DYNAMIC OBSTACLES :

In PandAI, use it via :

addDynamicObstacle(NodePath obstacle);

The code for this tutorial :

# This tutorial provides an example of creating a character
# and having it walk around using PandAI and dynamic obstacle
# pathfinding
 
#for directx window and functions
import direct.directbase.DirectStart
#for most bus3d stuff
from pandac.PandaModules import *
#for directx object support
from direct.showbase.DirectObject import DirectObject
#for intervals
from direct.interval.IntervalGlobal import *
#for FSM
from direct.fsm import FSM
from direct.fsm import State
#for tasks
from direct.task import Task
#for Actors
from direct.actor.Actor import Actor
#for math
import math
import random
#for system commands
import random, sys, os, math
#for directGUI
from direct.gui.DirectGui import *
from direct.gui.OnscreenText import OnscreenText
 
#for Pandai
from panda3d.ai import *
 
#************************GLOBAL**********************************************
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
 
        self.title = addTitle("Pandai Tutorial: Dynamic Avoidance of Moving Obstacles")
        self.inst1 = addInstructions(0.95, "[ESC]: Quit")
        self.inst2 = addInstructions(0.90, "[Arrow Keys]: Move the blue Ralph")
        self.inst3 = 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(Vec3(-61,-34 + (i * 40),0))
            else:
                self.ralph[i].setPos(Vec3(61,-34 + ((i-2) * 40),0))
 
            self.positions.append(NodePath(str(i)))
            self.positions_new.append(NodePath(str(i)))
 
        self.positions[0].setPos(Vec3(-61,-34 + ((0) * 40),0))
        self.positions[1].setPos(Vec3(-53,-34 + ((1) * 40),0))
        self.positions[2].setPos(Vec3(53,-44 + ((0) * 40),0))
        self.positions[3].setPos(Vec3(61,-24 + ((1) * 40),0))
 
        self.positions_new[0].setPos(Vec3(61,-44 + ((0) * 40),0))
        self.positions_new[1].setPos(Vec3(53,-44 + ((1) * 40),0))
        self.positions_new[2].setPos(Vec3(-53,-24 + ((0) * 40),0))
        self.positions_new[3].setPos(Vec3(-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):
            self.AIchar.append(AICharacter("ralph",self.ralph[i], 60, 0.05, 25 - (5 * random.random())))
            self.AIworld.addAiChar(self.AIchar[i])
            self.AIbehaviors.append(self.AIchar[i].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 == 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):
            #print(str(i) + " " + self.AIbehaviors[i].behaviorStatus("pathfollow"))
            if(self.AIbehaviors[i].behaviorStatus("pursue") == "done" or 
               self.AIbehaviors[i].behaviorStatus("pursue") == "paused"):
                self.done[i] = True
 
        j = 0
        for i in range(4):
            if(self.done[i] == True):
                j = j+1
 
        if(j==4):
            self.toggle = not self.toggle
            if(self.toggle == 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()
run()

The full working demo can be downloaded at :

https://sites.google.com/site/etcpandai/documentation/pathfinding/DynamicObstacleDemo.zip?attredirects=0&d=1