def _mouse_motion(self, event):
"""Handler for mouse motion"""
if self._button1 or self._button2:
dx = event.x - self._event_xy[0]
dy = event.y - self._event_xy[1]
self._event_xy = (event.x, event.y)
if self._button1:
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
rot1 = Quaternion.from_v_theta(self._ax_UD, self._step_UD * dy)
rot2 = Quaternion.from_v_theta(ax_LR, self._step_LR * dx)
self.rotate(rot1 * rot2)
self._draw_cube()
if self._button2:
factor = 1 - 0.003 * (dx + dy)
xlim = self.get_xlim()
ylim = self.get_ylim()
self.set_xlim(factor * xlim[0], factor * xlim[1])
self.set_ylim(factor * ylim[0], factor * ylim[1])
self.figure.canvas.draw()
def _mouse_motion(self, event):
"""Handler for mouse motion"""
if self._button1 or self._button2:
dx = event.x - self._event_xy[0]
dy = event.y - self._event_xy[1]
self._event_xy = (event.x, event.y)
if self._button1:
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
rot1 = Quaternion.from_v_theta(self._ax_UD,
self._step_UD * dy)
rot2 = Quaternion.from_v_theta(ax_LR,
self._step_LR * dx)
self.rotate(rot1 * rot2)
self._draw_cube()
if self._button2:
factor = 1 - 0.003 * (dx + dy)
xlim = self.get_xlim()
ylim = self.get_ylim()
self.set_xlim(factor * xlim[0], factor * xlim[1])
self.set_ylim(factor * ylim[0], factor * ylim[1])
self.figure.canvas.draw()
def _key_press(self, event):
"""Handler for key press events"""
stickers_to_color = list()
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
-5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
-5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1
else:
direction = 1
# max
dir_word = "cw" if direction == 1 else "ccw"
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
# max
self.cube.wc.make_move(face=event.key.upper(), layer=d, direction=dir_word)
stickers_to_color = self.cube.wc.check_cube()
else:
self.rotate_face(event.key.upper(), direction)
# max
self.cube.wc.make_move(face=event.key.upper(), direction=dir_word, layer=0)
stickers_to_color = self.cube.wc.check_cube()
print(self.cube.wc)
print(stickers_to_color)
if len(self.stickers_to_color_old) > 0:
for i in self.stickers_to_color_old:
self._text_annotations[i].set_color("black")
for i in stickers_to_color:
self._text_annotations[i].set_color("r")
self.stickers_to_color_old = stickers_to_color
self._draw_cube()
def cube_axes(N=1, **kwargs):
"""Create an N x N x N rubiks cube
kwargs are passed to the PolyView3D instance.
"""
stickerwidth = 0.9
small = 0.5 * (1. - stickerwidth)
d1 = 1 - small
d2 = 1 - 2 * small
d3 = 1.01
base_sticker = np.array([[d1, d2, d3], [d2, d1, d3], [-d2, d1, d3],
[-d1, d2, d3], [-d1, -d2, d3], [-d2, -d1, d3],
[d2, -d1, d3], [d1, -d2, d3], [d1, d2, d3]],
dtype=float)
base_face = np.array(
[[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], [1, 1, 1]],
dtype=float)
x, y, z = np.eye(3)
rots = [
Quaternion.from_v_theta(x, theta) for theta in (np.pi / 2, -np.pi / 2)
]
rots += [
Quaternion.from_v_theta(y, theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
cubie_width = 2. / N
translations = np.array(
[[-1 + (i + 0.5) * cubie_width, -1 + (j + 0.5) * cubie_width, 0]
for i in range(N) for j in range(N)])
colors = ['blue', 'green', 'white', 'yellow', 'orange', 'red']
factor = np.array([1. / N, 1. / N, 1])
ax = PolyView3D(**kwargs)
facecolor = []
polys = []
for t in translations:
base_face_trans = factor * base_face + t
base_sticker_trans = factor * base_sticker + t
for r, c in zip(rots, colors):
polys += [r.rotate(base_face_trans), r.rotate(base_sticker_trans)]
facecolor += ['k', c]
ax.poly3D_batch(polys, facecolor=facecolor)
ax.figure.text(0.05,
0.05,
("Drag Mouse or use arrow keys to change perspective.\n"
"Hold shift to adjust z-axis rotation"),
ha='left',
va='bottom')
return ax
class Cube(object):
"""An Axes for displaying a 3D cube"""
# fiducial face is perpendicular to z at z=+1
one_face = np.array([[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1],
[1, 1, 1]])
# Construct six rotators for the cube faces. These will take a single
# fiducial face, and rotate it to the appropriate 3D location.
x, y, z = np.eye(3)
_rots = [
Quaternion.from_v_theta(x, theta) for theta in (np.pi / 2, -np.pi / 2)
]
_rots += [
Quaternion.from_v_theta(y, theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
_faces = np.array(
[np.dot(one_face,
rot.as_rotation_matrix().T) for rot in _rots])
def __init__(self, view=(0, 0, 10), colors=None, alpha=0.8):
self.view = view
self.current_rotation = Quaternion.from_v_theta((0, 0, 1), 0)
if colors is None:
colors = ['blue', 'green', 'white', 'yellow', 'orange', 'red']
else:
assert len(colors) == 6
self.polys = [
plt.Polygon(self._faces[i, :, :2],
facecolor=colors[i],
alpha=alpha) for i in range(6)
]
def rotate(self, v, theta):
new_rot = Quaternion.from_v_theta(v, theta)
self.current_rotation = self.current_rotation * new_rot
faces_proj = project_points(self._faces, self.current_rotation,
self.view)
xy = faces_proj[:, :, :2]
zorder = -faces_proj[:, :4, 2].mean(-1)
for i in range(6):
self.polys[i].set_xy(xy[i])
self.polys[i].set_zorder(zorder[i])
def set_view(self, view):
self.view = view
self.rotate(self.z, 0)
def add_to_ax(self, ax):
for poly in self.polys:
ax.add_patch(poly)
ax.set_xlim(-3, 3)
ax.set_ylim(-3, 3)
def cube_axes(N=1, **kwargs):
"""Create an N x N x N rubiks cube
kwargs are passed to the PolyView3D instance.
