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// Copyright 2019 Leszek Koltunski //
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// //
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// This file is part of Magic Cube. //
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// //
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Leszek Koltunski
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// Magic Cube is proprietary software licensed under an EULA which you should have received //
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// along with the code. If not, check https://distorted.org/magic/License-Magic-Cube.html //
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29b82486
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///////////////////////////////////////////////////////////////////////////////////////////////////
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package org.distorted.objectlib.main;
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import org.distorted.library.main.QuatHelper;
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import org.distorted.library.type.Static4D;
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import org.distorted.objectlib.helpers.OperatingSystemInterface;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public class TwistyObjectCubit
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{
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public static final int TYPE_NORMAL = 0; // all 'old', 'pre-crazy' cubits
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public static final int TYPE_FOLLOWER = 1; // those cubits that follow deciders (e.g. small circle edges from Crazy Plus planets)
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public static final int TYPE_DECIDER = 2; // cubits deciding about rotation rows of their followers (e.g. center cubits of Crazy Plus Planets)
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private final float[] mTmp;
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private final float[] mOrigPosition;
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private final float[] mCurrentPosition;
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private final float[] mRowOffset;
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private final float mOrigOffsetX, mOrigOffsetY, mOrigOffsetZ;
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private final int mNumAxis;
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private final int mLen;
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private final int[] mRotationRow;
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private final int mCubitType;
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private final int mOrigPuzzleFace;
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private final int mCubitIndex;
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private final int mMaxLayers;
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private float[] mTrackingPoint;
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private int mCurrentPuzzleFace;
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private TwistyObject mParent;
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int mQuatIndex;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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TwistyObjectCubit(TwistyObject parent, float[] position, int numAxis, int maxLayers, int cubitIndex)
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{
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mQuatIndex= 0;
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mParent = parent;
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mLen = position.length;
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mMaxLayers= maxLayers;
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mCubitType = mParent.getCubitRotationType(cubitIndex);
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mRowOffset = mParent.getCubitRowOffset(cubitIndex);
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mTrackingPoint= mParent.getTrackingPoint(cubitIndex,mCubitType);
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int face = mParent.computeCurrentPuzzleFace(mCubitType,mTrackingPoint);
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if( mRowOffset!=null )
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{
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mOrigOffsetX = mRowOffset[0];
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mOrigOffsetY = mRowOffset[1];
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mOrigOffsetZ = mRowOffset[2];
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if( mCubitType==TYPE_DECIDER ) mParent.setRotationRowOffset(face,mRowOffset);
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}
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else
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{
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mOrigOffsetX = 0;
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mOrigOffsetY = 0;
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mOrigOffsetZ = 0;
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}
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mCubitIndex = cubitIndex;
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mOrigPuzzleFace = face;
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mCurrentPuzzleFace= face;
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mOrigPosition = new float[mLen];
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mCurrentPosition = new float[mLen];
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mTmp = new float[4];
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for(int i=0; i<mLen; i++)
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{
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mOrigPosition[i] = position[i];
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mCurrentPosition[i] = position[i];
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}
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mNumAxis = numAxis;
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mRotationRow = new int[mNumAxis];
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computeRotationRow();
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Because of quatMultiplication, errors can accumulate - so to avoid this, we
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// correct the value of the 'scramble' quat to what it should be - one of the legal quats from the
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// list QUATS.
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//
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// We also have to remember that the group of unit quaternions is a double-cover of rotations
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// in 3D ( q represents the same rotation as -q ) - so invert if needed.
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private int normalizeScrambleQuat(Static4D quat)
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{
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float x = quat.get0();
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float y = quat.get1();
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float z = quat.get2();
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float w = quat.get3();
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float xd,yd,zd,wd;
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float diff, mindiff = Float.MAX_VALUE;
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int ret=0;
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int num_quats = mParent.mObjectQuats.length;
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Static4D qt;
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for(int q=0; q<num_quats; q++)
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{
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qt = mParent.mObjectQuats[q];
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xd = x - qt.get0();
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yd = y - qt.get1();
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zd = z - qt.get2();
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wd = w - qt.get3();
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diff = xd*xd + yd*yd + zd*zd + wd*wd;
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if( diff < mindiff )
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{
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ret = q;
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mindiff = diff;
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}
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xd = x + qt.get0();
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yd = y + qt.get1();
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zd = z + qt.get2();
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wd = w + qt.get3();
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diff = xd*xd + yd*yd + zd*zd + wd*wd;
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if( diff < mindiff )
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{
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ret = q;
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mindiff = diff;
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}
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}
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return ret;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void computeRotationRow()
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{
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for(int i=0; i<mNumAxis; i++)
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{
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mRotationRow[i] = mParent.computeRow(mCurrentPosition,i,mCubitType,mCurrentPuzzleFace);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int computeAssociation()
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{
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int result = 0, accumulativeShift = 0;
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for(int axis=0; axis<mNumAxis; axis++)
