How the collision system of The Witness was engineered to completely prevent entire classes of bugs normally found in game engines of its type: https://www.youtube.com/watch?v=YE8MVNMzpbo … (Restored version of my 2018 talk, since the convention lost the audio from the original)
Since they presumably have lots of blocking geometry (like doors, walls, obstacles, etc.), they still needed something to say whether you could or couldn't move somewhere, and that was their physics engine, right?
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So they presumably didn't actually have anything like a real, complete walkable area definition with all the obstacles and (moving!) blockers, like characters and platforms and so on, hence the height map doesn't really help solve the problem at all.
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The game had a grid representation of each level representing the full walkable area. Characters dynamically blocked the grid when they stopped. The borders of characters and things like traps weighted the path finding to influence avoidance.
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