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  • What should a game have in order to keep humans playing it?

    - by Adam Davis
    In many entertainment professions there suggestions, loose rules, or general frameworks one follows that appeal to humans in one way or another. For instance, many movies and books follow the monomyth. In video games I find many types of games that attract people in different ways. Some are addicted to facebook gem matching games. Others can't get enough of FPS games. Once in awhile, though, you find a game that seems to transcend stereotypes and appeals almost immediately to everyone that plays it. For instance, Plants Versus Zombies seems to have a very, very large demographic of players. There are other games similar in reach. I'm curious what books, blogs, etc there are that explore these game types and styles, and tries to suss out one or more popular frameworks/styles that satisfy people, while keeping them coming back for more.

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  • Bad texture on model with different GPU

    - by Pacha
    I have some kind of distortion on the texture of my 3D model. It works perfectly well on an AMD GPU, but when testing on a integrated Intel HD graphics card it has a weird issue. I don't have a problem with the rest of my entities as they are not scaled. The models with the problems are scaled, as my engine supports different sizes for the platforms. I am using Ogre3D as rendering engine, and GLSL as shader language. Vertex shader: #version 120 varying vec2 UV; void main() { UV = gl_MultiTexCoord0; gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; } Fragment shader: #version 120 varying vec2 UV; uniform sampler2D diffuseMap; void main(void) { gl_FragColor = texture(diffuseMap, UV); } Screenshot (the error is on the right and left side, the top and bottom part are rendered perfectly well):

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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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  • 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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  • 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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  • Check if an object is facing another based on angles

    - by Isaiah
    I already have something that calculates the bearing angle to get one object to face another. You give it the positions and it returns the angle to get one to face the other. Now I need to figure out how tell if on object is facing toward another object within a specified field and I can't find any information about how to do this. The objects are obj1 and obj2. Their angles are at obj1.angle and obj2.angle. Their vectors are at obj1.pos and obj2.pos. It's in the format [x,y]. The angle to have one face directly at another is found with direction(obj1.pos,obj2.pos). I want to set the function up like this: isfacing(obj1,obj2,area){...} and return true/false depending if it's in the specified field area to the angle to directly see it. I've got a base like this: var isfacing = function (obj1,obj2,area){ var toface = direction(obj1.pos,obj2.pos); if(toface+area >= obj1.angle && ob1.angle >= toface-area){ return true; } return false; } But my problem is that the angles are in 360 degrees, never above 360 and never below 0. How can I account for that in this? If the first object's angle is say at 0 and say I subtract a field area of 20 or so. It'll check if it's less than -20! If I fix the -20 it becomes 340 but x < 340 isn't what I want, I'd have to x 340 in that case. Is there someone out there with more sleep than I that can help a new dev pulling an all-nighter just to get enemies to know if they're attacking in the right direction? I hope I'm making this harder than it seems. I'd just make them always face the main char if the producer didn't want attacks from behind to work while blocking. In which case I'll need the function above anyways. I've tried to give as much info as I can think would help. Also this is in 2d.

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  • How can I pass an external instance to the constructor of an object that's being created using the default XNA XML content loader?

    - by Michael
    I'm trying to understand how to use the XNA XML content importer to instantiate non-trivial objects that are more than a collection of basic properties (e.g., a class that inherits from DrawableGameObject or GameObject and requires other things to be passed into its constructor). Is it possible to pass existing external instances (e.g., an instance of the current Game) to the constructor of an object that's being created using the default XNA XML content loader? For example, imagine that I have the following class, inheriting from DrawableGameComponent: public class Character : DrawableGameComponent { public string Name { get; set; } public Character(Game game) : base(game) { } public override void Update(GameTime gameTime) { } public override void Draw(GameTime gameTime) { } } If I had a simple class that did not need other parameters in its constructor (i.e., the Game instance), then I could simply use this XML: <XnaContent> <Asset Type="MyNamespace.Character"> <Name>John Doe</Name> </Asset> </XnaContent> ...and then create an instance of Character using this code: var character = Content.Load<Character>("MyXmlAssetName"); But that won't work because I need to pass the need to pass the Game into the constructor. What's the best way to handle this situation? Is there a way to pass in things like the current Game using the default XNA XML content loader? Do I need to write my own XML loader? (If so, how?) Is there a better object-oriented design that I should be using for my classes? Note: Although I used Game in this example, I'm really just asking how to pass any type of existing instance to my constructors. (For example, I'm using the Farseer Physics Engine, and some of my classes also need a reference to the Farseer World object too.) Thanks in advance.

