536 lines
19 KiB
C#
536 lines
19 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using SharpGL;
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using System.Drawing.Imaging;
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using System.Drawing.Drawing2D;
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using System.Collections;
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using System.Diagnostics;
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namespace DM_CalibrationTools
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{
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class csgl
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{
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private OpenGL glInstance;
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private OpenGLControl scInstance;
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public OpenGL getGlInstance(){ return glInstance;}
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int mouseX;
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int mouseY;
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public bool Global_MouseDown = false;
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public bool Global_MouseInGLPanel = false;
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double[] matrixProjection = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
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const float DEG2RAD = 3.141593f / 180;
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const float FOV_Y = 120.0f; // vertical FOV in degree
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const float NEAR_PLANE = 1.0f;
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const float FAR_PLANE = 100.0f;
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/* 初始摄像头位置以及姿态的设置 */
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const float CAMERA_ANGLE_X = 45.0f; // 摄像头的俯仰角
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const float CAMERA_ANGLE_Y = 0.0f; // 摄像头偏航角
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const float CAMERA_DISTANCE = 30.0f; // 摄像头距离
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const float CAMERA_HIGHT = -3.0f;
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float cameraAngleX;
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float cameraAngleY;
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float cameraHight;
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float cameraDistance;
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double[] modelview = { 0.7071068, 0.5, -0.5, 0, 0, 0.7071068, 0.7071068, 0, 0.7071068, -0.0, 0.5, 0, 0, 0, -25, 1 };
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bool drawModeChanged;
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int drawMode;
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float[] cameraPosition = { 0, 0, 0 };
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float[] cameraAngle = { 0, 0, 0 };
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float[] modelPosition = { 0, 0, 0 };
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float[] modelAngle = { 0, 0, 0 };
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float[] bgColor = { 0, 0, 0, 0};
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public csgl(OpenGLControl sc)
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{
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scInstance=sc;
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glInstance = sc.OpenGL;
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cameraAngleX = CAMERA_ANGLE_X;
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cameraAngleY = CAMERA_ANGLE_Y;
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cameraHight = CAMERA_HIGHT;
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cameraDistance = CAMERA_DISTANCE;
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drawModeChanged = false;
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drawMode = 0;
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DrawFlag = 2;
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Initialized();
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}
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ArrayList list = new ArrayList();
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public void addPoint(double x, double y, double z)
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{
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list.Add(new double[] { x, y, z });
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}
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public void resetPoint()
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{
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list.Clear();
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}
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HashSet<double []> poinths;
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public void setPoinths(HashSet<double []> hs)
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{
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poinths = hs;
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}
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double[][] pointarr;
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public void setPointarr(HashSet<double[]> hs)
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{
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pointarr = new double[hs.Count][];
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hs.CopyTo(pointarr);
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}
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public void DrawPoints(OpenGL gl,float r = 0.1f)
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{
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if (pointarr == null)
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{
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// Debug.WriteLine("pointarr == null");
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return;
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}
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foreach (double[] v in pointarr)
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{
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DrawPoint(gl, v[0] * 0.04, v[1] * 0.04, v[2] * 0.04);
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}
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}
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public void DrawPoint(OpenGL gl,double x, double y, double z, float r = 0.05f)
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{
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gl.PushMatrix();
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// gl.Translate(modelPosition[0], modelPosition[1], modelPosition[2]);
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gl.Translate(x, y, z);
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gl.Color(1.0,1.0,1.0);
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auxSolidSphere(r);
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gl.PopMatrix();
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}
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public void drawAxis(float size)
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{
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OpenGL gl = glInstance;
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//gl.Disable(OpenGL.GL_TEXTURE_2D);
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//gl.DepthFunc(OpenGL.GL_ALWAYS); // to avoid visual artifacts with grid lines
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gl.Disable(OpenGL.GL_LIGHTING);
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// gl.PushMatrix(); //NOTE: There is a bug on Mac misbehaviours of
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// the light position when you draw GL_LINES
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// and GL_POINTS. remember the matrix.
