453 lines
17 KiB
C#
453 lines
17 KiB
C#
using UnityEngine;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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namespace Obi
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{
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public class ObiResourceHandle<T> where T : class
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{
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public T owner = null; /**< reference to the owner instance*/
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public int index = -1; /**< index of this resource in the collision world.*/
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private int referenceCount = 0; /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
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public bool isValid
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{
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get { return index >= 0; }
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}
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public void Invalidate()
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{
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index = -1;
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referenceCount = 0;
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}
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public void Reference()
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{
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referenceCount++;
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}
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public bool Dereference()
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{
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return --referenceCount == 0;
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}
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public ObiResourceHandle(int index = -1)
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{
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this.index = index;
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owner = null;
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}
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}
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public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
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{
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public ObiColliderHandle(int index = -1) : base(index) { }
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}
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public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
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{
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public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
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}
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public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
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{
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public ObiRigidbodyHandle(int index = -1) : base(index) { }
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}
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[ExecuteInEditMode]
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public class ObiColliderWorld
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{
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[NonSerialized] public List<IColliderWorldImpl> implementations;
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[NonSerialized] public List<ObiColliderHandle> colliderHandles; // list of collider handles, used by ObiCollider components to retrieve them.
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[NonSerialized] public ObiNativeColliderShapeList colliderShapes; // list of collider shapes.
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[NonSerialized] public ObiNativeAabbList colliderAabbs; // list of collider bounds.
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[NonSerialized] public ObiNativeAffineTransformList colliderTransforms; // list of collider transforms.
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[NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
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[NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
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[NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles; // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
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[NonSerialized] public ObiNativeRigidbodyList rigidbodies; // list of rigidbodies.
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[NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
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[NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
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[NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
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[NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
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private static ObiColliderWorld instance;
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public static ObiColliderWorld GetInstance()
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{
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if (instance == null)
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{
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instance = new ObiColliderWorld();
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instance.Initialize();
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}
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return instance;
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}
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private void Initialize()
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{
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// Allocate all lists:
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if (implementations == null)
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implementations = new List<IColliderWorldImpl>();
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if (colliderHandles == null)
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colliderHandles = new List<ObiColliderHandle>();
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if (colliderShapes == null)
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colliderShapes = new ObiNativeColliderShapeList();
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if (colliderAabbs == null)
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colliderAabbs = new ObiNativeAabbList();
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if (colliderTransforms == null)
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colliderTransforms = new ObiNativeAffineTransformList();
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if (materialHandles == null)
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materialHandles = new List<ObiCollisionMaterialHandle>();
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if (collisionMaterials == null)
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collisionMaterials = new ObiNativeCollisionMaterialList();
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if (rigidbodyHandles == null)
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rigidbodyHandles = new List<ObiRigidbodyHandle>();
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if (rigidbodies == null)
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rigidbodies = new ObiNativeRigidbodyList();
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if (triangleMeshContainer == null)
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triangleMeshContainer = new ObiTriangleMeshContainer();
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if (edgeMeshContainer == null)
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edgeMeshContainer = new ObiEdgeMeshContainer();
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if (distanceFieldContainer == null)
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distanceFieldContainer = new ObiDistanceFieldContainer();
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if (heightFieldContainer == null)
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heightFieldContainer = new ObiHeightFieldContainer();
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}
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private void Destroy()
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{
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for (int i = 0; i < implementations.Count; ++i)
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{
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implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
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implementations[i].UpdateWorld(0);
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}
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// Invalidate all handles:
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if (colliderHandles != null)
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foreach (var handle in colliderHandles)
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handle.Invalidate();
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if (rigidbodyHandles != null)
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foreach (var handle in rigidbodyHandles)
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handle.Invalidate();
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if (materialHandles != null)
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foreach (var handle in materialHandles)
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handle.Invalidate();
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// Dispose of all lists:
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implementations = null;
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colliderHandles = null;
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rigidbodyHandles = null;
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materialHandles = null;
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if (colliderShapes != null)
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colliderShapes.Dispose();
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if (colliderAabbs != null)
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colliderAabbs.Dispose();
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if (colliderTransforms != null)
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colliderTransforms.Dispose();
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if (collisionMaterials != null)
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collisionMaterials.Dispose();
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if (rigidbodies != null)
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rigidbodies.Dispose();
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if (triangleMeshContainer != null)
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triangleMeshContainer.Dispose();
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if (edgeMeshContainer != null)
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edgeMeshContainer.Dispose();
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if (distanceFieldContainer != null)
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distanceFieldContainer.Dispose();
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if (heightFieldContainer != null)
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heightFieldContainer.Dispose();
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instance = null;
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}
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private void DestroyIfUnused()
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{
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// when there are no implementations and no colliders, the world gets destroyed.