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  • Entity system in Lua, communication with C++ and level editor. Need advice.

    - by Notbad
    Hi!, I know this is a really difficult subject. I have been reading a lot this days about Entity systems, etc... And now I'm ready to ask some questions (if you don't mind answering them) because I'm really messed. First of all, I have a 2D basic editor written in Qt, and I'm in the process of adding entitiy edition. I want the editor to be able to receive RTTI information from entities to change properties, create some logic being able to link published events to published actions (Ex:A level activate event throws a door open action), etc... Because all of this I guess my entity system should be written in scripting, in my case Lua. In the other hand I want to use a component based design for my entities, and here starts my questions: 1) Should I define my componentes en C++? If I do this en C++ won't I loose all the RTTI information I want for my editor?. In the other hand, I use box2d for physics, if I define all my components in script won't it be a lot of work to expose third party libs to lua? 2) Where should I place the messa system for my game engine? Lua? C++?. I'm tempted to just have C++ object to behave as servers, offering services to lua business logic. Things like physics system, rendering system, input system, World class, etc... And for all the other things, lua. Creation/Composition of entities based on components, game logic, etc... Could anyone give any insight on how to accomplish this? And what aproach is better?. Thanks in advance, HexDump.

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  • Mobile Multiplayer games and coping with high latency

    - by spaceOwl
    I'm currently researching regarding a design for an online (realtime) mobile multiplayer game. As such, i'm taking into consideration that latencies (lag) is going to be high (perhaps higher than PC/consoles). I'd like to know if there are ways to overcome this or minimize the issues of high latency? The model i'll be using is peer-to-peer (using Photon cloud to broadcast messages to all other players). How do i deal with a scenario where a message about a local object's state at time t will only get to other players at *t + HUGE_LAG* ?

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  • Managing text-maps in a 2D array on to be painted on HTML5 Canvas

    - by weka
    So, I'm making a HTML5 RPG just for fun. The map is a <canvas> (512px width, 352px height | 16 tiles across, 11 tiles top to bottom). I want to know if there's a more efficient way to paint the <canvas>. Here's how I have it right now. How tiles are loaded and painted on map The map is being painted by tiles (32x32) using the Image() piece. The image files are loaded through a simple for loop and put into an array called tiles[] to be PAINTED on using drawImage(). First, we load the tiles... and here's how it's being done: // SET UP THE & DRAW THE MAP TILES tiles = []; var loadedImagesCount = 0; for (x = 0; x <= NUM_OF_TILES; x++) { var imageObj = new Image(); // new instance for each image imageObj.src = "js/tiles/t" + x + ".png"; imageObj.onload = function () { console.log("Added tile ... " + loadedImagesCount); loadedImagesCount++; if (loadedImagesCount == NUM_OF_TILES) { // Onces all tiles are loaded ... // We paint the map for (y = 0; y <= 15; y++) { for (x = 0; x <= 10; x++) { theX = x * 32; theY = y * 32; context.drawImage(tiles[5], theY, theX, 32, 32); } } } }; tiles.push(imageObj); } Naturally, when a player starts a game it loads the map they last left off. But for here, it an all-grass map. Right now, the maps use 2D arrays. Here's an example map. [[4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 1, 1, 1, 1], [1, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 1, 1, 1, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 1, 13, 13, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 1, 13, 13, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 1, 13, 13, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 1, 1, 1, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 13, 13, 13, 1, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 13, 13, 11, 11, 11, 13, 13, 13, 13, 13, 13, 13, 1], [13, 13, 13, 1, 1, 1, 1, 1, 1, 1, 13, 13, 13, 13, 13, 1], [1, 1, 1, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 1, 1, 1]]; I get different maps using a simple if structure. Once the 2d array above is return, the corresponding number in each array will be painted according to Image() stored inside tile[]. Then drawImage() will occur and paint according to the x and y and times it by 32 to paint on the correct x-y coordinate. How multiple map switching occurs With my game, maps have five things to keep track of: currentID, leftID, rightID, upID, and bottomID. currentID: The current ID of the map you are on. leftID: What ID of currentID to load when you exit on the left of current map. rightID: What ID of currentID to load when you exit on the right of current map. downID: What ID of currentID to load when you exit on the bottom of current map. upID: What ID of currentID to load when you exit on the top of current map. Something to note: If either leftID, rightID, upID, or bottomID are NOT specific, that means they are a 0. That means they cannot leave that side of the map. It is merely an invisible blockade. So, once a person exits a side of the map, depending on where they exited... for example if they exited on the bottom, bottomID will the number of the map to load and thus be painted on the map. Here's a representational .GIF to help you better visualize: As you can see, sooner or later, with many maps I will be dealing with many IDs. And that can possibly get a little confusing and hectic. The obvious pros is that it load 176 tiles at a time, refresh a small 512x352 canvas, and handles one map at time. The con is that the MAP ids, when dealing with many maps, may get confusing at times. My question Is this an efficient way to store maps (given the usage of tiles), or is there a better way to handle maps? I was thinking along the lines of a giant map. The map-size is big and it's all one 2D array. The viewport, however, is still 512x352 pixels. Here's another .gif I made (for this question) to help visualize: Sorry if you cannot understand my English. Please ask anything you have trouble understanding. Hopefully, I made it clear. Thanks.

