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• Using Behavior Trees and Events together

  - by weichsem

  I am beginning to work with behavior trees and am unsure how events should be handled within the tree. Lets say we have a space game where the player is dogfighting with a handful of other ships, some friendly some not. The player destroys a ship and the rest of the hostile ships should then start to retreat. How was should the shipWasDestroyed event effect the other ship's behavior trees so that they start running the retreat behavior? One way I could think of doing this is have all the conditions I care about be high level nodes that effectively state change the ship. This would mean I'd have to check all of these state change conditions on every frame the behavior tree was run, even if they are very rare occurrences. I'd prefer not doing this for performance and complexity reasons. From looking at the Halo papers on behavior trees it seems that they handled this by dynamically placing nodes into the tree when the event occurred. It seems like calculating where the new node should go could be problematic depending on the current state of the running behavior. How is this normally handled?

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• How do GameEngines stop Pixel Seams appearing in adjacent mesh boundaries due to FP imprecision?

  - by ufomorace

  Graphics cards are mathematically imprecise. So when some meshes are joined by their borders, the graphics card often makes mistakes and decides that some pixels at the seam represent neither object, and unwanted pixels appear. It's a natural behaviour on all graphics cards. How are such worries avoided in Pro Games? Batching? Shaders? Different tangent vectors? Merging? Overlaping seams? Dark backgrounds? Extra vertices at borders? Z precision? Camera distance tweaks? Screencap of a fix that ended up not working:

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• Assigning valid moves on board game

  - by Kunal4536

  I am making a board game in unity 4.3 2d similar to checkers. I have added an empty object to all the points where player can move and added a box collider to each empty object.I attached a click to move script to each player token. Now I want to assign valid moves. e.g. as shown in picture... Players can only move on vertex of each square.Player can only move to adjacent vertex.Thus it can only move from red spot to yellow and cannot move to blue spot.There is another condition which is : if there is the token of another player at the yellow spot then the player cannot move to that spot. Instead it will have to go from red to green spot. How can I find the valid moves of the player by scripting. I have another problem with click to move. When I click all the objects move to that position.But I only want to move a single token. So what can i add to script to select a specific object and then click to move the specific object.Here is my script for click to move. var obj:Transform; private var hitPoint : Vector3; private var move: boolean = false; private var startTime:float; var speed = 1; function Update () { if(Input.GetKeyDown(KeyCode.Mouse0)) { var hit : RaycastHit; // no point storing this really var ray = Camera.main.ScreenPointToRay (Input.mousePosition); if (Physics.Raycast (ray, hit, 10000)) { hitPoint = hit.point; move = true; startTime = Time.time; } } if(move) { obj.position = Vector3.Lerp(obj.position, hitPoint, Time.deltaTime * speed); if(obj.position == hitPoint) { move = false; } } }`

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• Initializing entities vs having a constructor parameter

  - by Vee

  I'm working on a turn-based tile-based puzzle game, and to create new entities, I use this code: Field.CreateEntity(10, 5, Factory.Player()); This creates a new Player at [10; 5]. I'm using a factory-like class to create entities via composition. This is what the CreateEntity method looks like: public void CreateEntity(int mX, int mY, Entity mEntity) { mEntity.Field = this; TileManager.AddEntity(mEntity, true); GetTile(mX, mY).AddEntity(mEntity); mEntity.Initialize(); InvokeOnEntityCreated(mEntity); } Since many of the components (and also logic) of the entities require to know what the tile they're in is, or what the field they belong to is, I need to have mEntity.Initialize(); to know when the entity knows its own field and tile. The Initialize(); method contains a call to an event handler, so that I can do stuff like this in the factory class: result.OnInitialize += () => result.AddTags(TDLibConstants.GroundWalkableTag, TDLibConstants.TrapdoorTag); result.OnInitialize += () => result.AddComponents(new RenderComponent(), new ElementComponent(), new DirectionComponent()); This works so far, but it is not elegant and it's very open to bugs. I'm also using the same idea with components: they have a parameterless constructor, and when you call the AddComponent(mComponent); method in an entity, it is the entity's job to set the component's entity to itself. The alternative would be having a Field, int, int parameters in the factory class, to do stuff like: new Entity(Field, 10, 5); But I also don't like the fact that I have to create new entities like this. I would prefer creating entities via the Field object itself. How can I make entity/component creation more elegant and less prone to bugs?

