Work in progress #2509

git-svn-id: http://www.openflipper.org/svnrepo/OpenFlipper/branches/Free@21074 383ad7c9-94d9-4d36-a494-682f7c89f535

ACG/Scenegraph/ArrowNode.cc

+/*===========================================================================*\
+ *                                                                           *
+ *                              OpenFlipper                                  *
+ *      Copyright (C) 2001-2014 by Computer Graphics Group, RWTH Aachen      *
+ *                           www.openflipper.org                             *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ *  This file is part of OpenFlipper.                                        *
+ *                                                                           *
+ *  OpenFlipper is free software: you can redistribute it and/or modify      *
+ *  it under the terms of the GNU Lesser General Public License as           *
+ *  published by the Free Software Foundation, either version 3 of           *
+ *  the License, or (at your option) any later version with the              *
+ *  following exceptions:                                                    *
+ *                                                                           *
+ *  If other files instantiate templates or use macros                       *
+ *  or inline functions from this file, or you compile this file and         *
+ *  link it with other files to produce an executable, this file does        *
+ *  not by itself cause the resulting executable to be covered by the        *
+ *  GNU Lesser General Public License. This exception does not however       *
+ *  invalidate any other reasons why the executable file might be            *
+ *  covered by the GNU Lesser General Public License.                        *
+ *                                                                           *
+ *  OpenFlipper is distributed in the hope that it will be useful,           *
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the            *
+ *  GNU Lesser General Public License for more details.                      *
+ *                                                                           *
+ *  You should have received a copy of the GNU LesserGeneral Public          *
+ *  License along with OpenFlipper. If not,                                  *
+ *  see <http://www.gnu.org/licenses/>.                                      *
+ *                                                                           *
+\*===========================================================================*/
+
+/*===========================================================================*\
+ *                                                                           *
+ *   $Revision: 20771 $                                                       *
+ *   $Author: moeller $                                                      *
+ *   $Date: 2015-06-03 16:47:45 +0200 (Wed, 03 Jun 2015) $                   *
+ *                                                                           *
+\*===========================================================================*/
+
+
+
+
+//=============================================================================
+//
+//  CLASS ArrowNode - IMPLEMENTATION
+//
+//=============================================================================
+
+//== INCLUDES =================================================================
+#include <ACG/GL/acg_glew.hh>
+#include "ArrowNode.hh"
+#include <ACG/GL/IRenderer.hh>
+#include <OpenMesh/Core/Utils/vector_cast.hh>
+
+//== NAMESPACES ===============================================================
+
+namespace ACG {
+namespace SceneGraph {
+
+//== IMPLEMENTATION ==========================================================
+
+ArrowNode::ArrowNode(BaseNode*    _parent, std::string  _name )
+ : MaterialNode(_parent, _name, MaterialNode::BaseColor),
+   numVertices_(0),
+   numIndices_(0),
+   localArrowMin_(0.0f, 0.0f, 0.0f),
+   localArrowMax_(0.0f, 0.0f, 0.0f),
+   invalidateInstanceData_(true),
+   invalidateInstanceBuffer_(true),
+   supportsInstancing_(-1)
+{
+  drawMode(DrawModes::SOLID_FLAT_SHADED);
+}
+
+//----------------------------------------------------------------------------
+
+ArrowNode::~ArrowNode() 
+{
+
+}
+//----------------------------------------------------------------------------
+
+void ArrowNode::boundingBox(Vec3d& _bbMin, Vec3d& _bbMax)
+{
+  float radius = std::max(localArrowMax_[1] - localArrowMin_[1], localArrowMax_[2] - localArrowMin_[2]) * 0.5f;
+
+  size_t n = arrows_.size();
+  for (size_t i = 0; i < n; ++i)
+  {
+    const Arrow* a = &arrows_[i];
+
+    // start and end point
+    Vec3f s = a->start;
+    Vec3f e = a->start + a->dir * a->scale;
+
+    // conv to double precision
+    Vec3d sd = OpenMesh::vector_cast<Vec3d>(s);
+    Vec3d ed = OpenMesh::vector_cast<Vec3d>(e);
+
+    // enlarge aabb by some amount to account for the volumetric shape
+    double offset = double(radius * a->scale);
+    Vec3d volEnlargeOffset = Vec3d(offset, offset, offset);
+
+    _bbMin.minimize(sd - volEnlargeOffset);
+    _bbMin.minimize(ed - volEnlargeOffset);
+
+    _bbMax.maximize(sd + volEnlargeOffset);
+    _bbMax.maximize(ed + volEnlargeOffset);
+  }
+}
+
+
+//----------------------------------------------------------------------------
+
+DrawModes::DrawMode ArrowNode::availableDrawModes() const
+{
+  return DrawModes::SOLID_FLAT_SHADED;
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::createArrowMesh()
+{
+  if (!numVertices_)
+  {
+    // arrow mesh data as result from meshcompiler:
+    // interleaved float3 pos, float3 normal
+    float vdata[] =
+    {
+      0.681818f, -0.034091f, -0.068182f, 0.000000f, -1.000000f, 0.000000f,
+      0.681818f, -0.034091f, 0.068182f, 0.000000f, -1.000000f, 0.000000f,
+      0.000000f, -0.034091f, 0.000000f, 0.000000f, -1.000000f, 0.000000f,
+      1.000000f, -0.034091f, 0.000000f, 0.000000f, -1.000000f, 0.000000f,
+      0.681818f, -0.034091f, -0.227273f, 0.000000f, -1.000000f, 0.000000f,
+      0.681818f, -0.034091f, 0.227273f, 0.000000f, -1.000000f, 0.000000f,
+      0.681818f, 0.034091f, -0.068182f, 0.000000f, 1.000000f, -0.000000f,
+      1.000000f, 0.034091f, 0.000000f, 0.000000f, 1.000000f, 0.000000f,
+      0.681818f, 0.034091f, -0.227273f, -0.000000f, 1.000000f, 0.000000f,
+      0.681818f, 0.034091f, 0.068182f, 0.000000f, 1.000000f, -0.000000f,
+      0.000000f, 0.034091f, 0.000000f, 0.000000f, 1.000000f, -0.000000f,
+      0.681818f, 0.034091f, 0.227273f, 0.000000f, 1.000000f, 0.000000f,
+      1.000000f, -0.034091f, 0.000000f, 0.581238f, 0.000000f, -0.813734f,
+      0.681818f, 0.034091f, -0.227273f, 0.581238f, 0.000000f, -0.813734f,
+      1.000000f, 0.034091f, 0.000000f, 0.581238f, 0.000000f, -0.813734f,
+      0.681818f, -0.034091f, -0.227273f, 0.581238f, 0.000000f, -0.813734f,
+      0.681818f, -0.034091f, 0.227273f, 0.581238f, 0.000000f, 0.813734f,
+      1.000000f, 0.034091f, 0.000000f, 0.581238f, 0.000000f, 0.813734f,
+      0.681818f, 0.034091f, 0.227273f, 0.581238f, -0.000000f, 0.813734f,
+      1.000000f, -0.034091f, 0.000000f, 0.581238f, 0.000000f, 0.813734f,
+      0.681818f, -0.034091f, 0.068182f, -1.000000f, -0.000000f, 0.000000f,
+      0.681818f, 0.034091f, 0.227273f, -1.000000f, -0.000000f, 0.000000f,
+      0.681818f, 0.034091f, 0.068182f, -1.000000f, 0.000000f, 0.000000f,
