HARFANG®3D is an all-in-one 3D visualization library usable in C++, Python, Lua and Go.


HARFANG® 3D engine

HARFANG®3D is an all-in-one 3D visualization library usable in C++, Python, Lua and Go.

Table of contents

  1. About
  2. Download
  3. Building the SDK
  4. Using the C++ SDK
  5. Version
  6. License


HARFANG®3D is an easy-to-adapt, cross-platform, multi-language, powerful and optimized solution to integrate with embedded systems, into existing environments and combining features to meet the industrial standards of real-time 3D imaging.

The HARFANG®3D architecture makes it easy to meet the requirements for hardware integration, display performance and security.

HARFANG®3D is written in C++ and is based on the open-source bgfx library supporting Vulkan, Metal, DirectX (from 9 to 12), OpenGL and OpenGL ES. It Builds on Windows, Linux, Intel and ARM.


Platforms supported

  • Win32 and Win64 Intel
  • Linux 64 Intel
  • Aarch 64 ARM

Scene API

  • Node & component based
  • Performance oriented

Rendering pipeline

  • Low-spec PBR rendering pipeline
  • High-spec 'AAA' rendering pipeline (screen space GI & reflection)
  • Support of user pipeline shaders


  • VR support via OpenVR/SteamVR with Eye tracking
  • Compatible with the HTC Vive/Vive Pro, Valve Index, Lenovo Explorer, Oculus Rift S

Physics API

  • Rigid bodies, collisions, mechanical constraints, ray casting

Audio API

  • Play/stream WAV/OGG formats
  • 3D audio spatialization


The following screenshots were captured on a 1080GTX in 1080P running at 60FPS.

alt text

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(Sun Temple, courtesy of the Open Research Content Archive (ORCA))


You can download the HARFANG binaries from the official website: https://www.harfang3d.com/download

Build the SDK


  • Git
  • CMake 3.19+
  • CPython 3.2+
  • Go 1+ (for Harfang Go module)
  • Doxygen (for Harfang C++ SDK documentation)


  • Visual Studio 2019 (C++ compiler and IDE)
  • MinGW (for Harfang Go module)


  • GCC 9 or above
  • CLang


  1. Clone the Harfang 3D repository including its submodules.

    git clone --recursive -j8 https://github.com/harfang3d/harfang3d.git
  2. Create build directory. Note that the described directory layout is not mandatory.

    mkdir build
    cd build
  3. Clone Fabgen.

    git clone https://github.com/ejulien/FABGen.git
  4. Download and install Autodesk FBX SDK.

  5. Create a directory that will hold the build system generated by CMake.

    mkdir cmake
    cd cmake
  6. Generate build system using CMake. For example, on Windows it wil be:

    cmake ../.. -G "Visual Studio 16 2019" -A x64 \
        -DCMAKE_INSTALL_PREFIX:PATH="D:/harfang/build/install" \
        -DPYTHON_EXECUTABLE:FILEPATH="C:/Python36/python.exe" \
        -DHG_FABGEN_PATH:PATH="D:/harfang/build/fabgen" \
    • CMAKE_INSTALL_PREFIX specifies the directory where the Harfang SDK will installed.
    • PYTHON_EXECUTABLE is the path the Python 3 interpreter.
    • FABGEN_PATH is the path to Fabgen binding generator.
    • HG_FBX_SDK is the path to Autodesk FBX SDK.

    Here is the list of available CMake options.

    • C++ SDK
      • HG_BUILD_CPP_SDK : Build C++ SDK (default: OFF).
      • HG_BUILD_TESTS : Build C++ SDK unit tests (default: OFF).
      • HG_BUILD_DOCS : Build API and C++ SDK documentations (default: OFF).
      • HG_ENABLE_BULLET3_SCENE_PHYSICS : Enable Bullet physics API (default: ON).
      • HG_ENABLE_RECAST_DETOUR_API : Enable Recast/Detour navigation mesh and path finding API (default: ON).
      • HG_ENABLE_OPENVR_API : Enable OpenVR API (default: OFF).
      • HG_ENABLE_SRANIPAL_API : Enable VIVE Eye and Facial Tracking SDK (SRanipal) API (default: OFF).
    • Tools
      • HG_BUILD_ASSETC : Build AssetC asset compiler (default: ON).
      • HG_BUILD_ASSIMP_CONVERTER : Build Assimp based 3D model converter (default: ON).
      • HG_BUILD_FBX_CONVERTER : Build FBX converter (default: ON).
      • HG_BUILD_GLTF_IMPORTER : Build GLTF importer (default: ON).
      • HG_BUILD_GLTF_EXPORTER : Build GLTF exporter (default: ON).
    • Bindings
      • HG_BUILD_HG_LUA : Build Harfang LUA module (default: OFF).
      • HG_BUILD_HG_PYTHON : Build Harfang Python module (wheel) (default: OFF).
      • HG_BUILD_HG_GO : Build Harfang GO module (default: OFF).


