public bool run()
{
if (pivot_c.hasTasks())
{
return(false);
}
normal_self = new Vector3();
normal_other = new Vector3();
cross_action = 0;
valid = true;
//Decide which action to take
foreach (Cube cube in cubes)
{
cube_c = cubeToDo? cubeToDo:cube;
normal_self = cube_c.getColorRealPosition(top_cube_color);
List <string> rest_of_colors = cube_c.getColors();
rest_of_colors.Remove(top_cube_color);
normal_other = cube_c.getColorRealPosition(rest_of_colors[0]);
Vector3 other_position = core.getColorSide(rest_of_colors[0]);
float other_dot = Vector3.Dot(other_position.normalized, normal_other.normalized);
bool cont = true;
foreach (Cube norm in sideColors)
{
Vector3 normal = norm.getColorRealPosition(top_cube_color);
float dot = Vector3.Dot(normal_self.normalized, normal.normalized);
if (norm.hasColor(top_cube_color) && (dot < 0.8 || other_dot < 0.8))
{
valid = false;
if (!cubeToDo)
{
cubeToDo = cube_c;
}
if (dot > 0.8 && other_dot < 0.8)
{
cross_action = 0;
string to_turn = core.vec3ToStr(normal_other);
core.setTask(new Task(to_turn, 1));
core.setTask(new Task(to_turn, 1));
core.setTask(new Task("down", 0));
cont = false; break;
}
else if (normal_self.y > 0.5)
{
cross_action = 0;
string side = core.vec3ToStr(normal_self);
string to_turn = core.side_90_deg(side, -1);
core.setTask(new Task(side, 1));
core.setTask(new Task(to_turn, 1));
cont = false; break;
}
else if (normal_self.y < -0.5)
{
if (Vector3.Dot(normal_self.normalized, new Vector3(0, -1, 0)) > 0.8)
{
//Cube is at the bottom
cross_action = 2;
cubeToDo = null;
cont = false; break;
}
else
{
//Cube at the bottom, color on the side
cross_action = 0;
string side1 = core.vec3ToStr(normal_self);
string side2 = core.side_90_deg(side1, -1);
core.setTask(new Task(side1, 1));
core.setTask(new Task(side2, -1));
cont = false; break;
}
}
else
{
string color_1 = "";
foreach (string c in cube_c.getColors())
{
if (c != top_cube_color)
{
color_1 = c;
}
}
Vector3 p = cube_c.getColorRealPosition(color_1);
Vector3 color_p = core.getColorSide(color_1);
float dott = Vector3.Dot(p.normalized, color_p.normalized);
if (dott > 0.8)
{
cube_c.bring_to(top_cube_color, "up");
cross_action = 2;
}
else
{
cross_action = 0;
cube_c.bring_to(top_cube_color, "down");
core.setTask(new Task("down", 0));
}
cont = false;
break;
}
}
}
if (!cont)
{
break;
}
}
switch (cross_action)
{
case 1: //Color on the side
string color_1 = "";
foreach (string c in cube_c.getColors())
{
if (c != top_cube_color)
{
color_1 = c;
}
}
Vector3 p_1 = cube_c.getColorRealPosition(color_1);
Vector3 color_p_1 = core.getColorSide(color_1);
Vector3 mult_1 = Vector3.Scale(p_1, color_p_1).normalized;
if (mult_1.Equals(new Vector3(1, 0, 0)) ||
mult_1.Equals(new Vector3(0, 1, 0)) ||
mult_1.Equals(new Vector3(0, 0, 1)))
{
core.setTask(new Task(core.vec3ToStr(color_p_1), 1));
}
else
{
Vector3 main_color_pos = cube_c.getColorRealPosition(top_cube_color);
mult_1 = Vector3.Scale(color_p_1, main_color_pos).normalized;
if (mult_1.Equals(new Vector3(1, 0, 0)) ||
mult_1.Equals(new Vector3(0, 1, 0)) ||
mult_1.Equals(new Vector3(0, 0, 1)))
{
core.setTask(new Task(core.vec3ToStr(p_1), 1));
}
else
{
core.setTask(new Task(core.vec3ToStr(p_1), 1));
}
}
break;
case 2: //Color at the bottom
string color_2 = "";
foreach (string c in cube_c.getColors())
{
if (c != top_cube_color)
{
color_2 = c;
}
}
Vector3 p_2 = cube_c.getColorRealPosition(color_2);
Vector3 color_p_2 = core.getColorSide(color_2);
// Check if colors point to the same side
Vector3 mult_2 = Vector3.Scale(p_2, color_p_2).normalized;
if (!mult_2.Equals(new Vector3(1, 0, 0)) &&
!mult_2.Equals(new Vector3(0, 1, 0)) &&
!mult_2.Equals(new Vector3(0, 0, 1)))
{
core.setTask(new Task("down", 1));
}
else
{
core.setTask(new Task(core.vec3ToStr(color_p_2), 1));
core.setTask(new Task(core.vec3ToStr(color_p_2), 1));
cubeToDo = null;
}
break;
}
return(valid);
}
public bool run()
