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  • Why is my arrow texture being drawn in odd places?

    - by tyjkenn
    This is a script I wrote that places an arrow on the screen, pointing to an enemy off-screen, or, if the enemy is on-screen, it places an arrow hovering above the enemy. Everything seems to work, except for some odd reason, I see random arrows floating around, often skewed and resized (which I really don't understand, because I only rotate and place in this script). Even when I only have one enemy in the scene, I still see these random arrows. It should only be drawing one per enemy. Note: when all enemies are removed, no arrows appear. var arrow : Texture; var cam : Camera; var dim : int = 30; function OnGUI() { var objects = GameObject.FindGameObjectsWithTag("Enemy"); for(var ob : GameObject in objects) { var pos = cam.WorldToViewportPoint(ob.transform.position); if(gameObject.GetComponent(FollowCamera).target != null){ var tar = gameObject.GetComponent(FollowCamera).target.parent; } if(pos.z>1 && ob.transform != tar){ var xDiff = (pos.x*cam.pixelWidth)-(cam.pixelWidth/2); var yDiff = (pos.y*cam.pixelHeight)-(cam.pixelHeight/2); var angle = Mathf.Rad2Deg*Mathf.Atan(yDiff/xDiff)+180; if(xDiff>0) angle += 180; var dist = Mathf.Sqrt(xDiff*xDiff + yDiff*yDiff); var slope = yDiff/xDiff; var camSlope = cam.pixelHeight/cam.pixelWidth; var theX = -1000.0; var theY = -1000.0; var mult = 0; var temp; if(Mathf.Abs(xDiff)>(cam.pixelWidth/2)||Mathf.Abs(yDiff)>(cam.pixelHeight/2)){ //touching right if(slope<camSlope && slope>-camSlope) { if(xDiff>(cam.pixelWidth/2)) { theX = cam.pixelWidth - (dim/2); mult = -1; }else if(xDiff<-(cam.pixelWidth/2)) { theX = (dim/2); mult = 1; } temp = ((cam.pixelWidth/2)*yDiff)/xDiff; theY =(cam.pixelHeight/2)+(mult*temp); } else{ if(yDiff>(cam.pixelHeight/2)) { theY = (dim/2); mult = 1; }else if(yDiff<-(cam.pixelHeight/2)) { theY = cam.pixelHeight - (dim/2); mult = -1; } temp = ((cam.pixelHeight/2)*xDiff)/yDiff; theX =(cam.pixelWidth/2)+(mult*temp); } } else { angle = -90; theX = (cam.pixelWidth/2)+xDiff; theY = (cam.pixelHeight/2)-yDiff-dim; } GUIUtility.RotateAroundPivot(-angle, Vector2(theX, theY)); Graphics.DrawTexture(Rect(theX-(dim/2),theY-(dim/2),dim,dim),arrow,null); GUIUtility.RotateAroundPivot(angle, Vector2(theX, theY)); } } }

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  • Unity 3D coding language, C# or JavaScript [on hold]

    - by hemantchhabra
    Hello to the gaming community. I am a budding game designer, learning to code for the first time in my life. I did learned c++ in school, 8 years back, so I sort of understand the logic when people are doing coding and I can suggest them the right route also, but to an extent I can't code. I am beginning to learn coding for Unity 3D. Which one do you suggest is more versatile and easier to work on for future, because I am a game designer not a coder, I would do coding until I don't have anyone else to code for me. It should be easy and fast to learn, functional and universal to apply, and innovative at the same time. C# or JavaScript ? Thank you for your time Ps- if you could suggest me steps to learn and tutorials to look for, that would be just awesome.

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  • How do I create a bounding frustrum from a view & projection matrix?

    - by Narf the Mouse
    Given a left-handed Projection matrix, a left-handed View matrix, a ViewProj matrix of View * Projection - How do I create a bounding Frustum comprised of near, far, left, right and top, bottom planes? The only example I could find on Google (Tutorial 16: Frustum Culling) seems to not work; for example, if the math is used as given, the near-plane's distance is a negative. This places the near-plane behind the camera...

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  • Jitter during wall collisions with Bullet Physics: contact/penetration tolerance?