"""
stickerwidth = 0.9
small = 0.5 * (1. - stickerwidth)
d1 = 1 - small
d2 = 1 - 2 * small
d3 = 1.01
base_sticker = np.array([[d1, d2, d3], [d2, d1, d3],
[-d2, d1, d3], [-d1, d2, d3],
[-d1, -d2, d3], [-d2, -d1, d3],
[d2, -d1, d3], [d1, -d2, d3],
[d1, d2, d3]], dtype=float)
base_face = np.array([[1, 1, 1],
[1, -1, 1],
[-1, -1, 1],
[-1, 1, 1],
[1, 1, 1]], dtype=float)
x, y, z = np.eye(3)
rots = [Quaternion.from_v_theta(x, theta)
for theta in (np.pi / 2, -np.pi / 2)]
rots += [Quaternion.from_v_theta(y, theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)]
cubie_width = 2. / N
translations = np.array([[-1 + (i + 0.5) * cubie_width,
-1 + (j + 0.5) * cubie_width, 0]
for i in range(N) for j in range(N)])
colors = ['blue', 'green', 'white', 'yellow', 'orange', 'red']
factor = np.array([1. / N, 1. / N, 1])
ax = PolyView3D(**kwargs)
facecolor = []
polys = []
for t in translations:
base_face_trans = factor * base_face + t
base_sticker_trans = factor * base_sticker + t
for r, c in zip(rots, colors):
polys += [r.rotate(base_face_trans),
r.rotate(base_sticker_trans)]
facecolor += ['k', c]
ax.poly3D_batch(polys, facecolor=facecolor)
ax.figure.text(0.05, 0.05,
("Drag Mouse or use arrow keys to change perspective.\n"
"Hold shift to adjust z-axis rotation"),
ha='left', va='bottom')
return ax
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
-5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
-5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1
else:
direction = 1
if np.any(self._digit_flags[:self.cube.N]):
for d in solvesolve.arange(self.cube.N)[self._digit_flags[:self.cube.N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
if direction == 1:
self._pycuber_rep((event.key.upper()))
elif direction == -1:
self._pycuber_rep((event.key.upper()+"'"))
else:
self.rotate_face(event.key.upper(), direction)
if direction == 1:
self._pycuber_rep((event.key.upper()))
elif direction == -1:
self._pycuber_rep((event.key.upper()+"'"))
self._draw_cube()
def rotate_event(self, direction, stepsize):
if direction == 'right':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
stepsize * self._step_LR))
elif direction == 'left':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
-stepsize * self._step_LR))
elif direction == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
stepsize * self._step_UD))
elif direction == 'down':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
-stepsize * self._step_UD))
self._draw_cube()
def rotate_event(self, direction, stepsize):
if direction == 'right':
self.rotate(
Quaternion.from_v_theta(self._ax_LR, stepsize * self._step_LR))
elif direction == 'left':
self.rotate(
Quaternion.from_v_theta(self._ax_LR,
-stepsize * self._step_LR))
elif direction == 'up':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, stepsize * self._step_UD))
elif direction == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD,
-stepsize * self._step_UD))
self._draw_cube()
def rotate_face(self, f, n=1, layer=0):
"""Rotate Face"""
if layer < 0 or layer >= self.N:
raise ValueError('layer should be between 0 and N-1')
try:
f_last, n_last, layer_last = self._move_list[-1]
except:
f_last, n_last, layer_last = None, None, None
if (f == f_last) and (layer == layer_last):
ntot = (n_last + n) % 4
if abs(ntot - 4) < abs(ntot):
ntot = ntot - 4
if np.allclose(ntot, 0):
self._move_list = self._move_list[:-1]
else:
self._move_list[-1] = (f, ntot, layer)
else:
self._move_list.append((f, n, layer))
v = self.facesdict[f]
r = Quaternion.from_v_theta(v, n * np.pi / 2)
M = r.as_rotation_matrix()
proj = np.dot(self._face_centroids[:, :3], v)
cubie_width = 2. / self.N
flag = ((proj > 0.9 - (layer + 1) * cubie_width) &
(proj < 1.1 - layer * cubie_width))
for x in [self._stickers, self._sticker_centroids, self._faces]:
x[flag] = np.dot(x[flag], M.T)
self._face_centroids[flag, :3] = np.dot(self._face_centroids[flag, :3],
M.T)
def rotate_face(self, f, n=1, layer=0):
"""Rotate Face"""
if layer < 0 or layer >= self.N:
raise ValueError('layer should be between 0 and N-1')
try:
f_last, n_last, layer_last = self._move_list[-1]
except:
f_last, n_last, layer_last = None, None, None
if (f == f_last) and (layer == layer_last):
ntot = (n_last + n) % 4
if abs(ntot - 4) < abs(ntot):
ntot = ntot - 4
if np.allclose(ntot, 0):
self._move_list = self._move_list[:-1]
else:
self._move_list[-1] = (f, ntot, layer)
else:
self._move_list.append((f, n, layer))
v = self.facesdict[f]
r = Quaternion.from_v_theta(v, n * np.pi / 2)
M = r.as_rotation_matrix()
proj = np.dot(self._face_centroids[:, :3], v)
cubie_width = 2. / self.N
flag = ((proj > 0.9 - (layer + 1) * cubie_width) &
(proj < 1.1 - layer * cubie_width))
for x in [self._stickers, self._sticker_centroids,
self._faces]:
x[flag] = np.dot(x[flag], M.T)
self._face_centroids[flag, :3] = np.dot(self._face_centroids[flag, :3],
M.T)
def _key_press(self, event):
"""Handler for key press events"""
if not event.key:
return
elif event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR,
- 5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
- 5 * self._step_UD))
elif event.key.upper() in InteractiveCube.FACES:
# if self._shift:
if event.key in InteractiveCube.FACES:
# Upper-case
direction = -1
else:
# Lower-case
direction = 1
N = self.cube.N
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
else:
self.rotate_face(event.key.upper(), direction)
self._draw_cube()
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._ax_LR = (0, 0, 1)
elif event.key == 'right':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
5 * self._step_LR))
elif event.key == 'left':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
-5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
-5 * self._step_UD))
self._update_projection()
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._ax_LR = (0, 0, 1)
elif event.key == 'right':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
5 * self._step_LR))
elif event.key == 'left':
self.rotate(
Quaternion.from_v_theta(self._ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
self._update_projection()
def _key_press(self, event):
"""Handler for key press events"""
#matplotlib does not detect shift events by itself
if event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right' or event.key == 'shift+right':
if event.key == 'shift+right':
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, 5 * self._step_LR))
elif event.key == 'shift+left' or event.key == 'left':
if event.key == 'shift+left':
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if event.key in 'LRUDBF':
direction = -1
else:
direction = 1
sanitizedMove = event.key.upper() + "" if direction == 1 else "'"
if np.any(self._digit_flags[:self.cube.N]):
for d in np.arange(
self.cube.N)[self._digit_flags[:self.cube.N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
self._pycuber_rep(sanitizedMove)
else:
self.rotate_face(event.key.upper(), direction)
self._pycuber_rep(sanitizedMove)
self._moveList.append(sanitizedMove)
print(str(self._moveList))
self._printShuffleLabel(self._moveList)
self._draw_cube()
def _mouse_motion(self, event):
"""Handler for mouse motion"""
if self._button1 or self._button2:
dx = event.x - self._event_xy[0]
dy = event.y - self._event_xy[1]
self._event_xy = (event.x, event.y)
if self._button1:
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
rot1 = Quaternion.from_v_theta(self._ax_UD,
self._step_UD * dy)
rot2 = Quaternion.from_v_theta(ax_LR,
self._step_LR * dx)
self.rotate(rot1 * rot2)
self._draw_cube()
'''
if self._figsave%10==0:
plt.savefig("images2/test"+str(self._figsave)+".jpg")
abcd = ["test"+str(self._figsave)+".jpg"]
# array([0.00834558, 0.00809627, 0.01133022, 0.01168023])
currot = [np.float(ab) for ab in (str(self._current_rot)[7:-2]).replace(" ","").split(",")]
abcd.extend(currot)
self._figquats.append(abcd)
print("Saved ",len(self._figquats))
if len(self._figquats) == 50:
print("Saving data to file..")
