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  • FBO rendering different result between Glaxay S2 and S3

    - by BruceJones
    I'm working on a pong game and have recently set up FBO rendering so that I can apply some post-processing shaders. This proceeds as so: Bind texture A to framebuffer Draw balls Bind texture B to framebuffer Draw texture A using fade shader on fullscreen quad Bind screen to framebuffer Draw texture B using normal textured quad shader Neither texture A or B are cleared at any point, this way the balls leave trails on screen, see below for the fade shader. Fade Shader private final String fragmentShaderCode = "precision highp float;" + "uniform sampler2D u_Texture;" + "varying vec2 v_TexCoordinate;" + "vec4 color;" + "void main(void)" + "{" + " color = texture2D(u_Texture, v_TexCoordinate);" + " color.a *= 0.8;" + " gl_FragColor = color;" + "}"; This works fine with the Samsung Galaxy S3/ Note2, but cause a strange effect doesnt work on Galaxy S2 or Note1. See pictures: Galaxy S3/Note2 Galaxy S3/Note2 Galaxy S2/Note Galaxy S2/Note Can anyone explain the difference?

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  • Speed up content loading

    - by user1806687
    I am using WinForms Sample downloaded from microsoft website. The problem is, that the model loading time is quite long, using: contentBuilder.Add(ModelPath, ModelName, null, "ModelProcessor"); contentManager.Load<Model>(ModelName); even a simple model, such as a cube with no textures, takes 4+ seconds to load. Now, I am no expert on this, but is there anyway to decrease loading time? EDIT: I've gone thru the code and found out that calling contentBuilder.Build(); ,which comes right after contentBuilder.Add() method takes up most of the time.

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  • How to calculate direction from initial point and another point?

    - by Dvole
    I'm making a simple game where I shoot things from a certain point on screen (A). I tap the screen and shoot the projectile from initial point(A) to the tap point(B). But I want the projectile to move along the same path instead and fly out of bounds of the screen. How do I calculate a point that is on the same line that these two points, but further away? This is a simple math, but I can't figure it out.

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  • Algorithm for procedural city generation?

    - by Zove Games
    I am planning on making a (simple) procedural city generator using Java. I need ideas on whan algorithm to use for the layout, and the actual buildings. The city will mostly have skyscrapers, not really much complex stuff. For the layout I already have a simple algorithm implemented: Create a Map with java.awt.Point keys and Integer values. Fill it with all the points in the city's bounds with the value as -1 (unnassigned) Shuffle the map, and assign the 1st 10 of the keys IDs (from 1-10) Loop until all points have IDs: Loop though all points: Assign points next to an assigned point IDs of the point next to them, if 2 or more points border the point, then randomly choose which ID the point will get. You will end up with 10 random regions. Make roads bordering these regions. Fill the inside of each region with a randomly spaced and randomly rotated grid PROBLEM: This is not the fastest way to do it. What algorithm should I use for the layout. And what should I use to make each building's design? I don't even know how I'm going to do that yet (fractals maybe). I just need some ideas, not actual code.

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  • What are some ways to texture map a terrain?

    - by ApocKalipsS
    I'm working with XNA on a 3D Game, and I'm trying to have a proper and nice environnement. I actually followed a tutorial to create a terrain from a heightmap. To texture it, I just apply a grass texture on it and tile it a number of times. But what I want to do is to have a really realistic texturing, but also generate it automatically (for example if I want to use Perlin noise to generate a terrain and then texture it). I already learned about multi-texturing, loading a map file with different colors for different textures, but I don't think this is really efficient, for instance for cliffs or very steep areas it will tile a texture badly as it's a view from the top. (Also, I don't know how I'll draw roads or dirt paths with that.) I'm looking for an efficient solution to realistically texture mapping procedurally-generated terrain.

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  • Why wont the LibGDX's main class Initialize on Android Launcher?

    - by BluFire
    So I was searching for different ways that could suit me in programming and came across LibGDX. Naturally I looked at the tutorial. As I was doing it, I was following the steps word for word, except naming the classes. In the end, I was able to create the desktop launcher for the game but not the android launcher. The following error is my error: Cannot instantiate the type Game (Game is the name of the class) I got the tutorial from http://steigert.blogspot.com.au/2012/02/1-libgdx-tutorial-introduction.html The link in the tutorial is the original but it uses jogl instead of lwjgl.

