1 | #ifndef NX_FOUNDATION_NXPLANE
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2 | #define NX_FOUNDATION_NXPLANE
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3 | /*----------------------------------------------------------------------------*\
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4 | |
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5 | | Public Interface to NovodeX Technology
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6 | |
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7 | | www.novodex.com
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8 | |
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9 | \*----------------------------------------------------------------------------*/
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10 | /** \addtogroup foundation
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11 | @{
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12 | */
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13 |
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14 | #include "Nxf.h"
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15 | #include "NxVec3.h"
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16 | #include "NxMat34.h"
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17 |
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18 | /**
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19 | \brief Representation of a plane.
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20 |
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21 | Plane equation used: a*x + b*y + c*z + d = 0
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22 | */
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23 | class NxPlane
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24 | {
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25 | public:
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26 | /**
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27 | \brief Constructor
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28 | */
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29 | NX_INLINE NxPlane()
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30 | {
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31 | }
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32 |
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33 | /**
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34 | \brief Constructor from a normal and a distance
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35 | */
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36 | NX_INLINE NxPlane(NxF32 nx, NxF32 ny, NxF32 nz, NxF32 d)
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37 | {
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38 | set(nx, ny, nz, d);
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39 | }
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40 |
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41 | /**
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42 | \brief Constructor from a point on the plane and a normal
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43 | */
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44 | NX_INLINE NxPlane(const NxVec3& p, const NxVec3& n)
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45 | {
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46 | set(p, n);
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47 | }
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48 |
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49 | /**
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50 | \brief Constructor from three points
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51 | */
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52 | NX_INLINE NxPlane(const NxVec3& p0, const NxVec3& p1, const NxVec3& p2)
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53 | {
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54 | set(p0, p1, p2);
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55 | }
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56 |
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57 | /**
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58 | \brief Constructor from a normal and a distance
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59 | */
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60 | NX_INLINE NxPlane(const NxVec3& _n, NxF32 _d) : normal(_n), d(_d)
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61 | {
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62 | }
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63 |
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64 | /**
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65 | \brief Copy constructor
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66 | */
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67 | NX_INLINE NxPlane(const NxPlane& plane) : normal(plane.normal), d(plane.d)
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68 | {
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69 | }
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70 |
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71 | /**
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72 | \brief Destructor
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73 | */
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74 | NX_INLINE ~NxPlane()
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75 | {
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76 | }
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77 |
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78 | /**
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79 | \brief Sets plane to zero.
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80 | */
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81 | NX_INLINE NxPlane& zero()
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82 | {
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83 | normal.zero();
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84 | d = 0.0f;
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85 | return *this;
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86 | }
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87 |
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88 | NX_INLINE NxPlane& set(NxF32 nx, NxF32 ny, NxF32 nz, NxF32 _d)
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89 | {
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90 | normal.set(nx, ny, nz);
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91 | d = _d;
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92 | return *this;
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93 | }
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94 |
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95 | NX_INLINE NxPlane& set(const NxVec3& _normal, NxF32 _d)
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96 | {
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97 | normal = _normal;
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98 | d = _d;
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99 | return *this;
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100 | }
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101 |
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102 | NX_INLINE NxPlane& set(const NxVec3& p, const NxVec3& _n)
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103 | {
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104 | normal = _n;
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105 | // Plane equation: a*x + b*y + c*z + d = 0
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106 | // p belongs to plane so:
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107 | // a*p.x + b*p.y + c*p.z + d = 0
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108 | // <=> (n|p) + d = 0
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109 | // <=> d = - (n|p)
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110 | d = - p.dot(_n);
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111 | return *this;
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112 | }
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113 |
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114 | /**
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115 | \brief Computes the plane equation from 3 points.
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116 | */
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117 | NxPlane& set(const NxVec3& p0, const NxVec3& p1, const NxVec3& p2)
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118 | {
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119 | NxVec3 Edge0 = p1 - p0;
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120 | NxVec3 Edge1 = p2 - p0;
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121 |
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122 | normal = Edge0.cross(Edge1);
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123 | normal.normalize();
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124 |
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125 | // See comments in set() for computation of d
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126 | d = -p0.dot(normal);
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127 |
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128 | return *this;
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129 | }
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130 |
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131 | NX_INLINE NxF32 distance(const NxVec3& p) const
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132 | {
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133 | // Valid for plane equation a*x + b*y + c*z + d = 0
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134 | return p.dot(normal) + d;
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135 | }
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136 |
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137 | NX_INLINE bool belongs(const NxVec3& p) const
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138 | {
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139 | return fabsf(distance(p)) < (1.0e-7f);
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140 | }
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141 |
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142 | /**
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143 | \brief projects p into the plane
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144 | */
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145 | NX_INLINE NxVec3 project(const NxVec3 & p) const
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146 | {
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147 | // Pretend p is on positive side of plane, i.e. plane.distance(p)>0.
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148 | // To project the point we have to go in a direction opposed to plane's normal, i.e.:
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149 | return p - normal * distance(p);
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150 | // return p + normal * distance(p);
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151 | }
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152 |
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153 | /**
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154 | \brief find an arbitrary point in the plane
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155 | */
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156 | NX_INLINE NxVec3 pointInPlane() const
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157 | {
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158 | // Project origin (0,0,0) to plane:
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159 | // (0) - normal * distance(0) = - normal * ((p|(0)) + d) = -normal*d
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160 | return - normal * d;
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161 | // return normal * d;
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162 | }
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163 |
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164 | NX_INLINE void normalize()
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165 | {
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166 | NxF32 Denom = 1.0f / normal.magnitude();
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167 | normal.x *= Denom;
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168 | normal.y *= Denom;
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169 | normal.z *= Denom;
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170 | d *= Denom;
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171 | }
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172 |
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173 | NX_INLINE operator NxVec3() const
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174 | {
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175 | return normal;
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176 | }
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177 |
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178 | NX_INLINE void transform(const NxMat34 & transform, NxPlane & transformed) const
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179 | {
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180 | transformed.normal = transform.M * normal;
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181 | transformed.d = d - (transform.t | transformed.normal);
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182 | }
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183 |
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184 | NX_INLINE void inverseTransform(const NxMat34 & transform, NxPlane & transformed) const
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185 | {
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186 | transformed.normal = transform.M % normal;
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187 | NxVec3 it = transform.M % transform.t;
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188 | transformed.d = d + (it | transformed.normal);
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189 | }
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190 |
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191 | NxVec3 normal; //!< The normal to the plane
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192 | NxF32 d; //!< The distance from the origin
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193 | };
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194 |
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195 | /** @} */
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196 | #endif
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197 |
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198 |
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199 | //AGCOPYRIGHTBEGIN
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200 | ///////////////////////////////////////////////////////////////////////////
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201 | // Copyright © 2005 AGEIA Technologies.
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202 | // All rights reserved. www.ageia.com
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203 | ///////////////////////////////////////////////////////////////////////////
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204 | //AGCOPYRIGHTEND
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205 |
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