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  • How can i get almost pixel perfect collision detection in a multiplayer game?

    - by Freddy
    I'm currently working on a multiplayer game for iPhone. The problem i have, as with all multiplayer games, is that the other user will always see everything at a non-constant delay. The game I'm making need to have a almost pixel perfect collision detection, but 1 or 2 pixels off is not that big of a deal. How can I possibly get this working? I guess I could just set local player to also be at X ms delay. However this will probably just be worse and feel sloppy when the user input. I know this problem is probably something network programmers deal with everyday and I would be glad if someone could give me a possible solution for this.

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  • Can't export Blender model for use in jMonkeyEngine SDK

    - by Nathan Sabruka
    I have a scene rendered in blender called "civ1.blend" which contains multiple materials (for example, I have one called "white"). I want to use this model in jMonkeyEngine, so I used the OGRE exporter to create .scene and .material files. This gives me, for example, a civ1.scene file and a white.material file.However, when I then try to import civ1.scene into the jMonkeyEngine SDK, I get an error along the lines of "Cannot find material file 'civ1.material'". Like I said, I have a white.material file, but I do not have a civ1.material file. Did anyone encounter this problem? How do I fix this?

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  • Any learning/studying material for C/C++ that use game programming as learning context out there?

    - by mac
    As most of game programming is done - I read on this very site - in C/C++ I was wondering if there is any learning/studying material for C/C++ that would target specifically game programming. I am not looking for material about "developing games" or "software architecture for games", but rather for material that uses "game programming" as the CONTEXT for introducing and illustrating C/C++ features, idioms, programming techniques, etc... With a simile: think to the GOF book on design patterns. There, they used "developing a text-editor" as a context for introducing design patterns, but the book is most definitively not a book about "developing text-editors". Thanks in advance for your time and advice! PS: My background: I am a programmer with a solid experience in OO scripting languages and only some experience in C and Assembler (on AVR microcontrollers), so I am thinking to mid-to-advanced level material, rather than tutorials for beginners, although it might be interesting to take a look to the latter ones if nothing else is available.

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  • Choosing a mobile advertising mediator over going it alone

    - by Notbad
    We have finished our first game for IOS/Android. We would like to give it away adding ads to it. I have been reading a lot about the subject but it is a bit overwhelming for starters. From what I read, it seems there are some important points to have into consideration: 1) Do as much localization as you can (target your audience with ads they could be interested for the zone they live in). 2) Do not over advertise in your application. At this moment we have decided to go with AdMob. It seems an easy option to setup for beginners and have a good set of ad networks. My question is, will we earn less for example for iAds using adMob than implementing iAds without a mediator? Are adMob paying less than others (this is what I remember for some artilces I read)?. It would be nice to hear from people with experience on this to let us light our way a bit.

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  • How to acheive a smoother lighting effect

    - by Cyral
    I'm making a tile based game in XNA So currently my lightning looks like this: How can I get it to look like this? Instead of each block having its own tint, it has a smooth overlay. I'm assuming some sort of shader, and to tell it the lighting and blur it some how. But im not an expert with shaders. My current lighting calculates the light, and then passes it to a spritebatch and draws with a color parameter EDIT: No longer uses spritebatch tint, I was testing and now pass parameters to set the light values. But still looking for a way to smooth it

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  • State changes in entities or components

    - by GriffinHeart
    I'm having some trouble figuring how to deal with state management in my entities. I don't have trouble with Game state management, like pause and menus, since these are not handled as an entity component system; just with state in entities/components. Drawing from Orcs Must Die as an example, I have my MainCharacter and Trap entities which only have their components like PositionComponent, RenderComponent, PhysicsComponent. On each update the Entity will call update on its components. I also have a generic EventManager with listeners for different event types. Now I need to be able to place the traps: first select the trap and trap position then place the trap. When placing a trap it should appear in front of the MainCharacter, rendered in a different way and following it around. When placed it should just respond to collisions and be rendered in the normal way. How is this usually handled in component based systems? (This example is specific but can help figure out the general way to deal with entities states.)

