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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2021 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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// Magic Cube is free software: you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation, either version 2 of the License, or //
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// (at your option) any later version. //
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// //
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// Magic Cube is distributed in the hope that it will be useful, //
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with Magic Cube. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////////////////////
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package org.distorted.objectlib.touchcontrol;
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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.ObjectShape;
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import org.distorted.objectlib.main.TwistyObject;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public class TouchControlShapeChanging extends TouchControl
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{
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private static final float NOT_TOUCHED = 1000000.0f;
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private static final float[] mTmp = new float[4];
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private static class FaceInfo
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{
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private final float[] vector;
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private final float distance;
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private final float[][] vertices;
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private final float[][] rotated;
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FaceInfo(float[][] verts, float size)
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{
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int numV = verts.length;
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vertices = new float[numV][];
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rotated = new float[numV][];
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for(int i=0; i<numV; i++)
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{
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int len = verts[i].length;
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vertices[i]= new float[len];
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rotated[i] = new float[len];
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for(int j=0; j<len; j++) vertices[i][j] = verts[i][j]/size;
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}
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// assuming the first three vertices are linearly independent
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float a1 = vertices[0][0] - vertices[1][0];
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float a2 = vertices[0][1] - vertices[1][1];
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float a3 = vertices[0][2] - vertices[1][2];
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float b1 = vertices[1][0] - vertices[2][0];
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float b2 = vertices[1][1] - vertices[2][1];
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float b3 = vertices[1][2] - vertices[2][2];
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float vx = a2*b3-a3*b2;
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float vy = a3*b1-a1*b3;
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float vz = a1*b2-a2*b1;
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float len = (float)Math.sqrt(vx*vx+vy*vy+vz*vz);
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vx/=len;
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vy/=len;
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vz/=len;
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float dist = vx*vertices[0][0] + vy*vertices[0][1] + vz*vertices[0][2];
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if( dist<0 )
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{
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dist = -dist;
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vx = -vx;
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vy = -vy;
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vz = -vz;
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}
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vector = new float[4];
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vector[0] = vx;
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vector[1] = vy;
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vector[2] = vz;
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vector[3] = 0.0f;
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distance = dist;
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}
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}
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private final float[] mPoint, mCamera, mTouch;
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private final TwistyObject mObject;
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private float[][] mQuats;
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private int mNumCubits;
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private int[] mNumFaces;
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private boolean mPreparationDone;
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private FaceInfo[][] mInfos;
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private int mTouchedCubit;
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private int mTouchedFace;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public TouchControlShapeChanging(TwistyObject object)
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{
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super(object.getObjectRatio());
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mPoint = new float[3];
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mCamera= new float[3];
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mTouch = new float[3];
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mObject= object;
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mPreparationDone = false;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private FaceInfo[] computeInfos(float[][] vertices, int[][] indices, float[] position, Static4D quat, float size)
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{
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int numFaces = indices.length;
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int len = position.length/3;
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float avgX = 0.0f;
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float avgY = 0.0f;
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float avgZ = 0.0f;
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for(int i=0; i<len; i++)
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{
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avgX += position[3*i ];
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avgY += position[3*i+1];
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avgZ += position[3*i+2];
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}
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avgX /= len;
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avgY /= len;
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avgZ /= len;
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FaceInfo[] infos = new FaceInfo[numFaces];
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Static4D tmp;
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for(int i=0; i<numFaces; i++)
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{
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int numVerts = indices[i].length;
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float[][] verts = new float[numVerts][4];
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for(int j=0; j<numVerts; j++)
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{
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int index = indices[i][j];
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float x = vertices[index][0];
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float y = vertices[index][1];
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float z = vertices[index][2];
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float w = 1.0f;
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tmp = QuatHelper.rotateVectorByQuat(x,y,z,w,quat);
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verts[j][0] = tmp.get0() + avgX;
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verts[j][1] = tmp.get1() + avgY;
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verts[j][2] = tmp.get2() + avgZ;
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verts[j][3] = 1.0f;
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}
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infos[i] = new FaceInfo(verts,size);
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}
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return infos;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private void prepare()
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{
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int[] numLayers = mObject.getNumLayers();
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float[][] positions = mObject.getCubitPositions(numLayers);
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float size = mObject.getSize();
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mNumCubits = positions.length;
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mNumFaces = new int[mNumCubits];
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mInfos = new FaceInfo[mNumCubits][];
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for(int i=0; i<mNumCubits; i++)
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{
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int variant = mObject.getCubitVariant(i,numLayers);
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ObjectShape shape = mObject.getObjectShape(variant);
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Static4D quat = mObject.getQuat(i,numLayers);
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float[][] vertices = shape.getVertices();
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int[][] indices = shape.getVertIndices();
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mInfos[i] = computeInfos(vertices,indices,positions[i],quat,size);
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mNumFaces[i] = indices.length;
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}
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Static4D[] quats = mObject.getQuats();
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int numQuats = quats.length;
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mQuats = new float[numQuats][4];
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for(int i=0; i<numQuats; i++)
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{
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Static4D q = quats[i];
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mQuats[i][0] = q.get0();
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mQuats[i][1] = q.get1();
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mQuats[i][2] = q.get2();
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mQuats[i][3] = q.get3();
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}
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mPreparationDone = true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// points A, B, C are co-linear. Return true iff B is between A and C on this line.
