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29b82486
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Leszek Koltunski
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#define SQUARE
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#define SQ2 1.41421356237f
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#define SQ3 1.73205080757f
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#define SQ5 2.23606797750f
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#define PI 3.14159265358f
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#define NUM_QUATS 200
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#ifdef PYRA
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int basic[] = { 3,3,3,3 };
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float axis[][3] = { { SQ2*SQ3/3, SQ3/3, 0 } ,
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{-SQ2*SQ3/3, SQ3/3, 0 } ,
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{ 0, -SQ3/3, -SQ2*SQ3/3 } ,
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{ 0, -SQ3/3, SQ2*SQ3/3 } };
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#endif
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#ifdef CUBE
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int basic[] = { 4,4,4 };
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float axis[][3] = { { 1,0,0 } ,
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{ 0,1,0 } ,
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{ 0,0,1 } };
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#endif
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#ifdef DINO
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int basic[] = { 3,3,3,3 };
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float axis[][3] = { {+SQ3/3,+SQ3/3,+SQ3/3} ,
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{+SQ3/3,+SQ3/3,-SQ3/3} ,
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{+SQ3/3,-SQ3/3,+SQ3/3} ,
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{+SQ3/3,-SQ3/3,-SQ3/3} };
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#endif
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#ifdef DIAM
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int basic[] = { 3,3,3,3 };
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float axis[][3] = { {+SQ3*SQ2/3,+SQ3/3, 0} ,
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{-SQ3*SQ2/3,+SQ3/3, 0} ,
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{ 0,+SQ3/3,+SQ3*SQ2/3} ,
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{ 0,+SQ3/3,-SQ3*SQ2/3} };
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#endif
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#ifdef HELI
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int basic[] = { 2,2,2,2,2,2 };
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float axis[][3] = { { 0, +SQ2/2, -SQ2/2} ,
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{ 0, -SQ2/2, -SQ2/2} ,
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{+SQ2/2, 0, -SQ2/2} ,
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{-SQ2/2, 0, -SQ2/2} ,
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{+SQ2/2, -SQ2/2, 0} ,
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{-SQ2/2, -SQ2/2, 0} };
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#endif
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#ifdef ULTI
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int basic[] = { 3,3,3,3 };
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float axis[][3] = { { 5*SQ5/16 + 11.0f/16, 0.0f , SQ5/8 + 1.0f/4 } ,
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{ SQ5/8 + 1.0f/4 , 5*SQ5/16 + 11.0f/16, 0.0f } ,
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{-3*SQ5/16 - 7.0f/16, 3*SQ5/16 + 7.0f/16, 3*SQ5/16 + 7.0f/16} ,
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{ 0.0f , SQ5/4 + 1.0f/2 , -5*SQ5/8 -11.0f/8 } };
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#endif
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#ifdef SQUARE
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#define COS15 (0.25f*SQ2*(SQ3+1))
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#define SIN15 (0.25f*SQ2*(SQ3-1))
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int basic[] = { 12, 2 };
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float axis[][3] = { { 0, 1, 0 } ,
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{ COS15, 0, SIN15 } };
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#endif
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int inserted=0;
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///////////////////////////////////////////////////////////////////
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// q1*q2
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void multiply_quats( float* q1, float* q2, float* output)
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{
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output[0] = q2[3]*q1[0] - q2[2]*q1[1] + q2[1]*q1[2] + q2[0]*q1[3];
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output[1] = q2[3]*q1[1] + q2[2]*q1[0] + q2[1]*q1[3] - q2[0]*q1[2];
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output[2] = q2[3]*q1[2] + q2[2]*q1[3] - q2[1]*q1[0] + q2[0]*q1[1];
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output[3] = q2[3]*q1[3] - q2[2]*q1[2] - q2[1]*q1[1] - q2[0]*q1[0];
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}
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///////////////////////////////////////////////////////////////////
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// sin(A/2)*x, sin(A/2)*y, sin(A/2)*z, cos(A/2)
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void create_quat(float* axis, float angle, float* output)
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{
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float cosAngle = cos(angle/2);
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float sinAngle = sin(angle/2);
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output[0] = sinAngle*axis[0];
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output[1] = sinAngle*axis[1];
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output[2] = sinAngle*axis[2];
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output[3] = cosAngle;
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}
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///////////////////////////////////////////////////////////////////
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// double cover, so q == -q
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int is_the_same(float* q1, float* q2)
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{
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const float MAX = 0.01f;
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float d0 = q1[0]-q2[0];
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float d1 = q1[1]-q2[1];
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float d2 = q1[2]-q2[2];
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float d3 = q1[3]-q2[3];
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if( d0<MAX && d0>-MAX &&
