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d1bc88d426
The code is based on the current version of thirdparty/vhacd and modified to use Godot's types and code style. Additional changes: - extended PagedAllocator to allow leaked objects - applied patch from https://github.com/bulletphysics/bullet3/pull/3037
416 lines
15 KiB
C++
416 lines
15 KiB
C++
/*************************************************************************/
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/* test_physics_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "test_physics_3d.h"
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#include "core/math/convex_hull.h"
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#include "core/math/math_funcs.h"
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#include "core/os/main_loop.h"
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#include "core/os/os.h"
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#include "core/string/print_string.h"
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#include "core/templates/map.h"
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#include "servers/display_server.h"
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#include "servers/physics_server_3d.h"
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#include "servers/rendering_server.h"
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class TestPhysics3DMainLoop : public MainLoop {
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GDCLASS(TestPhysics3DMainLoop, MainLoop);
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enum {
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LINK_COUNT = 20,
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};
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RID test_cube;
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RID plane;
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RID sphere;
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RID light;
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RID camera;
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RID mover;
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RID scenario;
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RID space;
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RID character;
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real_t ofs_x, ofs_y;
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Point2 joy_direction;
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List<RID> bodies;
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Map<PhysicsServer3D::ShapeType, RID> type_shape_map;
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Map<PhysicsServer3D::ShapeType, RID> type_mesh_map;
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void body_changed_transform(Object *p_state, RID p_visual_instance) {
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PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state;
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RenderingServer *vs = RenderingServer::get_singleton();
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Transform t = state->get_transform();
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vs->instance_set_transform(p_visual_instance, t);
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}
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bool quit;
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protected:
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RID create_body(PhysicsServer3D::ShapeType p_shape, PhysicsServer3D::BodyMode p_body, const Transform p_location, bool p_active_default = true, const Transform &p_shape_xform = Transform()) {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario);
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RID body = ps->body_create();
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ps->body_set_mode(body, p_body);
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ps->body_set_state(body, PhysicsServer3D::BODY_STATE_SLEEPING, !p_active_default);
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ps->body_set_space(body, space);
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ps->body_set_param(body, PhysicsServer3D::BODY_PARAM_BOUNCE, 0.0);
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//todo set space
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ps->body_add_shape(body, type_shape_map[p_shape]);
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ps->body_set_force_integration_callback(body, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance);
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ps->body_set_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM, p_location);
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bodies.push_back(body);
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if (p_body == PhysicsServer3D::BODY_MODE_STATIC) {
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vs->instance_set_transform(mesh_instance, p_location);
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}
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return body;
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}
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RID create_static_plane(const Plane &p_plane) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID world_margin_shape = ps->shape_create(PhysicsServer3D::SHAPE_PLANE);
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ps->shape_set_data(world_margin_shape, p_plane);
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RID b = ps->body_create();
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ps->body_set_mode(b, PhysicsServer3D::BODY_MODE_STATIC);
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ps->body_set_space(b, space);
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//todo set space
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ps->body_add_shape(b, world_margin_shape);
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return b;
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}
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void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass);
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction);
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_BOUNCE, p_bounce);
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}
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void initialize_shapes() {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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/* SPHERE SHAPE */
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RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5);
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type_mesh_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_mesh;
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RID sphere_shape = ps->shape_create(PhysicsServer3D::SHAPE_SPHERE);
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ps->shape_set_data(sphere_shape, 0.5);
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type_shape_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_shape;
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/* BOX SHAPE */
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Vector<Plane> box_planes = Geometry3D::build_box_planes(Vector3(0.5, 0.5, 0.5));
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RID box_mesh = vs->mesh_create();
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Geometry3D::MeshData box_data = Geometry3D::build_convex_mesh(box_planes);
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vs->mesh_add_surface_from_mesh_data(box_mesh, box_data);
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type_mesh_map[PhysicsServer3D::SHAPE_BOX] = box_mesh;
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RID box_shape = ps->shape_create(PhysicsServer3D::SHAPE_BOX);
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ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5));
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type_shape_map[PhysicsServer3D::SHAPE_BOX] = box_shape;
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/* CAPSULE SHAPE */
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Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z);
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RID capsule_mesh = vs->mesh_create();
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Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
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vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