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  • Implementing AS 2.0 with FSM?

    - by Up2u
    i have seen many of references of AI and FSM like : http://www.richardlord.net/blog/fini...n-actionscript and sadly im still can't understand the point of the FSM on AS2.0 is it a must to create a class of each state ? i have a project of game and also it has an AI, the AI has 3 state n i said the state is distanceCheck, ChaseTarget, and Hit the target, the game that i create is FPS game and play via by mouse so what i mean is i have create an AI ( and is success ) but i want to convert it to FSM method ... i create : function of CheckDistanceState() and in that function i have to locked the target with an array, and sort it with the nearest distance and locked it and it trigger the function ChaseState(), and in the ChaseState() i insert the Hit() function to destroy the enemy, the 3 function that i created , i call it in the AI_cursor.onEnterframe, ( FPS game that only have a cursor in stage ) is there any chance to implement FSM to my code without to create a class ?? from what i read before , to create a class mean to create an external code outside of the frame ( i used to code in frame) and i stil dont understand about it. sorry if my explaination not clear ...

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  • How do I interpolate air drag with a variable time step?

    - by Valentin Krummenacher
    So I have a little game which works with small steps, however those steps vary in time, so for example I sometimes have 10 Steps/second and then I have 20 Steps/second. This changes automatically depending on how many steps the user's computer can take. To avoid inaccurate positioning of the game's player object I use y=v0*dt+g*dt^2/2 to determine my objects y-position, where dt is the time since the last step, v0 is the velocity of my object in the beginning of my step and g is the gravity. To calculate the velocity in the end of a step I use v=v0+g*dt what also gives me correct results, independent of whether I use 2 steps with a dt of for example 20ms or one step with a dt of 40ms. Now I would like to introduce air drag. For simplicity's sake I use a=k*v^2 where a is the air drag's acceleration (I am aware that it would usually result in a force, but since I assume 1kg for my object's mass the force is the same as the resulting acceleration), k is a constant (in this case I'm using 0.001) and v is the speed. Now in an infinitely small time interval a is k multiplied by the velocity in this small time interval powered by 2. The problem is that v in the next time interval would depend on the drag of the last which again depends on the v of the last interval and so on... In other words: If I use a=k*v^2 I get different results for my position/velocity when I use 2 steps of 20ms than when I use one step of 40ms. I used to have this problem for my position too, but adding +g*dt^2/2 to the formula for my position fixed the problem since it takes into account that the position depends on the velocity which changes slightly in every infinitely small time interval. Does something like that exist for air drag too? And no, I dont mean anything like Adding air drag to a golf ball trajectory equation or similar, for that kind of method only gives correct results when all my steps are the same. (I hope you can understand my intermediate english, it's not my main language so I would like to say sorry for all the silly mistakes I might have made in my question)

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  • Creating shooting arrow class [on hold]

    - by I.Hristov
    OK I am trying to write an XNA game with one controllable by the player entity, while the rest are bots (enemy and friendly) wondering around and... shooting each other from range. Now the shooting I suppose should be done with a separate class Arrow (for example). The resulting object would be the arrow appearing on screen moving from shooting entity to target entity. When target is reached arrow is no longer active, probably removed from the list. I plan to make a class with fields: Vector2 shootingEntity; Vector2 targetEntity; float arrowSpeed; float arrowAttackSpeed; int damageDone; bool isActive; Then when enemy entities get closer than a int rangeToShoot (which each entity will have as a field/prop) I plan to make a list of arrows emerging from each entity and going to the closest opposite one. I wonder if that logic will enable me later to make possible many entities to be able to shoot independently at different enemy entities at the same time. I know the question is broad but it would be wise to ask if the foundations of the idea are correct.

