This is 2d code which I have posted before but I am sure you can do somethign with it. Look at binding for clues on how to navigate towards a certain area/point. My code is well ropey I only did it to get my head around how to go about doing arbitrary obstacle avoidance and Ive never taken it further. (I get bored easily)
basically for 3d you need to extend the transformation to local space to cope with 3 dimentions. You need 2 calculations 1 for the pitch plane of your object and one for the yaw.. other than that its going to be much the same as for 2d
basically for 3d you need to extend the transformation to local space to cope with 3 dimentions. You need 2 calculations 1 for the pitch plane of your object and one for the yaw.. other than that its going to be much the same as for 2d
Open in online IDEConst NORMAL =0 Const ALERT = 1 Const COLLIDED = 2 Global drawn ;a global variable simply to determine if the territorial "bind" area has been drawn ;meet bob - a behavioural object Type bob Field x# Field y# Field heading# Field rotation# Field speed# Field state Field wander Field Bind Field avoid End Type ;draw a bob to the screen Function drawbob(abob.bob) Local x#=abob\x Local y#=abob\y Local heading=abob\heading Local sh#=10*Sin(heading) Local ch#=10*Cos(heading) If abob\state=ALERT Then Color 255,255,100 Else If abob\state = NORMAL Color 0,255,0 Else If abob\state=COLLIDED Color 255,0,0 End If Oval( x-10,y-10,20,20,1) Color 255,255,255 Line x,y,x+1*sh,y-1*ch ;left side of sensor box sx1=x-1*ch sy1=y-1*sh sx2=sx1+6*sh sy2=sy1-6*ch ;right side of sensorbox sx3=x+1*ch sy3=y+1*sh sx4=sx3+6*Sh sy4=sy3-6*Ch Line sx1,sy1,sx2,sy2 Line sx2,sy2,sx4,sy4 Line sx4,sy4,sx3,sy3 Oval x-15,y-15,30,30,0 End Function ;rotate a bob by an specified ammount Function rotatebob(abob.bob,ammount#) abob\heading = abob\heading + ammount If abob\heading>=360 Then abob\heading=abob\heading-360 If abob\heading<0 Then abob\heading = 360+abob\heading End Function ;move a bob by its speed relative to its current heading Function movebob(abob.bob) rotatebob(abob,abob\rotation) x#=abob\x y#=abob\y heading = abob\heading x=x+abob\speed*Sin(heading) y=y-abob\speed*Cos(heading) abob\x=x abob\y=y End Function ;randomly alter the bobs turn rate to change its heading periodicaly Function wanderbob(abob.bob) If Not abob\wander Then Return a=Rand(10) If a<=3 Then abob\rotation=abob\rotation+1 If a>=8 Then abob\rotation=abob\rotation-1 If abob\rotation>3 Then abob\rotation=3 If abob\rotation<-3 Then abob\rotation=-3 End Function ;"bind" a bob to a rectangular area ;this simulates a desire for a bob to remain close to or within this area Function Bindbob (abob.bob,ox,oy,width,height) Local x#=abob\x Local y#=abob\y Local heading = abob\heading Local rotation#= abob\rotation If Not drawn Then Color 128,128,128 Rect ox,oy,width,height,0 Color 255,255,255 drawn=1 End If If Not abob\Bind Then Return b_left=ox b_right=ox+width b_top=oy+height b_bottom=oy If x<b_left Then If y<b_bottom Then If heading <=90 rotation=rotation +1 If heading >315 rotation=rotation+1 If heading >180 And heading <=315 Then rotation = rotation -1 Else If y>b_top Then If heading >90 And heading <225 Then rotation = rotation -1 If heading >225 Then rotation = rotation +1 Else If heading>180 And heading <270 Then rotation=rotation-1 If heading>=270 Then rotation = rotation +1 End If End If If x>b_right Then If y<b_bottom Then If heading <45 Or heading >=270 Then rotation = rotation -1 If heading >=45 And heading <=180 Then rotation = rotation +1 Else If y>b_top Then If heading <135 Then rotation = rotation -1 If heading >=135 And heading <270 Then rotation = rotation +1 Else If heading >90 And heading <=180 Then rotation = rotation +1 If heading <=90 Then rotation =rotation -1 End If End If If x<b_right And x>b_left Then If y>b_top Then If heading >45 And heading <=180 Then rotation = rotation -1 If heading >180 And heading <=315 Then rotation =rotation +1 End If If y<b_bottom Then If heading <135 Then rotation = rotation +1 If heading >225 Then rotation = rotation -1 End If End If If rotation<-3 Then rotation=-3 If rotation>3 Then rotation=3 abob\rotation=rotation End Function ;bobs want to travel in a straight line so ;if they are not continually steered they will "straighten up" Function dampbob(abob.bob) rot#=abob\rotation If abob\speed>1.5 Then abob\speed=1.5 If abob\speed>1 Then abob\speed=abob\speed-0.1 If abob\speed<0.1 Then abob\speed=0.1 If rot <0 Then rot=rot+0.1 If rot >0 Then rot=rot-0.1 If Abs(rot)<0.1 Then rot = 0 abob\rotation=rot End Function ;make a bob follow another bob Function seekBob(predator.bob, prey.bob) Local x#=predator\x Local y#=predator\y Local heading#=predator\heading Local rotation#=predator\rotation Local tx#,ty# tx=prey\x-x ty=prey\y-y tx2=tx*Cos(180-heading)-ty*Sin(180-heading) ty2=tx*Sin(180-heading)+ty*Cos(180-heading) If tx2<0 Then rotation=rotation+1 If tx2>0 Then rotation=rotation-1 If (tx2^2+ty2^2)>900 Then predator\speed=predator\speed +0.1 Else predator\speed=predator\speed -0.1 End If predator\rotation=rotation End Function ;bobs hate running into other bobs as it gives them a red face Function avoidbob(abob.bob) Local x#=abob\x Local y#=abob\y Local heading#=abob\heading Local rotation#=abob\rotation Local tx#,ty# Local avoiding.bob ;transform the coords of each bob in to local bobspace avoiding=Null count=count+1 For a.bob=Each bob If a<>abob Then tx#=(a\x-x) ty#=(a\y-y) ;tx and ty now represent "a.bob" relative to abob (abobs position is now the origin) ;rotate this point around the origin tx2=tx*Cos(180-heading)-ty*Sin(180-heading) ty2=tx*Sin(180-heading)+ty*Cos(180-heading) If tx2>=-30 And tx2<=30 And ty2>=-30 And ty2<=70 Then abob\state=ALERT If Sqr(tx2^2+ty2^2) <20 Then abob\state=COLLIDED If tx2<0 And ty2>0 Then rotation =rotation-1 If tx2>=0 And ty2>0 Then rotation = rotation +1 ;if a bob is avoiding another bob it is focused on its task ;and ignores all other stimulii abob\wander=0 abob\Bind=0 ;abob\seek=0 avoiding=a If ty2>0 Then abob\speed=abob\speed-0.1 Else abob\speed=abob\speed+0.1 End If End If End If ;left alone a bob will continue to wander around its territory If avoiding=Null Then abob\wander=1 abob\Bind=1 ;abob\seek=1 abob\state=NORMAL If abob\speed<1 abob\speed=abob\speed+0.1 End If abob\rotation=rotation Next End Function Graphics 800,600,32,2 SetBuffer BackBuffer() SeedRnd(MilliSecs()) ;create one or more bobs While numbobs=0 numbobs=Input ("number of bobs?:") If numbobs=0 Then Print" 0 is not allowed" Wend Local hunter.bob Local hunted.bob target=1 While numbobs>1 And target = 1 target = Rand (numbobs) Wend For f=1 To numbobs a.bob=New bob a\x=Rand(600)+100 a\y=Rand(400)+100 a\heading=Rand (360) a\speed=1 a\wander=1 If f=1 Then hunter = a If f=target Then hunted = a Next Bind = 1 wander = 1 avoid = 1 height = 100 width=100 t1=MilliSecs() t2=MilliSecs() timer=0 While Not KeyHit(1) Cls count=0 Local huntx,hunty Local preyx,preyy For a.bob =Each bob movebob(a) If wander Then wanderbob(a) ; If a = hunter Then ; seekbob(hunter,hunted) ; huntx=a\x ; hunty=a\y ; Else If a= hunted Then ; preyx=a\x ; preyy=a\y ; End If If bind Then Bindbob(a,400-width/2,300-height/2,width,height) If avoid Then avoidbob(a) dampbob(a) drawbob(a) Next ;Text huntx,hunty,"Hunter" ;Text preyx,preyy,"Prey" drawn=0 If KeyHit(48) Then Bind=Not Bind If KeyHit(17) Then wander=Not wander If KeyHit(30) Then avoid=Not avoid If KeyHit(203) Then width=width+50 If KeyHit(205) Then width=width-50 If KeyHit(200) Then height=height+50 If KeyHit(208) Then height=height-50 If height<=0 Then height = 2 If width<=0 Then width =2 Text 10,10,"(W)Wandering:"+wander Text 10,25,"(B)Territory Binding:"+Bind Text 10,40,"(A)Avoidance:"+avoid Text 10,55,"(Arrow keys)Change Territory size" Text 10,70,"(Esc)Quit" t1=t2 t2=MilliSecs() timer=timer+(t2-t1) If timer>100 FPS#=1000/Float(t2-t1): timer=0 Text 10,95,FPS Flip 0 Wend