[216] | 1 | //Benoit CHAPEROT 2003-2004 www.jstarlab.com |
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| 2 | //some code inspired by Magic Software |
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| 3 | #include <ode/common.h> |
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| 4 | #include <ode/collision.h> |
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| 5 | #include <ode/matrix.h> |
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| 6 | #include <ode/rotation.h> |
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| 7 | #include <ode/odemath.h> |
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| 8 | #include "collision_kernel.h" |
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| 9 | #include "collision_std.h" |
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| 10 | #include "collision_std_internal.h" |
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| 11 | #include "collision_util.h" |
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| 12 | #include <drawstuff/drawstuff.h> |
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| 13 | #include "windows.h" |
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| 14 | #include "ode\ode.h" |
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| 15 | |
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| 16 | #define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) |
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| 17 | const dReal fEPSILON = 1e-9f; |
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| 18 | |
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| 19 | dxCone::dxCone (dSpaceID space, dReal _radius,dReal _length) : |
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| 20 | dxGeom (space,1) |
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| 21 | { |
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| 22 | dAASSERT(_radius > 0.f); |
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| 23 | dAASSERT(_length > 0.f); |
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| 24 | type = dConeClass; |
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| 25 | radius = _radius; |
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| 26 | lz = _length; |
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| 27 | } |
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| 28 | |
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| 29 | dxCone::~dxCone() |
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| 30 | { |
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| 31 | } |
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| 32 | |
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| 33 | void dxCone::computeAABB() |
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| 34 | { |
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| 35 | const dMatrix3& R = final_posr->R; |
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| 36 | const dVector3& pos = final_posr->pos; |
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| 37 | |
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| 38 | dReal xrange = dFabs(R[2] * lz) + radius; |
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| 39 | dReal yrange = dFabs(R[6] * lz) + radius; |
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| 40 | dReal zrange = dFabs(R[10] * lz) + radius; |
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| 41 | aabb[0] = pos[0] - xrange; |
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| 42 | aabb[1] = pos[0] + xrange; |
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| 43 | aabb[2] = pos[1] - yrange; |
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| 44 | aabb[3] = pos[1] + yrange; |
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| 45 | aabb[4] = pos[2] - zrange; |
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| 46 | aabb[5] = pos[2] + zrange; |
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| 47 | } |
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| 48 | |
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| 49 | dGeomID dCreateCone(dSpaceID space, dReal _radius,dReal _length) |
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| 50 | { |
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| 51 | return new dxCone(space,_radius,_length); |
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| 52 | } |
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| 53 | |
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| 54 | void dGeomConeSetParams (dGeomID g, dReal _radius, dReal _length) |
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| 55 | { |
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| 56 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
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| 57 | dAASSERT (_radius > 0.f); |
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| 58 | dAASSERT (_length > 0.f); |
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| 59 | g->recomputePosr(); |
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| 60 | dxCone *c = (dxCone*) g; |
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| 61 | c->radius = _radius; |
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| 62 | c->lz = _length; |
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| 63 | dGeomMoved (g); |
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| 64 | } |
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| 65 | |
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| 66 | |
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| 67 | void dGeomConeGetParams (dGeomID g, dReal *_radius, dReal *_length) |
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| 68 | { |
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| 69 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
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| 70 | g->recomputePosr(); |
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| 71 | dxCone *c = (dxCone*) g; |
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| 72 | *_radius = c->radius; |
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| 73 | *_length = c->lz; |
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| 74 | } |
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| 75 | |
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| 76 | //positive inside |
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| 77 | dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z) |
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| 78 | { |
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| 79 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
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| 80 | |
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| 81 | g->recomputePosr(); |
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| 82 | dxCone *cone = (dxCone*) g; |
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| 83 | |
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| 84 | dVector3 tmp,q; |
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| 85 | tmp[0] = x - cone->final_posr->pos[0]; |
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| 86 | tmp[1] = y - cone->final_posr->pos[1]; |
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| 87 | tmp[2] = z - cone->final_posr->pos[2]; |
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| 88 | dMULTIPLY1_331 (q,cone->final_posr->R,tmp); |
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| 89 | |
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| 90 | dReal r = cone->radius; |
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| 91 | dReal h = cone->lz; |
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| 92 | |
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| 93 | dReal d0 = (r - r*q[2]/h) - dSqrt(q[0]*q[0]+q[1]*q[1]); |
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| 94 | dReal d1 = q[2]; |
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| 95 | dReal d2 = h-q[2]; |
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| 96 | |
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| 97 | if (d0 < d1) { |
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| 98 | if (d0 < d2) return d0; else return d2; |
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| 99 | } |
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| 100 | else { |
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| 101 | if (d1 < d2) return d1; else return d2; |
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| 102 | } |
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| 103 | } |
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| 104 | |
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| 105 | //plane plane |
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| 106 | bool FindIntersectionPlanePlane(const dReal Plane0[4], const dReal Plane1[4], |
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| 107 | dVector3 LinePos,dVector3 LineDir) |
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| 108 | { |
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| 109 | // If Cross(N0,N1) is zero, then either planes are parallel and separated |
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| 110 | // or the same plane. In both cases, 'false' is returned. Otherwise, |
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| 111 | // the intersection line is |
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| 112 | // |
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| 113 | // L(t) = t*Cross(N0,N1) + c0*N0 + c1*N1 |
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| 114 | // |
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| 115 | // for some coefficients c0 and c1 and for t any real number (the line |
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| 116 | // parameter). Taking dot products with the normals, |
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| 117 | // |
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| 118 | // d0 = Dot(N0,L) = c0*Dot(N0,N0) + c1*Dot(N0,N1) |
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| 119 | // d1 = Dot(N1,L) = c0*Dot(N0,N1) + c1*Dot(N1,N1) |
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| 120 | // |
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| 121 | // which are two equations in two unknowns. The solution is |
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| 122 | // |
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| 123 | // c0 = (Dot(N1,N1)*d0 - Dot(N0,N1)*d1)/det |
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| 124 | // c1 = (Dot(N0,N0)*d1 - Dot(N0,N1)*d0)/det |
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| 125 | // |
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| 126 | // where det = Dot(N0,N0)*Dot(N1,N1)-Dot(N0,N1)^2. |
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| 127 | /* |
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| 128 | Real fN00 = rkPlane0.Normal().SquaredLength(); |
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| 129 | Real fN01 = rkPlane0.Normal().Dot(rkPlane1.Normal()); |
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| 130 | Real fN11 = rkPlane1.Normal().SquaredLength(); |
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| 131 | Real fDet = fN00*fN11 - fN01*fN01; |
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| 132 | |
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| 133 | if ( Math::FAbs(fDet) < gs_fEpsilon ) |
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| 134 | return false; |
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| 135 | |
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| 136 | Real fInvDet = 1.0f/fDet; |
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| 137 | Real fC0 = (fN11*rkPlane0.Constant() - fN01*rkPlane1.Constant())*fInvDet; |
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| 138 | Real fC1 = (fN00*rkPlane1.Constant() - fN01*rkPlane0.Constant())*fInvDet; |
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| 139 | |
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| 140 | rkLine.Direction() = rkPlane0.Normal().Cross(rkPlane1.Normal()); |
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| 141 | rkLine.Origin() = fC0*rkPlane0.Normal() + fC1*rkPlane1.Normal(); |
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| 142 | return true; |
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| 143 | */ |
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| 144 | dReal fN00 = dLENGTHSQUARED(Plane0); |
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| 145 | dReal fN01 = dDOT(Plane0,Plane1); |
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| 146 | dReal fN11 = dLENGTHSQUARED(Plane1); |
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| 147 | dReal fDet = fN00*fN11 - fN01*fN01; |
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| 148 | |
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| 149 | if ( fabs(fDet) < fEPSILON) |
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| 150 | return false; |
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| 151 | |
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| 152 | dReal fInvDet = 1.0f/fDet; |
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| 153 | dReal fC0 = (fN11*Plane0[3] - fN01*Plane1[3])*fInvDet; |
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| 154 | dReal fC1 = (fN00*Plane1[3] - fN01*Plane0[3])*fInvDet; |
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| 155 | |
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| 156 | dCROSS(LineDir,=,Plane0,Plane1); |
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| 157 | dNormalize3(LineDir); |
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| 158 | |
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| 159 | dVector3 Temp0,Temp1; |
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| 160 | dOPC(Temp0,*,Plane0,fC0); |
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| 161 | dOPC(Temp1,*,Plane1,fC1); |
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| 162 | dOP(LinePos,+,Temp0,Temp1); |
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| 163 | |
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| 164 | return true; |
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| 165 | } |
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| 166 | |
