199 lines
8.1 KiB
C
199 lines
8.1 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef SQ_EXTENDEDBUCKETPRUNER_H
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#define SQ_EXTENDEDBUCKETPRUNER_H
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#include "SqTypedef.h"
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#include "SqBucketPruner.h"
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#include "SqIncrementalAABBPrunerCore.h"
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#include "SqAABBTreeUpdateMap.h"
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#include "PsHashMap.h"
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#define USE_INCREMENTAL_PRUNER 1
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namespace physx
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{
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namespace Sq
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{
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struct AABBPrunerMergeData;
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class AABBTreeMergeData;
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#if USE_INCREMENTAL_PRUNER
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typedef IncrementalAABBPrunerCore PrunerCore;
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#else
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typedef BucketPrunerCore PrunerCore;
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#endif
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// Extended bucket pruner data, if an object belongs to the tree of trees, we need to
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// remember node for the sub tree, the tree it belongs to and the main tree node
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struct ExtendedBucketPrunerData
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{
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PxU32 mTimeStamp; // timestamp
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TreeNodeIndex mSubTreeNode; // sub tree node index
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PxU32 mMergeIndex; // index in bounds and merged trees array
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};
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// Merged tree structure, holds tree and its timeStamp, released when no objects is in the tree
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// or timeStamped objects are released
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struct MergedTree
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{
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AABBTree* mTree; // AABB tree
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size_t mTimeStamp; // needs to be size_t to match PrunerPayload size
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};
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// needs to be size_t to match PrunerPayload size, pointer used for AABB tree query callbacks
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PX_COMPILE_TIME_ASSERT(sizeof(MergedTree) == sizeof(PrunerPayload));
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// hashing function for PrunerPaylod key
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struct ExtendedBucketPrunerHash
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{
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PX_FORCE_INLINE uint32_t operator()(const PrunerPayload& payload) const
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{
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#if PX_P64_FAMILY
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// const PxU32 h0 = Ps::hash((const void*)payload.data[0]);
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// const PxU32 h1 = Ps::hash((const void*)payload.data[1]);
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const PxU32 h0 = PxU32(PX_MAX_U32 & payload.data[0]);
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const PxU32 h1 = PxU32(PX_MAX_U32 & payload.data[1]);
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return Ps::hash(PxU64(h0) | (PxU64(h1) << 32));
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#else
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return Ps::hash(PxU64(payload.data[0]) | (PxU64(payload.data[1]) << 32));
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#endif
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}
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PX_FORCE_INLINE bool equal(const PrunerPayload& k0, const PrunerPayload& k1) const
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{
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return (k0.data[0] == k1.data[0]) && (k0.data[1] == k1.data[1]);
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}
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};
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// A.B. replace, this is useless, need to be able to traverse the map and release while traversing, also eraseAt failed
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typedef Ps::HashMap<PrunerPayload, ExtendedBucketPrunerData, ExtendedBucketPrunerHash> ExtendedBucketPrunerMap;
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// Extended bucket pruner holds single objects in a bucket pruner and AABBtrees in a tree of trees.
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// Base usage of ExtendedBucketPruner is for dynamic AABBPruner new objects, that did not make it
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// into new tree. Single objects go directly into a bucket pruner, while merged AABBtrees
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// go into a tree of trees.
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class ExtendedBucketPruner
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{
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public:
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ExtendedBucketPruner(const PruningPool* pool);
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virtual ~ExtendedBucketPruner();
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// release
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void release();
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// add single object into a bucket pruner directly
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PX_FORCE_INLINE bool addObject(const PrunerPayload& object, const PxBounds3& worldAABB, PxU32 timeStamp, const PoolIndex poolIndex)
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{
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#if USE_INCREMENTAL_PRUNER
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PX_UNUSED(worldAABB);
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PX_UNUSED(object);
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return mPrunerCore.addObject(poolIndex, timeStamp);
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#else
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PX_UNUSED(poolIndex);
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return mPrunerCore.addObject(object, worldAABB, timeStamp);
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#endif
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}
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// add AABB tree from pruning structure - adds new primitive into main AABB tree
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void addTree(const AABBTreeMergeData& mergeData, PxU32 timeStamp);
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// update object
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bool updateObject(const PxBounds3& worldAABB, const PrunerPayload& object, const PoolIndex poolIndex);
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// remove object, removed object is replaced in pruning pool by swapped object, indices needs to be updated
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bool removeObject(const PrunerPayload& object, PxU32 objectIndex, const PrunerPayload& swapObject,
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PxU32 swapObjectIndex, PxU32& timeStamp);
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// swap object index, the object index can be in core pruner or tree of trees
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void swapIndex(PxU32 objectIndex, const PrunerPayload& swapObject, PxU32 swapObjectIndex, bool corePrunerIncluded = true);
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// refit marked nodes in tree of trees
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void refitMarkedNodes(const PxBounds3* boxes);
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#if USE_INCREMENTAL_PRUNER
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// notify timestampChange - swap trees in incremental pruner
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void timeStampChange() { mPrunerCore.timeStampChange(); }
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#endif
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// look for objects marked with input timestamp everywhere in the structure, and remove them. This is the same
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// as calling 'removeObject' individually for all these objects, but much more efficient. Returns number of removed objects.
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PxU32 removeMarkedObjects(PxU32 timeStamp);
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// queries against the pruner
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PxAgain raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
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PxAgain overlap(const Gu::ShapeData& queryVolume, PrunerCallback&) const;
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PxAgain sweep(const Gu::ShapeData& queryVolume, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
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// origin shift
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void shiftOrigin(const PxVec3& shift);
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// debug visualize
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void visualize(Cm::RenderOutput& out, PxU32 color) const;
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PX_FORCE_INLINE void build() { mPrunerCore.build(); }
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PX_FORCE_INLINE PxU32 getNbObjects() const { return mPrunerCore.getNbObjects() + mExtendedBucketPrunerMap.size(); }
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private:
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// separate call for indices invalidation, object can be either in AABBPruner or Bucket pruner, but the swapped object can be
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// in the tree of trees
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void invalidateObject(const ExtendedBucketPrunerData& object, PxU32 objectIndex, const PrunerPayload& swapObject,
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PxU32 swapObjectIndex);
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void resize(PxU32 size);
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void buildMainAABBTree();
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void cleanTrees();
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#if PX_DEBUG
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// Extended bucket pruner validity check
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bool checkValidity();
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#endif
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private:
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PrunerCore mPrunerCore; // pruner for single objects
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const PruningPool* mPruningPool; // Pruning pool from AABB pruner
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ExtendedBucketPrunerMap mExtendedBucketPrunerMap; // Map holding objects from tree merge - objects in tree of trees
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AABBTree* mMainTree; // Main tree holding merged trees
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AABBTreeUpdateMap mMainTreeUpdateMap; // Main tree updated map - merged trees index to nodes
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AABBTreeUpdateMap mMergeTreeUpdateMap; // Merged tree update map used while tree is merged
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PxBounds3* mBounds; // Merged trees bounds used for main tree building
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MergedTree* mMergedTrees; // Merged trees
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PxU32 mCurrentTreeIndex; // Current trees index
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PxU32 mCurrentTreeCapacity; // Current tress capacity
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bool mTreesDirty; // Dirty marker
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};
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} // namespace Sq
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}
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#endif // SQ_EXTENDEDBUCKETPRUNER_H
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