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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.helpers.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.OperatingSystemInterface;
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import org.distorted.objectlib.helpers.QuatGroupGenerator;
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import java.io.ByteArrayOutputStream;
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import java.io.IOException;
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import java.io.InputStream;
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import java.util.ArrayList;
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import java.util.Random;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public abstract class TablebasesAbstract
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{
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private final Static3D[] mAxis;
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private final int mSize, mMinScramble;
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private final int[][] mAngles;
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private final int[] mNumLayers;
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private final int mNumQuats;
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private final float[][] mCuts;
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private final int[] mNumCuts;
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private final int[][] mCubitRows;
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private final int[][] mCubitQuatMap;
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private final float[][] mQuats;
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private final float[][] mPosition;
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private int[][] mQuatMult;
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private int[] mInvertedQuat;
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Tablebase mTablebase;
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boolean mInitialized;
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final int mScalingFactor;
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final int mNumAxis;
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final int[][] mRotRow;
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final int mNumCubits;
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final boolean[][] mRotatable;
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private static final float[] mTmp = new float[4];
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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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abstract boolean[][] getRotatable();
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abstract int getMinScramble();
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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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///////////////////////////////////////////////////////////////////////////////////////////////////
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public TablebasesAbstract()
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{
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mSize = getSize();
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mMinScramble = getMinScramble();
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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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Static4D[] quats = QuatGroupGenerator.computeGroup(mAxis,mAngles);
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mNumQuats = quats.length;
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mQuats = new float[mNumQuats][];
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for(int i=0; i<mNumQuats; i++)
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{
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Static4D q = quats[i];
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mQuats[i] = new float[] {q.get0(),q.get1(),q.get2(),q.get3()};
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}
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mPosition = getPosition();
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mNumCubits = mPosition.length;
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mRotatable = getRotatable();
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mCuts = getCuts();
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mNumCuts = new int[mNumAxis];
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int scaling = 0;
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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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int numLayers = mNumLayers[i];
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for(int j=0; j<numLayers; j++) scaling+=(mAngles[i][j]-1);
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}
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mScalingFactor = scaling;
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mRotRow = new int[mNumCubits][mNumAxis];
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mCubitRows = new int[mNumCubits][mNumAxis];
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mCubitQuatMap = new int[mNumCubits][mNumQuats];
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for(int i=0; i<mNumCubits; i++)
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{
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computeInitRow(i,mCubitRows[i]);
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for(int j=0; j<mNumQuats; j++) mCubitQuatMap[i][j] = computeMap(i,j);
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}
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mInitialized = false;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public TablebasesAbstract(OperatingSystemInterface os, int resource)
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{
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this();
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mInitialized = true;
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InputStream stream = os.openLocalFile(resource);
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ByteArrayOutputStream buffer = new ByteArrayOutputStream();
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int nRead;
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byte[] tmp = new byte[16384];
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try
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{
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while ((nRead = stream.read(tmp, 0, tmp.length)) != -1)
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{
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buffer.write(tmp, 0, nRead);
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}
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stream.close();
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byte[] data = buffer.toByteArray();
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buffer.close();
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mTablebase = new Tablebase(data);
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}
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catch(IOException ex)
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{
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mInitialized = false;
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private int computeMap(int cubit, int quat)
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{
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float[] pos = mPosition[cubit];
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float[] q = mQuats[quat];
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QuatHelper.rotateVectorByQuat(mTmp,pos[0],pos[1],pos[2],1.0f,q);
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float dist = Float.MAX_VALUE;
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int min = 0;
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for(int i=0; i<mNumCubits; i++)
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{
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float[] p = mPosition[i];
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float dx = p[0]-mTmp[0];
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float dy = p[1]-mTmp[1];
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float dz = p[2]-mTmp[2];
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float d = dx*dx + dy*dy + dz*dz;
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if( d<dist )
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{
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dist = d;
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min = i;
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}
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}
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return min;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int computeBitLayer(int ax, int layer)
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{
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return (1<<layer);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void computeInitRow(int cubit, int[] output)
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{
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float[] pos = mPosition[cubit];
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int num = output.length;
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for(int i=0; i<num; i++)
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{
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Static3D axis = mAxis[i];
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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 = pos[0]*axisX + pos[1]*axisY + pos[2]*axisZ;
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output[i] = computeSingleRow(i,casted);
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}
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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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int[] computeRow(int cubit, int quat)
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{
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int newPos = mCubitQuatMap[cubit][quat];
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return mCubitRows[newPos];
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// remember about the double cover or unit quaternions!
