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a110ebe1
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2023 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 proprietary software licensed under an EULA which you should have received //
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// along with the code. If not, check https://distorted.org/magic/License-Magic-Cube.html //
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///////////////////////////////////////////////////////////////////////////////////////////////////
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package org.distorted.objectlib.tablebases;
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import org.distorted.library.main.QuatHelper;
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import org.distorted.library.type.Static3D;
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import org.distorted.library.type.Static4D;
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import org.distorted.objectlib.helpers.QuatGroupGenerator;
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bf5c802b
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Leszek Koltunski
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import java.util.ArrayList;
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a110ebe1
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public abstract class TablebasesCreator
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{
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private Tablebase mTablebase;
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private final Static3D[] mAxis;
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private final int mSize;
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private final int[][] mAngles;
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private final int mNumAxis;
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private final int[] mNumLayers;
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private final int mNumQuats;
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private final Static4D[] mQuats;
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private final int[][] mRotRow;
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private final int mNumCubits;
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private final float[][] mPosition;
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private final float[][] mCuts;
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private final int[] mNumCuts;
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b4111717
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Leszek Koltunski
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private final boolean[][] mRotatable;
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a110ebe1
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private int[][] mQuatMult;
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b4111717
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Leszek Koltunski
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private static final float[] mTmp = new float[4];
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a110ebe1
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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abstract int[][] getBasicAngles();
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abstract Static3D[] getRotationAxis();
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abstract float[][] getPosition();
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abstract float[][] getCuts();
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b4111717
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abstract boolean[][] getRotatable();
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abstract int getSize();
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abstract int[] getQuats(int index);
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abstract int getIndex(int[] quats);
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a110ebe1
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public TablebasesCreator()
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{
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mSize = getSize();
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mAngles = getBasicAngles();
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mAxis = getRotationAxis();
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mNumAxis = mAxis.length;
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mNumLayers = new int[mNumAxis];
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for(int i=0; i<mNumAxis; i++) mNumLayers[i] = mAngles[i].length;
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mQuats = QuatGroupGenerator.computeGroup(mAxis,mAngles);
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mNumQuats = mQuats.length;
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mPosition = getPosition();
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mNumCubits = mPosition.length;
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b4111717
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mRotatable = getRotatable();
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a110ebe1
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Leszek Koltunski
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mCuts = getCuts();
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mNumCuts = new int[mNumAxis];
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for(int i=0; i<mNumAxis; i++)
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{
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mNumCuts[i] = (mCuts==null || mCuts[i]==null ? 0 : mCuts[i].length);
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}
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mRotRow = new int[mNumCubits][mNumAxis];
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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b4111717
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Leszek Koltunski
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private int computeRow(float[] pos, int quat, int axisIndex)
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a110ebe1
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{
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int ret=0;
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int len = pos.length/3;
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Static3D axis = mAxis[axisIndex];
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float axisX = axis.get0();
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float axisY = axis.get1();
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float axisZ = axis.get2();
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float casted, xoff=0, yoff=0, zoff=0;
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b4111717
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Static4D q = mQuats[quat];
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a110ebe1
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Leszek Koltunski
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for(int i=0; i<len; i++)
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{
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b4111717
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Leszek Koltunski
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QuatHelper.rotateVectorByQuat(mTmp,pos[3*i],pos[3*i+1],pos[3*i+2],1.0f,q);
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casted = (mTmp[0]+xoff)*axisX + (mTmp[1]+yoff)*axisY + (mTmp[2]+zoff)*axisZ;
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a110ebe1
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Leszek Koltunski
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ret |= computeSingleRow(axisIndex,casted);
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}
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return ret;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int computeSingleRow(int axisIndex,float casted)
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{
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int num = mNumCuts[axisIndex];
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for(int i=0; i<num; i++)
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{
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if( casted<mCuts[axisIndex][i] ) return (1<<i);
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}
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return (1<<num);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// remember about the double cover or unit quaternions!
