Code archives/3D Graphics - Misc/3D Pathfinding Lib

OLD, 404.

There was a problem with the webserver all working again

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

..maybe its working, but there is nothing except white screen..

huhh..I dont know how come so many of same reply by me is here...really sorry but I dont know whats happen..

..maybe its working, but there is nothing except repeating posts..

I'm worried that one day the links will be gone forever.

The page is still there: http://www.mrpye.com/Blitz/

I've edited the Collision Avoidance demo to use Blitz primitives - so it can run as is.

I've renamed the obstacle as 'barrel' rather than 'b' as this might be confusing for a novice - considering the use of the Type 'b\' for the bot.

I've remarked out the animation and changed the height of the bot.

http://www.blitzbasic.co.nz/logs/userlog.php?user=1673&log=1185

;==========================
;Collision Avodance Demo v2
;By Andrew Pye AKA(3D)
;Date: 25/06/2004
;==========================
;=======================================================================
;Well at last I have come up with something that is
;simple and works well.
;The system works by using line pick with a large radius.
;If line pick picks up an entity then based on is pos it make a 
;decision  which way to turn and for how long.
;If there is no entity then head towards the target.
;But you will have to take a look through the code for all the details.
;
;Feel free to use the code in your own projects 
;But if you do just give us a little mention.
;=======================================================================


;=================
;set up enviroment
;=================
Graphics3D 640, 480,16,0
;Graphics3D 800, 600,32,0
light = CreateLight()


;=======
;globals
;=======
;======================
;Play with these values 
;======================
Global BotCount=30;number of bots
Global ObjticlesCount=50;number of obsticles
Global MAxSpeed#=0.5;speed of bots
Global TurnSpeedObsticles#=4;how fast to turn towards obsticles
Global TurnSpeedTarget#=2;how fast to turn towards target
Global SensterWidth#=1.5;how wide to check for collisions

;=====
;Types
;=====
Type Bot
	Field MainPiv,CActionCancelCount,CAction,model,CAnimationTime#
	Field SenPiv,cspeed#,CActionCount#
End Type

;======================
;create our target node
;======================
Global Target=CreateSphere()
EntityColor Target,255,0,0

;===============
;Create the bots
;===============
For i=0 To BotCount
	bots.bot=CreateBot()
Next

;store current view
Global CView

;============================================
;Create camera and attach to last created bot
;============================================
Global camera= CreateCamera(bots\MainPiv)
PositionEntity camera,0,3.6,0;raise a little

;================
;create obsticals
;================
For i=0 To ObjticlesCount
	CreateObsticles()
Next

;==========
;set up fps
;==========
Const FPS=30
period=1000/FPS
time=MilliSecs()-period

;=========
;main loop
;=========
Repeat
			
	;=======================
	;time the frames per sec
	;=======================
	Repeat
		elapsed=MilliSecs()-time
	Until elapsed
	;how many 'frames' have elapsed	
	ticks=elapsed/period
	;fractional remainder
	tween#=Float(elapsed Mod period)/Float(period)
	If KeyHit(16) Then PositionEntity Target,Rnd(-150,150),0,Rnd(-150,150)
	If KeyHit(17) Then 
		If CView=0 Then
			PositionEntity camera,0,30,0
			RotateEntity camera,90,0,0
			CView=1
		ElseIf CView=1 Then
			PositionEntity camera,0,60,0
			RotateEntity camera,90,0,0
			CView=2
		ElseIf CView=2 Then
			PositionEntity camera,0,3.6,0
			RotateEntity camera,0,0,0
			CView=0
		End If
	End If

	
	For k=1 To ticks
		time=time+period
		If k=ticks Then CaptureWorld
		;===============
		;Ai for each bot
		;===============
		For b.bot = Each bot :BotAi b :Next
	Next
	
	UpdateWorld
	RenderWorld tween
	
	Text 1,1,"Collision Avoidance Demo V2"
	Text 1,15,"BY Andrew Pye"
	Text 1,30,"25/06/2004"
	Text 1,45,"Press (Q) to chage the Target"
	Text 1,60,"Press (W) to chage the View"
	Flip
	
Until KeyHit(1)
End

;======
;bot ai
;======
Function BotAi(b.bot)
	
	;================================
	;test to see if anything in front
	;================================
	result#=TestSensor(b);test sensor
	
	;=====================================
	;Check if to reset the action count
	;=====================================
	If result#=0 And b\CActionCount#>0 Then 
		b\CActionCancelCount#=b\CActionCancelCount#-1;reduce the action count
		If b\CActionCancelCount#<-8 Then
			b\CActionCount#=0
		End If
	Else
		b\CActionCancelCount#=0
	End If
	
	If b\CActionCount#>0 Then;see if we are performing an action
		If b\CAction=0 Then;turn left
			TurnEntity b\MainPiv,0,-TurnSpeedObsticles#,0
		ElseIf b\CAction=1 Then;turn rigth
			TurnEntity b\MainPiv,0,TurnSpeedObsticles#,0
		End If
		
		;=========================
		;decrease the action count
		;=========================
		b\CActionCount#=b\CActionCount#-1
		If b\CActionCount#<0 Then 
			b\CActionCount#=0
		End If
	Else
		;======================
		;see if we hit anything
		;======================
		If result#<>0 Then
			;=========================
			;find out what way to turn
			;=========================
			If DeltaYaw#(b\MainPiv,result#)>0 Then 
				b\cspeed#=0;stop
				b\CAction=0;turn left
				b\CActionCount#=Abs(Int(DeltaYaw#(b\MainPiv,result#)))*1.5;how long to turn
				If b\CActionCount#=<0.1 Then b\CActionCount#=45	;make sure it does turn	
			ElseIf DeltaYaw#(b\MainPiv,result#)<0 Then
				b\cspeed#=0;stop
				b\CAction=1;turn rigth
				b\CActionCount#=Abs(Int(DeltaYaw#(b\MainPiv,result#)))*1.5;how long to turn
				If b\CActionCount#=<0.1 Then b\CActionCount#=45		;make sure it does turn	
			EndIf
			
			b\CActionCancelCount#=0;reset the action cancel
;			AnimateBot b;animate the bot
		Else
			;==============================
			;no collision so move to target
			;==============================
			If DeltaYaw#(b\MainPiv,target)>4 Then;0 Then
				TurnEntity b\MainPiv,0,TurnSpeedTarget#,0
			ElseIf DeltaYaw#(b\MainPiv,target)<-4 Then;0 Then
				TurnEntity b\MainPiv,0,-TurnSpeedTarget#,0
			EndIf
			b\CAction=3;action is goto the target
;			AnimateBot b		;animate bot
			b\cspeed#=b\cspeed#+0.1 : If b\cspeed#>MAxSpeed# Then b\cspeed#=MAxSpeed#;increase speed
		End If
	End If

	MoveEntity b\MainPiv,0,0,b\cspeed#

End Function

;===============
;animate the bot
;===============
Function AnimateBot(b.bot)
	b\CAnimationTime#=b\CAnimationTime#+MAxSpeed#*2.6
	If b\CAnimationTime#>30 Then b\CAnimationTime#=0
	SetAnimTime b\model,b\CAnimationTime#
End Function

;=========================
;function Create Obsticals
;=========================
Function CreateObsticles()
	barrel=CreateCylinder()
	EntityColor barrel,100,100,100 ; line added
;	ScaleEntity barrel,0.1,0.1,0.1
	EntityPickMode barrel,1;set the entity pick
	PositionEntity barrel,Rnd(-100,100),0,Rnd(-100,100);random pos
	Return barrel
End Function

;===================
;function create bot
;===================
Function CreateBot.bot()
	b.bot=New bot
	
	b\MainPiv=CreatePivot();create the bot model
	;load the model and setup
	b\model=CreateCube(b\MainPiv)
	EntityColor b\model,0,0,255 ; line added
	RotateEntity b\model,0,90,0
	PositionEntity b\model,0,0,0; he had the height set to -1
	ScaleEntity b\model,1,2,1
	;set up animation
;	ExtractAnimSeq b\model,0,30
;	ExtractAnimSeq b\model,31,100
;	ExtractAnimSeq b\model,107,107
;	Animate b\model,1,0.5,1,10
	;set up sensor pivot
	b\SenPiv=CreatePivot(b\MainPiv);add the sensor pivot
	PositionEntity b\SenPiv,0,0,2
	PositionEntity b\MainPiv,Rnd(-30,30),0,Rnd(-50,50);random pos
	EntityPickMode b\MainPiv,1;set the entity pick
	Return b
End Function


;==================
;test for collision
;==================
Function TestSensor(b.bot)
	;see if touching anything
	SenObjId=LinePick( EntityX(b\MainPiv), EntityY(b\MainPiv),EntityZ(b\MainPiv),EntityX(b\SenPiv,True)-EntityX(b\MainPiv), EntityY(b\SenPiv,True)-EntityY(b\MainPiv),EntityZ(b\SenPiv,True)-EntityZ(b\MainPiv), SensterWidth#)  
	Return SenObjId
End Function