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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2020 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.main;
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import org.distorted.library.type.Static2D;
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import org.distorted.library.type.Static3D;
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import org.distorted.library.type.Static4D;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public abstract class Movement
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{
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// it doesn't matter where we touch a face - the list of enabled rotAxis will always be the same
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public static final int TYPE_NOT_SPLIT = 0;
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// each face is split into several parts by lines coming from its center to the midpoints of each edge
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public static final int TYPE_SPLIT_EDGE = 1;
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// each face is split into several parts by lines coming from its center to the vertices
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public static final int TYPE_SPLIT_CORNER = 2;
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static final float SQ3 = (float)Math.sqrt(3);
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static final float SQ6 = (float)Math.sqrt(6);
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private final int mNumFaceAxis;
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private final float[] mPoint, mCamera, mTouch;
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private final float[] mPoint2D, mMove2D;
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private final int[] mEnabledRotAxis;
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private final float mDistanceCenterFace3D;
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private final Static3D[] mFaceAxis;
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private int mLastTouchedFace;
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private float[][][] mCastedRotAxis;
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private Static4D[][] mCastedRotAxis4D;
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private float[][] mTouchBorders, mA, mB;
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private final int mType;
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private final int[][][] mEnabled;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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abstract int returnPart(int type, int face, float[] touchPoint);
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abstract boolean isInsideFace(int face, float[] point);
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public abstract float returnRotationFactor(int numLayers, int row);
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///////////////////////////////////////////////////////////////////////////////////////////////////
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Movement(Static3D[] rotAxis, Static3D[] faceAxis, float[][] cuts, boolean[][] rotatable,
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float distance3D, int size, int type, int[][][] enabled)
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{
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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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mPoint2D = new float[2];
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mMove2D = new float[2];
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mType = type;
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mEnabled = enabled;
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mFaceAxis = faceAxis;
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mNumFaceAxis= mFaceAxis.length;
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mEnabledRotAxis = new int[rotAxis.length+1];
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mDistanceCenterFace3D = distance3D; // distance from the center of the object to each of its faces
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computeCastedAxis(rotAxis);
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computeBorders(cuts,rotatable,size);
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computeLinear(distance3D,rotAxis,faceAxis);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// mCastedRotAxis[1][2]{0,1} are the 2D coords of the 2nd rotAxis cast onto the face defined by the
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// 1st faceAxis.
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private void computeCastedAxis(Static3D[] rotAxis)
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{
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mCastedRotAxis = new float[mNumFaceAxis][rotAxis.length][2];
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mCastedRotAxis4D = new Static4D[mNumFaceAxis][rotAxis.length];
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float fx,fy,fz,f;
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for( int casted=0; casted<rotAxis.length; casted++)
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{
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Static3D a = rotAxis[casted];
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mPoint[0]= a.get0();
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mPoint[1]= a.get1();
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mPoint[2]= a.get2();
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for( int face=0; face<mNumFaceAxis; face++)
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{
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convertTo2Dcoords( mPoint, mFaceAxis[face], mCastedRotAxis[face][casted]);
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normalize2D(mCastedRotAxis[face][casted]);
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fx = mFaceAxis[face].get0();
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fy = mFaceAxis[face].get1();
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fz = mFaceAxis[face].get2();
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f = mPoint[0]*fx + mPoint[1]*fy + mPoint[2]*fz;
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mCastedRotAxis4D[face][casted] = new Static4D( mPoint[0]-f*fx, mPoint[1]-f*fy, mPoint[2]-f*fz, 0);
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}
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private void normalize2D(float[] vect)
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{
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float len = (float)Math.sqrt(vect[0]*vect[0] + vect[1]*vect[1]);
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vect[0] /= len;
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vect[1] /= len;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// find the casted axis with which our move2D vector forms an angle closest to 90 deg.
