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Search found 2009 results on 81 pages for 'transform'.

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• How do I implement a Bullet Physics CollisionObject that represents my cube like terrain?

  - by Byte56

  I've successfully integrated the Bullet Physics library into my entity/component system. Entities can collide with each other. Now I need to enable them to collide with the terrain, which is finite and cube-like (think InfiniMiner or it's clone Minecraft). I only started using the Bullet Physics library yesterday, so perhaps I'm missing something obvious. So far I've extended the RigidBody class to override the checkCollisionWith(CollisionObject co) function. At the moment it's just a simple check of the origin, not using the other shape. I'll iterate on that later. For now it looks like this: @Override public boolean checkCollideWith(CollisionObject co) { Transform t = new Transform(); co.getWorldTransform(t); if(COLONY.SolidAtPoint(t.origin.x, t.origin.y,t.origin.z)){ return true; } return false; } This works great, as far as detecting when collisions happen. However, this doesn't handle the collision response. It seems that the default collision response is to move the colliding objects outside of each others shapes, possibly their AABBs. At the moment the shape of the terrain is just a box the size of the world. This means the entities that collide with the terrain just shoot away to outside that world size box. So it's clear that I either need to modify the collision response or I need to create a shape that conforms directly to the shape of the terrain. So which option is best and how do I go about implementing it? It should be noted that the terrain is dynamic and frequently modified by the player.

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• Camera wont stay behind model after pitch, then rotation

  - by ChocoMan

  I have a camera position behind a model. Currently, if I push the left thumbstick making my model move forward, backward, or strafe, the camera stays with the model. If I push the right thumbstick left or right, the model rotates in those directions fine along with the camera rotating while maintaining its position relatively behind the model. But when I pitch the model up or down, then rotate the model afterwards, the camera moves slightly rotates in a clock-like fashion behind the model. If I do a few rotations of the model and try to pitch the camera, the camera will eventually be looking at the side, then eventually the front of the model while also rotating in a clock-like fashion. My question is, how do I keep the camera to pitch up and down behind the model no matter how much the model has rotated? Here is what I got: // Rotates model and pitches camera on its own axis public void modelRotMovement(GamePadState pController) { // Rotates Camera with model Yaw = pController.ThumbSticks.Right.X * MathHelper.ToRadians(angularSpeed); // Pitches Camera around model Pitch = pController.ThumbSticks.Right.Y * MathHelper.ToRadians(angularSpeed); AddRotation = Quaternion.CreateFromYawPitchRoll(Yaw, 0, 0); ModelLoad.MRotation *= AddRotation; MOrientation = Matrix.CreateFromQuaternion(ModelLoad.MRotation); } // Orbit (yaw) Camera around with model (only seeing back of model) public void cameraYaw(Vector3 axisYaw, float yaw) { ModelLoad.CameraPos = Vector3.Transform(ModelLoad.CameraPos - ModelLoad.camTarget, Matrix.CreateFromAxisAngle(axisYaw, yaw)) + ModelLoad.camTarget; } // Raise camera above or below model's shoulders public void cameraPitch(Vector3 axisPitch, float pitch) { ModelLoad.CameraPos = Vector3.Transform(ModelLoad.CameraPos - ModelLoad.camTarget, Matrix.CreateFromAxisAngle(axisPitch, pitch)) + ModelLoad.camTarget; } // Call in update method public void updateCamera() { cameraYaw(Vector3.Up, Yaw); cameraPitch(Vector3.Right, Pitch); } NOTE: I tried to use addPitch just like addRotation but it didn't work...

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• Obtaining a world point from a screen point with an orthographic projection

  - by vargonian

  I assumed this was a straightforward problem but it has been plaguing me for days. I am creating a 2D game with an orthographic camera. I am using a 3D camera rather than just hacking it because I want to support rotating, panning, and zooming. Unfortunately the math overwhelms me when I'm trying to figure out how to determine if a clicked point intersects a bounds (let's say rectangular) in the game. I was under the impression that I could simply transform the screen point (the clicked point) by the inverse of the camera's View * Projection matrix to obtain the world coordinates of the clicked point. Unfortunately this is not the case at all; I get some point that seems to be in some completely different coordinate system. So then as a sanity check I tried taking an arbitrary world point and transforming it by the camera's View*Projection matrices. Surely this should get me the corresponding screen point, but even that didn't work, and it is quickly shattering any illusion I had that I understood 3D coordinate systems and the math involved. So, if I could form this into a question: How would I use my camera's state information (view and projection matrices, for instance) to transform a world point to a screen point, and vice versa? I hope the problem will be simpler since I'm using an orthographic camera and can make several assumptions from that. I very much appreciate any help. If it makes a difference, I'm using XNA Game Studio.

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• Missing z-axis rotation for transforming between two vectors

  - by Steve Baughman

  I'm trying to rotate a cube so that it's facing up, but am getting hung up on the final implementation details. It now reliably will rotate the x,y axis to the correct side, but the z-axis is never rotating (See photos of before and after rotation). When I'm using the code below I always get '0' for my rotationVector.z. What am I missing here? // Define lookAt vector lookAtVector = GLKVector3Make(0,0,1); // Define axes vectors axes[0] = GLKVector3Make(0,0,1); axes[1] = GLKVector3Make(-1,0,0); axes[2] = GLKVector3Make(0,1,0); axes[3] = GLKVector3Make(1,0,0); axes[4] = GLKVector3Make(0,-1,0); axes[5] = GLKVector3Make(0,0,-1); CGFloat highest_dot = -1.0; GLKVector3 closest_axis; for(int i = 0; i < 6; i++) { // multiply cube's axes by existing matrix GLKVector3 axis = GLKMatrix4MultiplyVector3(matrix, axes[i]); CGFloat dot = GLKVector3DotProduct(axis, lookAtVector); if(dot > highest_dot) { closest_axis = axis; highest_dot = dot; } } GLKVector3 rotationVector = GLKVector3CrossProduct(closest_axis, lookAtVector); // Get angle between vectors CGFloat angle = atan2(GLKVector3Length(rotationVector), GLKVector3DotProduct(closest_axis, lookAtVector)); // normalize the rotation vector rotationVector = GLKVector3Normalize(rotationVector); // Create transform CATransform3D rotationTransform = CATransform3DMakeRotation(angle, rotationVector.x, rotationVector.y, rotationVector.z); // add rotation transform to existing transformation baseTransform = CATransform3DConcat(baseTransform, rotationTransform); return baseTransform; Before 3d Rotation After 3d Rotation Implementation based on this post

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• Scale a game object to Bounds

  - by Spikeh

  I'm trying to scale a lot of dynamically created game objects in Unity3D to the bounds of a sphere collider, based on the size of their current mesh. Each object has a different scale and mesh size. Some are bigger than the AABB of the collider, and some are smaller. Here's the script I've written so far: private void ScaleToCollider(GameObject objectToScale, SphereCollider sphere) { var currentScale = objectToScale.transform.localScale; var currentSize = objectToScale.GetMeshHierarchyBounds().size; var targetSize = (sphere.radius * 2); var newScale = new Vector3 { x = targetSize * currentScale.x / currentSize.x, y = targetSize * currentScale.y / currentSize.y, z = targetSize * currentScale.z / currentSize.z }; Debug.Log("{0} Current scale: {1}, targetSize: {2}, currentSize: {3}, newScale: {4}, currentScale.x: {5}, currentSize.x: {6}", objectToScale.name, currentScale, targetSize, currentSize, newScale, currentScale.x, currentSize.x); //DoorDevice_meshBase Current scale: (0.1, 4.0, 3.0), targetSize: 5, currentSize: (2.9, 4.0, 1.1), newScale: (0.2, 5.0, 13.4), currentScale.x: 0.125, currentSize.x: 2.869114 //RedControlPanelForAirlock_meshBase Current scale: (1.0, 1.0, 1.0), targetSize: 5, currentSize: (0.0, 0.3, 0.2), newScale: (147.1, 16.7, 25.0), currentScale.x: 1, currentSize.x: 0.03400017 objectToScale.transform.localScale = newScale; } And the supporting extension method: public static Bounds GetMeshHierarchyBounds(this GameObject go) { var bounds = new Bounds(); // Not used, but a struct needs to be instantiated if (go.renderer != null) { bounds = go.renderer.bounds; // Make sure the parent is included Debug.Log("Found parent bounds: " + bounds); //bounds.Encapsulate(go.renderer.bounds); } foreach (var c in go.GetComponentsInChildren<MeshRenderer>()) { Debug.Log("Found {0} bounds are {1}", c.name, c.bounds); if (bounds.size == Vector3.zero) { bounds = c.bounds; } else { bounds.Encapsulate(c.bounds); } } return bounds; } After the re-scale, there doesn't seem to be any consistency to the results - some objects with completely uniform scales (x,y,z) seem to resize correctly, but others don't :| Its one of those things I've been trying to fix for so long I've lost all grasp on any of the logic :| Any help would be appreciated!

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• Problem with DirectX scene-graph

  - by Alex

  I'm trying to implement a basic scene graph in DirectX using C++. I am using a left child-right sibling binary tree to do this. I'm having trouble updating each node's world transformation relative to its parent (and its parent's parent etc.). I'm struggling to get it to work recursively, though I can get it to work like this: for(int i = 0; i < NUM_OBJECTS; i++) { // Initialize to identity matrix. D3DXMatrixIdentity(&mObject[i].toWorldXForm); int k = i; while( k != -1 ) { mObject[i].toWorldXForm *= mObject[k].toParentXForm; k = mObject[k].parent; } } toWorldXForm is the object's world transform and toParentXForm is the object's transform relative to the parent. I want to do this using a method within my object class (the code above is in my main class). This is what I've tried but it doesn't work (only works with nodes 1 generation away from the root) if (this->sibling != NULL) this->sibling->update(toParentXForm); D3DXMatrixIdentity(&toWorldXForm); this->toWorldXForm *= this->toParentXForm; this->toWorldXForm *= toParentXForm; toParentXForm *= this->toParentXForm; if (this->child != NULL) this->child->update(toParentXForm); Sorry if I've not been clear, please tell me if there's anything else you need to know. I've no doubt it's merely a silly mistake on my part, hopefully an outside view will be able to spot the problem.

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• Handy Tool for Code Cleanup: Automated Class Element Reordering

  - by Geertjan

  You're working on an application and this thought occurs to you: "Wouldn't it be cool if I could define rules specifying that all static members, initializers, and fields should always be at the top of the class? And then, whenever I wanted to, I'd start off a process that would actually do the reordering for me, moving class elements around, based on the rules I had defined, automatically, across one or more classes or packages or even complete code bases, all at the same time?" Well, here you go: That's where you can set rules for the ordering of your class members. A new hint (i.e., new in NetBeans IDE 7.3), which you need to enable yourself because by default it is disabled, let's the IDE show a hint in the Java Editor whenever there's code that isn't ordered according to the rules you defined: The first element in a file that the Java Editor identifies as not matching your rules gets a lightbulb hint shown in the left sidebar: Then, when you click the lightbulb, automatically the file is reordered according to your defined rules. However, it's not much fun going through each file individually to fix class elements as shown above. For that reason, you can go to "Refactor | Inspect and Transform". There, in the "Inspect and Transform" dialog, you can choose the hint shown above and then specify that you'd like it to be applied to a scope of your choice, which could be a file, a package, a project, combinations of these, or all of the open projects, as shown below: Then, when Inspect is clicked, the Refactoring window shows all the members that are ordered in ways that don't conform to your rules: Click "Do Refactoring" above and, in one fell swoop, all the class elements within the selected scope are ordered according to your rules.

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• Why CFOs Should Care About Big Data

  - by jmorourke

  The topic of “big data” clearly has reached a tipping point in 2012.  With plenty of coverage over the past few years in the IT press, we are now starting to see the topic of “big data” covered in mainstream business press, including a cover story in the October 2012 issue of the Harvard Business Review.  To help customers understand the challenges of managing “big data” as well as the opportunities that can be created by leveraging “big data”, Oracle has recently run and published the results of a customer survey, as well as white papers and articles on this topic.  Most recently, we commissioned a white paper titled “Mastering Big Data: CFO Strategies to Transform Insight into Opportunity”. The premise here is that “big data” is not just a topic that CIOs should pay attention to, but one that CFOs should understand and take advantage of as well.  Clearly, whoever masters the art and science of big data will be positioned for competitive advantage in their industries or markets.  That’s why smart CFOs are taking control of big data and business analytics projects, not just to uncover new ways to drive growth in a slowing global economy, but also to be a catalyst for change in the enterprise.  With an increasing number of CFOs now responsible for overseeing IT investments and providing strategic insight to the board, CFOs will be increasingly called upon to take a leadership role in assessing the value of “big data” initiatives, building on their traditional skills in reporting and helping managers analyze data to support decision making. Here’s a link to the white paper referenced above, which is posted on the Oracle C-Central/CFO web site, as well as some other resources that can help CFOs master the topic of “big data”: White Paper “Mastering Big Data:  CFO Strategies to Transform Insight into Opportunity CFO Market Watch article:  “Does Big Data Affect the CFO?” Oracle Survey Report:  “From Overload to Impact – An Industry Scorecard on Big Data Industry Challenges” Upcoming Big Data Webcast with Andrew McAfee Here’s a general link to Oracle C-Central/CFO in case you want to start there: www.oracle.com/c-central/cfo Feel free to contact me if you have any questions or need additional information:  [email protected]

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• Physics not synchronizing correctly over the network when using Bullet

  - by Lucas

  I'm trying to implement a client/server physics system using Bullet however I'm having problems getting things to sync up. I've implemented a custom motion state which reads and write the transform from my game objects and it works locally but I've tried two different approaches for networked games: Dynamic objects on the client that are also on the server (eg not random debris and other unimportant stuff) are made kinematic. This works correctly but the objects don't move very smoothly Objects are dynamic on both but after each message from the server that the object has moved I set the linear and angular velocity to the values from the server and call btRigidBody::proceedToTransform with the transform on the server. I also call btCollisionObject::activate(true); to force the object to update. My intent with method 2 was to basically do method 1 but hijacking Bullet to do a poor-man's prediction instead of doing my own to smooth out method 1, but this doesn't seem to work (for reasons that are not 100% clear to me even stepping through Bullet) and the objects sometimes end up in different places. Am I heading in the right direction? Bullet seems to have it's own interpolation code built-in. Can that help me make method 1 work better? Or is my method 2 code not working because I am accidentally stomping that?

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• BizTalk 2009 - Error when Testing Map with Flat File Source Schema

  - by StuartBrierley

  I have recently been creating some flat file schemas using the BizTalk Server 2009 Flat File Schema Wizard.  I have then been mapping these flat file schemas to a "normal" xml schema format. I have not previsouly had any cause to map flat files and ran into some trouble when testing the first of these flat file maps; with an instance of the flat file as the source it threw an XSL transform error: Test Map.btm: error btm1050: XSL transform error: Unable to write output instance to the following <file:///C:\Documents and Settings\sbrierley\Local Settings\Temp\_MapData\Test Mapping\Test Map_output.xml>. Data at the root level is invalid. Line 1, position 1. Due to the complexity of the map in question I decided to created a small test map using the same source and destination schemas to see if I could pinpoint the problem.  Although the source message instance vaildated correctly against the flat file schema, when I then tested this simplified map I got the same error. After a time of fruitless head scratching and some serious google time I figured out what the problem was. Looking at the map properties I noticed that I had the test map input set to "XML" - for a flat file instance this should be set to "native".

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• Looking for a small, light scene graph style abstraction lib for shader based OpenGL

  - by Pris

  I'm looking for a 'lean and mean' c/c++ scene graph library for OpenGL that doesn't use any deprecated functionality. It should be cross platform (strictly speaking I just dev on Linux so no love lost if it doesn't work on Windows), and it should be possible to deploy to mobile targets (ie OpenGLES2, and no crazy mandatory dependencies that wouldn't port well to modern mobile frameworks like iOS, Android, etc), with a license that's compatible with closed source software (LGPL or more liberal). Specific nice-to-haves would be: Cameras and Viewers (trackball, fly-by, etc) Object transform hierarchies (if B is a child of A, and you move A, B has the same transform applied to it) Simple animation Scene optimization (frustum culling, use VBOs, minimize state changes, etc) Text I've played around with OpenSceneGraph a lot and it's pretty amazing for fixed function pipeline stuff, but I've had a few of problems using it with the programmable pipeline and after going through their mailing list, it seems several people have had similar issues (going back years). Kitware's VES looks neat (http://www.vtk.org/Wiki/VES), but VES + VTK is pretty heavy. VTK is also typically for analyzing scientific data and I've read that it's not that appropriate for a general use case (not that great at rendering a lot of objects on scene,etc) I'm currently looking at VisualizationLibrary (http://www.visualizationlibrary.org/documentation/pag_gallery.html) which looks like it offers some of the functionality I'd like, but it doesn't explicitly support mobile targets. Other solutions like Ogre, Horde3D, Irrlicht, etc tend to be full on game engines and that's not really what I'm looking for. I'd like some suggestions for other libraries that I may have missed... please note I'm not willing to roll my own solution from scratch.

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• How do I architect 2 plugins that share a common component?

  - by James

  I have an object that takes in data and spits out a transformed output, called IBaseItem. I also have two parsers, IParserA and IParserB. These parsers transform external data (in format dataA and dataB respectively) to a format usable by my IBaseItem (baseData). I want to create 2 systems, one that works with dataA and one that works with dataB. They will allow the user to enter data and match it to the right plugins/implementations and transform the data to outData. I want to write these traffic cops myself, but have other people provide the parsers and baseitem logic, and and as such am implementing these items as plugins (hence the use of interfaces). Other programmers can choose to implement 1 or both parsers. Q: How should I structure the way base items and parsers are associated, stored, and loaded into each of my programs? Class Relations: What I've Tried: Initially I though there should be a different dll for each of my 2 traffic cops, that each have a parser and baseitem in them. However, the duplication of baseitem logic doesn't seem right (especially if the base item logic changes). I then thought the base items could all have their own dll, and then somehow associate parsers and baseitems (guids?), but I don't know if implementing the overhead id/association is adding too much complexion.

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• Game Input mouse filtering

  - by aaron

  I'm having a problem with filtering mouse inputs, the method I am doing right know moves the cursor back to the center of the screen each frame. But I cant do this because it messes with other things. Does anyone know how to implement this with delta mouse movement. Here is the relevant code. void update() { static float oldX = 0; static float oldY = 0; static float walkSpeed = .05f; static float sensitivity = 0.002f;//mouse sensitivity static float smooth = 0.7f;//mouse smoothing (0.0 - 0.99) float w = ScreenResolution.x/2.0f; float h = ScreenResolution.y/2.0f; Vec2f scrc(w,h); Vec2f mpos(getMouseX(),getMouseY()); float x = scrc.x-mpos.x; float y = scrc.y-mpos.y; oldX = (oldX*smooth + x*(1.0-smooth)); oldY = (oldY*smooth + y*(1.0-smooth)); x = oldX * sensitivity; y = oldY * sensitivity; camera->rotate(Vec3f(y,0,0)); transform->setRotation(transform->getRotation()*Quaternionf::fromAxisAngle(0.0f,1.0f,0.0f,-x)); setMousePosition((int)scrc.x,(int)scrc.y);//THIS IS THE PROBLEM LINE HOW CAN I AVOID THIS .... }

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• Rotation and translation like in GTA 1 OpenGL

  - by user1876377

  Okay, so I have a figure in XZ plain. I want to move it forward/backward and rotate at it's own Y axis, then move forward again in the rotation's direction, like the character in GTA 1. Code so far: Init: spaceship_position = glm::vec3(0,0,0); spaceship_rotation = glm::vec3(0,0,0); spaceship_scale = glm::vec3(1, 1, 1); Draw: glm::mat4 transform = glm::scale<float>(spaceship_scale) * glm::rotate<float>(spaceship_rotation.x, 1, 0, 0) * glm::rotate<float>(spaceship_rotation.y, 0, 1, 0) * glm::rotate<float>(spaceship_rotation.z, 0, 0, 1) * glm::translate<float>(spaceship_position); drawMesh(spaceship, texture, transform); Update: switch (key.keysym.sym) { case SDLK_UP: spaceship_position.z += 0.1; break; case SDLK_DOWN: spaceship_position.z -= 0.1; break; case SDLK_LEFT: spaceship_rotation.y += 1; break; case SDLK_RIGHT: spaceship_rotation.y -= 1; break; } So this only moves on the Z axis, but how can I move the object on both Z and X axis where the object is facing?

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• Basic 3D Collision detection in XNA 4.0

  - by NDraskovic

  I have a problem with detecting collision between 2 models using BoundingSpheres in XNA 4.0. The code I'm using i very simple: private bool IsCollision(Model model1, Matrix world1, Model model2, Matrix world2) { for (int meshIndex1 = 0; meshIndex1 < model1.Meshes.Count; meshIndex1++) { BoundingSphere sphere1 = model1.Meshes[meshIndex1].BoundingSphere; sphere1 = sphere1.Transform(world1); for (int meshIndex2 = 0; meshIndex2 < model2.Meshes.Count; meshIndex2++) { BoundingSphere sphere2 = model2.Meshes[meshIndex2].BoundingSphere; sphere2 = sphere2.Transform(world2); if (sphere1.Intersects(sphere2)) return true; } } return false; } The problem I'm getting is that when I call this method from the Update method, the program behaves as if this method always returns true value (which of course is not correct). The code for calling is very simple (although this is only the test code): if (IsCollision(model1, worldModel1, model2, worldModel2)) { Window.Title = "Intersects"; } What is causing this?

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• Unity Problem with colliding instances of same object

  - by Kuba Sienkiewicz

  I want to check if object's instance is overlapping with another instance (any spawned object with another spawned object, not necessary the same object). I'm doing this by detecting collisions between bodies. But I have a problem. Spawned object (instances) are detecting collision with everything but other spawned objects. I've checked collision layers etc. All of spawned objects have rigidbodies and mesh colliders. Also when I attach my script to another body and I touch that body with an instanced object it detects collision. So problem is visible only in collision between spawned objects. And one more information I have script, rigid body and collider attached to child of main object. using UnityEngine; using System.Collections; public class CantPlace : MonoBehaviour { public bool collided = false; // Use this for initialization void Start () { } // Update is called once per frame void Update () { //Debug.Log (collided); } void OnTriggerEnter(Collider collider) { //if (true) { //foreach (Transform child in this.transform) { // if (child.name == "Cylinder") { //collided = true; Color c; c = this.renderer.material.color; c.g = 0f; c.b = 1f; c.r = 0f; this.renderer.material.color = c; Debug.Log (collider.name); //} // } //} //foreach (ContactPoint contact in collision.contacts) { // Debug.DrawRay(contact.point, contact.normal, Color.red,15f); // } } }

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• Trouble with Collada bones

  - by KyleT

  I have a Collada file with a rigged mesh. I've read the node tags in the library_visual_scenes tag and extracted the matrix for each node and stored everything in a hierarchical bone structure. My Matrix container is "row major", so I'd store the first float of a matrix tag in the 1st row, 1st column, the second in the 1st row, 2nd column, etc. From what I gather this is the Bind Pose Matrix. After that I went through the tag and extracted the float array in the source tag of the skin tag of the controller for the mesh. I stored each matrix from this float array in their corresponding Bone as the Inverse Bind Matrix. I also extracted the bind-shape-matrix and stored it. Now I'd like to draw the skeleton with OpenGL to see if everything is working correctly before I go about skinning. I iterate once over my bones and multiply a bone's Bind Pose Matrix by it's parents and store that. After that I iterate again over the bones and multiply the result of the previous matrix multiplication by the Inverse Bind Matrix and then by the Bind Shape Matrix. The results look something like this: [0.2, 9.2, 5.8, 1.2 ] [4.6, -3.3, -0.2, -0.1 ] [-1.8, 0.2, -4.2, -3.9 ] [0, 0, 0, 1 ] I've had to go to various sources to get the little understanding of Collada I have and books about 3d transform matricies can get pretty intense. I've hit a brick wall and if you could please read through this and see if there is something I'm doing wrong, and how I'd go about getting an X,Y,Z to draw a point for each of these joints once I've calculated the final transform, I'd really appreciate it.

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• Proper way to encapsulate a Shader into different modules

  - by y7haar

  I am planning to build a Shader system which can be accessed through different components/modules in C++. Each component has its own functionality like transform-relevated stuff (handle the MVP matrix, ...), texture handler, light calculation, etc... So here's an example: I would like to display an object which has a texture and a toon shading material applied and it should be moveable. So I could write ONE shading program that handles all 3 functionalities and they are accessed through 3 different components (texture-handler, toon-shading, transform). This means I have to take care of feeding a GLSL shader with different uniforms/attributes. This implies to know all necessary uniform locations and attribute locations, that the GLSL shader owns. And it would also necessary to provide different algorithms to calculate the value for each input variable. Similar functions would be grouped together in one component. A possible way would be, to wrap all shaders in a own definition file written in JSON/XML and parse that file in C++ to get all input members and create and compile the resulting GLSL. But maybe there is another way that is not so complex? So I'm searching for a way to build a system like that, but I'm not sure yet which is the best approach.

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• How do I apply an arcball (using quaternions) along with mouse events, to allow the user to look around the screen using the o3d webgl framework?

  - by Chris

  How do I apply an arcball (using quaternions) along with mouse events, to allow the user to look around the screen using the o3d webgl framework? This sample (http://code.google.com/p/o3d/source/browse/trunk/samples_webgl/o3d-webgl-samples/simpleviewer/simpleviewer.html?r=215) uses the arcball for rotating the transform of an "object", but rather than apply this to a transform, I would like to apply the rotation to the camera's target, to create a first person style ability to look around the scene, as if the camera is inside the centre of the arcball instead of rotating from the outside. The code that is used in this sample is var rotationQuat = g_aball.drag([e.x, e.y]); var rot_mat = g_quaternions.quaternionToRotation(rotationQuat); g_thisRot = g_math.matrix4.mul(g_lastRot, rot_mat); The code that I am using which doesn't work var rotationQuat = g_aball.drag([e.x, e.y]); var rot_mat = g_quaternions.quaternionToRotation(rotationQuat); g_thisRot = g_math.matrix4.mul(g_lastRot, rot_mat); var cameraRotationMatrix4 = g_math.matrix4.lookAt(g_eye, g_target, [g_up[0], g_up[1] * -1, g_up[2]]); var cameraRotation = g_math.matrix4.setUpper3x3(cameraRotationMatrix4,g_thisRot); g_target = g_math.addVector(cameraRotation, g_target); where am I going wrong? Thanks

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• Collider2D and Rigidbody2D, how do they work?

  - by user42646

  I have been learning JavaScript and Unity for a week now. I learned how to make Cube as a Ground and another Cube as a player and I used this code to make the Player Cube move forward and backward and jumping var walkspeed: float = 5.0; var jumpheight: float = 250.0; var grounded = false; function Update() { rigidbody.freezeRotation = true; if (Input.GetKey("a")) transform.Translate(Vector3(-1, 0, 0) * Time.deltaTime * walkspeed); if (Input.GetKey("d")) transform.Translate(Vector3(1, 0, 0) * Time.deltaTime * walkspeed); if (Input.GetButton("Jump")) { Jump(); } } function OnCollisionEnter(hit: Collision) { grounded = true; } function Jump() { if (grounded == true) { rigidbody.AddForce(Vector3.up * jumpheight); grounded = false; } } I also learned how to make a character hit box. how to make a sprite and animation. pretty much the basic stuff. Couple of days ago I created simple ground in Photoshop and a simple character and imported them to Unity3D. Whenever I use my code above the character keeps falling from the scene. Like the character has nothing to stand on. After thinking about it it make sense because I really didn't make anything to make the player character understand that he should stand on something so I started reading about this issue and I realized that there is something called Collider2D and Rigidbody2D. Now I'm really stuck here I just don't know what to do. I applied the rigibody2d to my character picture and the Collider2D to the ground picture but whenever I play the project the gravity makes my character falls down. This is my question: How can I make the rigibody2d object realize that it shouldn't fall if there is a Collider2D object under it? So when I jump it's going to jump and the gravity going to bring it back to the ground.

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• Towards an F# .NET Reflector add-in

  - by CliveT

  When I had the opportunity to spent some time during Red Gate's recent "down tools" week on a project of my choice, the obvious project was an F# add-in for Reflector . To be honest, this was a bit of a misnomer as the amount of time in the designated week for coding was really less than three days, so it was always unlikely that very much progress would be made in such a small amount of time (and that certainly proved to be the case), but I did learn some things from the experiment. Like lots of problems, one useful technique is to take examples, get them to work, and then generalise to get something that works across the board. Unfortunately, I didn't have enough time to do the last stage. The obvious first step is to take a few function definitions, starting with the obvious hello world, moving on to a non-recursive function and finishing with the ubiquitous recursive Fibonacci function. let rec printMessage message  =     printfn  message let foo x  =    (x + 1) let rec fib x  =     if (x >= 2) then (fib (x - 1) + fib (x - 2)) else 1 The major problem in decompiling these simple functions is that Reflector has an in-memory object model that is designed to support object-oriented languages. In particular it has a return statement that allows function bodies to finish early. I used some of the in-built functionality to take the IL and produce an in-memory object model for the language, but then needed to write a transformer to push the return statements to the top of the tree to make it easy to render the code into a functional language. This tree transform works in some scenarios, but not in others where we simply regenerate code that looks more like CPS style. The next thing to get working was library level bindings of values where these values are calculated at runtime. let x = [1 ; 2 ; 3 ; 4] let y = List.map  (fun x -> foo x) x The way that this is translated into a set of classes for the underlying platform means that the code needs to follow references around, from the property exposing the calculated value to the class in which the code for generating the value is embedded. One of the strongest selling points of functional languages is the algebraic datatypes, which allow definitions via standard mathematical-style inductive definitions across the union cases. type Foo =     | Something of int     | Nothing type 'a Foo2 =     | Something2 of 'a     | Nothing2 Such a definition is compiled into a number of classes for the cases of the union, which all inherit from a class representing the type itself. It wasn't too hard to get such a de-compilation happening in the cases I tried. What did I learn from this? Firstly, that there are various bits of functionality inside Reflector that it would be useful for us to allow add-in writers to access. In particular, there are various implementations of the Visitor pattern which implement algorithms such as calculating the number of references for particular variables, and which perform various substitutions which could be more generally useful to add-in writers. I hope to do something about this at some point in the future. Secondly, when you transform a functional language into something that runs on top of an object-based platform, you lose some fidelity in the representation. The F# compiler leaves attributes in place so that tools can tell which classes represent classes from the source program and which are there for purposes of the implementation, allowing the decompiler to regenerate these constructs again. However, decompilation technology is a long way from being able to take unannotated IL and transform it into a program in a different language. For a simple function definition, like Fibonacci, I could write a simple static function and have it come out in F# as the same function, but it would be practically impossible to take a mass of class definitions and have a decompiler translate it automatically into an F# algebraic data type. What have we got out of this? Some data on the feasibility of implementing an F# decompiler inside Reflector, though it's hard at the moment to say how long this would take to do. The work we did is included the 6.5 EAP for Reflector that you can get from the EAP forum. All things considered though, it was a useful way to gain more familiarity with the process of writing an add-in and understand difficulties other add-in authors might experience. If you'd like to check out a video of Down Tools Week, click here.

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• Talend Enterprise Data Integration overperforms on Oracle SPARC T4

  - by Amir Javanshir

  The SPARC T microprocessor, released in 2005 by Sun Microsystems, and now continued at Oracle, has a good track record in parallel execution and multi-threaded performance. However it was less suited for pure single-threaded workloads. The new SPARC T4 processor is now filling that gap by offering a 5x better single-thread performance over previous generations. Following our long-term relationship with Talend, a fast growing ISV positioned by Gartner in the “Visionaries” quadrant of the “Magic Quadrant for Data Integration Tools”, we decided to test some of their integration components with the T4 chip, more precisely on a T4-1 system, in order to verify first hand if this new processor stands up to its promises. Several tests were performed, mainly focused on: Single-thread performance of the new SPARC T4 processor compared to an older SPARC T2+ processor Overall throughput of the SPARC T4-1 server using multiple threads The tests consisted in reading large amounts of data --ten's of gigabytes--, processing and writing them back to a file or an Oracle 11gR2 database table. They are CPU, memory and IO bound tests. Given the main focus of this project --CPU performance--, bottlenecks were removed as much as possible on the memory and IO sub-systems. When possible, the data to process was put into the ZFS filesystem cache, for instance. Also, two external storage devices were directly attached to the servers under test, each one divided in two ZFS pools for read and write operations. Multi-thread: Testing throughput on the Oracle T4-1 The tests were performed with different number of simultaneous threads (1, 2, 4, 8, 12, 16, 32, 48 and 64) and using different storage devices: Flash, Fibre Channel storage, two stripped internal disks and one single internal disk. All storage devices used ZFS as filesystem and volume management. Each thread read a dedicated 1GB-large file containing 12.5M lines with the following structure: customerID;FirstName;LastName;StreetAddress;City;State;Zip;Cust_Status;Since_DT;Status_DT 1;Ronald;Reagan;South Highway;Santa Fe;Montana;98756;A;04-06-2006;09-08-2008 2;Theodore;Roosevelt;Timberlane Drive;Columbus;Louisiana;75677;A;10-05-2009;27-05-2008 3;Andrew;Madison;S Rustle St;Santa Fe;Arkansas;75677;A;29-04-2005;09-02-2008 4;Dwight;Adams;South Roosevelt Drive;Baton Rouge;Vermont;75677;A;15-02-2004;26-01-2007 […] The following graphs present the results of our tests: Unsurprisingly up to 16 threads, all files fit in the ZFS cache a.k.a L2ARC : once the cache is hot there is no performance difference depending on the underlying storage. From 16 threads upwards however, it is clear that IO becomes a bottleneck, having a good IO subsystem is thus key. Single-disk performance collapses whereas the Sun F5100 and ST6180 arrays allow the T4-1 to scale quite seamlessly. From 32 to 64 threads, the performance is almost constant with just a slow decline. For the database load tests, only the best IO configuration --using external storage devices-- were used, hosting the Oracle table spaces and redo log files. Using the Sun Storage F5100 array allows the T4-1 server to scale up to 48 parallel JVM processes before saturating the CPU. The final result is a staggering 646K lines per second insertion in an Oracle table using 48 parallel threads. Single-thread: Testing the single thread performance Seven different tests were performed on both servers. Given the fact that only one thread, thus one file was read, no IO bottleneck was involved, all data being served from the ZFS cache. Read File ? Filter ? Write File: Read file, filter data, write the filtered data in a new file. The filter is set on the “Status” column: only lines with status set to “A” are selected. This limits each output file to about 500 MB. Read File ? Load Database Table: Read file, insert into a single Oracle table. Average: Read file, compute the average of a numeric column, write the result in a new file. Division & Square Root: Read file, perform a division and square root on a numeric column, write the result data in a new file. Oracle DB Dump: Dump the content of an Oracle table (12.5M rows) into a CSV file. Transform: Read file, transform, write the result data in a new file. The transformations applied are: set the address column to upper case and add an extra column at the end, which is the concatenation of two columns. Sort: Read file, sort a numeric and alpha numeric column, write the result data in a new file. The following table and graph present the final results of the tests: Throughput unit is thousand lines per second processed (K lines/second). Improvement is the % of improvement between the T5140 and T4-1. Test T4-1 (Time s.) T5140 (Time s.) Improvement T4-1 (Throughput) T5140 (Throughput) Read/Filter/Write 125 806 645% 100 16 Read/Load Database 195 1111 570% 64 11 Average 96 557 580% 130 22 Division & Square Root 161 1054 655% 78 12 Oracle DB Dump 164 945 576% 76 13 Transform 159 1124 707% 79 11 Sort 251 1336 532% 50 9 The improvement of single-thread performance is quite dramatic: depending on the tests, the T4 is between 5.4 to 7 times faster than the T2+. It seems clear that the SPARC T4 processor has gone a long way filling the gap in single-thread performance, without sacrifying the multi-threaded capability as it still shows a very impressive scaling on heavy-duty multi-threaded jobs. Finally, as always at Oracle ISV Engineering, we are happy to help our ISV partners test their own applications on our platforms, so don't hesitate to contact us and let's see what the SPARC T4-based systems can do for your application! "As describe in this benchmark, Talend Enterprise Data Integration has overperformed on T4. I was generally happy to see that the T4 gave scaling opportunities for many scenarios like complex aggregations. Row by row insertion in Oracle DB is faster with more than 650,000 rows per seconds without using any bulk Oracle capabilities !" Cedric Carbone, Talend CTO.

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• Row Count Plus Transformation

  As the name suggests we have taken the current Row Count Transform that is provided by Microsoft in the Integration Services toolbox and we have recreated the functionality and extended upon it. There are two things about the current version that we thought could do with cleaning up Lack of a custom UI You have to type the variable name yourself In the Row Count Plus Transformation we solve these issues for you. Another thing we thought was missing is the ability to calculate the time taken between components in the pipeline. An example usage would be that you want to know how many rows flowed between Component A and Component B and how long it took. Again we have solved this issue. Credit must go to Erik Veerman of Solid Quality Learning for the idea behind noting the duration. We were looking at one of his packages and saw that he was doing something very similar but he was using a Script Component as a transformation. Our philosophy is that if you have to write or Copy and Paste the same piece of code more than once then you should be thinking about a custom component and here it is. The Row Count Plus Transformation populates variables with the values returned from; Counting the rows that have flowed through the path Returning the time in seconds between when it first saw a row come down this path and when it saw the final row. It is possible to leave both these boxes blank and the component will still work.   All input columns are passed through the transformation unaltered, you are not permitted to change or add to the inputs or outputs of this component. Optionally you can set the component to fire an event, which happens during the PostExecute phase of the execution. This can be useful to improve visibility of this information, such that it is captured in package logging, or can be used to drive workflow in the case of an error event. Properties Property Data Type Description OutputRowCountVariable String The name of the variable into which the amount of row read will be passed (Optional). OutputDurationVariable String The name of the variable into which the duration in seconds will be passed. (Optional). EventType RowCountPlusTransform.EventType The type of event to fire during post execute, included in which are the row count and duration values. RowCountPlusTransform.EventType Enumeration Name Value Description None 0 Do not fire any event. Information 1 Fire an Information event. Warning 2 Fire a Warning event. Error 3 Fire an Error event. Installation The component is provided as an MSI file which you can download and run to install it. This simply places the files on disk in the correct locations and also installs the assemblies in the Global Assembly Cache as per Microsoft’s recommendations. You may need to restart the SQL Server Integration Services service, as this caches information about what components are installed, as well as restarting any open instances of Business Intelligence Development Studio (BIDS) / Visual Studio that you may be using to build your SSIS packages. For 2005/2008 Only - Finally you will have to add the transformation to the Visual Studio toolbox manually. Right-click the toolbox, and select Choose Items.... Select the SSIS Data Flow Items tab, and then check the Row Count Plus Transformation in the Choose Toolbox Items window. This process has been described in detail in the related FAQ entry for How do I install a task or transform component? We recommend you follow best practice and apply the current Microsoft SQL Server Service pack to your SQL Server servers and workstations, and this component requires a minimum of SQL Server 2005 Service Pack 1. Downloads The Row Number Transformation is available for SQL Server 2005, SQL Server 2008 (includes R2) and SQL Server 2012. Please choose the version to match your SQL Server version, or you can install multiple versions and use them side by side if you have more than one version of SQL Server installed. Row Count Plus Transformation for SQL Server 2005 Row Count Plus Transformation for SQL Server 2008 Row Count Plus Transformation for SQL Server 2012 Version History SQL Server 2012 Version 3.0.0.6 - SQL Server 2012 release. Includes upgrade support for both 2005 and 2008 packages to 2012. (5 Jun 2012) SQL Server 2008 Version 2.0.0.5 - SQL Server 2008 release. (15 Oct 2008) SQL Server 2005 Version 1.1.0.43 - Bug fix for duration. For long running processes the duration second count may have been incorrect. (8 Sep 2006) Version 1.1.0.42 - SP1 Compatibility Testing. Added the ability to raise an event with the count and duration data for easier logging or workflow. (18 Jun 2006) Version 1.0.0.1 - SQL Server 2005 RTM. Made available as general public release. (20 Mar 2006) Screenshot Troubleshooting Make sure you have downloaded the version that matches your version of SQL Server. We offer separate downloads for SQL Server 2005, SQL Server 2008 and SQL Server 2012. If you get an error when you try and use the component along the lines of The component could not be added to the Data Flow task. Please verify that this component is properly installed.  ... The data flow object "Konesans ..." is not installed correctly on this computer, this usually indicates that the internal cache of SSIS components needs to be updated. This is held by the SSIS service, so you need restart the the SQL Server Integration Services service. You can do this from the Services applet in Control Panel or Administrative Tools in Windows. You can also restart the computer if you prefer. You may also need to restart any current instances of Business Intelligence Development Studio (BIDS) / Visual Studio that you may be using to build your SSIS packages. Once installation is complete you need to manually add the task to the toolbox before you will see it and to be able add it to packages - How do I install a task or transform component?

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• Collision Detection problems in Voxel Engine (XNA)

  - by Darestium

  I am creating a minecraft like terrain engine in XNA and have had some collision problems for quite some time. I have checked and changed my code based on other peoples collision code and I still have the same problem. It always seems to be off by about a block. for instance, if I walk across a bridge which is one block high I fall through it. Also, if you walk towards a "row" of blocks like this: You are able to stand "inside" the left most one, and you collide with nothing in the right most side (where there is no block and is not visible on this image). Here is all my collision code: private void Move(GameTime gameTime, Vector3 direction) { float speed = playermovespeed * (float)gameTime.ElapsedGameTime.TotalSeconds; Matrix rotationMatrix = Matrix.CreateRotationY(player.Camera.LeftRightRotation); Vector3 rotatedVector = Vector3.Transform(direction, rotationMatrix); rotatedVector.Normalize(); Vector3 testVector = rotatedVector; testVector.Normalize(); Vector3 movePosition = player.position + testVector * speed; Vector3 midBodyPoint = movePosition + new Vector3(0, -0.7f, 0); Vector3 headPosition = movePosition + new Vector3(0, 0.1f, 0); if (!world.GetBlock(movePosition).IsSolid && !world.GetBlock(midBodyPoint).IsSolid && !world.GetBlock(headPosition).IsSolid) { player.position += rotatedVector * speed; } //player.position += rotatedVector * speed; } ... public void UpdatePosition(GameTime gameTime) { player.velocity.Y += playergravity * (float)gameTime.ElapsedGameTime.TotalSeconds; Vector3 footPosition = player.Position + new Vector3(0f, -1.5f, 0f); Vector3 headPosition = player.Position + new Vector3(0f, 0.1f, 0f); // If the block below the player is solid the Y velocity should be zero if (world.GetBlock(footPosition).IsSolid || world.GetBlock(headPosition).IsSolid) { player.velocity.Y = 0; } UpdateJump(gameTime); UpdateCounter(gameTime); ProcessInput(gameTime); player.Position = player.Position + player.velocity * (float)gameTime.ElapsedGameTime.TotalSeconds; velocity = Vector3.Zero; } and the one and only function in the camera class: protected void CalculateView() { Matrix rotationMatrix = Matrix.CreateRotationX(upDownRotation) * Matrix.CreateRotationY(leftRightRotation); lookVector = Vector3.Transform(Vector3.Forward, rotationMatrix); cameraFinalTarget = Position + lookVector; Vector3 cameraRotatedUpVector = Vector3.Transform(Vector3.Up, rotationMatrix); viewMatrix = Matrix.CreateLookAt(Position, cameraFinalTarget, cameraRotatedUpVector); } which is called when the rotation variables are changed: public float LeftRightRotation { get { return leftRightRotation; } set { leftRightRotation = value; CalculateView(); } } public float UpDownRotation { get { return upDownRotation; } set { upDownRotation = value; CalculateView(); } } World class: public Block GetBlock(int x, int y, int z) { if (InBounds(x, y, z)) { Vector3i regionalPosition = GetRegionalPosition(x, y, z); Vector3i region = GetRegionPosition(x, y, z); return regions[region.X, region.Y, region.Z].Blocks[regionalPosition.X, regionalPosition.Y, regionalPosition.Z]; } return new Block(BlockType.none); } public Vector3i GetRegionPosition(int x, int y, int z) { int regionx = x == 0 ? 0 : x / Variables.REGION_SIZE_X; int regiony = y == 0 ? 0 : y / Variables.REGION_SIZE_Y; int regionz = z == 0 ? 0 : z / Variables.REGION_SIZE_Z; return new Vector3i(regionx, regiony, regionz); } public Vector3i GetRegionalPosition(int x, int y, int z) { int regionx = x == 0 ? 0 : x / Variables.REGION_SIZE_X; int X = x % Variables.REGION_SIZE_X; int regiony = y == 0 ? 0 : y / Variables.REGION_SIZE_Y; int Y = y % Variables.REGION_SIZE_Y; int regionz = z == 0 ? 0 : z / Variables.REGION_SIZE_Z; int Z = z % Variables.REGION_SIZE_Z; return new Vector3i(X, Y, Z); } Any ideas how to fix this problem? EDIT 1: Graphic of the problem: EDIT 2 GetBlock, Vector3 version: public Block GetBlock(Vector3 position) { int x = (int)Math.Floor(position.X); int y = (int)Math.Floor(position.Y); int z = (int)Math.Ceiling(position.Z); Block block = GetBlock(x, y, z); return block; } Now, the thing is I tested the theroy that the Z is always "off by one" and by ceiling the value it actually works as intended. Altough it still could be greatly more accurate (when you go down holes you can see through the sides, and I doubt it will work with negitive positions). I also does not feel clean Flooring the X and Y values and just Ceiling the Z. I am surely not doing something correctly still.

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• Triangle Picking Picking Back faces

  - by Tangeleno

  I'm having a bit of trouble with 3D picking, at first I thought my ray was inaccurate but it turns out that the picking is happening on faces facing the camera and faces facing away from the camera which I'm currently culling. Here's my ray creation code, I'm pretty sure the problem isn't here but I've been wrong before. private uint Pick() { Ray cursorRay = CalculateCursorRay(); Vector3? point = Control.Mesh.RayCast(cursorRay); if (point != null) { Tile hitTile = Control.TileMesh.GetTileAtPoint(point); return hitTile == null ? uint.MaxValue : (uint)(hitTile.X + hitTile.Y * Control.Generator.TilesWide); } return uint.MaxValue; } private Ray CalculateCursorRay() { Vector3 nearPoint = Control.Camera.Unproject(new Vector3(Cursor.Position.X, Control.ClientRectangle.Height - Cursor.Position.Y, 0f)); Vector3 farPoint = Control.Camera.Unproject(new Vector3(Cursor.Position.X, Control.ClientRectangle.Height - Cursor.Position.Y, 1f)); Vector3 direction = farPoint - nearPoint; direction.Normalize(); return new Ray(nearPoint, direction); } public Vector3 Camera.Unproject(Vector3 source) { Vector4 result; result.X = (source.X - _control.ClientRectangle.X) * 2 / _control.ClientRectangle.Width - 1; result.Y = (source.Y - _control.ClientRectangle.Y) * 2 / _control.ClientRectangle.Height - 1; result.Z = source.Z - 1; if (_farPlane - 1 == 0) result.Z = 0; else result.Z = result.Z / (_farPlane - 1); result.W = 1f; result = Vector4.Transform(result, Matrix4.Invert(ProjectionMatrix)); result = Vector4.Transform(result, Matrix4.Invert(ViewMatrix)); result = Vector4.Transform(result, Matrix4.Invert(_world)); result = Vector4.Divide(result, result.W); return new Vector3(result.X, result.Y, result.Z); } And my triangle intersection code. Ripped mainly from the XNA picking sample. public float? Intersects(Ray ray) { float? closestHit = Bounds.Intersects(ray); if (closestHit != null && Vertices.Length == 3) { Vector3 e1, e2; Vector3.Subtract(ref Vertices[1].Position, ref Vertices[0].Position, out e1); Vector3.Subtract(ref Vertices[2].Position, ref Vertices[0].Position, out e2); Vector3 directionCrossEdge2; Vector3.Cross(ref ray.Direction, ref e2, out directionCrossEdge2); float determinant; Vector3.Dot(ref e1, ref directionCrossEdge2, out determinant); if (determinant > -float.Epsilon && determinant < float.Epsilon) return null; float inverseDeterminant = 1.0f/determinant; Vector3 distanceVector; Vector3.Subtract(ref ray.Position, ref Vertices[0].Position, out distanceVector); float triangleU; Vector3.Dot(ref distanceVector, ref directionCrossEdge2, out triangleU); triangleU *= inverseDeterminant; if (triangleU < 0 || triangleU > 1) return null; Vector3 distanceCrossEdge1; Vector3.Cross(ref distanceVector, ref e1, out distanceCrossEdge1); float triangleV; Vector3.Dot(ref ray.Direction, ref distanceCrossEdge1, out triangleV); triangleV *= inverseDeterminant; if (triangleV < 0 || triangleU + triangleV > 1) return null; float rayDistance; Vector3.Dot(ref e2, ref distanceCrossEdge1, out rayDistance); rayDistance *= inverseDeterminant; if (rayDistance < 0) return null; return rayDistance; } return closestHit; } I'll admit I don't fully understand all of the math behind the intersection and that is something I'm working on, but my understanding was that if rayDistance was less than 0 the face was facing away from the camera, and shouldn't be counted as a hit. So my question is, is there an issue with my intersection or ray creation code, or is there another check I need to perform to tell if the face is facing away from the camera, and if so any hints on what that check might contain would be appreciated.

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