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{
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result += (mRotationRow[axis]<<accumulativeShift);
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accumulativeShift += mMaxLayers;
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}
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return result;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private String createKey(String key)
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{
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return key+"_"+mCubitIndex+"_"+mOrigPosition[0]+"_"+mOrigPosition[1]+"_"+mOrigPosition[2];
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void savePreferences(String key, OperatingSystemInterface os)
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{
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os.putInt(createKey(key), mQuatIndex);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void removePreferences(String key, OperatingSystemInterface os)
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{
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os.remove(createKey(key));
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int restorePreferences(String key, OperatingSystemInterface os)
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{
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mQuatIndex = os.getInt(createKey(key), 0);
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return mQuatIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// only for debugging
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float[] getTrackingPoint()
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{
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return mTrackingPoint;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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float[] getCurrentPos()
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{
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return mCurrentPosition;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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boolean rotateCubit(Static4D quat, boolean clamp)
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{
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boolean result = true;
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int len = mLen/3;
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if( clamp )
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{
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for(int i=0; i<len; i++)
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{
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QuatHelper.rotateVectorByQuat( mTmp, mCurrentPosition[3*i], mCurrentPosition[3*i+1], mCurrentPosition[3*i+2], 0, quat);
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mCurrentPosition[3*i ] = mTmp[0];
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mCurrentPosition[3*i+1] = mTmp[1];
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mCurrentPosition[3*i+2] = mTmp[2];
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mParent.clampPos(mCurrentPosition, 3*i);
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}
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}
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else
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{
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for(int i=0; i<len; i++)
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{
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QuatHelper.rotateVectorByQuat( mTmp, mCurrentPosition[3*i], mCurrentPosition[3*i+1], mCurrentPosition[3*i+2], 0, quat);
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mCurrentPosition[3*i ] = mTmp[0];
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mCurrentPosition[3*i+1] = mTmp[1];
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mCurrentPosition[3*i+2] = mTmp[2];
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}
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}
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if( mCubitType!=TYPE_NORMAL )
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{
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QuatHelper.rotateVectorByQuat( mTmp, mTrackingPoint[0], mTrackingPoint[1], mTrackingPoint[2], 0, quat);
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mTrackingPoint[0] = mTmp[0];
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mTrackingPoint[1] = mTmp[1];
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mTrackingPoint[2] = mTmp[2];
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mCurrentPuzzleFace = mParent.computeCurrentPuzzleFace(mCubitType,mTrackingPoint);
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if( mCurrentPuzzleFace<0 ) // unexpected error
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{
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mCurrentPuzzleFace = 0;
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result = false;
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}
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}
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if( mCubitType==TYPE_DECIDER )
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{
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QuatHelper.rotateVectorByQuat( mTmp, mRowOffset[0], mRowOffset[1], mRowOffset[2], 0, quat);
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mRowOffset[0] = mTmp[0];
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mRowOffset[1] = mTmp[1];
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mRowOffset[2] = mTmp[2];
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}
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return result;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int postRotateCubit(Static4D quat)
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{
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Static4D q = QuatHelper.quatMultiply(quat,mParent.mObjectQuats[mQuatIndex]);
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mQuatIndex = normalizeScrambleQuat(q);
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computeRotationRow();
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// if( mCubitIndex==5 )
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// android.util.Log.e("D", "index="+mCubitIndex+" quat: "+mQuatIndex);
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return mQuatIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void solve()
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| 284 |
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{
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mQuatIndex = 0;
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| 286 |
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mCurrentPuzzleFace = mOrigPuzzleFace;
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System.arraycopy(mOrigPosition, 0, mCurrentPosition, 0, mCurrentPosition.length);
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if( mCubitType!=TYPE_NORMAL )
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{
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mTrackingPoint = mParent.getTrackingPoint(mCubitIndex,mCubitType);
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| 292 |
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if( mCubitType==TYPE_DECIDER )
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{
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mRowOffset[0] = mOrigOffsetX;
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mRowOffset[1] = mOrigOffsetY;
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mRowOffset[2] = mOrigOffsetZ;
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}
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}
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}
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| 300 |
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| 301 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
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| 302 |
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| 303 |
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void releaseResources()
|
| 304 |
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{
|
| 305 |
|
|
mParent = null;
|
| 306 |
|
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}
|
| 307 |
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|
| 308 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
|
| 309 |
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| 310 |
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public int getType()
|
| 311 |
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{
|
| 312 |
|
|
return mCubitType;
|
| 313 |
|
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}
|
| 314 |
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|
| 315 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
|
| 316 |
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|
| 317 |
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public float[] getOffset()
|
| 318 |
|
|
{
|
| 319 |
|
|
return mRowOffset;
|
| 320 |
|
|
}
|
| 321 |
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|
| 322 |
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Leszek Koltunski
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
| 323 |
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|
| 324 |
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public int getPuzzleFace()
|
| 325 |
|
|
{
|
| 326 |
|
|
return mCurrentPuzzleFace;
|
| 327 |
|
|
}
|
| 328 |
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|
| 329 |
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|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
| 330 |
|
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|
| 331 |
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public int getRotRow(int axisIndex)
|
| 332 |
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|
{
|
| 333 |
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|
return mRotationRow[axisIndex];
|
| 334 |
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Leszek Koltunski
|
}
|
| 335 |
|
|
}
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