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• PhysX Capsule Character Controller floating above ground

  - by Jannie

  I am using PhysX Version 3.0.2 in the simulation package I'm working on, and I've encountered some bizarre behavior with the capsule character controller. When I set the controller's height and radius to the appropriate values (r = 0.25, h = 1.86)it behaves correctly (moving along the ground, colliding with other objects, and so on) except that the capsule itself is floating above the ground. The actor will then bump his head when trying to get through a door, since the capsule is the correct height but also floating above the ground. This image should illustrate what I'm going on about: One can clearly see that the rest of the scene has their collision bodies wrapped correctly, it's just the capsule that's going wrong! The stop-gap I've implemented is creating a smaller capsule and giving it an offset, but I need to implement ray-picking for the controller next so the capsule has to surround the character model properly. Here's my character creation code (with height = 1.86f and radius = 0.25f): NxController* D3DPhysXManager::CreateCharacterController( std::string l_stdsControllerName, float l_fHeight, float l_fRadius, D3DXVECTOR3 l_v3Position ) { NxCapsuleControllerDesc l_CapsuleControllerDescription; l_CapsuleControllerDescription.height = l_fHeight; l_CapsuleControllerDescription.radius = l_fRadius; l_CapsuleControllerDescription.position.set( l_v3Position.x, l_v3Position.y, l_v3Position.z ); l_CapsuleControllerDescription.callback = &this->m_ControllerHitReport; NxController* l_pController = this->m_pControllerManager->createController( this->m_pScene, l_CapsuleControllerDescription ); this->m_pControllerMap.insert( l_ControllerValuePair( l_stdsControllerName, l_pController ) ); return l_pController; } Any help at all would be appreciated, I just can't figure this one out! P.S. I've found a couple of (rather old) threads describing the same issue, but it seems they couldn't find a solution either. Here are the links: http://forum-archive.developer.nvidia.com/index.php?showtopic=6409 http://forum-archive.developer.nvidia.com/index.php?showtopic=3272 http://www.ogre3d.org/addonforums/viewtopic.php?f=8&t=23003

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• How exactly to implement multiple threads in a game

  - by xerwin

  So I recently started learning Java, and having a interest in playing games as well as developing them, naturally I want to create game in Java. I have experience with games in C# and C++ but all of them were single-threaded simple games. But now, I learned how easy it is to make threads in Java, I want to take things to the next level. I started thinking about how would I actually implement threading in a game. I read couple of articles that say the same thing "Usually you have thread for rendering, for updating game logic, for AI, ..." but I haven't (or didn't look hard enough) found example of implementation. My idea how to make implementation is something like this (example for AI) public class AIThread implements Runnable{ private List<AI> ai; private Player player; /*...*/ public void run() { for (int i = 0; i < ai.size(); i++){ ai.get(i).update(player); } Thread.sleep(/* sleep until the next game "tick" */); } } I think this could work. If I also had a rendering and updating thread list of AI in both those threads, since I need to draw the AI and I need to calculate the logic between player and AI(But that could be moved to AIThread, but as an example) . Coming from C++ I'm used to do thing elegantly and efficiently, and this seems like neither of those. So what would be the correct way to handle this? Should I just keep multiple copies of resources in each thread or should I have the resources on one spot, declared with synchronized keyword? I'm afraid that could cause deadlocks, but I'm not yet qualified enough to know when a code will produce deadlock.

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• Algorithm to simplify building/structural meshes

  - by morpheus

  I am looking for an algorithm to simplify the meshes of buildings or similar structures. EDIT: I had made a comment that Hoppe's algorithm tends to make meshes more and more spherical with simplification. But, I am not sure about it, so am deleting the comment. Buildings in contrast should tend to become more and more rectangular with increasing simplification. The D3DX extensions for D3D in version 9.0 (d3dx9.lib) used to have classes to do progressive mesh simplification. See: http://doc.51windows.net/Directx9_SDK/?url=/directx9_sdk/graphics/reference/d3dx/functions/mesh/d3dxgeneratepmesh.htm http://msdn.microsoft.com/en-us/library/windows/desktop/bb281243(v=vs.85).aspx

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• Using NumPy arrays as 2D mathematical vectors?

