[1], "addPath")
self.AIbehaviors[i].addDynamicObstacle(self.ralph[3])
if i == 2:
self.AIbehaviors[i].pathFindTo(self.positions_new[2], "addPath")
if i == 3:
self.AIbehaviors[i].pathFindTo(self.positions_new[3], "addPath")
if self.firstTime is False:
self.AIbehaviors[i].addDynamicObstacle(self.Target)
self.ralph[i].loop("run")
self.firstTime = True
if type == 2:
for i in range(4):
if i == 0:
self.AIbehaviors[i].pathFindTo(self.positions[0], "addPath")
if i == 1:
self.AIbehaviors[i].pathFindTo(self.positions[1], "addPath")
if i == 2:
self.AIbehaviors[i].pathFindTo(self.positions[2], "addPath")
if i == 3:
self.AIbehaviors[i].pathFindTo(self.positions[3], "addPath")
self.ralph[i].loop("run")
# To update the AIWorld
def AIUpdate(self, task):
self.AIworld.update()
for i in range(4):
status = self.AIbehaviors[i].behaviorStatus("pursue")
if status == "done" or status == "paused":
self.done[i] = True
j = 0
for i in range(4):
if self.done[i] is True:
j += 1
if j == 4:
self.toggle = not self.toggle
if self.toggle is True:
self.setMove(2)
else:
self.setMove(1)
for i in range(4):
self.done[i] = False
return Task.cont
def setKey(self, key, value):
self.keyMap[key] = value
def Mover(self, task):
startPos = self.Target.getPos()
if self.keyMap["left"] != 0:
self.Target.setH(self.Target.getH() + turnspeed)
if self.keyMap["right"] != 0:
self.Target.setH(self.Target.getH() - turnspeed)
if self.keyMap["forward"] != 0:
forwardvector = self.Targetforward.getPos(render) - startPos
self.Target.setPos(startPos + forwardvector * speed)
return Task.cont
w = World()
base.run()
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The full working demo can be downloaded at: