Three-Dimensional Pathfinding
By using C++, OpenGL, and knowledge on three-dimensional spaces, as well as motion planning, this project explores how a three-dimensional space can be best optimized and traversed by an object.
OPENGL
Displays the playing area for the mapping to be taken place.
A library that will allow users to visually observe the nodes, obstacles, voxels, roadmaps, and pathfinding in real time.
Voxel Octrees
Separates the playing field into octants to define the area more thoroughly.
The octrees will detect obstacles that are colliding with the area, and create more defined octants around the sphere until the defined depth has been reached.
PROBABILISTIC ROADMAP (PRM)
Creates a roadmap using the verticies of the voxel octrees.
Having a roadmap of edges connecting the verticies of the nodes together gives a good indication of the possible ways to traverse while avoiding all obstacles within the area.
A* Pathfinding
Calculating the fastest possible path from start to finish using costs and heuristics.
Once a cost has been found, starting from the start node and ending at the goal node, the least cost paths will be revealed, showing the user the most accessible way to traverse the area.