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d1<MAX && d1>-MAX &&
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d2<MAX && d2>-MAX &&
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d3<MAX && d3>-MAX ) return 1;
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d0 = q1[0]+q2[0];
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d1 = q1[1]+q2[1];
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d2 = q1[2]+q2[2];
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d3 = q1[3]+q2[3];
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if( d0<MAX && d0>-MAX &&
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d1<MAX && d1>-MAX &&
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d2<MAX && d2>-MAX &&
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d3<MAX && d3>-MAX ) return 1;
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return 0;
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}
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///////////////////////////////////////////////////////////////////
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int getIndexInTable(float* quat, float* table)
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{
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for(int i=0; i<inserted; i++)
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{
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if( is_the_same(quat,table+4*i)==1 ) return i;
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}
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return -1;
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}
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///////////////////////////////////////////////////////////////////
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void insert(float* quat, float* table)
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{
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if( getIndexInTable(quat,table)<0 )
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{
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if( inserted<NUM_QUATS )
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{
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table[4*inserted+0] = quat[0];
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table[4*inserted+1] = quat[1];
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table[4*inserted+2] = quat[2];
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table[4*inserted+3] = quat[3];
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inserted++;
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}
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else printf("Error: inserted=%d\n", inserted);
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}
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}
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///////////////////////////////////////////////////////////////////
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void normalize(int index)
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{
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float* a = axis[index];
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float len = (float)(sqrt(a[0]*a[0] + a[1]*a[1] + a[2]*a[2]));
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a[0] /= len;
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a[1] /= len;
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a[2] /= len;
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}
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///////////////////////////////////////////////////////////////////
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int main(int argc, char** argv)
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{
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float tmp[4];
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float table[4*NUM_QUATS];
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int num,NUM_AXIS = sizeof(axis) / sizeof(axis[0]);
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tmp[0] = 0.0f; tmp[1] = 0.0f; tmp[2] = 0.0f; tmp[3] = 1.0f;
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insert(tmp,table);
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for(int ax=0; ax<NUM_AXIS; ax++)
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{
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normalize(ax);
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}
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for( int ax=0; ax<NUM_AXIS; ax++)
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for(int angle=1; angle<basic[ax]; angle++)
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{
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create_quat(axis[ax], 2*PI*angle/basic[ax], tmp);
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insert(tmp,table);
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}
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do
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{
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num = inserted;
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for(int i=0; i<num; i++)
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for(int j=0; j<num; j++)
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{
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multiply_quats( table+4*i, table+4*j, tmp);
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insert(tmp,table);
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}
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}
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while( num < inserted );
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printf("\n");
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for(int i=0; i<inserted; i++)
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{
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printf( "%2d %7.4f %7.4f %7.4f %7.4f\n", i, table[4*i], table[4*i+1], table[4*i+2], table[4*i+3] );
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}
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printf("\n");
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for(int i=0; i<inserted; i++)
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{
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printf("{");
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for(int j=0; j<inserted; j++)
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{
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multiply_quats( table+4*i, table+4*j, tmp);
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num = getIndexInTable(tmp,table);
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printf("%3d," , num);
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}
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printf("},\n");
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}
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return 0;
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}
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