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public static int mulQuat(int q1, int q2, float[][] quats)
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{
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int numQuats = quats.length;
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float[] result = QuatHelper.quatMultiply(quats[q1],quats[q2]);
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float rX = result[0];
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float rY = result[1];
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float rZ = result[2];
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float rW = result[3];
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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<numQuats; i++)
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{
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float[] q = quats[i];
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dX = q[0] - rX;
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dY = q[1] - rY;
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dZ = q[2] - rZ;
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dW = q[3] - 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 = q[0] + rX;
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dY = q[1] + rY;
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dZ = q[2] + rZ;
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dW = q[3] + 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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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, mQuats);
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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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int getInvertedQuat(int index)
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{
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if( mInvertedQuat==null )
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{
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mInvertedQuat = new int[mNumQuats];
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for(int i=0; i<mNumQuats; i++)
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for(int j=0; j<mNumQuats; j++)
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{
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int result = getMultQuat(i,j);
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if( result==0 )
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{
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mInvertedQuat[i] = j;
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break;
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}
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}
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}
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return mInvertedQuat[index];
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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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int quatBasis = 0;
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for(int cubit=0; cubit<mNumCubits; cubit++) mRotRow[cubit] = computeRow(cubit,quats[cubit]);
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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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if( !mRotatable[ax][layer] ) continue;
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int bitLayer = computeBitLayer(ax,layer);
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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( (mRotRow[cubit][ax] & bitLayer) != 0 )
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tmpQuats[cubit] = getMultQuat(quat,tmpQuats[cubit]);
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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 boolean useForScrambling()
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{
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public void createTablebase(int maxLevel)
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{
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mTablebase = new Tablebase(mSize);
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int[] solved = getSolvedIndices();
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int numSolved = solved.length;
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for(int s : solved ) mTablebase.insertUnpacked(s,(byte)0);
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int numInserted, totalInserted=numSolved;
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byte insertingLevel = 0;
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android.util.Log.e("D", "creating tablebase of size "+mSize);
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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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totalInserted += numInserted;
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android.util.Log.e("D", "inserted "+numInserted+" positions at level "+insertingLevel);
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}