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  • Need efficient way to keep enemy from getting hit multiple times by same source

    - by TenFour04
    My game's a simple 2D one, but this probably applies to many types of scenarios. Suppose my player has a sword, or a gun that shoots a projectile that can pass through and hit multiple enemies. While the sword is swinging, there is a duration where I am checking for the sword making contact with any enemy on every frame. But once an enemy is hit by that sword, I don't want him to continue getting hit over and over as the sword follows through. (I do want the sword to continue checking whether it is hitting other enemies.) I've thought of a couple different approaches (below), but they don't seem like good ones to me. I'm looking for a way that doesn't force cross-referencing (I don't want the enemy to have to send a message back to the sword/projectile). And I'd like to avoid generating/resetting multiple array lists with every attack. Each time the sword swings it generates a unique id (maybe by just incrementing a global static long). Every enemy keeps a list of id's of swipes or projectiles that have already hit them, so the enemy knows not to get hurt by something multiple times. Downside is that every enemy may have a big list to compare to. So projectiles and sword swipes would have to broadcast their end-of-life to all enemies and cause a search and remove on every enemy's array list. Seems kind of slow. Each sword swipe or projectile keeps its own list of enemies that it has already hit so it knows not to apply damage. Downsides: Have to generate a new list (probably pull from a pool and clear one) every time a sword is swung or a projectile shot. Also, this breaks down modularity, because now the sword has to send a message to the enemy, and the enemy has to send a message back to the sword. Seems to me that two-way streets like this are a great way to create very difficult-to-find bugs.

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  • How effects found in "Autodesk Fluid FX" are implemented using OpenGL ES?

    - by afds
    How this kind of effects are technically implemented using OpenGL ES? Are they performing simulation on GPU (using Shaders) or CPU while using some smart vertex positioning and texturing? Why it appears so fast (in terms of performance)? You might check the video of that app here: http://www.youtube.com/watch?v=F4KOk6QP6kQ edit Here is the presentation for the app: http://www.futuregameon.com/FGO2010_JosStam.pdf

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  • Material System

    - by Towelie
    I'm designing Material/Shader System (target API DX10+ and may be OpenGL3+, now only DX10). I know, there was a lot of topics about this, but i can't find what i need. I don't want to do some kind of compilation/parsing scripts in real-time. So there some artist-created material, written at some analog of CG. After it compiled to hlsl code and after to final shader. Also there are some hard-coded ConstantBuffers, like cbuffer EveryFrameChanging { float4x4 matView; float time; float delta; } And shader use shared constant buffers to get parameters. For each mesh in the scene, getting needs and what it can give (normals, binormals etc.) and finding corresponding permutation of shader or calculating missing parts. Also, during build calculating render states and the permutations or hash for this shader which later will be used for sorting or even giving the ID from 0 to ShaderCount w/o gaps to it for sorting. FinalShader have only 1 technique and one pass. After it for each Mesh setting some shader and it's good to render. some pseudo code SetConstantBuffer(ConstantBuffer::PerFrame); foreach (shader in FinalShaders) SetConstantBuffer(ConstantBuffer::PerShader, shader); SetRenderState(shader); foreach (mesh in shader.GetAllMeshes) SetConstantBuffer(ConstantBuffer::PerMesh, mesh); SetBuffers(mesh); Draw(); class FinalShader { public: UUID m_ID; RenderState m_RenderState; CBufferBindings m_BufferBindings; } But i have no idea how to create this CG language and do i really need it?

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  • How do I multiply pixels on an SDL Surface?

    - by NoobScratcher
    Okay so I'm able to put blank pixels into a surface and also draw gradient pixels rectangles,etc But I don't know how to multiply the pixels on a surface so I was hoping someone could provide me information on this topic. I was thinking you could get the members pixel and then * it by 2 but that didn't provide results I wanted so I'm now thinking that you have to actually get to the position in bytes in one location to the left and one location to the right and then store it in memory and then * that by 2 am I correct or what? If so what is it that allows me to do that and how do I do that?

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  • How can I improve the "smoothness" of a 2D side-scrolling iPhone game?

    - by MrDatabase
    I'm working on a relatively simple 2D side-scrolling iPhone game. The controls are tilt-based. I use OpenGL ES 1.1 for the graphics. The game state is updated at a rate of 30 Hz... And the drawing is updated at a rate of 30 fps (via NSTimer). The smoothness of the drawing is ok... But not quite as smooth as a game like iFighter. What can I do to improve the smoothness of the game? Here are the potential issues I've briefly considered: I'm varying the opacity of up to 15 "small" (20x20 pixels) textures at a time... Apparently varying the opacity in this manner can degrade drawing performance I'm rendering at only 30 fps (via NSTimer)... Perhaps 2D games like iFighter are rendered at a higher frame rate? Perhaps the game state could be updated at a faster rate? Note the acceleration vales are updated at 100 Hz... So I could potentially update part of the game state at 100 hz All of my textures are PNG24... Perhaps PNG8 would help (due to smaller size etc)