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RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
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Dictionary capsule_params;
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capsule_params["radius"] = 0.5;
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capsule_params["height"] = 1.4;
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ps->shape_set_data(capsule_shape, capsule_params);
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type_shape_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_shape;
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/* CONVEX SHAPE */
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Vector<Plane> convex_planes = Geometry3D::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z);
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RID convex_mesh = vs->mesh_create();
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Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes);
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ConvexHullComputer::convex_hull(convex_data.vertices, convex_data);
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vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh;
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RID convex_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONVEX_POLYGON);
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ps->shape_set_data(convex_shape, convex_data.vertices);
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type_shape_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_shape;
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}
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void make_trimesh(Vector<Vector3> p_faces, const Transform &p_xform = Transform()) {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID trimesh_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONCAVE_POLYGON);
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Dictionary trimesh_params;
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trimesh_params["faces"] = p_faces;
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trimesh_params["backface_collision"] = false;
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ps->shape_set_data(trimesh_shape, trimesh_params);
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Vector<Vector3> normals; // for drawing
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for (int i = 0; i < p_faces.size() / 3; i++) {
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Plane p(p_faces[i * 3 + 0], p_faces[i * 3 + 1], p_faces[i * 3 + 2]);
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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}
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RID trimesh_mesh = vs->mesh_create();
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Array d;
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d.resize(RS::ARRAY_MAX);
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d[RS::ARRAY_VERTEX] = p_faces;
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d[RS::ARRAY_NORMAL] = normals;
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vs->mesh_add_surface_from_arrays(trimesh_mesh, RS::PRIMITIVE_TRIANGLES, d);
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RID triins = vs->instance_create2(trimesh_mesh, scenario);
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RID tribody = ps->body_create();
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ps->body_set_mode(tribody, PhysicsServer3D::BODY_MODE_STATIC);
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ps->body_set_space(tribody, space);
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//todo set space
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ps->body_add_shape(tribody, trimesh_shape);
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Transform tritrans = p_xform;
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ps->body_set_state(tribody, PhysicsServer3D::BODY_STATE_TRANSFORM, tritrans);
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vs->instance_set_transform(triins, tritrans);
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}
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void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform &p_xform = Transform()) {
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Vector<Vector<real_t>> grid;
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grid.resize(p_width);
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for (int i = 0; i < p_width; i++) {
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grid.write[i].resize(p_height);
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for (int j = 0; j < p_height; j++) {
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grid.write[i].write[j] = 1.0 + Math::random(-p_cellheight, p_cellheight);
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}
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}
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Vector<Vector3> faces;
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for (int i = 1; i < p_width; i++) {
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for (int j = 1; j < p_height; j++) {
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#define MAKE_VERTEX(m_x, m_z) \
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faces.push_back(Vector3((m_x - p_width / 2) * p_cellsize, grid[m_x][m_z], (m_z - p_height / 2) * p_cellsize))
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MAKE_VERTEX(i, j - 1);
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MAKE_VERTEX(i, j);
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MAKE_VERTEX(i - 1, j);
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MAKE_VERTEX(i - 1, j - 1);
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MAKE_VERTEX(i, j - 1);
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MAKE_VERTEX(i - 1, j);
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}
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}
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make_trimesh(faces, p_xform);
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}
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public:
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virtual void input_event(const Ref<InputEvent> &p_event) {
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Ref<InputEventMouseMotion> mm = p_event;
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if (mm.is_valid() && mm->get_button_mask() & 4) {
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ofs_y -= mm->get_relative().y / 200.0;
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ofs_x += mm->get_relative().x / 200.0;
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}
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if (mm.is_valid() && mm->get_button_mask() & 1) {
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real_t y = -mm->get_relative().y / 20.0;
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real_t x = mm->get_relative().x / 20.0;
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if (mover.is_valid()) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
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t.origin += Vector3(x, y, 0);
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ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
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}
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}
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}
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virtual void request_quit() {
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quit = true;
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}
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virtual void initialize() override {
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ofs_x = ofs_y = 0;
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initialize_shapes();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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space = ps->space_create();
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ps->space_set_active(space, true);
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RenderingServer *vs = RenderingServer::get_singleton();
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/* LIGHT */
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RID lightaux = vs->directional_light_create();
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scenario = vs->scenario_create();