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if (colliderHandles.Count == 0 && rigidbodyHandles.Count == 0 && materialHandles.Count == 0 && implementations.Count == 0)
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Destroy();
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}
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public void RegisterImplementation(IColliderWorldImpl impl)
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{
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if (!implementations.Contains(impl))
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implementations.Add(impl);
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}
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public void UnregisterImplementation(IColliderWorldImpl impl)
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{
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implementations.Remove(impl);
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DestroyIfUnused();
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}
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public ObiColliderHandle CreateCollider()
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{
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var handle = new ObiColliderHandle(colliderHandles.Count);
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colliderHandles.Add(handle);
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colliderShapes.Add(new ColliderShape());
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colliderAabbs.Add(new Aabb());
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colliderTransforms.Add(new AffineTransform());
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return handle;
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}
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public ObiRigidbodyHandle CreateRigidbody()
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{
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var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
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rigidbodyHandles.Add(handle);
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rigidbodies.Add(new ColliderRigidbody());
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return handle;
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}
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public ObiCollisionMaterialHandle CreateCollisionMaterial()
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{
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var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
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materialHandles.Add(handle);
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collisionMaterials.Add(new CollisionMaterial());
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return handle;
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}
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public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
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{
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return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
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}
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public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
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{
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triangleMeshContainer.DestroyTriangleMesh(meshHandle);
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}
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public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
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{
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return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
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}
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public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
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{
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edgeMeshContainer.DestroyEdgeMesh(meshHandle);
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}
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public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
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{
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return distanceFieldContainer.GetOrCreateDistanceField(df);
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}
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public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
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{
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distanceFieldContainer.DestroyDistanceField(dfHandle);
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}
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public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
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{
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return heightFieldContainer.GetOrCreateHeightField(hf);
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}
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public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
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{
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heightFieldContainer.DestroyHeightField(hfHandle);
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}
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public void DestroyCollider(ObiColliderHandle handle)
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{
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if (colliderShapes != null && handle != null && handle.isValid && handle.index < colliderHandles.Count)
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{
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int index = handle.index;
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int lastIndex = colliderHandles.Count - 1;
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// swap all collider info:
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colliderHandles.Swap(index, lastIndex);
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colliderShapes.Swap(index, lastIndex);
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colliderAabbs.Swap(index, lastIndex);
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colliderTransforms.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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colliderHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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colliderHandles.RemoveAt(lastIndex);
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colliderShapes.count--;
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colliderAabbs.count--;
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colliderTransforms.count--;
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DestroyIfUnused();
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}
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}
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public void DestroyRigidbody(ObiRigidbodyHandle handle)
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{
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if (rigidbodies != null && handle != null && handle.isValid && handle.index < rigidbodyHandles.Count)
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{
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int index = handle.index;
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int lastIndex = rigidbodyHandles.Count - 1;
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// swap all collider info:
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rigidbodyHandles.Swap(index, lastIndex);
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rigidbodies.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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rigidbodyHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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rigidbodyHandles.RemoveAt(lastIndex);
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rigidbodies.count--;
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DestroyIfUnused();
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}
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}
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public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
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{
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if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
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{
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int index = handle.index;
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int lastIndex = materialHandles.Count - 1;
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// swap all collider info:
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materialHandles.Swap(index, lastIndex);
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collisionMaterials.Swap(index, lastIndex);
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// update the index of the handle we swapped with:
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materialHandles[index].index = index;
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// invalidate our handle:
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// (after updating the swapped one!
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// in case there's just one handle in the array,
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// we need to write -1 after 0)
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handle.Invalidate();
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// remove last index:
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materialHandles.RemoveAt(lastIndex);
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collisionMaterials.count--;
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DestroyIfUnused();
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}
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}
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public void UpdateColliders()
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{
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// update all colliders:
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for (int i = 0; i < colliderHandles.Count; ++i)
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colliderHandles[i].owner.UpdateIfNeeded();
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<<<<<<< HEAD
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=======
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for (int i = 0; i < implementations.Count; ++i)
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{
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if (implementations[i].referenceCount > 0)
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{
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// set arrays:
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implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
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implementations[i].SetRigidbodies(rigidbodies);
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implementations[i].SetCollisionMaterials(collisionMaterials);
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implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
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implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
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implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
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implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
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// update world implementation:
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implementations[i].UpdateWorld();
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}
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}
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>>>>>>> 56Hotfix
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}
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public void UpdateRigidbodies(List<ObiSolver> solvers, float stepTime)
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{
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// reset all solver's delta buffers to zero:
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foreach (ObiSolver solver in solvers)
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{
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if (solver != null)
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{
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solver.EnsureRigidbodyArraysCapacity(rigidbodyHandles.Count);
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solver.rigidbodyLinearDeltas.WipeToZero();
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solver.rigidbodyAngularDeltas.WipeToZero();
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}
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}
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for (int i = 0; i < rigidbodyHandles.Count; ++i)
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rigidbodyHandles[i].owner.UpdateIfNeeded(stepTime);
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}
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public void UpdateWorld(float deltaTime)
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{
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for (int i = 0; i < implementations.Count; ++i)
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{
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// set arrays:
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implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, colliderShapes.count);
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implementations[i].SetRigidbodies(rigidbodies);
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implementations[i].SetCollisionMaterials(collisionMaterials);
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implementations[i].SetTriangleMeshData(triangleMeshContainer.headers, triangleMeshContainer.bihNodes, triangleMeshContainer.triangles, triangleMeshContainer.vertices);
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implementations[i].SetEdgeMeshData(edgeMeshContainer.headers, edgeMeshContainer.bihNodes, edgeMeshContainer.edges, edgeMeshContainer.vertices);
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implementations[i].SetDistanceFieldData(distanceFieldContainer.headers, distanceFieldContainer.dfNodes);
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implementations[i].SetHeightFieldData(heightFieldContainer.headers, heightFieldContainer.samples);
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// update world implementation:
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implementations[i].UpdateWorld(deltaTime);
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}
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}
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public void UpdateRigidbodyVelocities(List<ObiSolver> solvers)
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{
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int count = 0;
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foreach (ObiSolver solver in solvers)
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if (solver != null) count++;
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if (count > 0)
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{
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// we want to average the deltas applied by all solvers, so calculate 1/solverCount.
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float rcpCount = 1.0f / count;
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for (int i = 0; i < rigidbodyHandles.Count; ++i)
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{
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Vector4 linearDelta = Vector4.zero;
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Vector4 angularDelta = Vector4.zero;
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foreach (ObiSolver solver in solvers)
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{
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if (solver != null)
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{
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linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
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angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
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}
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}
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// update rigidbody velocities
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rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
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}
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}
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}
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}
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}
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