Revision: 47160
http://brlcad.svn.sourceforge.net/brlcad/?rev=47160&view=rev
Author: abhi2011
Date: 2011-10-07 00:43:50 +0000 (Fri, 07 Oct 2011)
Log Message:
-----------
Began to actually shoot rays towards simulation geometry, needs some
debugging(issues during memory cleanup)
Modified Paths:
--------------
brlcad/trunk/src/libged/simulate/simrt.c
brlcad/trunk/src/libged/simulate/simrt.h
brlcad/trunk/src/libged/simulate/simutils.c
Modified: brlcad/trunk/src/libged/simulate/simrt.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.c 2011-10-06 21:11:04 UTC (rev
47159)
+++ brlcad/trunk/src/libged/simulate/simrt.c 2011-10-07 00:43:50 UTC (rev
47160)
@@ -27,8 +27,43 @@
/* Private Header */
#include "simrt.h"
+/*
+ * Global lists filled up while raytracing
+ */
+struct overlap overlap_list;
+struct hit_reg hit_list;
+
int
+cleanup_lists(void)
+{
+ struct overlap *ovp;
+ struct hit_reg *hrp;
+
+ /* Free all nodes of overlap circularly linked list */
+ if (overlap_list.forw != &overlap_list) {
+ ovp = overlap_list.forw;
+ while (ovp != &overlap_list) {
+ bu_free(ovp, "overlap_list");
+ ovp = ovp->forw;
+ }
+ }
+
+ /* Free all nodes of hit region circularly linked list */
+ if (hit_list.forw != &hit_list) {
+ hrp = hit_list.forw;
+ while (hrp != &hit_list) {
+ bu_free(hrp, "hit_list");
+ hrp = hrp->forw;
+ }
+ }
+
+ return GED_OK;
+}
+
+
+
+int
get_overlap(struct rigid_body *rbA, struct rigid_body *rbB, vect_t
overlap_min, vect_t overlap_max)
{
bu_log("Calculating overlap between BB of %s(%f, %f, %f):(%f,%f,%f) \
@@ -56,10 +91,17 @@
return GED_OK;
}
-
+/*
+ * Handles hits, records then in a global list
+ * TODO : Stop the ray after it's left the overlap region which is being
currently
+ * queried.
+ */
int
if_hit(struct application *ap, struct partition *part_headp, struct seg
*UNUSED(segs))
{
+
+ struct hit_reg *new_hit_regp;
+
/* iterating over partitions, this will keep track of the current
* partition we're working on.
*/
@@ -75,7 +117,7 @@
struct curvature cur;
/* will contain our hit point coordinate */
- point_t pt;
+ point_t in_pt, out_pt;
/* will contain normal vector where ray enters geometry */
vect_t inormal;
@@ -83,94 +125,127 @@
/* will contain normal vector where ray exits geometry */
vect_t onormal;
- /* iterate over each partition until we get back to the head.
- * each partition corresponds to a specific homogeneous region of
- * material.
- */
+ new_hit_regp = (struct hit_reg *) bu_malloc(sizeof(struct hit_reg),
"new_ovlp");
+ if(new_hit_regp){
- /* iterate over each partition until we get back to the head.
- * each partition corresponds to a specific homogeneous region of
- * material.
- */
- for (pp=part_headp->pt_forw; pp != part_headp; pp = pp->pt_forw) {
+ /* iterate over each partition until we get back to the head.
+ * each partition corresponds to a specific homogeneous region
of
+ * material.
+ */
- /* print the name of the region we hit as well as the name of
- * the primitives encountered on entry and exit.
- */
- bu_log("\n--- Hit region %s (in %s, out %s)\n",
- pp->pt_regionp->reg_name,
- pp->pt_inseg->seg_stp->st_name,
- pp->pt_outseg->seg_stp->st_name );
+ /* iterate over each partition until we get back to the head.
+ * each partition corresponds to a specific homogeneous region
of
+ * material.
+ */
+ for (pp=part_headp->pt_forw; pp != part_headp; pp =
pp->pt_forw) {
- /* entry hit point, so we type less */
- hitp = pp->pt_inhit;
+ /* print the name of the region we hit as well as the
name of
+ * the primitives encountered on entry and exit.