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// draw axis
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gl.LineWidth(5);
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gl.Begin(OpenGL.GL_LINES);
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gl.Color(1.0, 0, 0);
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gl.Vertex(0, 0, 0);
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gl.Vertex(size, 0, 0);
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gl.Color(0, 1.0, 0);
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gl.Vertex(0, 0, 0);
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gl.Vertex(0, size, 0);
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gl.Color(0, 0, 1.0);
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gl.Vertex(0, 0, 0);
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gl.Vertex(0, 0, size);
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gl.End();
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gl.LineWidth(1);
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// draw arrows(actually big square dots)
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// gl.PointSize(12);
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// gl.Begin(OpenGL.GL_POINTS);
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// gl.Color(1.0, 0, 0);
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// gl.Vertex(size, 0, 0);
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// gl.Color(0, 1.0, 0);
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// gl.Vertex(0, size, 0);
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// gl.Color(0, 0, 1.0);
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// gl.Vertex(0, 0, size);
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// gl.End();
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// gl.PointSize(1);
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gl.PushMatrix();
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IntPtr gluNewQuadric = gl.NewQuadric();
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gl.QuadricNormals(gluNewQuadric, OpenGL.GLU_SMOOTH);
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//画圆锥
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//创建二次曲面对象,X轴的箭头
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gl.Translate(size, 0f, 0f);
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gl.Rotate(90, 0.0f, 1.0f, 0.0f);
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gl.Color(1.0f, 0.0f, 0.0f); // Red
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gl.Cylinder(gluNewQuadric, 0.5f, 0.0f, 0.5f, 32, 320);
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gl.Rotate(-90, 0.0f, 1.0f, 0.0f);
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gl.Translate(-size, 0f, 0f);
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//创建二次曲面对象,Y轴的箭头
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gl.Translate(0f, size, 0f);
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gl.Rotate(-90, 1.0f, 0.0f, 0.0f);
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gl.Color(0.0f, 1.0f, 0.0f); // Green
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gl.Cylinder(gluNewQuadric, 0.5f, 0.0f, 0.5f, 32, 32);
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gl.Rotate(90, 1.0f, 0.0f, 0.0f);
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gl.Translate(0f, -size, 0f);
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//创建二次曲面对象,Z轴的箭头
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gl.Translate(0f, 0f, size);
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gl.Color(0.0f, 0.0f, 1.0f); // Blue
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gl.Cylinder(gluNewQuadric, 0.5f, 0.0f, 0.5f, 32, 32);
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gl.Translate(0f, 0f, -size);
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//在这里绘制坐标系统
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// restore default settings
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gl.PopMatrix();
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gl.Enable(OpenGL.GL_LIGHTING);
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//gl.DepthFunc(OpenGL.GL_LEQUAL);
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}
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public void Draw()
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{
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OpenGL gl = glInstance;
