mec2.min.js

/**
 * mec (c) 2018-19 Stefan Goessner
 * @license MIT License
 */
"use strict";const mec={lang:"en",msg:{},EPS:1.19209e-7,lenTol:.001,angTol:1/180*Math.PI,velTol:.01,forceTol:.1,momentTol:.01,tol:{len:{low:1e-5,medium:.001,high:.1}},maxLinCorrect:20,asmItrMax:512,itrMax:256,corrMax:64,show:{darkmode:false,nodeLabels:false,constraintLabels:true,loadLabels:true,nodes:true,constraints:true,colors:{invalidConstraintColor:"#b11",validConstraintColor:{dark:"#ffffff99",light:"#777"},forceColor:{dark:"orangered",light:"orange"},springColor:{dark:"#ccc",light:"#aaa"},constraintVectorColor:{dark:"orange",light:"green"},hoveredElmColor:{dark:"white",light:"gray"},selectedElmColor:{dark:"yellow",light:"blue"},txtColor:{dark:"white",light:"black"},velVecColor:{dark:"lightsteelblue",light:"steelblue"},accVecColor:{dark:"lightsalmon",light:"firebrick"},forceVecColor:{dark:"wheat",light:"saddlebrown"}},get validConstraintColor(){return this.darkmode?this.colors.validConstraintColor.dark:this.colors.validConstraintColor.light},get forceColor(){return this.darkmode?this.colors.forceColor.dark:this.colors.forceColor.light},get springColor(){return this.darkmode?this.colors.springColor.dark:this.colors.springColor.light},get constraintVectorColor(){return this.darkmode?this.colors.constraintVectorColor.dark:this.colors.constraintVectorColor.light},get hoveredElmColor(){return this.darkmode?this.colors.hoveredElmColor.dark:this.colors.hoveredElmColor.light},get selectedElmColor(){return this.darkmode?this.colors.selectedElmColor.dark:this.colors.selectedElmColor.light},get txtColor(){return this.darkmode?this.colors.txtColor.dark:this.colors.txtColor.light},get velVecColor(){return this.darkmode?this.colors.velVecColor.dark:this.colors.velVecColor.light},get accVecColor(){return this.darkmode?this.colors.accVecColor.dark:this.colors.accVecColor.light},get forceVecColor(){return this.darkmode?this.colors.forceVecColor.dark:this.colors.forceVecColor.light}},gravity:{x:0,y:-10,active:false},aly:{m:{get scl(){return 1},type:"num",name:"m",unit:"kg"},pos:{type:"pnt",name:"p",unit:"m"},vel:{get scl(){return mec.m_u},type:"vec",name:"v",unit:"m/s",get drwscl(){return 40*mec.m_u}},acc:{get scl(){return mec.m_u},type:"vec",name:"a",unit:"m/s^2",get drwscl(){return 10*mec.m_u}},w:{get scl(){return 180/Math.PI},type:"num",name:"φ",unit:"°"},wt:{get scl(){return 1},type:"num",name:"ω",unit:"rad/s"},wtt:{get scl(){return 1},type:"num",name:"α",unit:"rad/s^2"},r:{get scl(){return mec.m_u},type:"num",name:"r",unit:"m"},rt:{get scl(){return mec.m_u},type:"num",name:"rt",unit:"m/s"},rtt:{get scl(){return mec.m_u},type:"num",name:"rtt",unit:"m/s^2"},force:{get scl(){return mec.m_u},type:"vec",name:"F",unit:"N",get drwscl(){return 5*mec.m_u}},velAbs:{get scl(){return mec.m_u},type:"num",name:"v",unit:"m/s"},accAbs:{get scl(){return mec.m_u},type:"num",name:"a",unit:"m/s"},forceAbs:{get scl(){return mec.m_u},type:"num",name:"F",unit:"N"},moment:{get scl(){return mec.m_u**2},type:"num",name:"M",unit:"Nm"},energy:{get scl(){return mec.to_J},type:"num",name:"E",unit:"J"},pole:{type:"pnt",name:"P",unit:"m"},polAcc:{get scl(){return mec.m_u},type:"vec",name:"a_P",unit:"m/s^2",get drwscl(){return 10*mec.m_u}},polChgVel:{get scl(){return mec.m_u},type:"vec",name:"u_P",unit:"m/s",get drwscl(){return 40*mec.m_u}},accPole:{type:"pnt",name:"Q",unit:"m"},inflPole:{type:"pnt",name:"I",unit:"m"},t:{get scl(){return 1},type:"num",name:"t",unit:"s"}},m_u:.01,to_m(t){return t*mec.m_u},from_m(t){return t/mec.m_u},to_N(t){return t*mec.m_u},from_N(t){return t/mec.m_u},to_Nm(t){return t*mec.m_u*mec.m_u},from_Nm(t){return t/mec.m_u/mec.m_u},to_N_m(t){return t},from_N_m(t){return t},to_J(t){return mec.to_Nm(t)},from_J(t){return mec.from_Nm(t)},to_kgm2(t){return t*mec.m_u*mec.m_u},from_kgm2(t){return t/mec.m_u/mec.m_u},isEps(t,i){return t<(i||mec.EPS)&&t>-(i||mec.EPS)},toZero(t,i){return t<(i||mec.EPS)&&t>-(i||mec.EPS)?0:t},clamp(t,i,e){return Math.min(Math.max(t,i),e)},asympClamp(t,i,e){const s=e-i;return s?i+.5*s+Math.tanh(((Math.min(Math.max(t,i),e)-i)/s-.5)*5)*.5*s:i},toRad(t){return t*Math.PI/180},toDeg(t){return t/Math.PI*180},infAngle(t,i){let e=Math.PI,s=2*e,r=i-t%s;if(r>e)r-=s;else if(r<-e)r+=s;return t+r},mixin(t,...i){i.forEach(i=>{t=Object.defineProperties(t,Object.getOwnPropertyDescriptors(i))});return t},assignGetters(t,i){for(const e in i)Object.defineProperty(t,e,{get:i[e],enumerable:true,configurable:true})},messageString(t){const i=mec.msg[mec.lang][t.mid];return i?t.mid[0]+": "+i(t):""}};
/**
 * mec.node (c) 2018-19 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.model.js
 * @requires g2.js
 */
"use strict";mec.node={extend(t){Object.setPrototypeOf(t,this.prototype);t.constructor();return t},prototype:{constructor(){this.x=this.x||0;this.y=this.y||0;this.x0=this.x;this.y0=this.y;this.xt=this.yt=0;this.xtt=this.ytt=0;this.dxt=this.dyt=0;this.Qx=this.Qy=0},validate(t){if(!this.id)return{mid:"E_ELEM_ID_MISSING",elemtype:"node",idx:t};if(this.model.elementById(this.id)!==this)return{mid:"E_ELEM_ID_AMBIGIOUS",id:this.id};if(typeof this.m==="number"&&mec.isEps(this.m))return{mid:"E_NODE_MASS_TOO_SMALL",id:this.id,m:this.m};return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.im=typeof this.m==="number"?1/this.m:this.base===true?0:1;Object.defineProperty(this,"m",{get:()=>1/this.im,set:t=>this.im=1/t,enumerable:true,configurable:true});Object.defineProperty(this,"base",{get:()=>this.im===0,set:t=>this.im=t?0:1,enumerable:true,configurable:true});this.g2cache=false},get xtcur(){return this.xt+this.dxt},get ytcur(){return this.yt+this.dyt},get type(){return"node"},get dof(){return this.m===Number.POSITIVE_INFINITY?0:2},get isSleeping(){return this.base||mec.isEps(this.xt,mec.velTol)&&mec.isEps(this.yt,mec.velTol)&&mec.isEps(this.xtt,mec.velTol/this.model.timer.dt)&&mec.isEps(this.ytt,mec.velTol/this.model.timer.dt)},get energy(){var t=0;if(!this.base){if(this.model.hasGravity)t+=this.m*(-(this.x-this.x0)*mec.from_m(this.model.gravity.x)-(this.y-this.y0)*mec.from_m(this.model.gravity.y));t+=.5*this.m*(this.xt**2+this.yt**2)}return t},dependsOn(t){return false},deepDependsOn(t){return t===this},reset(){if(!this.base){this.x=this.x0;this.y=this.y0}this.xt=this.yt=0;this.xtt=this.ytt=0;this.dxt=this.dyt=0},pre_0(){this.Qx=this.Qy=0;this.dxt=this.dyt=0},pre(t){if(!this.base&&this.model.hasGravity){this.Qx+=this.m*mec.from_m(this.model.gravity.x);this.Qy+=this.m*mec.from_m(this.model.gravity.y)}this.dxt+=this.Qx*this.im*t;this.dyt+=this.Qy*this.im*t;this.x+=(this.xt+1.5*this.dxt)*t;this.y+=(this.yt+1.5*this.dyt)*t},post(t){this.xt+=this.dxt;this.yt+=this.dyt;this.xtt=this.dxt/t;this.ytt=this.dyt/t},asJSON(){return'{ "id":"'+this.id+'","x":'+this.x0+',"y":'+this.y0+(this.base?',"base":true':"")+(!this.base&&this.m!==1?',"m":'+this.m:"")+(this.idloc?',"idloc":"'+this.idloc+'"':"")+" }"},get force(){return{x:this.Qx,y:this.Qy}},get pos(){return{x:this.x,y:this.y}},get vel(){return{x:this.xt,y:this.yt}},get acc(){return{x:this.xtt,y:this.ytt}},get forceAbs(){return Math.hypot(this.Qx,this.Qy)},get velAbs(){return Math.hypot(this.xt,this.yt)},get accAbs(){return Math.hypot(this.xtt,this.ytt)},get showInfo(){return this.state&g2.OVER},get infos(){return{id:()=>`'${this.id}'`,pos:()=>`p=(${this.x.toFixed(0)},${this.y.toFixed(0)})`,vel:()=>`v=(${mec.to_m(this.xt).toFixed(2)},${mec.to_m(this.yt).toFixed(2)})m/s`,m:()=>`m=${this.m}`}},info(t){const i=this.infos[t];return i?i():"?"},hitInner({x:t,y:i,eps:e}){return g2.isPntInCir({x:t,y:i},this,e)},selectBeg({x:t,y:i,t:e}){},selectEnd({x:t,y:i,t:e}){if(!this.base){this.xt=this.yt=this.xtt=this.ytt=0}},drag({x:t,y:i,mode:e}){if(e==="edit"&&!this.base){this.x0=t;this.y0=i}else{this.x=t;this.y=i}},get isSolid(){return true},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:this.state&g2.EDIT?[0,0,10,this.model.env.show.selectedElmColor]:false},get r(){return mec.node.radius},g2(){const t=g2().use({grp:this.base?mec.node.g2BaseNode:mec.node.g2Node,x:this.x,y:this.y,sh:this.sh});if(this.model.env.show.nodeLabels){const i=mec.node.locdir[this.idloc||"n"];t.txt({str:this.id||"?",x:this.x+3*this.r*i[0],y:this.y+3*this.r*i[1],thal:"center",tval:"middle",ls:this.model.env.show.txtColor})}return t},draw(t){if(this.model.env.show.nodes)t.ins(this)}},radius:5,locdir:{e:[1,0],ne:[Math.SQRT2/2,Math.SQRT2/2],n:[0,1],nw:[-Math.SQRT2/2,Math.SQRT2/2],w:[-1,0],sw:[-Math.SQRT2/2,-Math.SQRT2/2],s:[0,-1],se:[Math.SQRT2/2,-Math.SQRT2/2]},g2BaseNode:g2().cir({x:0,y:0,r:5,ls:"@nodcolor",fs:"@nodfill"}).p().m({x:0,y:5}).a({dw:Math.PI/2,x:-5,y:0}).l({x:5,y:0}).a({dw:-Math.PI/2,x:0,y:-5}).z().fill({fs:"@nodcolor"}),g2Node:g2().cir({x:0,y:0,r:5,ls:"@nodcolor",fs:"@nodfill"})};
/**
 * mec.constraint (c) 2018 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.node.js
 * @requires mec.drive.js
 * @requires mec.model.js
 * @requires g2.js
 */
"use strict";mec.constraint={extend(t){Object.setPrototypeOf(t,this.prototype);t.constructor();return t},prototype:{constructor(){},validate(t){let i,e=false;if(!this.id)return{mid:"E_ELEM_ID_MISSING",elemtype:"constraint",idx:t};if(this.model.elementById(this.id)!==this)return{mid:"E_ELEM_ID_AMBIGIOUS",id:this.id};if(!this.p1)return{mid:"E_CSTR_NODE_MISSING",id:this.id,loc:"start",p:"p1"};if(!this.p2)return{mid:"E_CSTR_NODE_MISSING",id:this.id,loc:"end",p:"p2"};if(typeof this.p1==="string"){if(!(i=this.model.nodeById(this.p1)))return{mid:"E_CSTR_NODE_NOT_EXISTS",id:this.id,loc:"start",p:"p1",nodeId:this.p1};else this.p1=i}if(typeof this.p2==="string"){if(!(i=this.model.nodeById(this.p2)))return{mid:"E_CSTR_NODE_NOT_EXISTS",id:this.id,loc:"end",p:"p2",nodeId:this.p2};else this.p2=i}if(mec.isEps(this.p1.x-this.p2.x)&&mec.isEps(this.p1.y-this.p2.y))e={mid:"W_CSTR_NODES_COINCIDE",id:this.id,p1:this.p1.id,p2:this.p2.id};if(!this.hasOwnProperty("ori"))this.ori={type:"free"};if(!this.hasOwnProperty("len"))this.len={type:"free"};if(!this.ori.hasOwnProperty("type"))this.ori.type="free";if(!this.len.hasOwnProperty("type"))this.len.type="free";if(typeof this.ori.ref==="string"){if(!(i=this.model.constraintById(this.ori.ref)))return{mid:"E_CSTR_REF_NOT_EXISTS",id:this.id,sub:"ori",ref:this.ori.ref};else this.ori.ref=i;if(this.ori.type==="drive"){if(this.ori.ref[this.ori.reftype||"ori"].type==="free")return{mid:"E_CSTR_DRIVEN_REF_TO_FREE",id:this.id,sub:"ori",ref:this.ori.ref.id,reftype:this.ori.reftype||"ori"};if(this.ratio!==undefined&&this.ratio!==1)return{mid:"E_CSTR_RATIO_IGNORED",id:this.id,sub:"ori",ref:this.ori.ref.id,reftype:this.ori.reftype||"ori"}}}if(typeof this.len.ref==="string"){if(!(i=this.model.constraintById(this.len.ref)))return{mid:"E_CSTR_REF_NOT_EXISTS",id:this.id,sub:"len",ref:this.len.ref};else this.len.ref=i;if(this.len.type==="drive"){if(this.len.ref[this.len.reftype||"len"].type==="free")return{mid:"E_CSTR_DRIVEN_REF_TO_FREE",id:this.id,sub:"len",ref:this.len.ref.id,reftype:this.len.reftype||"len"};if(this.ratio!==undefined&&this.ratio!==1)return{mid:"E_CSTR_RATIO_IGNORED",id:this.id,sub:"len",ref:this.ori.ref.id,reftype:this.ori.reftype||"len"}}}return e},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;const e=this.ori,s=this.len;this.initVector();this._angle=0;if(e.type==="free")this.init_ori_free(e);else if(e.type==="const")this.init_ori_const(e);else if(e.type==="drive")this.init_ori_drive(e);if(s.type==="free")this.init_len_free(s);else if(s.type==="const")this.init_len_const(s);else if(s.type==="drive")this.init_len_drive(s);this._angle=this.w0;this.sw=Math.sin(this.w);this.cw=Math.cos(this.w);this.lambda_r=this.dlambda_r=0;this.lambda_w=this.dlambda_w=0},initVector(){let t=false,i=false;if(this.len.hasOwnProperty("r0")){this.r0=this.len.r0;t=true;if(this.len.hasOwnProperty("ref")){if(this.len.reftype!=="ori")this.r0+=(this.len.ratio||1)*this.len.ref.r0}}else this.r0=Math.hypot(this.ay,this.ax);if(this.ori.hasOwnProperty("w0")){this.w0=this.ori.w0;i=true;if(this.ori.hasOwnProperty("ref")){if(this.ori.reftype!=="len")this.w0+=(this.ori.ratio||1)*this.ori.ref.w0}}else this.w0=Math.atan2(this.ay,this.ax);if(t||i){this.p2.x=this.p1.x+this.r0*Math.cos(this.w0);this.p2.y=this.p1.y+this.r0*Math.sin(this.w0)}},angle(t){return this._angle=mec.infAngle(this._angle,t)},reset(){this.initVector();this._angle=this.w0;this.lambda_r=this.dlambda_r=0;this.lambda_w=this.dlambda_w=0},get type(){const t=this.ori,i=this.len;return t.type==="free"&&i.type==="free"?"free":t.type==="free"&&i.type!=="free"?"rot":t.type!=="free"&&i.type==="free"?"tran":t.type!=="free"&&i.type!=="free"?"ctrl":"invalid"},get initialized(){return this.model!==undefined},get dof(){return(this.ori.type==="free"?1:0)+(this.len.type==="free"?1:0)},get lenTol(){return mec.tol.len[this.model.tolerance]},get force(){return-this.lambda_r},get forceAbs(){return-this.lambda_r},get moment(){return-this.lambda_w*this.r},get pole(){return{x:this.p1.x-this.p1.yt/this.wt,y:this.p1.y+this.p1.xt/this.wt}},get velPole(){return this.pole},get inflPole(){return{x:this.p1.x+this.p1.xtt/this.wt**2-this.wtt/this.wt**3*this.p1.xt,y:this.p1.y+this.p1.ytt/this.wt**2-this.wtt/this.wt**3*this.p1.yt}},get accPole(){const t=this.wt**2,i=this.wtt,e=i**2+t**2;return{x:this.p1.x+(t*this.p1.xtt-i*this.p1.ytt)/e,y:this.p1.y+(t*this.p1.ytt+i*this.p1.xtt)/e}},activeDriveCount(t){let i=this.ori,e=this.len,s=0;if(i.type==="drive"&&(i.input||t<=i.t0+i.Dt*(i.bounce?2:1)*(i.repeat||1)+.5*this.model.timer.dt))++s;if(e.type==="drive"&&(e.input||t<=e.t0+e.Dt*(e.bounce?2:1)*(e.repeat||1)+.5*this.model.timer.dt))++s;return s},dependsOn(t){return this.p1===t||this.p2===t||this.ori&&this.ori.ref===t||this.len&&this.len.ref===t},get ax(){return this.p2.x-this.p1.x},get ay(){return this.p2.y-this.p1.y},get axt(){return this.p2.xtcur-this.p1.xtcur},get ayt(){return this.p2.ytcur-this.p1.ytcur},get axtt(){return this.p2.xtt-this.p1.xtt},get aytt(){return this.p2.ytt-this.p1.ytt},get ori_C(){return this.ay*this.cw-this.ax*this.sw},get ori_Ct(){return this.ayt*this.cw-this.axt*this.sw-this.wt*this.r},get ori_mc(){const t=mec.toZero(this.p1.im+this.p2.im);return t?1/t:0},get len_C(){return this.ax*this.cw+this.ay*this.sw-this.r},get len_Ct(){return this.axt*this.cw+this.ayt*this.sw-this.rt},get len_mc(){let t=mec.toZero(this.p1.im+this.p2.im);return t?1/t:0},pre(t){let i=this.w;this.cw=Math.cos(i);this.sw=Math.sin(i);this.ori_impulse_vel(this.lambda_w*t);this.len_impulse_vel(this.lambda_r*t);this.dlambda_r=this.dlambda_w=0},post(t){this.lambda_w+=this.dlambda_w;this.ori_apply_Q(this.lambda_w);this.lambda_r+=this.dlambda_r;this.len_apply_Q(this.lambda_r)},posStep(){let t,i=this.w;this.cw=Math.cos(i);this.sw=Math.sin(i);return this.type==="free"?true:this.type==="rot"?this.len_pos():this.type==="tran"?this.ori_pos():this.type==="ctrl"?(t=this.ori_pos(),this.len_pos()&&t):false},velStep(t){let i;return this.type==="free"?true:this.type==="rot"?this.len_vel(t):this.type==="tran"?this.ori_vel(t):this.type==="ctrl"?(i=this.ori_vel(t),this.len_vel(t)&&i):false},ori_pos(){const t=this.ori_C,i=-this.ori_mc*t;this.ori_impulse_pos(i);if(this.ori.ref&&!this.ori.passive){const t=this.ori.ref;if(this.ori.reftype==="len")t.len_impulse_pos(-(this.ori.ratio||1)*i);else t.ori_impulse_pos(-(this.ori.ratio||1)*this.r/t.r*i)}return mec.isEps(t,mec.lenTol)},ori_vel(t){const i=this.ori_Ct,e=-this.ori_mc*i;this.ori_impulse_vel(e);this.dlambda_w+=e/t;if(this.ori.ref&&!this.ori.passive){const i=this.ori.ref,s=e*(this.ori.ratio||1);if(this.ori.reftype==="len"){i.len_impulse_vel(-s);i.dlambda_r-=s/t}else{const e=this.r/this.ori.ref.r*s;i.ori_impulse_vel(-e);i.dlambda_w-=e/t}}return mec.isEps(i*t,mec.lenTol)},ori_impulse_pos(t){this.p1.x+=this.p1.im*this.sw*t;this.p1.y+=-this.p1.im*this.cw*t;this.p2.x+=-this.p2.im*this.sw*t;this.p2.y+=this.p2.im*this.cw*t},ori_impulse_vel(t){this.p1.dxt+=this.p1.im*this.sw*t;this.p1.dyt+=-this.p1.im*this.cw*t;this.p2.dxt+=-this.p2.im*this.sw*t;this.p2.dyt+=this.p2.im*this.cw*t},ori_apply_Q(t){this.p1.Qx+=this.sw*t;this.p1.Qy+=-this.cw*t;this.p2.Qx+=-this.sw*t;this.p2.Qy+=this.cw*t},len_pos(){const t=this.len_C,i=-this.len_mc*t;this.len_impulse_pos(i);if(this.len.ref&&!this.len.passive){if(this.len.reftype==="ori")this.len.ref.ori_impulse_pos(-(this.len.ratio||1)*i);else this.len.ref.len_impulse_pos(-(this.len.ratio||1)*i)}return mec.isEps(t,mec.lenTol)},len_vel(t){const i=this.len_Ct,e=-this.len_mc*i;this.len_impulse_vel(e);this.dlambda_r+=e/t;if(this.len.ref&&!this.len.passive){const i=this.len.ref,s=e*(this.ori.ratio||1);if(this.len.reftype==="ori"){i.ori_impulse_vel(-s);i.dlambda_w-=s/t}else{i.len_impulse_vel(-s);i.dlambda_r-=s/t}}return mec.isEps(i*t,mec.lenTol)},len_impulse_pos(t){this.p1.x+=-this.p1.im*this.cw*t;this.p1.y+=-this.p1.im*this.sw*t;this.p2.x+=this.p2.im*this.cw*t;this.p2.y+=this.p2.im*this.sw*t},len_impulse_vel(t){this.p1.dxt+=-this.p1.im*this.cw*t;this.p1.dyt+=-this.p1.im*this.sw*t;this.p2.dxt+=this.p2.im*this.cw*t;this.p2.dyt+=this.p2.im*this.sw*t},len_apply_Q(t){this.p1.Qx+=-this.cw*t;this.p1.Qy+=-this.sw*t;this.p2.Qx+=this.cw*t;this.p2.Qy+=this.sw*t},init_ori_free(t){this.w0=t.hasOwnProperty("w0")?t.w0:this.angle(Math.atan2(this.ay,this.ax));mec.assignGetters(this,{w:()=>this.angle(Math.atan2(this.ay,this.ax)),wt:()=>(this.ayt*this.cw-this.axt*this.sw)/this.r,wtt:()=>(this.aytt*this.cw-this.axtt*this.sw)/this.r})},init_ori_const(t){if(!!t.ref){const i=t.ref=this.model.constraintById(t.ref)||t.ref,e=t.reftype||"ori",s=t.ratio||1;if(!i.initialized)i.init(this.model);if(e==="ori"){const e=t.hasOwnProperty("w0")?i.w0+t.w0:Math.atan2(this.ay,this.ax);mec.assignGetters(this,{w:()=>e+s*(i.w-i.w0),wt:()=>s*i.wt,wtt:()=>s*i.wtt,ori_C:()=>this.ay*this.cw-this.ax*this.sw-s*this.r/(i.r||1)*(i.ay*i.cw-i.ax*i.sw),ori_Ct:()=>this.ayt*this.cw-this.axt*this.sw-s*this.r/(i.r||1)*(i.ayt*i.cw-i.axt*i.sw),ori_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+s**2*this.r**2/(i.r||1)**2*mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}})}else{const e=t.hasOwnProperty("w0")?i.w0+t.w0:Math.atan2(this.ay,this.ax);mec.assignGetters(this,{w:()=>e+s*(i.r-i.r0)/this.r,wt:()=>s*i.rt,wtt:()=>s*i.rtt,ori_C:()=>this.r*(this.angle(Math.atan2(this.ay,this.ax))-e)-s*(i.ax*i.cw+i.ay*i.sw-i.r0),ori_Ct:()=>this.ayt*this.cw-this.axt*this.sw-s*(i.axt*i.cw+i.ayt*i.sw),ori_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+s**2*mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}})}}else{mec.assignGetters(this,{w:()=>this.w0,wt:()=>0,wtt:()=>0})}},init_ori_drive(t){this.w0=t.hasOwnProperty("w0")?t.w0:this.angle(Math.atan2(this.ay,this.ax));t.Dw=t.Dw||2*Math.PI;t.t0=t.t0||0;t.Dt=t.Dt||1;if(t.input){t.local_t=0;t.t=(()=>!this.model.state.preview?t.local_t:this.model.timer.t);t.inputCallbk=(i=>{t.local_t=i*Math.PI/180*t.Dt/t.Dw})}else t.t=(()=>this.model.timer.t);t.drive=mec.drive.create({func:t.func||t.input&&"static"||"linear",z0:t.ref?0:this.w0,Dz:t.Dw,t0:t.t0,Dt:t.Dt,t:t.t,bounce:t.bounce,repeat:t.repeat,args:t.args});if(!!t.ref){const i=t.ref=this.model.constraintById(t.ref)||t.ref,e=t.reftype||"ori",s=t.ratio||1;if(!i.initialized)i.init(this.model);if(e==="ori")mec.assignGetters(this,{w:()=>this.w0+(i.w-i.w0)+t.drive.f(),wt:()=>i.wt+t.drive.ft(),wtt:()=>i.wtt+t.drive.ftt(),ori_C:()=>this.r*(this.angle(Math.atan2(this.ay,this.ax))-this.w0)-this.r*(i.angle(Math.atan2(i.ay,i.ax))-i.w0)-this.r*t.drive.f(),ori_Ct:()=>{return this.ayt*this.cw-this.axt*this.sw-this.r/i.r*(i.ayt*i.cw-i.axt*i.sw)-this.r*t.drive.ft()},ori_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+this.r**2/i.r**2*mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}});else mec.assignGetters(this,{w:()=>this.w0+s*(i.r-i.r0)+t.drive.f(),wt:()=>s*i.rt+t.drive.ft(),wtt:()=>s*i.rtt+t.drive.ftt()})}else{mec.assignGetters(this,{w:t.drive.f,wt:t.drive.ft,wtt:t.drive.ftt})}},init_len_free(t){mec.assignGetters(this,{r:()=>this.ax*this.cw+this.ay*this.sw,rt:()=>this.axt*this.cw+this.ayt*this.sw,rtt:()=>this.axtt*this.cw+this.aytt*this.sw})},init_len_const(t){if(!!t.ref){const i=t.ref=this.model.constraintById(t.ref)||t.ref,e=t.reftype||"len",s=t.ratio||1;if(!i.initialized)i.init(this.model);if(e==="len")mec.assignGetters(this,{r:()=>this.r0+s*(i.r-i.r0),rt:()=>s*i.rt,rtt:()=>s*i.rtt,len_C:()=>this.ax*this.cw+this.ay*this.sw-this.r0-s*(i.ax*i.cw+i.ay*i.sw-i.r0),len_Ct:()=>this.axt*this.cw+this.ayt*this.sw-s*(i.axt*i.cw+i.ayt*i.sw),len_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+s**2*mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}});else mec.assignGetters(this,{r:()=>this.r0+s*i.r*(i.w-i.w0),rt:()=>s*i.wt,rtt:()=>s*i.wtt,len_C:()=>this.ax*this.cw+this.ay*this.sw-this.r0-s*i.r*(i.angle(Math.atan2(i.ay,i.ax))-i.w0),len_Ct:()=>this.axt*this.cw+this.ayt*this.sw-s*(i.ayt*i.cw-i.axt*i.sw),len_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+s**2*mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}})}else{mec.assignGetters(this,{r:()=>this.r0,rt:()=>0,rtt:()=>0})}},init_len_drive(t){this.r0=t.hasOwnProperty("r0")?t.r0:Math.hypot(this.ay,this.ax);t.Dr=t.Dr||100;t.t0=t.t0||0;t.Dt=t.Dt||1;if(t.input){t.local_t=0;t.t=(()=>!this.model.state.preview?t.local_t:this.model.timer.t);t.inputCallbk=(i=>{t.local_t=i*t.Dt/t.Dr})}else t.t=(()=>this.model.timer.t);t.drive=mec.drive.create({func:t.func||t.input&&"static"||"linear",z0:t.ref?0:this.r0,Dz:t.Dr,t0:t.t0,Dt:t.Dt,t:t.t,bounce:t.bounce,repeat:t.repeat,args:t.args});if(!!t.ref){const i=t.ref=this.model.constraintById(t.ref)||t.ref,e=t.reftype||"len",s=t.ratio||1;if(!i.initialized)i.init(this.model);if(e==="len")mec.assignGetters(this,{r:()=>this.r0+s*(i.r-i.r0)+t.drive.f(),rt:()=>i.rt+t.drive.ft(),rtt:()=>i.rtt+t.drive.ftt(),len_C:()=>this.ax*this.cw+this.ay*this.sw-this.r0-(i.ax*i.cw+i.ay*i.sw-i.r0)-t.drive.f(),len_Ct:()=>this.axt*this.cw+this.ayt*this.sw-(i.axt*i.cw+i.ayt*i.sw)-t.drive.ft(),len_mc:()=>{let t=mec.toZero(this.p1.im+this.p2.im)+mec.toZero(i.p1.im+i.p2.im);return t?1/t:0}});else mec.assignGetters(this,{r:()=>this.r0+s*(i.w-i.w0)+t.drive.f(),rt:()=>s*i.wt+t.drive.ft(),rtt:()=>s*i.wtt+t.drive.ftt()})}else{mec.assignGetters(this,{r:t.drive.f,rt:t.drive.ft,rtt:t.drive.ftt})}},asJSON(){let t='{ "id":"'+this.id+'","p1":"'+this.p1.id+'","p2":"'+this.p2.id+'"';if(this.len&&!(this.len.type==="free")){t+=(this.len.type==="const"?',"len":{ "type":"const"':"")+(this.len.type==="drive"?',"len":{ "type":"drive"':"")+(this.len.ref?',"ref":"'+this.len.ref.id+'"':"")+(this.len.reftype?',"reftype":"'+this.len.reftype+'"':"")+(this.len.r0&&this.len.r0>1e-4?',"r0":'+this.len.r0:"")+(this.len.ratio&&Math.abs(this.len.ratio-1)>1e-4?',"ratio":'+this.len.ratio:"")+(this.len.func?',"func":"'+this.len.func+'"':"")+(this.len.arg?',"arg":"'+this.len.arg+'"':"")+(this.len.t0&&this.len.t0>1e-4?',"t0":'+this.len.t0:"")+(this.len.Dt?',"Dt":'+this.len.Dt:"")+(this.len.Dr?',"Dr":'+this.len.Dr:"")+(this.len.bounce?',"bounce":true':"")+(this.len.input?',"input":true':"")+" }"}if(this.ori&&!(this.ori.type==="free")){t+=(this.ori.type==="const"?',"ori":{ "type":"const"':"")+(this.ori.type==="drive"?',"ori":{ "type":"drive"':"")+(this.ori.ref?',"ref":"'+this.ori.ref.id+'"':"")+(this.ori.reftype?',"reftype":"'+this.ori.reftype+'"':"")+(this.ori.w0&&this.ori.w0>1e-4?',"r0":'+this.ori.w0:"")+(this.ori.ratio&&Math.abs(this.ori.ratio-1)>1e-4?',"ratio":'+this.ori.ratio:"")+(this.ori.func?',"func":"'+this.ori.func+'"':"")+(this.ori.arg?',"arg":"'+this.ori.arg+'"':"")+(this.ori.t0&&this.ori.t0>1e-4?',"t0":'+this.ori.t0:"")+(this.ori.Dt?',"Dt":'+this.ori.Dt:"")+(this.ori.Dw?',"Dw":'+this.ori.Dw:"")+(this.ori.bounce?',"bounce":true':"")+(this.ori.input?',"input":true':"")+" }"}t+=" }";return t},get showInfo(){return this.state&g2.OVER},get infos(){return{id:()=>`'${this.id}'`,pos:()=>`r=${this.r.toFixed(1)},&phi;=${mec.toDeg(this.w).toFixed(0)%360}°`,vel:()=>`rt=${mec.to_m(this.rt).toFixed(2)}m/s,&phi;t=${this.wt.toFixed(2)}rad/s`,load:()=>`F=${mec.toZero(mec.to_N(this.force)).toPrecision(3)},M=${mec.toZero(mec.toDeg(this.moment)).toPrecision(3)}`}},info(t){const i=this.infos[t];return i?i():"?"},get isSolid(){return false},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:this.state&g2.EDIT?[0,0,10,this.model.env.show.selectedElmColor]:false},hitContour({x:t,y:i,eps:e}){const s=this.p1,r=this.p2,h=this.p2.x-this.p1.x,n=this.p2.y-this.p1.y,o=Math.hypot(n,h)||0,d=o?2*mec.node.radius/o:0;return g2.isPntOnLin({x:t,y:i},{x:s.x+d*h,y:s.y+d*n},{x:r.x-d*h,y:r.y-d*n},e)},get color(){return this.model.valid?this.ls||this.model.env.show.validConstraintColor:this.model.env.show.colors.invalidConstraintColor},g2(){const{p1:t,w:i,r:e,type:s,id:r,idloc:h}=this,n=g2().beg({x:t.x,y:t.y,w:i,scl:1,lw:2,ls:this.model.env.show.constraintVectorColor,fs:"@ls",lc:"round",sh:this.sh}).p().m({x:!this.ls&&e>50?50:0,y:0}).l({x:e,y:0}).stroke({ls:this.color,lw:this.lw||2,ld:this.ld||[],lsh:true}).drw({d:mec.constraint.arrow[s],lsh:true}).end();if(this.model.env.show.constraintLabels){let i=r||"?",e=this.cw,s=this.sw,o=h==="left"?.5:h==="right"?-.5:h+0===h?h:.5,d=Math.abs(o)*45,a=o>0?10:-15,l=t.x+d*e-a*s,f=t.y+d*s+a*e;if(this.ori.type==="ref"||this.len.type==="ref"){const t=this.ori.type==="ref"&&this.len.type==="ref"?",":"";i+="("+(this.ori.type==="ref"?this.ori.ref.id:"")+t+(this.len.type==="ref"?this.len.ref.id:"")+")";l-=3*s;f+=3*e}n.txt({str:i,x:l,y:f,thal:"center",tval:"middle",ls:this.model.env.show.txtColor})}return n},draw(t){if(this.model.env.show.constraints)t.ins(this)}},arrow:{ctrl:"M0,0 35,0M45,0 36,-3 37,0 36,3 Z",rot:"M12,0 8,6 12,0 8,-6Z M0,0 8,0M15,0 35,0M45,0 36,-3 37,0 36,3 Z",tran:"M0,0 12,0M16,0 18,0M22,0 24,0 M28,0 35,0M45,0 36,-3 37,0 36,3 Z",free:"M12,0 8,6 12,0 8,-6ZM0,0 8,0M15,0 18,0M22,0 24,0 M28,0 35,0M45,0 36,-3 37,0 36,3 Z"}};
/**
 * mec.drive (c) 2018 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 */
"use strict";mec.drive={create({func:t,z0:i,Dz:e,t0:s,Dt:r,t:h,bounce:n,repeat:o,args:d}){const a=(t,i,e)=>t>=i&&t<e;let l=t&&t in mec.drive?mec.drive[t]:mec.drive.linear,f=r;if(typeof l==="function"){l=l(d)}if(n&&t!=="static"){l=mec.drive.bounce(l);f*=2}if(o&&t!=="static"){l=mec.drive.repeat(l,o);f*=o}return{f:()=>i+l.f(Math.max(0,Math.min((h()-s)/f,1)))*e,ft:()=>a(h(),s,s+f)?l.fd((h()-s)/f)*e/r:0,ftt:()=>a(h(),s,s+f)?l.fdd((h()-s)/f)*e/r/r:0}},const:{f:t=>0,fd:t=>0,fdd:t=>0},linear:{f:t=>t,fd:t=>1,fdd:t=>0},quadratic:{f:t=>t<=.5?2*t*t:-2*t*t+4*t-1,fd:t=>t<=.5?4*t:-4*t+4,fdd:t=>t<=.5?4:-4},harmonic:{f:t=>(1-Math.cos(Math.PI*t))/2,fd:t=>Math.PI/2*Math.sin(Math.PI*t),fdd:t=>Math.PI*Math.PI/2*Math.cos(Math.PI*t)},sinoid:{f:t=>t-Math.sin(2*Math.PI*t)/2/Math.PI,fd:t=>1-Math.cos(2*Math.PI*t),fdd:t=>Math.sin(2*Math.PI*t)*2*Math.PI},poly5:{f:t=>(10-15*t+6*t*t)*t*t*t,fd:t=>(30-60*t+30*t*t)*t*t,fdd:t=>(60-180*t+120*t*t)*t},static:{f:t=>t,fd:t=>0,fdd:t=>0},seq(t){let i=Number.POSITIVE_INFINITY,e=Number.NEGATIVE_INFINITY,s=0,r=0,h=0,n=i=>{let e=0,s=0,r;for(const n of t){r=n.dz||0;if(e<=i&&i<=e+n.dt){return{f:s+mec.drive[n.func].f((i-e)/n.dt)*r,fd:mec.drive[n.func].fd((i-e)/n.dt)*r/h,fdd:mec.drive[n.func].fdd((i-e)/n.dt)*r/h/h}}e+=n.dt;s+=r}return{}};for(const r of t){if(typeof r.func==="string"){h+=r.dt;s+=r.dz||0;i=Math.min(s,i);e=Math.max(s,e)}}r=e-i;return{f:t=>(n(t*h).f-i)/r,fd:t=>n(t*h).fd/r,fdd:t=>0}},bounce(t){if(typeof t==="string")t=mec.drive[t];return{f:i=>t.f(i<.5?2*i:2-2*i),fd:i=>t.fd(i<.5?2*i:2-2*i)*(i<.5?1:-1),fdd:i=>t.fdd(i<.5?2*i:2-2*i)*(i<.5?1:-1)}},repeat(t,i){if(typeof t==="string")t=mec.drive[t];return{f:e=>t.f(e*i%1),fd:e=>t.fd(e*i%1),fdd:e=>t.fdd(e*i%1)}},pot:[{f:t=>1,fd:t=>0,fdd:t=>0},{f:t=>t,fd:t=>1,fdd:t=>0},{f:t=>t*t,fd:t=>2*t,fdd:t=>2},{f:t=>t*t*t,fd:t=>3*t*t,fdd:t=>6*t},{f:t=>t*t*t*t,fd:t=>4*t*t*t,fdd:t=>12*t*t},{f:t=>t*t*t*t*t,fd:t=>5*t*t*t*t,fdd:t=>20*t*t*t}],inPot(t){return this.pot[t]},outPot(t){const i=this.pot[t];return{f:t=>1-i.f(1-t),fd:t=>i.fd(1-t),fdd:t=>-i.fdd(1-t)}},inOutPot(t){const i=this.pot[t],e=Math.pow(2,t-1);return{f:t=>t<.5?e*i.f(t):1-e*i.f(1-t),fd:t=>t<.5?e*i.fd(t):e*i.fd(1-t),fdd:s=>s<.5?e*(t-1)*i.fdd(s):-e*(t-1)*i.fdd(1-s)}},get inQuad(){return this.inPot(2)},get outQuad(){return this.outPot(2)},get inOutQuad(){return this.inOutPot(2)},get inCubic(){return this.inPot(3)},get outCubic(){return this.outPot(3)},get inOutCubic(){return this.inOutPot(3)},get inQuart(){return this.inPot(4)},get outQuart(){return this.outPot(4)},get inOutQuart(){return this.inOutPot(4)},get inQuint(){return this.inPot(5)},get outQuint(){return this.outPot(5)},get inOutQuint(){return this.inOutPot(5)}};