with open('quaternions2.csv', 'w', newline='') as file:
writer = csv.writer(file)
for quat in self._figquats:
writer.writerow(quat)
self._figsave += 1
'''
if self._button2:
factor = 1 - 0.003 * (dx + dy)
xlim = self.get_xlim()
ylim = self.get_ylim()
self.set_xlim(factor * xlim[0], factor * xlim[1])
self.set_ylim(factor * ylim[0], factor * ylim[1])
self.figure.canvas.draw()
def _key_press(self, event):
"""Handler for key press events"""
if event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
self.rotate(Quaternion.from_v_theta(self._ax_LR,
5 * self._step_LR))
elif event.key == 'left':
self.rotate(
Quaternion.from_v_theta(self._ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'URF':
self.rotate_face(event.key.upper(), 1)
self._draw_cube()
def rotate(self, v, theta):
new_rot = Quaternion.from_v_theta(v, theta)
self.current_rotation = self.current_rotation * new_rot
faces_proj = project_points(self._faces, self.current_rotation,
self.view)
xy = faces_proj[:, :, :2]
zorder = -faces_proj[:, :4, 2].mean(-1)
for i in range(6):
self.polys[i].set_xy(xy[i])
self.polys[i].set_zorder(zorder[i])
def rotate(self, v, theta):
new_rot = Quaternion.from_v_theta(v, theta)
self.current_rotation = self.current_rotation * new_rot
faces_proj = project_points(self._faces, self.current_rotation,
self.view)
xy = faces_proj[:, :, :2]
zorder = -faces_proj[:, :4, 2].mean(-1)
for i in range(6):
self.polys[i].set_xy(xy[i])
self.polys[i].set_zorder(zorder[i])
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, 5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1 #Era -1
else:
direction = 1 #Era 1
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
else:
self.rotate_face(event.key.upper(), direction)
self.deordering_movs.append(
direction * (self.movList.index(event.key.upper()) + 1))
#print("self.deordering_movs")
#print(self.deordering_movs)
self._draw_cube()
def __init__(self, view=(0, 0, 10), colors=None, alpha=0.8):
self.view = view
self.current_rotation = Quaternion.from_v_theta((0, 0, 1), 0)
if colors is None:
colors = ['blue', 'green', 'white', 'yellow', 'orange', 'red']
else:
assert len(colors) == 6
self.polys = [plt.Polygon(self._faces[i, :, :2],
facecolor=colors[i],
alpha=alpha)
for i in range(6)]
def __init__(self, view=(0, 0, 10), colors=None, alpha=0.8):
self.view = view
self.current_rotation = Quaternion.from_v_theta((0, 0, 1), 0)
if colors is None:
colors = ['blue', 'green', 'white', 'yellow', 'orange', 'red']
else:
assert len(colors) == 6
self.polys = [
plt.Polygon(self._faces[i, :, :2],
facecolor=colors[i],
alpha=alpha) for i in range(6)
]
def _key_press(self, event):
"""Operador para eventos de pressionar tecla"""
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, 5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1
else:
direction = 1
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
else:
self.rotate_face(event.key.upper(), direction)
self._draw_cube()
def __init__(self, view=(0, 0, 10), fig=None,
rect=None, **kwargs):
if rect is None:
rect = [0, 0, 1, 1]
if fig is None:
fig = plt.gcf()
self.view = np.asarray(view)
self.start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
# Internal state variable
self._button1 = False
self._button2 = False
self._event_xy = None
self._current_rot = self.start_rot
self._npts = [1]
self._xyzs = [[0, 0, 0]]
self._xys = [[0, 0]]
self._polys = []
# initialize the axes. We'll set some keywords by default
kwargs.update(dict(aspect='equal',
xlim=(-2.5, 2.5), ylim=(-2.5, 2.5),
frameon=False, xticks=[], yticks=[]))
super(PolyView3D, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event',
self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event',
self._key_press)
self.figure.canvas.mpl_connect('key_release_event',
self._key_release)
def __init__(self, view=(0, 0, 10), fig=None,
rect=[0, 0, 1, 1], **kwargs):
if fig is None:
fig = plt.gcf()
self.view = np.asarray(view)
self.start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
# Internal state variable
self._button1 = False
self._button2 = False
self._event_xy = None
self._current_rot = self.start_rot
self._npts = [1]
self._xyzs = [[0, 0, 0]]
self._xys = [[0, 0]]
self._polys = []
# initialize the axes. We'll set some keywords by default
kwargs.update(dict(aspect='equal',
xlim=(-2.5, 2.5), ylim=(-2.5, 2.5),
frameon=False, xticks=[], yticks=[]))
super(PolyView3D, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event',
self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event',
self._key_press)
self.figure.canvas.mpl_connect('key_release_event',
self._key_release)
class Cube:
"""Representacao do Cubo Magico"""
# define alguns atributos
default_plastic_color = 'black'
default_face_colors = [
"w", "#00ff80", "#ff007f", "#007fff", "#ff8000", "#ffff00", "#141400",
"none"
]
base_face = np.array(
[[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], [1, 1, 1]],
dtype=float)
stickerwidth = 0.9
stickermargin = 0.5 * (1. - stickerwidth)
stickerthickness = 0.001
(d1, d2, d3) = (1 - stickermargin, 1 - 2 * stickermargin,
1 + stickerthickness)
base_sticker = np.array([[d1, d2, d3], [d2, d1, d3], [-d2, d1, d3],
[-d1, d2, d3], [-d1, -d2, d3], [-d2, -d1, d3],
[d2, -d1, d3], [d1, -d2, d3], [d1, d2, d3]],
dtype=float)
base_face_centroid = np.array([[0, 0, 1]])
base_sticker_centroid = np.array([[0, 0, 1 + stickerthickness]])
# Define a rotacao dos angulos e eixos para os 6 lados do cubo
x, y, z = np.eye(3)
rots = [
Quaternion.from_v_theta(np.eye(3)[0], theta)
for theta in (np.pi / 2, -np.pi / 2)
]
rots += [
Quaternion.from_v_theta(np.eye(3)[1], theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
# define os movimentos das faces
facesdict = dict(F=z, B=-z, R=x, L=-x, U=y, D=-y)
def __init__(self, N=3, plastic_color=None, face_colors=None):
self.N = N
if plastic_color is None:
self.plastic_color = self.default_plastic_color
else:
self.plastic_color = plastic_color
if face_colors is None:
self.face_colors = self.default_face_colors
else:
self.face_colors = face_colors
self._move_list = []
self._initialize_arrays()
def _initialize_arrays(self):
