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70b76549
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Leszek Koltunski
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Copyright 2019 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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Leszek Koltunski
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package org.distorted.objects;
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import android.content.SharedPreferences;
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import org.distorted.helpers.QuatHelper;
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import org.distorted.library.type.Static4D;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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class Cubit
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{
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private final float[] mOrigPosition;
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private final float[] mCurrentPosition;
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private TwistyObject mParent;
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private final int mNumAxis;
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private final int mLen;
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int mQuatIndex;
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int[] mRotationRow;
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Cubit(TwistyObject parent, float[] position, int numAxis)
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{
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mQuatIndex= 0;
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mParent = parent;
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mLen = position.length;
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mOrigPosition = new float[mLen];
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mCurrentPosition = new float[mLen];
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for(int i=0; i<mLen; i++)
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{
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mOrigPosition[i] = position[i];
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mCurrentPosition[i] = position[i];
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}
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mNumAxis = numAxis;
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mRotationRow = new int[mNumAxis];
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computeRotationRow();
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}
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// Because of quatMultiplication, errors can accumulate - so to avoid this, we
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// correct the value of the 'scramble' quat to what it should be - one of the legal quats from the
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// list QUATS.
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//
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// We also have to remember that the group of unit quaternions is a double-cover of rotations
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// in 3D ( q represents the same rotation as -q ) - so invert if needed.
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private int normalizeScrambleQuat(Static4D quat)
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{
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float x = quat.get0();
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float y = quat.get1();
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float z = quat.get2();
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float w = quat.get3();
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float xd,yd,zd,wd;
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float diff, mindiff = Float.MAX_VALUE;
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int ret=0;
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int num_quats = mParent.OBJECT_QUATS.length;
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Static4D qt;
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for(int q=0; q<num_quats; q++)
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{
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qt = mParent.OBJECT_QUATS[q];
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xd = x - qt.get0();
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yd = y - qt.get1();
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zd = z - qt.get2();
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wd = w - qt.get3();
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diff = xd*xd + yd*yd + zd*zd + wd*wd;
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if( diff < mindiff )
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{
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ret = q;
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mindiff = diff;
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}
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xd = x + qt.get0();
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yd = y + qt.get1();
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zd = z + qt.get2();
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wd = w + qt.get3();
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diff = xd*xd + yd*yd + zd*zd + wd*wd;
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if( diff < mindiff )
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{
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ret = q;
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mindiff = diff;
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}
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}
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return ret;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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private void computeRotationRow()
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{
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for(int i=0; i<mNumAxis; i++)
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{
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mRotationRow[i] = mParent.computeRow(mCurrentPosition,i);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void modifyCurrentPosition(Static4D quat)
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{
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Static4D cubitCenter;
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Static4D rotatedCenter;
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int len = mLen/3;
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for(int i=0; i<len; i++)
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{
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cubitCenter = new Static4D(mCurrentPosition[3*i], mCurrentPosition[3*i+1], mCurrentPosition[3*i+2], 0);
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rotatedCenter = QuatHelper.rotateVectorByQuat( cubitCenter, quat);
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mCurrentPosition[3*i ] = rotatedCenter.get0();
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mCurrentPosition[3*i+1] = rotatedCenter.get1();
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mCurrentPosition[3*i+2] = rotatedCenter.get2();
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mParent.clampPos(mCurrentPosition, 3*i);
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}
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computeRotationRow();
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int computeAssociation()
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{
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int result = 0, accumulativeShift = 0;
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for(int axis=0; axis<mNumAxis; axis++)
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{
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result += (mRotationRow[axis]<<accumulativeShift);
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accumulativeShift += ObjectList.MAX_OBJECT_SIZE;
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}
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return result;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void savePreferences(SharedPreferences.Editor editor)
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{
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String number = mOrigPosition[0]+"_"+mOrigPosition[1]+"_"+mOrigPosition[2];
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editor.putInt("q_"+number, mQuatIndex);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int restorePreferences(SharedPreferences preferences)
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{
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String number = mOrigPosition[0]+"_"+mOrigPosition[1]+"_"+mOrigPosition[2];
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mQuatIndex = preferences.getInt("q_"+number, 0);
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return mQuatIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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int removeRotationNow(Static4D quat)
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{
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Static4D q = QuatHelper.quatMultiply(quat,mParent.OBJECT_QUATS[mQuatIndex]);
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mQuatIndex = normalizeScrambleQuat(q);
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modifyCurrentPosition(quat);
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return mQuatIndex;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void solve()
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{
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mQuatIndex = 0;
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System.arraycopy(mOrigPosition, 0, mCurrentPosition, 0, mCurrentPosition.length);
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computeRotationRow();
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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void releaseResources()
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{
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mParent = null;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// this is only needed for MODE_REPLACE objects (i.e. - currently - CUBE_3), so it is enough to only
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// take into consideration the first position.
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float getDistSquared(float[] point)
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{
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float dx = mCurrentPosition[0] - point[0];
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float dy = mCurrentPosition[1] - point[1];
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float dz = mCurrentPosition[2] - point[2];
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return dx*dx + dy*dy + dz*dz;
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}
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}
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