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• applyAngularVelocity causes error when called right after object instantiation

  - by Appeltaart

  I'm trying to make a physicsBody rotate as soon as it is instantiated. CCNode* ball = [CCBReader load:@"Ball"]; [ball.physicsBody applyForce:force]; [ball.physicsBody applyAngularImpulse:arc4random_uniform(360) - 180]; Applying force works fine, the last line however throws an error in cpBody.c line 123: cpAssertHard(body->w == body->w && cpfabs(body->w) != INFINITY, "Body's angular velocity is invalid."); When I don't apply force and merely rotate the problem persists. If I send applyAngularImpulse at some later point (in this case on a touch) it does work. Is this function not supposed to be called right after instantiation, or is this a bug?

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• LibGDX - Textures rendering at wrong position

  - by ACluelessGuy

  Update 2: Let me further explain my problem since I think that i didn't make it clear enough: The Y-coordinates on the bottom of my screen should be 0. Instead it is the height of my screen. That means the "higher" i touch/click the screen the less my y-coordinate gets. Above that the origin is not inside my screen, atleast not the 0 y-coordinate. Original post: I'm currently developing a tower defence game for fun by using LibGDX. There are places on my map where the player is or is not allowed to put towers on. So I created different ArrayLists holding rectangles representing a tile on my map. (towerPositions) for(int i = 0; i < map.getLayers().getCount(); i++) { curLay = (TiledMapTileLayer) map.getLayers().get(i); //For all Cells of current Layer for(int k = 0; k < curLay.getWidth(); k++) { for(int j = 0; j < curLay.getHeight(); j++) { curCell = curLay.getCell(k, j); //If there is a actual cell if(curCell != null) { tileWidth = curLay.getTileWidth(); tileHeight = curLay.getTileHeight(); xTileKoord = tileWidth*k; yTileKoord = tileHeight*j; switch(curLay.getName()) { //If layer named "TowersAllowed" picked case "TowersAllowed": towerPositions.add(new Rectangle(xTileKoord, yTileKoord, tileWidth, tileHeight)); // ... AND SO ON If the player clicks on a "allowed" field later on he has the opportunity to build a tower of his coice via a menu. Now here is the problem: The towers render, but they render at wrong position. (They appear really random on the map, no certain pattern for me) for(Rectangle curRect : towerPositions) { if(curRect.contains(xCoord, yCoord)) { //Using a certain tower in this example (left the menu out if(gameControl.createTower("towerXY")) { //RenderObject is just a class holding the Texture and x/y coordinates renderList.add(new RenderObject(new Texture(Gdx.files.internal("TowerXY.png")), curRect.x, curRect.y)); } } } Later on i render it: game.batch.begin(); for(int i = 0; i < renderList.size() ; i++) { game.batch.draw(renderList.get(i).myTexture, renderList.get(i).x, renderList.get(i).y); } game.batch.end(); regards

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• How to obtain window handle in SDL 2.0.3

  - by Diorthotis

  I need to obtain the handle of the window for SDL 2.0.3. I got the suggestion to use info.window after initializing SDL and filling the info variable with data by calling SDL_GetWindowWMInfo(); included in the header file SDL_syswm.h. My compiler (visual studio 2008 professional edition) gives the following error: 226) : error C2039: 'window' : is not a member of 'SDL_SysWMinfo' 1 include\sdl_syswm.h(173) : see declaration of 'SDL_SysWMinfo' Any help appreciated. Thanks. Nevermind, I needed to use "info.info.win.window". That seems a bit redundant, but whateves.

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• In regards to applet games and UDP

  - by Tom Steinberg

  I've got about a year in Java experience, and would like to set up a server and client for an applet game. However, there doesn't appear to be any tutorials out there on anything like I want to use. I would the server to be able to store an array of x and y coordinates with a player name somehow associated to them, and send them to multiple clients in a short time span. I would like the client implemented in the applet, and be able to request any player's position data. I'd like to use UDP, because it seems to be the best option for efficient (if less reliable) transmission of data. If anyone could give me some pointers on how to do such a project, or point me to an appropriate tutorial, I'd certainly appreciate it.

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• A way to store potentially infinite 2D map data?