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// set bottom viewport
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setViewportSub(0, 0, scInstance.Width, scInstance.Height, NEAR_PLANE, FAR_PLANE);
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// clear buffer
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//gl.ClearColor(bgColor[0], bgColor[1], bgColor[2], bgColor[3]); // background color
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gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT | OpenGL.GL_STENCIL_BUFFER_BIT);
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gl.LoadIdentity();
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//gl.PushMatrix();
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// First, transform the camera (viewing matrix) from world space to eye space
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gl.Translate(0, cameraHight, -cameraDistance);
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//move camera
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gl.Translate(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
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gl.Rotate(cameraAngleX, 1, 0, 0); // pitch
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gl.Rotate(cameraAngleY, 0, 1, 0); // heading
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// draw grid
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drawGrid(300, 1);
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// draw a teapot
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gl.PushMatrix();
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gl.Translate(modelPosition[0], modelPosition[1], modelPosition[2]);
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gl.PopMatrix();
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if (DrawFlag == 1)
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{
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DrawPoints(gl);
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}
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else if(DrawFlag==2)
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{
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// mVector3 v = CaliAPI.GetEulerianAngle();
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gl.PushMatrix();
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// gl.Rotate(v.y, 1, 0, 0); // pitch
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// gl.Rotate(v.x, 0, 0, -1); // pitch
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// gl.Rotate(90, 0, 1, 0); // heading
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Quaternion q =CaliAPI.GetQuaternion();
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double halfsita = Math.Acos(q.w);
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double nx = q.y / Math.Sin(halfsita);
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double ny = q.z / Math.Sin(halfsita);
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double nz = q.x/ Math.Sin(halfsita);
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double SitaAngle = halfsita * 2 * (180.0f / 3.141592f);
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//gl.Rotate(45, 0, 0);
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gl.Rotate( 0, 90, 90f);
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gl.Rotate(0, 0, 0);
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gl.Rotate(SitaAngle, nx, ny, nz);
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//gl.Rotate(SitaAngle, ny,nz,nx);
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drawAxis(20);
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DrawCube();
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gl.PopMatrix();
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}
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// else
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// {
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// drawAxis(20);
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// }
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//gl.PopMatrix();
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}
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public void resize()
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{
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OpenGL gl = getGlInstance();
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// 设置当前矩阵模式,对投影矩阵应用随后的矩阵操作
