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| author | neodarz <neodarz@neodarz.net> | 2018-08-11 20:21:34 +0200 |
|---|---|---|
| committer | neodarz <neodarz@neodarz.net> | 2018-08-11 20:21:34 +0200 |
| commit | 0ea5fc66924303d1bf73ba283a383e2aadee02f2 (patch) | |
| tree | 2568e71a7ccc44ec23b8bb3f0ff97fb6bf2ed709 /docs/doxygen/nel/bone_8cpp-source.html | |
| download | nevrax-website-self-hostable-0ea5fc66924303d1bf73ba283a383e2aadee02f2.tar.xz nevrax-website-self-hostable-0ea5fc66924303d1bf73ba283a383e2aadee02f2.zip | |
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+</td></tr></table> + + +<!-- block --> +<TABLE bgcolor="#dddddd" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td width=1% valign=middle><img width=6 height=14 hspace=2 vspace=2 src="http://www.nevrax.org/inc/img/reddots.gif"></TD> + <TD><B>Documentation</B></TD> + <TD ALIGN=RIGHT> </td> +</tr></table> +<!-- Generated by Doxygen 1.2.14 --> +<center> +<a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="namespaces.html">Namespace List</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="classes.html">Alphabetical List</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="namespacemembers.html">Namespace Members</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> <a class="qindex" href="pages.html">Related Pages</a> <a class="qindexRef" doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<hr><h1>bone.cpp</h1><a href="bone_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 +00007 <font class="comment">/* Copyright, 2001 Nevrax Ltd.</font> +00008 <font class="comment"> *</font> +00009 <font class="comment"> * This file is part of NEVRAX NEL.</font> +00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font> +00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font> +00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font> +00013 <font class="comment"> * any later version.</font> +00014 <font class="comment"></font> +00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font> +00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font> +00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font> +00018 <font class="comment"> * General Public License for more details.</font> +00019 <font class="comment"></font> +00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font> +00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font> +00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font> +00023 <font class="comment"> * MA 02111-1307, USA.</font> +00024 <font class="comment"> */</font> +00025 +00026 <font class="preprocessor">#include "<a class="code" href="std3d_8h.html">std3d.h</a>"</font> +00027 +00028 <font class="preprocessor">#include "<a class="code" href="bone_8h.html">3d/bone.h</a>"</font> +00029 +00030 +00031 <font class="keyword">namespace </font>NL3D +00032 { +00033 +00034 +00035 <font class="comment">// ***************************************************************************</font> +00036 <font class="comment">// ***************************************************************************</font> +00037 <font class="comment">// CBoneBase</font> +00038 <font class="comment">// ***************************************************************************</font> +00039 <font class="comment">// ***************************************************************************</font> +00040 +00041 +00042 <font class="comment">// ***************************************************************************</font> +<a name="l00043"></a><a class="code" href="classNL3D_1_1CBoneBase.html#a0">00043</a> CBoneBase::CBoneBase() : DefaultPos(CVector(0,0,0)), DefaultRotEuler(CVector(0,0,0)), +00044 DefaultScale(CVector(1,1,1)), DefaultPivot(CVector(0,0,0)) +00045 { +00046 <a class="code" href="classNL3D_1_1CBoneBase.html#m2">FatherId</a>= -1; +00047 <a class="code" href="classNL3D_1_1CBoneBase.html#m3">UnheritScale</a>= <font class="keyword">true</font>; +00048 <font class="comment">// Default: never disable.</font> +00049 <a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>= 0.f; +00050 } +00051 +00052 +00053 <font class="comment">// ***************************************************************************</font> +<a name="l00054"></a><a class="code" href="classNL3D_1_1CBoneBase.html#a1">00054</a> <font class="keywordtype">void</font> CBoneBase::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f) +00055 { +00056 <font class="comment">/*</font> +00057 <font class="comment"> Version 1:</font> +00058 <font class="comment"> - LodDisableDistance</font> +00059 <font class="comment"> */</font> +00060 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1); +00061 +00062 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m0">Name</a>); +00063 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m1">InvBindPos</a>); +00064 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m2">FatherId</a>); +00065 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m3">UnheritScale</a>); +00066 +00067 <font class="keywordflow">if</font>(ver>=1) +00068 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>); +00069 <font class="keywordflow">else</font> +00070 { +00071 <font class="comment">// Default: never disable.