forked from bit/DotRecastNetSim
185 lines
8.6 KiB
C#
185 lines
8.6 KiB
C#
/*
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recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
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This software is provided 'as-is', without any express or implied
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warranty. In no event will the authors be held liable for any damages
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arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely, subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software
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in a product, an acknowledgment in the product documentation would be
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appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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using System.Collections.Generic;
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using DotRecast.Core;
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using NUnit.Framework;
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namespace DotRecast.Detour.Test;
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[Parallelizable]
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public class FindPolysAroundShapeTest : AbstractDetourTest
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{
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private static readonly long[][] REFS =
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{
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new[]
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{
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281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L,
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281474976710693L, 281474976710692L, 281474976710703L, 281474976710706L, 281474976710699L,
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281474976710705L, 281474976710698L, 281474976710700L, 281474976710704L
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},
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new[]
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{
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281474976710773L, 281474976710769L, 281474976710772L, 281474976710768L, 281474976710771L,
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281474976710754L, 281474976710755L, 281474976710753L, 281474976710751L, 281474976710756L,
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281474976710749L
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},
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new[]
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{
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281474976710680L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710688L,
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281474976710678L, 281474976710676L, 281474976710687L, 281474976710690L, 281474976710686L,
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281474976710689L, 281474976710685L, 281474976710697L, 281474976710695L, 281474976710694L,
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281474976710691L, 281474976710696L, 281474976710693L, 281474976710692L, 281474976710703L,
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281474976710706L, 281474976710699L, 281474976710705L, 281474976710700L, 281474976710704L
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},
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new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
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new[]
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{
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281474976710733L, 281474976710735L, 281474976710736L, 281474976710742L, 281474976710734L,
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281474976710739L, 281474976710738L, 281474976710740L, 281474976710746L, 281474976710743L,
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281474976710745L, 281474976710741L, 281474976710747L, 281474976710737L, 281474976710732L,
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281474976710728L, 281474976710724L, 281474976710744L, 281474976710725L, 281474976710717L,
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281474976710729L, 281474976710726L, 281474976710721L, 281474976710719L, 281474976710731L,
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281474976710720L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L,
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281474976710756L, 281474976710750L, 281474976710749L, 281474976710754L, 281474976710751L,
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281474976710768L, 281474976710772L, 281474976710773L, 281474976710771L, 281474976710769L
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}
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};
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private static readonly long[][] PARENT_REFS =
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{
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new[]
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{
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0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L,
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281474976710693L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710706L,
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281474976710705L, 281474976710705L, 281474976710705L
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},
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new[]
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{
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0L, 281474976710773L, 281474976710773L, 281474976710772L, 281474976710772L, 281474976710768L,
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281474976710754L, 281474976710755L, 281474976710755L, 281474976710753L, 281474976710756L
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},
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new[]
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{
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0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710684L, 281474976710679L,
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281474976710678L, 281474976710688L, 281474976710687L, 281474976710687L, 281474976710687L,
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281474976710687L, 281474976710686L, 281474976710697L, 281474976710695L, 281474976710695L,
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281474976710695L, 281474976710695L, 281474976710693L, 281474976710694L, 281474976710703L,
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281474976710706L, 281474976710706L, 281474976710705L, 281474976710705L
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},
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new[] { 0L, 281474976710753L, 281474976710748L, 281474976710752L },
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new[]
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{
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0L, 281474976710733L, 281474976710733L, 281474976710735L, 281474976710736L, 281474976710736L,
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281474976710736L, 281474976710742L, 281474976710740L, 281474976710746L, 281474976710746L,
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281474976710746L, 281474976710746L, 281474976710738L, 281474976710738L, 281474976710737L,
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281474976710728L, 281474976710745L, 281474976710724L, 281474976710724L, 281474976710717L,
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281474976710717L, 281474976710717L, 281474976710729L, 281474976710729L, 281474976710721L,
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281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710753L,
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281474976710753L, 281474976710756L, 281474976710755L, 281474976710755L, 281474976710754L,
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281474976710768L, 281474976710772L, 281474976710772L, 281474976710773L
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}
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};
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private static readonly float[][] COSTS =
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{
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new[]
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{
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0.000000f, 16.188787f, 22.561579f, 19.950766f, 19.519329f, 21.906523f, 22.806520f, 23.311579f, 25.124035f,
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28.454576f, 26.084503f, 36.438854f, 30.526634f, 31.942192f
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},
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new[]
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{
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0.000000f, 16.618738f, 12.136283f, 20.387646f, 17.343250f, 22.037645f, 22.787645f, 27.178831f, 26.501472f,
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31.691311f, 33.176235f
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},
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new[]
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{
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0.000000f, 36.657764f, 35.197689f, 37.484924f, 37.755524f, 37.132103f, 37.582104f, 38.816185f, 52.426109f,
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55.945839f, 51.882935f, 44.879601f, 57.745838f, 59.402641f, 65.063034f, 64.934372f, 62.733185f,
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62.756744f, 63.656742f, 65.813034f, 67.625488f, 70.956032f, 68.585960f, 73.028091f, 74.443649f
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},
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new[] { 0.000000f, 2.097958f, 3.158618f, 4.658618f },
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new[]
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{
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0.000000f, 20.495766f, 21.352942f, 21.999096f, 25.531757f, 28.758514f, 30.264732f, 23.499096f, 24.670631f,
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33.166218f, 35.651184f, 34.371792f, 30.012215f, 33.886887f, 33.855347f, 34.643524f, 36.300327f,
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38.203144f, 40.339203f, 40.203213f, 47.254810f, 50.043945f, 49.054485f, 49.804810f, 49.204811f,
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52.813477f, 51.004814f, 52.504814f, 53.565475f, 62.748611f, 61.504147f, 57.915474f, 62.989071f,
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67.139801f, 66.507599f, 67.889801f, 69.539803f, 77.791168f, 75.186256f, 83.111412f
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}
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};
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[Test]
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public void TestFindPolysAroundShape()
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{
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IDtQueryFilter filter = new DtQueryDefaultFilter();
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var refs = new List<long>();
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var parentRefs = new List<long>();
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var costs = new List<float>();
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for (int i = 0; i < startRefs.Length; i++)
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{
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long startRef = startRefs[i];
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RcVec3f startPos = startPoss[i];
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query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter, ref refs, ref parentRefs, ref costs);
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Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
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for (int v = 0; v < REFS[i].Length; v++)
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{
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bool found = false;
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for (int w = 0; w < REFS[i].Length; w++)
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{
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if (REFS[i][v] == refs[w])
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{
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Assert.That(parentRefs[w], Is.EqualTo(PARENT_REFS[i][v]));
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Assert.That(costs[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
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found = true;
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}
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}
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Assert.That(found, Is.True);
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}
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}
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}
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private RcVec3f[] GetQueryPoly(RcVec3f m_spos, RcVec3f m_epos)
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{
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float nx = (m_epos.z - m_spos.z) * 0.25f;
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float nz = -(m_epos.x - m_spos.x) * 0.25f;
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float agentHeight = 2.0f;
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RcVec3f[] m_queryPoly = new RcVec3f[4];
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m_queryPoly[0].x = m_spos.x + nx * 1.2f;
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m_queryPoly[0].y = m_spos.y + agentHeight / 2;
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m_queryPoly[0].z = m_spos.z + nz * 1.2f;
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m_queryPoly[1].x = m_spos.x - nx * 1.3f;
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m_queryPoly[1].y = m_spos.y + agentHeight / 2;
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m_queryPoly[1].z = m_spos.z - nz * 1.3f;
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m_queryPoly[2].x = m_epos.x - nx * 0.8f;
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m_queryPoly[2].y = m_epos.y + agentHeight / 2;
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m_queryPoly[2].z = m_epos.z - nz * 0.8f;
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m_queryPoly[3].x = m_epos.x + nx;
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m_queryPoly[3].y = m_epos.y + agentHeight / 2;
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m_queryPoly[3].z = m_epos.z + nz;
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return m_queryPoly;
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}
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} |