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• Linking one uniform variable to many shaders

  - by Winged

  Let's say, that I have 3 programs, and in each of those programs there is a view matrix uniform, which should be the same in all those programs. Right now, when my camera moves, I need to re-upload the modified matrix to every program separately. Is it possible to create some kind of global uniforms which are constant for all programs linked to it, so I could just upload the matrix once? I tried creating a globalUniforms object which looked kinda like this: var globalUniforms = { program: {}, // (...) vMatrixUniform: null, // (...) initialize: function() { vMatrixUniform = gl.getUniformLocation(this.program, 'uVMatrix'); } }; So I could just link it to proper programs like this: program.vMatrixUniform = globalUniforms.vMatrixUniform;, and then pass the matrix like this: if (camera.isDirty.viewMatrix !== false) { camera.isDirty.viewMatrix = false; gl.uniformMatrix4fv(globalUniforms.vMatrixUniform, false, camera.viewMatrix.element); } but unfortunately it throws an error: Uncaught exception: gl.INVALID_VALUE was caused by call to: getUniformLocation called from line 272, column 2 in () in mysite/js/mesh.js: vMatrixUniform = gl.getUniformLocation(this.program, 'uVMatrix'); Summing up: is there a more efficient way of managing shaders which follows my logic?

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• Unable to use Maya animation with scripts when imported to Unity

  - by keshk

  I am testing to import Maya animation over to Unity. I set up a simple cylinder with 2 bones and an IK handle. Made a simple animation where the cylinder bends and goes back to straight position over 24 frames. Following that, I selected everything and baked, all bones,ik,(animation by selecting all at the graph editor) and even the cylinder. I saved the scene and then select all and export as FBX with animation and bake checked. In unity imported it and at the preview able to see the animation. When I load the model into scene and play (after assigning the controller), able to see animation too. But now when I try to script it and control the animation, nothing happens. Even to test, I tried the following under the Update method. if(animation.isPlaying) Debug.Log("Animation Works"); else Debug.Log("Animation not working"); The bool doesn't even return true nor false. My animation is called "bend", thus just for try I did the following and nothing happens. animation.Play("bend"); Can please advice based on my steps, am I missing something. Do I need to add the controller or is that an unnecessary step? Did I screw up on the Maya part or the Unity part. Thanks for help.

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• Find meeting point of 2 objects in 2D, knowing (constant) speed and slope

  - by Axonn

  I have a gun which fires a projectile which has to hit an enemy. The problem is that the gun has to be automatic, i.e. - choose the angle in which it has to shoot so that the projectile hits the enemy dead in the center. It's been a looooong time since school, and my physics skills are a bit rusty, but they're there. I've been thinking to somehow apply the v = d/t formula to find the time needed for the projectile or enemy to reach a certain point. But the problem is that I can't find the common point for both the projectile and enemy. Yes, I can find a certain point for the projectile, and another for the enemy, but I would need lots of tries to find where the point coincides, which is stupid. There has to be a way to link them together but I can't figure it out. I prepared some drawings and samples: A simple version of my Flash game, dumbed down to the basics, just some shapes: http://axonnsd.org/W/P001/MathSandBox.swf - click the mouse anywhere to fire a projectile. Or, here is an image which describes my problem: So... who has any ideas about how to find x3/y3 - thus leading me to find the angle in which the weapon has to tilt in order to fire a projectile to meet the enemy? EDIT I think it would be clearer if I also mention that I know: the speed of both Enemy and Projectile and the Enemy travels on a straight vertical line.

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• Change alpha to a Frame in libgdx

  - by Rudy_TM

  I have this batch.draw(currentFrame, x, y, this.parent.originX, this.parent.originY, this.parent.width, this.parent.height, this.scaleX, this.scaleY,this.rotation); I want to apply the alpha that it gets from the method, but theres is not overload from the SpriteBatch class that takes the alpha value, is there some wey to apply it? (i did it this way, because this are animation, and i wanted to control them) in my static ones i apply sprite.draw(SpriteBatch, alpha) Thanks

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• XNA 4.0 2D sidescroller variable terrain heightmap for walking/collision