# Inicializa os centroides, faces e adesivos do cubo.Comecamos com uma
# base para cada um, e entao transladamos e rotacionamos na posicao.
# Define N^2 translacoes para cada face do cubo
cubie_width = 2. / self.N
translations = np.array(
[[[-1 + (i + 0.5) * cubie_width, -1 + (j + 0.5) * cubie_width, 0]]
for i in range(self.N) for j in range(self.N)])
# Cria arrays para os centroides, faces, adesivos e cores
face_centroids = []
faces = []
sticker_centroids = []
stickers = []
colors = []
factor = np.array([1. / self.N, 1. / self.N, 1])
for i in range(6):
M = self.rots[i].as_rotation_matrix()
faces_t = np.dot(factor * self.base_face + translations, M.T)
stickers_t = np.dot(factor * self.base_sticker + translations, M.T)
face_centroids_t = np.dot(self.base_face_centroid + translations,
M.T)
sticker_centroids_t = np.dot(
self.base_sticker_centroid + translations, M.T)
colors_i = i + np.zeros(face_centroids_t.shape[0], dtype=int)
# Anexa o id da face a face do centroide para o embaralhamento
face_centroids_t = np.hstack(
[face_centroids_t.reshape(-1, 3), colors_i[:, None]])
sticker_centroids_t = sticker_centroids_t.reshape((-1, 3))
faces.append(faces_t)
face_centroids.append(face_centroids_t)
stickers.append(stickers_t)
sticker_centroids.append(sticker_centroids_t)
colors.append(colors_i)
self._face_centroids = np.vstack(face_centroids)
self._faces = np.vstack(faces)
self._sticker_centroids = np.vstack(sticker_centroids)
self._stickers = np.vstack(stickers)
self._colors = np.concatenate(colors)
self._sort_faces()
def _sort_faces(self):
# Use o embaralhamento(lexsort) nos centroides para colocar as faces na ordem original
ind = np.lexsort(self._face_centroids.T)
self._face_centroids = self._face_centroids[ind]
self._sticker_centroids = self._sticker_centroids[ind]
self._stickers = self._stickers[ind]
self._colors = self._colors[ind]
self._faces = self._faces[ind]
def rotate_face(self, f, n=1, layer=0):
"""Rotacao da face"""
if layer < 0 or layer >= self.N:
raise ValueError('camada deve estar entre 0 e N-1')
try:
f_last, n_last, layer_last = self._move_list[-1]
except:
f_last, n_last, layer_last = None, None, None
if (f == f_last) and (layer == layer_last):
ntot = (n_last + n) % 4
if abs(ntot - 4) < abs(ntot):
ntot = ntot - 4
if np.allclose(ntot, 0):
self._move_list = self._move_list[:-1]
else:
self._move_list[-1] = (f, ntot, layer)
else:
self._move_list.append((f, n, layer))
v = self.facesdict[f]
r = Quaternion.from_v_theta(v, n * np.pi / 2)
M = r.as_rotation_matrix()
proj = np.dot(self._face_centroids[:, :3], v)
cubie_width = 2. / self.N
flag = ((proj > 0.9 - (layer + 1) * cubie_width) &
(proj < 1.1 - layer * cubie_width))
for x in [self._stickers, self._sticker_centroids, self._faces]:
x[flag] = np.dot(x[flag], M.T)
self._face_centroids[flag, :3] = np.dot(self._face_centroids[flag, :3],
M.T)
def draw_interactive(self):
fig = plt.figure(figsize=(5, 5))
fig.add_axes(InteractiveCube(self))
return fig
def __init__(self, cube=None,
interactive=True,
view=(0, 0, 10),
fig=None, rect=[0, 0.16, 1, 0.84],
**kwargs):
if cube is None:
self.cube = Cube(3)
elif isinstance(cube, Cube):
self.cube = cube
else:
self.cube = Cube(cube)
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0),
-np.pi / 6)
if fig is None:
fig = plt.gcf()
# disable default key press events
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# add some defaults, and draw axes
kwargs.update(dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Internal state variable
self._active = False # true when mouse is over axes
self._button1 = False # true when button 1 is pressed
self._button2 = False # true when button 2 is pressed
self._event_xy = None # store xy position of mouse event
self._shift = False # shift key pressed
self._digit_flags = np.zeros(10, dtype=bool) # digits 0-9 pressed
self._current_rot = self._start_rot #current rotation state
self._face_polys = None
self._sticker_polys = None
self._draw_cube()
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event',
self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event',
self._key_press)
self.figure.canvas.mpl_connect('key_release_event',
self._key_release)
self._initialize_widgets()
# write some instructions
self.figure.text(0.05, 0.05,
"Mouse/arrow keys adjust view\n"
"U/D/L/R/B/F keys turn faces\n"
"(hold shift for counter-clockwise)",
size=10)
def __init__(self,
cube=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
if cube is None:
self.cube = Cube(3)
elif isinstance(cube, Cube):
self.cube = cube
else:
self.cube = Cube(cube)
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
# disable default key press events
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# add some defaults, and draw axes
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Internal state variable
self._active = False # true when mouse is over axes
self._button1 = False # true when button 1 is pressed
self._button2 = False # true when button 2 is pressed
self._event_xy = None # store xy position of mouse event
self._shift = False # shift key pressed
self._digit_flags = np.zeros(10, dtype=bool) # digits 0-9 pressed
self._current_rot = self._start_rot #current rotation state
self._face_polys = None
self._sticker_polys = None
self._draw_cube()
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
self._initialize_widgets()
# write some instructions
self.figure.text(0.05,
0.05, "Mouse/arrow keys adjust view\n"
"U/D/L/R/B/F keys turn faces\n"
"(hold shift for counter-clockwise)",
size=10)
def __init__(self,
cube=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
if cube is None:
self.cube = Cube(3)
elif isinstance(cube, Cube):
self.cube = cube
else:
self.cube = Cube(cube)
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
# Desabilita eventos de pressionar teclas
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# Adicionar alguns padroes e desenha eixos
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define o movimento cima/baixo do mouse e teclado
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define o movimento de esquerda/direita do mouse e teclado
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Variavel de estado interno
self._active = False # Verdade quando o mouse estiver sobre os eixos
self._button1 = False # Verdadeiro quando o botão 1 é pressionado
self._button2 = False # Verdadeiro quando o botão 2 é pressionado
self._event_xy = None # Armazena a posição xy de um evento do mouse
self._shift = False # tecla SHIFT pressionada
self._digit_flags = np.zeros(10,
dtype=bool) # digitos 0-9 pressionados
self._current_rot = self._start_rot #Atual estado de rotacao
self._face_polys = None
self._sticker_polys = None
self._draw_cube()
# Conecta alguns eventos da GUI
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
self._initialize_widgets()
# escrever algumas instrucoes
self.figure.text(0.05,
0.05, "Mouse/setas para andar pelo cubo\n"
"U/D/L/R/B/F para movimentos\n"
"(segure SHIFT para anti-horario)",
size=10)
class InteractiveCube(plt.Axes):
# Define some attributes
base_face = np.array(
[[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], [1, 1, 1]],
dtype=float)
stickerwidth = 0.9
stickermargin = 0.5 * (1. - stickerwidth)
stickerthickness = 0.001
(d1, d2, d3) = (1 - stickermargin, 1 - 2 * stickermargin,
1 + stickerthickness)
base_sticker = np.array([[d1, d2, d3], [d2, d1, d3], [-d2, d1, d3],
[-d1, d2, d3], [-d1, -d2, d3], [-d2, -d1, d3],
[d2, -d1, d3], [d1, -d2, d3], [d1, d2, d3]],
dtype=float)
base_face_centroid = np.array([[0, 0, 1]])
base_sticker_centroid = np.array([[0, 0, 1 + stickerthickness]])
# Define rotation angles and axes for the six sides of the cube
x, y, z = np.eye(3)
rots = [
Quaternion.from_v_theta(x, theta) for theta in (np.pi / 2, -np.pi / 2)
]
rots += [
Quaternion.from_v_theta(y, theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
def __init__(self,
N,
sess=None,
inputTensPH=None,
outputTens=None,
state=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
self._move_list = []
self.N = N
self.sess = sess
self.inputTensPH = inputTensPH
self.outputTens = outputTens
self._prevStates = []
self.Environment = Cube(N=3, moveType="qtm")
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
# disable default key press events
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# add some defaults, and draw axes
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Internal state variable
self._active = False # true when mouse is over axes
self._button1 = False # true when button 1 is pressed
self._button2 = False # true when button 2 is pressed
self._event_xy = None # store xy position of mouse event
self._shift = False # shift key pressed
self._digit_flags = np.zeros(10, dtype=bool) # digits 0-9 pressed
self._current_rot = self._start_rot #current rotation state
self._face_polys = None
self._sticker_polys = None
self.plastic_color = 'black'
# WHITE:0 - U, YELLOW:1 - D, BLUE:2 - L, GREEN:3 - R, ORANGE: 4 - B, RED: 5 - F
self.face_colors = [
"w", "#ffcf00", "#ff6f00", "#cf0000", "#00008f", "#009f0f", "gray",
"none"
]
self._initialize_arrays()
self._draw_cube()
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
#self._initialize_widgets()
# write some instructions
"""
self.figure.text(0.05, 0.05,
"Mouse/arrow keys adjust view\n"
"U/D/L/R/B/F keys turn faces\n"
"(hold shift for counter-clockwise)",
size=10)
"""
if state is not None:
self._colors = np.array([int(x) for x in state.split(",")])
self._draw_cube()
def _initialize_arrays(self):