  7. Build the SDK.

    cmake --build . --config Release --target INSTALL

    Note: On Linux you will need to explicitly specify the build type with -DCMAKE_BUILD_TYPE=Release

    Depending on the set of option passed to CMake the install directory will contain the following subdirectories:

    • cppsdk : Harfang C++ SDK.
    • hg_python : Harfang Python module.
    • hg_lua : Harfang LUA module.
    • hg_go : Harfang Go module.
    • assetc : Asset compiler.
    • assimp_converter : Assimp 3D model converter.
    • fbx_converter : FBX converter.
    • gltf_importer : GLTF importer.
    • gltf_exporter : GLTF exporter.

Notes on Visual Studio Code

  1. Install the CMakeTools extension.

  2. Copy the harfang/.vscode/template_settings.json file to harfang/.vscode/settings.json and edit it to reflect your local installation.

  3. Open the harfang folder in Visual Studio Code. CMakeTools should succesfully configure the project.

Use the SDK

The Harfang C++ SDK directory cppsdk contains the following:

  • bin : depending on the configuration used, this directory contains either a Release or Debug subdirectory with all the shared libraries.
  • lib : like the bin directory, it contains a subdirectories named after the configuration used during build (Release or Debug) with all the generated static libraries.
  • include : contains all the C++ include files of Harfang public API.
  • cmake : contains the CMake configuration files.

To add the Harfang C++ SDK to your CMake project, just add the following to the CMakeLists.txt file:

find_package(harfang REQUIRED
    COMPONENTS cppsdk

with HG_CPPSDK_PATH the path to the cppsdk directory. For example, if we follow the directory layout given above, it will be D:/harfang/build/install/cppsdk.

Targets should link against the following libraries.

  • hg::engine
  • hg::foundation
  • hg::platform
  • hg::libluadll

The install_cppsdk_dependencies function installs the Harfang C++ SDK shared libraries dependencies.

install_cppsdk_dependencies(destination component)
  • destination : is the library where the shared libraries will be installed.
  • component : installation component name.


Harfang follows the Semantic Versioning Specification (SemVer) (http://semver.org).

Given a version number MAJOR.MINOR.PATCH, increment the:

  • MAJOR version when you make incompatible API changes,
  • MINOR version when you add functionality in a backwards-compatible manner, and
  • PATCH version when you make backwards-compatible bug fixes.


Harfang is licensed under the GPLv3, LGPLv3 and a commercial license:

  • Can projects made with Python or Lua be built to exe/binary?

    Can projects made with Python or Lua be built to exe/binary?

    Is it possible to build a Harfang3d project to exe or binary when using high level scripting languages (Python/Lua)?

    I am picturing something similar to https://docs.panda3d.org/1.10/python/distribution/building-binaries.

    If it is possible, can it be added to your documentation? Otherwise it's definitely a Feature Request that I would ask for. Thank you! And the project looks great btw...

    opened by rootVIII 2
  • 3.2.4 release.

    3.2.4 release.

    [3.2.4] - 2022-09-27

    This minor release provides minor corrections and fixes to specific issues:

    • Fixed the OpenGL support of the rendering pipeline (see https://github.com/harfang3d/harfang-core-package).
    • Improved the support of the Go language (see https://pkg.go.dev/github.com/harfang3d/harfang-go).
    • Improved the Emscripten build.

    Framework integration and source code maintenance

    • Ongoing effort to support the WASM / Emscripten target.
      • Added a series of flags improve the compilation to WASM.
      • Updated the SDL calls to support the latest inputs/windows system.
      • :warning: Audio is disabled for now.

