1
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
2
|
// Copyright 2023 Leszek Koltunski //
|
3
|
// //
|
4
|
// This file is part of Magic Cube. //
|
5
|
// //
|
6
|
// Magic Cube is proprietary software licensed under an EULA which you should have received //
|
7
|
// along with the code. If not, check https://distorted.org/magic/License-Magic-Cube.html //
|
8
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
9
|
|
10
|
package org.distorted.objectlib.tablebases;
|
11
|
|
12
|
import org.distorted.library.main.QuatHelper;
|
13
|
import org.distorted.library.type.Static3D;
|
14
|
import org.distorted.library.type.Static4D;
|
15
|
import org.distorted.objectlib.helpers.QuatGroupGenerator;
|
16
|
|
17
|
import java.util.ArrayList;
|
18
|
|
19
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
20
|
|
21
|
public abstract class TablebasesCreator
|
22
|
{
|
23
|
private Tablebase mTablebase;
|
24
|
private final Static3D[] mAxis;
|
25
|
private final int mSize;
|
26
|
private final int[][] mAngles;
|
27
|
private final int mNumAxis;
|
28
|
private final int[] mNumLayers;
|
29
|
private final int mNumQuats;
|
30
|
private final Static4D[] mQuats;
|
31
|
private final int[][] mRotRow;
|
32
|
private final int mNumCubits;
|
33
|
private final float[][] mPosition;
|
34
|
private final float[][] mCuts;
|
35
|
private final int[] mNumCuts;
|
36
|
private final boolean[][] mRotatable;
|
37
|
|
38
|
private int[][] mQuatMult;
|
39
|
|
40
|
private static final float[] mTmp = new float[4];
|
41
|
|
42
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
43
|
|
44
|
abstract int[][] getBasicAngles();
|
45
|
abstract Static3D[] getRotationAxis();
|
46
|
abstract float[][] getPosition();
|
47
|
abstract float[][] getCuts();
|
48
|
|
49
|
abstract boolean[][] getRotatable();
|
50
|
|
51
|
abstract int getSize();
|
52
|
abstract int[] getQuats(int index);
|
53
|
abstract int getIndex(int[] quats);
|
54
|
|
55
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
56
|
|
57
|
public TablebasesCreator()
|
58
|
{
|
59
|
mSize = getSize();
|
60
|
mAngles = getBasicAngles();
|
61
|
mAxis = getRotationAxis();
|
62
|
mNumAxis = mAxis.length;
|
63
|
mNumLayers = new int[mNumAxis];
|
64
|
for(int i=0; i<mNumAxis; i++) mNumLayers[i] = mAngles[i].length;
|
65
|
mQuats = QuatGroupGenerator.computeGroup(mAxis,mAngles);
|
66
|
mNumQuats = mQuats.length;
|
67
|
mPosition = getPosition();
|
68
|
mNumCubits = mPosition.length;
|
69
|
mRotatable = getRotatable();
|
70
|
mCuts = getCuts();
|
71
|
mNumCuts = new int[mNumAxis];
|
72
|
|
73
|
for(int i=0; i<mNumAxis; i++)
|
74
|
{
|
75
|
mNumCuts[i] = (mCuts==null || mCuts[i]==null ? 0 : mCuts[i].length);
|
76
|
}
|
77
|
|
78
|
mRotRow = new int[mNumCubits][mNumAxis];
|
79
|
}
|
80
|
|
81
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
82
|
|
83
|
private int computeRow(float[] pos, int quat, int axisIndex)
|
84
|
{
|
85
|
int ret=0;
|
86
|
int len = pos.length/3;
|
87
|
Static3D axis = mAxis[axisIndex];
|
88
|
float axisX = axis.get0();
|
89
|
float axisY = axis.get1();
|
90
|
float axisZ = axis.get2();
|
91
|
float casted, xoff=0, yoff=0, zoff=0;
|
92
|
Static4D q = mQuats[quat];
|
93
|
|
94
|
for(int i=0; i<len; i++)
|
95
|
{
|
96
|
QuatHelper.rotateVectorByQuat(mTmp,pos[3*i],pos[3*i+1],pos[3*i+2],1.0f,q);
|
97
|
casted = (mTmp[0]+xoff)*axisX + (mTmp[1]+yoff)*axisY + (mTmp[2]+zoff)*axisZ;
|
98
|
ret |= computeSingleRow(axisIndex,casted);
|
99
|
}
|
100
|
|
101
|
return ret;
|
102
|
}
|
103
|
|
104
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
105
|
|
106
|
private int computeSingleRow(int axisIndex,float casted)
|
107
|
{
|
108
|
int num = mNumCuts[axisIndex];
|
109
|
|
110
|
for(int i=0; i<num; i++)
|
111
|
{
|
112
|
if( casted<mCuts[axisIndex][i] ) return (1<<i);
|
113
|
}
|
114
|
|
115
|
return (1<<num);
|
116
|
}
|
117
|
|
118
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
119
|
// remember about the double cover or unit quaternions!