    - by Niriel
    I use the bullet physics engine through Panda3d. My scene is still very simple, think 'Wolfenstein3d': tile-based, walls are solid cubes. I expect walls to block the player, and I expect the player to slide along the walls in case of non-normal incidence. What I get is what I expect, with one difference: there is some jitter. If I try to force myself into the wall, then I see the frames blinking quickly between two positions. These differ by about 0.04 units of distance, which corresponds to 4 cm in my game. I noticed a 4 cm elsewhere: the bottom of my player capsule is 4 cm below ground, when at rest. Does that mean that there is somewhere in the Bullet engine a default 0.04-units-long tolerance to differentiate contact from collision? If so, what should I do ? Should I change the scale of my game so that these 0.04 units correspond to 0.4 cm, making the jitter ten times smaller? Or can I ask bullet to change its tolerance to a smaller value? Edit This is the jitter I get: 6.155 - 6.118 = 0.036 LPoint3f(0, 6.11694, 0.835) LPoint3f(0, 6.15499, 0.835) LPoint3f(0, 6.11802, 0.835) LPoint3f(0, 6.15545, 0.835) LPoint3f(0, 6.11817, 0.835) LPoint3f(0, 6.15726, 0.835) LPoint3f(0, 6.11876, 0.835) LPoint3f(0, 6.15911, 0.835) LPoint3f(0, 6.11937, 0.835) I found a setMargin method. I set it to 5 mm both on the BoxShape for the walls and on the Capsule shape for the player. It still jitters by about 35 mm as illustrated by this log (11.117 - 11.082 = 0.035): LPoint3f(0, 11.0821, 0.905) LPoint3f(0, 11.1169, 0.905) LPoint3f(0, 11.082, 0.905) LPoint3f(0, 11.117, 0.905) LPoint3f(0, 11.082, 0.905) LPoint3f(0, 11.117, 0.905) LPoint3f(0, 11.0821, 0.905) LPoint3f(0, 11.1175, 0.905) LPoint3f(0, 11.0822, 0.905) LPoint3f(0, 11.1178, 0.905) LPoint3f(0, 11.0823, 0.905) LPoint3f(0, 11.1183, 0.905) The margin on the capsule did change my penetration with the floor though, I'm a bit higher (0.905 instead of 0.835). However, it did not change anything when colliding with the walls. How can I make the collisions against the walls less jittery? Edit, the day after: After more investigation, it appears that dynamic objects behave well. My problem comes from the btKinematicCharacterController that I use for moving my character; that stuff is totally bugged, according to the whole Internet :/.

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  • Calculate travel time on road map with semaphores

    - by Ivansek
    I have a road map with intersections. At intersections there are semaphores. For each semaphore I generate a red light time and green light time which are represented with syntax [R:T1, G:T2], for example: 119 185 250 A ------- B: [R:6, G:4] ------ C: [R:5, G:5] ------ D I want to calculate a car travel time from A - D. Now I do this with this pseudo code: function get_travel_time(semaphores_configuration) { time = 0; for( i=1; i<path.length;i++) { prev_node = path[i-1]; next_node = path[i]); cost = cost_between(prev_node, next_node) time += (cost/movement_speed) // movement_speed = 50px per second light_times = get_light_times(path[i], semaphore_configurations) lights_cycle = get_lights_cycle(light_times) // Eg: [R,R,R,G,G,G,G], where [R:3, G:4] lights_sum = light_times.green_time+light_times.red_light; // Lights cycle time light = lights_cycle[cost%lights_sum]; if( light == "R" ) { time += light_times.red_light; } } return time; } So for distance 119 between A and B travel time is, 119/50 = 2.38s ( exactly mesaured time is between 2.5s and 2.6s), then we add time if we came at a red light when at B. If we came at a red light is calculated with lines: lights_cycle = get_lights_cycle(light_times) // Eg: [R,R,R,G,G,G,G], where [R:3, G:4] lights_sum = light_times.green_time+light_times.red_light light = lights_cycle[cost%lights_sum]; if( light == "R" ) { time += light_times.red_light; } This pseudo code doesn't calculate exactly the same times as they are mesaured, but the calculations are very close to them. Any idea how I would calculate this?

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  • Circle vs Edge collision detection / resolution

    - by topheman
    I made a javascript class Ball.js that handles physics interactions betweens balls as well as painting. In the v1.0, the ball vs ball collision detection and resolution is well handled. In the next version (v2), I'm trying to add edgeCollision handling. I'm having some problems, maybe you will be able to help me. All the v2 branch source code is on github repository : https://github.com/topheman/Ball.js/tree/v2 The v2 demos (where you can see the bug I will be talking about) : http://labs.topheman.com/Ball-v2/#help As you will see on the demo, I have two major problems that I'm having a really hard time to solve on Ball.js : method resolveEdgeCollision : bounce angle is inconsistent method checkEdgeCollision : if the ball's velocity (the length that it runs each frame) is higher than its diameter, eventually, it will pass through an edge, without triggering any collision Any Ideas ?...

