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0d15e934
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2022 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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a7a40b3c
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Leszek Koltunski
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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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0d15e934
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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package org.distorted.objectlib.helpers;
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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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ee28f820
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Leszek Koltunski
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import org.distorted.objectlib.main.ObjectControl;
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0d15e934
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public class QuatGroupGenerator
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{
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private static final int MAX_GROUP_SIZE = 256;
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private static final double PI = Math.PI;
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private static final Static4D[] mTable= new Static4D[MAX_GROUP_SIZE];
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private static int mInserted;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// sin(A/2)*x, sin(A/2)*y, sin(A/2)*z, cos(A/2)
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private static void createQuat(Static3D axis, double angle, Static4D output)
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{
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float cosAngle = (float)Math.cos(angle/2);
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float sinAngle = (float)Math.sin(angle/2);
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output.set0( sinAngle*axis.get0() );
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output.set1( sinAngle*axis.get1() );
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output.set2( sinAngle*axis.get2() );
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output.set3( cosAngle );
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// double cover, so q == -q
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private static boolean quatTheSame(Static4D q1, Static4D q2)
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{
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final float MAX_ERROR = 0.01f;
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float q10 = q1.get0();
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float q11 = q1.get1();
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float q12 = q1.get2();
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float q13 = q1.get3();
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float q20 = q2.get0();
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float q21 = q2.get1();
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float q22 = q2.get2();
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float q23 = q2.get3();
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float d0 = q10-q20;
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float d1 = q11-q21;
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float d2 = q12-q22;
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float d3 = q13-q23;
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if( d0<MAX_ERROR && d0>-MAX_ERROR &&
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d1<MAX_ERROR && d1>-MAX_ERROR &&
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d2<MAX_ERROR && d2>-MAX_ERROR &&
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d3<MAX_ERROR && d3>-MAX_ERROR ) return true;
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d0 = q10+q20;
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d1 = q11+q21;
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d2 = q12+q22;
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d3 = q13+q23;
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if( d0<MAX_ERROR && d0>-MAX_ERROR &&
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d1<MAX_ERROR && d1>-MAX_ERROR &&
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d2<MAX_ERROR && d2>-MAX_ERROR &&
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d3<MAX_ERROR && d3>-MAX_ERROR ) return true;
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return false;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private static int getIndexInTable(Static4D quat, Static4D[] table)
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{
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for(int i=0; i<mInserted; i++)
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{
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if( quatTheSame(quat,table[i]) ) 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 static boolean insertQuat(Static4D quat, Static4D[] table)
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{
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if( getIndexInTable(quat,table)<0 )
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{
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if( mInserted<MAX_GROUP_SIZE )
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{
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table[mInserted] = new Static4D(quat);
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mInserted++;
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return true;
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}
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return false;
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}
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// PUBLIC API
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///////////////////////////////////////////////////////////////////////////////////////////////////
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beee90ab
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Leszek Koltunski
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public static Static4D[] computeGroup(Static3D[] rotAxis, int[][] basicAngles)
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0d15e934
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Leszek Koltunski
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{
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Static4D quat = new Static4D(0,0,0,1);
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int num,numAxis = rotAxis.length;
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mInserted = 0;
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insertQuat(quat,mTable);
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for( int ax=0; ax<numAxis; ax++)
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beee90ab
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Leszek Koltunski
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{
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int numLayers = basicAngles[ax].length;
