oTakhi Platform: Open Motion Planning Library

[mfdesigner]

Dear game developers,

 

I am pleased to announce that we have successfully ported Open Motion Planning Library in C++ to javascript and it is now accessible on the web.  Specifically, we included it in our special web object format called droplet and published to our repository.

 

Without registration, you can see jsOMPL in action here in our public component testbed called Petri Dish:

https://www.otakhi.com/petridish?load=https://www.otakhi.com/public/otakhi/Math/jsOMPL/Path%20Planning/Multi-Objective%20Path%20Planning

 

 

(Performing multi-objective path planning on a 2D canvas.)

oTakhi platform is an application and game development platform for the web.
It features a top-down object-oriented design pattern that allows users to wrap lower level codes (JS, C, C++, HTML) and assets (images, videos, 3D models) into reusable components and optionally share with others to build applications and games in our web-based editor. 

 

Steve 

[elvin]

Are any tutorial and demos how to use it in JavaScript apps? All links on the http://ompl.kavrakilab.org/ refer to c++ or python. On the other hand the https://www.otakhi.com/petridish has an editor/sandbox and some docs and references to youtube tutorial, but still it is not clear how to export code to the standalone app.

[mfdesigner]

OMPL uses boost::threads which does not work well with emscripten. To port it over to Javascript, I've rewritten part of the c++ code.  Furthermore, the library uses callback to check for collision, objects clearance, and motion validity.  To create such callbacks from emscripten-compiled code to Javascript engine, we've created dedicated shim code in-between.

 

Our object format, called droplet, hides all these complexity underneath and export very simple interface to the user.  

 

If you want to use it in your app directly.  The compiled c++ code is here:

 

https://www.otakhi.com/public/otakhi/Math/jsOMPL/jsOMPL.js

 

Good luck.