    Binding / Golang support

    • Proper package of the Go binding.
    • Added a mingw build stage for the Windows lib part of HARFANG.
    • Added a cmake flag HG_BUILD_HARFANG_STATIC to build HAFANG in static mode.
    • Added a Go directive (based on FabGen merge request https://github.com/ejulien/FABGen/pull/60).
    • Removed the non-mingw Go build from the Windows target.
    • Updated cmake to build HARFANG Go as a monolithic lib.
    • Reinstated the script support (to embed Lua in a Go project).
    • The support for the OpenVR API was (temporarily) removed.


    • GLTF importer:
      • support for camera and lights (:warning: experimental)
        • support for point, directional and spot types.
        • support for the diffuse color and intensity (specular is not supported by the GLTF standard).
      • Fixed a mislabelled usage.
    • Assetc: added jpeg to the textures checklist.
    • Fix #16 (lua53.dll should be lua54.dll).


    • Added a constructor to FileFilter.
    • Fixed the arg out for CollectCollisionEvents to return a NodePairContacts properly.


    • Improved the ability of a node to change its collision shape component multiple times during runtime.
    • Fix #17 Capsule / Cone model fix.


    • Fixed a mention to ViewMode enums in the manual.
    • Fixed the reference to 3 physics functions in the manual, Bullet3Physics, SyncTransformsFromScene and SyncTransformsToScene.
    opened by harfang3dadmin 0
  • Cone & capsule models are not aligned to the collision shape

    Cone & capsule models are not aligned to the collision shape

    Describe the bug It seems that both the cone and the capsule have their builtin models misaligned in regards to the collision shape. Possibly this issue is related to the way Bullet physics defines the collision shape (height vs half-height, centered pivot...)

    In HG3.2.3, it looks like this :


    Expected behavior Both cone & capsule should have the model aligned to the collision shape (and not the other way around!)

    opened by astrofra 0
  • HARFANG Lua5.4.4 ships with a lua53.dll

    HARFANG Lua5.4.4 ships with a lua53.dll

    Currently, HARFANG Lua5.4.4 ships with a lua53.dll: https://github.com/harfang3d/harfang3d/blob/main/extern/lua/CMakeLists.txt#L99

    Shouldn't this be renamed lua54.dll ?

    opened by astrofra 0
  • 3.2.3 Release.

    3.2.3 Release.

    This minor release brings several fixes to the rendering, physics, engine, foundation and tools.

    Framework integration and source code maintenance

    • Added a CMake option to force MSVC to use updated __cplusplus macro.
    • Build fixes for GCC 12.


    • Added a way to select the input channel from an input texture within a construct when processing textures in Assetc.
    • Changed BC6H_UF16 into BC6H_SF16 to produce a valid DDS from a HDR file.
    • Assetc now parses the shaders to check their dependencies for any modification and triggers a rebuild if needed.
    • Properly quote Luac and Recastc invocations to support space in arguments.


    • Fixed ImGuiMouseButton enums (ImGuiMouseButton_Left, ImGuiMouseButton_Right, ImGuiMouseButton_Middle).
    • Added a SetProbe function to set the radiance and irradiance map to a scene.
    • :warning: Deprecated SubmitModelToForwardPipeline.


    • Added GetMaterialsWithName.
    • Added GetFullPathAsset
    • Added get_log_level, get_log_detailed functions.
    • Fixed the ray/cone intersection.
    • Ensure an extension is specified before returning output path from SaveFileDialog.
    • Fixed the reserved texture units used by the AAA pipeline (see https://dev.harfang3d.com/docs/3.2.3/man.pipelineshader/). As a consequence, the core\ folder will need to be updated if your project is using the Forward or AAA rendering pipelines.
    • Fixed a nasty issue in forward pipeline texture table.
    • :warning: Deprecated UpdateForwardPipelineAO and UT_AmbientOcclusion.


    • Fixed #14, Bullet uses half extend for cylinders.


    • Fixed #13, properly reset OpenAL source velocity when starting a stereo sound.