{
if (pivot_c.hasTasks())
{
return(false);
}
string top_cube_color = top_cube.GetComponent <Cube>().getColors()[0];
bool valid = true;
List <Cube> cubes = core.getCubes(3, top_cube_color);
if (ready_cube) //Cube ready to be brought up
{
valid = false;
ready_cube.alignCornerUp(top_cube_color, otherColorOfReady, Core.var_type.COLOR);
ready_cube = null;
}
else
{
foreach (Cube cube in cubes)
{
List <string> colors = cube.getColors();
colors.Remove(top_cube_color);
Vector3 dirMain = cube.getColorRealPosition(top_cube_color).normalized;
Vector3 dir1 = cube.getColorRealPosition(colors[0]).normalized;
Vector3 dir2 = cube.getColorRealPosition(colors[1]).normalized;
float alignMain = Vector3.Dot(dirMain, core.getColorSide(top_cube_color));
float align1 = Vector3.Dot(dir1, core.getColorSide(colors[0]));
float align2 = Vector3.Dot(dir2, core.getColorSide(colors[1]));
if (alignMain < 0.7 || align1 < 0.7 || align2 < 0.7)
{
valid = false;
if (alignMain > 0.7) // Color on top but others are not aligned
{
Task task = cube.bring_down(colors[0]);
string side = task.getSide();
string sideFace = cube.getSideFacing(colors[0]);
int dir = 1;
if (!core.side_90_deg(sideFace, dir).Equals(side))
{
dir = -1;
}
core.setTask(new Task("down", dir));
core.setTask(new Task(side, -1 * task.getDirection()));
}
else if (cube.transform.position.y > 0.5) // Cube on top but none of the colors is aligned
{
Task task = cube.bring_down(top_cube_color);
string side = task.getSide();
string sideFace = cube.getSideFacing(top_cube_color);
int dir = 1;
if (core.side_90_deg(sideFace, dir).Equals(side))
{
dir = -1;
}
core.setTask(new Task("down", dir));
core.setTask(new Task(side, -1 * task.getDirection()));
}
else if (Vector3.Dot(dirMain, new Vector3(0, -1, 0)) > 0.7)
{
Task task = cube.bring_down(colors[0]);
string side = task.getSide();
string sideFace = cube.getSideFacing(colors[0]);
int dir = 1;
if (core.side_90_deg(sideFace, dir).Equals(side))
{
dir = -1;
}
core.setTask(new Task("down", dir));
core.setTask(new Task(side, -1 * task.getDirection()));
}
else
{
string refColor = "";
if (Vector3.Dot(cube.getColorRealPosition(colors[0]).normalized, new Vector3(0, -1, 0)) > 0.7)
{
refColor = colors[1];
}
else
{
refColor = colors[0];
}
otherColorOfReady = refColor;
cube.alignWithColor(refColor);
ready_cube = cube;
}
}
if (!valid)
{
break;
}
}
}
return(valid);
}
public bool run()
{
if (pivot_c.hasTasks())
{
return(false);
}
bool valid = true;
if (ready_cube)
{
valid = false;
string secondarySide = core.vec3ToStr(core.getColorSide(otherColor));
List <string> sides = new List <string>();
if (reversed != null)
{
sides = reversed.getAllSides();
secondarySide = "down";
reversed = null;
}
else
{
sides = ready_cube.getAllSides();
}
sides.Add(secondarySide);
Cube refCube = core.getCornerCubeByCredentials(sides);
if (refCube != null)
{
refCube.alignCornerUp(refColor, otherColor, Core.var_type.AXIS);
}
else
{
Debug.Log("ERROR: Ref cube align color up for cube " + ready_cube);
}
ready_cube = null;
core.GetSolution().setAction(2);
}
else
{
foreach (Cube cube in cubes)
{
if (cube.hasColor(bottomColor))
{
continue;
}
List <string> colors = cube.getColors();
refColor = colors[0];
otherColor = colors[1];
if (cube.transform.position.y < -0.5)
{
valid = false;
Vector3 colorPos = cube.getColorRealPosition(colors[0]);
float dot = Vector3.Dot(colorPos.normalized, new Vector3(0, -1, 0));
if (dot > 0.7)
{
refColor = colors[1];
otherColor = colors[0];
}
cube.alignWithColor(refColor);
ready_cube = cube;
break;
}
else if (isCubeReversed(cube))
{
valid = false;
reversed = cube;
List <string> sides = new List <string>();
sides.Add(cube.getSideFacing(refColor));
sides.Add("down");
Cube refCube = core.getCornerCubeByCredentials(sides);
if (refCube != null)
{
ready_cube = refCube;
}
else
{
Debug.Log("ERROR: couldn't find 2 sided ready cube");
}
break;
}
}
}
return(valid);
}