  - by Blam

  I have a 2D platformer that currently can handle chunks with 100 by 100 tiles, with the chunk coordinates are stored as longs, so this is the only limit of maps (maxlong*maxlong). All entity positions etc etc are chunk relevant and so there is no limit there. The problem I'm having is how to store and access these chunks without having thousands of files. Any ideas for a preferably quick & low HD cost archive format that doesn't need to open everything at once?

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• 2D XNA Game Engine with a Good Wiki [closed]

  - by gcx

  I'm a newbie game developer. I'm planning to develop a XBOX (with a Kinect to double the fun) game. I've researched some 2D game engines that i can use in my project. After some research I've found IceCream engine and it looks delicious with its Milkshake editor. But I can't seem to find "working" game source examples for that engine and its own website's tutorial is not very sufficent. (If you are familiar with this engine) do you know any community that has helpful resources for this particular engine? If not, which engines do you recommend (that has a great wiki) for a XNA based XBOX - Kinect game?

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• What is going on in this SAT/vector projection code?

  - by ssb

  I'm looking at the example XNA SAT collision code presented here: http://www.xnadevelopment.com/tutorials/rotatedrectanglecollisions/rotatedrectanglecollisions.shtml See the following code: private int GenerateScalar(Vector2 theRectangleCorner, Vector2 theAxis) { //Using the formula for Vector projection. Take the corner being passed in //and project it onto the given Axis float aNumerator = (theRectangleCorner.X * theAxis.X) + (theRectangleCorner.Y * theAxis.Y); float aDenominator = (theAxis.X * theAxis.X) + (theAxis.Y * theAxis.Y); float aDivisionResult = aNumerator / aDenominator; Vector2 aCornerProjected = new Vector2(aDivisionResult * theAxis.X, aDivisionResult * theAxis.Y); //Now that we have our projected Vector, calculate a scalar of that projection //that can be used to more easily do comparisons float aScalar = (theAxis.X * aCornerProjected.X) + (theAxis.Y * aCornerProjected.Y); return (int)aScalar; } I think the problems I'm having with this come mostly from translating physics concepts into data structures. For example, earlier in the code there is a calculation of the axes to be used, and these are stored as Vector2, and they are found by subtracting one point from another, however these points are also stored as Vector2s. So are the axes being stored as slopes in a single Vector2? Next, what exactly does the Vector2 produced by the vector projection code represent? That is, I know it represents the projected vector, but as it pertains to a Vector2, what does this represent? A point on a line? Finally, what does the scalar at the end actually represent? It's fine to tell me that you're getting a scalar value of the projected vector, but none of the information I can find online seems to tell me about a scalar of a vector as it's used in this context. I don't see angles or magnitudes with these vectors so I'm a little disoriented when it comes to thinking in terms of physics. If this final scalar calculation is just a dot product, how is that directly applicable to SAT from here on? Is this what I use to calculate maximum/minimum values for overlap? I guess I'm just having trouble figuring out exactly what the dot product is representing in this particular context. Clearly I'm not quite up to date on my elementary physics, but any explanations would be greatly appreciated.

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• How to give parallax backgrounds more depth

  - by user28015

  I have 3 tiled images of some sort of galaxy/space in the background of a 2D Game: The first one has an alpha of 100%, the second an alpha of 80% and the last one has an alpha of 60%. I scroll the the one in the background slower than the other ones of course. classic parallax. In the foreground I have some particles flying towards the player to simulate some dust / stars flying by. (I know that stars don't fly by, but I think we all have seen this in a lot of games). But I can't quite achieve the depth effect I am looking for. I want it to look "deeper". I did read something about using blending modes for the backgrounds, but that would require to render them as objects right? So the question is: What is a good technique to do a scrolling parallax background in GameMaker?

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• Drawing flaming letters in 3d on OpenGL ES 2.0

  - by Chiquis

  I am a bit confused about how to achieve this. What i want is to "draw with flames". I have achieved this with textures successfully, but now my concern is about doing this with particles to achieve the flaming effect. Am I supposed to have a Path in where i should add many particle emitters along the path that will "be emitting flames"? I understand the concept for 2d, but for 3d are the particles (that are quads) always supposed to be facing the user? Edit: Something else im worried about is the performance hit that will occur by having that many particle emitters, because there can be many letters and drawings at the same time. And each of these elements will have many particle emitters.

