三阶魔方自动求解及动态可视化matlab代码

三阶魔方自动求解及动态可视化matlab代码


第一次写博客,想总结分享下以前做过的一些有趣的东西,目的是为了回望过去与展望未来,同时为了提高自己的写作表达能力。

思路与步骤

  1. 三阶魔方有6个面,每个面有 3 × 3 3\times3 3×3小块,用一个 6 × 3 × 3 6\times3\times3 6×3×3的矩阵来保存魔方的状态;
  2. 定义4+12种魔方旋转行为:整体旋转(左右上下共4种方式AaCc),侧面(6个侧面顺逆时针旋转共12种方式LlRrUuDdFfBb),旋转可视化界面方便调试(三维小面作图fill3创建 6 × 3 × 3 = 54 6\times3\times3=54 6×3×3=54个小面对象,对象成员属性包括颜色和4个三维坐标点,定义了全局函数对小面进行绕轴旋转操作,如此可以可视化调试,确保程序是按人想法运行),旋转行为改变矩阵的状态矩阵;
  3. 定义随机打乱和逆序恢复的函数,测试确保人为给出旋转公式,魔方能正确旋转;
  4. 编写按公式恢复魔方的函数,记录恢复过程的旋转过程公式(取一个魔方一边拧一边编程,考虑所有情况)
    1):顶层拼十字:简化为4次恢复顶面棱中小块(不破坏已恢复的结果)
    2):顶层拼四角:简化为4次恢复顶面的角小块(不破坏已恢复的结果)
    第一层恢复完成,剩下可按公式恢复魔方,把第一层置底
    3):二层拼棱角:简化为4次恢复二层棱角小块(不破坏已恢复的结果)
    第二层恢复完成
    4):按公式顶层拼十字
    5):按公式顶层四角对应恢复
    6):按公式顶面同色恢复
    7):按公式顶面棱边恢复
    第三层恢复完成
  5. 编写一个公式简化的函数,如消除相邻正反操作、消除4次相同操作、3次同向旋转替换为一次反向旋转操作、不相关跳跃旋转整合等,未能考虑所有可化简的情况,还未能化简为最少旋转步数公式。时间精力有限,待以后有新思路的时候再玩。

总结

很多指令都是现查现用的,编程模块化,过程分解,编程周期较长,编完以后,整体思路清晰,但单独模块缺少注释,不好看懂,特别是手动旋转对应编程部分,时间久了容易忘记。这是2019年1月编的代码(忘记了具体参考过哪些代码了),现在整理下思路,这里三阶魔方恢复算法是普通的按公式还原算法,主要难点在于判断魔方的状态,我编程的过程中是实际拿着个魔方一边转一边进行状态观察遍历,方法比较笨,可以实现自动魔方还原,但是还原步骤较多,程序中通过增加一些函数进行了步骤的简化
function TurnManu=simplifyTurnManu(TurnManu)
但是简化结果并不彻底,需要更高级的简化函数,或高级的魔方恢复算法。

思考

如果能够用快速相机记录并识别魔方高手旋转魔方的方法,通过机器学习、聚类、迁移等思想,改善算法,数据即算法?如果没有如果,给定初始的算法,能不能让算法自己通过运行自学习,更新算法,或者产生模拟高级的数据用于机器学习?感觉这会不会是一个很好的案例?数据为王?算法为王?Alpha Zero从0开始?有人实现了吗?

参考链接

没作记录,忘了,对参考过代码的博主表示歉意,如有发现雷同的地方,欢迎提醒,以作补充。

魔方

源代码

%% 主调函数
% ---定义魔方的初始状态
face0=ones(3,3);
MFstate={face0;face0+1;face0+2;face0+3;face0+4;face0+5};
% % MFstate=faceTurn(MFstate,'r');
% % MFstate=sideTurn(MFstate,'r'); 
[MFstate,TurnManu]=disorganize(MFstate,10);
% DispTurnManu(TurnManu,1);
figure;pltMoFang(MFstate);
set(gcf,'color','k');axis square;axis off;view(160,30)

TurnManu=simplifyTurnManu(TurnManu,0);
TurnManu0=DispTurnManu(TurnManu);
disp({'魔方打乱操作:';TurnManu0.'})

% MFstate=disorganize(MFstate,TurnManu);

[MFstate1,TurnManu1]=InvRecover(MFstate,TurnManu);
TurnManu0=DispTurnManu(TurnManu1);
disp({'魔方逆序恢复操作:';TurnManu0.'})
figure;pltMoFang(MFstate1);
set(gcf,'color','k');axis square;axis off;view(160,30)

 [MFstate,TurnManu2]=formulaRecover(MFstate);
 TurnManu2=simplifyTurnManu(TurnManu2,0);
TurnManu0=DispTurnManu(TurnManu2);
disp({'魔方公式恢复操作:';TurnManu0.'})
figure;pltMoFang(MFstate);
set(gcf,'color','k');axis square;axis off;view(160,30)
-----------------------------------------------------------------------------------------------------------------------------------
%% 动画显示
face0=ones(3,3);
MFstate={face0;face0+1;face0+2;face0+3;face0+4;face0+5};
limL=-4;limU=1;
close all;fig=figure; fig.Color=[1,1,1];  fig.Position=[400 200 550 600];
fig.ToolBar='none';  fig.MenuBar='none';  fig.NumberTitle='off';  fig.Name='魔方'; 
hds=pltMoFang(MFstate); 
set(gcf,'color','k');axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);
pause(4);
TurnManu_all=[TurnManu;TurnManu2];
for n=1:length(TurnManu_all)
    pause(0.00001);
    turnAroundP(hds,TurnManu_all(n),10,0.01,limL,limU);
    MFstate=disorganize(MFstate,TurnManu_all(n));
    hold off;hds=pltMoFang(MFstate);axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);
end
%% 部分子函数编写
%% 公式恢复魔方
function [MFstate,TurnManu]=formulaRecover(MFstate)
TurnManu=[];
        %---第一层恢复
        %将顶层拼十字
        num=zeros(1,4);
        for n=1:4
            [MFstate,TnMn,num]=recoverF10(MFstate,num);TurnManu=[TurnManu;TnMn];
            if sum(num)==4;break;end
            MFstate=faceTurn(MFstate,'r');num=circshift(num,-1);TurnManu=[TurnManu;'a'];
        end
        TurnManu=[TurnManu;('- ').'];
        %将顶层4个角恢复,完成第一层恢复
        num=zeros(1,4);
        for n=1:4
            [MFstate,TnMn,num]=recoverF4(MFstate,num);TurnManu=[TurnManu;TnMn];
            if sum(num)==4;break;end
            MFstate=faceTurn(MFstate,'r');num=circshift(num,-1);TurnManu=[TurnManu;'a'];
        end
        