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| 167 | //plane ray |
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| 168 | bool FindIntersectionPlaneRay(const dReal Plane[4], |
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| 169 | const dVector3 &LinePos,const dVector3 &LineDir, |
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| 170 | dReal &u,dVector3 &Pos) |
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| 171 | { |
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| 172 | /* |
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| 173 | u = (A*X1 + B*Y1 + C*Z1 + D) / (A*(X1-X2) + B*(Y1-Y2)+C*(Z1-Z2)) |
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| 174 | */ |
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| 175 | dReal fDet = -dDot(Plane,LineDir,3); |
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| 176 | |
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| 177 | if ( fabs(fDet) < fEPSILON) |
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| 178 | return false; |
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| 179 | |
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| 180 | u = (dDot(Plane,LinePos,3) - Plane[3]) / fDet; |
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| 181 | dOPC(Pos,*,LineDir,u); |
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| 182 | dOPE(Pos,+=,LinePos); |
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| 183 | |
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| 184 | return true; |
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| 185 | } |
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| 186 | |
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| 187 | int SolveQuadraticPolynomial(dReal a,dReal b,dReal c,dReal &x0,dReal &x1) |
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| 188 | { |
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| 189 | dReal d = b*b - 4*a*c; |
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| 190 | int NumRoots = 0; |
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| 191 | dReal dr; |
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| 192 | |
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| 193 | if (d < 0.f) |
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| 194 | return NumRoots; |
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| 195 | |
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| 196 | if (d == 0.f) |
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| 197 | { |
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| 198 | NumRoots = 1; |
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| 199 | dr = 0.f; |
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| 200 | } |
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| 201 | else |
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| 202 | { |
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| 203 | NumRoots = 2; |
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| 204 | dr = sqrtf(d); |
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| 205 | } |
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| 206 | |
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| 207 | x0 = (-b -dr) / (2.f * a); |
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| 208 | x1 = (-b +dr) / (2.f * a); |
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| 209 | |
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| 210 | return NumRoots; |
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| 211 | } |
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| 212 | /* |
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| 213 | const int VALID_INTERSECTION = 1<<0; |
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| 214 | const int POS_TEST_FAILEDT0 = 1<<0; |
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| 215 | const int POS_TEST_FAILEDT1 = 1<<1; |
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| 216 | */ |
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| 217 | int ProcessConeRayIntersectionPoint( dReal r,dReal h, |
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| 218 | const dVector3 &q,const dVector3 &v,dReal t, |
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| 219 | dVector3 &p, |
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| 220 | dVector3 &n, |
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| 221 | int &f) |
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| 222 | { |
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| 223 | dOPC(p,*,v,t); |
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| 224 | dOPE(p,+=,q); |
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| 225 | n[0] = 2*p[0]; |
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| 226 | n[1] = 2*p[1]; |
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| 227 | n[2] = -2*p[2]*r*r/(h*h); |
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| 228 | |
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| 229 | f = 0; |
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| 230 | if (p[2] > h) return 0; |
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| 231 | if (p[2] < 0) return 0; |
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| 232 | if (t > 1) return 0; |
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| 233 | if (t < 0) return 0; |
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| 234 | |
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| 235 | return 1; |
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| 236 | } |
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| 237 | |
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| 238 | //cone ray |
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| 239 | //line in cone space (position,direction) |
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| 240 | //distance from line position (direction normalized)(if any) |
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| 241 | //return the number of intersection |
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| 242 | int FindIntersectionConeRay(dReal r,dReal h, |
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| 243 | const dVector3 &q,const dVector3 &v,dContactGeom *pContact) |
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| 244 | { |
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| 245 | dVector3 qp,vp; |
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| 246 | dOPE(qp,=,q); |
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| 247 | dOPE(vp,=,v); |
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| 248 | qp[2] = h-q[2]; |
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| 249 | vp[2] = -v[2]; |
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| 250 | dReal ts = (r/h); |
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| 251 | ts *= ts; |
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| 252 | dReal a = vp[0]*vp[0] + vp[1]*vp[1] - ts*vp[2]*vp[2]; |
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| 253 | dReal b = 2.f*qp[0]*vp[0] + 2.f*qp[1]*vp[1] - 2.f*ts*qp[2]*vp[2]; |
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| 254 | dReal c = qp[0]*qp[0] + qp[1]*qp[1] - ts*qp[2]*qp[2]; |