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• InputLayout handling

  - by Kikaimaru

  Where are you supposed to store InputLayout? Suppose i have some basic structure like. class Mesh { List<MeshPart> MeshParts } class MeshPart { Effect Effect; VertexBufferBinding VertexBuffer; ... } Where should I store input layout? It's a connection between vertex buffer and specific pass, i can live with just 1 pass but I still have diffferent techniques so i need at least an array with some connection to effecttechniques, but I would appriciate something not crazy like dictionary. I could also create wrapper for Effect and EffectTechnique, but there must be some normal solution.

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• 2D Ragdoll - should it collide with itself?

  - by Axarydax

  Hi, I'm working on a ragdoll fighting game as a hobby project, but I have one dilemma. I am not sure if my ragdoll should collide with itself or not, i.e. if ragdoll's body parts should collide. 2D world is somewhat different than 3D, because there are several layers of stuff implied (for example in Super Mario you jump through a platform above you while going up). The setup I'm currently most satisfied with is when only the parts which are joined by a joint don't collide, so head doesn't collide with neck, neck with chest, chest with upper arm etc, but the head can collide with chest, arms, legs. I've tried every different way, but I'm not content with either. Which way would recommend me to go?

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• Sprite Body can not stop

  - by Diken

  Hey i have issue regarding jump sprite body. In my code i am using moveLeft and moveRight Button and when i am press moveRight Button using following code if (moveRight.active==YES) { b2Vec2 force=b2Vec2(4,0); ballBody->SetLinearVelocity(force); } Its move perfectly and When i release this Button than sprite body stop using following code else { b2Vec2 force=b2Vec2(0,0); ballBody->SetLinearVelocity(force); } But when i put this else part then jump can not done. My jump code is following if (jumpSprite.active==YES) { NSLog(@"Jump Sprite"); b2Vec2 locationWorld; locationWorld=b2Vec2(0.0f,4.0f); double force=ballBody->GetMass(); ballBody->ApplyLinearImpulse(force*locationWorld, ballBody->GetWorldCenter()); } If i remove else part then jump will perform complete but sprite body can not stop after release button. So what to do?? Thanks in advance

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• Is there any simple game that involves psychological factors?

  - by Roman

  I need to find a simple game in which several people need to interact with each other. The game should be simple for an analysis (it should be simple to describe what happens in the game, what players did). Because of the last reason, the video games are not appropriate for my purposes. I am thinking of a simple, schematic, strategic game where people can make a limited set of simple moves. Moreover, the moves of the game should be conditioned not only by a pure logic (like in chess or go). The behavior in the game should depend on psychological factors, on relations between people. In more details, I think it should be a cooperation game where people make their decisions based on mutual trust. It would be nice if players can express punishment and forgiveness in the game. Does anybody knows a game that is close to what I have described above? ADDED I need to add that I need a game where actions of players are simple and easy to formalize. Because of that I cannot use verbal games (where communication between players is important). By simple actions I understand, for example, moves on the board from one position to another one, or passing chips from one player to another one and so on.

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• Textual descriptions of 8-bit and 16-bit game engines

  - by ixtmixilix

  I found a good description of the engine in the Sonic games. It describes roughly how the engine works for people writing their own clones. In my case, I am simply interested in getting a general view of how the many 8-bit and 16-bit game engines worked on their respective consoles. So, this is a big-list style question asking, what other online descriptions of specific game engines have people found?

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• XNA - 2D Rotation of an object to a selected direction

  - by lobsterhat

  I'm trying to figure out the best way of rotating an object towards the directional input of the user. I'm attempting to mimic making turns on ice skates. For instance, if the player is moving right and the input is down and left, the player should start rotating to the right a set amount each tick. I'll calculate a new vector based on current velocity and rotation and apply that to the current velocity. That should give me nice arcing turns, correct? At the moment I've got eight if/else statements for each key combination which in turn check the current rotation: // Rotate to 225 if (keyboardState.IsKeyDown(Keys.Up) && keyboardState.IsKeyDown(Keys.Left)) { // Rotate right if (rotation >= 45 || rotation < 225) { rotation += ROTATION_PER_TICK; } // Rotate left else if (rotation < 45 || rotation > 225) { rotation -= ROTATION_PER_TICK; } } This seems like a sloppy way to do this and eventually, I'll need to do this check about 10 times a tick. Any help toward a more efficient solution is appreciated.

