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#jira FORT-444042 #rb cedric.caillaud #preflight 62212e4ea00412627d0e1a7b #lockdown michael.lentine #ROBOMERGE-OWNER: max.whitehead #ROBOMERGE-AUTHOR: max.whitehead #ROBOMERGE-SOURCE: CL 19253465 in //UE5/Release-5.0/... via CL 19257870 #ROBOMERGE-BOT: UE5 (Release-Engine-Staging -> Main) (v924-19243027) [CL 19263523 by max whitehead in ue5-main branch]
408 lines
14 KiB
C++
408 lines
14 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#include "HeadlessChaos.h"
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#include "HeadlessChaosTestUtility.h"
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#include "Chaos/PBDRigidsEvolutionGBF.h"
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#include "Chaos/Box.h"
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#include "Chaos/Sphere.h"
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#include "Chaos/Utilities.h"
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#include "Modules/ModuleManager.h"
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#include "ChaosSolversModule.h"
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#include "PBDRigidsSolver.h"
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#include "GeometryCollection/GeometryCollectionTestFramework.h"
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namespace ChaosTest {
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using namespace Chaos;
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GTEST_TEST(AllTraits, SimTests_SphereSphereSimTest_StaticBoundsChange)
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{
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// This test spawns a dynamic and a static, then moves the static around a few times after initialization.
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// The goal is to make sure that the bounds are updated correctly and the dynamic rests on top of the static
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// in its final position.
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auto Sphere = TSharedPtr<FImplicitObject, ESPMode::ThreadSafe>(new TSphere<FReal, 3>(FVec3(0), 10));
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// Create solver #TODO make FFramework a little more general instead of mostly geometry collection focused
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GeometryCollectionTest::FFramework Framework;
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// Make a particle
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auto Proxy = FSingleParticlePhysicsProxy::Create(Chaos::FPBDRigidParticle::CreateParticle());
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auto& Particle = Proxy->GetGameThreadAPI();
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Particle.SetGeometry(Sphere);
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Particle.SetX(FVec3(1000, 1000, 200));
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Particle.SetGravityEnabled(true);
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Framework.Solver->RegisterObject(Proxy);
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auto StaticProxy = FSingleParticlePhysicsProxy::Create(Chaos::FGeometryParticle::CreateParticle());
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auto& Static = StaticProxy->GetGameThreadAPI();
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Static.SetGeometry(Sphere);
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Static.SetX(FVec3(0, 0, 0));
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Framework.Solver->RegisterObject(StaticProxy);
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Static.SetX(FVec3(2000, 1000, 0));
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Static.SetX(FVec3(3000, 1000, 0));
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::ChaosTest::SetParticleSimDataToCollide({ Proxy->GetParticle_LowLevel(), StaticProxy->GetParticle_LowLevel() });
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for (int32 Iter = 0; Iter < 200; ++Iter)
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{
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Framework.Advance();
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if (Iter == 0)
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{
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Static.SetX(FVec3(1000, 1000, 0));
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}
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}
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EXPECT_NEAR(Particle.X().Z, 20, 1);
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}
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GTEST_TEST(AllEvolutions, SimTests_SphereSphereSimTest)
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{
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FPBDRigidsSOAs Particles(UniqueIndices);
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THandleArray<FChaosPhysicsMaterial> PhysicalMaterials;
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FPBDRigidsEvolutionGBF Evolution(Particles, PhysicalMaterials);
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InitEvolutionSettings(Evolution);
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auto Static = Evolution.CreateStaticParticles(1)[0];
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auto Dynamic = Evolution.CreateDynamicParticles(1)[0];
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TUniquePtr<FChaosPhysicsMaterial> PhysicsMaterial = MakeUnique<FChaosPhysicsMaterial>();
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PhysicsMaterial->SleepCounterThreshold = 2;
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TUniquePtr<FImplicitObject> Sphere(new TSphere<FReal, 3>(FVec3(0, 0, 0), 50));
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Static->SetGeometry(MakeSerializable(Sphere));
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Dynamic->SetGeometry(MakeSerializable(Sphere));
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Evolution.SetPhysicsMaterial(Dynamic, MakeSerializable(PhysicsMaterial));
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Static->X() = FVec3(10, 10, 10);
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Dynamic->X() = FVec3(10, 10, 150);
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Dynamic->I() = TVec3<FRealSingle>(100000.0f);
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Dynamic->InvI() = TVec3<FRealSingle>(1.0f / 100000.0f);
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// The position of the static has changed and statics don't automatically update bounds, so update explicitly
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Static->UpdateWorldSpaceState(FRigidTransform3(Static->X(), Static->R()), FVec3(0));
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::ChaosTest::SetParticleSimDataToCollide({ Static,Dynamic });
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// IMPORTANT : this is required to make sure the particles internal representation will reflect the sim data
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Evolution.DirtyParticle(*Static);
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Evolution.DirtyParticle(*Dynamic);
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const FReal Dt = 1 / 60.f;
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for (int i = 0; i < 200; ++i)
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{
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Evolution.AdvanceOneTimeStep(1 / 60.f);
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Evolution.EndFrame(Dt);
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}
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EXPECT_NEAR(Dynamic->X().Z, 110, 1);
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}
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GTEST_TEST(AllEvolutions, SimTests_BoxBoxSimTest)
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{
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FPBDRigidsSOAs Particles(UniqueIndices);
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THandleArray<FChaosPhysicsMaterial> PhysicalMaterials;
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FPBDRigidsEvolutionGBF Evolution(Particles, PhysicalMaterials);
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InitEvolutionSettings(Evolution);
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auto Static = Evolution.CreateStaticParticles(1)[0];
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auto Dynamic = Evolution.CreateDynamicParticles(1)[0];
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TUniquePtr<FImplicitObject> StaticBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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TUniquePtr<FImplicitObject> DynamicBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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Static->SetGeometry(MakeSerializable(StaticBox));
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Dynamic->SetGeometry(MakeSerializable(DynamicBox));
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Static->X() = FVec3(10, 10, 10);
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Static->UpdateWorldSpaceState(FRigidTransform3(Static->X(), Static->R()), FVec3(0));
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Dynamic->X() = FVec3(10, 10, 120);
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Dynamic->I() = TVec3<FRealSingle>(100000.0f);
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Dynamic->InvI() = TVec3<FRealSingle>(1.0f / 100000.0f);
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::ChaosTest::SetParticleSimDataToCollide({ Static,Dynamic });
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// IMPORTANT : this is required to make sure the particles internal representation will reflect the sim data
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Evolution.DirtyParticle(*Static);
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Evolution.DirtyParticle(*Dynamic);
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const FReal Dt = 1 / 60.f;
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for (int i = 0; i < 100; ++i)
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{
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Evolution.AdvanceOneTimeStep(Dt);
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Evolution.EndFrame(Dt);
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}
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EXPECT_NEAR(Dynamic->X().Z, 110, 5);
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}
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// This test will fail because the inertia of the dynamic box is very low. The mass and inertia are both 1.0,
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// but the box is 100x100x100. When we detect collisions, we get points around the edge of the box. The impulse
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// required to stop the velocity at that point is tiny because a tiny impulse can impart a large angular velocity
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// at that position. Therefore we would need a very large number of iterations to resolve it.
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//
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// This will be fixed if/when we have a multi-contact manifold between particle pairs and we simultaneously
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// resolve contacts in that manifold.
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//
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GTEST_TEST(AllEvolutions, DISABLED_SimTests_VeryLowInertiaSimTest)
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{
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FPBDRigidsSOAs Particles(UniqueIndices);
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THandleArray<FChaosPhysicsMaterial> PhysicalMaterials;
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FPBDRigidsEvolutionGBF Evolution(Particles, PhysicalMaterials);
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InitEvolutionSettings(Evolution);
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auto Static = Evolution.CreateStaticParticles(1)[0];
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auto Dynamic = Evolution.CreateDynamicParticles(1)[0];
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TUniquePtr<FImplicitObject> StaticBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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TUniquePtr<FImplicitObject> DynamicBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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Static->SetGeometry(MakeSerializable(StaticBox));
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Dynamic->SetGeometry(MakeSerializable(DynamicBox));
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Static->X() = FVec3(10, 10, 10);
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Static->UpdateWorldSpaceState(FRigidTransform3(Static->X(), Static->R()), FVec3(0));
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Dynamic->X() = FVec3(10, 10, 300);
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Dynamic->I() = TVec3<FRealSingle>(1);
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Dynamic->InvI() = TVec3<FRealSingle>(1);
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::ChaosTest::SetParticleSimDataToCollide({ Static,Dynamic });
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for (int i = 0; i < 100; ++i)
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{
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Evolution.AdvanceOneTimeStep(1 / 60.f);
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Evolution.EndFrame(1 / 60.f);
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}
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EXPECT_NEAR(Dynamic->X().Z, 110, 10);
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}
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GTEST_TEST(AllEvolutions, SimTests_SleepAndWakeSimTest)
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{
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FPBDRigidsSOAs Particles(UniqueIndices);
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THandleArray<FChaosPhysicsMaterial> PhysicalMaterials;
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FPBDRigidsEvolutionGBF Evolution(Particles, PhysicalMaterials);
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InitEvolutionSettings(Evolution);
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auto Static = Evolution.CreateStaticParticles(1)[0];
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auto Dynamic1 = Evolution.CreateDynamicParticles(1)[0];
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auto Dynamic2 = Evolution.CreateDynamicParticles(1)[0];
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TArrayCollectionArray<TSerializablePtr<FChaosPhysicsMaterial>> PhysicsMaterials;
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Particles.GetParticleHandles().AddArray(&PhysicsMaterials);
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TUniquePtr<FChaosPhysicsMaterial> PhysicsMaterial = MakeUnique<FChaosPhysicsMaterial>();
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PhysicsMaterial->SleepingLinearThreshold = 20;
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PhysicsMaterial->SleepingAngularThreshold = 20;
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PhysicsMaterial->SleepCounterThreshold = 5;
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TUniquePtr<FImplicitObject> StaticBox(new TBox<FReal, 3>(FVec3(-500, -500, -50), FVec3(500, 500, 50)));
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TUniquePtr<FImplicitObject> DynamicBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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Static->SetGeometry(MakeSerializable(StaticBox));
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Dynamic1->SetGeometry(MakeSerializable(DynamicBox));
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Dynamic2->SetGeometry(MakeSerializable(DynamicBox));
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Static->X() = FVec3(10, 10, 10);
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Static->UpdateWorldSpaceState(FRigidTransform3(Static->X(), Static->R()), FVec3(0));
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Dynamic1->X() = FVec3(10, 10, 120);
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Dynamic2->X() = FVec3(10, 10, 400);
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Evolution.SetPhysicsMaterial(Dynamic1, MakeSerializable(PhysicsMaterial));
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Evolution.SetPhysicsMaterial(Dynamic2, MakeSerializable(PhysicsMaterial));
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Dynamic1->I() = TVec3<FRealSingle>(100000.0f);
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Dynamic1->InvI() = TVec3<FRealSingle>(1.0f / 100000.0f);
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Dynamic2->I() = TVec3<FRealSingle>(100000.0f);
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Dynamic2->InvI() = TVec3<FRealSingle>(1.0f / 100000.0f);
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::ChaosTest::SetParticleSimDataToCollide({ Static,Dynamic1,Dynamic2 });
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// IMPORTANT : this is required to make sure the particles internal representation will reflect the sim data
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Evolution.DirtyParticle(*Static);
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Evolution.DirtyParticle(*Dynamic1);
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Evolution.DirtyParticle(*Dynamic2);
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bool Dynamic1WentToSleep = false;
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bool Dynamic1HasWokeAgain = false;
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for (int i = 0; i < 1000; ++i)
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{
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Evolution.AdvanceOneTimeStep(1 / 60.f);
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Evolution.EndFrame(1 / 60.f);
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// at some point Dynamic1 should come to rest and go to sleep on static particle
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if (Dynamic1WentToSleep == false && Dynamic1->ObjectState() == EObjectStateType::Sleeping)
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{
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Dynamic1WentToSleep = true;
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EXPECT_LT(Dynamic1->X().Z, 120);
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EXPECT_GT(Dynamic1->X().Z, 100);
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}
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// later the Dynamic2 collides with Dynamic1 waking it up again
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if (Dynamic1WentToSleep)
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{
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if (Dynamic1->ObjectState() == EObjectStateType::Dynamic)
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{
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Dynamic1HasWokeAgain = true;
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}
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}
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}
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EXPECT_TRUE(Dynamic1WentToSleep);
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EXPECT_TRUE(Dynamic1HasWokeAgain);
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}
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GTEST_TEST(AllTraits, DISABLED_SimTests_MidSubstepSleep)
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{
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TSharedPtr<FImplicitObject, ESPMode::ThreadSafe> Sphere{new TSphere<FReal, 3>(FVec3(0), 10)};
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FChaosSolversModule* Module = FChaosSolversModule::GetModule();
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auto Solver = Module->CreateSolver(nullptr, /*AsyncDt=*/-1);
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FSingleParticlePhysicsProxy* Proxy = FSingleParticlePhysicsProxy::Create(Chaos::TPBDRigidParticle<FReal, 3>::CreateParticle());
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Chaos::FRigidBodyHandle_External& Particle = Proxy->GetGameThreadAPI();
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Particle.SetGeometry(Sphere);
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Particle.SetV(FVec3(0, 0, -1));
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Solver->RegisterObject(Proxy);
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Solver->SetMaxSubSteps_External(4);
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Solver->SetMaxDeltaTime_External(1.0f / 60.0f);
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Solver->DisableAsyncMode();
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const FVector InitialX = Proxy->GetGameThreadAPI().X();
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struct FCallback : TSimCallbackObject<>
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{
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virtual void OnPreSimulate_Internal() override
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{
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check(Proxy);
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PTX = Proxy->GetPhysicsThreadAPI()->X();
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if(Hits == 1)
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{
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Proxy->GetPhysicsThreadAPI()->SetObjectState(EObjectStateType::Sleeping);
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}
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++Hits;
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}
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FSingleParticlePhysicsProxy* Proxy = nullptr;
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FVector PTX = FVector::ZeroVector;
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int32 Hits = 0;
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};
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FCallback* Callback = Solver->CreateAndRegisterSimCallbackObject_External<FCallback>();
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Callback->Proxy = Proxy;
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// This should ensure 4 steps take place.
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Solver->AdvanceAndDispatch_External(1.0f);
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Solver->UpdateGameThreadStructures();
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EXPECT_EQ(Callback->Hits, 4);
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const FVector GTX = Proxy->GetGameThreadAPI().X();
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EXPECT_NE(GTX, InitialX);
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EXPECT_EQ(GTX, Callback->PTX);
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Solver->UnregisterAndFreeSimCallbackObject_External(Callback);
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Module->DestroySolver(Solver);
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}
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GTEST_TEST(AllEvolutions, SimTests_SleepAndWakeSimTest3)
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{
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FParticleUniqueIndicesMultithreaded UniqueIndices;
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FPBDRigidsSOAs Particles(UniqueIndices);
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THandleArray<FChaosPhysicsMaterial> PhysicalMaterials;
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FPBDRigidsEvolutionGBF Evolution(Particles, PhysicalMaterials);
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InitEvolutionSettings(Evolution);
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// This lambda assumes two freshly awakened dynamics, ticked over 100 frames.
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// The sleepy one has a material sleep type and will fall asleep after 5 frames.
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const auto AdvanceSleepStates = [&](auto& SleepyDynamic, auto& AwakeDynamic)
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{
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for (int i = 0; i < 10; ++i)
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{
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Evolution.AdvanceOneTimeStep(1 / 60.f);
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Evolution.EndFrame(1 / 60.f);
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// Dynamic1 should fall asleep after 5 frames of sitting still
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if (i < 5)
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{
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EXPECT_EQ(SleepyDynamic->ObjectState(), EObjectStateType::Dynamic);
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}
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else
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{
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EXPECT_EQ(SleepyDynamic->ObjectState(), EObjectStateType::Sleeping);
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}
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// Dynamic2 should never fall asleep
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EXPECT_EQ(AwakeDynamic->ObjectState(), EObjectStateType::Dynamic);
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}
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};
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auto Dynamic1 = Evolution.CreateDynamicParticles(1)[0];
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auto Dynamic2 = Evolution.CreateDynamicParticles(1)[0];
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TArrayCollectionArray<TSerializablePtr<FChaosPhysicsMaterial>> PhysicsMaterials;
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Particles.GetParticleHandles().AddArray(&PhysicsMaterials);
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TUniquePtr<FChaosPhysicsMaterial> PhysicsMaterial = MakeUnique<FChaosPhysicsMaterial>();
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PhysicsMaterial->SleepingLinearThreshold = 20;
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PhysicsMaterial->SleepingAngularThreshold = 20;
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PhysicsMaterial->SleepCounterThreshold = 5;
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Dynamic1->X() = FVec3(-200, 0, 0);
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Dynamic2->X() = FVec3(200, 0, 0);
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TUniquePtr<FImplicitObject> DynamicBox(new TBox<FReal, 3>(FVec3(-50, -50, -50), FVec3(50, 50, 50)));
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Dynamic1->SetGeometry(MakeSerializable(DynamicBox));
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Dynamic2->SetGeometry(MakeSerializable(DynamicBox));
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Dynamic1->SetGravityEnabled(false);
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Dynamic2->SetGravityEnabled(false);
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Dynamic1->SetSleepType(ESleepType::MaterialSleep);
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Dynamic2->SetSleepType(ESleepType::NeverSleep);
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Evolution.SetPhysicsMaterial(Dynamic1, MakeSerializable(PhysicsMaterial));
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Evolution.SetPhysicsMaterial(Dynamic2, MakeSerializable(PhysicsMaterial));
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// IMPORTANT : this is required to make sure the particles internal representation will reflect the sim data
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Evolution.DirtyParticle(*Dynamic1);
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Evolution.DirtyParticle(*Dynamic2);
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const auto& SleepData = Evolution.GetParticles().GetDynamicParticles().GetSleepData();
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EXPECT_EQ(SleepData.Num(), 0);
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AdvanceSleepStates(Dynamic1, Dynamic2);
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// Particle 1 should have fallen asleep
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EXPECT_EQ(SleepData.Num(), 1);
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EXPECT_EQ(SleepData[0].Particle, Dynamic1);
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EXPECT_TRUE(SleepData[0].Sleeping);
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// Switch the sleep types and observe state changes and sleep events
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Dynamic1->SetSleepType(ESleepType::NeverSleep);
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Dynamic2->SetSleepType(ESleepType::MaterialSleep);
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// Particle 1 should have woken up due to the sleep type change
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EXPECT_EQ(SleepData.Num(), 2);
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EXPECT_EQ(SleepData[1].Particle, Dynamic1);
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EXPECT_FALSE(SleepData[1].Sleeping);
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AdvanceSleepStates(Dynamic2, Dynamic1);
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// Particle 2 should have fallen asleep
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EXPECT_EQ(SleepData.Num(), 3);
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EXPECT_EQ(SleepData[2].Particle, Dynamic2);
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EXPECT_TRUE(SleepData[2].Sleeping);
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}
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}
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