commit d0418bda351f592d69035a063379470f71181598 Author: Leszek Koltunski Date: Sat Apr 6 14:13:40 2019 +0100 Improve the Rubik App - rotation works now. diff --git a/src/main/java/org/distorted/examples/rubik/RubikRenderer.java b/src/main/java/org/distorted/examples/rubik/RubikRenderer.java index 4a6f032..3a352d1 100644 --- a/src/main/java/org/distorted/examples/rubik/RubikRenderer.java +++ b/src/main/java/org/distorted/examples/rubik/RubikRenderer.java @@ -46,7 +46,7 @@ import javax.microedition.khronos.opengles.GL10; class RubikRenderer implements GLSurfaceView.Renderer { - static final int NUM_CUBES = 3; + static final int NUM_CUBES = 4; private static final int SIZE = 200; private static final float CUBE_SCREEN_RATIO = 0.5f; @@ -63,9 +63,9 @@ class RubikRenderer implements GLSurfaceView.Renderer private Static4D[][][] mQuatScramble; private Static3D[][][] mRotationAxis; private Dynamic1D[][][] mRotationAngle; + private Static3D[][][] mCurrentPosition; private Static1D mRotationAngleStatic; - private int mRotAxis; - private int mRotRow; + private int mRotAxis, mRotRow; private int mScreenWidth, mScreenHeight; @@ -91,11 +91,12 @@ class RubikRenderer implements GLSurfaceView.Renderer mEffects = new DistortedEffects[NUM_CUBES][NUM_CUBES][NUM_CUBES]; Static3D[][][] cubeVectors = new Static3D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; - mQuatScramble = new Static4D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; - mRotationAxis = new Static3D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; - mRotationAngle= new Dynamic1D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; + mQuatScramble = new Static4D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; + mRotationAxis = new Static3D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; + mRotationAngle = new Dynamic1D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; + mCurrentPosition= new Static3D[NUM_CUBES][NUM_CUBES][NUM_CUBES]; - float sinkDegree = 3.0f - 1.7f/NUM_CUBES; // f(1)=1.3, f(inf)=3 + float sinkDegree = 3.0f - 1.8f/NUM_CUBES; // f(1)=1.2, f(inf)=3 VertexEffectSink sink = new VertexEffectSink( new Static1D(sinkDegree), new Static3D(SIZE*0.5f, SIZE*0.5f, SIZE*0.5f), @@ -149,11 +150,12 @@ class RubikRenderer implements GLSurfaceView.Renderer tmpTop = (y== NUM_CUBES -1 ? mapTop :mapBlack); tmpBottom= (y== 0 ? mapBottom:mapBlack); - mCubes[x][y][z] = new MeshCubes(vertices,vertices,vertices, tmpFront, tmpBack, tmpLeft, tmpRight, tmpTop, tmpBottom); - cubeVectors[x][y][z] = new Static3D( SIZE*(x-nc), SIZE*(y-nc), SIZE*(z-nc) ); - mQuatScramble[x][y][z] = new Static4D(0,0,0,1); - mRotationAngle[x][y][z] = new Dynamic1D(); - mRotationAxis[x][y][z] = new Static3D(1,0,0); + mCubes[x][y][z] = new MeshCubes(vertices,vertices,vertices, tmpFront, tmpBack, tmpLeft, tmpRight, tmpTop, tmpBottom); + cubeVectors[x][y][z] = new Static3D( SIZE*(x-nc), SIZE*(y-nc), SIZE*(z-nc) ); + mQuatScramble[x][y][z] = new Static4D(0,0,0,1); + mRotationAngle[x][y][z] = new Dynamic1D(); + mRotationAxis[x][y][z] = new Static3D(1,0,0); + mCurrentPosition[x][y][z] = new Static3D(x,y,z); mEffects[x][y][z] = new DistortedEffects(); mEffects[x][y][z].apply(sink); @@ -324,7 +326,7 @@ class RubikRenderer implements GLSurfaceView.Renderer void continueRotation(float angle) { - mRotationAngleStatic.set1(120.0f*angle/mScreenMin); + mRotationAngleStatic.set1(200.0f*angle/mScreenMin); } /////////////////////////////////////////////////////////////////////////////////////////////////// @@ -360,6 +362,7 @@ class RubikRenderer implements