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• Transparent JPanel, Canvas background in JFrame

  - by Andy Tyurin

  I wanna make canvas background and add some elements on top of it. For this goal I made JPanel as transparent container with setOpaque(false) and added it as first of JFrame container, then I added canvas with black background (in future I wanna set animation) to JFrame as second element. But I can't undestand why i see grey background, not a black. Any suggestions? public class Game extends JFrame { public Container container; //Game container with components public Canvas backgroundLayer; //Background layer of a game public JPanel elementsLayer; //elements panel (top of backgroundLayer), holds different elements private Dimension startGameDimension = new Dimension(800,600); //start game dimension public Game() { //init main window super("Astra LaserForces"); setSize(startGameDimension); setBackground(Color.CYAN); container=getContentPane(); container.setLayout(null); setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); //init jpanel elements layer elementsLayer=new JPanel(); elementsLayer.setSize(startGameDimension); elementsLayer.setBackground(Color.BLUE); elementsLayer.setOpaque(false); container.add(elementsLayer); //init canvas background layer backgroundLayer = new Canvas(); backgroundLayer.setSize(startGameDimension); backgroundLayer.setBackground(Color.BLACK); //set default black color container.add(backgroundLayer); } //start game public void start() { setVisible(true); } //create new instance of game and start it public static void main(String[] args) { new Game().start(); } }

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• touch in guiTexture

  - by Mitananda

  Before time in my game start. i want there will show a guiTexture.. if i touch this guiTexture, that will hidden and the time game will start. I try to make a script but it doesn't work. I'm a bit confused by the Unity documentation. please help me i'm newbie in Unity. my code : void Start () { if (myGuiTexture.HitTest(Input.GetTouch(0).position)) { if (Input.GetTouch(0).phase == TouchPhase.Began) { Time.timeScale = 1; myGuiTexture.enable = false; } } } and i also create this source but its doesn't work too. void Start () { if (tutorial.HitTest(new Vector3(0,0,0))){ Time.timeScale = 1; } }

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• Managing many draw calls for dynamic objects

  - by codetiger

  We are developing a game (cross-platform) using Irrlicht. The game has many (around 200 - 500) dynamic objects flying around during the game. Most of these objects are static mesh and build from 20 - 50 unique Meshes. We created seperate scenenodes for each object and referring its mesh instance. But the output was very much unexpected. Menu screen: (150 tris - Just to show you the full speed rendering performance of 2 test computers) a) NVidia Quadro FX 3800 with 1GB: 1600 FPS DirectX and 2600 FPS on OpenGL b) Mac Mini with Geforce 9400M 256mb: 260 FPS in OpenGL Now inside the game in a test level: (160 dynamic objects counting around 10K tris): a) NVidia Quadro FX 3800 with 1GB: 45 FPS DirectX and 50 FPS on OpenGL b) Mac Mini with Geforce 9400M 256mb: 45 FPS in OpenGL Obviously we don't have the option of mesh batch rendering as most of the objects are dynamic. And the one big static terrain is already in single mesh buffer. To add more information, we use one 2048 png for texture for most of the dynamic objects. And our collision detection hardly and other calculations hardly make any impact on FPS. So we understood its the draw calls we make that eats up all FPS. Is there a way we can optimize the rendering, or are we missing something?

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• What is the best way to store meshes or 3d models in a class

  - by Robse

  I am wondering, how I should store my mesh into memory after loading it from whatever file. I have Questions floating in my head: Should a mesh could have sub meshes or does the 3d model just store a list of meshes all on the same level Is there one material assigned to one mesh 1:1? What do I have to consider, if I want to store skeletal animations? Btw it's a OpenGL|ES2 iOS game using GLKit. I came up with some basic struct types: (But I think they are way to simple and I need to add padding or change the vector3 to vector4.) typedef union _N3DShortVector2 { struct { short x, y; }; struct { short s, t; }; short v[2]; } N3DShortVector2; typedef union _N3DShortVector3 { struct { short x, y, z; }; struct { short r, g, b; }; struct { short s, t, p; }; short v[3]; } N3DShortVector3; typedef GLKVector3 N3DFloatVector3; typedef struct _N3DMeshRecordSV3 { N3DShortVector3 v1, v2, v3; } N3DMeshRecordSV3; typedef struct _N3DMeshRecordSV3FN3ST2 { N3DShortVector3 v1, v2, v3; N3DFloatVector3 n1, n2, n3; N3DShortVector2 t1, t2, t3; } N3DMeshRecordSV3FN3ST2;

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• Can WebGL be used to create a tile-based multi-layer scrolling platform game?