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  • How to implment the database for event conditions and item bonuses for a browser based game

    - by Saifis
    I am currently creating a browser based game, and was wondering what was the standard approach in making diverse conditions and status bonuses database wise. Currently considering two cases. Event Conditions Needs min 1000 gold Needs min Lv 10 Needs certain item. Needs fulfillment of another event Status Bonus Reduces damage by 20% +100 attack points Deflects certain type of attack I wish to be able to continually change these parameters during the process of production and operation, so having them hard-coded isn't the best way. All I could come up with are the following two methods. Method 1 Create a table that contains each conditions with needed attributes Have a model named conditions with all the attributes it would need to set them conditions condition_type (level, money_min, money_max item, event_aquired) condition_amount prerequisite_condition_id prerequisite_item_id Method 2 write it in a DSL form that could be interpreted later in the code Perhaps something like yaml, have a text area in the setting form and have the code interpret it. condition_foo: condition_type :level min_level: 10 condition_type :item item_id: 2 At current Method 2 looks to be more practical and flexible for future changes, trade off being that all the flex must be done on the code side. Not to sure how this is supposed to be done, is it supposed to be hard coded? separate config file? Any help would be appreciated. Added For additional info, it will be implemented with Ruby on Rails

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  • How are these bullets done?

    - by Mike
    I really want to know how the bullets in Radiangames Inferno are done. The bullets seem like they are just billboard particles but I am curious about how their tails are implemented. They can curve so this means they are not just a billboard. Also, they appear continuous which implies that the tails are not made of a bunch of smaller particles (I think). Can anyone shead some light on this for me?

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  • Using a Vertex Buffer and DrawUserIndexedPrimitives?

    - by MattMcg
    Let's say I have a large but static world and only a single moving object on said world. To increase performance I wish to use a vertex and index buffer for the static part of the world. I set them up and they work fine however if I throw in another draw call to DrawUserIndexedPrimitives (to draw my one single moving object) after the call to DrawIndexedPrimitives, it will error out saying a valid vertex buffer must be set. I can only assume the DrawUserIndexedPrimitive call destroyed/replaced the vertex buffer I set. In order to get around this I must call device.SetVertexBuffer(vertexBuffer) every frame. Something tells me that isn't correct as that kind of defeats the point of a buffer? To shed some light, the large vertex buffer is the final merged mesh of many repeated cubes (think Minecraft) which I manually create to reduce the amount of vertices/indexes needed (for example two connected cubes become one cuboid, the connecting faces are cut out), and also the amount of matrix translations (as it would suck to do one per cube). The moving objects would be other items in the world which are dynamic and not fixed to the block grid, so things like the NPCs who move constantly. How do I go about handling the large static world but also allowing objects to freely move about?

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  • How do I plot individual pixels using the XNA APIs?

    - by izb
    If I wanted to fill my game screen with individually coloured pixels, how would I do this? For example, if I wanted to write a 'game of life'-type game where each pixel was a cell, how would I achieve this using XNA? I've tried just calling SetData() on a Texture2D object using a screen-sized array of Color values, but it complains with: You may not call SetData on a resource while it is actively set on the GraphicsDevice. Unset it from the device before calling SetData. How do I do as it asks? Or better still... is there an alternative, better, efficient way to fill a screen with arbitrary pixels?

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  • Box2D relations

    - by Valentino Ru
    As far as I know, the unit in Box2D is meters. When I use Box2D in Processing with JBox2D, I set the "world size" as the window size specified in the setup(). Now I'm wondering if there is any function that scales down the world. For example, how can I simulate the throw of tennis ball within a room, without using a window of only 5 x 5 pixels? Additionally, is there any good documentation like the Java API?

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  • How to determine if a 3D voxel-based room is sealed, efficiently

    - by NigelMan1010
    I've been having some issues with efficiently determining if large rooms are sealed in a voxel-based 3D rooms. I'm at a point where I have tried my hardest to solve the problem without asking for help, but not tried enough to give up, so I'm asking for help. To clarify, sealed being that there are no holes in the room. There are oxygen sealers, which check if the room is sealed, and seal depending on the oxygen input level. Right now, this is how I'm doing it: Starting at the block above the sealer tile (the vent is on the sealer's top face), recursively loop through in all 6 adjacent directions If the adjacent tile is a full, non-vacuum tile, continue through the loop If the adjacent tile is not full, or is a vacuum tile, check if it's adjacent blocks are, recursively. Each time a tile is checked, decrement a counter If the count hits zero, if the last block is adjacent to a vacuum tile, return that the area is unsealed If the count hits zero and the last block is not a vacuum tile, or the recursive loop ends (no vacuum tiles left) before the counter is zero, the area is sealed If the area is not sealed, run the loop again with some changes: Checking adjacent blocks for "breathable air" tile instead of a vacuum tile Instead of using a decrementing counter, continue until no adjacent "breathable air" tiles are found. Once loop is finished, set each checked block to a vacuum tile. Here's the code I'm using: http://pastebin.com/NimyKncC The problem: I'm running this check every 3 seconds, sometimes a sealer will have to loop through hundreds of blocks, and a large world with many oxygen sealers, these multiple recursive loops every few seconds can be very hard on the CPU. I was wondering if anyone with more experience with optimization can give me a hand, or at least point me in the right direction. Thanks a bunch.

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  • Tiled Editor: How is this Map Handling Collision?

    - by user2736286
    BrowserQuest map in question. From what I understand, with tiled, there are two main ways to specify collision: Create an object layer, and interpret the shapes in the engine as collision objects. Create a tiled layer, and make all tiles in the layer have a collision property, and interpret all tiles in the layer as collision objects. I'm using BrowserQuest as a big source of inspiration for my project, and I want to know how they handled collision on the level editing side. I've checked through all their layers, expecting an object layer to be handling cliff collision like: But there are no such object layers to be found. Furthermore, the tile layers containing the tiles for such cliffs have no properties at all, meaning that they didn't just specify "collision" for such tile layers. I especially need to know how they handled less rectangular shapes like: I could imagine that they are not using explicit collision layers, but instead determining collision in the actual engine, based off the presence of specific tile layer sprites. Only because BrowserQuest has whole-tile movement, and it wouldn't look too odd if a small apple, taking up only a fraction of the tile size, prevents movement over that entire tile. But I'm creating a game with more precise movement, so collision has to be tight to the apple, and I really want to know how BrowserQuest approached collision defining. If anyone knowledgeable with Tiled could take a quick look at the map, I'd appreciate it! I'm tearing my hair out here :). Thanks

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  • What's the best way to compare blocks in a matching game that can be multiple colors?

    - by Ryan Detzel
    I have a match 3-4 game and the blocks can be one of 7 colors. There are an addition 7 blocks that are a mix of the original 7 colors so for example there is a red and blue block and there is also a red/blue block which can be matched with either the red or the blue. My original thought is just to use binary operations so. int red = 0x000000001; int blue = 0x000000010; int redblue = 0x000000011; Then just do an & operation so see if they match. Does this sound like a decent plan or am I over complicating it? edit: Better yet so it's more readable. int red = 1; int blue = 2; int red_blue = 3; int yellow = 4; int red_yellow = 5; maybe as defines or static vars?

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  • Interpolation between two 3D points?

    - by meds
    I'm working with some splines which define a path a character follows (you can see a gameplay video here to get a better understanding of what's going on: http://www.youtube.com/watch?v=BndobjOiZ6g). Basically the characters 'forward' look direction is set to the 'forward' direction of the spline and when players tilt their phone left and right the character is strafed along its 'right' coordinate. The issue with this is (rather obviously) in performance, interpolating over a spline to find the nearest position and tangent relative to the player is an incredibly costly operation. To get by this I cache a finite number of positions in what I call 'SplineDetails', the class is as follows: public class SplineDetails { public SplineDetails() { Forward = Vector3.forward; Position = Vector3.one * float.MaxValue; Alpha = -1; } public float Alpha; // [0,1] measured along length of spline where 0 is the initial point and 1 is the end point of the spline public Vector3 Position; // the point of the spline at this alpha public Vector3 Forward; // the forward tangent of the spline at this alpha } I populate this with say 30 coordinates and I can give a rough estimate of a coordinate and 'forward' based on a position past in. It's not as accurate but it's much faster. But now I'd like to make the system work better by estimating positions and 'forward' directions by interpolating between two of the cached points though I'm stuck trying to figure out some logic. My first problem is, how can I determine between which two points the object is? Given each point can be placed at different intervals along the spline it could mean that two points in front or behind the object can be closer to the object. The other problem is to figure out the proportion between the two paths it's between, i.e. if there is a point a at coordinate (0,0,0) and point b at coordinate (1,0,0) if the object is at position (0.5,0,0) then the result it should give is '0.5' (as it is equal distance away from point a and point b). That's a simple example, but what if the object is at coordinate (0.5,3,0) for example?