        TurnManu=[TurnManu;('- ').'];
        %第二层恢复 4个角恢复,完成第二层恢复
        [MFstate,TnMn]=disorganize(MFstate,'CC');TurnManu=[TurnManu;TnMn];
        num=zeros(1,4);
        for n=1:4
            [MFstate,TnMn,num]=recover2F4(MFstate,num);TurnManu=[TurnManu;TnMn];
            if sum(num)==4;break;end
            MFstate=faceTurn(MFstate,'l');num=circshift(num,-1);TurnManu=[TurnManu;'A'];
        end
        
        TurnManu=[TurnManu;('- ').'];
        %第三层公式恢复
        %---步骤1:顶上拼十字
         [MFstate,TnMn]=recover3F10(MFstate);TurnManu=[TurnManu;TnMn];
                 
        TurnManu=[TurnManu;('- ').'];
        %---步骤2:四个角对应上
         [MFstate,TnMn]=recover3F4(MFstate);TurnManu=[TurnManu;TnMn];
         
         TurnManu=[TurnManu;('- ').'];
         %---步骤3:顶面恢复
         [MFstate,TnMn]=recover3Face(MFstate);TurnManu=[TurnManu;TnMn];
         while isempty(TnMn)==0
             [MFstate,TnMn]=recover3Face(MFstate);TurnManu=[TurnManu;TnMn];
         end
         
         TurnManu=[TurnManu;('- ').'];
         %---步骤4:顶棱中恢复
         [MFstate,TnMn]=recover3FArris(MFstate);TurnManu=[TurnManu;TnMn];
         while isempty(TnMn)==0
             [MFstate,TnMn]=recover3FArris(MFstate);TurnManu=[TurnManu;TnMn];
         end
         
end
% ---定义魔方整体旋转行为---改变朝前面
% r,l,u,d 共4种行为
function MFstate=faceTurn(MFstate,manu)
    if manu=='r'
            MFstate={MFstate{5};rot90(MFstate{3},2);MFstate{1};fliplr(MFstate{4}.');rot90(MFstate{2},2);fliplr(MFstate{6}).'};
    elseif manu=='l'
            MFstate={MFstate{3};rot90(MFstate{5},2);rot90(MFstate{2},2);fliplr(MFstate{4}).';MFstate{1};fliplr(MFstate{6}.')};
    elseif manu=='u'
            MFstate={MFstate{4};MFstate{6};fliplr(MFstate{3}.');MFstate{2};fliplr(MFstate{5}).';MFstate{1}};
    elseif manu=='d'
            MFstate={MFstate{6};MFstate{4};fliplr(MFstate{3}).';MFstate{1};fliplr(MFstate{5}.');MFstate{2}};
    else 
        return;
    end
end
----------------------------------------------------------------------------------------------------------------------------------------------------------
% ---定义一个旋转过程的函数
function turnAroundP(hds,TurnManu,stepNum,tSec,limL,limU)
if nargin==4
    limL=-3;limU=0;
end
if TurnManu=='a'
    [az,el]=view();
    azStep=linspace(0,-90,stepNum);
    for n=1:stepNum
        view(az+azStep(n),el);pause(tSec);
    end

elseif TurnManu=='A'
    [az,el]=view();
    azStep=linspace(0,90,stepNum);
    for n=1:stepNum
        view(az+azStep(n),el);pause(tSec);
    end
  
elseif TurnManu=='c' || TurnManu=='C'
    azStep=90/(stepNum+1);
    if TurnManu=='C'
         azStep=-azStep;
    end
    direct=[1,0,0];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=1:6
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end
       
elseif TurnManu=='r' || TurnManu=='R'
    azStep=90/(stepNum+1);
    if TurnManu=='R'
         azStep=-azStep;
    end
    direct=[1,0,0];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=3
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        
        for k=[1,2,4,6]
            for kk=1:3
                for kkk=3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end
       
elseif TurnManu=='l' || TurnManu=='L'
    azStep=-90/(stepNum+1);
    if TurnManu=='L'
         azStep=-azStep;
    end
    direct=[1,0,0];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=5
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        
        for k=[1,2,4,6]
            for kk=1:3
                for kkk=1
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end
       
elseif TurnManu=='u' || TurnManu=='U'
    azStep=-90/(stepNum+1);
    if TurnManu=='U'
         azStep=-azStep;
    end
    direct=[0,0,1];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=6
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        
        for k=[1,3,5]
            for kk=1
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
 
        for k=2
            for kk=3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end    
       
elseif TurnManu=='d' || TurnManu=='D'
    azStep=90/(stepNum+1);
    if TurnManu=='D'
         azStep=-azStep;
    end
    direct=[0,0,1];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=4
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        
        for k=[1,3,5]
            for kk=3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
 
        for k=2
            for kk=1
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
        axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end    
       
elseif TurnManu=='f' || TurnManu=='F'
    azStep=-90/(stepNum+1);
    if TurnManu=='F'
         azStep=-azStep;
    end
    direct=[0,1,0];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=1
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
            for kk=1:3
                    h=hds{3}{kk,1};
                    rotate(h,direct,azStep,origin);
            end
            for kk=1:3
                    h=hds{5}{kk,3};
                    rotate(h,direct,azStep,origin);
            end
            
            for kkk=1:3
                    h=hds{4}{1,kkk};
                    rotate(h,direct,azStep,origin);
            end
            
            for kkk=1:3
                    h=hds{6}{3,kkk};
                    rotate(h,direct,azStep,origin);
            end
            axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end        
        
elseif TurnManu=='b' || TurnManu=='B'
    azStep=90/(stepNum+1);
    if TurnManu=='B'
         azStep=-azStep;
    end
    direct=[0,1,0];
    origin=-[1.5,1.5,1.5];
    for n=1:stepNum
        for k=2
            for kk=1:3
                for kkk=1:3
                    h=hds{k}{kk,kkk};
                    rotate(h,direct,azStep,origin);
                end
            end
        end
            for kk=1:3
                    h=hds{3}{kk,3};
                    rotate(h,direct,azStep,origin);
            end
            for kk=1:3
                    h=hds{5}{kk,1};
                    rotate(h,direct,azStep,origin);
            end
            