/**
 * mec.load (c) 2018 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.node.js
 * @requires mec.constraint.js
 * @requires mec.model.js
 * @requires g2.js
 */
"use strict";mec.load={extend(t){if(!t.type)t.type="force";if(mec.load[t.type]){Object.setPrototypeOf(t,mec.load[t.type]);t.constructor()}return t}};mec.load.force={constructor(){},validate(t){let i=false;if(!this.id)i={mid:"W_ELEM_ID_MISSING",elemtype:"force",idx:t};if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"force",id:this.id,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"force",id:this.id,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref&&!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"force",id:this.id,reftype:"constraint",name:"wref"};else this.wref=this.model.constraintById(this.wref);if(typeof this.value==="number"&&mec.isEps(this.value))return{mid:"E_FORCE_VALUE_INVALID",val:this.value,id:this.id};return i},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=typeof this.w0==="number"?this.w0:0},get _value(){return mec.from_N(this.value||1)},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","id":"'+this.id+'","p":"'+this.p.id+'"'+(!!this.mode&&this.mode==="push"?',"mode":"push"':"")+(this.w0&&Math.abs(this.w0)>.001?',"w0":'+this.w0:"")+(this.wref?',"wref":'+this.wref.id+'"':"")+(this._value&&Math.abs(this._value-mec.from_N(1))>.01?',"value":'+mec.to_N(this._value):"")+" }"},get w(){return this.wref?this.wref.w+this.w0:this.w0},get Qx(){return this._value*Math.cos(this.w)},get Qy(){return this._value*Math.sin(this.w)},get energy(){return 0},reset(){},apply(){this.p.Qx+=this.Qx;this.p.Qy+=this.Qy},get forceAbs(){return this._value},get isSolid(){return false},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:this.state&g2.EDIT?[0,0,10,this.model.env.show.selectedElmColor]:false},hitContour({x:t,y:i,eps:e}){const s=mec.load.force.arrowLength,r=this.p,h=this.w,n=h?Math.cos(h):1,o=h?Math.sin(h):0,d=2*mec.node.radius,a=this.mode==="push"?r.x-(s+d)*n:r.x+d*n,l=this.mode==="push"?r.y-(s+d)*o:r.y+d*o;return g2.isPntOnLin({x:t,y:i},{x:a,y:l},{x:a+s*n,y:l+s*o},e)},g2(){const t=this.w,i=t?Math.cos(t):1,e=t?Math.sin(t):0,s=this.p,r=mec.load.force.arrowLength,h=2*mec.node.radius,n=this.mode==="push"?s.x-(r+h)*i:s.x+h*i,o=this.mode==="push"?s.y-(r+h)*e:s.y+h*e,d=g2().p().use({grp:mec.load.force.arrow,x:n,y:o,w:t,lw:2,ls:this.model.env.show.forceColor,lc:"round",sh:this.sh,fs:"@ls"});if(this.model.env.show.loadLabels&&this.id){const t=this.mode==="push"?1:1,s=this.idloc==="right"?-1:1,r=n+t*25*i-12*s*e,h=o+t*25*e+12*s*i;d.txt({str:this.id,x:r,y:h,thal:"center",tval:"middle",ls:this.model.env.show.txtColor})}return d},draw(t){t.ins(this)}};mec.load.force.arrowLength=45;mec.load.force.arrow=g2().p().m({x:0,y:0}).l({x:35,y:0}).m({x:45,y:0}).l({x:36,y:-3}).l({x:37,y:0}).l({x:36,y:3}).z().drw();mec.load.spring={constructor(){},validate(t){let i=false;if(!this.id)i={mid:"W_ELEM_ID_MISSING",elemtype:"spring",idx:t};if(this.p1===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"spring",id:this.id,reftype:"node",name:"p1"};if(!this.model.nodeById(this.p1))return{mid:"E_ELEM_INVALID_REF",elemtype:"spring",id:this.id,reftype:"node",name:this.p1};else this.p1=this.model.nodeById(this.p1);if(this.p2===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"spring",id:this.id,reftype:"node",name:"p2"};if(!this.model.nodeById(this.p2))return{mid:"E_ELEM_INVALID_REF",elemtype:"spring",id:this.id,reftype:"node",name:this.p2};else this.p2=this.model.nodeById(this.p2);if(typeof this.k==="number"&&mec.isEps(this.k))return{mid:"E_SPRING_RATE_INVALID",id:this.id,val:this.k};return i},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.len0=typeof this.len0==="number"?this.len0:Math.hypot(this.p2.x-this.p1.x,this.p2.y-this.p1.y)},get _k(){return mec.from_N_m(this.k||.01)},dependsOn(t){return this.p1===t||this.p2===t},asJSON(){return'{ "type":"'+this.type+'","id":"'+this.id+'","p1":"'+this.p1.id+'","p2":"'+this.p2.id+'"'+(this._k&&Math.abs(this._k-mec.from_N_m(.01))>.01?',"k":'+mec.to_N_m(this._k):"")+(this.len0&&Math.abs(this.len0-Math.hypot(this.p2.x0-this.p1.x0,this.p2.y0-this.p1.y0))>1e-4?',"len0":'+this.len0:"")+" }"},get len(){return Math.hypot(this.p2.y-this.p1.y,this.p2.x-this.p1.x)},get w(){return Math.atan2(this.p2.y-this.p1.y,this.p2.x-this.p1.x)},get force(){return this._k*(this.len-this.len0)},get Qx(){return this.force*Math.cos(this.w)},get Qy(){return this.force*Math.sin(this.w)},get energy(){return.5*this._k*(this.len-this.len0)**2},reset(){},apply(){const t=this.force,i=this.w,e=t*Math.cos(i),s=t*Math.sin(i);this.p1.Qx+=e;this.p1.Qy+=s;this.p2.Qx-=e;this.p2.Qy-=s},get forceAbs(){return this.force},get isSolid(){return false},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:this.state&g2.EDIT?