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private int computeRotationIndex(int faceAxis, float[] move2D, int[] enabled)
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{
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float cosAngle, minCosAngle = Float.MAX_VALUE;
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int minIndex=0, index;
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float m0 = move2D[0];
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float m1 = move2D[1];
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float len = (float)Math.sqrt(m0*m0 + m1*m1);
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if( len!=0.0f )
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{
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m0 /= len;
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m1 /= len;
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}
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else
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{
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m0 = 1.0f; // arbitrarily
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m1 = 0.0f; //
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}
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int numAxis = enabled[0];
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for(int axis=1; axis<=numAxis; axis++)
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{
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index = enabled[axis];
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cosAngle = m0*mCastedRotAxis[faceAxis][index][0] + m1*mCastedRotAxis[faceAxis][index][1];
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if( cosAngle<0 ) cosAngle = -cosAngle;
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if( cosAngle<minCosAngle )
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{
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minCosAngle=cosAngle;
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minIndex = index;
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}
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}
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return minIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// in the center of the face offset is always 0 regardless of the axis
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private float computeOffset(float[] point, float[] axis)
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{
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return point[0]*axis[0] + point[1]*axis[1];
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private boolean faceIsVisible(Static3D faceAxis)
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{
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float castCameraOnAxis = mCamera[0]*faceAxis.get0() + mCamera[1]*faceAxis.get1() + mCamera[2]*faceAxis.get2();
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return castCameraOnAxis > mDistanceCenterFace3D;
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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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// compute point 'output[]' which:
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// 1) lies on a face of the Object, i.e. surface defined by (axis, distance from (0,0,0))
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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-axis*camera] / [axis*(point-camera)]
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private void castTouchPointOntoFace(Static3D faceAxis, 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 a0 = faceAxis.get0();
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float a1 = faceAxis.get1();
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float a2 = faceAxis.get2();
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float denom = a0*d0 + a1*d1 + a2*d2;
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if( denom != 0.0f )
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{
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float axisCam = a0*mCamera[0] + a1*mCamera[1] + a2*mCamera[2];
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float alpha = (mDistanceCenterFace3D-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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// Convert the 3D point3D into a 2D point on the same face surface, but in a different
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// coordinate system: a in-plane 2D coord where the origin is in the point where the axis intersects
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// the surface, and whose Y axis points 'north' i.e. is in the plane given by the 3D origin, the
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// original 3D Y axis and our 2D in-plane origin.
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// If those 3 points constitute a degenerate triangle which does not define a plane - which can only
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// happen if axis is vertical (or in theory when 2D origin and 3D origin meet, but that would have to
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// mean that the distance between the center of the Object and its faces is 0) - then we arbitrarily
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// decide that 2D Y = (0,0,-1) in the North Pole and (0,0,1) in the South Pole)
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private void convertTo2Dcoords(float[] point3D, Static3D faceAxis, float[] output)
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{
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float y0,y1,y2; // base Y vector of the 2D coord system
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float a0 = faceAxis.get0();
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float a1 = faceAxis.get1();
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float a2 = faceAxis.get2();
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if( a0==0.0f && a2==0.0f )
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{
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y0=0; y1=0; y2=-a1;
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}
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else if( a1==0.0f )
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{
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y0=0; y1=1; y2=0;
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}
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else
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{
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float norm = (float)(-a1/Math.sqrt(1-a1*a1));
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y0 = norm*a0; y1= norm*(a1-1/a1); y2=norm*a2;
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}
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float x0 = y1*a2 - y2*a1; //
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float x1 = y2*a0 - y0*a2; // (2D coord baseY) x (axis) = 2D coord baseX
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float x2 = y0*a1 - y1*a0; //
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float originAlpha = point3D[0]*a0 + point3D[1]*a1 + point3D[2]*a2;
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float origin0 = originAlpha*a0; // coords of the point where axis
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float origin1 = originAlpha*a1; // intersects surface plane i.e.
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float origin2 = originAlpha*a2; // the origin of our 2D coord system
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float v0 = point3D[0] - origin0;
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float v1 = point3D[1] - origin1;
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float v2 = point3D[2] - origin2;
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output[0] = v0*x0 + v1*x1 + v2*x2;
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output[1] = v0*y0 + v1*y1 + v2*y2;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private float[] computeBorder(float[] cuts, boolean[] rotatable, int size)
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{
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int len = cuts.length;
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float[] border = new float[len];
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for(int i=0; i<len; i++)
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{
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if( !rotatable[i] )
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{
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border[i] = i>0 ? border[i-1] : -Float.MAX_VALUE;
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}
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else
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{
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if( rotatable[i+1] ) border[i] = cuts[i]/size;
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else
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{
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int found = -1;
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for(int j=i+2; j<=len; j++)
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{
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if( rotatable[j] )