    • Fixed a dead link in the API documentation.
    • URLs updates (Quickstart, Wheel description, Readme file).
    opened by harfang3dadmin 0
  • Wrong height on cylinder collision shape

    Wrong height on cylinder collision shape

    Wrong height on cylinder collision shape It seems the height of a cylinder collision shape sent to Bullet is wrong, as shown when comparing the colshapes preview between Harfang Studio and the runtime :


    opened by astrofra 0
  • Bug between pitchs of Stereo / Spatialized sounds

    Bug between pitchs of Stereo / Spatialized sounds

    Bug between pitchs of Stereo / Spatialized sounds A cache bug need a fix in sound system.

    how to reproduce the bug:

    1. Start a Stereo sound
    2. Stop the stereo source
    3. Start a spatilized sound
    4. Update the velocity of spatialized sound, to affect the pitch of the sound
    5. Stop Spatialized sound
    6. Restart Stereo sound : The pitch of Stereo sound is the same as last pitch updated for Spatialized sound.

    If Stereo source is not stopped, playing in loop mode, its pitch is not affected by Spatialized sound velocity calculations.

    Repro case:

    import harfang as hg
    width, height = 1280, 720
    window = hg.RenderInit('Harfang window', width, height, hg.RF_None)
    stereo_sound_ref = hg.LoadWAVSoundAsset("main_left.wav")
    stereo_state = hg.StereoSourceState()
    stereo_state.volume = 1
    stereo_state.repeat = hg.SR_Loop
    stereo_state.panning = 0
    spacialized_sound_ref = hg.LoadWAVSoundAsset("turbine.wav")
    spacialized_state = hg.SpatializedSourceState(hg.TranslationMat4(hg.Vec3(0, 0, 10)))
    spacialized_state.vel = hg.Vec3(0, 0, -50)
    spacialized_state.volume = 1
    spacialized_state.repeat = hg.SR_Loop
    keyboard = hg.Keyboard()
    while not keyboard.Pressed(hg.K_Escape):
       dt = hg.TickClock()
       dts = hg.time_to_sec_f(dt)
       view_id = 0
       hg.SetViewClear(view_id, hg.CF_Color | hg.CF_Depth, hg.Color.Green)
       hg.SetViewRect(view_id, 0, 0, width, height)
       if keyboard.Pressed(hg.K_F1):
           stereo_source = hg.PlayStereo(stereo_sound_ref, stereo_state)
       elif keyboard.Pressed(hg.K_F2):
           spacialized_source = hg.PlaySpatialized(spacialized_sound_ref, spacialized_state)
    • Press F1 first to start Stereo sound
    • Press F2 to start Spatialized sound
    • Re press F1, the pitch of Stereo sound is the same as Spatialized sound with velocity.
    opened by astrofra 0
  • 3.2.2 Release.

    3.2.2 Release.

    This minor release brings several fixes, a better implementation of the AAA rendering pipeline including probe reprojection and a more stable screen space raytracer.
    Improvements were made in the usability area, for Python development, as HARFANG will now output warnings as much as possible when users are calling for invalid API operations.
    The Python build script was worked out to make the wheel available on Pypi for Linux OSes.

    Framework integration and source code maintenance

    • Improved the Python source package creation, to allow a pip install from the source package and address this issue.
      • The following development packages are necessary to rebuild Harfang:
        • ubuntu: uuid-dev, libreadline-dev, libxml2-dev, libgtk-3-dev
        • centos/fedora: uuid-devel, readline-devel, libxml2-devel, gtk3-devel
      • See languages/hg_python/pip/setup.py.
    • Allowed the tools to be called from a Python script.
    • Allowed the tools to be called from a Lua script.
    • External libraries update.
    • Moved mikktspace and stb_image to extern.
    • Fixed the License URL, removed a useless URL indirection.
    • Removed the external libraries samples and tests from source package.
    • Removed AssetsSource from assets.h.


    • Fixed Assetc to prevent it from processing invalid geometries.
    • GLTF importer:
      • Better management of geometry instances
      • Improved material translation.
    • Sanitized the filenames when outputting files from the FBX and GLTF converters.
    • FBX converter now exports materials as PBR by default.
    • Assimp converter now exports materials as PBR by default.
    • GLTF exporter:
      • Added a filter_disabled_node options to avoid exporting node.
      • Fixed several bugs.