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  • In MMO game, how to handle user characters, who are offline?

    - by Deele
    In my medieval MMO game, players have their own character, that represents themselves inside game. Like a King. Players could have cities and armies, but King acts as main driving force. Then it comes to player, going offline/vacation/disconnect. How to deal with "offline King", to keep some sort of reality in game, without ruining everything for player. I have never liked unrealistic stuff in games, like appearing/dissapearing from thin air, like in WoW or other MMO RPG's, when it comes to connect/disconnect, like in Matrix movie, when you are disconnected, your "avatar" inside the system just vaninshes. Ok, if player char stays where it was left, other players who are online could kick his ass like offline player char was frozen? I see only one solution - give player char, while offline, some sort of AI, that controls char. Is there any other solutions? May be, some sort of legend/story, could make users only as inner-voice, leaving King just passively controlled by user, or other stuff... Please, help! I hope you understand my question.

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  • Can't use SFML sprite drawing and OpenGL rendering at the same time

    - by Ken
    I'm using some SFML built in functions to draw sprites and text as an overlay on top of some OpenGL rending in an SFML RenderWindow. The opengl rendering appears fine until I add the code to draw the sprites or text. The sprite or text drawing causes the OpenGL stuff to disappear. The follow code show what I'm trying to do sf::RenderWindow window(sf::VideoMode(viewport.width,viewport.height,32), "SFML Window"); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glOrtho(0,viewport.width,0,viewport.height,0,1); while (window.pollEvent(Event)) { //event handling... //begin drawing glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glBegin(GL_TRIANGLES); glColor3f(col.x,col.y,col.z); for(int i=0;i<3;i++) glVertex2f(pos.x+verts[i].x,pos.y+verts[i].y); glEnd(); // adding this line causes all the previous opengl triangles not to appear window.draw("Sometext"); window.display(); }

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  • time issue in render libgdx [duplicate]

    - by jaysingh
    This question is an exact duplicate of: time issue in render libgdx [duplicate] pls. help how to implement this loop in render method next_game_tick and GetTickCount(); always contain same time value. so position never updated @Override public void render() { float deltaTime = Gdx.graphics.getDeltaTime(); Update(deltaTime); Render(deltaTime); } const int TICKS_PER_SECOND = 50; const int SKIP_TICKS = 1000 / TICKS_PER_SECOND; const int MAX_FRAMESKIP = 10; DWORD next_game_tick = GetTickCount(); int loops; bool game_is_running = true; while( game_is_running ) { loops = 0; while( GetTickCount() > next_game_tick && loops < MAX_FRAMESKIP) { update_game(); next_game_tick += SKIP_TICKS; loops++; } display_game(); }

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  • time issue in render libgdx [duplicate]

    - by jaysingh
    This question is an exact duplicate of: deWitters Game loop in libgdx(Android) pls. help how to implement this loop in render method next_game_tick and GetTickCount(); always contain same time value so player position not updated. @Override public void render() { float deltaTime = Gdx.graphics.getDeltaTime(); Update(deltaTime); Render(deltaTime); } const int TICKS_PER_SECOND = 50; const int SKIP_TICKS = 1000 / TICKS_PER_SECOND; const int MAX_FRAMESKIP = 10; DWORD next_game_tick = GetTickCount(); int loops; bool game_is_running = true; while( game_is_running ) { loops = 0; while( GetTickCount() > next_game_tick && loops < MAX_FRAMESKIP) { update_game(); next_game_tick += SKIP_TICKS; loops++; } display_game(); }

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  • Unreal 3 Editor (Unreal Tournament 3) Lifting vehicles (and spawners) using InterActors, strange collisions causing flying vehicles

    - by Gareth Jones
    Making a VCTF map with the Unreal Tournament 3 Editor, and thus have vehicles in it. Currently I have 2 walkways next to each other (Big enough for a vehicle). One of them (A InterActor) drops down, and a grate covers the hole until the vehicle respawns. Once its respawned the InterActor Walkway lifts the vehicle up (and the grate pulls back). However what I'm finding is that the vehicle seems to collide with something when it gets near the top. (Looks something like this: ----_ where _ is the moving InterActor and - is a walkway) I created a new map to test this, and found it seems the front of the scorpion collides with the walkway in front of it, however I don't know why, it physically (in terms of how it looks in game) does not touch the walkway in front of it, but its actions look like it has. Im using InterActors, and a vehicle spawner, looking like so How do I stop this from happening? Right now everything is perfect, except the vehicle keeps flying away every time its lifted up, likes it been forced in between the "lift" and another object!