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// Compute D1 = A-B, D2=C-B. Then D1 and D2 are parallel vectors.
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// They disagree in direction iff |D1+D2|<|D1-D2|
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private boolean isBetween(float ax, float ay, float az,
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float bx, float by, float bz,
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float cx, float cy, float cz)
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{
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float d1x = ax-bx;
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float d1y = ay-by;
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float d1z = az-bz;
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float d2x = cx-bx;
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float d2y = cy-by;
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float d2z = cz-bz;
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float sx = d1x+d2x;
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float sy = d1y+d2y;
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float sz = d1z+d2z;
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float dx = d1x-d2x;
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float dy = d1y-d2y;
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float dz = d1z-d2z;
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return sx*sx+sy*sy+sz*sz < dx*dx+dy*dy+dz*dz;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// General algorithm: shoot a half-line from the 'point' and count how many
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// sides of the polygon it intersects with. The point is inside iff this number
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// is odd. Note that this works also in case of concave polygons.
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//
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// Arbitrarily take point P on the plane ( we have decided on P=(vert[0]+vert[1])/2 )
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// as the other point defining the half-line.
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// 'point' and 'P' define a line L1 in 3D. Then for each side the pair of its vertices
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// defines a line L2. If L1||L2 return false. Otherwise, the lines are skew so it's
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// possible to compute points C1 and C2 on lines L1 and L2 which are closest to the
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// other line and check if
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//
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// a) C1 and P are on the same side of 'point'
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// (which happens iff 'point' is not in between of C1 and P)
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// b) C2 is between the two vertices.
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//
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// Both a) and b) together mean that the half-line intersects with side defined by (p2,d2)
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//
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// C1 and C2 can be computed in the following way:
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// Let n = d1 x d2 - then vector n is perpendicular to both d1 and d2 --> (c1-c2) is
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// parallel to n.
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// There exist real numbers A,B,C such that
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// c1 = p1 + A*d1
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// c2 = p2 + B*d2 and
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// c2 = c1 + C*n so that
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// p1 + A*d1 + C*n = p2 + B*d2 --> (p1-p2) + A*d1 = B*d2 - C*n (*)
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// Let n2 = n x d2. Let's multiply both sides of (*) by n2. Then
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// (p1-p2)*n2 + A*(d1*n2) = 0 (0 because d1*n2 = n*n2 = 0)
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// and from that A = [(p1-p2)*n2]/[d1*n2]
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// Similarly B = [(p2-p1)*n1]/[d2*n1] where n1 = n x d1.