            for kkk=1:3
                    h=hds{4}{3,kkk};
                    rotate(h,direct,azStep,origin);
            end
            
            for kkk=1:3
                    h=hds{6}{1,kkk};
                    rotate(h,direct,azStep,origin);
            end
            axis([limL,limU,limL,limU,limL,limU]);axis off;view(160,30);pause(tSec);
    end       
    
    
end


end




% ---定义魔方整体旋转行为---改变朝前面
% r,l,u,d 共4种行为
function MFstate=faceTurn(MFstate,manu)
    if manu=='r'
            MFstate={MFstate{5};rot90(MFstate{3},2);MFstate{1};fliplr(MFstate{4}.');rot90(MFstate{2},2);fliplr(MFstate{6}).'};
    elseif manu=='l'
            MFstate={MFstate{3};rot90(MFstate{5},2);rot90(MFstate{2},2);fliplr(MFstate{4}).';MFstate{1};fliplr(MFstate{6}.')};
    elseif manu=='u'
            MFstate={MFstate{4};MFstate{6};fliplr(MFstate{3}.');MFstate{2};fliplr(MFstate{5}).';MFstate{1}};
    elseif manu=='d'
            MFstate={MFstate{6};MFstate{4};fliplr(MFstate{3}).';MFstate{1};fliplr(MFstate{5}.');MFstate{2}};
    else 
        return;
    end
end


% ---定义魔方侧边旋转行为(顺时针:fliplr(~.') or rot90(~,-1)逆时针:fliplr(~).'  or rot90(~,1)% rR,lL,uU,dD,fF,bB共12种行为(可进一步定义连续2步行为:R2,L2,U2,D2,F2,B2)
function MFstate=sideTurn(MFstate,manu)
    if manu=='r'
            MFstate{3}=fliplr(MFstate{3}.');
            tmp=MFstate{1}(:,3);
            MFstate{1}(:,3)=MFstate{4}(:,3);
            MFstate{4}(:,3)=MFstate{2}(:,3);
            MFstate{2}(:,3)=MFstate{6}(:,3);
            MFstate{6}(:,3)=tmp;
    elseif manu=='R'
            MFstate{3}=fliplr(MFstate{3}).';
            tmp=MFstate{1}(:,3);
            MFstate{1}(:,3)=MFstate{6}(:,3);
            MFstate{6}(:,3)=MFstate{2}(:,3);
            MFstate{2}(:,3)=MFstate{4}(:,3);
            MFstate{4}(:,3)=tmp;
    elseif manu=='l'
            MFstate{5}=fliplr(MFstate{5}.');
            tmp=MFstate{1}(:,1);
            MFstate{1}(:,1)=MFstate{6}(:,1);
            MFstate{6}(:,1)=MFstate{2}(:,1);
            MFstate{2}(:,1)=MFstate{4}(:,1);
            MFstate{4}(:,1)=tmp;
    elseif manu=='L'
            MFstate{5}=fliplr(MFstate{5}).';
            tmp=MFstate{1}(:,1);
            MFstate{1}(:,1)=MFstate{4}(:,1);
            MFstate{4}(:,1)=MFstate{2}(:,1);
            MFstate{2}(:,1)=MFstate{6}(:,1);
            MFstate{6}(:,1)=tmp;
    elseif manu=='u'
            MFstate{6}=fliplr(MFstate{6}.');
            tmp=MFstate{1}(1,:);
            MFstate{1}(1,:)=MFstate{3}(1,:);
            MFstate{3}(1,:)=fliplr(MFstate{2}(3,:));
            MFstate{2}(3,:)=fliplr(MFstate{5}(1,:));
            MFstate{5}(1,:)=tmp;
    elseif manu=='U'
            MFstate{6}=fliplr(MFstate{6}).';
            tmp=MFstate{1}(1,:);
            MFstate{1}(1,:)=MFstate{5}(1,:);
            MFstate{5}(1,:)=fliplr(MFstate{2}(3,:));
            MFstate{2}(3,:)=fliplr(MFstate{3}(1,:));
            MFstate{3}(1,:)=tmp;
    elseif manu=='d'
            MFstate{4}=fliplr(MFstate{4}.');
            tmp=MFstate{1}(3,:);
            MFstate{1}(3,:)=MFstate{5}(3,:);
            MFstate{5}(3,:)=fliplr(MFstate{2}(1,:));
            MFstate{2}(1,:)=fliplr(MFstate{3}(3,:));
            MFstate{3}(3,:)=tmp;
    elseif manu=='D'
            MFstate{4}=fliplr(MFstate{4}).';
            tmp=MFstate{1}(3,:);
            MFstate{1}(3,:)=MFstate{3}(3,:);
            MFstate{3}(3,:)=fliplr(MFstate{2}(1,:));
            MFstate{2}(1,:)=fliplr(MFstate{5}(3,:));
            MFstate{5}(3,:)=tmp;
    elseif manu=='f'
            MFstate{1}=fliplr(MFstate{1}.');
            tmp=MFstate{6}(3,:);
            MFstate{6}(3,:)=fliplr(MFstate{5}(:,3).');
            MFstate{5}(:,3)=MFstate{4}(1,:).';
            MFstate{4}(1,:)=fliplr(MFstate{3}(:,1).');
            MFstate{3}(:,1)=tmp.';
    elseif manu=='F'
            MFstate{1}=fliplr(MFstate{1}).';
            tmp=MFstate{6}(3,:);
            MFstate{6}(3,:)=MFstate{3}(:,1).';
            MFstate{3}(:,1)=fliplr(MFstate{4}(1,:)).';
            MFstate{4}(1,:)=MFstate{5}(:,3).';
            MFstate{5}(:,3)=fliplr(tmp).';
    elseif manu=='b'
            MFstate{2}=fliplr(MFstate{2}.');
            tmp=MFstate{6}(1,:);
            MFstate{6}(1,:)=MFstate{3}(:,3).';
            MFstate{3}(:,3)=fliplr(MFstate{4}(3,:)).';
            MFstate{4}(3,:)=MFstate{5}(:,1).';
            MFstate{5}(:,1)=fliplr(tmp).';
    elseif manu=='B'
            MFstate{2}=fliplr(MFstate{2}).';
            tmp=MFstate{6}(1,:);
            MFstate{6}(1,:)=fliplr(MFstate{5}(:,1).');
            MFstate{5}(:,1)=MFstate{4}(3,:).';
            MFstate{4}(3,:)=fliplr(MFstate{3}(:,3).');
            MFstate{3}(:,3)=tmp.';
    else 
        return;
    end
end

% ---作魔方正方体图形
function hds=pltMoFang(MFstate)
    for n=1:6
        h=pltMoFangface(MFstate{n},n);
        hds{n}=h;
    end
end

function hds=pltMoFangface(A,Fnum)
    if Fnum==1
        x=repmat(0:1:3,4,1);
        y=zeros(4);
        z=repmat(0:1:3,4,1).';
    elseif Fnum==2
        x=repmat(0:1:3,4,1);
        y=3*ones(4);
        z=repmat(3:-1:0,4,1).';
    elseif Fnum==3
        x=3*ones(4);
        y=repmat(0:1:3,4,1);
        z=repmat(0:1:3,4,1).';
    elseif Fnum==4  
        x=repmat(0:1:3,4,1);
        y=repmat(0:1:3,4,1).';
        z=3*ones(4);
    elseif Fnum==5
        x=zeros(4);
        y=repmat(3:-1:0,4,1);
        z=repmat(0:1:3,4,1).';
    elseif Fnum==6
        x=repmat(0:1:3,4,1);
        y=repmat(3:-1:0,4,1).';
        z=zeros(4);
    end
    
    for n=1:3
        for nn=1:3
            X=-[x(n,nn),x(n+1,nn),x(n+1,nn+1),x(n,nn+1)];
            Y=-[y(n,nn),y(n+1,nn),y(n+1,nn+1),y(n,nn+1)];
            Z=-[z(n,nn),z(n+1,nn),z(n+1,nn+1),z(n,nn+1)];
            if A(n,nn)==1
                C=[1,0,0];
            elseif A(n,nn)==2
                C=[1,0,1];
            elseif A(n,nn)==3
                C=[1,1,0];
            elseif A(n,nn)==4
                C=[0,1,0];
            elseif A(n,nn)==5
                C=[1,1,1];
            elseif A(n,nn)==6
                C=[0,0,1];
            end
             hds{n,nn}=fill3(X,Y,Z,C);hold on;
        end
    end
end

%% 随机打乱魔方的函数
function [MFstate,TurnManu]=disorganize(MFstate,TurnNum)
% % r,l,u,d 共4种行为--->更名a,A,d,D
% MFstate=faceTurn(MFstate,'N');
% % rR,lL,uU,dD,fF,bB共12种行为
% MFstate=sideTurn(MFstate,'N');
if ischar(TurnNum)==1
    TurnManu=TurnNum;
    TurnNum=length(TurnManu);
    if size(TurnManu,2)>1
        TurnManu=TurnManu.';
    end
    if contains(TurnManu.','2')==1
        TurnManu=DispTurnManu(TurnManu);
    end
else
    TurnManu=char(TurnNum,1);
    flagStr=['a','A','c','C','r','R','l','L','u','U','d','D','f','F','b','B'];   
    for n=1:TurnNum
        num=randperm(16,1);
        TurnManu(n)=flagStr(num);
    end
end
    for n=1:TurnNum
        flag=TurnManu(n);
        switch flag
            case 'a'
                MFstate=faceTurn(MFstate,'r');
            case 'A'
                MFstate=faceTurn(MFstate,'l');
            case 'c'
                MFstate=faceTurn(MFstate,'u');
            case 'C'
                MFstate=faceTurn(MFstate,'d');
            case 'r'
                MFstate=sideTurn(MFstate,'r');
            case 'R'
                MFstate=sideTurn(MFstate,'R');
            case 'l'
                MFstate=sideTurn(MFstate,'l');
            case 'L'
                MFstate=sideTurn(MFstate,'L');
            case 'u'
                MFstate=sideTurn(MFstate,'u');
            case 'U'
                MFstate=sideTurn(MFstate,'U');
            case 'd'
                MFstate=sideTurn(MFstate,'d');
            case 'D'
                MFstate=sideTurn(MFstate,'D');
            case 'f'
                MFstate=sideTurn(MFstate,'f');
            case 'F'
                MFstate=sideTurn(MFstate,'F');
            case 'b'
                MFstate=sideTurn(MFstate,'b');
            case 'B'
                MFstate=sideTurn(MFstate,'B');
        end
    end
end

%% 逆序恢复魔方
function [MFstate,TurnManu]=InvRecover(MFstate,TurnManu)
% % r,l,u,d 共4种行为--->更名a,A,c,C
% MFstate=faceTurn(MFstate,'N');
% %  rR,lL,uU,dD,fF,bB共12种行为
% MFstate=sideTurn(MFstate,'N');
TurnManu=flipud(TurnManu);
    for n=1:length(TurnManu)
        flag=TurnManu(n);
        switch flag
            case 'a'
                MFstate=faceTurn(MFstate,'l');
                TurnManu(n)='A';
            case 'A'
                MFstate=faceTurn(MFstate,'r');
                TurnManu(n)='a';
            case 'c'
                MFstate=faceTurn(MFstate,'d');
                TurnManu(n)='C';
            case 'C'
                MFstate=faceTurn(MFstate,'u');
                TurnManu(n)='c';
            case 'r'
                MFstate=sideTurn(MFstate,'R');
                TurnManu(n)='R';
            case 'R'
                MFstate=sideTurn(MFstate,'r');
                TurnManu(n)='r';
            case 'l'
                MFstate=sideTurn(MFstate,'L');
                TurnManu(n)='L';
            case 'L'
                MFstate=sideTurn(MFstate,'l');
                TurnManu(n)='l';
            case 'u'
                MFstate=sideTurn(MFstate,'U');
                TurnManu(n)='U';
            case 'U'
                MFstate=sideTurn(MFstate,'u');
                TurnManu(n)='u';
            case 'd'
                MFstate=sideTurn(MFstate,'D');
                TurnManu(n)='D';
            case 'D'
                MFstate=sideTurn(MFstate,'d');
                TurnManu(n)='d';
            case 'f'
                MFstate=sideTurn(MFstate,'F');
                TurnManu(n)='F';
            case 'F'
                MFstate=sideTurn(MFstate,'f');
                TurnManu(n)='f';
            case 'b'
                MFstate=sideTurn(MFstate,'B');
                TurnManu(n)='B';
            case 'B'
                MFstate=sideTurn(MFstate,'b');
                TurnManu(n)='b';
        end
    end
end

% %% 简化旋转魔方操作,只取有效操作
% function TurnManu=simplifyTurnManu(TurnManu)
% N0=length(TurnManu);
% 
% % ---消除正反操作
% N=length(TurnManu);
% n=N;
% while(n>1)
%     if (TurnManu(n)=='a' && TurnManu(n-1)=='A' ) || (TurnManu(n)=='A' && TurnManu(n-1)=='a' ) || ...
%        (TurnManu(n)=='c' && TurnManu(n-1)=='C' ) || (TurnManu(n)=='C' && TurnManu(n-1)=='c' ) || ...    
%        (TurnManu(n)=='r' && TurnManu(n-1)=='R' ) || (TurnManu(n)=='R' && TurnManu(n-1)=='r' )  ||... 
%        (TurnManu(n)=='l' && TurnManu(n-1)=='L' )  || (TurnManu(n)=='L' && TurnManu(n-1)=='l' )   ||...
%        (TurnManu(n)=='u' && TurnManu(n-1)=='U' ) || (TurnManu(n)=='U' && TurnManu(n-1)=='u' ) ||...
%        (TurnManu(n)=='d' && TurnManu(n-1)=='D' ) || (TurnManu(n)=='D' && TurnManu(n-1)=='d' ) ||...
%        (TurnManu(n)=='f' && TurnManu(n-1)=='F' )  || (TurnManu(n)=='F' && TurnManu(n-1)=='f' )   ||...
%        (TurnManu(n)=='b' && TurnManu(n-1)=='B' ) || (TurnManu(n)=='B' && TurnManu(n-1)=='b' ) 
%        
%         TurnManu(n-1:n)=[];
%         n=n-1;
%     end
%     n=n-1;
% end
% 
% 
% % ---消除4次相同操作
% N=length(TurnManu);
% n=N;
% while(n>3)
%     if (TurnManu(n)==TurnManu(n-1)) &&...
%         (TurnManu(n-1)==TurnManu(n-2)) &&...
%         (TurnManu(n-2)==TurnManu(n-3))
%     
%             TurnManu(n-3:n)=[];
%             n=n-3;
%     end
%     n=n-1;
% end
% 
% % ---3次相同操作替换为一次反向操作
% N=length(TurnManu);
% n=N;
% while(n>2)
%     if (TurnManu(n)==TurnManu(n-1)) &&...
%         (TurnManu(n-1)==TurnManu(n-2)) 
%     
%         if TurnManu(n-2)>90
%                 TurnManu(n-2)=TurnManu(n-2)-32;
%         else
%                 TurnManu(n-2)=TurnManu(n-2)+32;
%         end
%         
%         TurnManu(n-1:n)=[];
%         n=n-1;
%         
%     end
%     n=n-1;
% end
% 
% while(length(TurnManu)<N0)
%     TurnManu=simplifyTurnManu(TurnManu);
%     N0=length(TurnManu);
% end
% 
% end

%% 简化显示旋转魔方操作,将重复2次操作显示为操作2
function TurnManu=DispTurnManu(TurnManu,dispFlag)
if nargin==1
    dispFlag=0;
end
if size(TurnManu,2)>1
    TurnManu=TurnManu.';
end
if contains(TurnManu.','2')
    if dispFlag==1 
        disp(['Before:  ',TurnManu.'])
    end
    N=length(TurnManu);
    n=N;
    while(n>1)
        if TurnManu(n)=='2'
            TurnManu(n)=TurnManu(n-1);
        end
        n=n-1;
    end
    if dispFlag==1 
        disp(['After:  ',TurnManu.'])
    end
else 
    if dispFlag==1 
        disp(['Before:  ',TurnManu.'])
    end
    N=length(TurnManu);
    n=N;
    while(n>1)
        if TurnManu(n)==TurnManu(n-1)
            num=2;
            while n>2 && TurnManu(n)==TurnManu(n-2)
                num=num+1;
                TurnManu(n)=[];
                n=n-1;
            end
            TurnManu(n)=num2str(num);
        end
        n=n-1;
    end
    if dispFlag==1 
        disp(['After:  ',TurnManu.'])
    end
end
end


%% 将顶层4个角恢复
function [MFstate,TurnManu,num]=recoverF4(MFstate,num)

TurnManu=[];
        %---第一层恢复
        %记录面的位置
        obj1=MFstate{1}(2,2);obj2=MFstate{2}(2,2);
        obj3=MFstate{3}(2,2);obj4=MFstate{4}(2,2);
        obj5=MFstate{5}(2,2);obj6=MFstate{6}(2,2);
    
        if  MFstate{6}(1,1)==obj6 && MFstate{2}(3,1)==obj2 && MFstate{5}(1,1)==obj5
            num(1)=1;  end
        if  MFstate{6}(1,3)==obj6 && MFstate{2}(3,3)==obj2 && MFstate{3}(1,3)==obj3
            num(2)=1;  end
        if  MFstate{6}(3,3)==obj6 && MFstate{1}(1,3)==obj1 && MFstate{3}(1,1)==obj3 
            num(3)=1;  end
        if  MFstate{6}(3,1)==obj6 && MFstate{1}(1,1)==obj1 && MFstate{5}(1,3)==obj5
            num(4)=1;  end
        %---4角拼完
        if sum(num)==4; return;end

        if num(1)==0
            if  MFstate{2}(1,1)==obj2 && MFstate{5}(3,1)==obj6 && MFstate{4}(3,1)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'BlbL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(1,1)==obj6 && MFstate{5}(3,1)==obj5 && MFstate{4}(3,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'lBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(1,1)==obj5 && MFstate{5}(3,1)==obj2 && MFstate{4}(3,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'Ld2ldBlbL');TurnManu=[TurnManu;TnMn];
                
            elseif  MFstate{3}(3,3)==obj2 && MFstate{2}(1,3)==obj6 && MFstate{4}(3,3)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'dBlbL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(3,3)==obj6 && MFstate{2}(1,3)==obj5 && MFstate{4}(3,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'dlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(3,3)==obj5 && MFstate{2}(1,3)==obj2 && MFstate{4}(3,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'dLd2ldBlbL');TurnManu=[TurnManu;TnMn];
                
            elseif  MFstate{5}(3,3)==obj2 && MFstate{1}(3,1)==obj6 && MFstate{4}(1,1)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'DBlbL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(3,3)==obj6 && MFstate{1}(3,1)==obj5 && MFstate{4}(1,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'DlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(3,3)==obj5 && MFstate{1}(3,1)==obj2 && MFstate{4}(1,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'DLd2ldBlbL');TurnManu=[TurnManu;TnMn];
                    
            elseif  MFstate{1}(3,3)==obj2 && MFstate{3}(3,1)==obj6 && MFstate{4}(1,3)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'D2BlbL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(3,3)==obj6 && MFstate{3}(3,1)==obj5 && MFstate{4}(1,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'D2lBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(3,3)==obj5 && MFstate{3}(3,1)==obj2 && MFstate{4}(1,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'D2Ld2ldBlbL');TurnManu=[TurnManu;TnMn];
                    
            elseif  MFstate{5}(1,1)==obj2 && MFstate{2}(3,1)==obj6 && MFstate{6}(1,1)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'Ldl2BLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(1,1)==obj6 && MFstate{2}(3,1)==obj5 && MFstate{6}(1,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'bDB2lbL');TurnManu=[TurnManu;TnMn];
                    
            elseif  MFstate{3}(1,3)==obj2 && MFstate{6}(1,3)==obj6 && MFstate{2}(3,3)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'rdRBlbL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(1,3)==obj6 && MFstate{6}(1,3)==obj5 && MFstate{2}(3,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'rdRlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(1,3)==obj5 && MFstate{6}(1,3)==obj2 && MFstate{2}(3,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'rDRdBlbL');TurnManu=[TurnManu;TnMn];
                                    
            elseif  MFstate{5}(1,3)==obj2 && MFstate{6}(3,1)==obj6 && MFstate{1}(1,1)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'lDLDlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(1,3)==obj6 && MFstate{6}(3,1)==obj5 && MFstate{1}(1,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'lD2LdlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(1,3)==obj5 && MFstate{6}(3,1)==obj2 && MFstate{1}(1,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'lDLDBlbL');TurnManu=[TurnManu;TnMn];
                                                    
            elseif  MFstate{1}(1,3)==obj2 && MFstate{6}(3,3)==obj6 && MFstate{3}(1,1)==obj5
                [MFstate,TnMn]=disorganize(MFstate,'RD2rlBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(1,3)==obj6 && MFstate{6}(3,3)==obj5 && MFstate{3}(1,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'RdrD2lBLb');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(1,3)==obj5 && MFstate{6}(3,3)==obj2 && MFstate{3}(1,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'RD2rBlbL');TurnManu=[TurnManu;TnMn];

            end
            % 恢复完成
             num(1)=1;
        end
end

%% 公式恢复第一层的十字
function [MFstate,TurnManu,num]=recoverF10(MFstate,num)

TurnManu=[];
        %---第一层恢复
        %记录面的位置
        obj1=MFstate{1}(2,2);obj2=MFstate{2}(2,2);
        obj3=MFstate{3}(2,2);obj4=MFstate{4}(2,2);
        obj5=MFstate{5}(2,2);obj6=MFstate{6}(2,2);
if sum(num)==0
        %将顶层拼十字
        
        %---case1:顶层有同色块
        if  MFstate{6}(1,2)==obj6 && MFstate{2}(3,2)==obj2
        elseif  MFstate{6}(1,2)==obj6 && MFstate{2}(3,2)==obj3
            [MFstate,TnMn]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(1,2)==obj6 && MFstate{2}(3,2)==obj1
            [MFstate,TnMn]=disorganize(MFstate,'u2');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(1,2)==obj6 && MFstate{2}(3,2)==obj5
            [MFstate,TnMn]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMn];

        elseif  MFstate{6}(2,3)==obj6 && MFstate{3}(1,2)==obj3
        elseif MFstate{6}(2,3)==obj6  && MFstate{3}(1,2)==obj1
            [MFstate,TnMn]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(2,3)==obj6 && MFstate{3}(1,2)==obj5
            [MFstate,TnMn]=disorganize(MFstate,'u2');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(2,3)==obj6 && MFstate{3}(1,2)==obj2
            [MFstate,TnMn]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMn];

        elseif  MFstate{6}(3,2)==obj6 && MFstate{1}(1,2)==obj1
        elseif MFstate{6}(3,2)==obj6 && MFstate{1}(1,2)==obj5
            [MFstate,TnMn]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(3,2)==obj6 && MFstate{1}(1,2)==obj2
            [MFstate,TnMn]=disorganize(MFstate,'u2');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(3,2)==obj6 && MFstate{1}(1,2)==obj3
            [MFstate,TnMn]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMn];

        elseif  MFstate{6}(2,1)==obj6 && MFstate{5}(1,2)==obj5
        elseif MFstate{6}(2,1)==obj6 && MFstate{5}(1,2)==obj2
            [MFstate,TnMn]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(2,1)==obj6 && MFstate{5}(1,2)==obj3
            [MFstate,TnMn]=disorganize(MFstate,'u2');TurnManu=[TurnManu;TnMn];
        elseif MFstate{6}(2,1)==obj6 && MFstate{5}(1,2)==obj1
            [MFstate,TnMn]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMn];

        end
end        

        if  MFstate{6}(1,2)==obj6 && MFstate{2}(3,2)==obj2
            num(1)=1;  end
        if  MFstate{6}(2,3)==obj6 && MFstate{3}(1,2)==obj3
            num(2)=1;  end
        if  MFstate{6}(3,2)==obj6 && MFstate{1}(1,2)==obj1
            num(3)=1;  end
        if  MFstate{6}(2,1)==obj6 && MFstate{5}(1,2)==obj5
            num(4)=1;  end
        %---十字拼完
        if sum(num)==4; return;end