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while( numInserted>0 && insertingLevel!=maxLevel );
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android.util.Log.e("D", "total Inserted: "+totalInserted);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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398
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int[] getSolvedIndices()
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{
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return new int[] {0};
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}
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403
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///////////////////////////////////////////////////////////////////////////////////////////////////
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405
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boolean isSolved(int index)
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{
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return index==0;
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}
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410
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///////////////////////////////////////////////////////////////////////////////////////////////////
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412
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public void pack()
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{
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android.util.Log.e("D", "packing...");
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mTablebase.pack();
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android.util.Log.e("D", "all done");
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mInitialized = true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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422
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public byte[][] getPacked()
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{
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if( !mInitialized )
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{
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createTablebase(-1);
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pack();
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}
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byte[] data = mTablebase.getPacked();
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return new byte[][] { data };
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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436
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void convertMoves(int[][] moves)
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{
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for(int[] move : moves )
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{
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int[] m = newMove(move[0],move[1],move[2]);
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move[0] = m[0];
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move[1] = m[1];
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move[2] = m[2];
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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450
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int[] newMove(int ax, int layer, int angle)
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{
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int maxAngle = mAngles[ax][layer];
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angle = maxAngle-angle;
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if( angle> 0.5f*maxAngle ) angle -= maxAngle;
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return new int[] { ax, computeBitLayer(ax,layer), angle };
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}
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459
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///////////////////////////////////////////////////////////////////////////////////////////////////
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461
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int[][] convertMovesFromArray(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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}
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469
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///////////////////////////////////////////////////////////////////////////////////////////////////
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471
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472
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void getNextAxisLayerAngleQuat(int[] data)
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473
|
{
|
474
|
int axis = data[0];
|
475
|
int layer= data[1];
|
476
|
int angle= data[2];
|
477
|
|
478
|
if( angle< mAngles[axis][layer]-1 ) data[2]++;
|
479
|
else
|
480
|
{
|
481
|
data[2] = 1;
|
482
|
|
483
|
if( layer< mNumLayers[axis]-1 ) data[1]++;
|
484
|
else
|
485
|
{
|
486
|
data[1] = 0;
|
487
|
data[0] = (axis<mNumAxis-1) ? axis+1 : 0;