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  • RasterizerState set to null after calling DrawText in Nuclex

    - by ProgrammerAtWork
    I have the following code in XNA: // class members Text t1; Text t2; Text t3; // init // Debugfont is size 24 vectorfont t1 = MM.DebugFont24.Fill("hello"); t1 = MM.DebugFont24.Extrude("hello"); t2 = MM.DebugFont24.Fill("hello"); t2 = MM.DebugFont24.Extrude("hello"); t3 = MM.DebugFont24.Fill("hello"); t3 = MM.DebugFont24.Extrude("hello"); // Draw TextBatch test = new TextBatch(MM.GD); test.DrawText(t1, Color.Red); test.DrawText(t2, Color.Red); test.DrawText(t3, Color.Red); test.End(); //After the second call to the TextBatch, RasterizerState of the GraphicsDevice is set to null //But I don't get any runtime errors or any indication of that something is wrong. Is this supposed to happen? Or am I doing something wrong? I've discovered that this happened because culling was set to None when I was rendering textures

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  • Is it unprofessional to leave game resources to the open eye?

    - by ThePlan
    I'm still having problems packing my resources, after going through complicated APIs and basically just zip files which are exhausting my brain, I thought I could also pack the game with the resources visible to the human eye, in a simple folder. Would that be unprofessional? Personally, I've never even seen games do that, it would basically mean that the player could just edit whatever he wants in the game, like go in map1.txt and add an X somewhere to create a wall, or change the player sprite to a pony in MS PAINT.

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  • Wall avoidance steering

    - by Vodemki
    I making a small steering simulator using the reynolds boid algorythm. Now I want to add a wall avoidance feature. My walls are in 3D and defined using two points like that: ---------. P2 | | P1 .--------- My agents have a velocity, a position, etc... Could you tell me how to make avoidance with my agents ? Vector2D ReynoldsSteeringModel::repulsionFromWalls() { Vector2D force; vector<Wall *> wallsList = walls(); Point2D pos = self()->position(); Vector2D velocity = self()->velocity(); for (unsigned i=0; i<wallsList.size(); i++) { //TODO } return force; } Then I use all the forces returned by my boid functions and I apply it to my agent. I just need to know how to do that with my walls ? Thanks for your help.

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  • How can state changes be batched while adhering to opaque-front-to-back/alpha-blended-back-to-front?

    - by Sion Sheevok
    This is a question I've never been able to find the answer to. Batching objects with similar states is a major performance gain when rendering many objects. However, I've been learned various rules when drawing objects in the game world. Draw all opaque objects, front-to-back. Draw all alpha-blended objects, back-to-front. Some of the major parameters to batch by, as I understand it, are textures, vertex buffers, and index buffers. It seems that, as long as you are adhering to the above two rules, there's little to be done in regards to batching. I see one possibility to batch, while still adhering to the above two rules. Opaque objects can still be drawn out of depth-order, because drawing them front-to-back is merely a fillrate optimization, meanwhile state changes may very well be far more expensive than the overdraw of drawing out of depth-order. However, non-opaque objects, those that require alpha-blending at least, must be drawn back-to-front in order to avoid rendering artifacts. Is the loss of the fillrate optimization for opaques worth the state batching optimization?

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  • Point in Polygon, Ray Method: ending infinite line

    - by user2878528
    Having a bit of trouble with point in polygon collision detection using the ray method i.e. http://en.wikipedia.org/wiki/Point_in_polygon My problem is I need to give an end to the infinite line created. As with this infinite line I always get an even number of intersections and hence an invalid result. i.e. ignore or intersection to the right of the point being checked what I have what I want My current code based of Mecki awesome response for (int side = 0; side < vertices.Length; side++) { // Test if current side intersects with ray. // create infinite line // See: http://en.wikipedia.org/wiki/Linear_equation a = end_point.Y - start_point.Y; b = start_point.X - end_point.X; c = end_point.X * start_point.Y - start_point.X * end_point.Y; //insert points of vector d2 = a * vertices[side].Position.X + b * vertices[side].Position.Y + c; if (side - 1 < 0) d1 = a * vertices[vertices.Length - 1].Position.X + b * vertices[vertices.Length - 1].Position.Y + c; else d1 = a * vertices[side-1].Position.X + b * vertices[side-1].Position.Y + c; // If points have opposite sides, intersections++; if (d1 > 0 && d2 < 0 ) intersections++; if (d1 < 0 && d2 > 0 ) intersections++; } //if intersections odd inside = true if ((intersections % 2) == 1) inside = true; else inside = false;

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  • Are these non-standard applications of rendering practical in games?