+      0.681818f, -0.034091f, 0.227273f, -1.000000f, -0.000000f, 0.000000f,
+      0.681818f, -0.034091f, -0.227273f, -1.000000f, -0.000000f, 0.000000f,
+      0.681818f, 0.034091f, -0.068182f, -1.000000f, -0.000000f, 0.000000f,
+      0.681818f, 0.034091f, -0.227273f, -1.000000f, 0.000000f, 0.000000f,
+      0.681818f, -0.034091f, -0.068182f, -1.000000f, -0.000000f, 0.000000f,
+      0.000000f, -0.034091f, 0.000000f, -0.099504f, 0.000000f, 0.995037f,
+      0.681818f, 0.034091f, 0.068182f, -0.099504f, 0.000000f, 0.995037f,
+      0.000000f, 0.034091f, 0.000000f, -0.099504f, 0.000000f, 0.995037f,
+      0.681818f, -0.034091f, 0.068182f, -0.099504f, 0.000000f, 0.995037f,
+      0.681818f, -0.034091f, -0.068182f, -0.099504f, -0.000000f, -0.995037f,
+      0.000000f, 0.034091f, 0.000000f, -0.099504f, -0.000000f, -0.995037f,
+      0.681818f, 0.034091f, -0.068182f, -0.099504f, 0.000000f, -0.995037f,
+      0.000000f, -0.034091f, 0.000000f, -0.099504f, -0.000000f, -0.995037f,
+    };
+
+    // indices
+    int idata[] =
+    {
+      0, 1, 2,
+      0, 3, 1,
+      0, 4, 3,
+      1, 3, 5,
+      6, 7, 8,
+      6, 9, 7,
+      6, 10, 9,
+      7, 9, 11,
+      12, 13, 14,
+      13, 12, 15,
+      16, 17, 18,
+      17, 16, 19,
+      20, 21, 22,
+      21, 20, 23,
+      24, 25, 26,
+      25, 24, 27,
+      28, 29, 30,
+      29, 28, 31,
+      32, 33, 34,
+      33, 32, 35,
+    };
+
+    // vertex decl
+    if (!vertexDecl_.getNumElements())
+    {
+      vertexDecl_.addElement(GL_FLOAT, 3, VERTEX_USAGE_POSITION);
+      vertexDecl_.addElement(GL_FLOAT, 3, VERTEX_USAGE_NORMAL);
+    }
+
+    numVertices_ = sizeof(vdata) / vertexDecl_.getVertexStride();
+    numIndices_ = sizeof(idata) / sizeof(idata[0]);
+
+    // vertex + index buffer
+    vertexBuffer_.upload(sizeof(vdata), vdata, GL_STATIC_DRAW);
+    indexBuffer_.upload(sizeof(idata), idata, GL_STATIC_DRAW);
+
+    // compute local aabb
+    localArrowMin_ = Vec3f(vdata[0], vdata[1], vdata[2]);
+    localArrowMax_ = localArrowMin_;
+
+    for (int i = 1; i < numVertices_; ++i)
+    {
+      Vec3f v = Vec3f(vdata[i * 6], vdata[i * 6 + 1], vdata[i * 6 + 2]);
+      localArrowMin_.minimize(v);
+      localArrowMax_.maximize(v);
+    }
+  }
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::draw(GLState&  _state, const DrawModes::DrawMode& _drawMode)
+{
+  createArrowMesh();
+  updateInstanceData();
+
+  vertexBuffer_.bind();
+  indexBuffer_.bind();
+
+  vertexDecl_.activateFixedFunction();
+
+  // save model-view matrix 
+  GLMatrixf viewMatrix;
+  glGetFloatv(GL_MODELVIEW_MATRIX, (GLfloat*)&viewMatrix);
+
+
+  // GL_COLOR_MATERIAL: multiply the glColor value with the ambient and diffuse term
+  glEnable(GL_COLOR_MATERIAL);
+  glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+
+  for (size_t i = 0; i < arrows_.size(); ++i)
+  {
+    // use transform of the individual arrows
+    GLMatrixf worldView = viewMatrix * readWorldMatrix(i);
+    glLoadMatrixf(worldView.data());
+
+    Vec4uc c = arrows_[i].color;
+    glColor4ub(c[0], c[1], c[2], c[3]);
+
+    glDrawElements(GL_TRIANGLES, numIndices_, GL_UNSIGNED_INT, 0);
+  }
+
+  // restore model-view matrix
+  glLoadMatrixf(viewMatrix.data());
+
+  glDisable(GL_COLOR_MATERIAL);
+  vertexDecl_.deactivateFixedFunction();
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::getRenderObjects(IRenderer* _renderer, GLState&  _state , const DrawModes::DrawMode&  _drawMode , const ACG::SceneGraph::Material* _mat) 
+{
+  if (arrows_.empty())
+    return;
+
+  createArrowMesh();
+  updateInstanceBuffer();
+
+  
+  RenderObject obj;
+  obj.initFromState(&_state);
+  obj.depthTest = true;
+
