commit 451c6c368e31a859facd9b534c33d0a576c02bd2 Author: Leszek Koltunski Date: Sun Jan 3 22:02:05 2021 +0100 Progress with the Kilominx movement (appears to be working now) diff --git a/src/main/java/org/distorted/objects/MovementMinx.java b/src/main/java/org/distorted/objects/MovementMinx.java index f5e68949..50226153 100644 --- a/src/main/java/org/distorted/objects/MovementMinx.java +++ b/src/main/java/org/distorted/objects/MovementMinx.java @@ -72,33 +72,232 @@ class MovementMinx extends Movement } /////////////////////////////////////////////////////////////////////////////////////////////////// -// TODO; approximation +// return angle (in radians) that the line connecting the center C of the pentagonal face and the +// first vertex of the pentagon makes with a vertical line coming upwards from the center C. + + private float returnAngle(int face) + { + switch(face) + { + case 0: + case 2: + case 6: + case 7: return 0.0f; + case 1: + case 3: + case 4: + case 5: return (float)(36*Math.PI/180); + case 9: + case 10: return (float)(54*Math.PI/180); + case 8: + case 11: return (float)(18*Math.PI/180); + } + + return 0.0f; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// The pair (distance,angle) defines a point P in R^2 in polar coordinate system. Let V be the vector +// from the center of the coordinate system to P. +// Let P' be the point defined by polar (distance,angle+PI/2). Let Lh be the half-line starting at +// P' and going in the direction of V. +// Return true iff point 'point' lies on the left of Lh, i.e. when we rotate (using the center of +// the coordinate system as the center of rotation) 'point' and Lh in such a way that Lh points +// directly upwards, is 'point' on the left or the right of it? + + private boolean isOnTheLeft(float[] point, float distance, float angle) + { + float sin = (float)Math.sin(angle); + float cos = (float)Math.cos(angle); + + float vx = point[0] + sin*distance; + float vy = point[1] - cos*distance; + + return vx*sin < vy*cos; + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Return 1,2,3,4,5 - the vertex of the pentagon to which point 'point' is the closest, if the +// 'point' is inside the pentagon - or 0 otherwise. +// The 'first' vertex is the one we meet the first when we rotate clockwise starting from 12:00. +// This vertex makes angle 'returnAngle()' with the line coming out upwards from the center of the +// pentagon. +// Distance from the center to a vertex of the pentagon = 1/(6*COS54) + + private int returnPartOfThePentagon(float[] point, int face) + { + float angle = returnAngle(face); + float A = (float)(Math.PI/5); + + for(int i=0; i<5; i++) + { + if( isOnTheLeft(point, DIST2D, (9-2*i)*A-angle) ) return 0; + } + + if( isOnTheLeft(point, 0, 2.5f*A-angle) ) + { + if( isOnTheLeft(point, 0, 3.5f*A-angle) ) + { + return isOnTheLeft(point, 0, 5.5f*A-angle) ? 4 : 5; + } + else return 1; + } + else + { + if( isOnTheLeft(point, 0, 4.5f*A-angle) ) + { + return 3; + } + else + { + return isOnTheLeft(point, 0, 6.5f*A-angle) ? 2 : 1; + } + } + } + +/////////////////////////////////////////////////////////////////////////////////////////////////// boolean isInsideFace(int face, float[] p) { - return ( p[0]*p[0] + p[1]*p[1] <= 1/(4*COS54*COS54) ); + return returnPartOfThePentagon(p,face) > 0; } /////////////////////////////////////////////////////////////////////////////////////////////////// void computeEnabledAxis(int face, float[] touchPoint, int[] enabled) { - enabled[0] = 5; + int part = returnPartOfThePentagon(touchPoint,face); - switch(face) + if( part>0 ) { - case 0: - case 3: enabled[1]=1; enabled[2]=2; enabled[3]=3; enabled[4]=4; enabled[5]=5; break; - case 1: - case 2: enabled[1]=0; enabled[2]=2; enabled[3]=3; enabled[4]=4; enabled[5]=5; break; - case 4: - case 7: enabled[1]=0; enabled[2]=1; enabled[3]=3; enabled[4]=4; enabled[5]=5; break; - case 5: - case 6: enabled[1]=0; enabled[2]=1; enabled[3]=2; enabled[4]=4; enabled[5]=5; break; - case 8: - case 11: enabled[1]=0; enabled[2]=1; enabled[3]=2; enabled[4]=3; enabled[5]=5; break; - case 9: - case 10: enabled[1]=0; enabled[2]=1; enabled[3]=2; enabled[4]=3; enabled[5]=4; break; + enabled[0] = 2; + + switch(face) + { + case 0: switch(part) + { + case 1: enabled[1]=2; enabled[2]=3; break; + case 2: enabled[1]=3; enabled[2]=5; break; + case 3: enabled[1]=5; enabled[2]=1; break; + case 4: enabled[1]=1; enabled[2]=4; break; + case 5: enabled[1]=4; enabled[2]=2; break; + } + break; + + case 1: switch(part) + { + case 1: enabled[1]=0; enabled[2]=5; break; + case 2: enabled[1]=5; enabled[2]=2; break; + case 3: enabled[1]=2; enabled[2]=3; break; + case 4: enabled[1]=3; enabled[2]=4; break; + case 5: enabled[1]=4; enabled[2]=0; break; + } + break; + + case 2: switch(part) + { + case 1: enabled[1]=3; enabled[2]=2; break; + case 2: enabled[1]=2; enabled[2]=5; break; + case 3: enabled[1]=5; enabled[2]=0; break; + case 4: enabled[1]=0; enabled[2]=4; break; + case 5: enabled[1]=4; enabled[2]=3; break; + } + break; + + case 3: switch(part) + { + case 1: enabled[1]=1; enabled[2]=5; break; + case 2: enabled[1]=5; enabled[2]=3; break; + case 3: enabled[1]=3; enabled[2]=2; break; + case 4: enabled[1]=2; enabled[2]=4; break; + case 5: enabled[1]=4; enabled[2]=1; break; + } + break; + + case 4: switch(part) + { + case 1: enabled[1]=3; enabled[2]=0; break; + case 2: enabled[1]=0; enabled[2]=4; break; + case 3: enabled[1]=4; enabled[2]=5; break; + case 4: enabled[1]=5; enabled[2]=1; break; + case 5: enabled[1]=1; enabled[2]=3; break; + } + break; + + case 5: switch(part) + { + case 1: enabled[1]=2; enabled[2]=1; break; + case 2: enabled[1]=1; enabled[2]=4; break; + case 3: enabled[1]=4; enabled[2]=5; break; + case 4: enabled[1]=5; enabled[2]=0; break; + case 5: enabled[1]=0; enabled[2]=2; break; + } + break; + + case 6: switch(part) + { + case 1: enabled[1]=5; enabled[2]=4; break; + case 2: enabled[1]=4; enabled[2]=1; break; + case 3: enabled[1]=1; enabled[2]=2; break; + case 4: enabled[1]=2; enabled[2]=0; break; + case 5: enabled[1]=0; enabled[2]=5; break; + } + break; + + case 7: switch(part) + { + case 1: enabled[1]=5; enabled[2]=4; break; + case 2: enabled[1]=4; enabled[2]=0; break; + case 3: enabled[1]=0; enabled[2]=3; break; + case 4: enabled[1]=3; enabled[2]=1; break; + case 5: enabled[1]=1; enabled[2]=5; break; + } + break; + + case 8: switch(part) + { + case 1: enabled[1]=2; enabled[2]=0; break; + case 2: enabled[1]=0; enabled[2]=1; break; + case 3: enabled[1]=1; enabled[2]=3; break; + case 4: enabled[1]=3; enabled[2]=5; break; + case 5: enabled[1]=5; enabled[2]=2; break; + } + break; + + case 9: switch(part) + { + case 1: enabled[1]=3; enabled[2]=4; break; + case 2: enabled[1]=4; enabled[2]=2; break; + case 3: enabled[1]=2; enabled[2]=1; break; + case 4: enabled[1]=1; enabled[2]=0; break; + case 5: enabled[1]=0; enabled[2]=3; break; + } + break; + + case 10: switch(part) + { + case 1: enabled[1]=2; enabled[2]=4; break; + case 2: enabled[1]=4; enabled[2]=3; break; + case 3: enabled[1]=3; enabled[2]=0; break; + case 4: enabled[1]=0; enabled[2]=1; break; + case 5: enabled[1]=1; enabled[2]=2; break; + } + break; + + case 11: switch(part) + { + case 1: enabled[1]=3; enabled[2]=1; break; + case 2: enabled[1]=1; enabled[2]=0; break; + case 3: enabled[1]=0; enabled[2]=2; break; + case 4: enabled[1]=2; enabled[2]=5; break; + case 5: enabled[1]=5; enabled[2]=3; break; + } + break; + } + } + else + { + enabled[0] = 0; } } }