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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 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.touchcontrol;
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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.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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static final float[] mTmp = new float[4];
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static class FaceInfo
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{
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private final float[] normal; // vector normal to the surface of the face, pointing outside.
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private final float distance; // distance from (0,0,0) to the surface of the face
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private final float[][] vertices; // vertices of the face. Already rotated by the initQuat and
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// moved by 'position' (arithmetic average of all positions)
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private final float[][] rotated; // temp array to store vertices times rotation quaternion.
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//////////////////////////////////////////////////////////
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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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distance = vx*vertices[0][0] + vy*vertices[0][1] + vz*vertices[0][2];
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normal = new float[4];
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normal[0] = vx;
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normal[1] = vy;
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normal[2] = vz;
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normal[3] = 0.0f;
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}
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//////////////////////////////////////////////////////////
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public float[] getNormal()
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{
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return normal;
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}
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}
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private final float[] mTouch;
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private final Static4D mTmpAxis;
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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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final float[] mCamera, mPoint;
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final Static3D[] mRotAxis;
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final TwistyObject mObject;
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int mTouchedCubit, mTouchedFace, mNumAxis;
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FaceInfo[][] mInfos;
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float[][] mQuats;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public TouchControlShapeChanging(TwistyObject object)
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{
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super( object!=null ? object.getObjectRatio() : 1.0f );
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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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mTmpAxis = new Static4D(0,0,0,0);
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if( object!=null )
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{
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mRotAxis = object.getRotationAxis() ;
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mNumAxis = mRotAxis.length;
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}
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else
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{
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mRotAxis = null;
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mNumAxis = 0;
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}
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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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// software implementation of DistortedLibrary.mainVertexShader.degree() function.
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// (limited to regions centered at [0,0,0])
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private float computeVertexDegree(float radius, float[] vert)
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{
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float x = vert[0];
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float y = vert[1];
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float z = vert[2];
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float len = (float)Math.sqrt(x*x + y*y + z*z);
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return len>radius ? 0.0f : 1.0f-len/radius;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// software implementation of DistortedLibrary.VertexEffectSink
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private float[] adjustVert(float pillow, float radius, float[] vert)
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{
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float[] output = new float[3];
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float deg = computeVertexDegree(radius,vert);
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float t = 1.0f - deg*(1.0f-pillow)/pillow;
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output[0] = t*vert[0];
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output[1] = t*vert[1];
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output[2] = t*vert[2];
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return output;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private float[][] adjustVerticesForPillow(float pillow, float radius, float[][] verts)
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{
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int num = verts.length;
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float[][] output = new float[num][3];
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for(int i=0; i<num; i++) output[i] = adjustVert(pillow,radius,verts[i]);
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return output;
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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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float pillow = mObject.getPillowCoeff();
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float radius = mObject.getCircumscribedRadius();
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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.getCubitQuats(i,numLayers);
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float[][] vertices = shape.getVertices();
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int[][] indices = shape.getVertIndices();
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if( pillow!=1.0f ) vertices = adjustVerticesForPillow(pillow,radius,vertices);
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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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416
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
417
|
// given precomputed mCamera and mPoint, respectively camera and touch point positions in ScreenSpace,
|
418
|
// a normalVec (nx,ny,nz) and distance (which together define a plane) compute point 'output[]' which:
|
419
|
// 1) lies on this plane
|
420
|
// 2) is co-linear with mCamera and mPoint
|
421
|
//
|
422
|
// output = camera + alpha*(point-camera), where alpha = [dist-normalVec*camera] / [normalVec*(point-camera)]
|
423
|
|
424
|
void castTouchPointOntoFace(float nx, float ny, float nz, float distance, float[] output)
|
425
|
{
|
426
|
float d0 = mPoint[0]-mCamera[0];
|
427
|
float d1 = mPoint[1]-mCamera[1];
|
428
|
float d2 = mPoint[2]-mCamera[2];
|
429
|
|
430
|
float denom = nx*d0 + ny*d1 + nz*d2;
|
431
|
|
432
|
if( denom != 0.0f )
|
433
|
{
|
434
|
float axisCam = nx*mCamera[0] + ny*mCamera[1] + nz*mCamera[2];
|
435
|
float alpha = (distance-axisCam)/denom;
|
436
|
|
437
|
output[0] = mCamera[0] + d0*alpha;
|
438
|
output[1] = mCamera[1] + d1*alpha;
|
439
|
output[2] = mCamera[2] + d2*alpha;
|
440
|
}
|
441
|
}
|
442
|
|
443
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
444
|
|
445
|
private boolean cubitFaceIsVisible(float nx, float ny, float nz, float distance)
|
446
|
{
|
447
|
return mCamera[0]*nx + mCamera[1]*ny + mCamera[2]*nz > distance;
|
448
|
}
|
449
|
|
450
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
451
|
// FaceInfo defines a 3D plane (by means of a unit normal vector 'vector' and distance from the origin
|
452
|
// 'distance') and a list of points on the plane ('vertices').
|
453
|
//
|
454
|
// 0) rotate the face normal vector by quat
|
455
|
// 1) see if the face is visible. If not, return NOT_TOUCHED
|
456
|
// 2) else, cast the line passing through mPoint and mCamera onto this plane
|
457
|
// 3) if Z of this point is further from us than the already computed closestSoFar, return NOT_TOUCHED
|
458
|
// 4) else, rotate 'vertices' by quat and see if the casted point lies inside the polygon defined by them
|
459
|
// 5) if yes, return the distance form this point to the camera; otherwise, return NOT_TOUCHED
|
460
|
|
461
|
private float cubitFaceTouched(FaceInfo info, float[] quat, float closestSoFar)
|
462
|
{
|
463
|
QuatHelper.rotateVectorByQuat(mTmp,info.normal,quat);
|
464
|
float nx = mTmp[0];
|
465
|
float ny = mTmp[1];
|
466
|
float nz = mTmp[2];
|
467
|
|
468
|
if( cubitFaceIsVisible(nx,ny,nz,info.distance) )
|
469
|
{
|
470
|
castTouchPointOntoFace(nx,ny,nz,info.distance,mTouch);
|
471
|
|
472
|
float dx = mTouch[0]-mCamera[0];
|
473
|
float dy = mTouch[1]-mCamera[1];
|
474
|
float dz = mTouch[2]-mCamera[2];
|
475
|
float dist = dx*dx + dy*dy + dz*dz;
|
476
|
|
477
|
if( dist<closestSoFar )
|
478
|
{
|
479
|
rotateVertices(info.vertices,info.rotated,quat);
|
480
|
if( isInside(mTouch,info.rotated) ) return dist;
|
481
|
}
|
482
|
}
|
483
|
|
484
|
return NOT_TOUCHED;
|
485
|
}
|
486
|
|
487
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
488
|
|
489
|
int computeRow(int cubit, int rotIndex)
|
490
|
{
|
491
|
int row = mObject.getCubitRotRow(cubit,rotIndex);
|
492
|
|
493
|
for(int index=0; index<32; index++)
|
494
|
{
|
495
|
if( (row&1)==1 ) return index;
|
496
|
row>>=1;
|
497
|
}
|
498
|
|
499
|
return 0;
|
500
|
}
|
501
|
|
502
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
503
|
// PUBLIC API
|
504
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
505
|
|
506
|
public boolean objectTouched(Static4D rotatedTouchPoint, Static4D rotatedCamera)
|
507
|
{
|
508
|
if( !mPreparationDone ) prepare();
|
509
|
|
510
|
mPoint[0] = rotatedTouchPoint.get0()/mObjectRatio;
|
511
|
mPoint[1] = rotatedTouchPoint.get1()/mObjectRatio;
|
512
|
mPoint[2] = rotatedTouchPoint.get2()/mObjectRatio;
|
513
|
|
514
|
mCamera[0] = rotatedCamera.get0()/mObjectRatio;
|
515
|
mCamera[1] = rotatedCamera.get1()/mObjectRatio;
|
516
|
mCamera[2] = rotatedCamera.get2()/mObjectRatio;
|
517
|
|
518
|
float closestSoFar = NOT_TOUCHED;
|
519
|
mTouchedCubit = -1;
|
520
|
mTouchedFace = -1;
|
521
|
int numQuats = mQuats.length;
|
522
|
|
523
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
524
|
{
|
525
|
int quatIndex = mObject.getCubitQuatIndex(cubit);
|
526
|
|
527
|
if( quatIndex<numQuats )
|
528
|
{
|
529
|
float[] quat = mQuats[quatIndex];
|
530
|
|
531
|
for(int face=0; face<mNumFaces[cubit]; face++)
|
532
|
{
|
533
|
float dist = cubitFaceTouched(mInfos[cubit][face],quat,closestSoFar);
|
534
|
|
535
|
if( dist!=NOT_TOUCHED )
|
536
|
{
|
537
|
mTouchedCubit= cubit;
|
538
|
mTouchedFace = face;
|
539
|
closestSoFar = dist;
|
540
|
}
|
541
|
}
|
542
|
}
|
543
|
}
|
544
|
/*
|
545
|
if( closestSoFar!=NOT_TOUCHED )
|
546
|
{
|
547
|
android.util.Log.e("D", "cubit="+mTouchedCubit+" face="+mTouchedFace+" result: "+closestSoFar);
|
548
|
}
|
549
|
*/
|
550
|
return closestSoFar!=NOT_TOUCHED;
|
551
|
}
|
552
|
|
553
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
554
|
// really implemented in derived classes; here present only because we need to be able to
|
555
|
// instantiate an object of this class for MODE_REPLACE.
|
556
|
|
557
|
public void newRotation(int[] output, Static4D rotatedTouchPoint, Static4D quat)
|
558
|
{
|
559
|
|
560
|
}
|
561
|
|
562
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
563
|
|
564
|
public void getCastedRotAxis(float[] output, Static4D quat, int axisIndex)
|
565
|
{
|
566
|
Static3D rotAxis = mRotAxis[axisIndex];
|
567
|
float rx = rotAxis.get0();
|
568
|
float ry = rotAxis.get1();
|
569
|
float rz = rotAxis.get2();
|
570
|
|
571
|
mTmpAxis.set(rx,ry,rz,0);
|
572
|
Static4D result = QuatHelper.rotateVectorByQuat(mTmpAxis, quat);
|
573
|
|
574
|
float cx =result.get0();
|
575
|
float cy =result.get1();
|
576
|
|
577
|
float len = (float)Math.sqrt(cx*cx+cy*cy);
|
578
|
|
579
|
if( len!=0 )
|
580
|
{
|
581
|
output[0] = cx/len;
|
582
|
output[1] = cy/len;
|
583
|
}
|
584
|
else
|
585
|
{
|
586
|
output[0] = 1;
|
587
|
output[1] = 0;
|
588
|
}
|
589
|
}
|
590
|
|
591
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
592
|
|
593
|
public void prepareAgain()
|
594
|
{
|
595
|
mPreparationDone = false;
|
596
|
}
|
597
|
|
598
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
599
|
|
600
|
public int getTouchedCubitFace()
|
601
|
{
|
602
|
return mTouchedFace;
|
603
|
}
|
604
|
|
605
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
606
|
|
607
|
public int getTouchedCubit()
|
608
|
{
|
609
|
return mTouchedCubit;
|
610
|
}
|
611
|
|
612
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
613
|
|
614
|
public float returnRotationFactor(int[] numLayers, int row)
|
615
|
{
|
616
|
return 1.0f;
|
617
|
}
|
618
|
}
|