  - by JiminyCricket

  I've been fooling around with moving on sloped tiles in XNA and it is semi-working but not completely satisfactory. I also have been thinking that having sets of predetermined slopes might not give me terrain that looks "organic" enough. There is also the problem of having to construct several different types of tile for each slope when they're chained together (only 45 degree tiles will chain perfectly as I understand it). I had thought of somehow scanning for connected chains of sloped tiles and treating it as a new large triangle, as I was having trouble with glitching at the edges where sloped tiles connect. But, this leads back to the problem of limiting the curvature of the terrain. So...what I'd like to do now is create a simple image or texture of the terrain of a level (or section of the level) and generate a simple heightmap (of the Y's for each X) for the terrain. The player's Y position would then just be updated based on their X position. Is there a simple way of doing this (or a better way of solving this problem)? The main problem I can see with this method is the case where there are areas above the ground that can be walked on. Maybe there is a way to just map all walkable ground areas? I've been looking at this helpful bit of code: http://thirdpartyninjas.com/blog/2010/07/28/sloped-platform-collision/ but need a way to generate the actual points/vectors.

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• Dynamic body implementation

  - by ArturoVM

  I am writing a 2D game where one of the characters has some very particular requirements. This character is a body with no particular shape (similar to a fluid, but not so much), it has to be able to grow and shrink (as in actually growing, not just scaling), and it has to have collision detection (even if it's basic). Because of this requirements, it obviously can't be based on a sprite, so direct rendering of the shape should be the logical thing to do. I assume this is no easy task, but I just couldn't find a good physics engine that covers these requirements (or at least no tutorial on how to do it; I particularly searched for Box2D tutorials). Is there a way of doing this with Box2D, SDL, or any other physics or game engine out there? If not, what's a good place to start? I am really clueless as far as soft-body physics are concerned.

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• How to get location of sprite placed on rotating circle in cocos2d android?

  - by Real_steel4819

  I am developing a game using cocos2d and i got stuck here when finding location of sprite placed on rotating circle on background, so that when i hit at certain position on circle its not getting hit at wanted position,but its going away from it and placing target there.I tried printing the position of hit on spriteMoveFinished() and ccTouchesEnded(). Its giving initial position and not rotated position. CGPoint location = CCDirector.sharedDirector().convertToGL(CGPoint.ccp(event.getX(), event.getY())); This is what i am using to get location.

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• graphical interface when using assembly language

  - by Hellbent

  Im looking to use assembly language to make a great game, not just an average game but a really great game. I want to learn a framework to use in assembly. I know thats not possible without learning the framework in c first. So im thinking of learning sdl in c and then learn, teach myself, how to interpret the program and run it as assembly language code which shouldnt be that hard. Then i will have a window and some graphics routines to display the game while using assembly to code everything in. I need to spend some time learning sdl and then some more time learning how to code all those statements using assembly while calling c functions and knowing what registers returned calls use and what they leave etc. My question is , Is this a good way to go or is there something better to get a graphical window display using assembly language? Regards HellBent

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• List of Open Source Java Games for Android

  - by BluFire

  I'm wondering if there are any more opensource games than the ones that you can plainly see when you search a list of open source games for android on google. Such as, is there a good website that has compiled open source games? I don't want an answer of "go google it" or "en.wikipedia.org/wiki/List_of_open_source_Android_applications" it gets really annoying on posts when people just give lazy answers.

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• JOGL2 test compiles, but doesn't execute - help?