+  obj.vertexBuffer = vertexBuffer_.id();
+  obj.indexBuffer = indexBuffer_.id();
+
+
+  // check support for instancing if not done yet
+  if (supportsInstancing_ < 0)
+    supportsInstancing_ = checkExtensionSupported("GL_ARB_instanced_arrays") ? 1 : 0;
+
+  // config shader
+  obj.shaderDesc.shadeMode = SG_SHADE_FLAT;
+
+  if (supportsInstancing_)
+  {
+    // render with instancing
+    obj.shaderDesc.vertexColors = true;
+    obj.shaderDesc.vertexTemplateFile = "ArrowNode/instancing_vs.glsl";
+    obj.vertexDecl = &vertexDeclInstanced_;
+    obj.glDrawElementsInstanced(GL_TRIANGLES, numIndices_, GL_UNSIGNED_INT, 0, arrows_.size());
+
+    _renderer->addRenderObject(&obj);
+  }
+  else
+  {
+    // no instancing support
+    // might want to abort after the first few objects to avoid emitting thousands of objects here and overloading the renderer
+    
+    obj.shaderDesc.vertexColors = false;
+    obj.vertexDecl = &vertexDecl_;
+
+    GLMatrixf viewMatrix = obj.modelview;
+
+    for (size_t i = 0; i < arrows_.size(); ++i)
+    {
+      const Arrow* a = &arrows_[i];
+
+      obj.modelview = viewMatrix * readWorldMatrix(i);
+      obj.diffuse = Vec3f(a->color[0] / 255.0f, a->color[1] / 255.0f, a->color[2] / 255.0f);
+      obj.alpha = a->color[3] / 255.0f;
+
+      obj.glDrawElements(GL_TRIANGLES, numIndices_, GL_UNSIGNED_INT, 0);
+      _renderer->addRenderObject(&obj);
+    }
+  }
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::reserve(int _n)
+{
+  arrows_.reserve(_n);
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::clear()
+{
+  arrows_.clear();
+}
+
+//----------------------------------------------------------------------------
+
+int ArrowNode::n_arrows() const
+{
+  return int(arrows_.size());
+}
+
+//----------------------------------------------------------------------------
+
+GLMatrixf ArrowNode::computeWorldMatrix(int _arrow) const
+{
+  const Arrow* a = &arrows_[_arrow];
+
+  GLMatrixf align;
+  align.identity();
+
+  align.translate(a->start);
+
+  // orientation
+  //  local mesh stored as: dir in +x,  normal in +y
+  Vec3f binormal = a->dir % a->normal;
+  for (int i = 0; i < 3; ++i)
+  {
+    align(i, 0) = a->dir[i];
+    align(i, 1) = a->normal[i];
+    align(i, 2) = binormal[i];
+  }
+
+  align.scale(a->scale, a->scale, a->scale);
+
+  return align;
+}
+
+//----------------------------------------------------------------------------
+
+int ArrowNode::addArrow(const Vec3f& _start, const Vec3f& _dir, const Vec3f& _normal /*= Vec3f(0.0f, 1.0f, 0.0f)*/, float _scale /*= 1.0f*/, const Vec4uc& _color /*= Vec4uc(82, 82, 82, 255)*/)
+{
+  Arrow a;
+  a.start = _start;
+  a.dir = _dir;
+  a.scale = _scale;
+  a.color = _color;
+  a.normal = _normal;
+
+  a.orthonormalize();
+
+  arrows_.push_back(a);
+
+  invalidateInstanceData_ = true;
+  invalidateInstanceBuffer_ = true;
+
+  return int(arrows_.size()) - 1;
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::Arrow::orthonormalize()
+{
+  dir.normalize();
+
+  // make sure dir and normal are linearly independent
+  if (normal.sqrnorm() < 1e-6f)
+    normal = Vec3f(0.0f, 1.0f, 0.0f);
+
+  while (std::fabs(dir | normal) > 0.99f || normal.sqrnorm() < 0.01f)
+  {
+    for (int i = 0; i < 3; ++i)
+      normal[i] = float(rand()) / float(RAND_MAX) * 2.0f - 1.0f;
+    normal.normalize();
+  }
+  // orthogonalize normal dir
+  Vec3f binormal = dir % normal;
+  normal = (binormal % dir).normalized();
+}
+
+//----------------------------------------------------------------------------
+
+int ArrowNode::addArrow(const Vec3d& _start, const Vec3d& _dir, const Vec3d& _normal /*= Vec3d(0.0f, 1.0f, 0.0f)*/, double _scale /*= 1.0f*/, const Vec4uc& _color /*= Vec4uc(82, 82, 82, 255)*/)
