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1 #include <iostream>
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2 #include <math.h>
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3 #include "SceneGraphRoot.h"
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4 #include "SceneGraph.h"
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5 #include "TaskManager.h"
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6 #include "Chain.h"
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7 #include "Func.h"
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8
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9
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10 #define FALSE 0
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11 #define TRUE !FALSE
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12 #define CHAIN_LEN 50
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13
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14 static double m = 100.0;
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15 static double k = 7000.0;
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16 static double g = 9.8;
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17 static double dt = 0.003;
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18 static double chain_width = 10;
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19 static double safe = 0.995;
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20
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21 typedef struct {
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22 double x, y, next_x, next_y;
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23 double vx, vy, next_vx, next_vy;
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24 int can_move;
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25 } CHAIN_VARS;
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26
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27 CHAIN_VARS cv[CHAIN_LEN];
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28
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29 void
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30 init_chainold_vars(CHAIN_VARS *cv) {
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31 cv->x = 0, cv->y = 0, cv->next_x = 0, cv->next_y = 0;
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32 cv->vx = 0, cv->vy = 0, cv->next_vx = 0, cv->next_vy = 0;
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33 cv->can_move = TRUE;
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34 }
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35
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36 void
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37 set_old_vector(CHAIN_VARS *cv, SceneGraphPtr sg) {
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38 sg->xyz[0] = (float)cv->next_x;
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39 sg->xyz[1] = (float)cv->next_y;
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40 sg->xyz[2] = 0.0f;
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41 }
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42
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43
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44 static void
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45 chain_old_move_ope(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
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46 {
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47 SceneGraphRoot *sgroot = (SceneGraphRoot *)sgroot_;
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48 Pad *pad = sgroot->getController();
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49
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50 if (pad->start.isHold()) {
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51 cv[CHAIN_LEN-1].can_move = FALSE;
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52 if (pad->left.isHold()) {
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53 cv[CHAIN_LEN-1].x += -5.0;
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54 } else if (pad->right.isHold()) {
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55 cv[CHAIN_LEN-1].x += 5.0;
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56 }
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57
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58 if (pad->up.isHold()) {
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59 cv[CHAIN_LEN-1].y += -5.0;
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60 } else if (pad->down.isHold()) {
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61 cv[CHAIN_LEN-1].y += 5.0;
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62 }
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63 } else {
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64 cv[CHAIN_LEN-1].can_move = TRUE;
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65 }
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66 }
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67
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68 void
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69 chain_old_move(SceneGraphPtr sg, void *sgroot_, int w, int h)
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70 {
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71
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72 int id = sg->id;
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73 if(id == 0) {
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74 for(int cnt = 0; cnt < 600; cnt++) {
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75 for(int i = 0; i < CHAIN_LEN; i++) {
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76 if(cv[i].can_move) {
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77 double dx = cv[i-1].x - cv[i].x;
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78 double dy = cv[i-1].y - cv[i].y;
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79 double l = sqrt(dx * dx + dy * dy);
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80 double a = k * (l - chain_width) / m;
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81 double ax = a * dx / l;
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82 double ay = a * dy / l;
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83 if(i < CHAIN_LEN - 1) {
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84 dx = cv[i+1].x - cv[i].x;
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85 dy = cv[i+1].y - cv[i].y;
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86 l = sqrt(dx * dx + dy * dy);
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87 a = k * (l - chain_width) / m;
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88 ax += a * dx / l;
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89 ay += a * dy / l;
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90 }
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91 ay += g;
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92 cv[i].vx *= safe;
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93 cv[i].vy *= safe;
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94 cv[i].next_vx = cv[i].vx + ax * dt;
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95 cv[i].next_vy = cv[i].vy + ay * dt;
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96 cv[i].next_x = cv[i].x + cv[i].vx * dt;
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97 cv[i].next_y = cv[i].y + cv[i].vy * dt;
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98 } else {
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99 cv[i].next_x = cv[i].x;
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100 cv[i].next_y = cv[i].y;
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101 }
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102 }
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103 for(int i = 0; i < CHAIN_LEN; i++) {
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104 cv[i].vx = cv[i].next_vx;
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105 cv[i].vy = cv[i].next_vy;
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106 cv[i].x = cv[i].next_x;
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107 cv[i].y = cv[i].next_y;
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108 }
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109 }
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110 // cout << id << ", " << sg->xyz[1] << endl;
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111 }
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112 set_old_vector(&cv[id], sg);
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113 int p, n;
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114 p = n = id;
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115 if(p != 0) {
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116 p--;
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117 }
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118 if(n != CHAIN_LEN - 1) {
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119 n++;
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120 }
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121 sg->angle[2-(id%2)*2]
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122 = 90 + atan((cv[p].next_y - cv[n].next_y) / (cv[p].next_x - cv[n].next_x)) * 180 / M_PI;
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123 }
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124
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125 void
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126 chain_old_collision(SceneGraphPtr sg, void *sgroot_, int w, int h, SceneGraphPtr osg)
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127 {
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128
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129 }
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130
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131 MainLoopPtr
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132 Chain::init(Viewer *sgroot, int w, int h)
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133 {
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134 SceneGraphPtr root_old_chain, chain;
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135 CHAIN_VARS rcv;
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136
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137 sgroot->createFromXMLfile("xml_file/chain.xml");
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138
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139 root_old_chain = sgroot->createSceneGraph("CHAIN");
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140 root_old_chain->set_move_collision(chain_old_move_ope, chain_old_collision);
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141 init_chainold_vars(&rcv);
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142 rcv.next_x = w / 2;
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143 rcv.next_y = 0.0;
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144 set_old_vector(&rcv, root_old_chain);
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145
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146 for(int i = 0; i < CHAIN_LEN; i++) {
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147 chain = sgroot->createSceneGraph("CHAIN");
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148 chain->id = i;
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149 init_chainold_vars(&cv[i]);
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150 cv[i].x = 0;
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151 cv[i].y = chain_width * i;
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152 set_old_vector(&cv[i], chain);
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153 chain->angle[1] = -90 * (i % 2);
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154 chain->set_move_collision(chain_old_move, chain_old_collision);
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155
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156 root_old_chain->addChild(chain);
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157 }
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158 cv[0].can_move = FALSE;
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159
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160 sgroot->setSceneData(root_old_chain);
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161 return sgroot;
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162 }
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163
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164 extern Application *
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165 application() {
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166 return new Chain();
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167 }
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168
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169 const char *usr_help_str = "Usage: ./test_nogl [OPTION]\n";
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170
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171 extern int init(TaskManager *manager, int argc, char *argv[]);
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172 extern void task_initialize();
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173 static void TMend(TaskManager *manager);
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174
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175 int
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176 TMmain(TaskManager *manager, int argc, char *argv[])
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177 {
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178 task_initialize();
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179 manager->set_TMend(TMend);
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180 return init(manager, argc, argv);
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181
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182 }
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183
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184 void
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185 TMend(TaskManager *manager)
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186 {
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187 printf("test_nogl end\n");
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188 }
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189
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190 /* end */
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191
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