# initialize centroids, faces, and stickers. We start with a
# base for each one, and then translate & rotate them into position.
# Define N^2 translations for each face of the cube
cubie_width = 2. / self.N
translations = np.array(
[[[-1 + (i + 0.5) * cubie_width, -1 + (j + 0.5) * cubie_width, 0]]
for i in range(self.N) for j in range(self.N)])
# Create arrays for centroids, faces, stickers
face_centroids = []
faces = []
sticker_centroids = []
stickers = []
colors = []
factor = np.array([1. / self.N, 1. / self.N, 1])
for i in range(6):
M = self.rots[i].as_rotation_matrix()
faces_t = np.dot(factor * self.base_face + translations, M.T)
stickers_t = np.dot(factor * self.base_sticker + translations, M.T)
face_centroids_t = np.dot(self.base_face_centroid + translations,
M.T)
sticker_centroids_t = np.dot(
self.base_sticker_centroid + translations, M.T)
#colors_i = i + np.zeros(face_centroids_t.shape[0], dtype=int)
colors_i = np.arange(i * face_centroids_t.shape[0],
(i + 1) * face_centroids_t.shape[0])
# append face ID to the face centroids for lex-sorting
face_centroids_t = np.hstack(
[face_centroids_t.reshape(-1, 3), colors_i[:, None]])
sticker_centroids_t = sticker_centroids_t.reshape((-1, 3))
faces.append(faces_t)
face_centroids.append(face_centroids_t)
stickers.append(stickers_t)
sticker_centroids.append(sticker_centroids_t)
colors.append(colors_i)
self._face_centroids = np.vstack(face_centroids)
self._faces = np.vstack(faces)
self._sticker_centroids = np.vstack(sticker_centroids)
self._stickers = np.vstack(stickers)
self._colors = np.concatenate(colors)
def reset(self):
self._colors = self.Environment.solvedState
def getState(self):
return (self._colors)
def _initialize_widgets(self):
self._ax_reset = self.figure.add_axes([0.75, 0.05, 0.2, 0.075])
self._btn_reset = widgets.Button(self._ax_reset, 'Reset View')
self._btn_reset.on_clicked(self._reset_view)
self._ax_solve = self.figure.add_axes([0.55, 0.05, 0.2, 0.075])
self._btn_solve = widgets.Button(self._ax_solve, 'Solve Cube')
self._btn_solve.on_clicked(self._solve_cube)
def _project(self, pts):
return project_points(pts, self._current_rot, self._view, [0, 1, 0])
def _draw_cube(self):
stickers = self._project(self._stickers)[:, :, :2]
faces = self._project(self._faces)[:, :, :2]
face_centroids = self._project(self._face_centroids[:, :3])
sticker_centroids = self._project(self._sticker_centroids[:, :3])
plastic_color = self.plastic_color
#self._colors[np.ravel_multi_index((0,1,2),(6,N,N))] = 10
#self._colors[self.Environment.colorsToGet] = 54
colors = np.asarray(self.face_colors)[self._colors / (self.N**2)]
face_zorders = -face_centroids[:, 2]
sticker_zorders = -sticker_centroids[:, 2]
if self._face_polys is None:
# initial call: create polygon objects and add to axes
self._face_polys = []
self._sticker_polys = []
for i in range(len(colors)):
fp = plt.Polygon(faces[i],
facecolor=plastic_color,
zorder=face_zorders[i])
sp = plt.Polygon(stickers[i],
facecolor=colors[i],
zorder=sticker_zorders[i])
self._face_polys.append(fp)
self._sticker_polys.append(sp)
self.add_patch(fp)
self.add_patch(sp)
else:
# subsequent call: update the polygon objects
for i in range(len(colors)):
self._face_polys[i].set_xy(faces[i])
self._face_polys[i].set_zorder(face_zorders[i])
self._face_polys[i].set_facecolor(plastic_color)
self._sticker_polys[i].set_xy(stickers[i])
self._sticker_polys[i].set_zorder(sticker_zorders[i])
self._sticker_polys[i].set_facecolor(colors[i])
self.figure.canvas.draw()
def rotate(self, rot):
self._current_rot = self._current_rot * rot
def rotate_face(self, f, n=1, layer=0):
self._move_list.append((f, n, layer))
if not np.allclose(n, 0):
self._colors = self.Environment.next_state(self._colors, [f, n],
layer=layer)
self._draw_cube()
def move(self, move, draw=True):
self._colors = self.Environment.next_state(self._colors, move)
if draw:
self._draw_cube()
def _reset_view(self, *args):
self.set_xlim(self._start_xlim)
self.set_ylim(self._start_ylim)
self._current_rot = self._start_rot
self._draw_cube()
def _solve_cube(self, *args):
move_list = self._move_list[:]
for (face, n, layer) in move_list[::-1]:
self.rotate_face(face, -n, layer)
self._move_list = []
def _solve_cube_kociemba(self):
# WHITE:0 - U, YELLOW:1 - D, BLUE:2 - L, GREEN:3 - R, ORANGE: 4 - B, RED: 5 - F
moves = Kociemba.solve(self._colors)
#print "Solution length: %i" % (len(moves))
for face, n in moves:
self.rotate_face(face, n, 0)
def _solve_cube_nnet(self):
startTime = time.time()
BestFS_solve = search_utils.BestFS_solve([self._colors], self.sess,
self.inputTensPH,
self.outputTens,
self.Environment)
isSolved, solveSteps = BestFS_solve.run(numParallel=200, verbose=True)
### Make move
moves = solveSteps[0]
#print("Cube scrambled %i times. Neural network found solution of length %i (%s)" % (len(self._move_list),len(moves),time.time()-startTime))
for face, n in moves:
self.rotate_face(face, n, 0)
time.sleep(0.1)
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, 5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1
else:
direction = 1
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
else:
self.rotate_face(event.key.upper(), direction)
elif event.key.upper() in 'QWEA':
if event.key.upper() == 'Q':
self._colors = self.Environment.transpose(
self._colors, 0, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'W':
self._colors = self.Environment.transpose(
self._colors, 2, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'E':
self._colors = self.Environment.transpose(
self._colors, 4, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'A':
self._colors = self.Environment.transpose(
self._colors, -1, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'K':
self._solve_cube_kociemba()
elif event.key.upper() == 'O':
self._solve_cube_korf()
elif event.key.upper() == 'N':
self._solve_cube_nnet()
elif event.key.upper() == 'P':
self.figure.savefig('cubeSnapshot.eps')
self._draw_cube()
isSolved = self.Environment.checkSolved(self._colors)
if isSolved:
print("SOLVED!")