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vs->light_set_shadow(lightaux, true);
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light = vs->instance_create2(lightaux, scenario);
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Transform t;
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t.rotate(Vector3(1.0, 0, 0), 0.6);
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vs->instance_set_transform(light, t);
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/* CAMERA */
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camera = vs->camera_create();
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RID viewport = vs->viewport_create();
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Size2i screen_size = DisplayServer::get_singleton()->window_get_size();
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vs->viewport_set_size(viewport, screen_size.x, screen_size.y);
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vs->viewport_attach_to_screen(viewport, Rect2(Vector2(), screen_size));
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vs->viewport_set_active(viewport, true);
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vs->viewport_attach_camera(viewport, camera);
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vs->viewport_set_scenario(viewport, scenario);
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vs->camera_set_perspective(camera, 60, 0.1, 40.0);
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vs->camera_set_transform(camera, Transform(Basis(), Vector3(0, 9, 12)));
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Transform gxf;
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gxf.basis.scale(Vector3(1.4, 0.4, 1.4));
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gxf.origin = Vector3(-2, 1, -2);
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make_grid(5, 5, 2.5, 1, gxf);
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test_fall();
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quit = false;
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}
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virtual bool physics_process(float p_time) override {
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if (mover.is_valid()) {
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static real_t joy_speed = 10;
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
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t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0);
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ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
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};
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Transform cameratr;
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cameratr.rotate(Vector3(0, 1, 0), ofs_x);
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cameratr.rotate(Vector3(1, 0, 0), -ofs_y);
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cameratr.translate(Vector3(0, 2, 8));
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RenderingServer *vs = RenderingServer::get_singleton();
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vs->camera_set_transform(camera, cameratr);
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return quit;
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}
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virtual void finalize() override {
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}
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void test_joint() {
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}
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void test_hinge() {
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}
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void test_character() {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y);
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RID capsule_mesh = vs->mesh_create();
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Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
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vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
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RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
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Dictionary capsule_params;
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capsule_params["radius"] = 0.5;
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capsule_params["height"] = 1;
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Transform shape_xform;
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shape_xform.rotate(Vector3(1, 0, 0), Math_PI / 2.0);
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//shape_xform.origin=Vector3(1,1,1);
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ps->shape_set_data(capsule_shape, capsule_params);
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RID mesh_instance = vs->instance_create2(capsule_mesh, scenario);
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character = ps->body_create();
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ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_CHARACTER);
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ps->body_set_space(character, space);
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//todo add space
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ps->body_add_shape(character, capsule_shape);
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ps->body_set_force_integration_callback(character, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance);
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ps->body_set_state(character, PhysicsServer3D::BODY_STATE_TRANSFORM, Transform(Basis(), Vector3(-2, 5, -2)));
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bodies.push_back(character);
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}
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void test_fall() {
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for (int i = 0; i < 35; i++) {
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static const PhysicsServer3D::ShapeType shape_idx[] = {
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PhysicsServer3D::SHAPE_CAPSULE,
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PhysicsServer3D::SHAPE_BOX,
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PhysicsServer3D::SHAPE_SPHERE,
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PhysicsServer3D::SHAPE_CONVEX_POLYGON
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};
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PhysicsServer3D::ShapeType type = shape_idx[i % 4];
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Transform t;
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t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i);
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t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6);
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create_body(type, PhysicsServer3D::BODY_MODE_RIGID, t);
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}
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create_static_plane(Plane(Vector3(0, 1, 0), -1));
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}
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void test_activate() {
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create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_RIGID, Transform(Basis(), Vector3(0, 2, 0)), true);
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create_static_plane(Plane(Vector3(0, 1, 0), -1));
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}
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virtual bool process(float p_time) override {
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return false;
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}
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TestPhysics3DMainLoop() {
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}
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};
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namespace TestPhysics3D {
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MainLoop *test() {
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return memnew(TestPhysics3DMainLoop);
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}
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} // namespace TestPhysics3D
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