+ */
+ bu_log("\n--- Hit region %s (in %s, out %s)\n",
+ pp->pt_regionp->reg_name,
+ pp->pt_inseg->seg_stp->st_name,
+ pp->pt_outseg->seg_stp->st_name );
- /* construct the actual (entry) hit-point from the ray and the
- * distance to the intersection point (i.e., the 't' value).
- */
- VJOIN1(pt, ap->a_ray.r_pt, hitp->hit_dist, ap->a_ray.r_dir);
+ /* Insert solid data into list node */
+ new_hit_regp->reg_name = pp->pt_regionp->reg_name;
+ new_hit_regp->in_stp = pp->pt_inseg->seg_stp;
+ new_hit_regp->out_stp = pp->pt_outseg->seg_stp;
- /* primitive we encountered on entry */
- stp = pp->pt_inseg->seg_stp;
+ /* entry hit point, so we type less */
+ hitp = pp->pt_inhit;
- /* compute the normal vector at the entry point, flipping the
- * normal if necessary.
- */
- RT_HIT_NORMAL(inormal, hitp, stp, &(ap->a_ray), pp->pt_inflip);
+ /* construct the actual (entry) hit-point from the ray
and the
+ * distance to the intersection point (i.e., the 't'
value).
+ */
+ VJOIN1(in_pt, ap->a_ray.r_pt, hitp->hit_dist,
ap->a_ray.r_dir);
- /* print the entry hit point info */
- rt_pr_hit(" In", hitp);
- VPRINT( " Ipoint", pt);
- VPRINT( " Inormal", inormal);
+ /* primitive we encountered on entry */
+ stp = pp->pt_inseg->seg_stp;
- if (pp->pt_overlap_reg) {
- struct region *pp_reg;
- int j = -1;
+ /* compute the normal vector at the entry point,
flipping the
+ * normal if necessary.
+ */
+ RT_HIT_NORMAL(inormal, hitp, stp, &(ap->a_ray),
pp->pt_inflip);
- bu_log(" Claiming regions:\n");
- while ((pp_reg = pp->pt_overlap_reg[++j]))
- bu_log(" %s\n", pp_reg->reg_name);
- }
+ /* print the entry hit point info */
+ rt_pr_hit(" In", hitp);
+ VPRINT( " Ipoint", in_pt);
+ VPRINT( " Inormal", inormal);
- /* This next macro fills in the curvature information which
- * consists on a principle direction vector, and the inverse
- * radii of curvature along that direction and perpendicular
- * to it. Positive curvature bends toward the outward
- * pointing normal.
- */
- RT_CURVATURE(&cur, hitp, pp->pt_inflip, stp);
- /* print the entry curvature information */
- VPRINT("PDir", cur.crv_pdir);
- bu_log(" c1=%g\n", cur.crv_c1);
- bu_log(" c2=%g\n", cur.crv_c2);
+ if (pp->pt_overlap_reg) {
+ struct region *pp_reg;
+ int j = -1;
- /* exit point, so we type less */
- hitp = pp->pt_outhit;
+ bu_log(" Claiming regions:\n");
+ while ((pp_reg = pp->pt_overlap_reg[++j]))
+ bu_log(" %s\n",
pp_reg->reg_name);
+ }
- /* construct the actual (exit) hit-point from the ray and the
- * distance to the intersection point (i.e., the 't' value).
- */
- VJOIN1(pt, ap->a_ray.r_pt, hitp->hit_dist, ap->a_ray.r_dir);
+ /* This next macro fills in the curvature information
which
+ * consists of a principle direction vector, and the
inverse
+ * radii of curvature along that direction and
perpendicular
+ * to it. Positive curvature bends toward the outward
+ * pointing normal.
+ */
+ RT_CURVATURE(&cur, hitp, pp->pt_inflip, stp);
- /* primitive we exited from */
- stp = pp->pt_outseg->seg_stp;
+ /* print the entry curvature information */
+ VPRINT("PDir", cur.crv_pdir);
+ bu_log(" c1=%g\n", cur.crv_c1);
+ bu_log(" c2=%g\n", cur.crv_c2);
- /* compute the normal vector at the exit point, flipping the
- * normal if necessary.