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| 255 | |
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| 256 | /* |
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| 257 | dReal a = v[0]*v[0] + v[1]*v[1] - (v[2]*v[2]*r*r) / (h*h); |
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| 258 | dReal b = 2.f*q[0]*v[0] + 2.f*q[1]*v[1] + 2.f*r*r*v[2]/h - 2*r*r*q[0]*v[0]/(h*h); |
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| 259 | dReal c = q[0]*q[0] + q[1]*q[1] + 2*r*r*q[2]/h - r*r*q[2]/(h*h) - r*r; |
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| 260 | */ |
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| 261 | int nNumRoots=SolveQuadraticPolynomial(a,b,c,pContact[0].depth,pContact[1].depth); |
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| 262 | int flag = 0; |
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| 263 | |
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| 264 | dContactGeom ValidContact[2]; |
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| 265 | |
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| 266 | int nNumValidContacts = 0; |
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| 267 | for (int i=0;i<nNumRoots;i++) |
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| 268 | { |
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| 269 | if (ProcessConeRayIntersectionPoint(r,h,q,v,pContact[i].depth,pContact[i].pos, |
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| 270 | pContact[i].normal,flag)) |
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| 271 | { |
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| 272 | ValidContact[nNumValidContacts] = pContact[i]; |
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| 273 | nNumValidContacts++; |
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| 274 | } |
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| 275 | } |
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| 276 | |
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| 277 | dOP(qp,+,q,v); |
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| 278 | |
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| 279 | if ((nNumValidContacts < 2) && (v[2] != 0.f)) |
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| 280 | { |
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| 281 | dReal d = (0.f-q[2]) / (v[2]); |
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| 282 | if ((d>=0) && (d<=1)) |
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| 283 | { |
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| 284 | dOPC(vp,*,v,d); |
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| 285 | dOP(qp,+,q,vp); |
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| 286 | |
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| 287 | if (qp[0]*qp[0]+qp[1]*qp[1] < r*r) |
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| 288 | { |
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| 289 | dOPE(ValidContact[nNumValidContacts].pos,=,qp); |
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| 290 | ValidContact[nNumValidContacts].normal[0] = 0.f; |
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| 291 | ValidContact[nNumValidContacts].normal[1] = 0.f; |
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| 292 | ValidContact[nNumValidContacts].normal[2] = -1.f; |
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| 293 | ValidContact[nNumValidContacts].depth = d; |
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| 294 | nNumValidContacts++; |
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| 295 | } |
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| 296 | } |
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| 297 | } |
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| 298 | |
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| 299 | if (nNumValidContacts == 2) |
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| 300 | { |
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| 301 | if (ValidContact[0].depth > ValidContact[1].depth) |
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| 302 | { |
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| 303 | pContact[0] = ValidContact[1]; |
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| 304 | pContact[1] = ValidContact[0]; |
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| 305 | } |
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| 306 | else |
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| 307 | { |
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| 308 | pContact[0] = ValidContact[0]; |
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| 309 | pContact[1] = ValidContact[1]; |
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| 310 | } |
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| 311 | } |
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| 312 | else if (nNumValidContacts == 1) |
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| 313 | { |
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| 314 | pContact[0] = ValidContact[0]; |
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| 315 | } |
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| 316 | |
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| 317 | return nNumValidContacts; |
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| 318 | } |
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| 319 | |
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| 320 | int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags, |
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| 321 | dContactGeom *contact, int skip) |
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| 322 | { |
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| 323 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 324 | dIASSERT (o1->type == dConeClass); |
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| 325 | dIASSERT (o2->type == dPlaneClass); |
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| 326 | dxCone *cone = (dxCone*) o1; |
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| 327 | dxPlane *plane = (dxPlane*) o2; |
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| 328 | |
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| 329 | contact->g1 = o1; |
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| 330 | contact->g2 = o2; |
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| 331 | |
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| 332 | dVector3 p0,p1,pp0,pp1; |
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| 333 | dOPE(p0,=,cone->final_posr->pos); |
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| 334 | p1[0] = cone->final_posr->R[0*4+2] * cone->lz + p0[0]; |
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| 335 | p1[1] = cone->final_posr->R[1*4+2] * cone->lz + p0[1]; |
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| 336 | p1[2] = cone->final_posr->R[2*4+2] * cone->lz + p0[2]; |
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| 337 | |
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| 338 | dReal u; |