+{
+  return addArrow(OpenMesh::vector_cast<Vec3f>(_start), OpenMesh::vector_cast<Vec3f>(_dir), OpenMesh::vector_cast<Vec3f>(_normal), float(_scale), _color);
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::updateInstanceData()
+{
+  if (invalidateInstanceData_)
+  {
+    const int numArrows = arrows_.size();
+
+    // size in dwords of data for one instance
+    const int instanceSize = instanceDataSize();
+
+    instanceData_.resize(numArrows * instanceSize);
+
+    for (int i = 0; i < numArrows; ++i)
+    {
+      // compute and store 4x3 world matrix
+      GLMatrixf m = computeWorldMatrix(i);
+      int offset = instanceDataOffset(i);
+
+      // linearize matrix and store in row-major
+      for (int r = 0; r < 3; ++r)
+        for (int c = 0; c < 4; ++c)
+          instanceData_[offset + r*4 + c] = m(r,c);
+
+      // store color in last dword as rgba8_unorm
+//      instanceData_[offset + 4 * 3] = *(float*)(arrows_[i].color.data());
+      memcpy(&instanceData_[offset + 4*3], arrows_[i].color.data(), 4);
+
+      // append more data here as needed
+    }
+
+    invalidateInstanceData_ = false;
+  }
+}
+
+//----------------------------------------------------------------------------
+
+ACG::GLMatrixf ArrowNode::readWorldMatrix( int _arrow ) const
+{
+  int offset = instanceDataOffset(_arrow);
+  GLMatrixf m;
+
+  for (int r = 0; r < 3; ++r)
+    for (int c = 0; c < 4; ++c)
+      m(r,c) = instanceData_[offset + r*4 + c];
+
+  // last row not explicitly stored
+  m(3,0) = 0.0f;  m(3,1) = 0.0f;  m(3,2) = 0.0f;  m(3,3) = 1.0f;
+
+  return m;
+}
+
+//----------------------------------------------------------------------------
+
+void ArrowNode::updateInstanceBuffer()
+{
+  if (invalidateInstanceBuffer_ || invalidateInstanceData_)
+  {
+    updateInstanceData();
+
+    if (!instanceData_.empty())
+      instanceBuffer_.upload(4 * instanceData_.size(), &instanceData_[0], GL_STATIC_DRAW);
+
+    if (!vertexDeclInstanced_.getNumElements())
+    {
+      // position and normal from static mesh vbo
+      vertexDeclInstanced_.addElement(GL_FLOAT, 3, VERTEX_USAGE_POSITION);
+      vertexDeclInstanced_.addElement(GL_FLOAT, 3, VERTEX_USAGE_NORMAL);
+
+      // world matrix and color from instance data vbo
+      vertexDeclInstanced_.addElement(GL_FLOAT, 4, VERTEX_USAGE_SHADER_INPUT, size_t(0), "inWorld0", 1, instanceBuffer_.id());
+      vertexDeclInstanced_.addElement(GL_FLOAT, 4, VERTEX_USAGE_SHADER_INPUT, size_t(0), "inWorld1", 1, instanceBuffer_.id());
+      vertexDeclInstanced_.addElement(GL_FLOAT, 4, VERTEX_USAGE_SHADER_INPUT, size_t(0), "inWorld2", 1, instanceBuffer_.id());
+      vertexDeclInstanced_.addElement(GL_UNSIGNED_BYTE, 4, VERTEX_USAGE_COLOR, size_t(0), 0, 1, instanceBuffer_.id());
+    }
+
+    invalidateInstanceBuffer_ = false;
+  }
+}
+
+//----------------------------------------------------------------------------
+
+Vec3f ArrowNode::arrowStart(int _arrowID) const
+{
+  return arrows_[_arrowID].start;
+}
+
+void ArrowNode::arrowStart(int _arrowID, const Vec3f& _start)
+{
+  arrows_[_arrowID].start = _start;
+  invalidateInstanceData_ = true;
+}
+
+Vec3f ArrowNode::arrowDir(int _arrowID) const
+{
+  return arrows_[_arrowID].dir;
+}
+
+void ArrowNode::arrowDir(int _arrowID, const Vec3f& _dir)
+{
+  arrows_[_arrowID].dir = _dir;
+  arrows_[_arrowID].orthonormalize();
+  invalidateInstanceData_ = true;
+}
+
+Vec3f ArrowNode::arrowNormal(int _arrowID) const
+{
+  return arrows_[_arrowID].normal;
+}
+
+void ArrowNode::arrowNormal(int _arrowID, const Vec3f& _normal)
+{
+  arrows_[_arrowID].normal = _normal;
+  arrows_[_arrowID].orthonormalize();
+  invalidateInstanceData_ = true;
+}
+
+float ArrowNode::arrowScale(int _arrowID) const