self._move_list = []
self._prevStates = []
def _key_release(self, event):
"""Handler for key release event"""
if event.key == 'shift':
self._shift = False
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 0
def _mouse_press(self, event, event_x=None, event_y=None):
"""Handler for mouse button press"""
if event_x != None and event_y != None:
self._event_xy = (event_x, event_y)
self._button1 = True
else:
self._event_xy = (event.x, event.y)
if event.button == 1:
self._button1 = True
elif event.button == 3:
self._button2 = True
def _mouse_release(self, event):
"""Handler for mouse button release"""
self._event_xy = None
if event.button == 1:
self._button1 = False
elif event.button == 3:
self._button2 = False
def _mouse_motion(self, event, event_x=None, event_y=None):
"""Handler for mouse motion"""
if self._button1 or self._button2:
if event_x != None and event_y != None:
dx = event_x - self._event_xy[0]
dy = event_y - self._event_xy[1]
self._event_xy = (event_x, event_y)
else:
dx = event.x - self._event_xy[0]
dy = event.y - self._event_xy[1]
self._event_xy = (event.x, event.y)
if self._button1:
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
rot1 = Quaternion.from_v_theta(self._ax_UD, self._step_UD * dy)
rot2 = Quaternion.from_v_theta(ax_LR, self._step_LR * dx)
self.rotate(rot1 * rot2)
self._draw_cube()
if self._button2:
factor = 1 - 0.003 * (dx + dy)
xlim = self.get_xlim()
ylim = self.get_ylim()
self.set_xlim(factor * xlim[0], factor * xlim[1])
self.set_ylim(factor * ylim[0], factor * ylim[1])
self.figure.canvas.draw()
class Cube:
"""Rubik's Cube Representation"""
# define some attribues
default_init_state = np.array([
0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 5, 5
])
# move indices
moveInds = { \
"U": 0, "U2": 1 , "R": 2, "R2": 3, "F": 4, "F2": 5\
}
# move definitions
moveDefs = np.array([ \
[ 2, 0, 3, 1, 6, 7, 8, 9, 10, 11, 4, 5, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23], \
[ 3, 2, 1, 0, 8, 9, 10, 11, 4, 5, 6, 7, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23], \
[ 0, 7, 2, 15, 4, 5, 6, 21, 16, 8, 3, 11, 12, 13, 14, 23, 17, 9, 1, 19, 20, 18, 22, 10], \
[ 0, 21, 2, 23, 4, 5, 6, 18, 17, 16, 15, 11, 12, 13, 14, 10, 9, 8, 7, 19, 20, 1, 22, 3], \
[ 0, 1, 13, 5, 4, 20, 14, 6, 2, 9, 10, 11, 12, 21, 15, 7, 3, 17, 18, 19, 16, 8, 22, 23], \
[ 0, 1, 21, 20, 4, 16, 15, 14, 13, 9, 10, 11, 12, 8, 7, 6, 5, 17, 18, 19, 3, 2, 22, 23], \
])
# piece definitions
pieceDefs = np.array([ \
[ 0, 11, 4], \
[ 2, 5, 6], \
[ 3, 7, 8], \
[ 1, 9, 10], \
[ 20, 14, 13], \
[ 21, 15, 15], \
[ 23, 18, 17], \
])
default_plastic_color = 'black'
default_face_colors = [
"w", "#ffcf00", "#00008f", "#009f0f", "#ff6f00", "#cf0000", "gray",
"none"
]
base_face = np.array(
[[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], [1, 1, 1]],
dtype=float)
face_element_width = 0.9
face_element_margin = 0.5 * (1. - face_element_width)
face_element_thickness = 0.001
(d1, d2, d3) = (1 - face_element_margin, 1 - 2 * face_element_margin,
1 + face_element_thickness)
base_face_element = np.array(
[[d1, d2, d3], [d2, d1, d3], [-d2, d1, d3], [-d1, d2, d3],
[-d1, -d2, d3], [-d2, -d1, d3], [d2, -d1, d3], [d1, -d2, d3],
[d1, d2, d3]],
dtype=float)
base_face_centroid = np.array([[0, 0, 1]])
base_face_element_centroid = np.array([[0, 0, 1 + face_element_thickness]])
# apply a move to a state
def doMove(self, move):
return self.state[self.moveDefs[self.moveInds[m]]]
# apply a string sequence of moves to a state
def doAlgStr(self, alg):
moves = alg.split(" ")
for m in moves:
if m in self.moveInds:
self.state = self.state[self.moveDefs[self.moveInds[m]]]
self._printCube()
# print state of the cube
def _printCube(self):
print(" ┌──┬──┐")
print(" │ {}│ {}│".format(self.state[0], self.state[1]))
print(" ├──┼──┤")
print(" │ {}│ {}│".format(self.state[2], self.state[3]))
print("┌──┬──┼──┼──┼──┬──┬──┬──┐")
print("│ {}│ {}│ {}│ {}│ {}│ {}│ {}│ {}│".format(
self.state[4], self.state[5], self.state[6], self.state[7],
self.state[8], self.state[9], self.state[10], self.state[11]))
print("├──┼──┼──┼──┼──┼──┼──┼──┤")
print("│ {}│ {}│ {}│ {}│ {}│ {}│ {}│ {}│".format(
self.state[12], self.state[13], self.state[14], self.state[15],
self.state[16], self.state[17], self.state[18], self.state[19]))
print("└──┴──┼──┼──┼──┴──┴──┴──┘")
print(" │ {}│ {}│".format(self.state[20], self.state[21]))
print(" ├──┼──┤")
print(" │ {}│ {}│".format(self.state[22], self.state[23]))
print(" └──┴──┘")
# Define rotation angles and axes for the six sides of the cube
x, y, z = np.eye(3)
rots = [
Quaternion.from_v_theta(np.eye(3)[0], theta)
for theta in (np.pi / 2, -np.pi / 2)
]
rots += [
Quaternion.from_v_theta(np.eye(3)[1], theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
# define face movements
facesdict = dict(F=z, B=-z, R=x, L=-x, U=y, D=-y)
def __init__(self, N=2, plastic_color=None, face_colors=None):
self.N = N
if plastic_color is None:
self.plastic_color = self.default_plastic_color
else:
self.plastic_color = plastic_color
if face_colors is None:
self.face_colors = self.default_face_colors
else:
self.face_colors = face_colors
self.state = np.array([
0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5,
5, 5
])
#self.state = np.array(['00000', '00001', '00010', '00011', '00100', '00101', '00110', '00111', '01000', '01001', '01010', '01011', '01100', '01101', '01110', '01111', '10000', '10001', '10010', '10011', '10100', '10101', '10110', '10111'])
self._move_list = []
self._solution = []
self._initialize_arrays()
def _initialize_arrays(self):
