1 |
29b82486
|
Leszek Koltunski
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
2 |
|
|
// Copyright 2019 Leszek Koltunski //
|
3 |
|
|
// //
|
4 |
|
|
// This file is part of Magic Cube. //
|
5 |
|
|
// //
|
6 |
|
|
// Magic Cube is free software: you can redistribute it and/or modify //
|
7 |
|
|
// it under the terms of the GNU General Public License as published by //
|
8 |
|
|
// the Free Software Foundation, either version 2 of the License, or //
|
9 |
|
|
// (at your option) any later version. //
|
10 |
|
|
// //
|
11 |
|
|
// Magic Cube is distributed in the hope that it will be useful, //
|
12 |
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of //
|
13 |
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
|
14 |
|
|
// GNU General Public License for more details. //
|
15 |
|
|
// //
|
16 |
|
|
// You should have received a copy of the GNU General Public License //
|
17 |
|
|
// along with Magic Cube. If not, see <http://www.gnu.org/licenses/>. //
|
18 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
19 |
|
|
|
20 |
|
|
package org.distorted.objectlib.main;
|
21 |
|
|
|
22 |
|
|
import android.content.SharedPreferences;
|
23 |
|
|
|
24 |
a706f8e0
|
Leszek Koltunski
|
import org.distorted.library.main.QuatHelper;
|
25 |
29b82486
|
Leszek Koltunski
|
import org.distorted.library.type.Static4D;
|
26 |
|
|
|
27 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
28 |
|
|
|
29 |
|
|
public class Cubit
|
30 |
|
|
{
|
31 |
|
|
private final float[] mOrigPosition;
|
32 |
|
|
private final float[] mCurrentPosition;
|
33 |
|
|
private final int mNumAxis;
|
34 |
|
|
private final int mLen;
|
35 |
|
|
private final int[] mRotationRow;
|
36 |
|
|
private TwistyObject mParent;
|
37 |
|
|
|
38 |
|
|
int mQuatIndex;
|
39 |
|
|
|
40 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
41 |
|
|
|
42 |
|
|
Cubit(TwistyObject parent, float[] position, int numAxis)
|
43 |
|
|
{
|
44 |
|
|
mQuatIndex= 0;
|
45 |
|
|
mParent = parent;
|
46 |
|
|
mLen = position.length;
|
47 |
|
|
|
48 |
|
|
mOrigPosition = new float[mLen];
|
49 |
|
|
mCurrentPosition = new float[mLen];
|
50 |
|
|
|
51 |
|
|
for(int i=0; i<mLen; i++)
|
52 |
|
|
{
|
53 |
|
|
mOrigPosition[i] = position[i];
|
54 |
|
|
mCurrentPosition[i] = position[i];
|
55 |
|
|
}
|
56 |
|
|
|
57 |
|
|
mNumAxis = numAxis;
|
58 |
|
|
mRotationRow = new int[mNumAxis];
|
59 |
|
|
computeRotationRow();
|
60 |
|
|
}
|
61 |
|
|
|
62 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
63 |
|
|
// Because of quatMultiplication, errors can accumulate - so to avoid this, we
|
64 |
|
|
// correct the value of the 'scramble' quat to what it should be - one of the legal quats from the
|
65 |
|
|
// list QUATS.
|
66 |
|
|
//
|
67 |
|
|
// We also have to remember that the group of unit quaternions is a double-cover of rotations
|
68 |
|
|
// in 3D ( q represents the same rotation as -q ) - so invert if needed.
|
69 |
|
|
|
70 |
|
|
private int normalizeScrambleQuat(Static4D quat)
|
71 |
|
|
{
|
72 |
|
|
float x = quat.get0();
|
73 |
|
|
float y = quat.get1();
|
74 |
|
|
float z = quat.get2();
|
75 |
|
|
float w = quat.get3();
|
76 |
|
|
float xd,yd,zd,wd;
|
77 |
|
|
float diff, mindiff = Float.MAX_VALUE;
|
78 |
|
|
int ret=0;
|
79 |
|
|
int num_quats = mParent.OBJECT_QUATS.length;
|
80 |
|
|
Static4D qt;
|
81 |
|
|
|
82 |
|
|
for(int q=0; q<num_quats; q++)
|
83 |
|
|
{
|
84 |
|
|
qt = mParent.OBJECT_QUATS[q];
|
85 |
|
|
|
86 |
|
|
xd = x - qt.get0();
|
87 |
|
|
yd = y - qt.get1();
|
88 |
|
|
zd = z - qt.get2();
|
89 |
|
|
wd = w - qt.get3();
|
90 |
|
|
|
91 |
|
|
diff = xd*xd + yd*yd + zd*zd + wd*wd;
|
92 |
|
|
|
93 |
|
|
if( diff < mindiff )
|
94 |
|
|
{
|
95 |
|
|
ret = q;
|
96 |
|
|
mindiff = diff;
|
97 |
|
|
}
|
98 |
|
|
|
99 |
|
|
xd = x + qt.get0();
|
100 |
|
|
yd = y + qt.get1();
|
101 |
|
|
zd = z + qt.get2();
|
102 |
|
|
wd = w + qt.get3();
|
103 |
|
|
|
104 |
|
|
diff = xd*xd + yd*yd + zd*zd + wd*wd;
|
105 |
|
|
|
106 |
|
|
if( diff < mindiff )
|
107 |
|
|
{
|
108 |
|
|
ret = q;
|
109 |
|
|