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  • Color Picking Troubles - LWJGL/OpenGL

    - by Tom Johnson
    I'm attempting to check which object the user is hovering over. While everything seems to be just how I'd think it should be, I'm not able to get the correct color due to the second time I draw (without picking colors). Here is my rendering code: public void render() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glLoadIdentity(); camera.applyTranslations(); scene.pick(); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glLoadIdentity(); camera.applyTranslations(); scene.render(); } And here is what gets called on each block/tile on "scene.pick()": public void pick() { glColor3ub((byte) pickingColor.x, (byte) pickingColor.y, (byte) pickingColor.z); draw(); glReadBuffer(GL_FRONT); ByteBuffer buffer = BufferUtils.createByteBuffer(4); glReadPixels(Mouse.getX(), Mouse.getY(), 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, buffer); int r = buffer.get(0) & 0xFF; int g = buffer.get(1) & 0xFF; int b = buffer.get(2) & 0xFF; if(r == pickingColor.x && g == pickingColor.y && b == pickingColor.z) { hovered = true; } else { hovered = false; } } I believe the problem is that in the method of each tile/block called by scene.pick(), it is reading the color from the regular drawing state, after that method is called somehow. I believe this because when I remove the "glReadBuffer(GL_FRONT)" line from the pick method, it seems to almost fix it, but then it will also select blocks behind the one you are hovering as it is not only looking at the front. If you have any ideas of what to do, please be sure to reply!/ EDIT: Adding scene.render(), tile.render(), and tile.draw() scene.render: public void render() { for(int x = 0; x < tiles.length; x++) { for(int z = 0; z < tiles.length; z++) { tiles[x][z].render(); } } } tile.render: public void render() { glColor3f(color.x, color.y, color.z); draw(); if(hovered) { glColor3f(1, 1, 1); glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); draw(); glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } } tile.draw: public void draw() { float x = position.x, y = position.y, z = position.z; //Top glBegin(GL_QUADS); glVertex3f(x, y + size, z); glVertex3f(x + size, y + size, z); glVertex3f(x + size, y + size, z + size); glVertex3f(x, y + size, z + size); glEnd(); //Left glBegin(GL_QUADS); glVertex3f(x, y, z); glVertex3f(x + size, y, z); glVertex3f(x + size, y + size, z); glVertex3f(x, y + size, z); glEnd(); //Right glBegin(GL_QUADS); glVertex3f(x + size, y, z); glVertex3f(x + size, y + size, z); glVertex3f(x + size, y + size, z + size); glVertex3f(x + size, y, z + size); glEnd(); } (The game is like an isometric game. That's why I only draw 3 faces.)

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  • How to perform game object smoothing in multiplayer games

    - by spaceOwl
    We're developing an infrastructure to support multiplayer games for our game engine. In simple terms, each client (player) engine sends some pieces of data regarding the relevant game objects at a given time interval. On the receiving end, we step the incoming data to current time (to compensate for latency), followed by a smoothing step (which is the subject of this question). I was wondering how smoothing should be performed ? Currently the algorithm is similar to this: Receive incoming state for an object (position, velocity, acceleration, rotation, custom data like visual properties, etc). Calculate a diff between local object position and the position we have after previous prediction steps. If diff doesn't exceed some threshold value, start a smoothing step: Mark the object's CURRENT POSITION and the TARGET POSITION. Linear interpolate between these values for 0.3 seconds. I wonder if this scheme is any good, or if there is any other common implementation or algorithm that should be used? (For example - should i only smooth out the position? or other values, such as speed, etc) any help will be appreciated.

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  • How to had operation with character/items on binary with concrete operations on C++?

    - by Piperoman
    I have the next problem. A item can had a lot of states: NORMAL = 0000000 DRY = 0000001 HOT = 0000010 BURNING = 0000100 WET = 0001000 COLD = 0010000 FROZEN = 0100000 POISONED= 1000000 A item can had some states at same time but not all of them Is impossible to be dry and wet at same time. If you COLD a WET item, it turns into FROZEN. If you HOT a WET item, it turns into NORMAL A item can be BURNING and POISON Etc. I have try to set binary flags to states, and use AND to set operation to combine different states, checking before if is possible or not to do it, or change to another status. Exist a concrete patron to solve this problem efficiently without had a interminable switch that check every states with everynew states? It is relative easy to check 2 different states, but if exist a third state it is not trivial to do.