- */
- RT_HIT_NORMAL(onormal, hitp, stp, &(ap->a_ray), pp->pt_outflip);
+ /* Insert the data about the input point into the list
*/
+ VMOVE(new_hit_regp->in_point, in_pt);
+ VMOVE(new_hit_regp->in_normal, inormal);
+ new_hit_regp->in_dist = hitp->hit_dist;
+ new_hit_regp->cur = cur;
- /* print the exit hit point info */
- rt_pr_hit(" Out", hitp);
- VPRINT( " Opoint", pt);
- VPRINT( " Onormal", onormal);
+ /* exit point, so we type less */
+ hitp = pp->pt_outhit;
+
+ /* construct the actual (exit) hit-point from the ray
and the
+ * distance to the intersection point (i.e., the 't'
value).
+ */
+ VJOIN1(out_pt, ap->a_ray.r_pt, hitp->hit_dist,
ap->a_ray.r_dir);
+
+ /* primitive we exited from */
+ stp = pp->pt_outseg->seg_stp;
+
+ /* compute the normal vector at the exit point,
flipping the
+ * normal if necessary.
+ */
+ RT_HIT_NORMAL(onormal, hitp, stp, &(ap->a_ray),
pp->pt_outflip);
+
+ /* print the exit hit point info */
+ rt_pr_hit(" Out", hitp);
+ VPRINT( " Opoint", out_pt);
+ VPRINT( " Onormal", onormal);
+
+ /* Insert the data about the input point into the list
*/
+ VMOVE(new_hit_regp->out_point, out_pt);
+ VMOVE(new_hit_regp->out_normal, onormal);
+ new_hit_regp->out_dist = hitp->hit_dist;
+
+ /* Insert the new hit region into the list of hit
regions */
+ new_hit_regp->forw = hit_list.forw;
+ new_hit_regp->backw = &hit_list;
+ new_hit_regp->forw->backw = new_hit_regp;
+ hit_list.forw = new_hit_regp;
+
+ }
}
return HIT;
}
+/**
+ *
+ * Handles misses while shooting manifold rays,
+ * not interested in misses.
+ */
int
if_miss(struct application *UNUSED(ap))
{
@@ -180,78 +255,58 @@
/**
- * I F _ O V E R L A P
*
- * Default handler for overlaps in rt_boolfinal().
- * Returns -
- * 0 to eliminate partition with overlap entirely
- * !0 to retain partition in output list
+ * Handles overlaps while shooting manifold rays,
+ * records the overlap regions in a global list
*
*/
int
if_overlap(struct application *ap, struct partition *pp, struct region *reg1,
struct region *reg2, struct partition *InputHdp)
{
+ struct overlap *new_ovlp;
+
bu_log("if_overlap: OVERLAP between %s and %s", reg1->reg_name,
reg2->reg_name);
- fastf_t in_dist;
- fastf_t out_dist;
- point_t in_point;
- point_t out_point;
- in_dist = pp->pt_inhit->hit_dist;
- out_dist = pp->pt_outhit->hit_dist;
- VJOIN1(in_point, ap->a_ray.r_pt, pp->pt_inhit->hit_dist,
- ap->a_ray.r_dir);
- VJOIN1(out_point, ap->a_ray.r_pt, pp->pt_outhit->hit_dist,
- ap->a_ray.r_dir);
+ new_ovlp = (struct overlap *) bu_malloc(sizeof(struct overlap),
"new_ovlp");
+ if(new_ovlp){
+ new_ovlp->ap = ap;
+ new_ovlp->pp = pp;
+ new_ovlp->reg1 = reg1;
+ new_ovlp->reg2 = reg2;
+ new_ovlp->in_dist = pp->pt_inhit->hit_dist;
+ new_ovlp->out_dist = pp->pt_outhit->hit_dist;
+ VJOIN1(new_ovlp->in_point, ap->a_ray.r_pt,
pp->pt_inhit->hit_dist,
+ ap->a_ray.r_dir);
+ VJOIN1(new_ovlp->out_point, ap->a_ray.r_pt,
pp->pt_outhit->hit_dist,
+ ap->a_ray.r_dir);
- bu_log("if_overlap: Entering at (%f,%f,%f) at distance of %f",
V3ARGS(in_point), in_dist);
- bu_log("if_overlap: Exiting at (%f,%f,%f) at distance of %f",