mindiff = diff;
|
110 |
|
|
}
|
111 |
|
|
}
|
112 |
|
|
|
113 |
|
|
return ret;
|
114 |
|
|
}
|
115 |
|
|
|
116 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
117 |
|
|
|
118 |
|
|
private void computeRotationRow()
|
119 |
|
|
{
|
120 |
|
|
for(int i=0; i<mNumAxis; i++)
|
121 |
|
|
{
|
122 |
|
|
mRotationRow[i] = mParent.computeRow(mCurrentPosition,i);
|
123 |
|
|
}
|
124 |
|
|
}
|
125 |
|
|
|
126 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
127 |
|
|
|
128 |
|
|
void modifyCurrentPosition(Static4D quat)
|
129 |
|
|
{
|
130 |
|
|
Static4D cubitCenter;
|
131 |
|
|
Static4D rotatedCenter;
|
132 |
|
|
int len = mLen/3;
|
133 |
|
|
|
134 |
|
|
for(int i=0; i<len; i++)
|
135 |
|
|
{
|
136 |
|
|
cubitCenter = new Static4D(mCurrentPosition[3*i], mCurrentPosition[3*i+1], mCurrentPosition[3*i+2], 0);
|
137 |
|
|
rotatedCenter = QuatHelper.rotateVectorByQuat( cubitCenter, quat);
|
138 |
|
|
|
139 |
|
|
mCurrentPosition[3*i ] = rotatedCenter.get0();
|
140 |
|
|
mCurrentPosition[3*i+1] = rotatedCenter.get1();
|
141 |
|
|
mCurrentPosition[3*i+2] = rotatedCenter.get2();
|
142 |
|
|
|
143 |
|
|
mParent.clampPos(mCurrentPosition, 3*i);
|
144 |
|
|
}
|
145 |
|
|
|
146 |
|
|
computeRotationRow();
|
147 |
|
|
}
|
148 |
|
|
|
149 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
150 |
|
|
|
151 |
|
|
int computeAssociation()
|
152 |
|
|
{
|
153 |
|
|
int result = 0, accumulativeShift = 0;
|
154 |
|
|
|
155 |
|
|
for(int axis=0; axis<mNumAxis; axis++)
|
156 |
|
|
{
|
157 |
|
|
result += (mRotationRow[axis]<<accumulativeShift);
|
158 |
8005e762
|
Leszek Koltunski
|
accumulativeShift += ObjectType.MAX_OBJECT_SIZE;
|
159 |
29b82486
|
Leszek Koltunski
|
}
|
160 |
|
|
|
161 |
|
|
return result;
|
162 |
|
|
}
|
163 |
|
|
|
164 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
165 |
|
|
|
166 |
|
|
void savePreferences(SharedPreferences.Editor editor)
|
167 |
|
|
{
|
168 |
|
|
String number = mOrigPosition[0]+"_"+mOrigPosition[1]+"_"+mOrigPosition[2];
|
169 |
|
|
editor.putInt("q_"+number, mQuatIndex);
|
170 |
|
|
}
|
171 |
|
|
|
172 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
173 |
|
|
|
174 |
|
|
int restorePreferences(SharedPreferences preferences)
|
175 |
|
|
{
|
176 |
|
|
String number = mOrigPosition[0]+"_"+mOrigPosition[1]+"_"+mOrigPosition[2];
|
177 |
|
|
mQuatIndex = preferences.getInt("q_"+number, 0);
|
178 |
|
|
return mQuatIndex;
|
179 |
|
|
}
|
180 |
|
|
|
181 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
182 |
|
|
|
183 |
|
|
int removeRotationNow(Static4D quat)
|
184 |
|
|
{
|
185 |
|
|
Static4D q = QuatHelper.quatMultiply(quat,mParent.OBJECT_QUATS[mQuatIndex]);
|
186 |
|
|
mQuatIndex = normalizeScrambleQuat(q);
|
187 |
|
|
|
188 |
|
|
modifyCurrentPosition(quat);
|
189 |
|
|
|
190 |
|
|
return mQuatIndex;
|
191 |
|
|
}
|
192 |
|
|
|
193 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
194 |
|
|
|
195 |
|
|
void solve()
|
196 |
|
|
{
|
197 |
|
|
mQuatIndex = 0;
|
198 |
|
|
System.arraycopy(mOrigPosition, 0, mCurrentPosition, 0, mCurrentPosition.length);
|
199 |
|
|
computeRotationRow();
|
200 |
|
|
}
|
201 |
|
|
|
202 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
203 |
|
|
|
204 |
|
|
void releaseResources()
|
205 |
|
|
{
|
206 |
|
|
mParent = null;
|
207 |
|
|
}
|
208 |
|
|
|
209 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
210 |
|
|
// this is only needed for MODE_REPLACE objects (i.e. - currently - CUBE_3), so it is enough to only
|
211 |
|
|
// take into consideration the first position.
|
212 |
|
|
|
213 |
|
|
float getDistSquared(float[] point)
|
214 |
|
|
{
|
215 |
|
|
float dx = mCurrentPosition[0] - point[0];
|
216 |
|
|
float dy = mCurrentPosition[1] - point[1];
|
217 |
|
|
float dz = mCurrentPosition[2] - point[2];
|
218 |
|
|
|
219 |
|
|
return dx*dx + dy*dy + dz*dz;
|
220 |
|
|
}
|
221 |
|
|
|
222 |
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
223 |
|
|
|
224 |
|
|
public int getRotRow(int index)
|
225 |
|
|
{
|
226 |
|
|
return mRotationRow[index];
|
227 |
|
|
}
|
228 |
|
|
}
|