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| 339 | FindIntersectionPlaneRay(plane->p,p0,plane->p,u,pp0); |
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| 340 | FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); |
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| 341 | |
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| 342 | if (dDISTANCE(pp0,pp1) < fEPSILON) |
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| 343 | { |
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| 344 | p1[0] = cone->final_posr->R[0*4+0] * cone->lz + p0[0]; |
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| 345 | p1[1] = cone->final_posr->R[1*4+0] * cone->lz + p0[1]; |
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| 346 | p1[2] = cone->final_posr->R[2*4+0] * cone->lz + p0[2]; |
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| 347 | FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); |
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| 348 | dIASSERT(dDISTANCE(pp0,pp1) >= fEPSILON); |
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| 349 | } |
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| 350 | dVector3 h,r0,r1; |
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| 351 | h[0] = cone->final_posr->R[0*4+2]; |
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| 352 | h[1] = cone->final_posr->R[1*4+2]; |
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| 353 | h[2] = cone->final_posr->R[2*4+2]; |
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| 354 | |
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| 355 | dOP(r0,-,pp0,pp1); |
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| 356 | dCROSS(r1,=,h,r0); |
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| 357 | dCROSS(r0,=,r1,h); |
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| 358 | dNormalize3(r0); |
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| 359 | dOPEC(h,*=,cone->lz); |
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| 360 | dOPEC(r0,*=,cone->radius); |
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| 361 | |
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| 362 | dVector3 p[3]; |
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| 363 | dOP(p[0],+,cone->final_posr->pos,h); |
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| 364 | dOP(p[1],+,cone->final_posr->pos,r0); |
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| 365 | dOP(p[2],-,cone->final_posr->pos,r0); |
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| 366 | |
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| 367 | int numMaxContacts = flags & 0xffff; |
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| 368 | if (numMaxContacts == 0) |
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| 369 | numMaxContacts = 1; |
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| 370 | |
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| 371 | int n=0; |
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| 372 | for (int i=0;i<3;i++) |
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| 373 | { |
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| 374 | dReal d = dGeomPlanePointDepth(o2, p[i][0], p[i][1], p[i][2]); |
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| 375 | |
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| 376 | if (d>0.f) |
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| 377 | { |
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| 378 | CONTACT(contact,n*skip)->g1 = o1; |
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| 379 | CONTACT(contact,n*skip)->g2 = o2; |
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| 380 | dOPE(CONTACT(contact,n*skip)->normal,=,plane->p); |
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| 381 | dOPE(CONTACT(contact,n*skip)->pos,=,p[i]); |
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| 382 | CONTACT(contact,n*skip)->depth = d; |
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| 383 | n++; |
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| 384 | |
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| 385 | if (n == numMaxContacts) |
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| 386 | return n; |
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| 387 | } |
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| 388 | } |
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| 389 | |
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| 390 | return n; |
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| 391 | } |
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| 392 | |
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| 393 | int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags, |
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| 394 | dContactGeom *contact, int skip) |
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| 395 | { |
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| 396 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 397 | dIASSERT (o1->type == dRayClass); |
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| 398 | dIASSERT (o2->type == dConeClass); |
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| 399 | dxRay *ray = (dxRay*) o1; |
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| 400 | dxCone *cone = (dxCone*) o2; |
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| 401 | |
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| 402 | contact->g1 = o1; |
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| 403 | contact->g2 = o2; |
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| 404 | |
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| 405 | dVector3 tmp,q,v; |
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| 406 | tmp[0] = ray->final_posr->pos[0] - cone->final_posr->pos[0]; |
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| 407 | tmp[1] = ray->final_posr->pos[1] - cone->final_posr->pos[1]; |
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| 408 | tmp[2] = ray->final_posr->pos[2] - cone->final_posr->pos[2]; |
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| 409 | dMULTIPLY1_331 (q,cone->final_posr->R,tmp); |
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| 410 | tmp[0] = ray->final_posr->R[0*4+2] * ray->length; |
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| 411 | tmp[1] = ray->final_posr->R[1*4+2] * ray->length; |
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| 412 | tmp[2] = ray->final_posr->R[2*4+2] * ray->length; |
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| 413 | dMULTIPLY1_331 (v,cone->final_posr->R,tmp); |
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| 414 | |
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| 415 | dReal r = cone->radius; |
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| 416 | dReal h = cone->lz; |
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| 417 | |
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| 418 | dContactGeom Contact[2]; |
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| 419 | |
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| 420 | if (FindIntersectionConeRay(r,h,q,v,Contact)) |