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private boolean isInside(float[] point, float[][] vertices)
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{
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float e1x = (vertices[0][0]+vertices[1][0])/2;
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float e1y = (vertices[0][1]+vertices[1][1])/2;
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float e1z = (vertices[0][2]+vertices[1][2])/2;
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float d1x = e1x - point[0];
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float d1y = e1y - point[1];
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float d1z = e1z - point[2];
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float ax = vertices[0][0] - vertices[1][0];
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float ay = vertices[0][1] - vertices[1][1];
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float az = vertices[0][2] - vertices[1][2];
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float normX = d1y*az - d1z*ay;
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float normY = d1z*ax - d1x*az;
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float normZ = d1x*ay - d1y*ax;
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float n1x = d1y*normZ - d1z*normY;
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float n1y = d1z*normX - d1x*normZ;
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float n1z = d1x*normY - d1y*normX;
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float p1x = point[0];
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float p1y = point[1];
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float p1z = point[2];
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int len = vertices.length;
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int numCrossings = 0;
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for(int side=0; side<len; side++)
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{
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float p2x = vertices[side][0];
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float p2y = vertices[side][1];
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float p2z = vertices[side][2];
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int next = side==len-1 ? 0 : side+1;
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float e2x = vertices[next][0];
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float e2y = vertices[next][1];
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float e2z = vertices[next][2];
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float d2x = e2x-p2x;
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float d2y = e2y-p2y;
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float d2z = e2z-p2z;
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float nx = d2y*d1z - d2z*d1y;
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float ny = d2z*d1x - d2x*d1z;
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float nz = d2x*d1y - d2y*d1x;
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float n2x = d2y*nz - d2z*ny;
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float n2y = d2z*nx - d2x*nz;
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float n2z = d2x*ny - d2y*nx;
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float dpx = p1x-p2x;
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float dpy = p1y-p2y;
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float dpz = p1z-p2z;
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float A1 =-dpx*n2x-dpy*n2y-dpz*n2z;
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float B1 = d1x*n2x+d1y*n2y+d1z*n2z;
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float A2 = dpx*n1x+dpy*n1y+dpz*n1z;
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float B2 = d2x*n1x+d2y*n1y+d2z*n1z;
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if( B1==0 || B2==0 ) continue;
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float C1 = A1/B1;
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float C2 = A2/B2;
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float c1x = p1x + C1*d1x;
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float c1y = p1y + C1*d1y;
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float c1z = p1z + C1*d1z;
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float c2x = p2x + C2*d2x;
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float c2y = p2y + C2*d2y;
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float c2z = p2z + C2*d2z;
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if( !isBetween(c1x,c1y,c1z, p1x,p1y,p1z, e1x,e1y,e1z ) &&
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isBetween(p2x,p2y,p2z, c2x,c2y,c2z, e2x,e2y,e2z ) )
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{
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numCrossings++;
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}
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}
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return (numCrossings%2)==1;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private void rotateVertices(float[][] points, float[][] rotated, float[] quat)
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{
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int numPoints = points.length;
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for(int i=0; i<numPoints; i++)
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{
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QuatHelper.rotateVectorByQuat(rotated[i],points[i],quat);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// given precomputed mCamera and mPoint, respectively camera and touch point positions in ScreenSpace,
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// a normalVec (nx,ny,nz) and distance (which together define a plane) compute point 'output[]' which:
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// 1) lies on this plane
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// 2) is co-linear with mCamera and mPoint
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//
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// output = camera + alpha*(point-camera), where alpha = [dist-normalVec*camera] / [normalVec*(point-camera)]
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private void castTouchPointOntoFace(float nx, float ny, float nz, float distance, float[] output)
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{
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float d0 = mPoint[0]-mCamera[0];
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float d1 = mPoint[1]-mCamera[1];
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float d2 = mPoint[2]-mCamera[2];
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float denom = nx*d0 + ny*d1 + nz*d2;
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if( denom != 0.0f )
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{
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float axisCam = nx*mCamera[0] + ny*mCamera[1] + nz*mCamera[2];
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float alpha = (distance-axisCam)/denom;
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output[0] = mCamera[0] + d0*alpha;
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output[1] = mCamera[1] + d1*alpha;
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output[2] = mCamera[2] + d2*alpha;
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private boolean faceIsVisible(float nx, float ny, float nz, float distance)
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{
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return mCamera[0]*nx + mCamera[1]*ny + mCamera[2]*nz > distance;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// FaceInfo defines a 3D plane (by means of a unit normal vector 'vector' and distance from the origin
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// 'distance') and a list of points on the plane ('vertices').