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  • Efficiently rendering to 3D texture

    - by TravisG
    I have an existing depth texture and some other color textures, and want to process the information in them by rendering to a 3D texture (based on the depth contained in the depth texture, i.e. a point at (x/y) in the depth texture will be rendered to (x/y/texture(depth,uv)) in the 3D texture). Simply doing one manual draw call for each slice of the 3D texture (via glFramebufferTextureLayer) is terribly slow, since I don't know beforehand to what slice of the 3D texture a given texel from one of the color textures or the depth texture belongs. This means the entire process is effectively for each slice for each texel in depth texture process color textures and render to slice So I have to sample the depth texture completely per each slice, and I also have to go through the processing (at least until to discard;) for all texels in it. It would be much faster if I could rearrange the process to for each texel in depth texture figure out what slice it should end up in process color textures and render to slice Is this possible? If so, how? What I'm actually trying to do: the color textures contain lighting information (as seen from light view, it's a reflective shadow map). I want to accumulate that information in the 3D texture and then later use it to light the scene. More specifically I'm trying to implement Cryteks Light Propagation Volumes algorithm.

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  • XNA Drag Gestures - fractional delta values

    - by Den
    I have an issue with objects moving roughly twice as far as expected when dragging them. I am comparing my application to the standard TouchGestureSample sample from MSDN. For some reason in my application gesture samples have fractional positions and deltas. Both are using same Microsoft.Xna.Framework.Input.Touch.dll, v4.0.30319. I am running both apps using standard Windows Phone Emulator. I am setting my break point immediately after this line of code in a simple Update method: GestureSample gesture = TouchPanel.ReadGesture(); Typical values in my app: Delta = {X:-13.56522 Y:4.166667} Position = {X:184.6956 Y:417.7083} Typical values in sample app: Delta = {X:7 Y:16} Position = {X:497 Y:244} Have anyone seen this issue? Does anyone have any suggestions? Thank you.

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  • Calculate vector direction

    - by Starkers
    Is the direction angle always measured from the plus x axis? Does a vector in the +,+ quadrant always have a direction between 0 and 90, and in -,+ between 90 and 180 and in -,- between 180 and 270 and in -,+ between 270 and 360 ? Also, how should we calculate the direction using tan? Would that mean nested if statements to find out what quadrant we're in, and then applying the appropriate "work arounds"? E.g. If we were in the -,+ (like in the diagram) would we find the angle from the + axis would be 90 + tan^-1(y/x), the 90 + only used because we're in the -,+ quadrant. Also, that's just a quick solution, may be off, I just want to know if we use nested if statements to get the angle from the + x axis. Finally, should we find the distance in degrees or radians?