V3ARGS(out_point), out_dist);
+ /* Insert the new overlap into the list of overlaps */
+ new_ovlp->forw = overlap_list.forw;
+ new_ovlp->backw = &overlap_list;
+ new_ovlp->forw->backw = new_ovlp;
+ overlap_list.forw = new_ovlp;
+ }
+ bu_log("if_overlap: Entering at (%f,%f,%f) at distance of %f",
+ V3ARGS(new_ovlp->in_point), new_ovlp->in_dist);
+ bu_log("if_overlap: Exiting at (%f,%f,%f) at distance of %f",
+ V3ARGS(new_ovlp->out_point), new_ovlp->out_dist);
+
+
return rt_defoverlap (ap, pp, reg1, reg2, InputHdp);
}
-
+/*
+ * Shoots a ray at the simulation geometry and fills up the hit &
+ * overlap global list
+ */
int
-generate_manifolds(struct ged *gedp, struct simulation_params *sim_params)
+shoot_ray(struct rt_i *rtip, point_t pt, point_t dir)
{
- struct sim_manifold *current_manifold;
- struct rigid_body *rb;
- vect_t overlap_min, overlap_max;
- char *prefix_overlap = "overlap_";
- struct bu_vls overlap_name = BU_VLS_INIT_ZERO;
-
- /* Raytrace related stuff */
- struct rt_i *rtip;
struct application ap;
- /* Add all sim objects to raytrace instance */
- /* Make a new rt_i instance from the existing db_i sructure */
- if ((rtip=rt_new_rti(gedp->ged_wdbp->dbip)) == RTI_NULL) {
- bu_log("generate_manifolds: rt_new_rti failed while getting new
rt instance\n");
- return GED_ERROR;
- }
-
- rtip->useair = 1;
-
- /* Add all the sim objects to the rt_i
- */
- for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
- if (rt_gettree(rtip, rb->rb_namep) < 0)
- bu_log("generate_manifolds: Failed to load geometry for
[%s]\n", rb->rb_namep);
- else
- bu_log("generate_manifolds: Added [%s] to raytracer\n",
rb->rb_namep);
- }
-
- /* This next call causes some values to be pre-computed, sets up space
- * partitioning, computes bounding volumes, etc.
- */
- rt_prep_parallel(rtip, 1);
-
- bu_log("Simulation objects bounding box (%f, %f, %f):(%f,%f,%f)",
- V3ARGS(rtip->mdl_min), V3ARGS(rtip->mdl_max));
-
/* Initialize the table of resource structures */
/* rt_init_resource(&res_tab, 0, rtip); */
@@ -276,8 +331,8 @@
* set during editing. There are libbu routines for performing
* unit conversions if desired.
*/
- VSET(ap.a_ray.r_pt, 1.0, 1.0, 0.0);
- VSET(ap.a_ray.r_dir, -1.0, 0.0, 0.0);
+ VMOVE(ap.a_ray.r_pt, pt);
+ VMOVE(ap.a_ray.r_dir, dir);
/* Simple debug printing */
VPRINT("Pnt", ap.a_ray.r_pt);
@@ -286,7 +341,78 @@
/* Shoot the ray. */
(void)rt_shootray(&ap);
+ return GED_OK;
+}
+
+/*
+ * Initialize the simulation scene for raytracing
+ */
+int
+init_raytrace(struct simulation_params *sim_params, struct rt_i *rtip)
+{
+ struct rigid_body *rb;
+
+ /* Add all sim objects to raytrace instance */
+
+ /* Add all the sim objects to the rt_i */
+ for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
+ if (rt_gettree(rtip, rb->rb_namep) < 0)
+ bu_log("generate_manifolds: Failed to load geometry for
[%s]\n", rb->rb_namep);
+ else
+ bu_log("generate_manifolds: Added [%s] to raytracer\n",
rb->rb_namep);
+ }
+
+ /* This next call causes some values to be pre-computed, sets up space
+ * partitioning, computes bounding volumes, etc.