  - by CorundumGames

  Right now I'm using lists as position, velocity, and acceleration vectors in my game. Is that a better option than using NumPy's arrays (not the standard library's) as vectors (with float data types)? I'm frequently adding vectors and changing their values directly, then placing the values in these vectors into a Pygame Rect. The vector is used for position (because Rects can't hold floats, so we can't go "between" pixels), and the Rect is used for rendering (because Pygame will only take in Rects for rendering positions).

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• Can I use copyrighted images and music in my game? [duplicate]

  - by Aman Grover

  This question already has an answer here: Using modified copyrighted music in non-commercial games 3 answers I am working on my first ever project , and I have used some copyrighted images(images taken from some other well recognized games). Is it even possible that I edit the images a little bit and then use them as royalty free images? If not, then can anyone tell me some web links from where I can get royalty free images?

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• Design: How to model / where to store relational data between classes

  - by Walker

  I'm trying to figure out the best design here, and I can see multiple approaches, but none that seems "right." There are three relevant classes here: Base, TradingPost, and Resource. Each Base has a TradingPost which can offer various Resources depending on the Base's tech level. Where is the right place to store the minimum tech level a base must possess to offer any given resource? A database seems like overkill. Putting it in each subclass of Resource seems wrong--that's not an intrinsic property of the Resource. Do I have a mediating class, and if so, how does it work? It's important that I not be duplicating code; that I have one place where I set the required tech level for a given item. Essentially, where does this data belong? P.S. Feel free to change the title; I struggled to come up with one that fits.

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• Splitting a tetris game apart - where to put time-management?

  - by nightcracker

  I am creating a tetris game in C++ & SDL, and I'm trying to do it "good" by making it object-oriented and keeping scopes small. So far I have the following structure: A main with some lowlevel SDL set up and handling input A game class that keeps track of score and provides the interface for main (move block down, etc) A map class that keeps track of the current game field, which blocks are where. Used by the game class. A block class that consists of the current falling block, used by game. A renderer class abstracting low level SDL to a format where you render "tetris blocks". Used by map and block. Now I have a though time where to place the time-management of this game. For example, where should be decided when a block bumps the bottom of the screen how long it takes the current block locks in place and a new block spawns? I also have an other unrelated question, is there some place where you can find some standard data on tetris like standard score tables, rulesets, timings, etc?

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• Better way to go up/down slope based on yaw?

  - by CyanPrime

  Alright, so I got a bit of movement code and I'm thinking I'm going to need to manually input when to go up/down a slope. All I got to work with is the slope's normal, and vector, and My current and previous position, and my yaw. Is there a better way to rotate whether I go up or down the slope based on my yaw? Vector3f move = new Vector3f(0,0,0); move.x = (float)-Math.toDegrees(Math.cos(Math.toRadians(yaw))); move.z = (float)-Math.toDegrees(Math.sin(Math.toRadians(yaw))); move.normalise(); if(move.z < 0 && slopeNormal.z > 0 || move.z > 0 && slopeNormal.z < 0){ if(move.x < 0 && slopeNormal.x > 0 || move.x > 0 && slopeNormal.x < 0){ move.y += slopeVec.y; } } if(move.z > 0 && slopeNormal.z > 0 || move.z < 0 && slopeNormal.z < 0){ if(move.x > 0 && slopeNormal.x > 0 || move.x < 0 && slopeNormal.x < 0){ move.y -= slopeVec.y; } } move.scale(movementSpeed * delta); Vector3f.add(pos, move, pos);

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• Whats a good way to do Collision with 2D Rectangles? can someone give me a tip?