# initialize centroids, faces, and face elements. We start with a
# base for each one, and then translate & rotate them into position.
# Define N^2 translations for each face of the cube
cubie_width = 2. / self.N
translations = np.array(
[[[-1 + (i + 0.5) * cubie_width, -1 + (j + 0.5) * cubie_width, 0]]
for i in range(self.N) for j in range(self.N)])
# Create arrays for centroids, faces, face elements, and colors
face_centroids = []
faces = []
face_element_centroids = []
face_elements = []
colors = []
factor = np.array([1. / self.N, 1. / self.N, 1])
for i in range(6):
M = self.rots[i].as_rotation_matrix()
faces_t = np.dot(factor * self.base_face + translations, M.T)
face_elements_t = np.dot(
factor * self.base_face_element + translations, M.T)
face_centroids_t = np.dot(self.base_face_centroid + translations,
M.T)
face_element_centroids_t = np.dot(
self.base_face_element_centroid + translations, M.T)
colors_i = i + np.zeros(face_centroids_t.shape[0], dtype=int)
# append face ID to the face centroids for lex-sorting
face_centroids_t = np.hstack(
[face_centroids_t.reshape(-1, 3), colors_i[:, None]])
face_element_centroids_t = face_element_centroids_t.reshape(
(-1, 3))
faces.append(faces_t)
face_centroids.append(face_centroids_t)
face_elements.append(face_elements_t)
face_element_centroids.append(face_element_centroids_t)
colors.append(colors_i)
self._face_centroids = np.vstack(face_centroids)
self._faces = np.vstack(faces)
self._face_element_centroids = np.vstack(face_element_centroids)
self._face_elements = np.vstack(face_elements)
self._colors = np.concatenate(colors)
self._sort_faces()
def _sort_faces(self):
# use lexsort on the centroids to put faces in a standard order.
ind = np.lexsort(self._face_centroids.T)
self._face_centroids = self._face_centroids[ind]
self._face_element_centroids = self._face_element_centroids[ind]
self._face_elements = self._face_elements[ind]
self._colors = self._colors[ind]
self._faces = self._faces[ind]
def rotate_face(self, f, n=1, layer=0):
self.doAlgStr(f)
"""Rotate Face"""
if layer < 0 or layer >= self.N:
raise ValueError('layer should be between 0 and N-1')
try:
f_last, n_last, layer_last = self._move_list[-1]
except:
f_last, n_last, layer_last = None, None, None
if (f == f_last) and (layer == layer_last):
ntot = (n_last + n) % 4
if abs(ntot - 4) < abs(ntot):
ntot = ntot - 4
if np.allclose(ntot, 0):
self._move_list = self._move_list[:-1]
else:
self._move_list[-1] = (f, ntot, layer)
else:
self._move_list.append(f)
v = self.facesdict[f]
r = Quaternion.from_v_theta(v, n * np.pi / 2)
M = r.as_rotation_matrix()
proj = np.dot(self._face_centroids[:, :3], v)
cubie_width = 2. / self.N
flag = ((proj > 0.9 - (layer + 1) * cubie_width) &
(proj < 1.1 - layer * cubie_width))
for x in [
self._face_elements, self._face_element_centroids, self._faces
]:
x[flag] = np.dot(x[flag], M.T)
self._face_centroids[flag, :3] = np.dot(self._face_centroids[flag, :3],
M.T)
def draw_interactive(self):
fig = plt.figure(figsize=(5, 5))
fig.add_axes(InteractiveCube(self))
return fig
def __init__(self,
cube=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
if cube is None:
self.cube = Cube(3)
elif isinstance(cube, Cube):
self.cube = cube
else:
self.cube = Cube(cube)
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
self._active = False
self._button1 = False
self._button2 = False
self._event_xy = None
self._shift = False
self._digit_flags = np.zeros(10, dtype=bool)
self._current_rot = self._start_rot
self._face_polys = None
self._sticker_polys = None
self._draw_cube()
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
self._initialize_widgets()
self.figure.text(0.05,
0.05, "Mouse/arrow keys adjust view\n"
"U/D/L/R/B/F keys turn faces\n"
"(hold shift for counter-clockwise)",
size=10)
def __init__(self,
N,
sess=None,
inputTensPH=None,
outputTens=None,
state=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
self._move_list = []
self.N = N
self.sess = sess
self.inputTensPH = inputTensPH
self.outputTens = outputTens
self._prevStates = []
self.Environment = Cube(N=3, moveType="qtm")
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
# disable default key press events
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# add some defaults, and draw axes
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Internal state variable
self._active = False # true when mouse is over axes
self._button1 = False # true when button 1 is pressed
self._button2 = False # true when button 2 is pressed
self._event_xy = None # store xy position of mouse event
self._shift = False # shift key pressed
self._digit_flags = np.zeros(10, dtype=bool) # digits 0-9 pressed
self._current_rot = self._start_rot #current rotation state
self._face_polys = None
self._sticker_polys = None
self.plastic_color = 'black'
# WHITE:0 - U, YELLOW:1 - D, BLUE:2 - L, GREEN:3 - R, ORANGE: 4 - B, RED: 5 - F
self.face_colors = [
"w", "#ffcf00", "#ff6f00", "#cf0000", "#00008f", "#009f0f", "gray",
"none"
]
self._initialize_arrays()
self._draw_cube()
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
#self._initialize_widgets()
# write some instructions
"""
self.figure.text(0.05, 0.05,
"Mouse/arrow keys adjust view\n"
"U/D/L/R/B/F keys turn faces\n"
"(hold shift for counter-clockwise)",
size=10)
"""
if state is not None:
self._colors = np.array([int(x) for x in state.split(",")])
self._draw_cube()
def _key_press(self, event):
"""Handler for key press events"""
if event.key == 'shift':
self._shift = True
elif event.key.isdigit():
self._digit_flags[int(event.key)] = 1
elif event.key == 'right':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, 5 * self._step_LR))
elif event.key == 'left':
if self._shift:
ax_LR = self._ax_LR_alt
else:
ax_LR = self._ax_LR
self.rotate(Quaternion.from_v_theta(ax_LR, -5 * self._step_LR))
elif event.key == 'up':
self.rotate(Quaternion.from_v_theta(self._ax_UD,
5 * self._step_UD))
elif event.key == 'down':
self.rotate(
Quaternion.from_v_theta(self._ax_UD, -5 * self._step_UD))
elif event.key.upper() in 'LRUDBF':
if self._shift:
direction = -1
else:
direction = 1
if np.any(self._digit_flags[:N]):
for d in np.arange(N)[self._digit_flags[:N]]:
self.rotate_face(event.key.upper(), direction, layer=d)
else:
self.rotate_face(event.key.upper(), direction)
elif event.key.upper() in 'QWEA':
if event.key.upper() == 'Q':
self._colors = self.Environment.transpose(
self._colors, 0, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'W':
self._colors = self.Environment.transpose(
self._colors, 2, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'E':
self._colors = self.Environment.transpose(
self._colors, 4, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'A':
self._colors = self.Environment.transpose(
self._colors, -1, indexType="position").flatten()
self._colors = np.argsort(self._colors)
elif event.key.upper() == 'K':
self._solve_cube_kociemba()
elif event.key.upper() == 'O':
self._solve_cube_korf()
elif event.key.upper() == 'N':
self._solve_cube_nnet()
elif event.key.upper() == 'P':
self.figure.savefig('cubeSnapshot.eps')
self._draw_cube()
isSolved = self.Environment.checkSolved(self._colors)
if isSolved:
print("SOLVED!")