|
120
|
|
121
|
private int mulQuat(int q1, int q2)
|
122
|
{
|
123
|
Static4D result = QuatHelper.quatMultiply(mQuats[q1],mQuats[q2]);
|
124
|
|
125
|
float rX = result.get0();
|
126
|
float rY = result.get1();
|
127
|
float rZ = result.get2();
|
128
|
float rW = result.get3();
|
129
|
|
130
|
final float MAX_ERROR = 0.1f;
|
131
|
float dX,dY,dZ,dW;
|
132
|
|
133
|
for(int i=0; i<mNumQuats; i++)
|
134
|
{
|
135
|
dX = mQuats[i].get0() - rX;
|
136
|
dY = mQuats[i].get1() - rY;
|
137
|
dZ = mQuats[i].get2() - rZ;
|
138
|
dW = mQuats[i].get3() - rW;
|
139
|
|
140
|
if( dX<MAX_ERROR && dX>-MAX_ERROR &&
|
141
|
dY<MAX_ERROR && dY>-MAX_ERROR &&
|
142
|
dZ<MAX_ERROR && dZ>-MAX_ERROR &&
|
143
|
dW<MAX_ERROR && dW>-MAX_ERROR ) return i;
|
144
|
|
145
|
dX = mQuats[i].get0() + rX;
|
146
|
dY = mQuats[i].get1() + rY;
|
147
|
dZ = mQuats[i].get2() + rZ;
|
148
|
dW = mQuats[i].get3() + rW;
|
149
|
|
150
|
if( dX<MAX_ERROR && dX>-MAX_ERROR &&
|
151
|
dY<MAX_ERROR && dY>-MAX_ERROR &&
|
152
|
dZ<MAX_ERROR && dZ>-MAX_ERROR &&
|
153
|
dW<MAX_ERROR && dW>-MAX_ERROR ) return i;
|
154
|
}
|
155
|
|
156
|
return -1;
|
157
|
}
|
158
|
|
159
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
160
|
|
161
|
private int getMultQuat(int index1, int index2)
|
162
|
{
|
163
|
if( mQuatMult==null )
|
164
|
{
|
165
|
mQuatMult = new int[mNumQuats][mNumQuats];
|
166
|
|
167
|
for(int i=0; i<mNumQuats; i++)
|
168
|
for(int j=0; j<mNumQuats; j++) mQuatMult[i][j] = -1;
|
169
|
}
|
170
|
|
171
|
if( index1<mNumQuats && index2<mNumQuats )
|
172
|
{
|
173
|
if( mQuatMult[index1][index2]==-1 ) mQuatMult[index1][index2] = mulQuat(index1,index2);
|
174
|
return mQuatMult[index1][index2];
|
175
|
}
|
176
|
|
177
|
return -2;
|
178
|
}
|
179
|
|
180
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
181
|
|
182
|
private boolean belongsToMove(int cubit, int axis, int layer)
|
183
|
{
|
184
|
return mRotRow[cubit][axis] == layer;
|
185
|
}
|
186
|
|
187
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
188
|
// assumption: all layers have the same basicAngles!
|
189
|
|
190
|
private int insertAllChildren(int index, byte level)
|
191
|
{
|
192
|
int ret = 0;
|
193
|
int[] quats = getQuats(index);
|
194
|
int numQuats = quats.length;
|
195
|
int[] tmpQuats = new int[numQuats];
|
196
|
byte newLevel = (byte)(level+1);
|
197
|
boolean[] belongs = new boolean[mNumCubits];
|
198
|
int quatBasis = 0;
|
199
|
|
200
|
for(int ax=0; ax<mNumAxis; ax++)
|
201
|
{
|
202
|
for(int layer=0; layer<mNumLayers[ax]; layer++)
|
203
|
{
|
204
|
if( !mRotatable[ax][layer] ) continue;
|
205
|
int bitLayer = (1<<layer);
|
206
|
|
207
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
208
|
{
|
209
|
mRotRow[cubit][ax] = computeRow(mPosition[cubit],quats[cubit],ax);
|
210
|
belongs[cubit] = belongsToMove(cubit,ax,bitLayer);
|
211
|
}
|
212
|
|
213
|
int maxAngle = mAngles[ax][layer];
|
214
|
|
215
|
for(int angle=1; angle<maxAngle; angle++ )
|
216
|
{
|
217
|
System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
|
218
|
int quat = quatBasis + angle;
|
219
|
|
220
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
221
|
if( belongs[cubit] )
|
222
|
{
|
223
|
int currQuat = tmpQuats[cubit];
|
224
|
int newQuat = getMultQuat(quat,currQuat);
|
225
|
tmpQuats[cubit] = newQuat;
|
226
|
}
|
227
|
|
228
|
int childIndex = getIndex(tmpQuats);
|
229
|
if( mTablebase.insertUnpacked(childIndex,newLevel) ) ret++;
|
230
|
}
|
231
|
}
|
232
|
|
233
|
quatBasis += (mAngles[ax][0]-1);
|
234
|
}
|
235
|
|
236
|
return ret;
|
237
|
}
|
238
|
|
239
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
240