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for( int layer=0; layer<numLayers; layer++)
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0d15e934
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Leszek Koltunski
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{
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beee90ab
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Leszek Koltunski
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int numAngles = basicAngles[ax][layer];
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for(int angle=1; angle<numAngles; angle++)
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{
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createQuat(rotAxis[ax], (2*PI*angle)/numAngles, quat);
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insertQuat(quat,mTable);
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}
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0d15e934
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Leszek Koltunski
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}
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beee90ab
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Leszek Koltunski
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}
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0d15e934
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Leszek Koltunski
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do
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{
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num = mInserted;
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for(int i=0; i<num; i++)
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for(int j=0; j<num; j++)
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{
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quat = QuatHelper.quatMultiply(mTable[i], mTable[j]);
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if( !insertQuat(quat,mTable) )
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{
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i=num;j=num;
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android.util.Log.e("QuatGroupGenerator", "OVERFLOW");
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}
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}
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}
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while( num < mInserted );
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Static4D[] table = new Static4D[mInserted];
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for(int i=0; i<mInserted; i++)
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{
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table[i] = new Static4D(mTable[i]);
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}
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return table;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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f335f6f3
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Leszek Koltunski
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private static String printRotation(Static4D quat)
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0d15e934
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Leszek Koltunski
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{
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final float MAX_ERR = 0.00001f;
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f335f6f3
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Leszek Koltunski
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float cos = quat.get3();
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float sin = (float)Math.sqrt(1-cos*cos);
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float x = sin==0 ? 0 : quat.get0()/sin;
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float y = sin==0 ? 0 : quat.get1()/sin;
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float z = sin==0 ? 0 : quat.get2()/sin;
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float halfAngle = (float)Math.acos(cos);
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int ang = (int) ( (360*halfAngle/Math.PI) + 0.5f);
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if( x<MAX_ERR && x>-MAX_ERR ) x = 0.0f;
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if( y<MAX_ERR && y>-MAX_ERR ) y = 0.0f;
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if( z<MAX_ERR && z>-MAX_ERR ) z = 0.0f;
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if( x<0.5f+MAX_ERR && x>0.5f-MAX_ERR ) x = 0.5f;
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if( y<0.5f+MAX_ERR && y>0.5f-MAX_ERR ) y = 0.5f;
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if( z<0.5f+MAX_ERR && z>0.5f-MAX_ERR ) z = 0.5f;
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if( x<-0.5f+MAX_ERR && x>-0.5f-MAX_ERR ) x = -0.5f;
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if( y<-0.5f+MAX_ERR && y>-0.5f-MAX_ERR ) y = -0.5f;
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if( z<-0.5f+MAX_ERR && z>-0.5f-MAX_ERR ) z = -0.5f;
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if( x<1.0f+MAX_ERR && x>1.0f-MAX_ERR ) x = 1.0f;
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if( y<1.0f+MAX_ERR && y>1.0f-MAX_ERR ) y = 1.0f;
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if( z<1.0f+MAX_ERR && z>1.0f-MAX_ERR ) z = 1.0f;
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if( x<-1.0f+MAX_ERR && x>-1.0f-MAX_ERR ) x = -1.0f;
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if( y<-1.0f+MAX_ERR && y>-1.0f-MAX_ERR ) y = -1.0f;
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if( z<-1.0f+MAX_ERR && z>-1.0f-MAX_ERR ) z = -1.0f;
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return "("+x+" "+y+" "+z+") "+ang;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private static String printQuat(Static4D quat)
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{
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final float MAX_ERR = 0.00001f;
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float x = quat.get0();
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float y = quat.get1();
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float z = quat.get2();
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float w = quat.get3();
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if( x<MAX_ERR && x>-MAX_ERR ) x = 0.0f;
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if( y<MAX_ERR && y>-MAX_ERR ) y = 0.0f;
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if( z<MAX_ERR && z>-MAX_ERR ) z = 0.0f;
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if( w<MAX_ERR && w>-MAX_ERR ) w = 0.0f;
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if( x<0.5f+MAX_ERR && x>0.5f-MAX_ERR ) x = 0.5f;
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if( y<0.5f+MAX_ERR && y>0.5f-MAX_ERR ) y = 0.5f;
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if( z<0.5f+MAX_ERR && z>0.5f-MAX_ERR ) z = 0.5f;
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if( w<0.5f+MAX_ERR && w>0.5f-MAX_ERR ) w = 0.5f;
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if( x<-0.5f+MAX_ERR && x>-0.5f-MAX_ERR ) x = -0.5f;