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  • SFML: Monster following player on a straight line

    - by user3504658
    I've searched for this and found a few topics , usually they used a function normalize and using simple vector subtracting which is ok , but how should I do it in sfml ? Instead of using: Movement = p.position() - m.position(); p is the player and m is the monster I used something like this to move on a straight line: sf::Vector2f Tail(0,0); if((mPlayer.getPosition().y - mMonster.GetInstance().getPosition().y) >= (mPlayer.getPosition().x - mMonster.GetInstance().getPosition().x)){ //sf::Vector2f Tail(0,0); Tail.x = mPlayer.getPosition().x - mMonster.GetInstance().getPosition().x; } else if((mPlayer.getPosition().y - mMonster.GetInstance().getPosition().y) <= (mPlayer.getPosition().x - mMonster.GetInstance().getPosition().x)){ //sf::Vector2f Tail(0,0); Tail.y = mPlayer.getPosition().y - mMonster.GetInstance().getPosition().y; } if(!MonsterCollosion()) mMonster.Move(Tail * (TimePerFrame.asSeconds() * 1/2 ) ); It works ok if the the height = the width for the game window, although I think it's not the best looking game when it comes to a moving monster, since it starts fast and then it gets slower so what do you guys advise me to do ?

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  • Heightmap and Textures

    - by Robert
    Im trying to find the "best way" to apply a texture to a heightmap with opengl 3.x. Its really hard to find something on google because tutorials are olds and they're all using different methods, im really lost and i dont know what to use at all. Here is my code that generates the heightmap (its basic) float[] vertexes = null; float[] textureCoords = null; for(int x = 0; x < this.m_size.width; x++) { for(int y = 0; y < this.m_size.height; y++) { vertexes ~= [x, 1.0f, y]; textureCoords ~= [cast(float)x / 50, cast(float)y / 50]; } } As you can see, i dont know how to apply the texture at all (i was using / 50 for my tests). Result of that code : I would like to have something very basic like : (you can find more pics in his blog) Edit : my texture size is 1024x1024.

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  • Cocos2d update leaking memory

    - by Andrey Chernukha
    I have a weird issue - my app is leaking memory on device only, not on a simulator. It is leaking if i schedule update method anywhere, on any scene. It is leaking despite update method is empty, there's nothing inside it except NSLog. How can it be? I have even scheduled update on the very first scene where it seems there's nothing to leak, and scheduled another empty and it's leaking or not leaking but allocating something, the result is the same - the volume of the memory consumed is increasing and my app is crashing soon. I can detect the leakage via using Instruments-Memory-Activity Monitor or with help of following function: void report_memory(void) { struct task_basic_info info; mach_msg_type_number_t size = sizeof(info); kern_return_t kerr = task_info(mach_task_self(), TASK_BASIC_INFO, (task_info_t)&info, &size); if( kerr == KERN_SUCCESS ) { NSLog(@"Memory in use (in bytes): %u", info.resident_size); } else { NSLog(@"Error with task_info(): %s", mach_error_string(kerr)); } } Can anyone explain me what's going on?

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  • How do I apply 2 rotations about different points to a single primitive using OpenGL

    - by Fenoec
    I'm working on a 2D top-down shooter game that has a rotation feature like Realm Of The Mad God such that if you press e the camera rotates around the character in a clockwise direction and q rotates the camera around the character in a counterclockwise direction. I have this working with my floors and walls by translating to the character, doing the screen rotation, and drawing everything with the character as the origin. The problem arises when I shoot projectiles which need to both rotate around the character and rotate around themselves (shooting uses the mouse cursor so I can shoot at any angle). For example, if the screen is not rotated and I'm shooting rectangular projectiles, I want them to face in the direction I'm shooting (rotation around themselves). However if I only do this rotation, when I then rotate the screen the projectiles will always shoot at the same position because my cursor position does not change. Therefore I need to also either rotate the projectiles around the character or rotate the mouse cursor position to get the correct position (which would then totally screw up all of the collision detection). Likewise if I only do the screen rotation on projectiles, the rectangles will always be facing the same way and they would only look correct if I were shooting straight up or straight down. So my question is, how can I perform 2 rotations on a primitive around 2 different points? The only way I can think of is to translate to the character and do the screen rotation, then somehow calculate the translation required to move back to the middle of the projectile (seeing as how my axes are now rotated) and do its rotation. Or am I thinking about this in the wrong way and there is a different solution to accomplishing this effect?

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  • What are the common character animation techniques used in tile based hack&slash games?

