Here is a SQLFiddle example
insert into B (ID,Code1_Val,Code2_Val,Code3_Val)
select Id, max(V1),max(V2),max(V3) from
(
select ID,Value V1,'' V2,'' V3 from A where Code=1
union all
select ID,'' V1, Value V2,'' V3 from A where Code=2
union all
select ID,'' V1, '' V2,Value V3 from A where Code=3
) AG
group by ID