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if( y<-0.5f+MAX_ERR && y>-0.5f-MAX_ERR ) y = -0.5f;
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if( z<-0.5f+MAX_ERR && z>-0.5f-MAX_ERR ) z = -0.5f;
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if( w<-0.5f+MAX_ERR && w>-0.5f-MAX_ERR ) w = -0.5f;
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if( x<1.0f+MAX_ERR && x>1.0f-MAX_ERR ) x = 1.0f;
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if( y<1.0f+MAX_ERR && y>1.0f-MAX_ERR ) y = 1.0f;
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if( z<1.0f+MAX_ERR && z>1.0f-MAX_ERR ) z = 1.0f;
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if( w<1.0f+MAX_ERR && w>1.0f-MAX_ERR ) w = 1.0f;
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if( x<-1.0f+MAX_ERR && x>-1.0f-MAX_ERR ) x = -1.0f;
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if( y<-1.0f+MAX_ERR && y>-1.0f-MAX_ERR ) y = -1.0f;
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if( z<-1.0f+MAX_ERR && z>-1.0f-MAX_ERR ) z = -1.0f;
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if( w<-1.0f+MAX_ERR && w>-1.0f-MAX_ERR ) w = -1.0f;
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return (x+" "+y+" "+z+" "+w);
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}
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0d15e934
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Leszek Koltunski
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f335f6f3
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public static void showQuats(Static4D[] table)
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{
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int len = table.length;
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for (int i=0; i<len; i++)
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| 249 |
0d15e934
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Leszek Koltunski
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{
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| 250 |
f335f6f3
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Leszek Koltunski
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String tmp = printQuat(table[i]);
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android.util.Log.e("D", "QUAT"+i+": ("+tmp+")");
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0d15e934
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Leszek Koltunski
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public static void showRotations(Static4D[] table)
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{
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| 259 |
f335f6f3
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Leszek Koltunski
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int len = table.length;
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| 260 |
0d15e934
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Leszek Koltunski
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| 261 |
f335f6f3
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Leszek Koltunski
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for (int i=0; i<len; i++)
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0d15e934
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Leszek Koltunski
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{
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| 263 |
f335f6f3
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Leszek Koltunski
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String tmp = printRotation(table[i]);
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android.util.Log.e("D", "QUAT"+i+": "+tmp);
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| 265 |
0d15e934
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Leszek Koltunski
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}
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}
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| 267 |
e7587264
|
Leszek Koltunski
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| 268 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public static void showCubitQuats(Static4D[] table, float[][] pos, int startIndex, int stopIndex)
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{
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StringBuilder builder = new StringBuilder();
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float MAXERR = 0.01f;
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float[] tmp = new float[4];
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float[] vec = pos[startIndex];
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int numQuats = table.length;
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float X = vec[0];
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float Y = vec[1];
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float Z = vec[2];
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for(int cubit=startIndex; cubit<=stopIndex; cubit++)
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{
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float x = pos[cubit][0];
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float y = pos[cubit][1];
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float z = pos[cubit][2];
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for(int quat=0; quat<numQuats; quat++)
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{
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QuatHelper.rotateVectorByQuat(tmp,X,Y,Z,0,table[quat]);
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float dx = tmp[0]-x;
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float dy = tmp[1]-y;
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float dz = tmp[2]-z;
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if( dx>-MAXERR && dx<MAXERR && dy>-MAXERR && dy<MAXERR && dz>-MAXERR && dz<MAXERR )
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{
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| 297 |
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builder.append(' ');
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builder.append(quat);
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}
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| 300 |
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}
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| 301 |
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| 302 |
51683301
|
Leszek Koltunski
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android.util.Log.e("D", "Cubit: "+cubit+" quats: "+builder );
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| 303 |
e7587264
|
Leszek Koltunski
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builder.delete(0, builder.length());
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| 304 |
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}
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| 305 |
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}
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| 306 |
0d15e934
|
Leszek Koltunski
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}
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