+ */
+ rt_prep_parallel(rtip, 1);
+
+ bu_log("Simulation objects bounding box (%f, %f, %f):(%f,%f,%f)",
+ V3ARGS(rtip->mdl_min), V3ARGS(rtip->mdl_max));
+
+ overlap_list.forw = overlap_list.backw = &overlap_list;
+ hit_list.forw = hit_list.backw = &hit_list;
+
+ return GED_OK;
+}
+
+
+int
+generate_manifolds(struct ged *gedp, struct simulation_params *sim_params)
+{
+ struct sim_manifold *current_manifold;
+ struct rigid_body *rb;
+ vect_t overlap_min, overlap_max;
+ char *prefix_overlap = "overlap_";
+ struct bu_vls overlap_name = BU_VLS_INIT_ZERO;
+
+ /* Raytrace related stuff */
+ struct rt_i *rtip;
+ point_t r_pt, r_dir;
+
+ /* Make a new rt_i instance from the existing db_i structure */
+ if ((rtip=rt_new_rti(gedp->ged_wdbp->dbip)) == RTI_NULL) {
+ bu_log("generate_manifolds: rt_new_rti failed while getting new
rt instance\n");
+ return GED_ERROR;
+ }
+ rtip->useair = 1;
+
+ init_raytrace(sim_params, rtip);
+
+ VSET(r_pt, 1.0, 1.0, 0.0);
+ VSET(r_dir, -1.0, 0.0, 0.0);
+
+ shoot_ray(rtip, r_pt, r_dir);
+
+
+ /* Traverse the hit list and overlap list */
+ /* line(gedp, "ray_test", in_pt, out_pt, 0, 210, 0); */
+
+ /* Cleanup the overlap and hit lists and free memory */
+ cleanup_lists();
+
+
/* Check all rigid bodies for overlaps using their manifold lists */
for (rb = sim_params->head_node; rb != NULL; rb = rb->next) {
Modified: brlcad/trunk/src/libged/simulate/simrt.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simrt.h 2011-10-06 21:11:04 UTC (rev
47159)
+++ brlcad/trunk/src/libged/simulate/simrt.h 2011-10-07 00:43:50 UTC (rev
47160)
@@ -51,9 +51,48 @@
*/
#define GRID_GRANULARITY 0.04
+/*
+ * This structure is a single node of a circularly linked list
+ * of overlap regions: similar to the one in nirt/usrfrmt.h
+ */
+struct overlap {
+ struct application *ap;
+ struct partition *pp;
+ struct region *reg1;
+ struct region *reg2;
+ fastf_t in_dist;
+ fastf_t out_dist;
+ point_t in_point;
+ point_t out_point;
+ struct overlap *forw;
+ struct overlap *backw;
+};
+
+/*
+ * This structure is a single node of a circularly linked list
+ * of hit regions, similar to struct hit from raytrace.h
+ */
+struct hit_reg {
+ struct application *ap;
+ struct partition *pp;
+ const char *reg_name;
+ struct soltab *in_stp;
+ struct soltab *out_stp;
+ fastf_t in_dist;
+ fastf_t out_dist;
+ point_t in_point;
+ point_t out_point;
+ vect_t in_normal;
+ vect_t out_normal;
+ struct curvature cur;
+ int hit_surfno; /**< @brief solid-specific
surface indicator */
+ struct hit_reg *forw;
+ struct hit_reg *backw;
+};
+
/**
- * Shoots rays within the AABB overlap regions only to allow more rays to be
shot
+ * Shoots rays within the AABB overlap regions only, to allow more rays to be
shot
* in a grid of finer granularity and to increase performance.