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  • How does Minecraft render its sunset and sky?

    - by Nick
    In Minecraft, the sunset looks really beautiful and I've always wanted to know how they do it. Do they use several skyboxes rendered over eachother? That is, one for the sky (which can turn dark and light depending on the time of the day), one for the sun and moon, and one for the orange horizon effect? I was hoping someone could enlighten me... I wish I could enter wireframe or something like that but as far as I know that is not possible.

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  • Any technical references for game-oriented icons and symbols?

    - by willc2
    To make localizing easier, I'm using icons to show in-game information like achievements and bonuses. Coming up with good designs isn't easy, especially when it has to be integrated into the rest of the game's art style. Can I do better than looking at some random selection of existing games? Are there any reference books or sites that cover game graphics specifically? I'm looking for more theory and best-practices rather than pre-made graphics.

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  • How to export Oracle statistics

    - by A_M
    Hi, I am writing some new SQL queries and want to check the query plans that the Oracle query optimiser would come up with in production. My development database doesn't have anything like the data volumes of the production database. How can I export database statistics from a production database and re-import them into a development database? I don't have access to the production database, so I can't simply generate explain plans on production without going through a third party hosting organisation. This is painful. So I want a local database which is in some way representative of production on which I can try out different things. Also, this is for a legacy application. I'd like to "improve" the schema, by adding appropriate indexes. constraints, etc. I need to do this in my development database first, before rolling out to test and production. If I add an index and re-generate statistics in development, then the statistics will be generated around the development data volumes, which makes it difficult to assess the impact my changes on production. Does anyone have any tips on how to deal with this? Or is it just a case of fixing unexpected behaviour once we've discovered it on production? I do have a staging database with production volumes, but again I have to go through a third party to run queries against this, which is painful. So I'm looking for ways to cut out the middle man as much as possible. All this is using Oracle 9i. Thanks.

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  • Procedural Planets, Heightmaps and Textures

    - by henryprescott
    I am currently working on an OpenGL procedural planet generator. I hope to use it for a space RPG, that will not allow players to go down to the surface of a planet so I have ignored anything ROAM related. At the moment I am drawing a cube with VBOs and mapping onto a sphere. I am familiar with most fractal heightmap generating techniques and have already implemented my own version of midpoint displacement (not that useful in this case I know). My question is, what is the best way to procedurally generate the heightmap. I have looked at libnoise which allows me to make tilable heightmaps/textures, but as far as I can see I would need to generate a net like this. Leaving the tiling obvious. Could anyone advise me on the best route to take? Any input would be much appreciated.

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  • Problem with a* implementation in pygame

    - by piyush3dxyz
    Yesterday i decide to make RTS game in pygame(pygame is best).I figured out many components of RTS game like unit selecting,health,resources but only 1 thing i still not understand.. which is a* pathfinding in pygame... I also done little bit of research on wiki,articles and papers...but still cant figure out problem.... function A*(start,goal) closedset := the empty set // The set of nodes already evaluated. openset := {start} // The set of tentative nodes to be evaluated, initially containing the start node came_from := the empty map // The map of navigated nodes. g_score[start] := 0 // Cost from start along best known path. // Estimated total cost from start to goal through y. f_score[start] := g_score[start] + heuristic_cost_estimate(start, goal) while openset is not empty current := the node in openset having the lowest f_score[] value if current = goal return reconstruct_path(came_from, goal) remove current from openset add current to closedset for each neighbor in neighbor_nodes(current) if neighbor in closedset continue tentative_g_score := g_score[current] + dist_between(current,neighbor) if neighbor not in openset or tentative_g_score <= g_score[neighbor] came_from[neighbor] := current g_score[neighbor] := tentative_g_score f_score[neighbor] := g_score[neighbor] + heuristic_cost_estimate(neighbor, goal) if neighbor not in openset add neighbor to openset return failure here is the pseudocode for wiki a* implementation......

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