    • :warning: Multiplication and maths API fixes:
      • Removed vec * mat multiplications.
      • Swapped row/column in the API to match the correct mathematical order.
      • Removed mixed Vec4/Vec3 operations as the result was ambiguous.
    • Added a binding for Vec3 on CubicInterpolate.
    • :beginner: Introduced a defensive programming approach in HARFANG Python, assuming the programmer is learning the API by trial and error:
      • This is done using the debug log method so it can be completely deactivated when working on C++ projects.
      • Demote most errors to warning. Errors are now strictly reserved for conditions from which a program written using HG cannot recover by itself/is not aware of.
    • Fixed the AddQuad method in the model builder. Added an helper method to quickly build common vertex configurations, see MakeVertex.
    • Animations support:
      • Code cleanup to support the animation editor cleanup.
      • Remove duplicate keys from animation track when calling SortAnimTrackKeys.
      • Added a function to quantize scene animation.
      • Additional scene animation APIs.
      • Added the support of camera fov animations.
    • Text input callback is now a signal, see TextInputSignal.
    • Added a size field to ListDir output.


    • Added a sharpen post-process.
    • Added functions for orthographic projection to clip and screen space. See ProjectOrthoToClipSpace, ProjectOrthoToScreenSpace.
    • Added functions for orthographic unprojection. See UnprojectOrthoFromClipSpace, UnprojectOrthoFromScreenSpace.
    • Implemented a light probe reprojection in the Forward and AAA pipelines.
    • Fixed the orientation of the cubemap in the probe generation.


    • Load/save scene collision components.
    • Added a missing cone collision component creation.
    • Setup physics for instantiated nodes.
    • Fixed a bug with local transformation for single collision shape nodes.


    • Documented the coordinates system.
    • Doxygen documentation update
    opened by harfang3dadmin 0
  • 3.2.1 release.

    3.2.1 release.

    This minor release brings both code and submodules maintenance, several fixes in the toolchain, in the scenegraph and physics interchange and in the rendering pipeline.

    Source code maintenance

    • Updated GLFW (3.3.6).
    • Updated BGFX to the latest version.
    • Updated OpenAL (v.1.6.10b).
    • Updated OpenVR (v1.16.8).
    • Fixed the debug build with Visual Studio Build Tools 2022.
    • Fixed the installation of PDB files.
    • CMake misc. fixes and updates.


    • FBX Importer: changed the unit of command line argument max smoothing angle to degrees and fixed the internal vertex/tangent computation.
    • GLTF Importer: improved the way non-Windows-compliant filenames are handled.


    • Fixed an issue in the Wavefront OBJ export that flipped the model on the X axis.
    • Improve the error message issued by OpenAssets in case of missing file.
    • Fixed a crash when parsing a corrupted .HPS file.
    • Added hg::Picture::SaveBC7 and hg::Picture::SaveBC6H functions.
    • Switched to a time limit based resource queue processing
    • Return the size on disk of a folder
    • Implemented a ComputeNodeWorldMatrix to compute a node world matrix on the fly (ComputeWorld, GetWorld, SetWorld). :warning: This function is slow but useful when scene matrices are not yet up-to-date
    • Improved the way unicode paths are handled on Windows
    • Preliminary support for scene properties animation (AmbientColor, FogNear, FogFar, FogColor) while preserving the legacy file format.
    • Add an LSSF_Silent scene flag, add many boolean flags to silence errors in the rendering IO.
    • Allow 32 bit indices in geometries (In the future we might introduce a force 16 bit indice flag if required).
    • Validate index and vertex buffer handles when creating geometries.
    • Flag instantiated nodes as NF_InstanceDisabled if the host node is disabled.
    • Added file filter descriptions to the file selector dialogs (OpenFileDialog, SaveFileDialog).


    • Added a depth only pass to render shadow maps (DEPTH_ONLY=1).
    • Set a higher probe resolution by default (from 64 to 512, using the --glossScale 20 --glossBias 0 parameters sent to CMFT).
    • Load/save AAA config (LoadForwardPipelineAAAConfigFromFile, LoadForwardPipelineAAAConfigFromAssets, SaveForwardPipelineAAAConfigToFile)
    • Tweaked the default light values (default_shadow_bias set to 0.0001, pssm_split of a the linear light set to 200m).
    • Switched the jitter sequence to Halton (2,3).
    • Added a function to retrieve the size of the OpenVR framebuffers
    • Added a RGBA32 pixel format to improve the performance when playing a video stream.