  - by Javier

  using System; using System.Collections.Generic; using System.Linq; using System.Text; using Microsoft.Xna.Framework; namespace BreakOut { class Field { public static Field generateField() { List<Block> blocks = new List<Block>(); for (int j = 0; j < BlockType.BLOCK_TYPES.Length; j++) for (int i = 0; i < (Game1.WIDTH / Block.WIDTH); i++) { Block b = new Block(BlockType.BLOCK_TYPES[j], new Vector2(i * Block.WIDTH, (Block.HEIGHT + 2) * j + 5)); blocks.Add(b); } return new Field(blocks); } List<Block> blocks; public Field(List<Block> blocks) { this.blocks = blocks; } public void Update(GameTime gameTime, Ball b) { List<Block> removals = new List<Block>(); foreach (Block o in blocks) { if (o.BoundingBox.Intersects(new Rectangle((int)b.pos.X, (int)b.pos.Y, Ball.WIDTH, Ball.HEIGHT))) //collision with blocks { removals.Add(o); } } foreach(Block o in removals) blocks.Remove(o); //removes the blocks, but i need help hitting one at a time } public void Draw(GameTime gameTime) { foreach (Block b in blocks) b.Draw(gameTime); } } } My problem is that My collision in this sucks. I'm trying to add collision with a ball and hitting against a block and then one of the blocks dissapear. The problem i'm having is: When the ball hits the block, it removes it all in one instance. Please people don't be mean and say mean answers to me, im just in highschool, still a nooby and trying to learn more c#/XNA..

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• 2D Polygon Triangulation

  - by BleedObsidian

  I am creating a game engine using the JBox2D physics engine. It only allows you to create polygon fixtures up to 8 vertices, To create a body with more than 8 vertices, you need to create multiple fixtures for the body. My question is, How can I split the polygons a user creates into smaller polygons for JBox2D? Also, what topology should I use when splitting the polygons and why? (If JBox2D can have up to 8 vertices, why not split polygons into 8 per polygon)

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• Which physics phenomenons can be simulated properly with Box2d or bullet physics? [on hold]

  - by user3585425

  Knowing that box2d or bullet physics can't simulate Newton's cradle (because of multiple bodies being in contact at the same time if I understand correctly), is there a sets of physics phenomenons that imply two or more objects that still can be simulated properly ? For example, I'm thinking about lightweight objects launched towards heavyweight objects. If the object is destroyed on contact, this would not make a difference if the energy is not transmitted correctly on impact.

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• Rotation matrix for a 3D vector

  - by Shashwat

  I have a direction vector on which I have to apply some rotation to align it to positive z-axis. To use Matrix.CreateRotationX(angle) of XNA, I need the angle for which I'd have to compute cos or tan inverse. I think this is a complex task to do. Also, eventually those are also converted to sin(angle) and cos(angle) in the matrix. Is there any inbuilt way to create rotation matrix from a 3D vector? However, I can write the function but still asking if there is one already there.

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• How to avoid circular dependencies between Player and World?

  - by futlib

  I'm working on a 2D game where you can move up, down, left and right. I have essentially two game logic objects: Player: Has a position relative to the world World: Draws the map and the player So far, World depends on Player (i.e. has a reference to it), needing its position to figure out where to draw the player character, and which portion of the map to draw. Now I want to add collision detection to make it impossible for the player to move through walls. The simplest way I can think of is to have the Player ask the World if the intended movement is possible. But that would introduce a circular dependency between Player and World (i.e. each holds a reference to the other), which seems worth avoiding. The only way I came up with is to have the World move the Player, but I find that somewhat unintuitive. What is my best option? Or is avoiding a circular dependency not worth it?

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• How could I implement 3D player collision with rotation in LWJGL?