self._move_list = []
self._prevStates = []
class Cube:
"""Magic Cube Representation"""
# define some attribues
default_plastic_color = 'black'
default_face_colors = [
"w", "#ffcf00", "#00008f", "#009f0f", "#ff6f00", "#cf0000", "gray",
"none"
]
base_face = np.array(
[[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], [1, 1, 1]],
dtype=float)
stickerwidth = 0.9
stickermargin = 0.5 * (1. - stickerwidth)
stickerthickness = 0.001
(d1, d2, d3) = (1 - stickermargin, 1 - 2 * stickermargin,
1 + stickerthickness)
base_sticker = np.array([[d1, d2, d3], [d2, d1, d3], [-d2, d1, d3],
[-d1, d2, d3], [-d1, -d2, d3], [-d2, -d1, d3],
[d2, -d1, d3], [d1, -d2, d3], [d1, d2, d3]],
dtype=float)
base_face_centroid = np.array([[0, 0, 1]])
base_sticker_centroid = np.array([[0, 0, 1 + stickerthickness]])
# Define rotation angles and axes for the six sides of the cube
x, y, z = np.eye(3)
rots = [
Quaternion.from_v_theta(x, theta) for theta in (np.pi / 2, -np.pi / 2)
]
rots += [
Quaternion.from_v_theta(y, theta)
for theta in (np.pi / 2, -np.pi / 2, np.pi, 2 * np.pi)
]
# define face movements
facesdict = dict(F=z, B=-z, R=x, L=-x, U=y, D=-y)
def __init__(self, N=3, plastic_color=None, face_colors=None):
self.N = N
if plastic_color is None:
self.plastic_color = self.default_plastic_color
else:
self.plastic_color = plastic_color
if face_colors is None:
self.face_colors = self.default_face_colors
else:
self.face_colors = face_colors
self._move_list = []
self._initialize_arrays()
def _initialize_arrays(self):
# initialize centroids, faces, and stickers. We start with a
# base for each one, and then translate & rotate them into position.
# Define N^2 translations for each face of the cube
cubie_width = 2. / self.N
translations = np.array(
[[[-1 + (i + 0.5) * cubie_width, -1 + (j + 0.5) * cubie_width, 0]]
for i in range(self.N) for j in range(self.N)])
# Create arrays for centroids, faces, stickers, and colors
face_centroids = []
faces = []
sticker_centroids = []
stickers = []
colors = []
factor = np.array([1. / self.N, 1. / self.N, 1])
for i in range(6):
M = self.rots[i].as_rotation_matrix()
faces_t = np.dot(factor * self.base_face + translations, M.T)
stickers_t = np.dot(factor * self.base_sticker + translations, M.T)
face_centroids_t = np.dot(self.base_face_centroid + translations,
M.T)
sticker_centroids_t = np.dot(
self.base_sticker_centroid + translations, M.T)
colors_i = i + np.zeros(face_centroids_t.shape[0], dtype=int)
# append face ID to the face centroids for lex-sorting
face_centroids_t = np.hstack(
[face_centroids_t.reshape(-1, 3), colors_i[:, None]])
sticker_centroids_t = sticker_centroids_t.reshape((-1, 3))
faces.append(faces_t)
face_centroids.append(face_centroids_t)
stickers.append(stickers_t)
sticker_centroids.append(sticker_centroids_t)
colors.append(colors_i)
self._face_centroids = np.vstack(face_centroids)
self._faces = np.vstack(faces)
self._sticker_centroids = np.vstack(sticker_centroids)
self._stickers = np.vstack(stickers)
self._colors = np.concatenate(colors)
self._sort_faces()
def _sort_faces(self):
# use lexsort on the centroids to put faces in a standard order.
ind = np.lexsort(self._face_centroids.T)
self._face_centroids = self._face_centroids[ind]
self._sticker_centroids = self._sticker_centroids[ind]
self._stickers = self._stickers[ind]
self._colors = self._colors[ind]
self._faces = self._faces[ind]
def rotate_face(self, f, n=1, layer=0):
"""Rotate Face"""
if layer < 0 or layer >= self.N:
raise ValueError('layer should be between 0 and N-1')
try:
f_last, n_last, layer_last = self._move_list[-1]
except:
f_last, n_last, layer_last = None, None, None
if (f == f_last) and (layer == layer_last):
ntot = (n_last + n) % 4
if abs(ntot - 4) < abs(ntot):
ntot = ntot - 4
if np.allclose(ntot, 0):
self._move_list = self._move_list[:-1]
else:
self._move_list[-1] = (f, ntot, layer)
else:
self._move_list.append((f, n, layer))
v = self.facesdict[f]
r = Quaternion.from_v_theta(v, n * np.pi / 2)
M = r.as_rotation_matrix()
proj = np.dot(self._face_centroids[:, :3], v)
cubie_width = 2. / self.N
flag = ((proj > 0.9 - (layer + 1) * cubie_width) &
(proj < 1.1 - layer * cubie_width))
for x in [self._stickers, self._sticker_centroids, self._faces]:
x[flag] = np.dot(x[flag], M.T)
self._face_centroids[flag, :3] = np.dot(self._face_centroids[flag, :3],
M.T)
def draw_interactive(self):
fig = plt.figure(figsize=(5, 5))
fig.add_axes(InteractiveCube(self))
return fig
def __init__(self,
cube=None,
interactive=True,
view=(0, 0, 10),
fig=None,
rect=[0, 0.16, 1, 0.84],
**kwargs):
if cube is None:
self.cube = Cube(3)
elif isinstance(cube, Cube):
self.cube = cube
else:
self.cube = Cube(cube)
self._view = view
self._start_rot = Quaternion.from_v_theta((1, -1, 0), -np.pi / 6)
if fig is None:
fig = plt.gcf()
# disable default key press events
callbacks = fig.canvas.callbacks.callbacks
del callbacks['key_press_event']
# add some defaults, and draw axes
kwargs.update(
dict(aspect=kwargs.get('aspect', 'equal'),
xlim=kwargs.get('xlim', (-2.0, 2.0)),
ylim=kwargs.get('ylim', (-2.0, 2.0)),
frameon=kwargs.get('frameon', False),
xticks=kwargs.get('xticks', []),
yticks=kwargs.get('yticks', [])))
super(InteractiveCube, self).__init__(fig, rect, **kwargs)
self.xaxis.set_major_formatter(plt.NullFormatter())
self.yaxis.set_major_formatter(plt.NullFormatter())
self._start_xlim = kwargs['xlim']
self._start_ylim = kwargs['ylim']
# Define movement for up/down arrows or up/down mouse movement
self._ax_UD = (1, 0, 0)
self._step_UD = 0.01
# Define movement for left/right arrows or left/right mouse movement
self._ax_LR = (0, -1, 0)
self._step_LR = 0.01
self._ax_LR_alt = (0, 0, 1)
# Internal state variable
self._active = False # true when mouse is over axes
self._button1 = False # true when button 1 is pressed
self._button2 = False # true when button 2 is pressed
self._event_xy = None # store xy position of mouse event
self._shift = False # shift key pressed
self._digit_flags = np.zeros(10, dtype=bool) # digits 0-9 pressed
self._current_rot = self._start_rot #current rotation state
self._face_polys = None
self._sticker_polys = None
self._draw_cube()
# connect some GUI events
self.figure.canvas.mpl_connect('button_press_event', self._mouse_press)
self.figure.canvas.mpl_connect('button_release_event',
self._mouse_release)
self.figure.canvas.mpl_connect('motion_notify_event',
self._mouse_motion)
self.figure.canvas.mpl_connect('key_press_event', self._key_press)
self.figure.canvas.mpl_connect('key_release_event', self._key_release)
self._initialize_widgets()
# write some instructions
self.figure.text(0.05,
0.05, "Mouse/flechas ajustan vista\n"
" Teclas U/D/L/R/B/F Mueven las caras\n"
"L: Vertical Izquierda\n"
"R: Vertical Derecha\n"
"U: Horizontal Arriba\n"
"D: Horizontal Abajo\n"
"F: Rotación Adelante\n"
"B: Rotación Atras\n"
"(shift+tecla para rotar inverso)",
size=10)
#Definitions for cube solving A* algorithm
self.movList = ['L', 'R', 'U', 'D', 'F', 'B']
self.deordering_movs = []
self.prev_movs = []
self.next_movs = []
self.solve_movs = []
self.mov_index = 0
self.prev_index = 0
self.cubo_org = [
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18,
19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35,
36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52,
53
]