*/
int
Modified: brlcad/trunk/src/libged/simulate/simutils.c
===================================================================
--- brlcad/trunk/src/libged/simulate/simutils.c 2011-10-06 21:11:04 UTC (rev
47159)
+++ brlcad/trunk/src/libged/simulate/simutils.c 2011-10-07 00:43:50 UTC (rev
47160)
@@ -195,32 +195,25 @@
char *cmd_args[20];
int rv;
char buffer_str[MAX_FLOATING_POINT_STRLEN];
- char *prefix_arrow_line = "arrow_line_";
- char *prefix_arrow_head = "arrow_head_";
- struct bu_vls arrow_line_vls = BU_VLS_INIT_ZERO, arrow_head_vls =
BU_VLS_INIT_ZERO;
- char *prefixed_arrow_line, *prefixed_arrow_head;
+ char *suffix_reg = "_reg";
+ struct bu_vls reg_vls = BU_VLS_INIT_ZERO;
vect_t v;
/* Arrow line primitive name */
- bu_vls_sprintf(&arrow_line_vls, "%s%s", prefix_arrow_line, name);
- prefixed_arrow_line = bu_vls_addr(&arrow_line_vls);
+ bu_vls_sprintf(®_vls, "%s%s", name, suffix_reg);
- /* Arrow line primitive name */
- bu_vls_sprintf(&arrow_head_vls, "%s%s", prefix_arrow_head, name);
- prefixed_arrow_head = bu_vls_addr(&arrow_head_vls);
-
- if (kill(gedp, prefixed_arrow_line) != GED_OK) {
- bu_log("line: ERROR Could not delete existing \"%s\"\n",
prefixed_arrow_line);
+ if (kill(gedp, name) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n", name);
return GED_ERROR;
}
- if (kill(gedp, prefixed_arrow_head) != GED_OK) {
- bu_log("line: ERROR Could not delete existing \"%s\"\n",
prefixed_arrow_head);
+ if (kill(gedp, bu_vls_addr(®_vls)) != GED_OK) {
+ bu_log("line: ERROR Could not delete existing \"%s\"\n",
bu_vls_addr(®_vls));
return GED_ERROR;
}
cmd_args[0] = "in";
- cmd_args[1] = prefixed_arrow_line;
+ cmd_args[1] = name;
cmd_args[2] = "bot";
cmd_args[3] = "3";
cmd_args[4] = "1";
@@ -249,47 +242,14 @@
rv = ged_in(gedp, 19, (const char **)cmd_args);
if (rv != GED_OK) {
- bu_log("line: ERROR Could not draw arrow line \"%s\"
(%f,%f,%f)-(%f,%f,%f) \n",
- prefixed_arrow_line, V3ARGS(from), V3ARGS(to));
+ bu_log("line: ERROR Could not draw line \"%s\" (%f,%f,%f)-(%f,%f,%f)
\n",
+ name, V3ARGS(from), V3ARGS(to));
return GED_ERROR;
}
- add_to_comb(gedp, name, prefixed_arrow_line);
+ add_to_comb(gedp, bu_vls_addr(®_vls), name);
+ apply_material(gedp, bu_vls_addr(®_vls), "plastic tr 0.9", r, g, b);
- VSUB2(v, to, from);
- VUNITIZE(v);
- VSCALE(v, v, 0.1);
- bu_log("line: Unit vector (%f,%f,%f)\n", V3ARGS(v));
-
- cmd_args[0] = "in";
- cmd_args[1] = prefixed_arrow_head;
- cmd_args[2] = "trc";
-
- sprintf(buffer_str, "%f", to[0]); cmd_args[3] = bu_strdup(buffer_str);
- sprintf(buffer_str, "%f", to[1]); cmd_args[4] = bu_strdup(buffer_str);
- sprintf(buffer_str, "%f", to[2]); cmd_args[5] = bu_strdup(buffer_str);
-
- sprintf(buffer_str, "%f", v[0]); cmd_args[6] = bu_strdup(buffer_str);
- sprintf(buffer_str, "%f", v[1]); cmd_args[7] = bu_strdup(buffer_str);
- sprintf(buffer_str, "%f", v[2]); cmd_args[8] = bu_strdup(buffer_str);
-
-
- sprintf(buffer_str, "%f", ARROW_BASE_RADIUS); cmd_args[9] =
bu_strdup(buffer_str);
- sprintf(buffer_str, "%f", ARROW_TIP_RADIUS); cmd_args[10] =
bu_strdup(buffer_str);
-
- cmd_args[11] = (char *)0;
-
- print_command(cmd_args, 11);
-
- rv = ged_in(gedp, 11, (const char **)cmd_args);
- if (rv != GED_OK) {
- bu_log("line: ERROR Could not draw arrow head \"%s\"
(%f,%f,%f)-(%f,%f,%f) \n",
- prefixed_arrow_head, V3ARGS(from), V3ARGS(to));
- return GED_ERROR;
- }
-
- add_to_comb(gedp, name, prefixed_arrow_head);
-
return GED_OK;
}
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