</font> +00072 <a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>= 0.f; +00073 } +00074 +00075 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m4">DefaultPos</a>); +00076 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m5">DefaultRotEuler</a>); +00077 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m6">DefaultRotQuat</a>); +00078 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m7">DefaultScale</a>); +00079 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m8">DefaultPivot</a>); +00080 } +00081 +00082 +00083 <font class="comment">// ***************************************************************************</font> +00084 <font class="comment">// ***************************************************************************</font> +00085 <font class="comment">// CBone</font> +00086 <font class="comment">// ***************************************************************************</font> +00087 <font class="comment">// ***************************************************************************</font> +00088 +00089 +00090 <font class="comment">// ***************************************************************************</font> +<a name="l00091"></a><a class="code" href="classNL3D_1_1CBone.html#a0">00091</a> CBone::CBone(CBoneBase *boneBase) +00092 { +00093 <a class="code" href="debug_8h.html#a6">nlassert</a>(boneBase); +00094 <a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>= boneBase; +00095 +00096 <font class="comment">// IAnimatable.</font> +00097 IAnimatable::resize(<a class="code" href="classNL3D_1_1ITransformable.html#z872_0s10">AnimValueLast</a>); +00098 +00099 ITransformable::setTransformMode(ITransformable::RotQuat); +00100 ITransformable::setPos( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPos.getValue()).Value ); +00101 ITransformable::setRotQuat( ((<a class="code" href="namespaceNL3D.html#a16">CAnimatedValueQuat</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotQuat.getValue()).Value ); +00102 ITransformable::setScale( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultScale.getValue()).Value ); +00103 ITransformable::setPivot( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPivot.getValue()).Value ); +00104 +00105 <font class="comment">// By default, the bone is not binded to a channelMixer.</font> +00106 <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>= -1; +00107 <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>= -1; +00108 <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>= -1; +00109 <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>= -1; +00110 <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>= -1; +00111 } +00112 +00113 <font class="comment">// ***************************************************************************</font> +<a name="l00114"></a><a class="code" href="classNL3D_1_1CBone.html#z387_0">00114</a> ITrack* CBone::getDefaultTrack (uint valueId) +00115 { +00116 <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>); +00117 +00118 <font class="comment">// what value ?</font> +00119 <font class="keywordflow">switch</font> (valueId) +00120 { +00121 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s5">PosValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPos; +00122 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s6">RotEulerValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotEuler; +00123 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s7">RotQuatValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotQuat; +00124 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s8">ScaleValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultScale; +00125 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s9">PivotValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPivot; +00126 } +00127 +00128 <font class="comment">// No, only ITrnasformable values!</font> +00129 <a class="code" href="debug_8h.html#a12">nlstop</a>; +00130 <font class="comment">// Deriver note: else call BaseClass::getDefaultTrack(valueId);</font> +00131 +00132 <font class="keywordflow">return</font> NULL; +00133 } +00134 +00135 <font class="comment">// ***************************************************************************</font> +<a name="l00136"></a><a class="code" href="classNL3D_1_1CBone.html#z387_1">00136</a> <font class="keywordtype">void</font> CBone::registerToChannelMixer(CChannelMixer *chanMixer, <font class="keyword">const</font> std::string &prefix) +00137 { +00138 <font class="comment">// For CBone, channels are detailled.</font> +00139 <font class="comment">// Bkup each channelId (for disable).</font> +00140 <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s5">PosValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>); +00141 <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s6">RotEulerValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>); +00142 <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s7">RotQuatValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>); +00143 <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s8">ScaleValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>); +00144 <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s9">PivotValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>); +00145 +00146 <font class="comment">// Deriver note: if necessary, call BaseClass::registerToChannelMixer(chanMixer, prefix);</font> +00147 } +00148 +00149 <font class="comment">// ***************************************************************************</font> +<a name="l00150"></a><a class="code" href="classNL3D_1_1CBone.html#a3">00150</a> <font class="keywordtype">void</font> CBone::compute(CBone *parent, <font class="keyword">const</font> CMatrix &rootMatrix) +00151 { +00152 <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>); +00153 +00154 <font class="comment">// Compute LocalSkeletonMatrix.</font> +00155 <font class="comment">// Root case?</font> +00156 <font class="keywordflow">if</font>(!parent) +00157 { +00158 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>= <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>(); +00159 } +00160 <font class="comment">// Else, son case, take world matrix from parent.</font> +00161 <font class="keywordflow">else</font> +00162 { +00163 <font class="comment">// UnheritScale case.