        if num(1)==0
            if  MFstate{2}(1,2)==obj6 && MFstate{4}(3,2)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'dlBL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(1,2)==obj2 && MFstate{4}(3,2)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'b2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,3)==obj6 && MFstate{3}(2,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'rdRb2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,3)==obj2 && MFstate{3}(2,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'b');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,1)==obj6 && MFstate{5}(2,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'LDlb2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,1)==obj2 && MFstate{5}(2,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'B');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(3,2)==obj6 && MFstate{6}(1,2)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'bLDlb2');TurnManu=[TurnManu;TnMn];


            elseif  MFstate{3}(1,2)==obj6 && MFstate{6}(2,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'rb');TurnManu=[TurnManu;TnMn];     
            elseif  MFstate{3}(1,2)==obj2 && MFstate{6}(2,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'r2db2Dr2');TurnManu=[TurnManu;TnMn]; 
            elseif  MFstate{1}(1,2)==obj6 && MFstate{6}(3,2)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'f2dRbr');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(1,2)==obj2 && MFstate{6}(3,2)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'f2d2b2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(1,2)==obj6 && MFstate{6}(2,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'LB');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(1,2)==obj2 && MFstate{6}(2,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'L2Db2');TurnManu=[TurnManu;TnMn];


            elseif  MFstate{5}(3,2)==obj2 && MFstate{4}(2,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'Db2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(3,2)==obj6 && MFstate{4}(2,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'lBL');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(2,3)==obj6 && MFstate{1}(2,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'l2BL2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{5}(2,3)==obj2 && MFstate{1}(2,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'lDLB2');TurnManu=[TurnManu;TnMn];

            elseif  MFstate{1}(3,2)==obj2 && MFstate{4}(1,2)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'D2B2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(3,2)==obj6 && MFstate{4}(1,2)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'dRbr');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(2,3)==obj6 && MFstate{3}(2,1)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'RdrB2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(2,3)==obj2 && MFstate{3}(2,1)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'fd2FB2');TurnManu=[TurnManu;TnMn];


            elseif  MFstate{3}(3,2)==obj2 && MFstate{4}(2,3)==obj6
                [MFstate,TnMn]=disorganize(MFstate,'dB2');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(3,2)==obj6 && MFstate{4}(2,3)==obj2
                [MFstate,TnMn]=disorganize(MFstate,'Rbr');TurnManu=[TurnManu;TnMn];

            end
            % 恢复完成
             num(1)=1;
        end
end

%% 将第二层4个角恢复
function [MFstate,TurnManu,num]=recover2F4(MFstate,num)

TurnManu=[];
        %---第一层恢复
        %记录面的位置
        obj1=MFstate{1}(2,2);obj2=MFstate{2}(2,2);
        obj3=MFstate{3}(2,2);obj4=MFstate{4}(2,2);
        obj5=MFstate{5}(2,2);obj6=MFstate{6}(2,2);      

        if  MFstate{1}(2,3)==obj1 && MFstate{3}(2,1)==obj3
            num(1)=1;  end
        if  MFstate{3}(2,3)==obj3 && MFstate{2}(2,3)==obj2
            num(2)=1;  end
        if  MFstate{2}(2,1)==obj2 && MFstate{5}(2,1)==obj5
            num(3)=1;  end
        if  MFstate{1}(2,1)==obj1 && MFstate{5}(2,3)==obj5
            num(4)=1;  end
        %---第二层拼完
        if sum(num)==4; return;end

        if num(1)==0
            if  MFstate{1}(2,3)==obj3 && MFstate{3}(2,1)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'rURUFufUrURUFuf');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(2,3)==obj3 && MFstate{2}(2,3)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'ArURUFufarURUFuf');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{3}(2,3)==obj1 && MFstate{2}(2,3)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'ArURUFufauFufurUR');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,1)==obj3 && MFstate{5}(2,1)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'a2rURUFufA2urURUFuf');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{2}(2,1)==obj1 && MFstate{5}(2,1)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'a2rURUFufA2U2FufurUR');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(2,1)==obj1 && MFstate{5}(2,3)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'arURUFufAu2rURUFuf');TurnManu=[TurnManu;TnMn];
            elseif  MFstate{1}(2,1)==obj3 && MFstate{5}(2,3)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'arURUFufAUFufurUR');TurnManu=[TurnManu;TnMn];
                
            
            elseif  MFstate{3}(1,2)==obj3 && MFstate{6}(2,3)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'UFufurUR');TurnManu=[TurnManu;TnMn];   
            elseif  MFstate{2}(3,2)==obj3 && MFstate{6}(1,2)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'FufurUR');TurnManu=[TurnManu;TnMn];    
            elseif  MFstate{5}(1,2)==obj3 && MFstate{6}(2,1)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'uFufurUR');TurnManu=[TurnManu;TnMn];     
            elseif  MFstate{1}(1,2)==obj3 && MFstate{6}(3,2)==obj1
                [MFstate,TnMn]=disorganize(MFstate,'u2FufurUR');TurnManu=[TurnManu;TnMn];    
            
            elseif  MFstate{3}(1,2)==obj1 && MFstate{6}(2,3)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'u2rURUFuf');TurnManu=[TurnManu;TnMn];     
            elseif  MFstate{2}(3,2)==obj1 && MFstate{6}(1,2)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'UrURUFuf');TurnManu=[TurnManu;TnMn];  
            elseif  MFstate{5}(1,2)==obj1 && MFstate{6}(2,1)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'rURUFuf');TurnManu=[TurnManu;TnMn];     
            elseif  MFstate{1}(1,2)==obj1 && MFstate{6}(3,2)==obj3
                [MFstate,TnMn]=disorganize(MFstate,'urURUFuf');TurnManu=[TurnManu;TnMn];                   

            end
            % 恢复完成
             num(1)=1;
        end
end
%% 公式恢复第三层的十字
function [MFstate,TurnManu]=recover3F10(MFstate)
TurnManu=[];
flg=0;
    while flg~=1
        flg=is10ok(MFstate);
        if flg==1
            break;
        elseif flg==2
            [MFstate,TnMu]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMu];
        elseif flg==3
            [MFstate,TnMu]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMu];
        elseif flg==4
            [MFstate,TnMu]=disorganize(MFstate,'U2');TurnManu=[TurnManu;TnMu];
        elseif flg==5
            [MFstate,TnMu]=disorganize(MFstate,'u');TurnManu=[TurnManu;TnMu];
        end
        [MFstate,TnMu]=disorganize(MFstate,'RUFufr');TurnManu=[TurnManu;TnMu];
    end
end

