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• How can I solve this SAT direct corner intersection edge case?

  - by ssb

  I have a working SAT implementation, but I am running into a problem where direct collisions at a corner do not work for tiled surfaces. That is, it clips on the surface when going in a certain direction because it gets hung up on one of the tiles, and so, for example, if I walk across a floor while holding both down and left, the player will stop when meeting the next shape because the player will be colliding with the right side rather than with the top of the floor tile. This illustration shows what I mean: The top block will translate right first and then up. I have checked here and here which are helpful, but this does not address what I should do in a situation where I don't have a tile-based world. My usage of the term "tile" before isn't really accurate since what I'm doing here is manually placing square obstacles next to each other, not assigning them spots on a grid. What can I do to fix this?

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

  - by user3585425

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

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• How to make natural-looking paths with A* on a grid?

  - by user11177

  I've been reading this: http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html But there are some things I don't understand, for example the article says to use something like this for pathfinding with diagonal movement: function heuristic(node) = dx = abs(node.x - goal.x) dy = abs(node.y - goal.y) return D * max(dx, dy) I don't know how do set D to get a natural looking path like in the article, I set D to the lowest cost between adjacent squares like it said, and I don't know what they meant by the stuff about the heuristic should be 4*D, that does not seem to change any thing. This is my heuristic function and move function: def heuristic(self, node, goal): D = 10 dx = abs(node.x - goal.x) dy = abs(node.y - goal.y) return D * max(dx, dy) def move_cost(self, current, node): cross = abs(current.x - node.x) == 1 and abs(current.y - node.y) == 1 return 19 if cross else 10 Result: The smooth sailing path we want to happen: The rest of my code: http://pastebin.com/TL2cEkeX

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• HTML5 game programming style

  - by fnx

  I am currently trying learn javascript in form of HTML5 games. Stuff that I've done so far isn't too fancy since I'm still a beginner. My biggest concern so far has been that I don't really know what is the best way to code since I don't know the pros and cons of different methods, nor I've found any good explanations about them. So far I've been using the worst (and propably easiest) method of all (I think) since I'm just starting out, for example like this: var canvas = document.getElementById("canvas"); var ctx = canvas.getContext("2d"); var width = 640; var height = 480; var player = new Player("pic.png", 100, 100, ...); also some other global vars... function Player(imgSrc, x, y, ...) { this.sprite = new Image(); this.sprite.src = imgSrc; this.x = x; this.y = y; ... } Player.prototype.update = function() { // blah blah... } Player.prototype.draw = function() { // yada yada... } function GameLoop() { player.update(); player.draw(); setTimeout(GameLoop, 1000/60); } However, I've seen a few examples on the internet that look interesting, but I don't know how to properly code in these styles, nor do I know if there are names for them. These might not be the best examples but hopefully you'll get the point: 1: Game = { variables: { width: 640, height: 480, stuff: value }, init: function(args) { // some stuff here }, update: function(args) { // some stuff here }, draw: function(args) { // some stuff here }, }; // from http://codeincomplete.com/posts/2011/5/14/javascript_pong/ 2: function Game() { this.Initialize = function () { } this.LoadContent = function () { this.GameLoop = setInterval(this.RunGameLoop, this.DrawInterval); } this.RunGameLoop = function (game) { this.Update(); this.Draw(); } this.Update = function () { // update } this.Draw = function () { // draw game frame } } // from http://www.felinesoft.com/blog/index.php/2010/09/accelerated-game-programming-with-html5-and-canvas/ 3: var engine = {}; engine.canvas = document.getElementById('canvas'); engine.ctx = engine.canvas.getContext('2d'); engine.map = {}; engine.map.draw = function() { // draw map } engine.player = {}; engine.player.draw = function() { // draw player } // from http://that-guy.net/articles/ So I guess my questions are: Which is most CPU efficient, is there any difference between these styles at runtime? Which one allows for easy expandability? Which one is the most safe, or at least harder to hack? Are there any good websites where stuff like this is explained? or... Does it all come to just personal preferance? :)

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• jBullet Collision/Physics not working as expected

  - by Kenneth Bray

  Below is the code for one of my objects in the game I am creating (yes although this is a cube, I am not making anything remotely like MineCraft), and my issue is I while the cube will display and is does follow the physics if the cube falls, it does not interact with any other objects in the game. If I was to have multiple cubes in screen at once they all just sit there, or shoot off in all directions never stopping. Anyway, I am new to jBullet, and any help would be appreciated. // Constructor public Cube(float pX, float pY, float pZ, float pSize) { posX = pX; posY = pY; posZ = pZ; size = pSize; rotX = 0; rotY = 0; rotZ = 0; // physics stuff fallMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(posX, posY, posZ), 1))); fallRigidBodyCI = new RigidBodyConstructionInfo(mass, fallMotionState, fallShape, fallInertia); fallRigidBody = new RigidBody(fallRigidBodyCI); }

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• Separate collision mesh model?

  - by Menno Gouw

  I want to have another go at 3D within XNA. What I have seen from some other games that they just have a separate very low poly model "cage" around the environment model. However I can not find any reference to this. I have not that much experience with XNA 3D either. Is it possible to have this cage within each of my environmental models already? Lets just say I call the mesh within the .FBX wall and col_wall. How would I call to these different meshes within XNA? The player would just have a tight collision cube around. To make it a bit more efficient I will be making divide the map up by cubes and only calculate collision if the player is in it. Question two: I can't find anywhere to do cube vs mesh collision. Is there a method for this? Or perhaps it is possible to build my collision cage out of cubes in the 3D app and on loading of the models in XNA replace them directly by cubes? So I could just do box to box collision which should be very cheap and still give the player the ability to move over ledges on the static models.

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• How to implement "bullet time" in a multiplayer game?

  - by Tom

  I have never seen such a feature before, but it should provide an interesting gameplay opportunity. So yes, in a multiplayer/real-time environment (imagine FPS), how could I implement a slow motion/bullet time effect? Something like an illusion for the player that's currently slo-mo'ed. So everybody sees him "real-time", but he sees everything slowed down. Update A sidenote: keep in mind that a FPS game has to be balanced in order for it to be fun. So yes, this bullet time feature has to be solid, giving a small advantage to the "player", while not taking away from other players. Plus, there is a possibility that two players could activate their bullet time at the same time. Furthermore: I'm going to implement this in the future no matter what it takes. And, the idea is to build a whole new game engine for all this. If that gives new options, I'm more then interested in hearing the ideas. Meanwhile, here with my team we're thinking about this too, when our theory will be crafted, I'm going to share it here. Is this even possible? So, the question on "is this even possible" has been answered, now it's time to find the best solution. I'm keeping the "answer" until something exceptionally good comes up, like a prototype theory with something close to working pseudo code.

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• Wired : "Japanese despise western games" - how much is it true?

  - by user712092

  Wired has article that western games are seen as "bad games". Why is that? If that is true, than what do they see as bad? This article, i think, is biased towards western games: “The other day,” says Q Entertainment’s Mielke, “I was having lunch with a friend and I said, ‘Have you ever played StarCraft?’ And he said, ‘What’s StarCraft?’ Sometimes it’s just really shocking that their gaming vocabulary isn’t as extensive as it could be. I think Japanese game developers need to start playing other people’s games to open their minds, just like a writer might want to read classic literature to be inspired.” Rather than trusting such articles, I rather ask here.

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• Locomotion-system with irregular IK

  - by htaunay

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

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• Is it possible to generate Events and Hooks in Lua for any game without built-in support?

  - by pr0tocol

  Does a game have to have built-in functions to accept and run lua scripts, or can I design Events and Hooks using Lua on any game I please, akin to the days where C code could be used to hook into the WinAPI using dlls? The reason I ask is, I am trying to create a background application that will perform events and hooks on a particular game that does not currently support lua in-game. Brief examples: Events: - An action executed by the PLAYER is detected. For instance, hitting the Q key will normally make my character use an ability, but with my Lua script running in the background, will cause a sound to play on my computer (or something). Hooks: - An action within the GAME is detected. For instance, the game spawns an enemy every minute. When an enemy spawns, the script will detect this and perform an action, for instance playing a sound locally on the computer. I would like to do both, but I know for games like Garry's Mod, the game already has built-in support for running lua scripts. Is there a way to do either events OR hooks using lua similarly to how C/C++ can connect to a game using WinAPI dlls?

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• Ouya / Android : button mapping biwise

  - by scorvi

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

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• Bouncing ball isssue

  - by user

  I am currently working on the 2D Bouncing ball physics that bounces the ball up and down. The physics behaviour works fine but at the end the velocity keep +3 then 0 non-stop even the ball has stopped bouncing. How should I modify the code to fix this issue? ballPos = D3DXVECTOR2( 50, 100 ); velocity = 0; accelaration = 3.0f; isBallUp = false; void GameClass::Update() { velocity += accelaration; ballPos.y += velocity; if ( ballPos.y >= 590 ) isBallUp = true; else isBallUp = false; if ( isBallUp ) { ballPos.y = 590; velocity *= -1; } // Graphics Rendering m_Graphics.BeginFrame(); ComposeFrame(); m_Graphics.EndFrame(); }

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• Is it possible to use 3G internet for a TCP/IP game server?

  - by Amit Ofer

  I'm working on a turned based multiplayer android game with a friend. I started working on the game server and client using socket programming. I found a few tutorials on how to implement a basic chat on android and I started extending that example to suit my needs. Basically the game is really simple and the communication only include sending a few string from the client to the server every turn and sending the calculated scores back to all the clients after each turn. the idea is that one of the players creates the game and thus initialize the server, and each player connects to this client using ip. I tried this solution and it seems to work great when all the players are using the same wifi connection or by using router port forwarding. The problem is when trying to use 3G internet for the server, I guess the problem is that 3G ip address isn't global and you can't use port forwarding there, correct me if I'm wrong here. Is there a way to overcome this issue? or the only solution is to limit my game to wifi only or think of a different solution than the standard socket programming solution? I.E web server etc. what do you think would be the best approach here? Thanks.

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• Can't change color of sprites in unity

  - by Aceleeon

  I would like to create a script that targets a 2d sprite "enemy" and changes their color to red (slightly opaque red if possible) when you hit tab. I have this code from a 3d tutorial hoping the transition would work. But it does not. I only get the script to cycle the enemy tags but never changes the color of the sprite. I have the code below I'm very new to coding, and any help would be FANTASTIC! HELP! hahah. TL;DR Cant get 3d color targeting to work for 2D. Check out the c#code below using UnityEngine; using System.Collections; using System.Collections.Generic; public class Targetting : MonoBehaviour { public List targets; public Transform selectedTarget; private Transform myTransform; // Use this for initialization void Start () { targets = new List(); selectedTarget = null; myTransform = transform; AddAllEnemies(); } public void AddAllEnemies() { GameObject[] go = GameObject.FindGameObjectsWithTag("Enemy"); foreach(GameObject enemy in go) AddTarget(enemy.transform); } public void AddTarget(Transform enemy) { targets.Add(enemy); } private void SortTargetsByDistance() { targets.Sort(delegate(Transform t1,Transform t2) { return Vector3.Distance(t1.position, myTransform.position).CompareTo(Vector3.Distance(t2.position, myTransform.position)); }); } private void TargetEnemy() { if(selectedTarget == null) { SortTargetsByDistance(); selectedTarget = targets[0]; } else { int index = targets.IndexOf(selectedTarget); if(index < targets.Count -1) { index++; } else { index = 0; } selectedTarget = targets[index]; } } private void SelectTarget() { selectedTarget.GetComponent().color = Color.red; } private void DeselectTarget() { selectedTarget.GetComponent().color = Color.blue; selectedTarget = null; } // Update is called once per frame void Update() { if(Input.GetKeyDown(KeyCode.Tab)) { TargetEnemy(); } } }

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• Correcting Lighting in Stencil Reflections

  - by Reanimation

  I'm just playing around with OpenGL seeing how different methods of making shadows and reflections work. I've been following this tutorial which describes using GLUT_STENCIL's and MASK's to create a reasonable interpretation of a reflection. Following that and a bit of tweaking to get things to work, I've come up with the code below. Unfortunately, the lighting isn't correct when the reflection is created. glPushMatrix(); plane(); //draw plane that reflection appears on glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE); glDepthMask(GL_FALSE); glEnable(GL_STENCIL_TEST); glStencilFunc(GL_ALWAYS, 1, 0xFFFFFFFF); glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE); plane(); //draw plane that acts as clipping area for reflection glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); glDepthMask(GL_TRUE); glStencilFunc(GL_EQUAL, 1, 0xFFFFFFFF); glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP); glDisable(GL_DEPTH_TEST); glPushMatrix(); glScalef(1.0f, -1.0f, 1.0f); glTranslatef(0,2,0); glRotatef(180,0,1,0); sphere(radius, spherePos); //draw object that you want to have a reflection glPopMatrix(); glEnable(GL_DEPTH_TEST); glDisable(GL_STENCIL_TEST); sphere(radius, spherePos); //draw object that creates reflection glPopMatrix(); It looked really cool to start with, then I noticed that the light in the reflection isn't correct. I'm not sure that it's even a simple fix because effectively the reflection is also a sphere but I thought I'd ask here none-the-less. I've tried various rotations (seen above the first time the sphere is drawn) but it doesn't seem to work. I figure it needs to rotate around the Y and Z axis but that's not correct. Have I implemented the rotation wrong or is there a way to correct the lighting?

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• How can I port a MonoGame Windows Phone 8 game to iOS?

  - by Homer_Simpson

  I downloaded the trial version of Xamarin Studio and installed it on my iMac. In addition, I installed Xcode on my iMac so that I can use the iPhone emulators in Xamarin Studio. But I don't know how to use my MonoGame Windows Phone 8 source files in a Xamarin iPhone project. How can I use my Windows Phone code in an iPhone project? Can I import all my existing classes(for example Game1.cs) in an iPhone project without changing something? How can I port a MonoGame Windows Phone 8 game to iOS?

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• Open GL polygons not displaying

  - by Darestium

  I have tried to follow nehe's opengl tutorial lesson 2. I use sfml for my window creation. The problem I have is that both the triangle and the quad don't show up on the screen: #include <SFML/System.hpp> #include <SFML/Window.hpp> #include <iostream> void processEvents(sf::Window *app); void processInput(sf::Window *app, const sf::Input &input); void renderCube(sf::Window *app, sf::Clock *clock); void renderGlScene(sf::Window *app); void init(); int main() { sf::Window app(sf::VideoMode(800, 600, 32), "Nehe Lesson 2"); app.UseVerticalSync(false); init(); while (app.IsOpened()) { processEvents(&app); renderGlScene(&app); app.Display(); } return EXIT_SUCCESS; } void init() { glClearDepth(1.f); glClearColor(0.f, 0.f, 0.f, 0.f); // Enable z-buffer and read and write glEnable(GL_DEPTH_TEST); glDepthMask(GL_TRUE); // Setup a perpective projection glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluPerspective(45.f, 1.f, 1.f, 500.f); glShadeModel(GL_SMOOTH); } void processEvents(sf::Window *app) { sf::Event event; while (app->GetEvent(event)) { if (event.Type == sf::Event::Closed) { app->Close(); } if (event.Type == sf::Event::KeyPressed && event.Key.Code == sf::Key::Escape) { app->Close(); } } } void renderGlScene(sf::Window *app) { app->SetActive(); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the screen and the depth buffer glLoadIdentity(); // Reset the view glTranslatef(-1.5f, 0.0f, -6.0f); // Move Left 1.5 units and into the screen 6.0 glBegin(GL_TRIANGLES); glVertex3f( 0.0f, 1.0f, 0.0f); // Top glVertex3f(-1.0,-1.0f, 0.0f); // Bottom Left glVertex3f( 1.0f,-1.0f, 0.0f); // Bottom Right glEnd(); glTranslatef(3.0f, 0.0f, 0.0f); glBegin(GL_QUADS); // Draw a quad glVertex3f(-1.0f, 1.0f, 0.0f); glVertex3f( 1.0f, 1.0f, 0.0f); glVertex3f( 1.0f,-1.0f, 0.0f); glVertex3f(-1.0f,-1.0f, 0.0f); glEnd(); } I would greatly appreciate it if someone could help me resolve my issue.

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• Android opengles 2.0 :different resolutions rendering and input

  - by kkan

  I'm currently developing a sprite based 2D game for android using opengles 2.0. I've got some basic rendering done that mimics the spritebatch functionality of xna (draw sprite, rotation, color). But all of this works for a fixed projection matrix, but android has a lot of screen sizes. Q1)Would this be an okay method to scale up/down the drawing? 1)Draw the whole screen to a texture. 2)Draw the above texture as a quad to the device. I found the above through some searching, not sure if it's the best one, are there any alternatives? Q2)How do you handle inputs for different resolutions? I currently get the position of a touch and use it raw. Would it be okay to get the position, and then scale the position to size of the texture used for rendering, and the perform calculations on it? Thanks.

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• Should developers make their games easier with new versions?

  - by Gil Kalai

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

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• How to tile multiple procedurally generated textures?

  - by Burhuc

  I'm trying to develop a procedural tile generator for a game, mostly for the ground tiles, instead of using "hand-drawn" tiles. To achieve this I'm using Perlin noise and a sine wave with multiple parameters, which already gives me pretty nice results. I don't want to generate 1 tile and repeat that one forever for one ground type, but I want to avoid recurrences, so I'm generating n different tiles. The problem I'm having now is that I want to tile the generated textures (smooth transitions). At the moment I have this: 4 256x256 textures. I thought a simple method would be to just add the positions of the different tiles to the noise generation algorithm, so that, when creating the 4 256x256 textures, it would behave like it would create a 512x512 texture, but that somehow didn't work as intented. So how can I tile those textures?

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• Do all mods simply alter game files? [on hold]

  - by Starkers

  When you install some mods you drag certain files into your game directory and replace the files. Other mods, though, come with an installer where you can set parameters first. Does the installer then go and automatically replace the certain files? At the end of the day, is that all the installation of any mod is? Is the installation of a mod simply the replacement of certain files inside the game's root directory? Do mods exist which don't fit the above statement? That install outside the game's root? Why do they do this? All the mods I can think of do just replace certain files inside the game's root. However, I know Team Fortress was spawned from a multiplayer halflife 1 mod. Do you reckon that mod installed files outside the root to enable multiplayer via a network for a single player game? How rare are these mods? Or do they not even exist? Do even extensive mods make all their changes inside the root?

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• 2D Polygon Triangulation

  - by BleedObsidian

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

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• Java enum pairs / "subenum" or what exactly?

  - by vemalsar

  I have an RPG-style Item class and I stored the type of the item in enum (itemType.sword). I want to store subtype too (itemSubtype.long), but I want to express the relation between two data type (sword can be long, short etc. but shield can't be long or short, only round, tower etc). I know this is wrong source code but similar what I want: enum type { sword; } //not valid code! enum swordSubtype extends type.sword { short, long } Question: How can I define this connection between two data type (or more exactly: two value of the data types), what is the most simple and standard way? Array-like data with all valid (itemType,itemSubtype) enum pairs or (itemType,itemSubtype[]) so more subtype for one type, it would be the best. OK but how can I construct this simplest way? Special enum with "subenum" set or second level enum or anything else if it does exists 2 dimensional "canBePairs" array, itemType and itemSubtype dimensions with all type and subtype and boolean elements, "true" means itemType (first dimension) and itemSubtype (second dimension) are okay, "false" means not okay Other better idea Thank you very much!

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• List<T>.AddRange is causing a brief Update/Draw delay

  - by Justin Skiles

  I have a list of entities which implement an ICollidable interface. This interface is used to resolve collisions between entities. My entities are thus: Players Enemies Projectiles Items Tiles On each game update (about 60 t/s), I am clearing the list and adding the current entities based on the game state. I am accomplishing this via: collidableEntities.Clear(); collidableEntities.AddRange(players); collidableEntities.AddRange(enemies); collidableEntities.AddRange(projectiles); collidableEntities.AddRange(items); collidableEntities.AddRange(camera.VisibleTiles); Everything works fine until I add the visible tiles to the list. The first ~1-2 seconds of running the game loop causes a visible hiccup that delays drawing (so I can see a jitter in the rendering). I can literally remove/add the line that adds the tiles and see the jitter occur and not occur, so I have narrowed it down to that line. My question is, why? The list of VisibleTiles is about 450-500 tiles, so it's really not that much data. Each tile contains a Texture2D (image) and a Vector2 (position) to determine what is rendered and where. I'm going to keep looking, but from the top of my head, I can't understand why only the first 1-2 seconds hiccups but is then smooth from there on out. Any advice is appreciated.

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

  - by Munezane

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

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