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private int mulQuat(int q1, int q2)
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{
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Static4D result = QuatHelper.quatMultiply(mQuats[q1],mQuats[q2]);
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float rX = result.get0();
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float rY = result.get1();
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float rZ = result.get2();
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float rW = result.get3();
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final float MAX_ERROR = 0.1f;
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float dX,dY,dZ,dW;
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for(int i=0; i<mNumQuats; i++)
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{
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dX = mQuats[i].get0() - rX;
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dY = mQuats[i].get1() - rY;
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dZ = mQuats[i].get2() - rZ;
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dW = mQuats[i].get3() - rW;
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if( dX<MAX_ERROR && dX>-MAX_ERROR &&
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dY<MAX_ERROR && dY>-MAX_ERROR &&
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dZ<MAX_ERROR && dZ>-MAX_ERROR &&
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dW<MAX_ERROR && dW>-MAX_ERROR ) return i;
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dX = mQuats[i].get0() + rX;
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dY = mQuats[i].get1() + rY;
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dZ = mQuats[i].get2() + rZ;
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dW = mQuats[i].get3() + rW;
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if( dX<MAX_ERROR && dX>-MAX_ERROR &&
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dY<MAX_ERROR && dY>-MAX_ERROR &&
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dZ<MAX_ERROR && dZ>-MAX_ERROR &&
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dW<MAX_ERROR && dW>-MAX_ERROR ) return i;
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}
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return -1;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int getMultQuat(int index1, int index2)
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{
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if( mQuatMult==null )
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{
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mQuatMult = new int[mNumQuats][mNumQuats];
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for(int i=0; i<mNumQuats; i++)
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for(int j=0; j<mNumQuats; j++) mQuatMult[i][j] = -1;
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}
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if( index1<mNumQuats && index2<mNumQuats )
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{
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if( mQuatMult[index1][index2]==-1 ) mQuatMult[index1][index2] = mulQuat(index1,index2);
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return mQuatMult[index1][index2];
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}
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return -2;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private boolean belongsToMove(int cubit, int axis, int layer)
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{
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return mRotRow[cubit][axis] == layer;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// assumption: all layers have the same basicAngles!
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private int insertAllChildren(int index, byte level)
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{
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int ret = 0;
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int[] quats = getQuats(index);
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int numQuats = quats.length;
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int[] tmpQuats = new int[numQuats];
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byte newLevel = (byte)(level+1);
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boolean[] belongs = new boolean[mNumCubits];
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int quatBasis = 0;
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for(int ax=0; ax<mNumAxis; ax++)
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{
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for(int layer=0; layer<mNumLayers[ax]; layer++)
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{
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b4111717
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Leszek Koltunski
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if( !mRotatable[ax][layer] ) continue;
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int bitLayer = (1<<layer);
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a110ebe1
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Leszek Koltunski
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for(int cubit=0; cubit<mNumCubits; cubit++)
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b4111717
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Leszek Koltunski
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{
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mRotRow[cubit][ax] = computeRow(mPosition[cubit],quats[cubit],ax);
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belongs[cubit] = belongsToMove(cubit,ax,bitLayer);
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}
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a110ebe1
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Leszek Koltunski
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int maxAngle = mAngles[ax][layer];
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for(int angle=1; angle<maxAngle; angle++ )
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{
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System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
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int quat = quatBasis + angle;
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for(int cubit=0; cubit<mNumCubits; cubit++)
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if( belongs[cubit] )
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{
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int currQuat = tmpQuats[cubit];
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b4111717
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Leszek Koltunski
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int newQuat = getMultQuat(quat,currQuat);
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a110ebe1
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Leszek Koltunski
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tmpQuats[cubit] = newQuat;
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}
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int childIndex = getIndex(tmpQuats);
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if( mTablebase.insertUnpacked(childIndex,newLevel) ) ret++;
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}
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}
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quatBasis += (mAngles[ax][0]-1);
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}
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return ret;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public void createTablebase()
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{
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mTablebase = new Tablebase(mSize);