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gl.MatrixMode(OpenGL.GL_PROJECTION);
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// 重置当前指定的矩阵为单位矩阵,将当前的用户坐标系的原点移到了屏幕中心
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gl.LoadIdentity();
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// 创建透视投影变换
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gl.Perspective(FOV_Y, scInstance.Width/ scInstance.Height, 5, 100.0);
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// 视点变换
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gl.LookAt(-5, 5, -5, 0, 0, 0, 0, 1, 0);
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// 设置当前矩阵为模型视图矩阵
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gl.MatrixMode(OpenGL.GL_MODELVIEW);
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}
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void auxSolidSphere(float p)
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{
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drawSphere(p);
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return;
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// OpenGL gl = getGlInstance();
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//
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// gl.Color(0.5f, 0.5f, 0.5f); /**< 灰色 */
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// gl.Scale(p, p, p);
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// DrawCube(gl);
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}
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public void drawSphere(double radius, int segx = 40, int segy = 40, bool isLines = false)
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{
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float x = 0, y = 0, z = 0;
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OpenGL gl = getGlInstance();
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gl.PushMatrix();
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gl.Translate(x, y, z);
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var sphere = gl.NewQuadric();
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if (isLines)
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gl.QuadricDrawStyle(sphere, OpenGL.GL_LINES);
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else
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gl.QuadricDrawStyle(sphere, OpenGL.GL_QUADS);
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gl.QuadricNormals(sphere, OpenGL.GLU_SMOOTH); //GLU_NONE,GLU_FLAT,GLU_SMOOTH
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gl.QuadricOrientation(sphere, (int)OpenGL.GLU_OUTSIDE); //GLU_OUTSIDE,GLU_INSIDE
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gl.QuadricTexture(sphere, (int)OpenGL.GLU_FALSE); //GL_TRUE,GLU_FALSE
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gl.Sphere(sphere, radius, segx, segy);
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gl.DeleteQuadric(sphere);
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gl.PopMatrix();
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}
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public void DrawCube()
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{
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OpenGL gl = glInstance;
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gl.PushMatrix();
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// OpenGL gl = getGlInstance();
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gl.Begin(OpenGL.GL_QUADS);
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gl.Color(1.0, 0, 0);
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gl.Vertex(-10.0f, -10.0f, -10.0f);
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gl.Vertex(-10.0f, 10.0f, -10.0f);
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gl.Vertex(10.0f, 10.0f, -10.0f);
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gl.Vertex(10.0f, -10.0f, -10.0f);
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gl.Color(1.0, 1, 0);
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gl.Vertex(-10.0f, -10.0f, -10.0f);
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gl.Vertex(10.0f, -10.0f, -10.0f);
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gl.Vertex(10.0f, -10.0f, 10.0f);
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gl.Vertex(-10.0f, -10.0f, 10.0f);
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gl.Color(1.0, 0, 1);