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{
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found=j;
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break;
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}
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}
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border[i] = found>0 ? (cuts[i]+cuts[found-1])/(2*size) : Float.MAX_VALUE;
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}
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}
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}
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return border;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// size, not numLayers (see Master Skewb where size!=numLayers)
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void computeBorders(float[][] cuts, boolean[][] rotatable, int size)
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{
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int numCuts = cuts.length;
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mTouchBorders = new float[numCuts][];
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for(int i=0; i<numCuts; i++)
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{
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mTouchBorders[i] = computeBorder(cuts[i],rotatable[i],size);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int computeSign(Static3D a, Static3D b)
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{
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float a1 = a.get0();
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float a2 = a.get1();
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float a3 = a.get2();
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float b1 = b.get0();
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float b2 = b.get1();
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float b3 = b.get2();
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return a1*b1+a2*b2+a3*b3 < 0 ? 1:-1;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private float crossProductLen(Static3D a, Static3D b)
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{
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float a1 = a.get0();
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float a2 = a.get1();
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float a3 = a.get2();
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float b1 = b.get0();
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float b2 = b.get1();
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float b3 = b.get2();
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float x1 = a2*b3-a3*b2;
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float x2 = a3*b1-a1*b3;
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float x3 = a1*b2-a2*b1;
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return (float)Math.sqrt(x1*x1 + x2*x2 + x3*x3);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// compute the array of 'A' and 'B' coeffs of the Ax+B linear function by which we need to multiply
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// the 3D 'cuts' to translate it from 3D (i.e. with respect to the rotAxis) to 2D in-face (i.e. with
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// respect to the 2D rotAxis cast into a particular face)
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private void computeLinear(float distance3D, Static3D[] rotAxis, Static3D[] faceAxis)
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{
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int numFaces = faceAxis.length;
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int numRot = rotAxis.length;
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mA = new float[numFaces][numRot];
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mB = new float[numFaces][numRot];
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for(int i=0; i<numFaces; i++)
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for(int j=0; j<numRot; j++)
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{
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mA[i][j] = crossProductLen(faceAxis[i],rotAxis[j]);
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if( mA[i][j]!=0.0f )
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{
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float coeff = (float)Math.sqrt(1/(mA[i][j]*mA[i][j]) -1);
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int sign = computeSign(faceAxis[i],rotAxis[j]);
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mB[i][j] = sign*distance3D*coeff;
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}
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else mB[i][j] = 0.0f;
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int computeRowFromOffset(int face, int axisIndex, float offset)
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{
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float[] borders = mTouchBorders[axisIndex];
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int len = borders.length;
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float A = mA[face][axisIndex];
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if( A!=0.0f )
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{
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float B = mB[face][axisIndex];
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for(int i=0; i<len; i++)
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{
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float translated = B + borders[i]/A;
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if( offset<translated ) return i;
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}
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}
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return len;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void computeEnabledAxis(int face, float[] touchPoint, int[] enabled)
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{
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int part = returnPart(mType,face,touchPoint);
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int num = mEnabled[face][0].length;
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enabled[0] = num;
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System.arraycopy(mEnabled[face][part], 0, enabled, 1, num);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// PUBLIC API
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public boolean faceTouched(Static4D rotatedTouchPoint, Static4D rotatedCamera, float objectRatio)
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{
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mPoint[0] = rotatedTouchPoint.get0()/objectRatio;
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mPoint[1] = rotatedTouchPoint.get1()/objectRatio;
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mPoint[2] = rotatedTouchPoint.get2()/objectRatio;
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mCamera[0] = rotatedCamera.get0()/objectRatio;
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mCamera[1] = rotatedCamera.get1()/objectRatio;
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mCamera[2] = rotatedCamera.get2()/objectRatio;
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for( mLastTouchedFace=0; mLastTouchedFace<mNumFaceAxis; mLastTouchedFace++)
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{
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424
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if( faceIsVisible(mFaceAxis[mLastTouchedFace]) )
|
425
|
{
|
426
|
castTouchPointOntoFace(mFaceAxis[mLastTouchedFace], mTouch);
|
427
|
convertTo2Dcoords(mTouch, mFaceAxis[mLastTouchedFace], mPoint2D);
|
428
|
if( isInsideFace(mLastTouchedFace,mPoint2D) ) return true;
|
429
|
}
|
430
|
}
|
431
|
|
432
|
return false;
|
433
|
}
|
434
|
|
435
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
436
|
|
437
|
public Static2D newRotation(Static4D rotatedTouchPoint, float objectRatio)
|
438
|
{
|
439
|
mPoint[0] = rotatedTouchPoint.get0()/objectRatio;
|
440
|
mPoint[1] = rotatedTouchPoint.get1()/objectRatio;
|
441
|
mPoint[2] = rotatedTouchPoint.get2()/objectRatio;
|
442
|
|
443
|
castTouchPointOntoFace(mFaceAxis[mLastTouchedFace], mTouch);
|
444
|
convertTo2Dcoords(mTouch, mFaceAxis[mLastTouchedFace], mMove2D);
|
445
|
|
446
|
mMove2D[0] -= mPoint2D[0];
|
447
|
mMove2D[1] -= mPoint2D[1];
|
448
|
|
449
|
computeEnabledAxis(mLastTouchedFace, mPoint2D, mEnabledRotAxis);
|
450
|
int rotIndex = computeRotationIndex(mLastTouchedFace, mMove2D, mEnabledRotAxis);
|
451
|
float offset = computeOffset(mPoint2D, mCastedRotAxis[mLastTouchedFace][rotIndex]);
|
452
|
int row = computeRowFromOffset(mLastTouchedFace,rotIndex,offset);
|
453
|
|
454
|
return new Static2D(rotIndex,row);
|
455
|
}
|
456
|
|
457
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
458
|
|
459
|
public Static4D getCastedRotAxis(int rotIndex)
|
460
|
{
|
461
|
return mCastedRotAxis4D[mLastTouchedFace][rotIndex];
|
462
|
}
|
463
|
|
464
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
465
|
|
466
|
public int getTouchedFace()
|
467
|
{
|
468
|
return mLastTouchedFace;
|
469
|
}
|
470
|
|
471
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
472
|
|
473
|
public float[] getTouchedPoint3D()
|
474
|
{
|
475
|
return mTouch;
|
476
|
}
|
477
|
}
|