  - by Nicholas Hill

  I've found WebGL (based on OpenGL) to be a fiendish and unforgiving framework for those learning to write HTML5-based games. Despite the presence of many examples on how to get started, I'm really struggling to understand how I could simply load a bunch of images and render them to a canvas quickly using WebGL. My specific scenario involves trying to render a map using a bespoke but simple multi-layered tile engine, where each value in a three dimensional array points to the image to use for that location in the rendered image. Think "Sonic the Hedgehog" via tilesets, tiles, maps, layers, sprites etc. Can anyone enlighten me: 1) How can I load an image that I can use as a texture in WebGL? 2) How can I dynamically select an image at run time and draw it at any co-ordinate, that I also select at run time?

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• Can I use one set of images to represent multiple sprites in Java?

  - by mal

  I've got a game that has 3 basic sprites, at the moment I'm loading 8 images into each sprite for animating. Each character class has a sprite object. if I've got 10 characters on screen at once then that's 80 images loaded in to memory. Can I make a central sprite class that only holds 8 images for each of the 3 sprites, then get the character objects to request the relevant images from the central sprite class, thereby massively reducing the memory required for the images?

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• Find angle for projectile to meet target in parabolic arc

  - by TheBroodian

  I'm making a thing that launches projectiles in 2D. Its projectiles are fired with a set initial velocity, and are only affected by gravity. Assuming that its target is within range, and that there aren't any obstacles, how would my thing find the appropriate angle at which to launch its projectile (in radians)? The equation for this is found here: Wikipedia: Angle Required to Hit Coordinate Sadly, I'm not a physicist (a.k.a. can't read smart people math) and am having a hard time reading its breakdown. If not only for the sake of anybody else that might read this other than myself, would anybody be kind enough to break the equation down into baby words please?

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• RTS style fog of war woes

  - by Fricken Hamster

  So I'm trying to make a rts style line of sight fog of war style engine for my grid based game. Currently I am getting a set of vertices by raycasting in 360 degree. Then I use that list of vertices to do a graphics style polygon scanline fill to get a list of all points within the polygon. The I compare the new list of seen tiles and compare that with the old one and increment or decrement the world vision array as needed. The polygon scanline function is giving me trouble. I'm mostly following this http://www.cs.uic.edu/~jbell/CourseNotes/ComputerGraphics/PolygonFilling.html So far this is my code without cleaning anything up var edgeMinX:Vector.<int> = new Vector.<int>; var edgeMinY:Vector.<int> = new Vector.<int>; var edgeMaxY:Vector.<int> = new Vector.<int>; var edgeInvSlope:Vector.<Number> = new Vector.<Number>; var ilen:int = outvert.length; var miny:int = -1; var maxy:int = -1; for (i = 0; i < ilen; i++) { var curpoint:Point = outvert[i]; if (i == ilen -1) { var nextpoint:Point = outvert[0]; } else { nextpoint = outvert[i + 1]; } if (nextpoint.y == curpoint.y) { continue; } if (curpoint.y < nextpoint.y) { var curslope:Number = ((nextpoint.y - curpoint.y) / (nextpoint.x - curpoint.x)); edgeMinY.push(curpoint.y); edgeMinX.push(curpoint.x); edgeMaxY.push(nextpoint.y); edgeInvSlope.push(1 / curslope); if (curpoint.y < miny || miny == -1) { miny = curpoint.y; } if (nextpoint.y > maxy) { maxy = nextpoint.y; } } else { curslope = ((curpoint.y - nextpoint.y) / (curpoint.x - nextpoint.x)); edgeMinY.push(nextpoint.y); edgeMinX.push(nextpoint.x); edgeMaxY.push(curpoint.y); edgeInvSlope.push(1 / curslope); if (nextpoint.y < miny || miny == -1) { miny = curpoint.y; } if (curpoint.y > maxy) { maxy = nextpoint.y; } } } var activeMaxY:Vector.<int> = new Vector.<int>; var activeCurX:Vector.<Number> = new Vector.<Number>; var activeInvSlope:Vector.<Number> = new Vector.<Number>; for (var scanline:int = miny; scanline < maxy + 1; scanline++) { ilen = edgeMinY.length; for (i = 0; i < ilen; i++) { if (edgeMinY[i] == scanline) { activeMaxY.push(edgeMaxY[i]); activeCurX.push(edgeMinX[i]); activeInvSlope.push(edgeInvSlope[i]); //trace("added(" + edgeMinX[i]); edgeMaxY.splice(i, 1); edgeMinX.splice(i, 1); edgeMinY.splice(i, 1); edgeInvSlope.splice(i, 1); i--; ilen--; } } ilen = activeCurX.length; for (i = 0; i < ilen - 1; i++) { for (var j:int = i; j < ilen - 1; j++) { if (activeCurX[j] > activeCurX[j + 1]) { var tempint:int = activeMaxY[j]; activeMaxY[j] = activeMaxY[j + 1]; activeMaxY[j + 1] = tempint; var tempnum:Number = activeCurX[j]; activeCurX[j] = activeCurX[j + 1]; activeCurX[j + 1] = tempnum; tempnum = activeInvSlope[j]; activeInvSlope[j] = activeInvSlope[j + 1]; activeInvSlope[j + 1] = tempnum; } } } var prevx:int = -1; var jlen:int = activeCurX.length; for (j = 0; j < jlen; j++) { if (prevx == -1) { prevx = activeCurX[j]; } else { for (var k:int = prevx; k < activeCurX[j]; k++) { graphics.lineStyle(2, 0x124132); graphics.drawCircle(k * 20 + 10, scanline * 20 + 10, 5); if (k == prevx || k > activeCurX[j] - 1) { graphics.lineStyle(3, 0x004132); graphics.drawCircle(k * 20 + 10, scanline * 20 + 10, 2); } prevx = -1; //tileLightList.push(k, scanline); } } } ilen = activeCurX.length; for (i = 0; i < ilen; i++) { if (activeMaxY[i] == scanline + 1) { activeCurX.splice(i, 1); activeMaxY.splice(i, 1); activeInvSlope.splice(i, 1); i--; ilen--; } else { activeCurX[i] += activeInvSlope[i]; } } } It works in some cases but some of the x intersections are skipped, primarily when there are more than 2 x intersections in one scanline I think. Is there a way to fix this, or a better way to do what I described? Thanks

