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BulletSim initial checkin
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Robert Adams
186
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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186
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Runtime.InteropServices;
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using System.Security;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin {
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public struct ConvexHull
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{
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Vector3 Offset;
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int VertexCount;
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Vector3[] Vertices;
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}
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public struct ShapeData
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{
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public enum PhysicsShapeType
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{
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SHAPE_AVATAR = 0,
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SHAPE_BOX = 1,
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SHAPE_CONE = 2,
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SHAPE_CYLINDER = 3,
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SHAPE_SPHERE = 4,
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SHAPE_HULL = 5
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};
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public const int numericTrue = 1;
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public const int numericFalse = 0;
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public uint ID;
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public PhysicsShapeType Type;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Scale;
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public float Mass;
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public float Buoyancy;
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public System.UInt64 MeshKey;
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public int Collidable;
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public float Friction;
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public int Static; // true if a static object. Otherwise gravity, etc.
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// note that bools are passed as ints since bool size changes by language
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}
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public struct SweepHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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public Vector3 Point;
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}
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public struct RaycastHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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}
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public struct EntityProperties
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{
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public uint ID;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Acceleration;
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public Vector3 AngularVelocity;
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}
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static class BulletSimAPI {
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern uint Initialize(Vector3 maxPosition);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount,
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[MarshalAs(UnmanagedType.LPArray)] float[] hulls
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateObject(uint worldID, ShapeData shapeData);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void AddConstraint(uint worldID, uint id1, uint id2,
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Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool HasObject(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyObject(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
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// Log a debug message
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetDebugLogCallback(DebugLogCallback callback);
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}
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}
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