    - by Gorky
    I wonder what kind of animation techniques are used for creature and character animation in modern hack&slash type tile based games? Keyframing for different actions may be one option. Skeletal framing may be another. But how about the physics? Or do they use a totally hybrid system of inverse kinematics supported with a skeleton,physics and mixed with interpolated keyframing for more realistic animations? If so, how and for what reasons? I can think of many different solutions for the issues below but I wonder what's used and best suited for issues like: Walking or moving on an uneven terrain Combat interaction, combat physics and collisions Attaching rigid items to character and their iteractions ih physics world Soft body dynamics like hair, vegetation, clothes and fabric in line with animations and iteractions.

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  • Complete Math Library for use in OpenGL ES 2.0 Game?

    - by Bunkai.Satori
    Are you aware of a complete (or almost complete) cross platform math library for use in OpenGL ES 2.0 games? The library should contain: Matrix2x2, Matrix 3x3, Matrix4x4 classes Quaternions Vector2, Vector3, Vector4 Classes Euler Angle Class Operations amongh the above mentioned classes, conversions, etc.. Standardly used math operations in 3D graphics (Dot Product, Cross Product, SLERP, etc...) Is there such Math API available either standalone or as a part of any package? Programming Language: Visual C++ but planned to be ported to OS X and Android OS.

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  • Using "screenshots" in a game, is it allowed?

    - by DevilWithin
    Lets say I have a game that is some kind of a quiz, and its questions are themed around gaming. For it to be interesting, I would need to make references to well-known games and game-related stuff. In a copyright infrigement sense, could I have problems with this? Imagine a question such as, "What was the currency used in game X?", or "Which company made game Y?". Also, the same applied to screenshots of known games, and have a question near it, such as "What game is this image from?". Toughts? Thanks

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  • Unity falling body pendulum behaviour

    - by user3447980
    I wonder if someone could provide some guidance. Im attempting to create a pendulum like behaviour in 2D space in Unity without using a hinge joint. Essentially I want to affect a falling body to act as though it were restrained at the radius of a point, and to be subject to gravity and friction etc. Ive tried many modifications of this code, and have come up with some cool 'strange-attractor' like behaviour but i cannot for the life of me create a realistic pendulum like action. This is what I have so far: startingposition = transform.position; //Get start position newposition = startingposition + velocity; //add old velocity newposition.y -= gravity * Time.deltaTime; //add gravity newposition = pivot + Vector2.ClampMagnitude(newposition-pivot,radius); //clamp body at radius??? velocity = newposition-startingposition; //Get new velocity transform.Translate (velocity * Time.deltaTime, Space.World); //apply to transform So im working out the new position based on the old velocity + gravity, then constraining it to a distance from a point, which is the element in the code i cannot get correct. Is this a logical way to go about it?

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  • 3ds Max CAT to XNA

    - by user12214
    Has anyone successfully used the CAT bone system in 3ds Max and exported the file into XNA? If so, what was your method of doing so? There are a number of methods of doing this apparently, but the ones I've tried have not worked. I used the Panda Exporter which creates a .X file. This seems to be the latest way of going about this, but when it's loaded in XNA, there is an error saying something about the bone weights. This happens when I export with and without CAT bones.

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  • One-way platforms in UDK

    - by Jordaan Mylonas
    I'm looking to make a multi-player platforming game using UDK. I'm currently doing feasibility research, to make sure I will reasonably be able to do all of the technical things I want to do. The first major hurdle I've come across without being able to find as answer, are one-way platforms. That is to say, platforms through which a player can jump up, but not fall through (unless they choose to). These are commonly seen in games like Mario, Kirby and Smash Bros. Does anyone know how such a system would work within UDK? I can think of solutions that might work for single-player, but not multi.

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  • Library For Opengl 1.4?

    - by Robinson Joaquin
    My netbook only supports openGL version 1.4, my GPU is intel gma 3150, so for you what is the best library/tools to use or somewhat great move to make/advice, there are no wrong answers, (I am trying to create a game) PS: I already check the net for resources but, opengl (redbook) 4th edition is scarce (and redbook for v1.1 is already deprecated and is very OLD than what I'm looking for), besides I don't have money to buy a new laptop or a opengl book from online shop because international delivery is very expensive, I'm from outside US.

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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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