  - by Tinfoilboy

  I have a problem with my current collision implementation. Currently for player collision, I just use an AABB where I check if another AABB is in the way of the player, as shown in this code. (The code below is a sample of checking for collisions in the Z axis) for (int z = (int) (this.position.getZ()); z > this.position.getZ() - moveSpeed - boundingBoxDepth; z--) { // The maximum Z you can get. int maxZ = (int) (this.position.getZ() - moveSpeed - boundingBoxDepth) + 1; AxisAlignedBoundingBox aabb = WarmupWeekend.getInstance().currentLevel.getAxisAlignedBoundingBoxAt(new Vector3f(this.position.getX(), this.position.getY(), z)); AxisAlignedBoundingBox potentialCameraBB = new AxisAlignedBoundingBox(this, "collider", new Vector3f(this.position.getX(), this.position.getY(), z), boundingBoxWidth, boundingBoxHeight, boundingBoxDepth); if (aabb != null) { if (potentialCameraBB.colliding(aabb) && aabb.COLLIDER_TYPE.equalsIgnoreCase("collider")) { break; } else if (!potentialCameraBB.colliding(aabb) && z == maxZ) { if (this.grounded) { playFootstep(); } this.position.z -= moveSpeed; break; } } else if (z == maxZ) { if (this.grounded) { playFootstep(); } this.position.z -= moveSpeed; break; } } Now, when I tried to implement rotation to this method, everything broke. I'm wondering how I could implement rotation to this block (and as all other checks in each axis are the same) and others. Thanks in advance.

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• Should developers make their games easier with new versions?

  - by Gil Kalai

  It seems that the game Angry Birds is becoming gradually easier with new versions. Maybe so people get the illusion of progress and satisfaction of breaking new records? I would like to know if gradual small modifications of games to enhance the sense of improvement and learning by users is known/common/standard practice in game developing. (I don't mean to say that there is anything wrong with such a practice.)

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• C++ and SDL Trouble Creating a STL Vector of a Game Object

  - by Jackson Blades

  I am trying to create a Space Invaders clone using C++ and SDL. The problem I am having is in trying to create Waves of Enemies. I am trying to model this by making my Waves a vector of 8 Enemy objects. My Enemy constructor takes two arguments, an x and y offset. My Wave constructor also takes two arguments, an x and y offset. What I am trying to do is have my Wave constructor initialize a vector of Enemies, and have each enemy given a different x offset so that they are spaced out appropriately. Enemy::Enemy(int x, int y) { box.x = x; box.y = y; box.w = ENEMY_WIDTH; box.h = ENEMY_HEIGHT; xVel = ENEMY_WIDTH / 2; } Wave::Wave(int x, int y) { box.x = x; box.y = y; box.w = WAVE_WIDTH; box.y = WAVE_HEIGHT; xVel = (-1)*ENEMY_WIDTH; yVel = 0; std::vector<Enemy> enemyWave; for (int i = 0; i < enemyWave.size(); i++) { Enemy temp(box.x + ((ENEMY_WIDTH + 16) * i), box.y); enemyWave.push_back(temp); } } I guess what I am asking is if there is a cleaner, more elegant way to do this sort of initialization with vectors, or if this is right at all. Any help is greatly appreciated.

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• How can I make a 32 bit render target with a 16 bit alpha channel in DirectX?

  - by J Junker

  I want to create a render target that is 32-bit, with 16 bits each for alpha and luminance. The closest surface formats I can find in the DirectX SDK are: D3DFMT_A8L8 // 16-bit using 8 bits each for alpha and luminance. D3DFMT_G16R16F // 32-bit float format using 16 bits for the red channel and 16 bits for the green channel. But I don't think either of these will work, since D3DFMT_A8L8 doesn't have the precision and D3DFMT_G16R16F doesn't have an alpha channel (I need a separate blend state for alpha). How can I create a render target that allows a separate blend state for luminance and alpha, with 16 bit precision on each channel, that doesn't exceed 32 bits per pixel?

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• how to keep display tick rate steady when using continuous collision detection?