    • Fixed an issue in synchronizing state from scene to kinematic body


    • Added an explanation of why using integer representation for time is important.
    • Documented the profiler API.
    • Added a HARFANG logo in the Doxygen documentation
    opened by harfang3dadmin 0
  • 3.2.0 release.

    3.2.0 release.

    This minor release brings several fixes, performance improvements and new features to the rendering, physics and audio APIs.

    Source code maintenance

    • Cleanup sources, remove spurious hg namespace specifiers and run clang format on affected sources.
    • Updated the GLFW CMake to improve the resolution of the library path on Linux.
    • Updated ImGui to v1.87.


    • Implement model load queuing (see ProcessModelLoadQueue, ProcessLoadQueues, LSSF_QueueTextureLoads, LSSF_QueueModelLoad).
    • Support replay and streaming of OGG files (see LoadOGGSoundFile, LoadOGGSoundAsset, StreamOGGFileStereo, StreamOGGAssetStereo, StreamOGGFileSpatialized, StreamOGGAssetSpatialized).
    • Added a Mat4 copy constructor.
    • Added missing declarations for LoadImage* functions.
    • Added a flag to prevent changing the current camera when loading a scene, if the current camera points to a valid node (see LSSF_DoNotChangeCurrentCameraIfValid).
    • Added an is_file field to the structure returned by GetFileInfo.
    • Simplify scene binary loader, removed versioning code:
      • Removed unused members from the RigidBody_ struct.
      • Reduced memory footprint of RigidBody_ to 6 bytes.
    • Performance improvements on multiple scene loading (through instances).
    • Added a profiling API (see BeginProfilerSection, EndProfilerSection, EndProfilerFrame, CaptureProfilerFrame, PrintProfilerFrame).
    • Added a Videostream plugin interface (see MakeVideoStreamer).
    • Fixed scene animation garbage collection.
    • Fixed a bug with Unicode support in assetc.
    • Fixed an issue with trailing slashes on Linux in the assetc command line.


    • Fixed an issue in the viewport computation when upscaling half buffers in the AAA rendering pipeline.
    • Added a z_thickness param to the AAA rendering pipeline.
    • Added a series of cubemap render functions.
    • Implemented and documented all supported pipeline program features.


    • New functions to lock translations and rotations in a more consistent way with the Bullet API:
      • NodeSetLinearLockAxes, NodeSetAngularLockAxes replaced by NodeSetLinearFactor, NodeSetAngularFactor.
      • NodeGetLinearLockAxes, NodeGetAngularLockAxes replaced by NodeGetLinearFactor, NodeGetAngularFactor.
    • Added AddTorque/AddTorqueImpulse to physics API:
      • NodeAddTorque, NodeAddTorqueImpulse
    • Simplified the physics collision/contact query code, unified collision query API for NodeCollideWorld and StepSimulation (see CollectCollisionEvents).
    • Implemented NodeTeleport in Bullet physics.
    • Improved the transform synchronization logic, set node world transform using the fast scene path (see SyncTransformsFromScene, SyncTransformsToScene).
    • Added proper motion interpolation in Bullet physics synchronize to scene.
    • Added missing functions to create all supported collision shape types.


    • Added a missing reference to the requirements page in the main index.
    • Improved the LoadSceneXXX functions documentation.
    • Fixed both Lua and Python code snippets.
    • Improved the clarity of functions using bitflags by adding support for constants group in the documentation generator.
    • Update of ownership and views manual pages.
    opened by harfang3dadmin 0
  • 3.1.1 release.

    3.1.1 release.

    This minor release brings several fixes, mainly in the Bullet Physics API.


    • Added a missing texture render target flag (TF_RenderTarget).
    • Added SetSourceStreamTimecode() to the audio API.


    • Updated the Physics unit tests.
    • Fixed an issue in the Kinematic physics matrix.
    • SetRigidBodyAngularDamping() now takes a float instead of a Vec3.


    • Fixed several typos in the documentation.
    opened by harfang3dadmin 0
  • Why aren't Linux wheels on pypi?

    Why aren't Linux wheels on pypi?

    Spotted that on pypi there's no linux wheels: https://pypi.org/simple/harfang/ But looks like they exist: https://www.harfang3d.com/releases/3.1.1/

    Why not uploading them?

    opened by JulienPalard 2
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