  - by Chuchinyi

  I have a problem with JOGL2. My JOGL2Template.java compiles fine, but executing it results in the following error: D:\java\java\jogl>javac JOGL2Template.java <== compile ok D:\java\java\jogl>java JOGL2Template <== execute error Exception in thread "main" java.lang.ExceptionInInitializerError at javax.media.opengl.GLProfile.<clinit>(GLProfile.java:1176) at JOGL2Template.<init>(JOGL2Template.java:24) at JOGL2Template.main(JOGL2Template.java:57) Caused by: java.lang.SecurityException: no certificate for gluegen-rt.dll in D:\ java\lib\gluegen-rt-natives-windows-i586.jar at com.jogamp.common.util.JarUtil.validateCertificate(JarUtil.java:350) at com.jogamp.common.util.JarUtil.validateCertificates(JarUtil.java:324) at com.jogamp.common.util.cache.TempJarCache.validateCertificates(TempJa rCache.java:328) at com.jogamp.common.util.cache.TempJarCache.bootstrapNativeLib(TempJarC ache.java:283) at com.jogamp.common.os.Platform$3.run(Platform.java:308) at java.security.AccessController.doPrivileged(Native Method) at com.jogamp.common.os.Platform.loadGlueGenRTImpl(Platform.java:298) at com.jogamp.common.os.Platform.<clinit>(Platform.java:207) ... 3 more Here is the JOGL2Template.java source code: import java.awt.Dimension; import java.awt.Frame; import java.awt.event.WindowAdapter; import java.awt.event.WindowEvent; import javax.media.opengl.GLAutoDrawable; import javax.media.opengl.GLCapabilities; import javax.media.opengl.GLEventListener; import javax.media.opengl.GLProfile; import javax.media.opengl.awt.GLCanvas; import com.jogamp.opengl.util.FPSAnimator; import javax.swing.JFrame; /* * JOGL 2.0 Program Template For AWT applications */ public class JOGL2Template extends JFrame implements GLEventListener { private static final int CANVAS_WIDTH = 640; // Width of the drawable private static final int CANVAS_HEIGHT = 480; // Height of the drawable private static final int FPS = 60; // Animator's target frames per second // Constructor to create profile, caps, drawable, animator, and initialize Frame public JOGL2Template() { // Get the default OpenGL profile that best reflect your running platform. GLProfile glp = GLProfile.getDefault(); // Specifies a set of OpenGL capabilities, based on your profile. GLCapabilities caps = new GLCapabilities(glp); // Allocate a GLDrawable, based on your OpenGL capabilities. GLCanvas canvas = new GLCanvas(caps); canvas.setPreferredSize(new Dimension(CANVAS_WIDTH, CANVAS_HEIGHT)); canvas.addGLEventListener(this); // Create a animator that drives canvas' display() at 60 fps. final FPSAnimator animator = new FPSAnimator(canvas, FPS); addWindowListener(new WindowAdapter() { // For the close button @Override public void windowClosing(WindowEvent e) { // Use a dedicate thread to run the stop() to ensure that the // animator stops before program exits. new Thread() { @Override public void run() { animator.stop(); System.exit(0); } }.start(); } }); add(canvas); pack(); setTitle("OpenGL 2 Test"); setVisible(true); animator.start(); // Start the animator } public static void main(String[] args) { new JOGL2Template(); } @Override public void init(GLAutoDrawable drawable) { // Your OpenGL codes to perform one-time initialization tasks // such as setting up of lights and display lists. } @Override public void display(GLAutoDrawable drawable) { // Your OpenGL graphic rendering codes for each refresh. } @Override public void reshape(GLAutoDrawable drawable, int x, int y, int w, int h) { // Your OpenGL codes to set up the view port, projection mode and view volume. } @Override public void dispose(GLAutoDrawable drawable) { // Hardly used. } } Any ideas what might be the cause of these errors?

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• Load Texture From Image Content In Runtime

  - by Austin Brunkhorst

  Basically I wrote a world editor for a game I'm working on. Looking ahead, I was brainstorming ways to save the created world including the tile-sets (this game will rely on a tile engine). I was hoping to save the image data of each tile-set in the same file containing the tile positions, etc. and load the image data into a Texture with XNA. Is it possible? Something like this is what I'm going for. Texture2D tileset = Content.LoadFromString<Texture2D>("png tileset data");

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• Move a 2D square on y axis on android GLES2

  - by Dan

  I am trying to create a simple game for android, to start i am trying to make the square move down the y axis but the way i am doing it dosent move the square at all and i cant find any tutorials for GLES20 The on draw frame function in the render class updates the users position based on accleration dew to gravity, gets the transform matrix from the user class which is used to move the square down, then the program draws it. All that happens is that the square is drawn, no motion happens public void onDrawFrame(GL10 gl) { user.update(0.0, phy.AccelerationDewToGravity); GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT); // Re draws black background GLES20.glVertexAttribPointer(maPositionHandle, 3, GLES20.GL_FLOAT, false, 12, user.SquareVB);//triangleVB); GLES20.glEnableVertexAttribArray(maPositionHandle); GLES20.glUniformMatrix4fv(maPositionHandle, 1, false, user.getTransformMatrix(), 0); GLES20.glDrawArrays(GLES20.GL_TRIANGLE_STRIP, 0, 4); } The update function in the player class is public void update(double vh, double vv) { Vh += vh; // Increase horrzontal Velosity Vv += vv; // Increase vertical velosity //Matrix.translateM(mMMatrix, 0, (int)Vh, (int)Vv, 0); Matrix.translateM(mMMatrix, 0, mMMatrix, 0, (float)Vh, (float)Vv, 0); }

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• How do I stop stretching during window re-size in XNA?