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mTablebase.insertUnpacked(0,(byte)0);
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int numInserted;
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byte insertingLevel = 0;
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do
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{
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numInserted = 0;
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for(int i=0; i<mSize; i++)
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{
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byte level = mTablebase.retrieveUnpacked(i);
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if( level==insertingLevel ) numInserted += insertAllChildren(i,level);
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}
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insertingLevel++;
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bf5c802b
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Leszek Koltunski
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android.util.Log.e("D", "inserted "+numInserted+" positions at level "+insertingLevel);
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a110ebe1
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Leszek Koltunski
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}
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while( numInserted>0 );
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bf5c802b
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Leszek Koltunski
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mTablebase.pack();
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a110ebe1
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Leszek Koltunski
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}
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| 267 |
3ee79c9c
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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| 270 |
bf5c802b
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Leszek Koltunski
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private void addMove(ArrayList<int[]> moves, int axis, int layer, int angle)
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| 271 |
3ee79c9c
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Leszek Koltunski
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{
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int maxAngle = mAngles[axis][layer];
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angle = maxAngle-angle;
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if( angle> 0.5f*maxAngle ) angle -= maxAngle;
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bf5c802b
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Leszek Koltunski
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int[] move = new int[] { axis, (1<<layer), angle };
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moves.add(move);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int[][] convertMoves(ArrayList<int[]> moves)
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{
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int len = moves.size();
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int[][] ret = new int[len][];
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for(int i=0; i<len; i++) ret[i] = moves.get(i);
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return ret;
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| 288 |
3ee79c9c
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Leszek Koltunski
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public int[][] solution(int index)
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{
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byte level = mTablebase.retrieveUnpacked(index);
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| 295 |
bf5c802b
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Leszek Koltunski
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ArrayList<int[]> moves = new ArrayList<>();
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| 296 |
3ee79c9c
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Leszek Koltunski
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int quatBasis = 0;
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int[] quats = getQuats(index);
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int numQuats = quats.length;
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int[] tmpQuats = new int[numQuats];
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boolean[] belongs = new boolean[mNumCubits];
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bf5c802b
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Leszek Koltunski
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while(index!=0)
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| 303 |
3ee79c9c
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Leszek Koltunski
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{
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for(int ax=0; ax<mNumAxis; ax++)
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{
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int numLayers = mNumLayers[ax];
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int[] angles = mAngles[ax];
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for(int layer=0; layer<numLayers; layer++)
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{
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if( !mRotatable[ax][layer] ) continue;
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int bitLayer = (1<<layer);
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for(int cubit=0; cubit<mNumCubits; cubit++)
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{
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mRotRow[cubit][ax] = computeRow(mPosition[cubit],quats[cubit],ax);
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belongs[cubit] = belongsToMove(cubit,ax,bitLayer);
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}
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int maxAngle = angles[layer];
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for(int angle=1; angle<maxAngle; angle++ )
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{
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| 324 |
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System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
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int quat = quatBasis + angle;
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for(int cubit=0; cubit<mNumCubits; cubit++)
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if( belongs[cubit] )
|
| 329 |
|
|
{
|
| 330 |
|
|
int currQuat = tmpQuats[cubit];
|
| 331 |
|
|
int newQuat = getMultQuat(quat,currQuat);
|
| 332 |
|
|
tmpQuats[cubit] = newQuat;
|
| 333 |
|
|
}
|
| 334 |
|
|
|
| 335 |
|
|
int childIndex = getIndex(tmpQuats);
|
| 336 |
|
|
byte newLevel = mTablebase.retrieveUnpacked(childIndex);
|
| 337 |
|
|
|
| 338 |
bf5c802b
|
Leszek Koltunski
|
if( (newLevel%3) == ((level-1)%3) )
|
| 339 |
3ee79c9c
|
Leszek Koltunski
|
{
|
| 340 |
bf5c802b
|
Leszek Koltunski
|
addMove(moves,ax,layer,angle);
|
| 341 |
3ee79c9c
|
Leszek Koltunski
|
angle=maxAngle;
|
| 342 |
|
|
layer=numLayers;
|
| 343 |
|
|
ax=mNumAxis;
|
| 344 |
|
|
index = childIndex;
|
| 345 |
bf5c802b
|
Leszek Koltunski
|
level = (level==0 ? 2 : (byte)(level-1));
|
| 346 |
3ee79c9c
|
Leszek Koltunski
|
}
|
| 347 |
|
|
}
|
| 348 |
|
|
}
|
| 349 |
|
|
|
| 350 |
|
|
quatBasis += (angles[0]-1);
|
| 351 |
|
|
}
|
| 352 |
|
|
|
| 353 |
|
|
quatBasis = 0;
|
| 354 |
|
|
quats = getQuats(index);
|
| 355 |
|
|
}
|
| 356 |
|
|
|
| 357 |
bf5c802b
|
Leszek Koltunski
|
return convertMoves(moves);
|
| 358 |
3ee79c9c
|
Leszek Koltunski
|
}
|
| 359 |
a110ebe1
|
Leszek Koltunski
|
}
|