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  • Image loaded from TGA texture isn't displayed correctly

    - by Ramy Al Zuhouri
    I have a TGA texture containing this image: The texture is 256x256. So I'm trying to load it and map it to a cube: #import <OpenGL/OpenGL.h> #import <GLUT/GLUT.h> #import <stdlib.h> #import <stdio.h> #import <assert.h> GLuint width=640, height=480; GLuint texture; const char* const filename= "/Users/ramy/Documents/C/OpenGL/Test/Test/texture.tga"; void init() { // Initialization glEnable(GL_DEPTH_TEST); glViewport(-500, -500, 1000, 1000); glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(45, width/(float)height, 1, 1000); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluLookAt(0, 0, -100, 0, 0, 0, 0, 1, 0); // Texture char bitmap[256][256][3]; FILE* fp=fopen(filename, "r"); assert(fp); assert(fread(bitmap, 3*sizeof(char), 256*256, fp) == 256*256); fclose(fp); glGenTextures(1, &texture); glBindTexture(GL_TEXTURE_2D, texture); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256, 256, 0, GL_RGB, GL_UNSIGNED_BYTE, bitmap); } void display() { glClearColor(0, 0, 0, 0); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glEnable(GL_TEXTURE_2D); glBindTexture(GL_TEXTURE_2D, texture); glColor3ub(255, 255, 255); glBegin(GL_QUADS); glVertex3f(0, 0, 0); glTexCoord2f(0.0, 0.0); glVertex3f(40, 0, 0); glTexCoord2f(0.0, 1.0); glVertex3f(40, 40, 0); glTexCoord2f(1.0, 1.0); glVertex3f(0, 40, 0); glTexCoord2f(1.0, 0.0); glEnd(); glDisable(GL_TEXTURE_2D); glutSwapBuffers(); } int main(int argc, char** argv) { glutInit(&argc, argv); glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE); glutInitWindowPosition(100, 100); glutInitWindowSize(width, height); glutCreateWindow(argv[0]); glutDisplayFunc(display); init(); glutMainLoop(); return 0; } But this is what I get when the window loads: So just half of the image is correctly displayed, and also with different colors.Then if I resize the window I get this: Magically the image seems to fix itself, even if the colors are wrong.Why?

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  • "Time Control" in a 2d Platformer

    - by Woody Zantzinger
    I am making a 2d platformer where the player can press a button, and restart the level, only their previous character will also run the level at the same time, like they are traveling back in time. I know other games have done this before, and the way I have thought of doing it is to make the game character have a set of actions (Idle, Jumping, Walking Left etc.) and then detect changes in those actions and log them into a list along with the game time. So then when I need the character to run the level again on its own, I can just go through the list changing its actions at the right time. Is this the best way to do it? Does anyone have any experience in this? Thanks.

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  • exact point oh a rotating sphere

    - by nkint
    I have a sphere that represents the heart textured with real pictures. It's rotating about the x axis, and when user click down it has to show me the exact place he clicked on. For example if he clicked on Singapore and the system should be able to: understand that user clicked on the sphere (OK, I'll do it with unProject) understand where user clicked on the sphere (ray-sphere collision?) and take into account the rotation transform sphere-coordinate to some coordinate system good for some web-api service ask to api (OK, this is the simpler thing for me ;-) some advice?

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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 have operations with character/items on binary with concrete operations on C++?

    - by Piperoman
    I have the next problem. A item can have a lot of states: NORMAL = 0000000 DRY = 0000001 HOT = 0000010 BURNING = 0000100 WET = 0001000 COLD = 0010000 FROZEN = 0100000 POISONED= 1000000 A item can have some states at same time but not all of them Is impossible to be dry and wet at same time. If you COLD a WET item, it turns into FROZEN. If you HOT a WET item, it turns into NORMAL A item can be BURNING and POISON Etc. I have tried to set binary flags to states, and use AND to combine different states, checking before if it is possible or not to do it, or change to another status. Does there exist a concrete approach to solve this problem efficiently without having an interminable switch that checks every state with every new state? It is relatively easy to check 2 different states, but if there exists a third state it is not trivial to do.

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  • Is there a size limit when using UICollectionView as tiled map for iOS game?

    - by Alexander Winn
    I'm working on a turn-based strategy game for iOS, (picture Civilization 2 as an example), and I'm considering using a UICollectionView as my game map. Each cell would be a tile, and I could use the "didSelectCell" method to handle player interaction with each tile. Here's my question: I know that UICollectionViewCells are dequeued and reused by the OS, so does that mean that the map could support an effectively infinitely-large map, so long as only a few cells are onscreen at a time? However many cells were onscreen would be held in memory, and obviously the data source would take up some memory, but would my offscreen map be limited to a certain size or could it be enormous so long as the number of cells visible at any one time wasn't too much for the device to handle? Basically, is there any memory weight to offscreen cells, or do only visible cells have any impact?