  - by Bradley Uffner

  In my windowed mode XNA game when the user resizes the window the game stops updating the window and the last frame drawn is stretched and distorted until the user releases the mouse and the resize completes. Is there any way to have the game continue to run "normally", updating frames and redrawing the screen, during the resize event? I realize that keeping the render loop going while resizing may not be possible or recommended due do hardware managed resources getting continually created and destroyed, but is there any way to stop the ugly stretching? Ideally by leaving the existing frame unscaled in the top left, or with a black screen if that isn't possible.

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• Need a bounding box for CCSprite that includes all children/subchildren

  - by prototypical

  I have a CCSprite that has CCSprite children, and those CCSprite children have CCSprite children. The contentSize property doesn't seem to include all children/subchildren, and seems to only work for the base node. I could write a recursive method to traverse a CCSprite for all children/subchildren and calculate a proper boundingbox, but am curious as to if I am missing something and it's possible to get that information without doing so. I'l be a little surprised if such a method doesn't exist, but I can't seem to find it.

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• Turn-based Client-Server Card Game - Unicast (TCP) or Multicast (UDP)

  - by LDM91

  I am currently planning to make a card game project where the clients will communicate with the server in a turn-based and synchronous manner using messages sent over sockets. The problem I have is how to handle the following scenario: (Client takes it turn and sends its action to server) Client sends a message telling the server its move for the turn (e.g. plays the card 5 from its hand which needs to placed onto the table) Server receives messages and updates game state (server will hold all game state). Server iterates through a list of connected clients and sends a message to tell of them change in state Clients all refresh to display the state This is all based on using TCP, and looking at it now it seems a bit like the Observer pattern. The reason this seems to be an issue to me is this message doesn't seem to be point-to-point like the others as I want to send it to all the clients, and doesn't seem very efficient sending the same message in that way. I was thinking about using multicasting with UDP as then I could send the message to all the clients, however wouldn't this mean that the clients would in theory be able to message each other? There is of course the synchronous aspect as well, though this could be put on top of the UDP I guess. Basically, I would like to know what would be good practice as this project is really all about learning, and even though it won't be big enough to encounter performance issues from this I would like to consider them anyway. However, please note I am not interested in using message oriented middleware as a solution (I have experience with using MOM and I'm interested in considering other options excluding MOM if TCP sockets is a bad idea!).

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• Precision loss when transforming from cartesian to isometric

  - by Justin Skiles

  My goal is to display a tile map in isometric projection. This tile map has 25 tiles across and 25 tiles down. Each tile is 32x32. See below for how I'm accomplishing this. World Space World Space to Screen Space Rotation (45 degrees) Using a 2D rotation matrix, I use the following: double rotation = Math.PI / 4; double rotatedX = ((tileWorldX * Math.Cos(rotation)) - ((tileWorldY * Math.Sin(rotation))); double rotatedY = ((tileWorldX * Math.Sin(rotation)) + (tileWorldY * Math.Cos(rotation))); World Space to Screen Space Scale (Y-axis reduced by 50%) Here I simply scale down the Y value by a factor of 0.5. Problem And it works, kind of. There are some tiny 1px-2px gaps between some of the tiles when rendering. I think there's some precision loss somewhere, or I'm not understanding how to get these tiles to fit together perfectly. I'm not truncating or converting my values to non-decimal types until I absolutely have to (when I pass to the render method, which only takes integers). I'm not sure how to guarantee pixel perfect rendering precision when I'm rotating and scaling on a level of higher precision. Any advice? Do I need to supply for information?

