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27a70eae
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2020 Leszek Koltunski //
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// //
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// This file is part of Magic Cube. //
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// //
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// Magic Cube is free software: you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation, either version 2 of the License, or //
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// (at your option) any later version. //
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// //
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// Magic Cube is distributed in the hope that it will be useful, //
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with Magic Cube. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////////////////////
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1f9772f3
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Leszek Koltunski
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package org.distorted.objects;
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27a70eae
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Leszek Koltunski
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efef689c
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Leszek Koltunski
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import org.distorted.library.type.Static2D;
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37a25788
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Leszek Koltunski
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import org.distorted.library.type.Static3D;
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27a70eae
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Leszek Koltunski
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import org.distorted.library.type.Static4D;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public abstract class RubikObjectMovement
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{
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12ad3fca
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Leszek Koltunski
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private int mLastTouchedAxis;
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private float[] mPoint, mCamera, mTouch;
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14a4712f
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Leszek Koltunski
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private float[] mPoint2D, mMove2D;
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private float[][][] mCastAxis;
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dd65ead3
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Leszek Koltunski
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private int mLastTouchedLR;
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private int mNumAxis, mNumFacesPerAxis;
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14a4712f
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Leszek Koltunski
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private float mDistanceCenterFace3D, mDistanceCenterFace2D;
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37a25788
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Leszek Koltunski
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private Static3D[] mAxis;
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dd65ead3
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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abstract boolean isInsideFace(float[] point);
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///////////////////////////////////////////////////////////////////////////////////////////////////
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418aa554
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Leszek Koltunski
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RubikObjectMovement(Static3D[] axis, float numFacesPerAxis, float distance3D, float distance2D)
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dd65ead3
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Leszek Koltunski
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{
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mPoint = new float[3];
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mCamera= new float[3];
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mTouch = new float[3];
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14a4712f
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Leszek Koltunski
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mPoint2D = new float[2];
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mMove2D = new float[2];
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bef47287
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Leszek Koltunski
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37a25788
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Leszek Koltunski
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mAxis = axis;
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mNumAxis = mAxis.length;
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418aa554
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Leszek Koltunski
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mNumFacesPerAxis = (int)numFacesPerAxis; // TODO
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14a4712f
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Leszek Koltunski
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mDistanceCenterFace3D = distance3D; // distance from the center of the object to each of its faces
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mDistanceCenterFace2D = distance2D; // distance from the center of a face to its edge
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// mCastAxis[1][2]{0,1} are the 2D coords of the 2nd axis cast onto the face defined by the
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// 1st pair (axis,lr)
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mCastAxis = new float[mNumAxis*mNumFacesPerAxis][mNumAxis][2];
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for( int casted=0; casted<mNumAxis; casted++)
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{
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Static3D a = mAxis[casted];
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mPoint[0]= a.get0();
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mPoint[1]= a.get1();
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mPoint[2]= a.get2();
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for( int surface=0; surface<mNumAxis; surface++)
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for(int lr=0; lr<mNumFacesPerAxis; lr++)
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{
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int index = surface*mNumFacesPerAxis + lr;
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if( casted!=surface )
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{
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convertTo2Dcoords( mPoint, mAxis[surface], lr, mPoint2D);
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mCastAxis[index][casted][0] = mPoint2D[0];
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mCastAxis[index][casted][1] = mPoint2D[1];
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normalize2D(mCastAxis[index][casted]);
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}
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else
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{
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mCastAxis[index][casted][0] = 0;
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mCastAxis[index][casted][1] = 0;
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}
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}
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private void normalize2D(float[] vect)
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{
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float len = (float)Math.sqrt(vect[0]*vect[0] + vect[1]*vect[1]);
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vect[0] /= len;
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vect[1] /= len;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// find the casted axis with which our move2D vector forms an angle closest to 90 deg.