[0,0,10,this.model.env.show.selectedElmColor]:false},hitContour({x:t,y:i,eps:e}){const s=this.p1,r=this.p2,h=this.w,n=h?Math.cos(h):1,o=h?Math.sin(h):0,d=2*mec.node.radius;return g2.isPntOnLin({x:t,y:i},{x:s.x+d*n,y:s.y+d*o},{x:r.x-d*n,y:r.y-d*o},e)},g2(){const t=16,i=this.p1.x,e=this.p1.y,s=this.p2.x-i,r=this.p2.y-e,h=Math.hypot(r,s),n=Math.atan2(r,s),o=h/2,d=2*mec.node.radius,a=g2().beg({x:i,y:e,w:n}).p().m({x:d,y:0}).l({x:o-t/2,y:0}).l({x:o-t/6,y:-t/2}).l({x:o+t/6,y:t/2}).l({x:o+t/2,y:0}).l({x:h-d,y:0}).stroke({ls:this.model.env.show.springColor,lw:2,lc:"round",lj:"round",sh:this.sh,lsh:true}).end();if(this.model.env.show.loadLabels&&this.id){const t=h?s/h:1,n=h?r/h:0,o=this.idloc,d=o==="left"?.5:o==="right"?-.5:o+0===o?o:.5,l=Math.abs(d)*h,f=d>0?20:-25;a.txt({str:this.id,x:i+l*t-f*n,y:e+l*n+f*t,thal:"center",tval:"middle",ls:this.model.env.show.txtColor})}return a},draw(t){t.ins(this)}};
/**
 * mec.view (c) 2018 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.node.js
 * @requires mec.constraint.js
 * @requires mec.model.js
 * @requires g2.js
 */
"use strict";mec.view={extend(t){if(t.as&&mec.view[t.as]){Object.setPrototypeOf(t,mec.view[t.as]);t.constructor()}return t}};mec.view.point={constructor(){},validate(t){if(this.of===undefined)return{mid:"E_ELEM_MISSING",elemtype:"view as point",id:this.id,idx:t,reftype:"element",name:"of"};if(!this.model.elementById(this.of))return{mid:"E_ELEM_INVALID_REF",elemtype:"view as point",id:this.id,idx:t,reftype:"element",name:this.of};else this.of=this.model.elementById(this.of);if(this.show&&!(this.show in this.of))return{mid:"E_ALY_PROP_INVALID",elemtype:"view as point",id:this.id,idx:t,reftype:this.of,name:this.show};return false},init(t,i){this.model=t;this.model.notifyValid(this.validate(i));this.p=Object.assign({},this.of[this.show]);this.p.r=this.r},dependsOn(t){return this.of===t||this.ref===t},reset(){Object.assign(this.p,this.of[this.show])},post(){Object.assign(this.p,this.of[this.show])},asJSON(){return'{ "show":"'+this.show+'","of":"'+(this.show==="cog"?"model":this.of.id)+'","as":"point" }'},get r(){return 6},get isSolid(){return true},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:false},hitInner({x:t,y:i,eps:e}){return g2.isPntInCir({x:t,y:i},this.p,e)},g2(){return this.g2cache||(this.g2cache=g2().beg({x:()=>this.p.x,y:()=>this.p.y,sh:()=>this.sh}).cir({r:6,fs:"snow"}).cir({r:2.5,fs:"@ls",ls:"transparent"}).end())},draw(t){t.ins(this)}};mec.view.vector={constructor(){},validate(t){if(this.show===undefined)return{mid:"E_SHOW_PROP_MISSING",elemtype:"view as vector",id:this.id,idx:t,name:"show"};if(this.of===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"view as vector",id:this.id,idx:t,reftype:"node",name:"of"};if(!this.model.elementById(this.of))return{mid:"E_ELEM_INVALID_REF",elemtype:"view as vector",id:this.id,idx:t,reftype:"node",name:this.of};else this.of=this.model.elementById(this.of);if(this.at===undefined){if("pos"in this.of)Object.defineProperty(this,"anchor",{get:()=>this.of["pos"],enumerable:true,configurable:true});else return{mid:"E_SHOW_VEC_ANCHOR_MISSING",elemtype:"view as vector",id:this.id,idx:t,name:"at"}}else{if(this.model.nodeById(this.at)){let t=this.model.nodeById(this.at);Object.defineProperty(this,"anchor",{get:()=>t["pos"],enumerable:true,configurable:true})}else if(this.at in this.of)Object.defineProperty(this,"anchor",{get:()=>this.of[this.at],enumerable:true,configurable:true});else return{mid:"E_SHOW_VEC_ANCHOR_INVALID",elemtype:"view as vector",id:this.id,idx:t,name:"at"}}return false},init(t,i){this.model=t;this.model.notifyValid(this.validate(i));this.p=Object.assign({},this.anchor);this.v=Object.assign({},this.of[this.show])},dependsOn(t){return this.of===t||this.at===t},update(){Object.assign(this.p,this.anchor);Object.assign(this.v,this.of[this.show]);const t=Math.hypot(this.v.y,this.v.x);const i=!mec.isEps(t,.5)?mec.asympClamp(mec.aly[this.show].drwscl*t,25,100):0;this.v.x*=i/t;this.v.y*=i/t},reset(){this.update()},post(){this.update()},asJSON(){return'{ "show":"'+this.show+'","of":"'+this.of.id+'","as":"vector"'+(this.id?',"id":"'+this.id+'"':"")+" }"},get isSolid(){return false},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:false},hitContour({x:t,y:i,eps:e}){const s=this.p,r=this.v;return g2.isPntOnLin({x:t,y:i},s,{x:s.x+r.x,y:s.y+r.y},e)},g2(){return this.g2cache||(this.g2cache=g2().vec({x1:()=>this.p.x,y1:()=>this.p.y,x2:()=>this.p.x+this.v.x,y2:()=>this.p.y+this.v.y,ls:this.model.env.show[this.show+"VecColor"],lw:1.5,sh:this.sh}))},draw(t){t.ins(this)}};mec.view.trace={constructor(){this.pts=[]},validate(t){if(this.of===undefined)return{mid:"E_ELEM_MISSING",elemtype:"view as trace",id:this.id,idx:t,reftype:"element",name:"of"};if(!this.model.elementById(this.of))return{mid:"E_ELEM_INVALID_REF",elemtype:"view as trace",id:this.id,idx:t,reftype:"element",name:this.of};else this.of=this.model.elementById(this.of);if(this.show&&!(this.show in this.of))return{mid:"E_ALY_INVALID_PROP",elemtype:"view as trace",id:this.id,idx:t,reftype:this.of,name:this.show};if(this.ref&&!this.model.constraintById(this.ref))return{mid:"E_ELEM_INVALID_REF",elemtype:"view as trace",id:this.id,idx:t,reftype:"constraint",name:this.ref};else this.ref=this.model.constraintById(this.ref);if(this.p){if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"trace",id:this.id,idx:t,reftype:"node",name:this.p};else{this.show="pos";this.of=this.model.nodeById(this.p)}}return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.t0=this.t0||0;this.Dt=this.Dt||1;this.mode=this.mode||"dynamic";this.pts.length=0},dependsOn(t){return this.of===t||this.ref===t||this.p===t},addPoint(){const t=this.model.timer.t,i=this.of[this.show],e=this.ref?Math.sin(this.ref.w):0,s=this.ref?Math.cos(this.ref.w):1,r=i.x-(this.ref?this.ref.p1.x:0),h=i.y-(this.ref?this.ref.p1.y:0),n={x:s*r+e*h,y:-e*r+s*h};if(this.mode==="static"||this.mode==="preview"){if(this.t0<=t&&t<=this.t0+this.Dt)this.pts.push(n)}else if(this.mode==="dynamic"){if(this.t0<t)this.pts.push(n);if(this.t0+this.Dt<t)this.pts.shift()}},preview(){if(this.mode==="preview"&&this.model.valid)this.addPoint()},reset(t){if(t||this.mode!