ok, the A* I wrote 2 years ago is a complete blitz version of the A* ideas in Game Programming Gems, including weighted terrain and threading (polling really). This means that AI 'things' will avoid swamp unless they have no choice, and also that routes can be calculated incrementally hence they don't kill your game loop as they are calculated.
The link is here...
http://www.blitzbasic.com/bbs/posts.php?topic=20908
Runs from a map in an array at present but you could easily change that to store waypoints in the array and use it for 3d.
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