GLSurfaceView.Renderer { mRotationAngle[x][y][z].removeAll(); mQuatScramble[x][y][z].set(RubikSurfaceView.quatMultiply(quat,mQuatScramble[x][y][z])); + modifyCurrentPosition(x,y,z,quat); } } } @@ -370,14 +373,47 @@ class RubikRenderer implements GLSurfaceView.Renderer { switch(vector) { - case RubikSurfaceView.VECTX: return x==row; - case RubikSurfaceView.VECTY: return y==row; - case RubikSurfaceView.VECTZ: return z==row; + case RubikSurfaceView.VECTX: return mCurrentPosition[x][y][z].get1()==row; + case RubikSurfaceView.VECTY: return mCurrentPosition[x][y][z].get2()==row; + case RubikSurfaceView.VECTZ: return mCurrentPosition[x][y][z].get3()==row; } return false; } +/////////////////////////////////////////////////////////////////////////////////////////////////// + + private void modifyCurrentPosition(int x, int y, int z, Static4D quat) + { + Static3D current = mCurrentPosition[x][y][z]; + float beforeX = current.get1(); + float beforeY = current.get2(); + float beforeZ = current.get3(); + + float diff = 0.5f*(NUM_CUBES-1); + + float cubitCenterX = beforeX - diff; + float cubitCenterY = beforeY - diff; + float cubitCenterZ = beforeZ - diff; + + Static4D cubitCenter = new Static4D(cubitCenterX, cubitCenterY, cubitCenterZ, 0); + Static4D rotatedCenter = RubikSurfaceView.rotateVectorByQuat( cubitCenter, quat); + + float rotatedX = rotatedCenter.get1() + diff; + float rotatedY = rotatedCenter.get2() + diff; + float rotatedZ = rotatedCenter.get3() + diff; + + int roundedX = (int)(rotatedX+0.1f); + int roundedY = (int)(rotatedY+0.1f); + int roundedZ = (int)(rotatedZ+0.1f); + + //android.util.Log.e("rubik", "before: ("+((int)beforeX)+","+((int)beforeY)+","+((int)beforeZ)+") after: ("+roundedX+","+roundedY+","+roundedZ+")"); + + mCurrentPosition[x][y][z].set1(roundedX); + mCurrentPosition[x][y][z].set2(roundedY); + mCurrentPosition[x][y][z].set3(roundedZ); + } + /////////////////////////////////////////////////////////////////////////////////////////////////// float getScreenWidth() diff --git a/src/main/java/org/distorted/examples/rubik/RubikSurfaceView.java b/src/main/java/org/distorted/examples/rubik/RubikSurfaceView.java index 1c7de11..b6e4608 100644 --- a/src/main/java/org/distorted/examples/rubik/RubikSurfaceView.java +++ b/src/main/java/org/distorted/examples/rubik/RubikSurfaceView.java @@ -100,17 +100,11 @@ class RubikSurfaceView extends GLSurfaceView { case MotionEvent.ACTION_DOWN: mX = x; mY = y; - mLastTouchedFace = faceTouched(x,y); - if( mLastTouchedFace != NONE ) - { - mRotating = true; - } - else - { - mDragging = true; - } + if( mLastTouchedFace != NONE ) mRotating = true; + else mDragging = true; + break; case MotionEvent.ACTION_MOVE: if( mDragging ) { @@ -297,12 +291,45 @@ class RubikSurfaceView extends GLSurfaceView return new Static4D(tx,ty,tz,tw); } +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat^(-1) ( i.e. return (quat^-1)*vector*quat ) + + static Static4D rotateVectorByInvertedQuat(Static4D vector, Static4D quat) + { + float qx = quat.get1(); + float qy = quat.get2(); + float qz = quat.get3(); + float qw = quat.get4(); + + Static4D quatInverted= new Static4D(-qx,-qy,-qz,qw); + Static4D tmp = quatMultiply(quatInverted,vector); + + return quatMultiply(tmp,quat); + } + + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// rotate 'vector' by quat ( i.e. return quat*vector*(quat^-1) ) + + static Static4D rotateVectorByQuat(Static4D vector, Static4D quat) + { + float qx = quat.get1(); + float qy = quat.get2(); + float qz = quat.get3(); + float qw = quat.get4(); + + Static4D quatInverted= new Static4D(-qx,-qy,-qz,qw); + Static4D tmp = quatMultiply(quat,vector); + + return quatMultiply(tmp,quatInverted); + } + /////////////////////////////////////////////////////////////////////////////////////////////////// private Static4D quatFromDrag(float dragX, float dragY) { float axisX = dragY; // inverted X and Y - rotation axis is - float axisY = dragX; // perpendicular to (dragX,dragY) + float axisY = dragX; // perpendicular to (dragX,dragY) Why not (-dragY, dragX) ? because Y axis is also inverted! float axisZ = 0; float axisL = (float)Math.sqrt(axisX*axisX + axisY*axisY + axisZ*axisZ); @@ -321,27 +348,6 @@ class RubikSurfaceView extends GLSurfaceView return new Static4D(0f, 0f, 0f, 1f); } -/////////////////////////////////////////////////////////////////////////////////////////////////// - - private int returnFrontFace() - { - Static4D rotated = rotateVector(new Static4D(0,0,1,0)); - - float rotatedX = rotated.get1(); - float rotatedY = rotated.get2(); - float rotatedZ = rotated.get3(); - - float absX = rotatedX>0 ? rotatedX : -rotatedX; - float absY = rotatedY>0 ? rotatedY : -rotatedY; - float absZ = rotatedZ>0 ? rotatedZ : -rotatedZ; - - if( absX>absY && absX>absZ ) return rotatedX>0 ? RIGHT:LEFT; - if( absY>absX && absY>absZ ) return rotatedY>0 ? TOP:BOTTOM; - if( absZ>absX && absZ>absY ) return rotatedZ>0 ? FRONT:BACK; - - return NONE; - } - /////////////////////////////////////////////////////////////////////////////////////////////////// private boolean faceIsVisible(int face) @@ -349,7 +355,7 @@ class RubikSurfaceView extends GLSurfaceView float cameraDistance = mRenderer.returnCameraDistance(); float cubeHalfSize = mRenderer.returnCubeSize()*0.5f; - Static4D rotated = rotateVector(new Static4D(0,0,cameraDistance,0)); + Static4D rotated = rotateVectorByInvertedQuat(new Static4D(0,0,cameraDistance,0), mQuatAccumulated); switch(face) { @@ -364,22 +370,6 @@ class RubikSurfaceView extends GLSurfaceView return false; } -/////////////////////////////////////////////////////////////////////////////////////////////////// -// rotate 'vector' by quaternion q=mQuatAccumulated^(-1) ( i.e. return (q^-1)*vector*q ) - - private Static4D rotateVector(Static4D vector) - { - float qx = mQuatAccumulated.get1(); - float qy = mQuatAccumulated.get2(); - float qz = mQuatAccumulated.get3(); - float qw = mQuatAccumulated.get4(); - - Static4D quatInverted= new Static4D(-qx,-qy,-qz,qw); - Static4D tmp = quatMultiply(quatInverted,vector); - - return quatMultiply(tmp,mQuatAccumulated); - } - /////////////////////////////////////////////////////////////////////////////////////////////////// private int faceTouched(int xTouch, int yTouch) @@ -417,7 +407,7 @@ class RubikSurfaceView extends GLSurfaceView float halfScrWidth = mRenderer.getScreenWidth() *0.5f; float halfScrHeight = mRenderer.getScreenHeight()*0.5f; Static4D touchPoint = new Static4D(x-halfScrWidth, halfScrHeight-y, 0, 0); - Static4D rotatedTouchPoint= rotateVector(touchPoint); + Static4D rotatedTouchPoint= rotateVectorByInvertedQuat(touchPoint, mQuatAccumulated); mPoiX = rotatedTouchPoint.get1(); mPoiY = rotatedTouchPoint.get2(); @@ -431,7 +421,7 @@ class RubikSurfaceView extends GLSurfaceView float cameraDistance = mRenderer.returnCameraDistance(); Static4D cameraPoint = new Static4D(0, 0, cameraDistance, 0); - Static4D rotatedCamera= rotateVector(cameraPoint); + Static4D rotatedCamera= rotateVectorByInvertedQuat(cameraPoint, mQuatAccumulated); mCamX = rotatedCamera.get1(); mCamY = rotatedCamera.get2();