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12ad3fca
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Leszek Koltunski
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private int computeRotationIndex(int axis, int lr, float[] move2D)
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14a4712f
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Leszek Koltunski
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{
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float cosAngle, minCosAngle = Float.MAX_VALUE;
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int minIndex=-1;
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int index = axis*mNumFacesPerAxis + lr;
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float m0 = move2D[0];
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float m1 = move2D[1];
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float len = (float)Math.sqrt(m0*m0 + m1*m1);
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b972c160
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Leszek Koltunski
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if( len!=0.0f )
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{
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m0 /= len;
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m1 /= len;
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}
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else
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{
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m0 = 1.0f; // arbitrarily
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m1 = 0.0f; //
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}
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14a4712f
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Leszek Koltunski
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for(int i=0; i<mNumAxis; i++)
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{
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if( axis != i )
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{
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cosAngle = m0*mCastAxis[index][i][0] + m1*mCastAxis[index][i][1];
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if( cosAngle<0 ) cosAngle = -cosAngle;
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if( cosAngle<minCosAngle )
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{
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minCosAngle=cosAngle;
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minIndex = i;
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}
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}
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}
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return minIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private float computeOffset(float[] point, float[] axis)
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{
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return point[0]*axis[0] + point[1]*axis[1] + mDistanceCenterFace2D;
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dd65ead3
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Leszek Koltunski
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}
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37a25788
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private boolean faceIsVisible(Static3D axis, int lr)
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{
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float castCameraOnAxis = mCamera[0]*axis.get0() + mCamera[1]*axis.get1() + mCamera[2]*axis.get2();
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14a4712f
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Leszek Koltunski
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return (2*lr-1)*castCameraOnAxis > mDistanceCenterFace3D;
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37a25788
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Leszek Koltunski
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// given precomputed mCamera and mPoint, respectively camera and touch point positions in ScreenSpace,
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// compute point 'output[]' which:
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// 1) lies on a face of the Object, i.e. surface defined by (axis, distance from (0,0,0)) [and this
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// distance is +-mDistanceCenterFace, depending if it is the face on the left or the right end of
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// the axis] (lr=0 or 1, so (2lr-1)*mDistanceCenterFace)
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// 2) is co-linear with mCamera and mPoint
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//
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// output = camera + alpha*(point-camera), where alpha = [dist-axis*camera] / [axis*(point-camera)]
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private void castTouchPointOntoFace(Static3D axis, int lr, float[] output)
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{
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float d0 = mPoint[0]-mCamera[0];
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float d1 = mPoint[1]-mCamera[1];
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float d2 = mPoint[2]-mCamera[2];
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float a0 = axis.get0();
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float a1 = axis.get1();
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float a2 = axis.get2();
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float denom = a0*d0 + a1*d1 + a2*d2;
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if( denom != 0.0f )
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{
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float axisCam = a0*mCamera[0] + a1*mCamera[1] + a2*mCamera[2];
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14a4712f
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Leszek Koltunski
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float distance = (2*lr-1)*mDistanceCenterFace3D;
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37a25788
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Leszek Koltunski
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float alpha = (distance-axisCam)/denom;
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output[0] = mCamera[0] + d0*alpha;
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output[1] = mCamera[1] + d1*alpha;
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output[2] = mCamera[2] + d2*alpha;
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}
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}
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bef47287
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Convert the 3D point3D into a 2D point on the same face surface, but in a different
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// coordinate system: a in-plane 2D coord where the origin is in the point where the axis intersects
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// the surface, and whose Y axis points 'north' i.e. is in the plane given by the 3D origin, the
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// original 3D Y axis and our 2D in-plane origin.
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// If those 3 points constitute a degenerate triangle which does not define a plane - which can only
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// happen if axis is vertical (or in theory when 2D origin and 3D origin meet, but that would have to
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// mean that the distance between the center of the Object and its faces is 0) - then we arbitrarily
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// decide that 2D Y = (0,0,-1) in the North Pole and (0,0,1) in the South Pole)
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private void convertTo2Dcoords(float[] point3D, Static3D axis, int lr, float[] output)
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{
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cad4b4d6
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Leszek Koltunski
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float y0,y1,y2; // base Y vector of the 2D coord system
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bef47287
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Leszek Koltunski
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float a0 = axis.get0();
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float a1 = axis.get1();
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float a2 = axis.get2();
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if( lr==0 )
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{
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a0=-a0; a1=-a1; a2=-a2;
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}
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if( a0==0.0f && a2==0.0f )
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{
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y0=0; y1=0; y2=-a1;
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}
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else if( a1==0.0f )
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{
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y0=0; y1=1; y2=0;
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}
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else
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{
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float norm = (float)(-a1/Math.sqrt(1-a1*a1));
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8e2295ad
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Leszek Koltunski
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y0 = norm*a0; y1= norm*(a1-1/a1); y2=norm*a2;
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bef47287
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Leszek Koltunski
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}
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cad4b4d6
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Leszek Koltunski
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float x0 = y1*a2 - y2*a1; //
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float x1 = y2*a0 - y0*a2; // (2D coord baseY) x (axis) = 2D coord baseX
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float x2 = y0*a1 - y1*a0; //
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bef47287
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Leszek Koltunski
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float originAlpha = point3D[0]*a0 + point3D[1]*a1 + point3D[2]*a2;
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float origin0 = originAlpha*a0; // coords of the point where axis
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float origin1 = originAlpha*a1; // intersects surface plane i.e.