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• Masking OpenGL texture by a pattern

  - by user1304844

  Tiled terrain. User wants to build a structure. He presses build and for each tile there is an "allow" or "disallow" tile sprite added to the scene. FPS drops right away, since there are 600+ tiles added to the screen. Since map equals screen, there is no scrolling. I came to an idea to make an allow grid covering the whole map and mask the disallow fields. Approach 1: Create allow and disallow grid textures. Draw a polygon on screen. Pass both textures to the fragment shader. Determine the position inside the polygon and use color from allowTexture if the fragment belongs to the allow field, disallow otherwise Problem: How do I know if I'm on the field that isn't allowed if I cannot pass the matrix representing the map (enum FieldStatus[][] (Allow / Disallow)) to the shader? Therefore, inside the shader I don't know which fragments should be masked. Approach 2: Create allow texture. Create an empty texture buffer same size as the allow texture Memset the pixels of the empty texture to desired color for each pixel that doesn't allow building. Draw a polygon on screen. Pass both textures to the fragment shader. Use texture2 color if alpha 0, texture1 color otherwise. Problem: I'm not sure what is the right way to manipulate pixels on a texture. Do I just make a buffer with width*height*4 size and memcpy the color[] to desired coordinates or is there anything else to it? Would I have to call glTexImage2D after every change to the texture? Another problem with this approach is that it takes a lot more work to get a prettier effect since I'm manipulating the color pixels instead of just masking two textures. varying vec2 TexCoordOut; uniform sampler2D Texture1; uniform sampler2D Texture2; void main(void){ vec4 allowColor = texture2D(Texture1, TexCoordOut); vec4 disallowColor = texture2D(Texture2, TexCoordOut); if(disallowColor.a > 0){ gl_FragColor= disallowColor; }else{ gl_FragColor= allowColor; }} I'm working with OpenGL on Windows. Any other suggestion is welcome.

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• Error loading PCX image in FreeImage library

  - by khanhhh89

  I'm using FreeImage in C++ for loading texuture from the PCX image. My FreeImage code is as following: FREE_IMAGE_FORMAT fif = FIF_UNKNOWN; //pointer to the image data BYTE* bits(0); fif = FreeImage_GetFileType(m_fileName.c_str(), 0); if (FreeImage_FIFSupportsReading(fif)) dib = FreeImage_Load(fif, m_fileName.c_str()); //retrieve the image data bits = FreeImage_GetBits(dib); //get the image width and height width = FreeImage_GetWidth(dib); height = FreeImage_GetHeight(dib); My problem is the width and height variable are both 512, while the bits array is an empty string, which make the following OPENGL call corrupt: glTexImage2D(m_textureTarget, 0, GL_RGB, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, bits); While debugging, I notice that the "fif" variable (which contains the format of the image) is JPEG, while the Image is actually PCX. I wonder whether or not the FreeImage recognize the wrong format (from PCX to JPEG), so tha the bits array is an empty string. I hope to see your explanation about this problem. Thanks so much

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• Best practices of texture size

  - by psal

  I wanted to know how should I determine a good texture size ? Currently, I always create UV texture that are 1024x1024px but if I create for example, a big house with a 1024px texture size, it will looks pretty bad. So, should I create different texture size (512, 1024, ...) for different mesh size like this ? : or is it better to always do high-resolution texture and then reduce it in the software (ie : increase the LODBias settings in UDK reduce the size of the texture) ? Thanks for your answer. ps : sorry for my english !

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• How do I dynamically reload content files?

  - by Kikaimaru

  Is there a relatively simple way to dynamically reload content files, such as effect files? I know I can do the following: Detect change of file Run content pipeline to rebuild that specific file Unload ALL content that was loaded Load all content And use double references to reference content files. The problem is with step 3 (and step 2 isn't that nice either). I need to unload everything because if I have model Hero.x which references Model.fx effect, and I change the Model.fx file, I need to reload the Hero.x file which will then call LoadExternalReference on Model.fx. Has someone managed to make this work without rewriting the whole ContentManager (and every ContentReader) and tracking calls to LoadExternalReference?

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• Constrained/penalized distance function

  - by sigma.z.1980

  Assume a character is located on a n by n grid and has to reach a certain entry on that grid. Its current position is (x1,y1). Also on the same grid is an enemy with coordinates (x2,y2). Each step algorithm randomly generates new candidate locations for the hero (if there are k candidates then there is a kx2 matrix of new potential locations. What I need is some distance objective function to compare the candidates. I'm currently using d1 - c * d2, where d1 is distance to the objective (measure in terms of number of pixels for each axis), d2 is distance to the enemy and c is some coefficient (this is very much like a set-up for Lagrangian). It's not working very well though. I'd be quite keen to learn how what constrained distance function are used for similar cases. Any suggestions are very much appreciated.

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