</font> +00164 <font class="keywordflow">if</font>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->UnheritScale) +00165 { +00166 CMatrix invScaleComp; +00167 CVector fatherScale; +00168 CVector trans; +00169 +00170 <font class="comment">// retrieve our translation</font> +00171 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1ITransformable.html#z870_0">getTransformMode</a>()==ITransformable::DirectMatrix ) +00172 <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>().getPos(trans); +00173 <font class="keywordflow">else</font> +00174 <a class="code" href="classNL3D_1_1ITransformable.html#z870_7">getPos</a>(trans); +00175 <font class="comment">// retrieve scale from our father.</font> +00176 parent->getScale(fatherScale); +00177 <font class="comment">// inverse this scale.</font> +00178 fatherScale.x= 1.0f / fatherScale.x; +00179 fatherScale.y= 1.0f / fatherScale.y; +00180 fatherScale.z= 1.0f / fatherScale.z; +00181 +00182 +00183 <font class="comment">// Compute InverseScale compensation:</font> +00184 <font class="comment">// with UnheritScale, formula per bone should be T*Sf-1*P*R*S*P-1.</font> +00185 <font class="comment">// But getMatrix() return T*P*R*S*P-1.</font> +00186 <font class="comment">// So we must compute T*Sf-1*T-1, in order to get wanted result.</font> +00187 invScaleComp.scale(fatherScale); +00188 <font class="comment">// Faster compute of the translation part: just "trans + fatherScale MUL -trans" where MUL is comp mul</font> +00189 trans.x-= fatherScale.x * trans.x; +00190 trans.y-= fatherScale.y * trans.y; +00191 trans.z-= fatherScale.z * trans.z; +00192 invScaleComp.setPos(trans); +00193 +00194 +00195 <font class="comment">// And finally, we got ParentWM * T*Sf-1*P*R*S*P-1.</font> +00196 <font class="comment">// Do: _LocalSkeletonMatrix= parent->_LocalSkeletonMatrix * invScaleComp * getMatrix()</font> +00197 <font class="keyword">static</font> CMatrix tmp; +00198 tmp.setMulMatrixNoProj( parent->_LocalSkeletonMatrix, invScaleComp ); +00199 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>.setMulMatrixNoProj( tmp, <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>() ); +00200 } +00201 <font class="comment">// Normal case.</font> +00202 <font class="keywordflow">else</font> +00203 { +00204 <font class="comment">// Do: _LocalSkeletonMatrix= parent->_LocalSkeletonMatrix * getMatrix()</font> +00205 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>.setMulMatrixNoProj( parent->_LocalSkeletonMatrix, <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>() ); +00206 } +00207 } +00208 +00209 <font class="comment">// Compute WorldMatrix. Do: _WorldMatrix= rootMatrix * _LocalSkeletonMatrix</font> +00210 <a class="code" href="classNL3D_1_1CBone.html#o2">_WorldMatrix</a>.setMulMatrixNoProj( rootMatrix, <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a> ); +00211 +00212 <font class="comment">// Compute BoneSkinMatrix. Do: _BoneSkinMatrix= _LocalSkeletonMatrix * _BoneBase->InvBindPos</font> +00213 <a class="code" href="classNL3D_1_1CBone.html#o3">_BoneSkinMatrix</a>.setMulMatrixNoProj( <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>, <a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->InvBindPos ); +00214 } +00215 +00216 +00217 <font class="comment">// ***************************************************************************</font> +<a name="l00218"></a><a class="code" href="classNL3D_1_1CBone.html#a4">00218</a> <font class="keywordtype">void</font> CBone::interpolateBoneSkinMatrix(<font class="keyword">const</font> CMatrix &otherMatrix, <font class="keywordtype">float</font> interp) +00219 { +00220 CMatrix &curMatrix= <a class="code" href="classNL3D_1_1CBone.html#o3">_BoneSkinMatrix</a>; +00221 +00222 <font class="comment">// interpolate rot/scale. Just interpolate basis vectors</font> +00223 CVector fatherI= otherMatrix.getI(); +00224 CVector curI= curMatrix.getI(); +00225 curI= fatherI*(1-interp) + curI*interp; +00226 CVector fatherJ= otherMatrix.getJ(); +00227 CVector curJ= curMatrix.getJ(); +00228 curJ= fatherJ*(1-interp) + curJ*interp; +00229 CVector fatherK= otherMatrix.getK(); +00230 CVector curK= curMatrix.getK(); +00231 curK= fatherK*(1-interp) + curK*interp; +00232 <font class="comment">// replace rotation</font> +00233 curMatrix.setRot(curI, curJ, curK); +00234 +00235 <font class="comment">// interpolate pos</font> +00236 CVector fatherPos= otherMatrix.getPos(); +00237 CVector curPos= curMatrix.getPos(); +00238 curPos= fatherPos*(1-interp) + curPos*interp; +00239 curMatrix.setPos(curPos); +00240 } +00241 +00242 +00243 <font class="comment">// ***************************************************************************</font> +<a name="l00244"></a><a class="code" href="classNL3D_1_1CBone.html#a8">00244</a> <font class="keywordtype">void</font> CBone::lodEnableChannels(CChannelMixer *chanMixer, <font class="keywordtype">bool</font> enable) +00245 { +00246 <a class="code" href="debug_8h.html#a6">nlassert</a>(chanMixer); +00247 +00248 <font class="comment">// Lod Enable channels if they are correclty registered to the channelMixer.</font> +00249 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>>=0 ) +00250 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>, enable); +00251 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>>=0 ) +00252 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>, enable); +00253 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>>=0 ) +00254 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>, enable); +00255 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>>=0 ) +00256 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>, enable); +00257 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>>=0 ) +00258 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>, enable); +00259 +00260 } +00261 +00262 +00263 } <font class="comment">// NL3D</font> +</pre></div> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |