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Public Member Functions | Protected Member Functions | Protected Attributes
btSliderConstraint Class Reference

#include <btSliderConstraint.h>

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List of all members.

Public Member Functions

 btSliderConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
 btSliderConstraint ()
virtual void buildJacobian ()
virtual void solveConstraint (btScalar timeStep)
const btRigidBodygetRigidBodyA () const
const btRigidBodygetRigidBodyB () const
const btTransformgetCalculatedTransformA () const
const btTransformgetCalculatedTransformB () const
const btTransformgetFrameOffsetA () const
const btTransformgetFrameOffsetB () const
btTransformgetFrameOffsetA ()
btTransformgetFrameOffsetB ()
btScalar getLowerLinLimit ()
void setLowerLinLimit (btScalar lowerLimit)
btScalar getUpperLinLimit ()
void setUpperLinLimit (btScalar upperLimit)
btScalar getLowerAngLimit ()
void setLowerAngLimit (btScalar lowerLimit)
btScalar getUpperAngLimit ()
void setUpperAngLimit (btScalar upperLimit)
bool getUseLinearReferenceFrameA ()
btScalar getSoftnessDirLin ()
btScalar getRestitutionDirLin ()
btScalar getDampingDirLin ()
btScalar getSoftnessDirAng ()
btScalar getRestitutionDirAng ()
btScalar getDampingDirAng ()
btScalar getSoftnessLimLin ()
btScalar getRestitutionLimLin ()
btScalar getDampingLimLin ()
btScalar getSoftnessLimAng ()
btScalar getRestitutionLimAng ()
btScalar getDampingLimAng ()
btScalar getSoftnessOrthoLin ()
btScalar getRestitutionOrthoLin ()
btScalar getDampingOrthoLin ()
btScalar getSoftnessOrthoAng ()
btScalar getRestitutionOrthoAng ()
btScalar getDampingOrthoAng ()
void setSoftnessDirLin (btScalar softnessDirLin)
void setRestitutionDirLin (btScalar restitutionDirLin)
void setDampingDirLin (btScalar dampingDirLin)
void setSoftnessDirAng (btScalar softnessDirAng)
void setRestitutionDirAng (btScalar restitutionDirAng)
void setDampingDirAng (btScalar dampingDirAng)
void setSoftnessLimLin (btScalar softnessLimLin)
void setRestitutionLimLin (btScalar restitutionLimLin)
void setDampingLimLin (btScalar dampingLimLin)
void setSoftnessLimAng (btScalar softnessLimAng)
void setRestitutionLimAng (btScalar restitutionLimAng)
void setDampingLimAng (btScalar dampingLimAng)
void setSoftnessOrthoLin (btScalar softnessOrthoLin)
void setRestitutionOrthoLin (btScalar restitutionOrthoLin)
void setDampingOrthoLin (btScalar dampingOrthoLin)
void setSoftnessOrthoAng (btScalar softnessOrthoAng)
void setRestitutionOrthoAng (btScalar restitutionOrthoAng)
void setDampingOrthoAng (btScalar dampingOrthoAng)
void buildJacobianInt (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB)
void solveConstraintInt (btRigidBody &rbA, btRigidBody &rbB)
btRigidBodygetRigidBodyA ()
btRigidBodygetRigidBodyB ()
int getUserConstraintType () const
void setUserConstraintType (int userConstraintType)
void setUserConstraintId (int uid)
int getUserConstraintId () const
int getUid () const
btScalar getAppliedImpulse () const
btTypedConstraintType getConstraintType () const

Protected Member Functions

void initParams ()

Protected Attributes

btTransform m_frameInA
btTransform m_frameInB
bool m_useLinearReferenceFrameA
btScalar m_lowerLinLimit
btScalar m_upperLinLimit
btScalar m_lowerAngLimit
btScalar m_upperAngLimit
btScalar m_softnessDirLin
btScalar m_restitutionDirLin
btScalar m_dampingDirLin
btScalar m_softnessDirAng
btScalar m_restitutionDirAng
btScalar m_dampingDirAng
btScalar m_softnessLimLin
btScalar m_restitutionLimLin
btScalar m_dampingLimLin
btScalar m_softnessLimAng
btScalar m_restitutionLimAng
btScalar m_dampingLimAng
btScalar m_softnessOrthoLin
btScalar m_restitutionOrthoLin
btScalar m_dampingOrthoLin
btScalar m_softnessOrthoAng
btScalar m_restitutionOrthoAng
btScalar m_dampingOrthoAng
bool m_solveLinLim
bool m_solveAngLim
btJacobianEntry m_jacLin [3]
btScalar m_jacLinDiagABInv [3]
btJacobianEntry m_jacAng [3]
btScalar m_timeStep
btTransform m_calculatedTransformA
btTransform m_calculatedTransformB
btVector3 m_sliderAxis
btVector3 m_realPivotAInW
btVector3 m_realPivotBInW
btVector3 m_projPivotInW
btVector3 m_delta
btVector3 m_depth
btVector3 m_relPosA
btVector3 m_relPosB
btScalar m_angDepth
btScalar m_kAngle
btRigidBodym_rbA
btRigidBodym_rbB
btScalar m_appliedImpulse

Detailed Description

Definition at line 46 of file btSliderConstraint.h.


Constructor & Destructor Documentation

btSliderConstraint::btSliderConstraint ( btRigidBody rbA,
btRigidBody rbB,
const btTransform frameInA,
const btTransform frameInB,
bool  useLinearReferenceFrameA 
)

Definition at line 67 of file btSliderConstraint.cpp.

        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
        , m_frameInA(frameInA)
        , m_frameInB(frameInB),
              m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
       initParams();
} // btSliderConstraint::btSliderConstraint()

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Definition at line 58 of file btSliderConstraint.cpp.

        :btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
              m_useLinearReferenceFrameA(true)
{
       initParams();
} // btSliderConstraint::btSliderConstraint()

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Member Function Documentation

Implements btTypedConstraint.

Definition at line 78 of file btSliderConstraint.cpp.

{
       if(m_useLinearReferenceFrameA)
       {
              buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB);
       }
       else
       {
              buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
       }
} // btSliderConstraint::buildJacobian()

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void btSliderConstraint::buildJacobianInt ( btRigidBody rbA,
btRigidBody rbB,
const btTransform frameInA,
const btTransform frameInB 
)

Definition at line 92 of file btSliderConstraint.cpp.

{
       //calculate transforms
    m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
    m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
       m_realPivotAInW = m_calculatedTransformA.getOrigin();
       m_realPivotBInW = m_calculatedTransformB.getOrigin();
       m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
       m_delta = m_realPivotBInW - m_realPivotAInW;
       m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
       m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
       m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
    btVector3 normalWorld;
    int i;
    //linear part
    for(i = 0; i < 3; i++)
    {
              normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
              new (&m_jacLin[i]) btJacobianEntry(
                     rbA.getCenterOfMassTransform().getBasis().transpose(),
                     rbB.getCenterOfMassTransform().getBasis().transpose(),
                     m_relPosA,
                     m_relPosB,
                     normalWorld,
                     rbA.getInvInertiaDiagLocal(),
                     rbA.getInvMass(),
                     rbB.getInvInertiaDiagLocal(),
                     rbB.getInvMass()
                     );
              m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
              m_depth[i] = m_delta.dot(normalWorld);
    }
       m_solveLinLim = false;
       if(m_lowerLinLimit <= m_upperLinLimit)
       {
              if(m_depth[0] > m_upperLinLimit)
              {
                     m_depth[0] -= m_upperLinLimit;
                     m_solveLinLim = true;
              }
              else if(m_depth[0] < m_lowerLinLimit)
              {
                     m_depth[0] -= m_lowerLinLimit;
                     m_solveLinLim = true;
              }
              else
              {
                     m_depth[0] = btScalar(0.);
              }
       }
       else
       {
              m_depth[0] = btScalar(0.);
       }
    // angular part
    for(i = 0; i < 3; i++)
    {
              normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
              new (&m_jacAng[i])   btJacobianEntry(
                     normalWorld,
            rbA.getCenterOfMassTransform().getBasis().transpose(),
            rbB.getCenterOfMassTransform().getBasis().transpose(),
            rbA.getInvInertiaDiagLocal(),
            rbB.getInvInertiaDiagLocal()
                     );
       }
       m_angDepth = btScalar(0.);
       m_solveAngLim = false;
       if(m_lowerAngLimit <= m_upperAngLimit)
       {
              const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
              const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
              const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
              btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));  
              if(rot < m_lowerAngLimit)
              {
                     m_angDepth = rot - m_lowerAngLimit;
                     m_solveAngLim = true;
              } 
              else if(rot > m_upperAngLimit)
              {
                     m_angDepth = rot - m_upperAngLimit;
                     m_solveAngLim = true;
              }
       }
       btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
       m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
} // btSliderConstraint::buildJacobianInt()

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btScalar btTypedConstraint::getAppliedImpulse ( ) const [inline, inherited]

Definition at line 108 of file btTypedConstraint.h.

       {
              return m_appliedImpulse;
       }

Definition at line 122 of file btSliderConstraint.h.

Definition at line 123 of file btSliderConstraint.h.

Definition at line 113 of file btTypedConstraint.h.

       {
              return m_constraintType;
       }

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Definition at line 142 of file btSliderConstraint.h.

{ return m_dampingDirAng; }

Definition at line 139 of file btSliderConstraint.h.

{ return m_dampingDirLin ; }

Definition at line 148 of file btSliderConstraint.h.

{ return m_dampingLimAng; }

Definition at line 145 of file btSliderConstraint.h.

{ return m_dampingLimLin; }

Definition at line 154 of file btSliderConstraint.h.

{ return m_dampingOrthoAng; }

Definition at line 151 of file btSliderConstraint.h.

{ return m_dampingOrthoLin; }

Definition at line 124 of file btSliderConstraint.h.

{ return m_frameInA; }

Definition at line 126 of file btSliderConstraint.h.

{ return m_frameInA; }

Definition at line 125 of file btSliderConstraint.h.

{ return m_frameInB; }

Definition at line 127 of file btSliderConstraint.h.

{ return m_frameInB; }

Definition at line 132 of file btSliderConstraint.h.

{ return m_lowerAngLimit; }

Definition at line 128 of file btSliderConstraint.h.

{ return m_lowerLinLimit; }

Definition at line 141 of file btSliderConstraint.h.

{ return m_restitutionDirAng; }

Definition at line 138 of file btSliderConstraint.h.

{ return m_restitutionDirLin; }

Definition at line 147 of file btSliderConstraint.h.

{ return m_restitutionLimAng; }

Definition at line 144 of file btSliderConstraint.h.

{ return m_restitutionLimLin; }

Definition at line 153 of file btSliderConstraint.h.

Definition at line 150 of file btSliderConstraint.h.

Definition at line 74 of file btTypedConstraint.h.

       {
              return m_rbA;
       }

Reimplemented from btTypedConstraint.

Definition at line 120 of file btSliderConstraint.h.

{ return m_rbA; }

Definition at line 78 of file btTypedConstraint.h.

       {
              return m_rbB;
       }

Reimplemented from btTypedConstraint.

Definition at line 121 of file btSliderConstraint.h.

{ return m_rbB; }

Definition at line 140 of file btSliderConstraint.h.

{ return m_softnessDirAng; }

Definition at line 137 of file btSliderConstraint.h.

{ return m_softnessDirLin; }

Definition at line 146 of file btSliderConstraint.h.

{ return m_softnessLimAng; }

Definition at line 143 of file btSliderConstraint.h.

{ return m_softnessLimLin; }

Definition at line 152 of file btSliderConstraint.h.

{ return m_softnessOrthoAng; }

Definition at line 149 of file btSliderConstraint.h.

{ return m_softnessOrthoLin; }
int btTypedConstraint::getUid ( ) const [inline, inherited]

Definition at line 103 of file btTypedConstraint.h.

       {
              return m_userConstraintId;   
       } 

Definition at line 134 of file btSliderConstraint.h.

{ return m_upperAngLimit; }

Definition at line 130 of file btSliderConstraint.h.

{ return m_upperLinLimit; }

Definition at line 136 of file btSliderConstraint.h.

int btTypedConstraint::getUserConstraintId ( ) const [inline, inherited]

Definition at line 98 of file btTypedConstraint.h.

       {
              return m_userConstraintId;
       }
int btTypedConstraint::getUserConstraintType ( ) const [inline, inherited]

Definition at line 83 of file btTypedConstraint.h.

       {
              return m_userConstraintType ;
       }
void btSliderConstraint::initParams ( ) [protected]
void btSliderConstraint::setDampingDirAng ( btScalar  dampingDirAng) [inline]

Definition at line 160 of file btSliderConstraint.h.

{ m_dampingDirAng = dampingDirAng; }
void btSliderConstraint::setDampingDirLin ( btScalar  dampingDirLin) [inline]

Definition at line 157 of file btSliderConstraint.h.

{ m_dampingDirLin = dampingDirLin; }
void btSliderConstraint::setDampingLimAng ( btScalar  dampingLimAng) [inline]

Definition at line 166 of file btSliderConstraint.h.

{ m_dampingLimAng = dampingLimAng; }
void btSliderConstraint::setDampingLimLin ( btScalar  dampingLimLin) [inline]

Definition at line 163 of file btSliderConstraint.h.

{ m_dampingLimLin = dampingLimLin; }
void btSliderConstraint::setDampingOrthoAng ( btScalar  dampingOrthoAng) [inline]

Definition at line 172 of file btSliderConstraint.h.

{ m_dampingOrthoAng = dampingOrthoAng; }
void btSliderConstraint::setDampingOrthoLin ( btScalar  dampingOrthoLin) [inline]

Definition at line 169 of file btSliderConstraint.h.

{ m_dampingOrthoLin = dampingOrthoLin; }
void btSliderConstraint::setLowerAngLimit ( btScalar  lowerLimit) [inline]

Definition at line 133 of file btSliderConstraint.h.

{ m_lowerAngLimit = lowerLimit; }
void btSliderConstraint::setLowerLinLimit ( btScalar  lowerLimit) [inline]

Definition at line 129 of file btSliderConstraint.h.

{ m_lowerLinLimit = lowerLimit; }
void btSliderConstraint::setRestitutionDirAng ( btScalar  restitutionDirAng) [inline]

Definition at line 159 of file btSliderConstraint.h.

{ m_restitutionDirAng = restitutionDirAng; }
void btSliderConstraint::setRestitutionDirLin ( btScalar  restitutionDirLin) [inline]

Definition at line 156 of file btSliderConstraint.h.

{ m_restitutionDirLin = restitutionDirLin; }
void btSliderConstraint::setRestitutionLimAng ( btScalar  restitutionLimAng) [inline]

Definition at line 165 of file btSliderConstraint.h.

{ m_restitutionLimAng = restitutionLimAng; }
void btSliderConstraint::setRestitutionLimLin ( btScalar  restitutionLimLin) [inline]

Definition at line 162 of file btSliderConstraint.h.

{ m_restitutionLimLin = restitutionLimLin; }
void btSliderConstraint::setRestitutionOrthoAng ( btScalar  restitutionOrthoAng) [inline]

Definition at line 171 of file btSliderConstraint.h.

{ m_restitutionOrthoAng = restitutionOrthoAng; }
void btSliderConstraint::setRestitutionOrthoLin ( btScalar  restitutionOrthoLin) [inline]

Definition at line 168 of file btSliderConstraint.h.

{ m_restitutionOrthoLin = restitutionOrthoLin; }
void btSliderConstraint::setSoftnessDirAng ( btScalar  softnessDirAng) [inline]

Definition at line 158 of file btSliderConstraint.h.

{ m_softnessDirAng = softnessDirAng; }
void btSliderConstraint::setSoftnessDirLin ( btScalar  softnessDirLin) [inline]

Definition at line 155 of file btSliderConstraint.h.

{ m_softnessDirLin = softnessDirLin; }
void btSliderConstraint::setSoftnessLimAng ( btScalar  softnessLimAng) [inline]

Definition at line 164 of file btSliderConstraint.h.

{ m_softnessLimAng = softnessLimAng; }
void btSliderConstraint::setSoftnessLimLin ( btScalar  softnessLimLin) [inline]

Definition at line 161 of file btSliderConstraint.h.

{ m_softnessLimLin = softnessLimLin; }
void btSliderConstraint::setSoftnessOrthoAng ( btScalar  softnessOrthoAng) [inline]

Definition at line 170 of file btSliderConstraint.h.