+{
+  return arrows_[_arrowID].scale;
+}
+
+void ArrowNode::arrowScale(int _arrowID, float _scale)
+{
+  arrows_[_arrowID].scale = _scale;
+  invalidateInstanceData_ = true;
+}
+
+Vec4uc ArrowNode::arrowColor(int _arrowID) const
+{
+  return arrows_[_arrowID].color;
+}
+
+void ArrowNode::arrowColor(int _arrowID, const Vec4uc& _color)
+{
+  arrows_[_arrowID].color = _color;
+  invalidateInstanceData_ = true;
+}
+
+
+//=============================================================================
+
+
+} // namespace SceneGraph
+} // namespace ACG
+//=============================================================================

ACG/Scenegraph/ArrowNode.hh

+/*===========================================================================*\
+ *                                                                           *
+ *                              OpenFlipper                                  *
+ *      Copyright (C) 2001-2014 by Computer Graphics Group, RWTH Aachen      *
+ *                           www.openflipper.org                             *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ *  This file is part of OpenFlipper.                                        *
+ *                                                                           *
+ *  OpenFlipper is free software: you can redistribute it and/or modify      *
+ *  it under the terms of the GNU Lesser General Public License as           *
+ *  published by the Free Software Foundation, either version 3 of           *
+ *  the License, or (at your option) any later version with the              *
+ *  following exceptions:                                                    *
+ *                                                                           *
+ *  If other files instantiate templates or use macros                       *
+ *  or inline functions from this file, or you compile this file and         *
+ *  link it with other files to produce an executable, this file does        *
+ *  not by itself cause the resulting executable to be covered by the        *
+ *  GNU Lesser General Public License. This exception does not however       *
+ *  invalidate any other reasons why the executable file might be            *
+ *  covered by the GNU Lesser General Public License.                        *
+ *                                                                           *
+ *  OpenFlipper is distributed in the hope that it will be useful,           *
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the            *
+ *  GNU Lesser General Public License for more details.                      *
+ *                                                                           *
+ *  You should have received a copy of the GNU LesserGeneral Public          *
+ *  License along with OpenFlipper. If not,                                  *
+ *  see <http://www.gnu.org/licenses/>.                                      *
+ *                                                                           *
+\*===========================================================================*/
+
+/*===========================================================================*\
+ *                                                                           *
+ *   $Revision: 20771 $                                                       *
+ *   $Author: moeller $                                                      *
+ *   $Date: 2015-06-03 16:47:45 +0200 (Wed, 03 Jun 2015) $                   *
+ *                                                                           *
+\*===========================================================================*/
+
+
+
+