forked from bartvdbraak/blender
Added new header for Eigen utility classes.
These make passing data between Eigen vector and matrix types and plain C arrays more convenient.
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@ -45,6 +45,7 @@ set(SRC
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intern/implicit.h
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intern/implicit_blender.c
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intern/implicit_eigen.cpp
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intern/eigen_utils.h
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BPH_mass_spring.h
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)
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228
source/blender/physics/intern/eigen_utils.h
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228
source/blender/physics/intern/eigen_utils.h
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@ -0,0 +1,228 @@
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/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) Blender Foundation
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): Lukas Toenne
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef __EIGEN_UTILS_H__
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#define __EIGEN_UTILS_H__
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/** \file eigen_utils.h
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* \ingroup bph
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*/
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#ifdef __GNUC__
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# pragma GCC diagnostic push
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/* XXX suppress verbose warnings in eigen */
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# pragma GCC diagnostic ignored "-Wlogical-op"
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#endif
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#include <Eigen/Sparse>
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#include <Eigen/src/Core/util/DisableStupidWarnings.h>
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#ifdef __GNUC__
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# pragma GCC diagnostic pop
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#endif
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#include "BLI_utildefines.h"
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typedef float Scalar;
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/* slightly extended Eigen vector class
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* with conversion to/from plain C float array
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*/
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class fVector : public Eigen::Vector3f {
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public:
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typedef float *ctype;
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fVector()
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{
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}
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fVector(const ctype &v)
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{
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for (int k = 0; k < 3; ++k)
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coeffRef(k) = v[k];
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}
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fVector& operator = (const ctype &v)
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{
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for (int k = 0; k < 3; ++k)
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coeffRef(k) = v[k];
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return *this;
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}
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operator ctype()
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{
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return data();
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}
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};
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/* slightly extended Eigen matrix class
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* with conversion to/from plain C float array
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*/
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class fMatrix : public Eigen::Matrix3f {
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public:
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typedef float (*ctype)[3];
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fMatrix()
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{
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}
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fMatrix(const ctype &v)
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{
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for (int k = 0; k < 3; ++k)
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for (int l = 0; l < 3; ++l)
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coeffRef(l, k) = v[k][l];
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}
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fMatrix& operator = (const ctype &v)
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{
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for (int k = 0; k < 3; ++k)
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for (int l = 0; l < 3; ++l)
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coeffRef(l, k) = v[k][l];
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return *this;
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}
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operator ctype()
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{
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return (ctype)data();
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}
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};
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/* Extension of dense Eigen vectors,
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* providing 3-float block access for blenlib math functions
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*/
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class lVector : public Eigen::VectorXf {
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public:
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typedef Eigen::VectorXf base_t;
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lVector()
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{
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}
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template <typename T>
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lVector& operator = (T rhs)
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{
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base_t::operator=(rhs);
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return *this;
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}
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float* v3(int vertex)
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{
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return &coeffRef(3 * vertex);
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}
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const float* v3(int vertex) const
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{
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return &coeffRef(3 * vertex);
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}
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};
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typedef Eigen::Triplet<Scalar> Triplet;
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typedef std::vector<Triplet> TripletList;
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typedef Eigen::SparseMatrix<Scalar> lMatrix;
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/* Constructor type that provides more convenient handling of Eigen triplets
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* for efficient construction of sparse 3x3 block matrices.
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* This should be used for building lMatrix instead of writing to such lMatrix directly (which is very inefficient).
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* After all elements have been defined using the set() method, the actual matrix can be filled using construct().
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*/
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struct lMatrixCtor {
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lMatrixCtor()
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{
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}
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void reset()
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{
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m_trips.clear();
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}
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void reserve(int numverts)
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{
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/* reserve for diagonal entries */
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m_trips.reserve(numverts * 9);
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}
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void add(int i, int j, const fMatrix &m)
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{
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i *= 3;
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j *= 3;
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for (int k = 0; k < 3; ++k)
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for (int l = 0; l < 3; ++l)
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m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k)));
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}
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void sub(int i, int j, const fMatrix &m)
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{
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i *= 3;
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j *= 3;
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for (int k = 0; k < 3; ++k)
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for (int l = 0; l < 3; ++l)
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m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k)));
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}
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inline void construct(lMatrix &m)
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{
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m.setFromTriplets(m_trips.begin(), m_trips.end());
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m_trips.clear();
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}
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private:
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TripletList m_trips;
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};
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typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar> > ConjugateGradient;
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using Eigen::ComputationInfo;
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BLI_INLINE void print_lvector(const lVector &v)
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{
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for (int i = 0; i < v.rows(); ++i) {
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if (i > 0 && i % 3 == 0)
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printf("\n");
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printf("%f,\n", v[i]);
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}
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}
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BLI_INLINE void print_lmatrix(const lMatrix &m)
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{
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for (int j = 0; j < m.rows(); ++j) {
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if (j > 0 && j % 3 == 0)
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printf("\n");
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for (int i = 0; i < m.cols(); ++i) {
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if (i > 0 && i % 3 == 0)
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printf(" ");
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implicit_print_matrix_elem(m.coeff(j, i));
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}
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printf("\n");
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}
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}
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#endif
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