|
|
241
|
public void createTablebase()
|
242
|
{
|
243
|
mTablebase = new Tablebase(mSize);
|
244
|
mTablebase.insertUnpacked(0,(byte)0);
|
245
|
|
246
|
int numInserted;
|
247
|
byte insertingLevel = 0;
|
248
|
|
249
|
do
|
250
|
{
|
251
|
numInserted = 0;
|
252
|
|
253
|
for(int i=0; i<mSize; i++)
|
254
|
{
|
255
|
byte level = mTablebase.retrieveUnpacked(i);
|
256
|
if( level==insertingLevel ) numInserted += insertAllChildren(i,level);
|
257
|
}
|
258
|
|
259
|
insertingLevel++;
|
260
|
|
261
|
android.util.Log.e("D", "inserted "+numInserted+" positions at level "+insertingLevel);
|
262
|
}
|
263
|
while( numInserted>0 );
|
264
|
|
265
|
mTablebase.pack();
|
266
|
}
|
267
|
|
268
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
269
|
|
270
|
private void addMove(ArrayList<int[]> moves, int axis, int layer, int angle)
|
271
|
{
|
272
|
int maxAngle = mAngles[axis][layer];
|
273
|
angle = maxAngle-angle;
|
274
|
if( angle> 0.5f*maxAngle ) angle -= maxAngle;
|
275
|
|
276
|
int[] move = new int[] { axis, (1<<layer), angle };
|
277
|
moves.add(move);
|
278
|
}
|
279
|
|
280
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
281
|
|
282
|
private int[][] convertMoves(ArrayList<int[]> moves)
|
283
|
{
|
284
|
int len = moves.size();
|
285
|
int[][] ret = new int[len][];
|
286
|
for(int i=0; i<len; i++) ret[i] = moves.get(i);
|
287
|
return ret;
|
288
|
}
|
289
|
|
290
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
291
|
|
292
|
public int[][] solution(int index)
|
293
|
{
|
294
|
byte level = mTablebase.retrievePacked(index);
|
295
|
ArrayList<int[]> moves = new ArrayList<>();
|
296
|
int quatBasis = 0;
|
297
|
int[] quats = getQuats(index);
|
298
|
int numQuats = quats.length;
|
299
|
int[] tmpQuats = new int[numQuats];
|
300
|
boolean[] belongs = new boolean[mNumCubits];
|
301
|
|
302
|
while(index!=0)
|
303
|
{
|
304
|
boolean found = false;
|
305
|
|
306
|
for(int ax=0; ax<mNumAxis; ax++)
|
307
|
{
|
308
|
int numLayers = mNumLayers[ax];
|
309
|
int[] angles = mAngles[ax];
|
310
|
|
311
|
for(int layer=0; layer<numLayers; layer++)
|
312
|
{
|
313
|
if( !mRotatable[ax][layer] ) continue;
|
314
|
int bitLayer = (1<<layer);
|
315
|
|
316
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
317
|
{
|
318
|
mRotRow[cubit][ax] = computeRow(mPosition[cubit],quats[cubit],ax);
|
319
|
belongs[cubit] = belongsToMove(cubit,ax,bitLayer);
|
320
|
}
|
321
|
|
322
|
int maxAngle = angles[layer];
|
323
|
|
324
|
for(int angle=1; angle<maxAngle; angle++ )
|
325
|
{
|
326
|
System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
|
327
|
int quat = quatBasis + angle;
|
328
|
|
329
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
330
|
if( belongs[cubit] )
|
331
|
{
|
332
|
int currQuat = tmpQuats[cubit];
|
333
|
int newQuat = getMultQuat(quat,currQuat);
|
334
|
tmpQuats[cubit] = newQuat;
|
335
|
}
|
336
|
|
337
|
int childIndex = getIndex(tmpQuats);
|
338
|
byte newLevel = mTablebase.retrievePacked(childIndex);
|
339
|
|
340
|
if( ((newLevel-level+1)%3) == 0 )
|
341
|
{
|
342
|
addMove(moves,ax,layer,angle);
|
343
|
angle=maxAngle;
|
344
|
layer=numLayers;
|
345
|
ax=mNumAxis;
|
346
|
index = childIndex;
|
347
|
level = (level==0 ? 2 : (byte)(level-1));
|
348
|
found = true;
|
349
|
}
|
350
|
}
|
351
|
}
|
352
|
|
353
|
quatBasis += (angles[0]-1);
|
354
|
}
|
355
|
|
356
|
quatBasis = 0;
|
357
|
quats = getQuats(index);
|
358
|
|
359
|
if( !found )
|
360
|
{
|
361
|
// error, no move found which would move us closer to a solution
|
362
|
return null;
|
363
|
}
|
364
|
}
|
365
|
|
366
|
return convertMoves(moves);
|
367
|
}
|
368
|
}
|