|
488
|
}
|
489
|
}
|
490
|
|
491
|
data[3] = data[2];
|
492
|
for(int i=0; i<data[0]; i++) data[3] += (mAngles[i][0]-1);
|
493
|
}
|
494
|
|
495
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
496
|
|
497
|
int[][] extraInfo(int[][] moves, int[] extra)
|
498
|
{
|
499
|
return moves;
|
500
|
}
|
501
|
|
502
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
503
|
|
504
|
public int[][] solution(int index, int[] extra, OperatingSystemInterface osi)
|
505
|
{
|
506
|
if( !mInitialized ) return null;
|
507
|
|
508
|
int[] data = new int[4];
|
509
|
byte level = mTablebase.retrievePacked(index);
|
510
|
ArrayList<int[]> moves = new ArrayList<>();
|
511
|
int[] quats = getQuats(index);
|
512
|
int numQuats = quats.length;
|
513
|
int[] tmpQuats = new int[numQuats];
|
514
|
|
515
|
while( !isSolved(index) )
|
516
|
{
|
517
|
boolean found = false;
|
518
|
|
519
|
data[0]=0;
|
520
|
data[1]=0;
|
521
|
data[2]=1;
|
522
|
data[3]=1;
|
523
|
|
524
|
for(int cubit=0; cubit<mNumCubits; cubit++) mRotRow[cubit] = computeRow(cubit,quats[cubit]);
|
525
|
|
526
|
for(int s=0; s<mScalingFactor && !found; s++)
|
527
|
{
|
528
|
int ax = data[0];
|
529
|
int layer = data[1];
|
530
|
int angle = data[2];
|
531
|
int quat = data[3];
|
532
|
|
533
|
if( mRotatable[ax][layer] )
|
534
|
{
|
535
|
int bitLayer = computeBitLayer(ax,layer);
|
536
|
System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
|
537
|
|
538
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
539
|
if( (mRotRow[cubit][ax] & bitLayer) != 0 )
|
540
|
{
|
541
|
int currQuat = tmpQuats[cubit];
|
542
|
int newQuat = getMultQuat(quat,currQuat);
|
543
|
tmpQuats[cubit] = newQuat;
|
544
|
}
|
545
|
|
546
|
int childIndex = getIndex(tmpQuats);
|
547
|
byte newLevel = mTablebase.retrievePacked(childIndex);
|
548
|
|
549
|
if( ((newLevel-level+1)%3) == 0 )
|
550
|
{
|
551
|
int[] tmpMove = newMove(ax,layer,angle);
|
552
|
moves.add(tmpMove);
|
553
|
index = childIndex;
|
554
|
level = (level==0 ? 2 : (byte)(level-1));
|
555
|
found = true;
|
556
|
}
|
557
|
}
|
558
|
|
559
|
getNextAxisLayerAngleQuat(data);
|
560
|
}
|
561
|
|
562
|
quats = getQuats(index);
|
563
|
|
564
|
if( !found )
|
565
|
{
|
566
|
if( osi!=null ) osi.reportError("solution error: no move found!"+index);
|
567
|
return null;
|
568
|
}
|
569
|
}
|
570
|
|
571
|
int[][] ret = convertMovesFromArray(moves);
|
572
|
return extraInfo(ret,extra);
|
573
|
}
|
574
|
|
575
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
576
|
|
577
|
public void scramble(Random rnd, int depth, int[][] scramble)
|
578
|
{
|
579
|
if( !mInitialized ) return;
|
580
|
|
581
|
int solDepth = 0;
|
582
|
int scraLen = scramble.length;
|
583
|
if( depth>mMinScramble ) depth = mMinScramble;
|
584
|
|
585
|
int[] cornerTwist = new int[4];
|
586
|
for(int i=0; i<4; i++) cornerTwist[i] = (rnd.nextInt(3)-1);
|
587
|
|
588
|
while( solDepth<depth )
|
589
|
{
|
590
|
int randomPosition = rnd.nextInt(mSize-1);
|
591
|
int[][] sol = solution(randomPosition,cornerTwist,null);
|
592
|
solDepth = (sol!=null ? sol.length : 0);
|
593
|
|
594
|
if( solDepth>=depth )
|
595
|
{
|
596
|
int num = Math.min(scraLen,solDepth);
|
597
|
|
598
|
for(int i=0; i<num; i++)
|
599
|
{
|
600
|
int[] source = sol[solDepth-1-i];
|
601
|
scramble[i][0] = source[0];
|
602
|
scramble[i][1] = source[1];
|
603
|
scramble[i][2] =-source[2];
|
604
|
}
|
605
|
}
|
606
|
}
|
607
|
}
|
608
|
|
609
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
610
|
// TESTING
|
611
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
612
|
|
613
|
public boolean test(int index)
|
614
|
{
|
615
|
if( !mInitialized ) return false;
|
616
|
|
617
|
int[] data = new int[4];
|
618
|
byte level = mTablebase.retrievePacked(index);
|
619
|
int[] quats = getQuats(index);
|
620
|
int numQuats = quats.length;
|
621
|
int[] tmpQuats = new int[numQuats];
|
622
|
|
623
|
data[0]=0;
|
624
|
data[1]=0;
|
625
|
data[2]=1;
|
626
|
data[3]=1;
|
627
|
|
628
|
for(int cubit=0; cubit<mNumCubits; cubit++) mRotRow[cubit] = computeRow(cubit,quats[cubit]);
|
629
|
|
630
|
for(int s=0; s<mScalingFactor; s++)
|
631
|
{
|
632
|
int ax = data[0];
|
633
|
int layer = data[1];
|
634
|
int quat = data[3];
|
635
|
|
636
|
if( mRotatable[ax][layer] )
|
637
|
{
|
638
|
int bitLayer = computeBitLayer(ax,layer);
|
639
|
System.arraycopy(quats, 0, tmpQuats, 0, numQuats);
|
640
|
|
641
|
for(int cubit=0; cubit<mNumCubits; cubit++)
|
642
|
if( (mRotRow[cubit][ax] & bitLayer) != 0 )
|
643
|
{
|
644
|
int currQuat = tmpQuats[cubit];
|
645
|
int newQuat = getMultQuat(quat,currQuat);
|
646
|
tmpQuats[cubit] = newQuat;
|
647
|
}
|
648
|
|
649
|
int childIndex = getIndex(tmpQuats);
|
650
|
byte newLevel = mTablebase.retrievePacked(childIndex);
|
651
|
|
652
|
if( ((newLevel-level+1)%3) == 0 ) return true;
|
653
|
}
|
654
|
|
655
|
getNextAxisLayerAngleQuat(data);
|
656
|
}
|
657
|
|
658
|
return false;
|
659
|
}
|
660
|
|
661
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
662
|
|
663
|
public void test(OperatingSystemInterface os)
|
664
|
{
|
665
|
int index = 252373232;
|
666
|
int[] q = getQuats(index);
|
667
|
TablebaseHelpers.displayTable(q , "QUATS ");
|
668
|
}
|
669
|
}
|