function flg=is10ok(MFstate)
flg=0;
    if MFstate{6}(2) == MFstate{6}(5) &&...
       MFstate{6}(4) == MFstate{6}(5) &&...     
       MFstate{6}(6) == MFstate{6}(5) &&...
       MFstate{6}(8) == MFstate{6}(5) 
        flg=1;
    elseif MFstate{6}(4)==MFstate{6}(5) && MFstate{6}(6)==MFstate{6}(5)
         flg=2;  
    elseif MFstate{6}(4)==MFstate{6}(5) && MFstate{6}(8)==MFstate{6}(5)
         flg=3; 
    elseif MFstate{6}(6)==MFstate{6}(5) && MFstate{6}(8)==MFstate{6}(5)
         flg=4;
    elseif MFstate{6}(2)==MFstate{6}(5) && MFstate{6}(6)==MFstate{6}(5)
         flg=5;
    end
end

%% 将第三层4个角位置对应上
function [MFstate,TurnManu]=recover3F4(MFstate)
TurnManu=[];
flg=0;
    while flg~=1
        [flg,num]=is4ok(MFstate);
        while sum(num)<2 
            [MFstate,TnMu]=disorganize(MFstate,'U');TurnManu=[TurnManu;TnMu];
            [flg,num]=is4ok(MFstate);
        end
        if flg==1
            break;
        elseif flg==2
          if num(4)==1
               [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
           end
        elseif flg==3
            [MFstate,TnMu]=disorganize(MFstate,'A');TurnManu=[TurnManu;TnMu];
        elseif flg==4
            [MFstate,TnMu]=disorganize(MFstate,'A2');TurnManu=[TurnManu;TnMu];
        elseif flg==5
            [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
        end
        [MFstate,TnMu]=disorganize(MFstate,'rULuRUlU2');TurnManu=[TurnManu;TnMu];
    end
end


function [flg,num]=is4ok(MFstate)
num=zeros(1,4);
        %记录面的位置
        o1=MFstate{1}(2,2);o2=MFstate{2}(2,2);
        o3=MFstate{3}(2,2);o4=MFstate{4}(2,2);
        o5=MFstate{5}(2,2);o6=MFstate{6}(2,2);
        A=[o1,o3,o6;o3,o2,o6;o2,o5,o6;o1,o5,o6];
        B=[MFstate{1}(1,3),MFstate{3}(1,1),MFstate{6}(3,3);...
            MFstate{3}(1,3),MFstate{2}(3,3),MFstate{6}(1,3);...
            MFstate{2}(3,1),MFstate{5}(1,1),MFstate{6}(1,1);...
            MFstate{5}(1,3),MFstate{1}(1,1),MFstate{6}(3,1);...
            ];
    flg=0;
    for n=1:4
        num(n) = isfit(A(n,:),B(n,:));
    end
    if sum(num)==4
        flg=1;
    elseif num(1)==1
        flg=2;
    elseif num(2)==1
        flg=3;
    elseif num(3)==1
        flg=4;
    elseif num(4)==1
        flg=5;
    end
end

function flg=isfit(a,b)
flg=0;
if (a(1)==b(1) && a(2)==b(2) && a(3)==b(3)) ||... 
   (a(1)==b(2) && a(2)==b(3) && a(3)==b(1)) ||...
   (a(1)==b(3) && a(2)==b(1) && a(3)==b(2)) ||...
   (a(1)==b(1) && a(2)==b(3) && a(3)==b(2)) ||...
   (a(1)==b(2) && a(2)==b(1) && a(3)==b(3)) ||...
   (a(1)==b(3) && a(2)==b(2) && a(3)==b(1)) 
  
    flg=1;
end

end
%% 顶面恢复
function [MFstate,TurnManu]=recover3Face(MFstate)
TurnManu=[];
num=0;
for n=1:3
    for nn=1:3
        if MFstate{6}(n,nn)==MFstate{6}(2,2)
            num=num+1;
        end
    end
end

if num==9
    return;%顶面恢复完成
elseif num==5
    while (MFstate{2}(3,1)==MFstate{6}(2,2) || MFstate{2}(3,3)==MFstate{6}(2,2)) 
        [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
    end
    [MFstate,TnMu]=disorganize(MFstate,'RUrURU2rU2');TurnManu=[TurnManu;TnMu];
elseif num==6
    while (MFstate{6}(1,1)~=MFstate{6}(2,2) ) 
        [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
    end
    [MFstate,TnMu]=disorganize(MFstate,'RUrURU2rU2');TurnManu=[TurnManu;TnMu];   
elseif num==7
    Tn=0;
    while Tn<5 && ((MFstate{6}(1,3)~=MFstate{6}(2,2) || ...
               MFstate{6}(2,3)~=MFstate{6}(2,2) || ...
               MFstate{6}(3,3)~=MFstate{6}(2,2))) 
        [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
        Tn=Tn+1;
    end
    [MFstate,TnMu]=disorganize(MFstate,'RUrURU2rU2');TurnManu=[TurnManu;TnMu];
end

end

%% 顶棱中恢复
function [MFstate,TurnManu]=recover3FArris(MFstate)
    TurnManu=[];
    if MFstate{1}(1,2)==MFstate{1}(2,2) && MFstate{3}(1,2)==MFstate{3}(2,2) 
        return;
    elseif MFstate{1}(1,2)==MFstate{1}(2,2)
         [MFstate,TnMu]=disorganize(MFstate,'a2');TurnManu=[TurnManu;TnMu];
    elseif MFstate{3}(1,2)==MFstate{3}(2,2) 
         [MFstate,TnMu]=disorganize(MFstate,'a');TurnManu=[TurnManu;TnMu];
    elseif MFstate{5}(1,2)==MFstate{5}(2,2) 
         [MFstate,TnMu]=disorganize(MFstate,'A');TurnManu=[TurnManu;TnMu];
    end
    
    if MFstate{1}(1,2)==MFstate{3}(2,2) 
         [MFstate,TnMu]=disorganize(MFstate,'F2URlF2rLUF2');TurnManu=[TurnManu;TnMu];
    else
         [MFstate,TnMu]=disorganize(MFstate,'F2uRlF2rLuF2');TurnManu=[TurnManu;TnMu];
    end
end



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