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gl.Vertex(-10.0f, -10.0f, -10.0f);
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gl.Vertex(-10.0f, -10.0f, 10.0f);
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gl.Vertex(-10.0f, 10.0f, 10.0f);
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gl.Vertex(-10.0f, 10.0f, -10.0f);
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gl.Color(0, 1.0, 0);
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gl.Vertex(-10.0f, -10.0f, 10.0f);
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gl.Vertex(10.0f, -10.0f, 10.0f);
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gl.Vertex(10.0f, 10.0f, 10.0f);
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gl.Vertex(-10.0f, 10.0f, 10.0f);
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gl.Color(0, 0, 1.0);
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gl.Vertex(-10.0f, 10.0f, -10.0f);
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gl.Vertex(-10.0f, 10.0f, 10.0f);
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gl.Vertex(10.0f, 10.0f, 10.0f);
|
|||
|
|
gl.Vertex(10.0f, 10.0f, -10.0f);
|
|||
|
|
|
|||
|
|
gl.Color(0, 1, 1.0);
|
|||
|
|
gl.Vertex(10.0f, -10.0f, -10.0f);
|
|||
|
|
gl.Vertex(10.0f, 10.0f, -10.0f);
|
|||
|
|
gl.Vertex(10.0f, 10.0f, 10.0f);
|
|||
|
|
gl.Vertex(10.0f, -10.0f, 10.0f);
|
|||
|
|
gl.End();
|
|||
|
|
gl.PopMatrix();
|
|||
|
|
}
|
|||
|
|
public void Initialized()
|
|||
|
|
{
|
|||
|
|
OpenGL gl = getGlInstance();
|
|||
|
|
gl.ClearColor(0, 0, 0, 0);
|
|||
|
|
gl.ShadeModel(OpenGL.GL_SMOOTH); // shading mathod: GL_SMOOTH or GL_FLAT
|
|||
|
|
gl.PixelStore(OpenGL.GL_UNPACK_ALIGNMENT, 4); // 4-byte pixel alignment
|
|||
|
|
|
|||
|
|
// enable/disable features
|
|||
|
|
gl.Hint(OpenGL.GL_PERSPECTIVE_CORRECTION_HINT, OpenGL.GL_NICEST);
|
|||
|
|
//glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
|
|||
|
|
//glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST);
|
|||
|
|
gl.Enable(OpenGL.GL_DEPTH_TEST);
|
|||
|
|
gl.Enable(OpenGL.GL_LIGHTING);
|
|||
|
|
gl.Enable(OpenGL.GL_TEXTURE_2D);
|
|||
|
|
gl.Enable(OpenGL.GL_CULL_FACE);
|
|||
|
|
gl.Enable(OpenGL.GL_BLEND);
|
|||
|
|
gl.Enable(OpenGL.GL_SCISSOR_TEST);
|
|||
|
|
|
|||
|
|
// track material ambient and diffuse from surface color, call it before glEnable(GL_COLOR_MATERIAL)
|
|||
|
|
gl.ColorMaterial(OpenGL.GL_FRONT_AND_BACK, OpenGL.GL_AMBIENT_AND_DIFFUSE);
|
|||
|
|
gl.Enable(OpenGL.GL_COLOR_MATERIAL);
|
|||
|
|
|
|||
|
|
gl.ClearColor(bgColor[0], bgColor[1], bgColor[2], bgColor[3]); // background color
|
|||
|
|
gl.ClearStencil(0); // clear stencil buffer
|
|||
|
|
gl.ClearDepth(1.0); // 0 is near, 1 is far
|
|||
|
|
gl.DepthFunc(OpenGL.GL_LEQUAL);
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
//initLights(); /* 初始化OpenGL灯光 */
|
|||
|
|
float[] lightKa = { 1.0f, 1.0f, 1.0f, 0.0f }; // 环境光，基本亮度，可以认为是太阳光
|
|||
|
|
float[] lightKd = { 1.0f, 1.0f, 1.0f, 0.0f }; // diffuse light
|
|||
|
|
float[] lightKs = { 1f,1f,1f,1f}; // specular light
|
|||
|
|
gl.Light(OpenGL.GL_LIGHT0, OpenGL.GL_AMBIENT, lightKa);
|
|||
|
|
gl.Light(OpenGL.GL_LIGHT0, OpenGL.GL_DIFFUSE, lightKd);
|
|||
|
|
// gl.Light(OpenGL.GL_LIGHT0, OpenGL.GL_SPECULAR, lightKs);
|
|||
|
|
|
|||
|
|
// position the light in eye space
|
|||
|
|
float[] lightPos = { 16f, 9f, -18f, 0f }; // directional light
|
|||
|
|
gl.Light(OpenGL.GL_LIGHT0, OpenGL.GL_POSITION, lightPos);
|
|||
|
|
gl.LightModel(OpenGL.GL_FRONT, OpenGL.GL_AMBIENT_AND_DIFFUSE);
|
|||
|
|
gl.Enable(OpenGL.GL_LIGHT0); // MUST enable each light source after configuration
|
|||
|
|
|
|||
|
|
// gl.PolygonMode(OpenGL.GL_FRONT_AND_BACK, OpenGL.GL_FILL);
|
|||
|
|
// gl.Enable(OpenGL.GL_DEPTH_TEST);
|
|||
|
|
// gl.Enable(OpenGL.GL_CULL_FACE);
|
|||
|
|
gl.Enable(OpenGL.GL_NORMALIZE);
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private double[] identity()
|
|||
|
|
{
|
|||
|
|
double[] m = new double[16];
|
|||
|
|
m[0] = m[5] = m[10] = m[15] = 1.0;
|
|||
|
|
m[1] = m[2] = m[3] = m[4] = m[6] = m[7] = m[8] = m[9] = m[11] = m[12] = m[13] = m[14] = 0.0;
|
|||
|
|
return m;
|
|||
|
|
}
|
|||
|
|
private double[] getTranspose(double[] m)
|
|||
|
|
{
|
|||
|
|
double[] tm = new double[16];
|
|||
|
|
tm[0] = m[0]; tm[1] = m[4]; tm[2] = m[8]; tm[3] = m[12];
|
|||
|
|
tm[4] = m[1]; tm[5] = m[5]; tm[6] = m[9]; tm[7] = m[13];
|
|||
|
|
tm[8] = m[2]; tm[9] = m[6]; tm[10] = m[10]; tm[11] = m[14];
|
|||
|
|
tm[12] = m[3]; tm[13] = m[7]; tm[14] = m[11]; tm[15] = m[15];