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float origin2 = originAlpha*a2; // the origin of our 2D coord system
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float v0 = point3D[0] - origin0;
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float v1 = point3D[1] - origin1;
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float v2 = point3D[2] - origin2;
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output[0] = v0*x0 + v1*x1 + v2*x2;
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output[1] = v0*y0 + v1*y1 + v2*y2;
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}
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| 244 |
dd65ead3
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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| 245 |
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// PUBLIC API
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///////////////////////////////////////////////////////////////////////////////////////////////////
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public boolean faceTouched(Static4D rotatedTouchPoint, Static4D rotatedCamera)
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{
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| 250 |
c7b00dfb
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Leszek Koltunski
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float objectRatio = RubikObject.getObjectRatio();
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| 251 |
dd65ead3
|
Leszek Koltunski
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| 252 |
c7b00dfb
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Leszek Koltunski
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mPoint[0] = rotatedTouchPoint.get0()/objectRatio;
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mPoint[1] = rotatedTouchPoint.get1()/objectRatio;
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mPoint[2] = rotatedTouchPoint.get2()/objectRatio;
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mCamera[0] = rotatedCamera.get0()/objectRatio;
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mCamera[1] = rotatedCamera.get1()/objectRatio;
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mCamera[2] = rotatedCamera.get2()/objectRatio;
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| 259 |
dd65ead3
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Leszek Koltunski
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for( mLastTouchedAxis=0; mLastTouchedAxis<mNumAxis; mLastTouchedAxis++)
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{
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for( mLastTouchedLR=0; mLastTouchedLR<mNumFacesPerAxis; mLastTouchedLR++)
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| 263 |
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{
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| 264 |
37a25788
|
Leszek Koltunski
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if( faceIsVisible(mAxis[mLastTouchedAxis], mLastTouchedLR) )
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| 265 |
dd65ead3
|
Leszek Koltunski
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{
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| 266 |
37a25788
|
Leszek Koltunski
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castTouchPointOntoFace(mAxis[mLastTouchedAxis], mLastTouchedLR, mTouch);
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| 267 |
14a4712f
|
Leszek Koltunski
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convertTo2Dcoords(mTouch, mAxis[mLastTouchedAxis], mLastTouchedLR, mPoint2D);
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| 268 |
dd65ead3
|
Leszek Koltunski
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| 269 |
12ad3fca
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Leszek Koltunski
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if( isInsideFace(mPoint2D) ) return true;
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| 270 |
dd65ead3
|
Leszek Koltunski
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}
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}
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}
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return false;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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| 278 |
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public Static2D newRotation(Static4D rotatedTouchPoint)
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| 280 |
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{
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| 281 |
c7b00dfb
|
Leszek Koltunski
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float objectRatio = RubikObject.getObjectRatio();
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| 282 |
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mPoint[0] = rotatedTouchPoint.get0()/objectRatio;
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mPoint[1] = rotatedTouchPoint.get1()/objectRatio;
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| 285 |
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mPoint[2] = rotatedTouchPoint.get2()/objectRatio;
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| 286 |
dd65ead3
|
Leszek Koltunski
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| 287 |
14a4712f
|
Leszek Koltunski
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castTouchPointOntoFace(mAxis[mLastTouchedAxis], mLastTouchedLR, mTouch);
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| 288 |
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convertTo2Dcoords(mTouch, mAxis[mLastTouchedAxis], mLastTouchedLR, mMove2D);
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| 289 |
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mMove2D[0] -= mPoint2D[0];
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| 291 |
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mMove2D[1] -= mPoint2D[1];
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| 292 |
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| 293 |
12ad3fca
|
Leszek Koltunski
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int rotIndex = computeRotationIndex(mLastTouchedAxis, mLastTouchedLR, mMove2D);
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| 294 |
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int index = mLastTouchedAxis*mNumFacesPerAxis+mLastTouchedLR;
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| 295 |
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float offset = computeOffset(mPoint2D, mCastAxis[index][rotIndex]);
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| 296 |
dd65ead3
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Leszek Koltunski
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| 297 |
12ad3fca
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Leszek Koltunski
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return new Static2D(rotIndex,offset);
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| 298 |
dd65ead3
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Leszek Koltunski
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}
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| 299 |
473611ee
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Leszek Koltunski
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| 300 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
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| 301 |
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| 302 |
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public int getTouchedFace()
|
| 303 |
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{
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| 304 |
ca292407
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Leszek Koltunski
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return mNumFacesPerAxis==2 ? 2*mLastTouchedAxis + 1 - mLastTouchedLR : mLastTouchedAxis;
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| 305 |
473611ee
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Leszek Koltunski
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}
|
| 306 |
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| 307 |
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///////////////////////////////////////////////////////////////////////////////////////////////////
|
| 308 |
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| 309 |
9621255f
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Leszek Koltunski
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public float[] getTouchedPoint3D()
|
| 310 |
473611ee
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Leszek Koltunski
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{
|
| 311 |
9621255f
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Leszek Koltunski
|
return mTouch;
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| 312 |
473611ee
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Leszek Koltunski
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}
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| 313 |
27a70eae
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Leszek Koltunski
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}
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