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overte-HifiExperiments/interface/src/avatar/MySkeletonModel.cpp
David Rowe c54a5d8506 Tidying
2017-06-22 23:32:16 +12:00

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//
// Created by Bradley Austin Davis on 2017/04/27
// Copyright 2013-2017 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "MySkeletonModel.h"
#include <avatars-renderer/Avatar.h>
#include "Application.h"
#include "InterfaceLogging.h"
MySkeletonModel::MySkeletonModel(Avatar* owningAvatar, QObject* parent) : SkeletonModel(owningAvatar, parent) {
}
Rig::CharacterControllerState convertCharacterControllerState(CharacterController::State state) {
switch (state) {
default:
case CharacterController::State::Ground:
return Rig::CharacterControllerState::Ground;
case CharacterController::State::Takeoff:
return Rig::CharacterControllerState::Takeoff;
case CharacterController::State::InAir:
return Rig::CharacterControllerState::InAir;
case CharacterController::State::Hover:
return Rig::CharacterControllerState::Hover;
};
}
// Called within Model::simulate call, below.
void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
const FBXGeometry& geometry = getFBXGeometry();
Head* head = _owningAvatar->getHead();
// make sure lookAt is not too close to face (avoid crosseyes)
glm::vec3 lookAt = head->getLookAtPosition();
glm::vec3 focusOffset = lookAt - _owningAvatar->getHead()->getEyePosition();
float focusDistance = glm::length(focusOffset);
const float MIN_LOOK_AT_FOCUS_DISTANCE = 1.0f;
if (focusDistance < MIN_LOOK_AT_FOCUS_DISTANCE && focusDistance > EPSILON) {
lookAt = _owningAvatar->getHead()->getEyePosition() + (MIN_LOOK_AT_FOCUS_DISTANCE / focusDistance) * focusOffset;
}
MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
Rig::HeadParameters headParams;
// input action is the highest priority source for head orientation.
auto avatarHeadPose = myAvatar->getHeadControllerPoseInAvatarFrame();
if (avatarHeadPose.isValid()) {
glm::mat4 rigHeadMat = Matrices::Y_180 *
createMatFromQuatAndPos(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation());
headParams.rigHeadPosition = extractTranslation(rigHeadMat);
headParams.rigHeadOrientation = glmExtractRotation(rigHeadMat);
headParams.headEnabled = true;
} else {
// even though full head IK is disabled, the rig still needs the head orientation to rotate the head up and
// down in desktop mode.
// preMult 180 is necessary to convert from avatar to rig coordinates.
// postMult 180 is necessary to convert head from -z forward to z forward.
headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame() * Quaternions::Y_180;
headParams.headEnabled = false;
}
auto avatarHipsPose = myAvatar->getHipsControllerPoseInAvatarFrame();
if (avatarHipsPose.isValid()) {
glm::mat4 rigHipsMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarHipsPose.getRotation(), avatarHipsPose.getTranslation());
headParams.hipsMatrix = rigHipsMat;
headParams.hipsEnabled = true;
} else {
headParams.hipsEnabled = false;
}
auto avatarSpine2Pose = myAvatar->getSpine2ControllerPoseInAvatarFrame();
if (avatarSpine2Pose.isValid()) {
glm::mat4 rigSpine2Mat = Matrices::Y_180 * createMatFromQuatAndPos(avatarSpine2Pose.getRotation(), avatarSpine2Pose.getTranslation());
headParams.spine2Matrix = rigSpine2Mat;
headParams.spine2Enabled = true;
} else {
headParams.spine2Enabled = false;
}
auto avatarRightArmPose = myAvatar->getRightArmControllerPoseInAvatarFrame();
if (avatarRightArmPose.isValid()) {
glm::mat4 rightArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarRightArmPose.getRotation(), avatarRightArmPose.getTranslation());
headParams.rightArmPosition = extractTranslation(rightArmMat);
headParams.rightArmRotation = glmExtractRotation(rightArmMat);
headParams.rightArmEnabled = true;
} else {
headParams.rightArmEnabled = false;
}
auto avatarLeftArmPose = myAvatar->getLeftArmControllerPoseInAvatarFrame();
if (avatarLeftArmPose.isValid()) {
glm::mat4 leftArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarLeftArmPose.getRotation(), avatarLeftArmPose.getTranslation());
headParams.leftArmPosition = extractTranslation(leftArmMat);
headParams.leftArmRotation = glmExtractRotation(leftArmMat);
headParams.leftArmEnabled = true;
} else {
headParams.leftArmEnabled = false;
}
headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
_rig.updateFromHeadParameters(headParams, deltaTime);
Rig::HandAndFeetParameters handAndFeetParams;
auto leftHandPose = myAvatar->getLeftHandControllerPoseInAvatarFrame();
if (leftHandPose.isValid()) {
handAndFeetParams.isLeftEnabled = true;
handAndFeetParams.leftPosition = Quaternions::Y_180 * leftHandPose.getTranslation();
handAndFeetParams.leftOrientation = Quaternions::Y_180 * leftHandPose.getRotation();
} else {
handAndFeetParams.isLeftEnabled = false;
}
auto rightHandPose = myAvatar->getRightHandControllerPoseInAvatarFrame();
if (rightHandPose.isValid()) {
handAndFeetParams.isRightEnabled = true;
handAndFeetParams.rightPosition = Quaternions::Y_180 * rightHandPose.getTranslation();
handAndFeetParams.rightOrientation = Quaternions::Y_180 * rightHandPose.getRotation();
} else {
handAndFeetParams.isRightEnabled = false;
}
auto leftFootPose = myAvatar->getLeftFootControllerPoseInAvatarFrame();
if (leftFootPose.isValid()) {
handAndFeetParams.isLeftFootEnabled = true;
handAndFeetParams.leftFootPosition = Quaternions::Y_180 * leftFootPose.getTranslation();
handAndFeetParams.leftFootOrientation = Quaternions::Y_180 * leftFootPose.getRotation();
} else {
handAndFeetParams.isLeftFootEnabled = false;
}
auto rightFootPose = myAvatar->getRightFootControllerPoseInAvatarFrame();
if (rightFootPose.isValid()) {
handAndFeetParams.isRightFootEnabled = true;
handAndFeetParams.rightFootPosition = Quaternions::Y_180 * rightFootPose.getTranslation();
handAndFeetParams.rightFootOrientation = Quaternions::Y_180 * rightFootPose.getRotation();
} else {
handAndFeetParams.isRightFootEnabled = false;
}
handAndFeetParams.bodyCapsuleRadius = myAvatar->getCharacterController()->getCapsuleRadius();
handAndFeetParams.bodyCapsuleHalfHeight = myAvatar->getCharacterController()->getCapsuleHalfHeight();
handAndFeetParams.bodyCapsuleLocalOffset = myAvatar->getCharacterController()->getCapsuleLocalOffset();
_rig.updateFromHandAndFeetParameters(handAndFeetParams, deltaTime);
Rig::CharacterControllerState ccState = convertCharacterControllerState(myAvatar->getCharacterController()->getState());
auto velocity = myAvatar->getLocalVelocity();
auto position = myAvatar->getLocalPosition();
auto orientation = myAvatar->getLocalOrientation();
_rig.computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
// evaluate AnimGraph animation and update jointStates.
Model::updateRig(deltaTime, parentTransform);
Rig::EyeParameters eyeParams;
eyeParams.eyeLookAt = lookAt;
eyeParams.eyeSaccade = head->getSaccade();
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig.updateFromEyeParameters(eyeParams);
auto fingerPoses = myAvatar->getLeftHandFingerControllerPosesInSensorFrame();
if (leftHandPose.isValid() && fingerPoses.size() > 0) {
// Can just check the first finger pose because either all finger poses will be valid or none of them will.
if (fingerPoses[(int)controller::Action::LEFT_HAND_INDEX1].isValid()) {
glm::quat handJointRotation = myAvatar->getLeftHandControllerPoseInSensorFrame().getRotation();
glm::quat previousJointRotation;
glm::quat thisJointRotation;
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_THUMB1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandThumb1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_THUMB2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandThumb2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_THUMB3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandThumb3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_THUMB4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandThumb4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_INDEX1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandIndex1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_INDEX2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandIndex2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_INDEX3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandIndex3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_INDEX4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandIndex4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_MIDDLE1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandMiddle1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_MIDDLE2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandMiddle2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_MIDDLE3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandMiddle3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_MIDDLE4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandMiddle4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_RING1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandRing1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_RING2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandRing2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_RING3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandRing3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_RING4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandRing4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_PINKY1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandPinky1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_PINKY2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandPinky2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_PINKY3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandPinky3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::LEFT_HAND_PINKY4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("LeftHandPinky4"), glm::inverse(previousJointRotation) * thisJointRotation);
} else {
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandThumb1"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandThumb2"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandThumb3"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandThumb4"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandIndex1"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandIndex2"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandIndex3"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandIndex4"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandMiddle1"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandMiddle2"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandMiddle3"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandMiddle4"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandRing1"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandRing2"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandRing3"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandRing4"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandPinky1"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandPinky2"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandPinky3"));
myAvatar->clearJointData(_rig.indexOfJoint("LeftHandPinky4"));
}
}
fingerPoses = myAvatar->getRightHandFingerControllerPosesInSensorFrame();
if (rightHandPose.isValid() && fingerPoses.size() > 0) {
// Can just check the first finger pose because either all finger poses will be valid or none of them will.
if (fingerPoses[(int)controller::Action::RIGHT_HAND_INDEX1].isValid()) {
glm::quat handJointRotation = myAvatar->getRightHandControllerPoseInSensorFrame().getRotation();
glm::quat previousJointRotation;
glm::quat thisJointRotation;
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_THUMB1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandThumb1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_THUMB2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandThumb2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_THUMB3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandThumb3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_THUMB4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandThumb4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_INDEX1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandIndex1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_INDEX2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandIndex2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_INDEX3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandIndex3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_INDEX4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandIndex4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_MIDDLE1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandMiddle1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_MIDDLE2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandMiddle2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_MIDDLE3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandMiddle3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_MIDDLE4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandMiddle4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_RING1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandRing1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_RING2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandRing2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_RING3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandRing3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_RING4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandRing4"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = handJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_PINKY1].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandPinky1"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_PINKY2].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandPinky2"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_PINKY3].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandPinky3"), glm::inverse(previousJointRotation) * thisJointRotation);
previousJointRotation = thisJointRotation;
thisJointRotation = fingerPoses[(int)controller::Action::RIGHT_HAND_PINKY4].getRotation();
myAvatar->setJointRotation(_rig.indexOfJoint("RightHandPinky4"), glm::inverse(previousJointRotation) * thisJointRotation);
} else {
myAvatar->clearJointData(_rig.indexOfJoint("RightHandThumb1"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandThumb2"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandThumb3"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandThumb4"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandIndex1"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandIndex2"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandIndex3"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandIndex4"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandMiddle1"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandMiddle2"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandMiddle3"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandMiddle4"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandRing1"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandRing2"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandRing3"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandRing4"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandPinky1"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandPinky2"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandPinky3"));
myAvatar->clearJointData(_rig.indexOfJoint("RightHandPinky4"));
}
}
}
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