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//
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// 0) rotate the face normal vector by quat
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// 1) see if the face is visible. If not, return NOT_TOUCHED
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// 2) else, cast the line passing through mPoint and mCamera onto this plane
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// 3) if Z of this point is further from us than the already computed closestSoFar, return NOT_TOUCHED
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410
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// 4) else, rotate 'vertices' by quat and see if the casted point lies inside the polygon defined by them
|
411
|
// 5) if yes, return its Z; otherwise, return NOT_TOUCHED
|
412
|
|
413
|
private float cubitFaceTouched(FaceInfo info, float[] quat, float closestSoFar)
|
414
|
{
|
415
|
QuatHelper.rotateVectorByQuat(mTmp,info.vector,quat);
|
416
|
float nx = mTmp[0];
|
417
|
float ny = mTmp[1];
|
418
|
float nz = mTmp[2];
|
419
|
|
420
|
if( faceIsVisible(nx,ny,nz,info.distance) )
|
421
|
{
|
422
|
castTouchPointOntoFace(nx,ny,nz,info.distance,mTouch);
|
423
|
|
424
|
float dx = mTouch[0]-mCamera[0];
|
425
|
float dy = mTouch[1]-mCamera[1];
|
426
|
float dz = mTouch[2]-mCamera[2];
|
427
|
float dist = dx*dx + dy*dy + dz*dz;
|
428
|
|
429
|
if( dist<closestSoFar )
|
430
|
{
|
431
|
rotateVertices(info.vertices,info.rotated,quat);
|
432
|
if( isInside(mTouch,info.rotated) ) return dist;
|
433
|
}
|
434
|
}
|
435
|
|
436
|
return NOT_TOUCHED;
|
437
|
}
|
438
|
|
439
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
440
|
// PUBLIC API
|
441
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
442
|
|
443
|
public boolean objectTouched(Static4D rotatedTouchPoint, Static4D rotatedCamera)
|
444
|
{
|
445
|
if( !mPreparationDone ) prepare();
|
446
|
|
447
|
mPoint[0] = rotatedTouchPoint.get0()/mObjectRatio;
|
448
|
mPoint[1] = rotatedTouchPoint.get1()/mObjectRatio;
|
449
|
mPoint[2] = rotatedTouchPoint.get2()/mObjectRatio;
|
450
|
|
451
|
mCamera[0] = rotatedCamera.get0()/mObjectRatio;
|
452
|
mCamera[1] = rotatedCamera.get1()/mObjectRatio;
|
453
|
mCamera[2] = rotatedCamera.get2()/mObjectRatio;
|
454
|
|
455
|
float closestSoFar = NOT_TOUCHED;
|
456
|
mTouchedCubit = -1;
|
457
|
mTouchedFace = -1;
|
458
|
|
459
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
460
|
{
|
461
|
int quatIndex = mObject.getCubitQuatIndex(cubit);
|
462
|
float[] quat = mQuats[quatIndex];
|
463
|
|
464
|
for(int face=0; face<mNumFaces[cubit]; face++)
|
465
|
{
|
466
|
float dist = cubitFaceTouched(mInfos[cubit][face],quat,closestSoFar);
|
467
|
|
468
|
if( dist!=NOT_TOUCHED )
|
469
|
{
|
470
|
mTouchedCubit= cubit;
|
471
|
mTouchedFace = face;
|
472
|
closestSoFar = dist;
|
473
|
}
|
474
|
}
|
475
|
}
|
476
|
/*
|
477
|
if( closestSoFar!=NOT_TOUCHED )
|
478
|
{
|
479
|
android.util.Log.e("D", "cubit="+mTouchedCubit+" face="+mTouchedFace+" result: "+closestSoFar);
|
480
|
}
|
481
|
*/
|
482
|
return closestSoFar!=NOT_TOUCHED;
|
483
|
}
|
484
|
|
485
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
486
|
// TODO
|
487
|
|
488
|
public void newRotation(int[] output, Static4D rotatedTouchPoint)
|
489
|
{
|
490
|
if( !mPreparationDone ) prepare();
|
491
|
|
492
|
int rotIndex = 0;
|
493
|
int row = 0;
|
494
|
|
495
|
output[0] = rotIndex;
|
496
|
output[1] = row;
|
497
|
}
|
498
|
|
499
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
500
|
// TODO
|
501
|
|
502
|
public void getCastedRotAxis(float[] output, Static4D quat, int rotIndex)
|
503
|
{
|
504
|
output[0] = 1.0f;
|
505
|
output[1] = 0.0f;
|
506
|
}
|
507
|
|
508
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
509
|
|
510
|
public int getTouchedCubitFace()
|
511
|
{
|
512
|
return mTouchedFace;
|
513
|
}
|
514
|
|
515
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
516
|
|
517
|
public int getTouchedCubit()
|
518
|
{
|
519
|
return mTouchedCubit;
|
520
|
}
|
521
|
|
522
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
523
|
|
524
|
public float returnRotationFactor(int[] numLayers, int row)
|
525
|
{
|
526
|
return 1.0f;
|
527
|
}
|
528
|
}
|