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  • Behavior tree implementation details

    - by angryInsomniac
    I have been looking around for implementation details of behavior trees, the best descriptions I found were by Alex Champarand and some of Damian Isla's talk about AI in Halo 2 (the video of which is locked up in the GDC vault sadly). However, both descriptions fall short of helping one actually create a BT, one particular question has been bugging me for a while. When is the tree in a behavior tree evaluated? Furthermore: If the tree is in the middle of executing a sequence of actions (patrolling waypoints) and a higher priority impulse comes in (distraction sound) , how to switch to that side of the tree seamlessly without resorting to a state machine like system and if it is decided that the impulse was irrelevant (the distraction is too far away to affect this guard), how to go back to the last thing that the guard was doing ? I have quite a few questions like this and I don't wish to flood the board with separate queries so if you know of any resource where questions like these can be answered I would be very grateful.

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  • Strategy to prevent players from seeing through walls in an online FPS?

    - by geneotech
    Why do we still moan on wallhackers in multiplayer first-person shooters ? Isn't it possible to perform occlusion culling for all players server-side ? For example, send player xyz information to client only when the player is visible in client's frustum and not occluded by any object ? Even if the collision-geometry is very simplified, most of the time cheater won't receive tactical information. Why not do this ?

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  • Explaining Asteroids Movement code

    - by Moaz ELdeen
    I'm writing an Asteroids Atari clone, and I want to figure out how the AI for the asteroids is done. I have came across that piece of code, but I can't get what it does 100% if ((float)rand()/(float)RAND_MAX < 0.5) { m_Pos.x = -app::getWindowWidth() / 2; if ((float)rand()/(float)RAND_MAX < 0.5) m_Pos.x = app::getWindowWidth() / 2; m_Pos.y = (int) ((float)rand()/(float)RAND_MAX * app::getWindowWidth()); } else { m_Pos.x = (int) ((float)rand()/(float)RAND_MAX * app::getWindowWidth()); m_Pos.y = -app::getWindowHeight() / 2; if (rand() < 0.5) m_Pos.y = app::getWindowHeight() / 2; } m_Vel.x = (float)rand()/(float)RAND_MAX * 2; if ((float)rand()/(float)RAND_MAX < 0.5) { m_Vel.x = -m_Vel.x; } m_Vel.y =(float)rand()/(float)RAND_MAX * 2; if ((float)rand()/(float)RAND_MAX < 0.5) m_Vel.y = -m_Vel.y;

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  • Profiling and containing memory per system

    - by chadb
    I have been interesting in profiling and keeping a managed memory pool for each subsystem, so I could get statistic on how much memory was being used in something such as sounds or graphics. However, what is the best design for doing this? I was thinking of using multiple allocators and just using one per subsystem, however, that would result in global variables for my allocators (or so it would seem to me). Another approach I have seen/been suggested is to just overload new and pass in an allocator for a parameter. I had a similar question over on stackoverflow here with a bounty, however, it seems as if perhaps I was too vague or just there is not enough people with knowledge in the subject.

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  • How can I have multiple layers in my map array?

    - by Manl400
    How do I load Levels in my game, as in Layer 1 would be Objects, Layer 2 would be Characters and so on. I only need 3 layers, and they will all be put on top of each other. i.e having a flower with a transparent background to be put on grass or dirt on the layer below.I would like to Read From the same file too. How would i go about doing this? Any help would be appreciated. I load the map from a level file which are just numbers corresponding to a tile in the tilesheet. Here is the level file [Layer1] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 [Layer2] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 [Layer3] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 And here is the code that interprets it void LoadMap(const char *filename, std::vector< std::vector <int> > &map) { std::ifstream openfile(filename); if(openfile.is_open()) { std::string line, value; int space; while(!openfile.eof()) { std::getline(openfile, line); if(line.find("[TileSet]") != std::string::npos) { state = TileSet; continue; } else if (line.find("[Layer1]") != std::string::npos) { state = Map; continue; } switch(state) { case TileSet: if(line.length() > 0) tileSet = al_load_bitmap(line.c_str()); break; case Map: std::stringstream str(line); std::vector<int> tempVector; while(!str.eof()) { std::getline(str, value, ' '); if(value.length() > 0) tempVector.push_back(atoi(value.c_str())); } map.push_back(tempVector); break; } } } else { } } and this is how it draws the map. Also the tile sheet is 1280 by 1280 and the tilesizeX and tilesizeY is 64 void DrawMap(std::vector <std::vector <int> > map) { int mapRowCount = map.size(); for(int i, j = 0; i < mapRowCount; i ++) { int mapColCount = map[i].size(); for (int j = 0; j < mapColCount; ++j) { int tilesetIndex = map[i][j]; int tilesetRow = floor(tilesetIndex / TILESET_COLCOUNT); int tilesetCol = tilesetIndex % TILESET_COLCOUNT; al_draw_bitmap_region(tileSet, tilesetCol * TileSizeX, tilesetRow * TileSizeY, TileSizeX, TileSizeY, j * TileSizeX, i * TileSizeX, NULL); } } } EDIT: http://i.imgur.com/Ygu0zRE.jpg

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  • Extremely Hybrid Game requirements

    - by tugrul büyükisik
    What system specifications would a game need if it was: Total players per planet: ~20000 Total players per team:~1M Total players per map(small volume of space or small surface over a planet): ~2000 Total players: ~10M(world has more players than this amount i think) Two of the players are commanders of opposite quadrants(from HUD of a strategy game). Lots of players use space-crafts as a captain(like 3d fps and rts). Many many players control consoles in those space-crafts as under command of captains.(fps ) Some players are still in stone-age trying to reinvent wheel in some planet. Players design and construct any vehicles they have. With good physics engine Has puzzles inside. Everyone get experience by doing stuff(RPG). Commerce, income or totally different resource-based group(like starcraft) Player classes(primitive: cunning and strong, wrapped: healthy, wealthy) Arcade top-down style firing with ships when people get bored very low chance of miraculous things.(mediclorians, wormholes, bugs) Different game-modes: persistent(living world), resetted periodically(a new chance for noobs), instant(pre-built space + hack&slash) I suspect this would need 128GB ram and 2048 cores.

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  • Coordinate spaces and transformation matrices

    - by Belgin
    I'm trying to get an object from object space, into projected space using these intermediate matrices: The first matrix (I) is the one that transforms from object space into inertial space, but since my object is not rotated or translated in any way inside the object space, this matrix is the 4x4 identity matrix. The second matrix (W) is the one that transforms from inertial space into world space, which is just a scale transform matrix of factor a = 14.1 on all coordinates, since the inertial space origin coincides with the world space origin. /a 0 0 0\ W = |0 a 0 0| |0 0 a 0| \0 0 0 1/ The third matrix (C) is the one that transforms from world space, into camera space. This matrix is a translation matrix with a translation of (0, 0, 10), because I want the camera to be located behind the object, so the object must be positioned 10 units into the z axis. /1 0 0 0\ C = |0 1 0 0| |0 0 1 10| \0 0 0 1/ And finally, the fourth matrix is the projection matrix (P). Bearing in mind that the eye is at the origin of the world space and the projection plane is defined by z = 1, the projection matrix is: /1 0 0 0\ P = |0 1 0 0| |0 0 1 0| \0 0 1/d 0/ where d is the distance from the eye to the projection plane, so d = 1. I'm multiplying them like this: (((P x C) x W) x I) x V, where V is the vertex' coordinates in column vector form: /x\ V = |y| |z| \1/ After I get the result, I divide x and y coordinates by w to get the actual screen coordinates. Apparenly, I'm doing something wrong or missing something completely here, because it's not rendering properly. Here's a picture of what is supposed to be the bottom side of the Stanford Dragon: Also, I should add that this is a software renderer so no DirectX or OpenGL stuff here.

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  • Why does my player stop when stepping onto a new tile?

    - by user220631
    Me and my friend are creating a game from scratch. He is in charge of art design and I am in charge of coding. I have done well so far with the code, but I have a collision detection problem when the character moves right: Once the player moves right, whenever a new block is encountered, the player stops. I don't know if this is a problem with collision or the player but I can't work around it. Here is the collision code: this.IsColliding = function(obj) { if(this.X > obj.X + obj.Width) return false; else if(this.X + this.Width < obj.X) return false; else if(this.Y > obj.Y + obj.Height) return false; else if(this.Y + this.Height < obj.Y) return false; else return true; } I also wanted to see if there as a way to make the player collide with the bottom of the block and the right side of the block instead of running through it.

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  • OpenGL Vertex Attributes - Normalisation

    - by Daniel
    Alas, I have searched, and have found no definitive answer. When would you normalize the vertex data in OpenGL using the following command: glVertexAttribPointer(index, size, type, normalize, stride, pointer); I.e when would normalize == GL_TRUE; what situations, and why would you choose to let the GPU do the calculations instead of preprocessing it? All examples I have ever seen, have this set to GL_FALSE; and I cannot personally see a use for it. But Khronos aren't stupid, so it must be there for something useful (and probably common).

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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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