539 lines
15 KiB
C++
539 lines
15 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "BasicDemo.h"
|
|
#include "GlutStuff.h"
|
|
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include "CustomConvexShape.h"
|
|
#include "CustomConvexPairCollision.h"
|
|
#include "CustomCollisionDispatcher.h"
|
|
|
|
#include "ConvexHeightFieldShape.h"
|
|
#include "GLDebugDrawer.h"
|
|
static GLDebugDrawer sDebugDraw;
|
|
|
|
#include <stdio.h> //printf debugging
|
|
|
|
#ifdef CL_PLATFORM_AMD
|
|
#include "../../opencl/basic_initialize/btOpenCLUtils.h"
|
|
|
|
cl_context g_cxMainContext=0;
|
|
cl_command_queue g_cqCommandQue=0;
|
|
cl_device_id g_clDevice=0;
|
|
#endif
|
|
|
|
///create 125 (5x5x5) dynamic object
|
|
#define ARRAY_SIZE_X 6
|
|
#define ARRAY_SIZE_Y 6
|
|
#define ARRAY_SIZE_Z 4
|
|
|
|
//maximum number of objects (and allow user to shoot additional boxes)
|
|
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
|
|
|
///scaling of the objects (0.1 = 20 centimeter boxes )
|
|
#define SCALING 1.
|
|
#define START_POS_X 0
|
|
#define START_POS_Y -0.8
|
|
#define START_POS_Z 0
|
|
|
|
#define BoxVtxCount 8
|
|
|
|
static float BoxVtx[] = {
|
|
-0.5,-0.5,-0.5,
|
|
-0.5,-0.5,0.5,
|
|
-0.5,0.5,-0.5,
|
|
-0.5,0.5,0.5,
|
|
0.5,-0.5,-0.5,
|
|
0.5,-0.5,0.5,
|
|
0.5,0.5,-0.5,
|
|
0.5,0.5,0.5,
|
|
};
|
|
|
|
static float BoxVtx2[] = {
|
|
-20.3,-10.3,-20.3,
|
|
-20.3,-10.3,20.3,
|
|
-20.3,10.3,-20.3,
|
|
-20.3,10.3,20.3,
|
|
20.3,-10.3,-20.3,
|
|
20.3,-10.3,20.3,
|
|
20.3,10.3,-20.3,
|
|
20.3,10.3,20.3,
|
|
};
|
|
|
|
|
|
#define BarrelVtxCount2 57
|
|
|
|
static float BarrelVtx2[] = {
|
|
0.0f,-0.5f,0.0f, 0.0f,-1.0f,0.0f,
|
|
0.282362f,-0.5f,-0.205148f, 0.0f,-1.0f,0.0f,
|
|
0.349018f,-0.5f,0.0f, 0.0f,-1.0f,0.0f,
|
|
0.107853f,-0.5f,-0.331936f, 0.0f,-1.0f,0.0f,
|
|
-0.107853f,-0.5f,-0.331936f, 0.0f,-1.0f,0.0f,
|
|
0.107853f,-0.5f,-0.331936f, 0.0f,-1.0f,0.0f,
|
|
-0.282362f,-0.5f,-0.205148f, 0.0f,-1.0f,0.0f,
|
|
-0.349018f,-0.5f,0.0f, 0.0f,-1.0f,0.0f,
|
|
-0.282362f,-0.5f,0.205148f, 0.0f,-1.0f,0.0f,
|
|
-0.107853f,-0.5f,0.331936f, 0.0f,-1.0f,0.0f,
|
|
0.107853f,-0.5f,0.331936f, 0.0f,-1.0f,0.0f,
|
|
0.282362f,-0.5f,0.205148f, 0.0f,-1.0f,0.0f,
|
|
0.0f,0.5f,0.0f, 0.0f,1.0f,0.0f,
|
|
0.349018f,0.5f,0.0f, 0.0f,1.0f,0.0f,
|
|
0.282362f,0.5f,-0.205148f, 0.0f,1.0f,0.0f,
|
|
0.107853f,0.5f,-0.331936f, 0.0f,1.0f,0.0f,
|
|
0.107853f,0.5f,-0.331936f, 0.0f,1.0f,0.0f,
|
|
-0.107853f,0.5f,-0.331936f, 0.0f,1.0f,0.0f,
|
|
-0.282362f,0.5f,-0.205148f, 0.0f,1.0f,0.0f,
|
|
-0.349018f,0.5f,0.0f, 0.0f,1.0f,0.0f,
|
|
-0.282362f,0.5f,0.205148f, 0.0f,1.0f,0.0f,
|
|
-0.107853f,0.5f,0.331936f, 0.0f,1.0f,0.0f,
|
|
0.107853f,0.5f,0.331936f, 0.0f,1.0f,0.0f,
|
|
0.282362f,0.5f,0.205148f, 0.0f,1.0f,0.0f,
|
|
0.349018f,-0.5f,0.0f, 0.957307f,-0.289072f,0.0f,
|
|
0.404509f,0.0f,-0.293893f, 0.809017f,0.0f,-0.587785f,
|
|
0.5f,0.0f,0.0f, 1.0f,0.0f,0.0f,
|
|
0.282362f,-0.5f,-0.205148f, 0.774478f,-0.289072f,-0.562691f,
|
|
0.154508f,0.0f,-0.475528f, 0.309017f,0.0f,-0.951057f,
|
|
0.107853f,-0.5f,-0.331936f, 0.295824f,-0.289072f,-0.910453f,
|
|
0.107853f,-0.5f,-0.331936f, 0.295824f,-0.289072f,-0.910453f,
|
|
-0.154509f,0.0f,-0.475528f, -0.309017f,0.0f,-0.951057f,
|
|
0.154508f,0.0f,-0.475528f, 0.309017f,0.0f,-0.951057f,
|
|
-0.107853f,-0.5f,-0.331936f, -0.295824f,-0.289072f,-0.910453f,
|
|
-0.404509f,0.0f,-0.293893f, -0.809017f,0.0f,-0.587785f,
|
|
-0.282362f,-0.5f,-0.205148f, -0.774478f,-0.289072f,-0.562691f,
|
|
-0.5f,0.0f,0.0f, -1.0f,0.0f,0.0f,
|
|
-0.349018f,-0.5f,0.0f, -0.957307f,-0.289072f,0.0f,
|
|
-0.404508f,0.0f,0.293893f, -0.809017f,0.0f,0.587785f,
|
|
-0.282362f,-0.5f,0.205148f, -0.774478f,-0.289072f,0.562691f,
|
|
-0.154509f,0.0f,0.475528f, -0.309017f,0.0f,0.951056f,
|
|
-0.107853f,-0.5f,0.331936f, -0.295824f,-0.289072f,0.910453f,
|
|
0.154509f,0.0f,0.475528f, 0.309017f,0.0f,0.951056f,
|
|
0.107853f,-0.5f,0.331936f, 0.295824f,-0.289072f,0.910453f,
|
|
0.404509f,0.0f,0.293892f, 0.809017f,0.0f,0.587785f,
|
|
0.282362f,-0.5f,0.205148f, 0.774478f,-0.289072f,0.562691f,
|
|
0.282362f,0.5f,-0.205148f, 0.774478f,0.289072f,-0.562691f,
|
|
0.349018f,0.5f,0.0f, 0.957307f,0.289072f,0.0f,
|
|
0.107853f,0.5f,-0.331936f, 0.295824f,0.289072f,-0.910453f,
|
|
-0.107853f,0.5f,-0.331936f, -0.295824f,0.289072f,-0.910453f,
|
|
0.107853f,0.5f,-0.331936f, 0.295824f,0.289072f,-0.910453f,
|
|
-0.282362f,0.5f,-0.205148f, -0.774478f,0.289072f,-0.562691f,
|
|
-0.349018f,0.5f,0.0f, -0.957307f,0.289072f,0.0f,
|
|
-0.282362f,0.5f,0.205148f, -0.774478f,0.289072f,0.562691f,
|
|
-0.107853f,0.5f,0.331936f, -0.295824f,0.289072f,0.910453f,
|
|
0.107853f,0.5f,0.331936f, 0.295824f,0.289072f,0.910453f,
|
|
0.282362f,0.5f,0.205148f, 0.774478f,0.289072f,0.562691f,
|
|
};
|
|
|
|
|
|
static int BarrelIdx[] = {
|
|
0,1,2,
|
|
0,3,1,
|
|
0,4,5,
|
|
0,6,4,
|
|
0,7,6,
|
|
0,8,7,
|
|
0,9,8,
|
|
0,10,9,
|
|
0,11,10,
|
|
0,2,11,
|
|
12,13,14,
|
|
12,14,15,
|
|
12,16,17,
|
|
12,17,18,
|
|
12,18,19,
|
|
12,19,20,
|
|
12,20,21,
|
|
12,21,22,
|
|
12,22,23,
|
|
12,23,13,
|
|
24,25,26,
|
|
24,27,25,
|
|
27,28,25,
|
|
27,29,28,
|
|
30,31,32,
|
|
30,33,31,
|
|
33,34,31,
|
|
33,35,34,
|
|
35,36,34,
|
|
35,37,36,
|
|
37,38,36,
|
|
37,39,38,
|
|
39,40,38,
|
|
39,41,40,
|
|
41,42,40,
|
|
41,43,42,
|
|
43,44,42,
|
|
43,45,44,
|
|
45,26,44,
|
|
45,24,26,
|
|
26,46,47,
|
|
26,25,46,
|
|
25,48,46,
|
|
25,28,48,
|
|
32,49,50,
|
|
32,31,49,
|
|
31,51,49,
|
|
31,34,51,
|
|
34,52,51,
|
|
34,36,52,
|
|
36,53,52,
|
|
36,38,53,
|
|
38,54,53,
|
|
38,40,54,
|
|
40,55,54,
|
|
40,42,55,
|
|
42,56,55,
|
|
42,44,56,
|
|
44,47,56,
|
|
44,26,47,
|
|
};
|
|
|
|
|
|
__inline void glVertexFloat4( const float4& v )
|
|
{
|
|
glVertex3f( v.x, v.y, v.z );
|
|
}
|
|
|
|
__inline void drawPointListTransformed(const float4* vtx, int nVtx, const float4& translation, const Quaternion& quat)
|
|
{
|
|
glPushMatrix();
|
|
|
|
Matrix3x3 rotMat = mtTranspose( qtGetRotationMatrix( quat ) );
|
|
float transformMat[16] =
|
|
{
|
|
rotMat.m_row[0].x, rotMat.m_row[0].y, rotMat.m_row[0].z, 0,
|
|
rotMat.m_row[1].x, rotMat.m_row[1].y, rotMat.m_row[1].z, 0,
|
|
rotMat.m_row[2].x, rotMat.m_row[2].y, rotMat.m_row[2].z, 0,
|
|
translation.x, translation.y, translation.z,1
|
|
};
|
|
|
|
glMultMatrixf( transformMat );
|
|
|
|
float4 c = make_float4(1,1,0,0);
|
|
|
|
glPointSize(3.f);
|
|
glBegin(GL_POINTS);
|
|
for(int i=0; i<nVtx; i++)
|
|
{
|
|
glColor4f(c.x, c.y, c.z, 1);
|
|
glVertexFloat4( vtx[i] );
|
|
}
|
|
glEnd();
|
|
|
|
glPopMatrix();
|
|
}
|
|
void displaySamples(const float4* vertices, int numVertices, const float4& translation, const Quaternion& quaternion)
|
|
{
|
|
drawPointListTransformed( vertices,numVertices, translation, quaternion );
|
|
}
|
|
|
|
|
|
|
|
void BasicDemo::renderSurfacePoints()
|
|
{
|
|
if (m_dynamicsWorld->getDebugDrawer()->getDebugMode()& btIDebugDraw::DBG_DrawContactPoints)
|
|
for (int i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
|
|
{
|
|
btCollisionObject* ob = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
if (ob->getCollisionShape()->getShapeType() == CUSTOM_POLYHEDRAL_SHAPE_TYPE)
|
|
{
|
|
CustomConvexShape* customConvex = (CustomConvexShape*)ob->getCollisionShape();
|
|
ConvexHeightField* cvxShape= customConvex->m_ConvexHeightField;
|
|
if (!cvxShape)
|
|
{
|
|
printf("aargh\n");
|
|
}
|
|
|
|
float4 bodyApos;
|
|
Quaternion bodyAquat;
|
|
|
|
|
|
const btVector3& pA = ob->getWorldTransform().getOrigin();
|
|
btQuaternion qA = ob->getWorldTransform().getRotation();
|
|
|
|
bodyApos.x = pA.getX();
|
|
bodyApos.y = pA.getY();
|
|
bodyApos.z = pA.getZ();
|
|
bodyApos.w = 0.f;
|
|
bodyAquat.x = qA.getX();
|
|
bodyAquat.y = qA.getY();
|
|
bodyAquat.z = qA.getZ();
|
|
bodyAquat.w = qA.getW();
|
|
|
|
|
|
displaySamples(cvxShape->getSamplePoints(),cvxShape->getNumSamplePoints(),bodyApos,bodyAquat);
|
|
|
|
}
|
|
|
|
}
|
|
}
|
|
void BasicDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
//simple dynamics world doesn't handle fixed-time-stepping
|
|
float ms = getDeltaTimeMicroseconds();
|
|
|
|
///step the simulation
|
|
if (m_dynamicsWorld)
|
|
{
|
|
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
|
//optional but useful: debug drawing
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
}
|
|
|
|
renderme();
|
|
|
|
renderSurfacePoints();
|
|
|
|
|
|
glFlush();
|
|
|
|
swapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
void BasicDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
renderme();
|
|
|
|
renderSurfacePoints();
|
|
|
|
//optional but useful: debug drawing to detect problems
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void BasicDemo::initPhysics()
|
|
{
|
|
setTexturing(true);
|
|
setShadows(true);
|
|
|
|
m_acceleratedRigidBodies = 0;
|
|
|
|
setCameraDistance(btScalar(SCALING*20.));
|
|
|
|
///collision configuration contains default setup for memory, collision setup
|
|
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
|
|
|
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
|
|
|
|
#ifdef CL_PLATFORM_AMD
|
|
m_dispatcher = new CustomCollisionDispatcher(m_collisionConfiguration, g_cxMainContext,g_clDevice,g_cqCommandQue);
|
|
#else
|
|
m_dispatcher = new CustomCollisionDispatcher(m_collisionConfiguration);
|
|
#endif
|
|
|
|
m_dispatcher->registerCollisionCreateFunc(CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_POLYHEDRAL_SHAPE_TYPE,new CustomConvexConvexPairCollision::CreateFunc(m_collisionConfiguration->getSimplexSolver(), m_collisionConfiguration->getPenetrationDepthSolver()));
|
|
|
|
m_broadphase = new btDbvtBroadphase();
|
|
|
|
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
|
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
|
|
|
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
|
|
|
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
|
|
|
|
///create a few basic rigid bodies
|
|
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
|
#if 1
|
|
CustomConvexShape* groundShape = new CustomConvexShape(BoxVtx2,BoxVtxCount,3*sizeof(float));
|
|
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0,-11,0));
|
|
|
|
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
|
{
|
|
btScalar mass(0.);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
groundShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
|
|
//add the body to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
#endif
|
|
|
|
|
|
{
|
|
//create a few dynamic rigidbodies
|
|
// Re-using the same collision is better for memory usage and performance
|
|
|
|
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
|
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
|
#define USE_CUSTOM_HEIGHTFIELD_SHAPE
|
|
#ifdef USE_CUSTOM_HEIGHTFIELD_SHAPE
|
|
CustomConvexShape* colShape = new CustomConvexShape(BarrelVtx2,BarrelVtxCount2,6*sizeof(float));
|
|
|
|
//CustomConvexShape* colShape = new CustomConvexShape(BoxVtx,BoxVtxCount,3*sizeof(float));
|
|
#else
|
|
btConvexHullShape* colShape = new btConvexHullShape(BarrelVtx2,BarrelVtxCount2,6*sizeof(float));
|
|
colShape->setLocalScaling(btVector3(0.9,0.9,0.9));
|
|
|
|
#endif //USE_CUSTOM_HEIGHTFIELD_SHAPE
|
|
btScalar scale = 0.5f;
|
|
|
|
//btScalar scale = 1.f;
|
|
|
|
//next line is already called inside the CustomConvexShape constructor
|
|
//colShape->initializePolyhedralFeatures();
|
|
|
|
m_collisionShapes.push_back(colShape);
|
|
|
|
/// Create Dynamic Objects
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
|
|
btScalar mass(1.f);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
colShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
|
float start_y = START_POS_Y;
|
|
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
|
|
|
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
|
{
|
|
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
|
{
|
|
for (int i=0;i<ARRAY_SIZE_X;i++)
|
|
{
|
|
|
|
{
|
|
// if ((k>0) && ((j<2) || (j>(ARRAY_SIZE_Z-3))))
|
|
// continue;
|
|
// if ((k>0) && ((i<2) || (i>(ARRAY_SIZE_X-3))))
|
|
// continue;
|
|
|
|
startTransform.setOrigin(SCALING*btVector3(
|
|
btScalar(scale*2.0*i + start_x),
|
|
btScalar(scale*1+scale*2.0*k + start_y),
|
|
btScalar(scale*2.0*j + start_z)));
|
|
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
|
btRigidBody* body=0;
|
|
|
|
if (0)//k==0)
|
|
{
|
|
btVector3 zeroInertia(0,0,0);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(0.f,myMotionState,colShape,zeroInertia);
|
|
body = new btRigidBody(rbInfo);
|
|
} else
|
|
{
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
|
body = new btRigidBody(rbInfo);
|
|
}
|
|
|
|
//m_acceleratedRigidBodies is used as a mapping to the accelerated rigid body index
|
|
body->setCompanionId(m_acceleratedRigidBodies++);
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
void BasicDemo::clientResetScene()
|
|
{
|
|
exitPhysics();
|
|
initPhysics();
|
|
}
|
|
|
|
|
|
void BasicDemo::exitPhysics()
|
|
{
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject( obj );
|
|
delete obj;
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (int j=0;j<m_collisionShapes.size();j++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
m_collisionShapes.clear();
|
|
|
|
delete m_dynamicsWorld;
|
|
|
|
delete m_solver;
|
|
|
|
delete m_broadphase;
|
|
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|