|
|||
|
|
return tm;
|
|||
|
|
}
|
|||
|
|
public void drawGrid(float size, float step)
|
|||
|
|
{
|
|||
|
|
OpenGL gl = glInstance;
|
|||
|
|
// disable lighting
|
|||
|
|
gl.Disable(OpenGL.GL_LIGHTING);
|
|||
|
|
|
|||
|
|
gl.Begin(OpenGL.GL_LINES);
|
|||
|
|
|
|||
|
|
gl.Color(0.3f, 0.3f, 0.3f);
|
|||
|
|
for (float i = step; i <= size; i += step)
|
|||
|
|
{
|
|||
|
|
gl.Vertex(-size, 0, i); // lines parallel to X-axis
|
|||
|
|
gl.Vertex(size, 0, i);
|
|||
|
|
gl.Vertex(-size, 0, -i); // lines parallel to X-axis
|
|||
|
|
gl.Vertex(size, 0, -i);
|
|||
|
|
|
|||
|
|
gl.Vertex(i, 0, -size); // lines parallel to Z-axis
|
|||
|
|
gl.Vertex(i, 0, size);
|
|||
|
|
gl.Vertex(-i, 0, -size); // lines parallel to Z-axis
|
|||
|
|
gl.Vertex(-i, 0, size);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// x-axis
|
|||
|
|
gl.Color(0.5f, 0, 0);
|
|||
|
|
gl.Vertex(-size, 0, 0);
|
|||
|
|
gl.Vertex(size, 0, 0);
|
|||
|
|
|
|||
|
|
// z-axis
|
|||
|
|
gl.Color(0, 0, 0.5f);
|
|||
|
|
gl.Vertex(0, 0, -size);
|
|||
|
|
gl.Vertex(0, 0, size);
|
|||
|
|
|
|||
|
|
gl.End();
|
|||
|
|
|
|||
|
|
// enable lighting back
|
|||
|
|
gl.Enable(OpenGL.GL_LIGHTING);
|
|||
|
|
}
|
|||
|
|
public void setViewportSub(int x, int y, int width, int height, float nearPlane, float farPlane)
|
|||
|
|
{
|
|||
|
|
OpenGL gl = glInstance;
|
|||
|
|
// set viewport
|
|||
|
|
gl.Viewport(x, y, width, height);
|
|||
|
|
gl.Scissor(x, y, width, height);
|
|||
|
|
|
|||
|
|
// set perspective viewing frustum
|
|||
|
|
setFrustum(FOV_Y, (float)(width) / height, nearPlane, farPlane); // FOV, AspectRatio, NearClip, FarClip
|
|||
|
|
// copy projection matrix to OpenGL
|
|||
|
|
gl.MatrixMode(OpenGL.GL_PROJECTION);
|
|||
|
|
gl.LoadMatrix(getTranspose(matrixProjection));
|
|||
|
|
gl.MatrixMode(OpenGL.GL_MODELVIEW);
|
|||
|
|
gl.LoadIdentity();
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void setFrustum(float l, float r, float b, float t, float n, float f)
|
|||
|
|
{
|
|||
|
|
matrixProjection = identity();
|
|||
|
|
matrixProjection[0] = 2 * n / (r - l);
|
|||
|
|
matrixProjection[2] = (r + l) / (r - l);
|
|||
|
|
matrixProjection[5] = 2 * n / (t - b);
|
|||
|
|
matrixProjection[6] = (t + b) / (t - b);
|
|||
|
|
matrixProjection[10] = -(f + n) / (f - n);
|
|||
|
|
matrixProjection[11] = -(2 * f * n) / (f - n);
|
|||
|
|
matrixProjection[14] = -1;
|
|||
|
|
matrixProjection[15] = 0;
|
|||
|
|
}
|
|||
|
|
public void setFrustum(float fovY, float aspectRatio, float front, float back)
|
|||
|
|
{
|
|||
|
|
OpenGL gl = glInstance;
|
|||
|
|
float tangent = (float)Math.Tan(fovY / 2 * DEG2RAD); // tangent of half fovY
|
|||
|
|
float height = front * tangent; // half height of near plane
|
|||
|
|
float width = height * aspectRatio; // half width of near plane
|
|||
|
|
|
|||
|
|
// params: left, right, bottom, top, near, far
|
|||
|
|
setFrustum(-width, width, -height, height, front, back);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void rotateCamera(int x, int y)
|
|||
|
|
{
|
|||
|
|
cameraAngleY += (x - mouseX);
|
|||
|
|
cameraAngleX += (y - mouseY);
|
|||
|
|
setMousePos(x, y);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void moveCameraXY(int x, int y)
|
|||
|
|
{
|
|||
|
|
cameraPosition[0] += (x - mouseX) * 0.1f;
|
|||
|
|
cameraPosition[1] += (y - mouseY) * -0.1f;
|
|||
|
|
setMousePos(x, y);
|
|||
|
|
Debug.WriteLine(cameraPosition[0] + " " + cameraPosition[1] + " " + cameraPosition[2] + " ");
|
|||
|
|
}
|
|||
|
|
public void moveCameraZ(int x, int y)
|
|||
|
|
{
|
|||
|
|
//cameraPosition[1] += (x - mouseX);
|
|||
|
|
cameraPosition[2] += (y - mouseY) * 0.1f;
|
|||
|
|
setMousePos(x, y);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void setMousePos(int x, int y)
|
|||
|
|
{
|
|||
|
|
mouseX = x;
|
|||
|
|
mouseY = y;
|
|||
|
|
}
|
|||
|
|
public void zoomCamera(int y)
|
|||
|
|
{
|
|||
|
|
cameraDistance -= (y - mouseY) * 0.1f;
|
|||
|
|
mouseY = y;
|
|||
|
|
}
|
|||
|
|
public void zoomCameraDelta(int delta)
|
|||
|
|
{
|
|||
|
|
cameraDistance -= delta;
|
|||
|
|
}
|
|||
|
|
public void resetView()
|
|||
|
|
{
|
|||
|
|
cameraAngleX = CAMERA_ANGLE_X;
|
|||
|
|
cameraAngleY = CAMERA_ANGLE_Y;
|
|||
|
|
cameraHight = CAMERA_HIGHT;
|
|||
|
|
cameraDistance = CAMERA_DISTANCE;
|
|||
|
|
cameraPosition[0] = cameraPosition[1] = cameraPosition[2] = 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public int DrawFlag { get; set; }
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|