198 lines
9.1 KiB
C++
198 lines
9.1 KiB
C++
/*************************************************************************/
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/* space_2d_sw.h */
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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) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 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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#ifndef SPACE_2D_SW_H
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#define SPACE_2D_SW_H
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#include "area_2d_sw.h"
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#include "area_pair_2d_sw.h"
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#include "body_2d_sw.h"
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#include "body_pair_2d_sw.h"
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#include "broad_phase_2d_sw.h"
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#include "collision_object_2d_sw.h"
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#include "globals.h"
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#include "hash_map.h"
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#include "typedefs.h"
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class Physics2DDirectSpaceStateSW : public Physics2DDirectSpaceState {
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OBJ_TYPE(Physics2DDirectSpaceStateSW, Physics2DDirectSpaceState);
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public:
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Space2DSW *space;
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virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_point = false);
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virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual int intersect_shape(const RID &p_shape, const Matrix32 &p_xform, const Vector2 &p_motion, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool cast_motion(const RID &p_shape, const Matrix32 &p_xform, const Vector2 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool collide_shape(RID p_shape, const Matrix32 &p_shape_xform, const Vector2 &p_motion, float p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool rest_info(RID p_shape, const Matrix32 &p_shape_xform, const Vector2 &p_motion, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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Physics2DDirectSpaceStateSW();
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};
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class Space2DSW {
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public:
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enum ElapsedTime {
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ELAPSED_TIME_INTEGRATE_FORCES,
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ELAPSED_TIME_GENERATE_ISLANDS,
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ELAPSED_TIME_SETUP_CONSTRAINTS,
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ELAPSED_TIME_SOLVE_CONSTRAINTS,
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ELAPSED_TIME_INTEGRATE_VELOCITIES,
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ELAPSED_TIME_MAX
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};
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private:
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uint64_t elapsed_time[ELAPSED_TIME_MAX];
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Physics2DDirectSpaceStateSW *direct_access;
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RID self;
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BroadPhase2DSW *broadphase;
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SelfList<Body2DSW>::List active_list;
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SelfList<Body2DSW>::List inertia_update_list;
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SelfList<Body2DSW>::List state_query_list;
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SelfList<Area2DSW>::List monitor_query_list;
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SelfList<Area2DSW>::List area_moved_list;
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static void *_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self);
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static void _broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self);
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Set<CollisionObject2DSW *> objects;
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Area2DSW *area;
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real_t contact_recycle_radius;
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real_t contact_max_separation;
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real_t contact_max_allowed_penetration;
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real_t constraint_bias;
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enum {
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INTERSECTION_QUERY_MAX = 2048
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};
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CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX];
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int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
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float body_linear_velocity_sleep_treshold;
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float body_angular_velocity_sleep_treshold;
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float body_time_to_sleep;
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bool locked;
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int island_count;
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int active_objects;
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int collision_pairs;
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int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb);
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Vector<Vector2> contact_debug;
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int contact_debug_count;
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friend class Physics2DDirectSpaceStateSW;
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public:
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_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
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_FORCE_INLINE_ RID get_self() const { return self; }
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void set_default_area(Area2DSW *p_area) { area = p_area; }
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Area2DSW *get_default_area() const { return area; }
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const SelfList<Body2DSW>::List &get_active_body_list() const;
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void body_add_to_active_list(SelfList<Body2DSW> *p_body);
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void body_remove_from_active_list(SelfList<Body2DSW> *p_body);
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void body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body);
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void body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body);
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void area_add_to_moved_list(SelfList<Area2DSW> *p_area);
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void area_remove_from_moved_list(SelfList<Area2DSW> *p_area);
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const SelfList<Area2DSW>::List &get_moved_area_list() const;
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void body_add_to_state_query_list(SelfList<Body2DSW> *p_body);
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void body_remove_from_state_query_list(SelfList<Body2DSW> *p_body);
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void area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area);
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void area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area);
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BroadPhase2DSW *get_broadphase();
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void add_object(CollisionObject2DSW *p_object);
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void remove_object(CollisionObject2DSW *p_object);
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const Set<CollisionObject2DSW *> &get_objects() const;
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_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
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_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
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_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
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_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
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_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_treshold() const { return body_linear_velocity_sleep_treshold; }
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_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_treshold() const { return body_angular_velocity_sleep_treshold; }
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_FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; }
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void update();
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void setup();
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void call_queries();
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bool is_locked() const;
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void lock();
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void unlock();
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void set_param(Physics2DServer::SpaceParameter p_param, real_t p_value);
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real_t get_param(Physics2DServer::SpaceParameter p_param) const;
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void set_island_count(int p_island_count) { island_count = p_island_count; }
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int get_island_count() const { return island_count; }
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void set_active_objects(int p_active_objects) { active_objects = p_active_objects; }
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int get_active_objects() const { return active_objects; }
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int get_collision_pairs() const { return collision_pairs; }
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bool test_body_motion(Body2DSW *p_body, const Matrix32 &p_from, const Vector2 &p_motion, float p_margin, Physics2DServer::MotionResult *r_result);
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void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
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_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); }
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_FORCE_INLINE_ void add_debug_contact(const Vector2 &p_contact) {
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if (contact_debug_count < contact_debug.size()) contact_debug[contact_debug_count++] = p_contact;
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}
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_FORCE_INLINE_ Vector<Vector2> get_debug_contacts() { return contact_debug; }
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_FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; }
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Physics2DDirectSpaceStateSW *get_direct_state();
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void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
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uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
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Space2DSW();
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~Space2DSW();
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};
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#endif // SPACE_2D_SW_H
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