  - by nas Ns

  (I've just found about this forum). I hope it is ok to repost my question again here. I posted this question at stackoverflow, but it looks like I might get better help here. Here is the question: I've implemented basic particles motion simulation with continuous collision detection. But there is small issue in display. Assume simple case of circles moving inside square. All elastic collisions. no firction. All motion is constant speed. No forces are involved, no gravity. So when a particle is moving, it is always moving at constant speed (in between collisions) What I do now is this: Let the simulation time step be 1 second (for example). This is the time step simulation is advanced before displaying the new state (unless there is a collision sooner than this). At start of each time step, time for the next collision between any particles or a particle with a wall is determined. Call this the TOC time; let’s say TOC was .5 seconds in this case. Since TOC is smaller than the standard time step, then the system is moved by TOC and the new system is displayed so that the new display shows any collisions as just taking place (say 2 circles just touched each other’s, or a circle just touched a wall) Next, the collision(s) are resolved (i.e. speeds updated, changed directions etc..). A new step is started. The same thing happens. Now assume there is no collision detected within the next 1 second (those 2 circles above will not be in collision any more, even though they are still touching, due to their speeds showing they are moving apart now), Hence, simulation time is advanced now by the full one second, the standard time step, and particles are moved on the screen using 1 second simulation time and new display is shown. You see what has just happened: One frame ran for .5 seconds, but the next frame runs for 1 second, may be the 3rd frame is displayed after 2 seconds, may be the 4th frame is displayed after 2.8 seconds (because TOC was .8 seconds then) and so on. What happens is that the motion of a particle on the screen appears to speed up or slow down, even though it is moving at constant speed and was not even involved in a collision. i.e. Looking at one particle on its own, I see it suddenly speeding up or slowing down, becuase another particle had hit a wall. This is because the display tick is not uniform. i.e. the frame rate update is changing, giving the false illusion that a particle is moving at non-constant speed while in fact it is moving at constant speed. The motion on the screen is not smooth, since the screen is not updating at constant rate. I am not able to figure how to fix this. If I want to show 2 particles at the moment of the collision, I must draw the screen at different times. Drawing the screen always at the same tick interval, results in seeing 2 particles before the collision, and then after the collision, and not just when they colliding, which looked bad when I tried it. So, how do real games handle this issue? How to display things in order to show collisions when it happen, yet keep the display tick constant? These 2 requirements seem to contradict each other’s.

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• The most efficent ways for drawing lines all day long with OpenGL

  - by nkint

  I'd like to put a computer screen that is running an OpenGL programs in a room. It has to run all day long (not in the night). I'd like to draw lines that are slowly fading in the background. The setting is simple: a uniform color background (say, black) and colored lines (say, white) that are slowly fading out. With slowly I mean.. hours. Say that the first line I draw is with alpha 255 (fully visible), after one hours is 240. After 10 hours is 105. One line could have 250 points and there will be like 300 line in one day. For now I have done a prototype with very rudimentary method like: glBegin( GL_LINE_STRIP ); iterator = point_list.begin(); for (++iterator, end = point_list.end(); iterator != end; ++iterator) { const Vec3D &v = *iterator; glVertex2f(v.x(), v.y()); } glEnd(); More efficient method?

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• Selection of a mesh with arbitrary region

  - by Tigran

  Considering example: I have a mesh(es) on the OpenGL screen and would like to select a part of it (say for delete purpose). There is a clear way to do the selction via Ray Tracing, or via Selection provided by OpenGL itself. But, for my users, considering that meshes can get wired surfaces, I need to implement a selection via a Arbitrary closed region, so all triangles that appears present inside that region has to be selected. To be more clear, here is screen shot: I want all triangles inside black polygon to be selected, identified, whatever in some way. How can I achieve that ?