{ m_softnessOrthoAng = softnessOrthoAng; }
void btSliderConstraint::setSoftnessOrthoLin ( btScalar  softnessOrthoLin) [inline]

Definition at line 167 of file btSliderConstraint.h.

{ m_softnessOrthoLin = softnessOrthoLin; }
void btSliderConstraint::setUpperAngLimit ( btScalar  upperLimit) [inline]

Definition at line 135 of file btSliderConstraint.h.

{ m_upperAngLimit = upperLimit; }
void btSliderConstraint::setUpperLinLimit ( btScalar  upperLimit) [inline]

Definition at line 131 of file btSliderConstraint.h.

{ m_upperLinLimit = upperLimit; }
void btTypedConstraint::setUserConstraintId ( int  uid) [inline, inherited]

Definition at line 93 of file btTypedConstraint.h.

       {
              m_userConstraintId = uid;
       }
void btTypedConstraint::setUserConstraintType ( int  userConstraintType) [inline, inherited]

Definition at line 88 of file btTypedConstraint.h.

       {
              m_userConstraintType = userConstraintType;
       };
void btSliderConstraint::solveConstraint ( btScalar  timeStep) [virtual]

Implements btTypedConstraint.

Definition at line 183 of file btSliderConstraint.cpp.

{
    m_timeStep = timeStep;
       if(m_useLinearReferenceFrameA)
       {
              solveConstraintInt(m_rbA, m_rbB);
       }
       else
       {
              solveConstraintInt(m_rbB, m_rbA);
       }
} // btSliderConstraint::solveConstraint()

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Definition at line 198 of file btSliderConstraint.cpp.

{
    int i;
    // linear
    btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA);
    btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB);
    btVector3 vel = velA - velB;
       for(i = 0; i < 3; i++)
    {
              const btVector3& normal = m_jacLin[i].m_linearJointAxis;
              btScalar rel_vel = normal.dot(vel);
              // calculate positional error
              btScalar depth = m_depth[i];
              // get parameters
              btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
              btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
              btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
              // calcutate and apply impulse
              btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
              btVector3 impulse_vector = normal * normalImpulse;
              rbA.applyImpulse( impulse_vector, m_relPosA);
              rbB.applyImpulse(-impulse_vector, m_relPosB);
    }
       // angular 
       // get axes in world space
       btVector3 axisA =  m_calculatedTransformA.getBasis().getColumn(0);
       btVector3 axisB =  m_calculatedTransformB.getBasis().getColumn(0);

       const btVector3& angVelA = rbA.getAngularVelocity();
       const btVector3& angVelB = rbB.getAngularVelocity();

       btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
       btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);

       btVector3 angAorthog = angVelA - angVelAroundAxisA;
       btVector3 angBorthog = angVelB - angVelAroundAxisB;
       btVector3 velrelOrthog = angAorthog-angBorthog;
       //solve orthogonal angular velocity correction
       btScalar len = velrelOrthog.length();
       if (len > btScalar(0.00001))
       {
              btVector3 normal = velrelOrthog.normalized();
              btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
              velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
       }
       //solve angular positional correction
       btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
       btScalar len2 = angularError.length();
       if (len2>btScalar(0.00001))
       {
              btVector3 normal2 = angularError.normalized();
              btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
              angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
       }
       // apply impulse
       rbA.applyTorqueImpulse(-velrelOrthog+angularError);
       rbB.applyTorqueImpulse(velrelOrthog-angularError);
       btScalar impulseMag;
       //solve angular limits
       if(m_solveAngLim)
       {
              impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep;
              impulseMag *= m_kAngle * m_softnessLimAng;
       }
       else
       {
              impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep;
              impulseMag *= m_kAngle * m_softnessDirAng;
       }
       btVector3 impulse = axisA * impulseMag;
       rbA.applyTorqueImpulse(impulse);
       rbB.applyTorqueImpulse(-impulse);
} // btSliderConstraint::solveConstraint()

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Member Data Documentation

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btRigidBody& btTypedConstraint::m_rbA [protected, inherited]

Definition at line 48 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::m_rbB [protected, inherited]

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The documentation for this class was generated from the following files: