TwistyPuzzleLib

///////////////////////////////////////////////////////////////////////////////////////////////////

// Copyright 2022 Leszek Koltunski                                                               //

//                                                                                               //

// This file is part of Magic Cube.                                                              //

//                                                                                               //

// Magic Cube is free software: you can redistribute it and/or modify                            //

// it under the terms of the GNU General Public License as published by                          //

// the Free Software Foundation, either version 2 of the License, or                             //

// (at your option) any later version.                                                           //

//                                                                                               //

// Magic Cube is distributed in the hope that it will be useful,                                 //

// but WITHOUT ANY WARRANTY; without even the implied warranty of                                //

// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                                 //

// GNU General Public License for more details.                                                  //

//                                                                                               //

// You should have received a copy of the GNU General Public License                             //

// along with Magic Cube.  If not, see <http://www.gnu.org/licenses/>.                           //

///////////////////////////////////////////////////////////////////////////////////////////////////

package org.distorted.objectlib.helpers;

import org.distorted.library.main.QuatHelper;

import org.distorted.library.type.Static3D;

import org.distorted.library.type.Static4D;

///////////////////////////////////////////////////////////////////////////////////////////////////

public class QuatGroupGenerator

  {

  private static final int MAX_GROUP_SIZE = 256;

  private static final double PI = Math.PI;

  private static final Static4D[] mTable= new Static4D[MAX_GROUP_SIZE];

  private static int mInserted;

///////////////////////////////////////////////////////////////////////////////////////////////////

// sin(A/2)*x, sin(A/2)*y, sin(A/2)*z, cos(A/2)

  private static void createQuat(Static3D axis, double angle, Static4D output)

    {

    float cosAngle = (float)Math.cos(angle/2);

    float sinAngle = (float)Math.sin(angle/2);

    output.set0( sinAngle*axis.get0() );

    output.set1( sinAngle*axis.get1() );

    output.set2( sinAngle*axis.get2() );

    output.set3( cosAngle );

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

// double cover, so q == -q

  private static boolean quatTheSame(Static4D q1, Static4D q2)

    {

    final float MAX_ERROR = 0.01f;

    float q10 = q1.get0();

    float q11 = q1.get1();

    float q12 = q1.get2();

    float q13 = q1.get3();

    float q20 = q2.get0();

    float q21 = q2.get1();

    float q22 = q2.get2();

    float q23 = q2.get3();

    float d0 = q10-q20;

    float d1 = q11-q21;

    float d2 = q12-q22;

    float d3 = q13-q23;

    if( d0<MAX_ERROR && d0>-MAX_ERROR &&

        d1<MAX_ERROR && d1>-MAX_ERROR &&

        d2<MAX_ERROR && d2>-MAX_ERROR &&

        d3<MAX_ERROR && d3>-MAX_ERROR  ) return true;

    d0 = q10+q20;

    d1 = q11+q21;

    d2 = q12+q22;

    d3 = q13+q23;

    if( d0<MAX_ERROR && d0>-MAX_ERROR &&

        d1<MAX_ERROR && d1>-MAX_ERROR &&

        d2<MAX_ERROR && d2>-MAX_ERROR &&

        d3<MAX_ERROR && d3>-MAX_ERROR  ) return true;

    return false;

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

  private static int getIndexInTable(Static4D quat, Static4D[] table)

    {

    for(int i=0; i<mInserted; i++)

      {

      if( quatTheSame(quat,table[i]) ) return i;

      }

    return -1;

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

  private static boolean insertQuat(Static4D quat, Static4D[] table)

    {

    if( getIndexInTable(quat,table)<0 )

      {

      if( mInserted<MAX_GROUP_SIZE )

        {

        table[mInserted] = new Static4D(quat);

        mInserted++;

        return true;

        }

      return false;

      }

    return true;

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

// PUBLIC API

///////////////////////////////////////////////////////////////////////////////////////////////////

  public static Static4D[] computeGroup(Static3D[] rotAxis, int[] basicAngles)

    {

    Static4D quat = new Static4D(0,0,0,1);

    int num,numAxis = rotAxis.length;

    mInserted = 0;

    insertQuat(quat,mTable);

    for( int ax=0; ax<numAxis; ax++)

      for(int angle=1; angle<basicAngles[ax]; angle++)

        {

        createQuat(rotAxis[ax], 2*PI*angle/basicAngles[ax], quat);

        insertQuat(quat,mTable);

        }

    do

      {

      num = mInserted;

      for(int i=0; i<num; i++)

        for(int j=0; j<num; j++)

          {

          quat = QuatHelper.quatMultiply(mTable[i], mTable[j]);

          if( !insertQuat(quat,mTable) )

            {

            i=num;j=num;

            android.util.Log.e("QuatGroupGenerator", "OVERFLOW");

            }

          }

      }

    while( num < mInserted );

    Static4D[] table = new Static4D[mInserted];

    for(int i=0; i<mInserted; i++)

      {

      table[i] = new Static4D(mTable[i]);

      }

    return table;

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

  public static void showQuats(Static4D[] table)

    {

    final float MAX_ERR = 0.00001f;

    String dbg = "---------------------------------\n";

    for (Static4D quat : table)

      {

      float x = quat.get0();

      float y = quat.get1();

      float z = quat.get2();

      float w = quat.get3();

      if( x<MAX_ERR && x>-MAX_ERR ) x = 0.0f;

      if( y<MAX_ERR && y>-MAX_ERR ) y = 0.0f;

      if( z<MAX_ERR && z>-MAX_ERR ) z = 0.0f;

      if( w<MAX_ERR && w>-MAX_ERR ) w = 0.0f;

      if( x<0.5f+MAX_ERR && x>0.5f-MAX_ERR ) x = 0.5f;

      if( y<0.5f+MAX_ERR && y>0.5f-MAX_ERR ) y = 0.5f;

      if( z<0.5f+MAX_ERR && z>0.5f-MAX_ERR ) z = 0.5f;

      if( w<0.5f+MAX_ERR && w>0.5f-MAX_ERR ) w = 0.5f;

      if( x<-0.5f+MAX_ERR && x>-0.5f-MAX_ERR ) x = -0.5f;

      if( y<-0.5f+MAX_ERR && y>-0.5f-MAX_ERR ) y = -0.5f;

      if( z<-0.5f+MAX_ERR && z>-0.5f-MAX_ERR ) z = -0.5f;

      if( w<-0.5f+MAX_ERR && w>-0.5f-MAX_ERR ) w = -0.5f;

      if( x<1.0f+MAX_ERR && x>1.0f-MAX_ERR ) x = 1.0f;

      if( y<1.0f+MAX_ERR && y>1.0f-MAX_ERR ) y = 1.0f;

      if( z<1.0f+MAX_ERR && z>1.0f-MAX_ERR ) z = 1.0f;

      if( w<1.0f+MAX_ERR && w>1.0f-MAX_ERR ) w = 1.0f;

      if( x<-1.0f+MAX_ERR && x>-1.0f-MAX_ERR ) x = -1.0f;

      if( y<-1.0f+MAX_ERR && y>-1.0f-MAX_ERR ) y = -1.0f;

      if( z<-1.0f+MAX_ERR && z>-1.0f-MAX_ERR ) z = -1.0f;

      if( w<-1.0f+MAX_ERR && w>-1.0f-MAX_ERR ) w = -1.0f;

      dbg += ( "("+x+" "+y+" "+z+" "+w+")\n");

      }

    android.util.Log.e("D", dbg);

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

  public static void showRotations(Static4D[] table)

    {

    final float MAX_ERR = 0.00001f;

    String dbg = "---------------------------------\n";

    for (Static4D quat : table)

      {

      float cos = quat.get3();

      float sin = (float)Math.sqrt(1-cos*cos);

      float x = sin==0 ? 0 : quat.get0()/sin;

      float y = sin==0 ? 0 : quat.get1()/sin;

      float z = sin==0 ? 0 : quat.get2()/sin;

      float halfAngle = (float)Math.acos(cos);

      int ang = (int) ( (360*halfAngle/Math.PI) + 0.5f);

      if( x<MAX_ERR && x>-MAX_ERR ) x = 0.0f;

      if( y<MAX_ERR && y>-MAX_ERR ) y = 0.0f;

      if( z<MAX_ERR && z>-MAX_ERR ) z = 0.0f;

      if( x<0.5f+MAX_ERR && x>0.5f-MAX_ERR ) x = 0.5f;

      if( y<0.5f+MAX_ERR && y>0.5f-MAX_ERR ) y = 0.5f;

      if( z<0.5f+MAX_ERR && z>0.5f-MAX_ERR ) z = 0.5f;

      if( x<-0.5f+MAX_ERR && x>-0.5f-MAX_ERR ) x = -0.5f;

      if( y<-0.5f+MAX_ERR && y>-0.5f-MAX_ERR ) y = -0.5f;

      if( z<-0.5f+MAX_ERR && z>-0.5f-MAX_ERR ) z = -0.5f;

      if( x<1.0f+MAX_ERR && x>1.0f-MAX_ERR ) x = 1.0f;

      if( y<1.0f+MAX_ERR && y>1.0f-MAX_ERR ) y = 1.0f;

      if( z<1.0f+MAX_ERR && z>1.0f-MAX_ERR ) z = 1.0f;

      if( x<-1.0f+MAX_ERR && x>-1.0f-MAX_ERR ) x = -1.0f;

      if( y<-1.0f+MAX_ERR && y>-1.0f-MAX_ERR ) y = -1.0f;

      if( z<-1.0f+MAX_ERR && z>-1.0f-MAX_ERR ) z = -1.0f;

      dbg += ( "("+x+" "+y+" "+z+") "+ang+"\n");

      }

    android.util.Log.e("D", dbg);

    }

///////////////////////////////////////////////////////////////////////////////////////////////////

  public static void showCubitQuats(Static4D[] table, float[][] pos, int startIndex, int stopIndex)

    {

    StringBuilder builder = new StringBuilder();

    float MAXERR = 0.01f;

    float[] tmp = new float[4];

    float[] vec = pos[startIndex];

    int numQuats = table.length;

    float X = vec[0];

    float Y = vec[1];

    float Z = vec[2];

    for(int cubit=startIndex; cubit<=stopIndex; cubit++)

      {

      float x = pos[cubit][0];

      float y = pos[cubit][1];

      float z = pos[cubit][2];

      for(int quat=0; quat<numQuats; quat++)

        {

        QuatHelper.rotateVectorByQuat(tmp,X,Y,Z,0,table[quat]);

        float dx = tmp[0]-x;

        float dy = tmp[1]-y;

        float dz = tmp[2]-z;

        if( dx>-MAXERR && dx<MAXERR && dy>-MAXERR && dy<MAXERR && dz>-MAXERR && dz<MAXERR )

          {

          builder.append(' ');

          builder.append(quat);

          }

        }

      android.util.Log.e("D", "Cubit: "+cubit+" quats: "+builder.toString() );

      builder.delete(0, builder.length());

      }

    }

  }