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• Writing a dynamic achievement system without hardcoding rules into the application

  - by imaginative

  I really enjoyed the solution provided here for groundwork on writing an achievement framework. The problem I have is I have game designers that would like to be able to insert achievements into a CMS at runtime. In a way, it sounds insane and complex to do this, but is it really? I think the concept of having to do a hard push of the application for every new achievement is cumbersome. I would love to be able to give our designers the capability to put together new achievements by entering them into a database. It shouldn't matter what tool I'm using, but for those interested, my backend is being written in JRuby (Ruby on top of the JVM). What are some possible ways of going about abstracting the logic in the aforementioned link even further so that rules can be interpreted at runtime?

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• D3DXMatrixDecompose gives different quaternion than D3DXQuaternionRotationMatrix

  - by Fraser

  In trying to solve this problem, I tracked down the problem to the conversion of the rotation matrix to quaternion. In particular, consider the following matrix: -0.02099178 0.9997436 -0.008475631 0 0.995325 0.02009799 -0.09446743 0 0.09427284 0.01041905 0.9954919 0 0 0 0 1 SlimDX.Quaternion.RotationMatrix (which calls D3DXQuaternionRotationMatrix gives a different answer than SlimDX.Matrix.Decompose (which uses D3DXMatrixDecompose). The answers they give (after being normalized) are: X Y Z W Quaternion.RotationMatrix -0.05244324 0.05137424 0.002209336 0.9972991 Matrix.Decompose 0.6989997 0.7135442 -0.03674842 -0.03006023 Which are totally different (note the signs of X, Z, and W are different). Note that these aren't q/-q (two quaternions that represent the same rotation); they face completely different directions. I've noticed that with matrices for rotations very close to that one (successive frames in the animation) that the Matrix.Decompose version gives a solution that flips around wildly and occasionally goes into the desired position, while the Quaternion.RotationMatrix version gives solutions that are stable but go in the wrong direction. This is only for the right arm in my animation -- for the left arm, both functions give the correct solution, which is the same quaternion within error tolerances. This makes me think that there's some sort of numeric instability or weird stuff with signs going on. I tried implementing this and then this, but both gave me a completely incorrect solution (even for the matricies where the SlimDX ones were working correctly) -- maybe the rows and columns are flipped?

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