[20] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | #include "btBulletDynamicsCommon.h" |
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| 18 | #include <stdio.h> |
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| 19 | |
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| 20 | /// This is a Hello World program for running a basic Bullet physics simulation |
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| 21 | |
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| 22 | int main(int argc, char** argv) |
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| 23 | { |
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| 24 | |
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| 25 | int i; |
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| 26 | |
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| 27 | ///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration. |
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| 28 | btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); |
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| 29 | |
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| 30 | ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) |
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| 31 | btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); |
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| 32 | |
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| 33 | ///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep. |
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| 34 | btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase(); |
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| 35 | |
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| 36 | ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) |
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| 37 | btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver; |
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| 38 | |
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| 39 | btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration); |
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| 40 | |
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| 41 | dynamicsWorld->setGravity(btVector3(0,-10,0)); |
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| 42 | |
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| 43 | ///create a few basic rigid bodies |
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| 44 | btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); |
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| 45 | |
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| 46 | //keep track of the shapes, we release memory at exit. |
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| 47 | //make sure to re-use collision shapes among rigid bodies whenever possible! |
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| 48 | btAlignedObjectArray<btCollisionShape*> collisionShapes; |
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| 49 | |
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| 50 | collisionShapes.push_back(groundShape); |
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| 51 | |
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| 52 | btTransform groundTransform; |
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| 53 | groundTransform.setIdentity(); |
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| 54 | groundTransform.setOrigin(btVector3(0,-56,0)); |
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| 55 | |
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| 56 | { |
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| 57 | btScalar mass(0.); |
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| 58 | |
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| 59 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
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| 60 | bool isDynamic = (mass != 0.f); |
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| 61 | |
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| 62 | btVector3 localInertia(0,0,0); |
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| 63 | if (isDynamic) |
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| 64 | groundShape->calculateLocalInertia(mass,localInertia); |
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| 65 | |
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| 66 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
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| 67 | btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); |
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| 68 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); |
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| 69 | btRigidBody* body = new btRigidBody(rbInfo); |
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| 70 | |
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| 71 | //add the body to the dynamics world |
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| 72 | dynamicsWorld->addRigidBody(body); |
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| 73 | } |
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| 74 | |
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| 75 | |
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| 76 | { |
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| 77 | //create a dynamic rigidbody |
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| 78 | |
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| 79 | //btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1)); |
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| 80 | btCollisionShape* colShape = new btSphereShape(btScalar(1.)); |
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| 81 | collisionShapes.push_back(colShape); |
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| 82 | |
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| 83 | /// Create Dynamic Objects |
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| 84 | btTransform startTransform; |
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| 85 | startTransform.setIdentity(); |
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| 86 | |
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| 87 | btScalar mass(1.f); |
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| 88 | |
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| 89 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
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| 90 | bool isDynamic = (mass != 0.f); |
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| 91 | |
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| 92 | btVector3 localInertia(0,0,0); |
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| 93 | if (isDynamic) |
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| 94 | colShape->calculateLocalInertia(mass,localInertia); |
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| 95 | |
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| 96 | startTransform.setOrigin(btVector3(2,10,0)); |
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| 97 | |
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| 98 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
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| 99 | btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); |
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| 100 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia); |
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| 101 | btRigidBody* body = new btRigidBody(rbInfo); |
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| 102 | |
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| 103 | dynamicsWorld->addRigidBody(body); |
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| 104 | } |
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| 105 | |
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| 106 | |
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| 107 | |
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| 108 | /// Do some simulation |
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| 109 | |
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| 110 | |
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| 111 | |
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| 112 | for (i=0;i<100;i++) |
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| 113 | { |
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| 114 | dynamicsWorld->stepSimulation(1.f/60.f,10); |
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| 115 | |
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| 116 | //print positions of all objects |
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| 117 | for (int j=dynamicsWorld->getNumCollisionObjects()-1; j>=0 ;j--) |
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| 118 | { |
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| 119 | btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j]; |
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| 120 | btRigidBody* body = btRigidBody::upcast(obj); |
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| 121 | if (body && body->getMotionState()) |
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| 122 | { |
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| 123 | btTransform trans; |
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| 124 | body->getMotionState()->getWorldTransform(trans); |
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| 125 | printf("world pos = %f,%f,%f\n",float(trans.getOrigin().getX()),float(trans.getOrigin().getY()),float(trans.getOrigin().getZ())); |
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| 126 | } |
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| 127 | } |
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| 128 | } |
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| 129 | |
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| 130 | |
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| 131 | //cleanup in the reverse order of creation/initialization |
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| 132 | |
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| 133 | //remove the rigidbodies from the dynamics world and delete them |
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| 134 | for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) |
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| 135 | { |
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| 136 | btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i]; |
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| 137 | btRigidBody* body = btRigidBody::upcast(obj); |
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| 138 | if (body && body->getMotionState()) |
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| 139 | { |
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| 140 | delete body->getMotionState(); |
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| 141 | } |
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| 142 | dynamicsWorld->removeCollisionObject( obj ); |
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| 143 | delete obj; |
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| 144 | } |
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| 145 | |
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| 146 | //delete collision shapes |
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| 147 | for (int j=0;j<collisionShapes.size();j++) |
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| 148 | { |
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| 149 | btCollisionShape* shape = collisionShapes[j]; |
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| 150 | collisionShapes[j] = 0; |
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| 151 | delete shape; |
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| 152 | } |
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| 153 | |
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| 154 | //delete dynamics world |
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| 155 | delete dynamicsWorld; |
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| 156 | |
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| 157 | //delete solver |
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| 158 | delete solver; |
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| 159 | |
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| 160 | //delete broadphase |
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| 161 | delete overlappingPairCache; |
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| 162 | |
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| 163 | //delete dispatcher |
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| 164 | delete dispatcher; |
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| 165 | |
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| 166 | delete collisionConfiguration; |
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| 167 | |
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| 168 | //next line is optional: it will be cleared by the destructor when the array goes out of scope |
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| 169 | collisionShapes.clear(); |
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| 170 | |
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| 171 | } |
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| 172 | |
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