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• Locomotion-system with irregular IK

  - by htaunay

  Im having some trouble with locomtions (Unity3D asset) IK feet placement. I wouldn't call it "very bad", but it definitely isn't as smooth as the Locomotion System Examples. The strangest behavior (that is probably linked to the problem) are the rendered foot markers that "guess" where the characters next step will be. In the demo, they are smooth and stable. However, in my project, they keep flickering, as if Locomotion changed its "guess" every frame, and sometimes, the automatic defined step is too close to the previous step, or sometimes, too distant, creating a very irregular pattern. The configuration is (apparently)Identical to the human example in the demo, so I guessing the problem is my model and/or animation. Problem is, I can't figure out was it is =S Has anyone experienced the same problem? I uploaded a video of the bug to help interpreting the issue (excuse the HORRIBLE quality, I was in a hurry).

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• How do I implement a selectable world map?

  - by Clay

  I want to have a selectable map of the world, preferably zoomable, in a cocos2d project. When I tap on a country, I want that country to be selected so that I can perform some other operations with it. It seems that the best approach would be to use a vector world map, but I'm unsure how to implement this with cocos2d. Other options include using map tiles, but it seems that still would require the implementation of country polygons for tap/click detection. Depending on user input, I want to add icons to various countries on the map. What is a good way to approach the implementation of this type of map?

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• Ouya / Android : button mapping biwise

  - by scorvi

  I am programming a game with the Gameplay3d Engine. But the Android site has no gamepad support and that is what I need to port my game to Ouya. So I implemented a simple gamepad support and it supports 2 gamepads. So my problem is that I put the button stats in a float array for every gamepad. But the Gameplay3d engine saves their stats in a unsigned int _buttons variable. It is set with bitwise operations and I have no clue how to translate my array to this.

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• How can I access bitmaps created in another activity?

  - by user22241

  I am currently loading my game bitmaps when the user presses 'start' in my animated splash screen activity (the first / launch activity) and the app progresses from my this activity to the main game activity, This is causing choppy animation in the splashscreen while it loads/creates the bitmaps for the new activity. I've been told that I should load all my bitmaps in one go at the very beginning. However, I can't work out how to do this - could anyone please point me in the right direction? I have 2 activities, a splash screen and the main game. Each consist of a class that extends activity and a class that extends SurfaceView (with an inner class for the rendering / logic updating). So, for example at the moment I am creating my bitmaps in the constructor of my SurfaceView class like so: public class OptionsScreen extends SurfaceView implements SurfaceHolder.Callback { //Create variables here public OptionsScreen(Context context) { Create bitmaps here } public void intialise(){ //This method is called from onCreate() of corresponding application context // Create scaled bitmaps here (from bitmaps previously created) }

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• How do I make A* check all diagonal and orthogonal directions?

  - by Munezane

  I'm making a turn-based tactical game and I'm trying to implement the A* algorithm. I've been following a tutorial and got to this point, but my characters can't move diagonally up and left. Can anyone help me with this? The return x and y are int pointers which the characters are using to move towards the target. void level::aStar(int startx, int starty, int targetx, int targety, int* returnx, int* returny) { aStarGridSquare* currentSquare = new aStarGridSquare(); aStarGridSquare* startSquare = new aStarGridSquare(); aStarGridSquare* targetSquare = new aStarGridSquare(); aStarGridSquare* adjacentSquare = new aStarGridSquare(); aStarOpenList.clear(); for(unsigned int i=0; i<aStarGridSquareList.size(); i++) { aStarGridSquareList[i]->open=false; aStarGridSquareList[i]->closed=false; } startSquare=getaStarGridSquare(startx, starty); targetSquare=getaStarGridSquare(targetx, targety); if(startSquare==targetSquare) { *returnx=startx; *returny=starty; return; } startSquare->CostFromStart=0; startSquare->CostToTraverse=0; startSquare->parent = NULL; currentSquare=startSquare; aStarOpenList.push_back(currentSquare); while(currentSquare!=targetSquare && aStarOpenList.size()>0) { //unsigned int totalCostEstimate=aStarOpenList[0]->TotalCostEstimate; //currentSquare=aStarOpenList[0]; for(unsigned int i=0; i<aStarOpenList.size(); i++) { if(aStarOpenList.size()>1) { for(unsigned int j=1; j<aStarOpenList.size()-1; j++) { if(aStarOpenList[i]->TotalCostEstimate<aStarOpenList[j]->TotalCostEstimate) { currentSquare=aStarOpenList[i]; } else { currentSquare=aStarOpenList[j]; } } } else { currentSquare = aStarOpenList[i]; } } currentSquare->closed=true; currentSquare->open=false; for(unsigned int i=0; i<aStarOpenList.size(); i++) { if(aStarOpenList[i]==currentSquare) { aStarOpenList.erase(aStarOpenList.begin()+i); } } for(unsigned int i = currentSquare->blocky - 32; i <= currentSquare->blocky + 32; i+=32) { for(unsigned int j = currentSquare->blockx - 32; j<= currentSquare->blockx + 32; j+=32) { adjacentSquare=getaStarGridSquare(j/32, i/32); if(adjacentSquare!=NULL) { if(adjacentSquare->blocked==false && adjacentSquare->closed==false) { if(adjacentSquare->open==false) { adjacentSquare->parent=currentSquare; if(currentSquare->parent!=NULL) { currentSquare->CostFromStart = currentSquare->parent->CostFromStart + currentSquare->CostToTraverse + startSquare->CostFromStart; } else { currentSquare->CostFromStart=0; } adjacentSquare->CostFromStart =currentSquare->CostFromStart + adjacentSquare->CostToTraverse;// adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; //currentSquare->CostToEndEstimate = abs(currentSquare->blockx - targetSquare->blockx) + abs(currentSquare->blocky - targetSquare->blocky); //currentSquare->TotalCostEstimate = currentSquare->CostFromStart + currentSquare->CostToEndEstimate; adjacentSquare->open = true; adjacentSquare->CostToEndEstimate=abs(adjacentSquare->blockx- targetSquare->blockx) + abs(adjacentSquare->blocky-targetSquare->blocky); adjacentSquare->TotalCostEstimate = adjacentSquare->CostFromStart+adjacentSquare->CostToEndEstimate; //adjacentSquare->open=true;*/ aStarOpenList.push_back(adjacentSquare); } else { if(adjacentSquare->parent->CostFromStart > currentSquare->CostFromStart) { adjacentSquare->parent=currentSquare; if(currentSquare->parent!=NULL) { currentSquare->CostFromStart = currentSquare->parent->CostFromStart + currentSquare->CostToTraverse + startSquare->CostFromStart; } else { currentSquare->CostFromStart=0; } adjacentSquare->CostFromStart =currentSquare->CostFromStart + adjacentSquare->CostToTraverse;// adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; //currentSquare->CostToEndEstimate = abs(currentSquare->blockx - targetSquare->blockx) + abs(currentSquare->blocky - targetSquare->blocky); //currentSquare->TotalCostEstimate = currentSquare->CostFromStart + currentSquare->CostToEndEstimate; adjacentSquare->CostFromStart = adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; adjacentSquare->CostToEndEstimate=abs(adjacentSquare->blockx - targetSquare->blockx) + abs(adjacentSquare->blocky - targetSquare->blocky); adjacentSquare->TotalCostEstimate = adjacentSquare->CostFromStart+adjacentSquare->CostToEndEstimate; } } } } } } } if(aStarOpenList.size()==0)//if empty { *returnx =startx; *returny =starty; return; } else { for(unsigned int i=0; i< aStarOpenList.size(); i++) { if(currentSquare->parent==NULL) { //int tempX = targetSquare->blockx; //int tempY = targetSquare->blocky; *returnx=targetSquare->blockx; *returny=targetSquare->blocky; break; } else { currentSquare=currentSquare->parent; } } } }

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