    - by maul
    I've recently got into 3D and I came up with a few different "tricky" rendering techniques. Unfortunately I don't have the time to work on this myself, but I'd like to know if these are known methods and if they can be used in practice. Hybrid rendering Now I know that ray-tracing is still not fast enough for real-time rendering, at least on home computers. I also know that hybrid rendering (a combination of rasterization and ray-tracing) is a well known theory. However I had the following idea: one could separate a scene into "important" and "not important" objects. First you render the "not important" objects using traditional rasterization. In this pass you also render the "important" objects using a special shader that simply marks these parts on the image using a special color, or some stencil/depth buffer trickery. Then in the second pass you read back the results of the first pass and start ray tracing, but only from the pixels that were marked by the "important" object's shader. This would allow you to only ray-trace exactly what you need to. Could this be fast enough for real-time effects? Rendered physics I'm specifically talking about bullet physics - intersection of a very small object (point/bullet) that travels across a straight line with other, relatively slow-moving, fairly constant objects. More specifically: hit detection. My idea is that you could render the scene from the point of view of the gun (or the bullet). Every object in the scene would draw a different color. You only need to render a 1x1 pixel window - the center of the screen (again, from the gun's point of view). Then you simply check that central pixel and the color tells you what you hit. This is pixel-perfect hit detection based on the graphical representation of objects, which is not common in games. Afaik traditional OpenGL "picking" is a similar method. This could be extended in a few ways: For larger (non-bullet) objects you render a larger portion of the screen. If you put a special-colored plane in the middle of the scene (exactly where the bullet will be after the current frame) you get a method that works as the traditional slow-moving iterative physics test as well. You could simulate objects that the bullet can pass through (with decreased velocity) using alpha blending or some similar trick. So are these techniques in use anywhere, and/or are they practical at all?

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  • Does it make the game more fun when the user is forced to progress through the levels sequentially rather than letting them pick and play?

    - by BeachRunnerJoe
    Hello. For the first time in my game, I'm stuck with a real design dilemma. I guess that's a good thing ;) I'm building a word puzzle game that has five levels, each with 30 puzzles. Currently, the user has to solve one puzzle at a time before moving to the next. However, I'm finding the user occasionally gets stuck on a puzzle, at which point they can no longer play until they solve it. This is obviously bad because many people will probably just quit playing the game and delete the app. The only elegant solution I can find to helping the player get unstuck is changing the design of the game to allow the users to pick any puzzle to play at any time. This way, if they get stuck, they can come back to it later and at least they have other puzzles to play in the meantime. It's my opinion, however, that this new flow design doesn't make the game as fun as the original flow design where the player has to complete a puzzle before moving to the next. To me, it's like anything else, when you only have one of something, it's more enjoyable, but when you have 30 of something, it's far less enjoyable. In fact, when I present the user with 30 puzzles to choose from, I'm concerned I might be making them feel like it's a lot of work they have to do and that's bad. I even had a tester voluntarily tell me that being forced to complete a puzzle before moving to the next is actually motivating. My questions are... Do you agree/disagree? Do you have any suggestions for how I can help the player get unstuck? Thanks so much in advance for your thoughts! EDIT: I should mention that I've already considered a few other solutions to helping the user get unstuck, but none of them seem like good ideas. They are... Add more hints: Currently, the user gets two hints per puzzle. If I increase the hint count, it only makes the game more easy and still leaves the possibility of the user getting stuck. Add a "Show Solution" button: This seems like a bad idea because it's my opinion this takes the fun out of the game for many people who would probably otherwise solve the puzzle if they didn't have the quick option to see the solution.

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  • ERROR #342: DEVICE_SHADER_LINKAGE_SEMANTICNAME_NOT_FOUND

    - by Telanor
    I've stared at this for at least half an hour now and I cannot figure out what directx is complaining about. I know this error normally means you put float3 instead of a float4 or something like that, but I've checked over and over and as far as I can tell, everything matches. This is the full error message: D3D11: ERROR: ID3D11DeviceContext::DrawIndexed: Input Assembler - Vertex Shader linkage error: Signatures between stages are incompatible. The input stage requires Semantic/Index (COLOR,0) as input, but it is not provided by the output stage. [ EXECUTION ERROR #342: DEVICE_SHADER_LINKAGE_SEMANTICNAME_NOT_FOUND ] This is the vertex shader's input signature as seen in PIX: // Input signature: // // Name Index Mask Register SysValue Format Used // -------------------- ----- ------ -------- -------- ------ ------ // POSITION 0 xyz 0 NONE float xyz // NORMAL 0 xyz 1 NONE float // COLOR 0 xyzw 2 NONE float The HLSL structure looks like this: struct VertexShaderInput { float3 Position : POSITION0; float3 Normal : NORMAL0; float4 Color: COLOR0; }; The input layout, from PIX, is: The C# structure holding the data looks like this: [StructLayout(LayoutKind.Sequential)] public struct PositionColored { public static int SizeInBytes = Marshal.SizeOf(typeof(PositionColored)); public static InputElement[] InputElements = new[] { new InputElement("POSITION", 0, Format.R32G32B32_Float, 0), new InputElement("NORMAL", 0, Format.R32G32B32_Float, 0), new InputElement("COLOR", 0, Format.R32G32B32A32_Float, 0) }; Vector3 position; Vector3 normal; Vector4 color; #region Properties ... #endregion public PositionColored(Vector3 position, Vector3 normal, Vector4 color) { this.position = position; this.normal = normal; this.color = color; } public override string ToString() { StringBuilder sb = new StringBuilder(base.ToString()); sb.Append(" Position="); sb.Append(position); sb.Append(" Color="); sb.Append(Color); return sb.ToString(); } } SizeInBytes comes out to 40, which is correct (4*3 + 4*3 + 4*4 = 40). Can anyone find where the mistake is?

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  • game engine done, ideas missing

    - by Thoms
    I read at many places how people have this GREAT ideas but are not able to program themselves. I have quite the opposite problem. I have developed game engine, level editor, embedded Lua scripting language, I have even made wrapper for Android and it all works well. But I have no good idea about how to proceed with actual levels; I have no good ideas. The engine itself is very generic and can be used in many game concepts, but I just cannot think of anything useful. Do you have any thoughts on how to proceed? Where should I seek ideas? Who should I ask? I am sorry if this question is a duplicate.

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  • Having the same texture data in different ID3D11Texture2D

    - by bdmnd
    Sorry if this has been answered elsewhere - I'm rather new to DX. My question concerns conservation of resources - specifically textures in VRAM. I assume that upon returning from a call to CreateTexture2D, a copy of any textures data supplied has been copied elsewhere, likely VRAM. Does DX11 have any facility for having multiple ID3D11Texture2D objects which point to the same data? This might at first seem silly, but imagine a ID3D11Texture2D which is an array of textures. In one material, an artist has chosen to blend three identically sized maps, saved on disk as A.dds, B.dds, and C.dds. Then imagine they have another material which also uses three maps, but this time A.dds, B.dds, and D.dds. The shader code knows the diffuse texture is a texture array, and also has the number of layers baked (three in each case). I would essentially like to set up just two ID3D11Texture2D objects, one for each material, but I don't want to waste VRAM for two identical copies of A.dds and B.dds. I could use explicit texture arrays, of course, but this reduces the number of resources available to the shader and can complicate code somewhat more than would otherwise be needed.

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  • Prevent collisions between mobs/npcs/units piloted by computer AI : How to avoid mobile obstacles?

    - by Arthur Wulf White
    Lets says we have character a starting at point A and character b starting at point B. character a is headed to point B and character b is headed to point A. There are several simple ways to find the path(I will be using Dijkstra). The question is, how do I take preventative action in the code to stop the two from colliding with one another? case2: Characters a and b start from the same point in different times. Character b starts later and is the faster of the two. How do I make character b walk around character a without going through it? case3:Lets say we have m such characters in each side and there is sufficient room to pass through without the characters overlapping with one another. How do I stop the two groups of characters from "walking on top of one another" and allow them pass around one another in a natural organic way. A correct answer would be any algorithm, that given the path to the destination and a list of mobile objects that block the path, finds an alternative path or stops without stopping all units when there is sufficient room to traverse.

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