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| 421 | { |
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| 422 | dMULTIPLY0_331(contact->normal,cone->final_posr->R,Contact[0].normal); |
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| 423 | dMULTIPLY0_331(contact->pos,cone->final_posr->R,Contact[0].pos); |
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| 424 | dOPE(contact->pos,+=,cone->final_posr->pos); |
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| 425 | contact->depth = Contact[0].depth * dLENGTH(v); |
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| 426 | /* |
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| 427 | dMatrix3 RI; |
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| 428 | dRSetIdentity (RI); |
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| 429 | dVector3 ss; |
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| 430 | ss[0] = 0.01f; |
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| 431 | ss[1] = 0.01f; |
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| 432 | ss[2] = 0.01f; |
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| 433 | |
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| 434 | dsSetColorAlpha (1,0,0,0.8f); |
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| 435 | dsDrawBox(contact->pos,RI,ss); |
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| 436 | */ |
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| 437 | return 1; |
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| 438 | } |
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| 439 | |
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| 440 | return 0; |
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| 441 | } |
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| 442 | |
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| 443 | int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
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| 444 | { |
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| 445 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 446 | dIASSERT (o1->type == dConeClass); |
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| 447 | dIASSERT (o2->type == dSphereClass); |
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| 448 | dxCone *cone = (dxCone*) o1; |
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| 449 | |
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| 450 | dxSphere ASphere(0,cone->radius); |
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| 451 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
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| 452 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
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| 453 | |
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| 454 | return dCollideSphereSphere(&ASphere, o2, flags, contact, skip); |
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| 455 | } |
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| 456 | |
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| 457 | int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
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| 458 | { |
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| 459 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 460 | dIASSERT (o1->type == dConeClass); |
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| 461 | dIASSERT (o2->type == dBoxClass); |
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| 462 | dxCone *cone = (dxCone*) o1; |
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| 463 | |
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| 464 | dxSphere ASphere(0,cone->radius); |
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| 465 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
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| 466 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
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| 467 | |
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| 468 | return dCollideSphereBox(&ASphere, o2, flags, contact, skip); |
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| 469 | } |
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| 470 | |
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| 471 | int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
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| 472 | { |
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| 473 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 474 | dIASSERT (o1->type == dCCylinderClass); |
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| 475 | dIASSERT (o2->type == dConeClass); |
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| 476 | dxCone *cone = (dxCone*) o2; |
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| 477 | |
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| 478 | dxSphere ASphere(0,cone->radius); |
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| 479 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
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| 480 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
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| 481 | |
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| 482 | return dCollideCCylinderSphere(o1, &ASphere, flags, contact, skip); |
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| 483 | } |
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| 484 | |
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| 485 | extern int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); |
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| 486 | |
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| 487 | int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
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| 488 | { |
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| 489 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 490 | dIASSERT (o1->type == dTriMeshClass); |
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| 491 | dIASSERT (o2->type == dConeClass); |
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| 492 | dxCone *cone = (dxCone*) o2; |
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| 493 | |
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| 494 | dxSphere ASphere(0,cone->radius); |
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| 495 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
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| 496 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
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| 497 | |
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| 498 | return dCollideSTL(o1, &ASphere, flags, contact, skip); |
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| 499 | } |
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| 500 | |
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| 501 | |
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| 502 | |
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| 503 | |
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| 504 | |
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