=="preview")this.pts.length=0},post(t){if(this.mode!=="preview"&&this.model.valid)this.addPoint()},asJSON(){return'{ "show":"'+this.show+'","of":"'+(this.show==="cog"?"model":this.of.id)+'","as":"'+this.as+'"'+(this.ref?',"ref":'+this.ref.id:"")+(this.mode!=="dynamic"?',"mode":"'+this.mode+'"':"")+(this.id?',"id":"'+this.id+'"':"")+(this.Dt!==1?',"Dt":'+this.Dt:"")+(this.stroke&&!(this.stroke==="navy")?',"stroke":"'+this.stroke+'"':"")+(this.fill&&!(this.stroke==="transparent")?',"fill":"'+this.fill+'"':"")+" }"},get isSolid(){return false},get sh(){return this.state&g2.OVER?[0,0,10,this.model.env.show.hoveredElmColor]:false},hitContour({x:t,y:i,eps:e}){return false},g2(){return this.g2cache||(this.g2cache=g2().ply({pts:this.pts,format:"{x,y}",x:this.ref?()=>this.ref.p1.x:0,y:this.ref?()=>this.ref.p1.y:0,w:this.ref?()=>this.ref.w:0,ls:this.stroke||"navy",lw:1.5,fs:this.fill||"transparent",sh:()=>this.sh}))},draw(t){t.ins(this)}};mec.view.info={constructor(){},validate(t){if(this.of===undefined)return{mid:"E_ELEM_MISSING",elemtype:"view as info",id:this.id,idx:t,reftype:"element",name:"of"};if(!this.model.elementById(this.of))return{mid:"E_ELEM_INVALID_REF",elemtype:"view as info",id:this.id,idx:t,reftype:"element",name:this.of};else this.of=this.model.elementById(this.of);if(this.show&&!(this.show in this.of))return{mid:"E_ALY_PROP_INVALID",elemtype:"view as infot",id:this.id,idx:t,reftype:this.of,name:this.show};return false},init(t,i){this.model=t;this.model.notifyValid(this.validate(i))},dependsOn(t){return this.of===t},reset(){},asJSON(){return'{ "show":"'+this.show+'","of":"'+this.of.id+'","as":"info"'+(this.id?',"id":"'+this.id+'"':"")+" }"},get hasInfo(){return this.of.state===g2.OVER},infoString(){if(this.show in this.of){const t=this.of[this.show];const i=mec.aly[this.name||this.show];const e=i.type;const s=this.of.type==="node"&&this.model.env.show.nodeScaling?1.5:1;const r=t=>(t*i.scl/s).toPrecision(3);return(i.name||this.show)+": "+(e==="vec"?"{x:"+r(t.x)+",y:"+r(t.y)+"}":r(t))+" "+i.unit}return"?"},draw(t){}};mec.view.chart={constructor(){},validate(t){const i={elemtype:"view as chart",id:this.id,idx:t};if(this.of===undefined)return{mid:"E_ELEM_MISSING",...i,reftype:"element",name:"of"};if(this.against.of===undefined)return{mod:"E_ELEM_MISSING",...i,reftype:"element",name:"of in against"};const e=this.model.elementById(this.against.of)||this.model[this.against.of];const s=this.model.elementById(this.of)||this.model[this.of];if(!e)return{mid:"E_ELEM_INVALID_REF",...i,reftype:"element",name:this.against.of};if(!s)return{mid:"E_ELEM_INVALID_REF",...i,reftype:"element",anme:this.of};if(this.show&&!(this.show in s))return{mid:"E_ALY_INVALID_PROP",...i,reftype:this.of,name:this.show};if(this.against.show&&!(this.against.show in e))return{mid:"E_ALY_INVALID_PROP",...i,reftype:this.against.of,name:this.against.show};return false},elem(t){const i=this.model.elementById(t.of)||this.model[t.of]||undefined;return i?i[t.show]:undefined},aly(t){return mec.aly[t.show]||{get scl(){return 1},type:"num",name:t.show,unit:t.unit||""}},getAxis({show:t,of:i}){const e=()=>this.model.env.show.txtColor;const s=`${t} ${i!=="timer"?`of ${i}`:""} [ ${this.aly({show:t,of:i}).unit} ]`;return{title:{text:s,style:{font:"12px serif",fs:e}},labels:{style:{fs:e}},origin:true,grid:true}},init(t,i){this.model=t;this.mode=this.mode||"static";this.canvas=this.canvas||false;this.t0=this.t0||0;this.Dt=this.Dt||1;this.against=Object.assign({show:"t",of:"timer"},{...this.against});if(!this.model.notifyValid(this.validate(i))){return}this.graph=Object.assign({x:0,y:0,funcs:[{data:[]}],xaxis:Object.assign(this.getAxis(this.against)),yaxis:Object.assign(this.getAxis(this))},this)},get local_t(){if(this.mode!=="preview"){return undefined}const t=this.model.inputControlledDrives[0]&&this.model.inputControlledDrives[0].constraint;if(!t){return undefined}if(t.ori.type==="drive"){return t.ori.t()}else if(t.len.type==="drive"){return t.len.t()}},get currentY(){return this.aly(this).scl*this.elem(this)},get currentX(){return this.aly(this.against).scl*this.elem(this.against)},get previewNod(){const t=this.graph.funcs[0].data;if(this.mode!=="preview"||!this.graph.xAxis||this.model.env.editing){return undefined}const i=t.findIndex(t=>t.t>this.local_t);return i===-1?{x:0,y:0,scl:0}:{...this.graph.pntOf(t[i]||{x:0,y:0}),scl:1}},dependsOn(t){return this.against.of===t||this.of===t},addPoint(){const t=this.graph.funcs[0].data;if(this.t0>=this.model.timer.t){return}const i=this.model.timer.t<=this.t0+(this.Dt||0);if(this.mode!=="dynamic"&&!i){return}t.push({x:this.currentX,y:this.currentY,t:this.local_t});i||t.shift();const e=this.graph;[e.xmin,e.xmax,e.ymin,e.ymax]=[]},preview(){if(this.mode==="preview"){this.addPoint()}},reset(t){if(this.graph&&(t||this.mode!=="preview")){this.graph.funcs[0].data=[]}},post(){if(this.mode!=="preview"){this.addPoint()}},asJSON(){return JSON.stringify({as:this.as,id:this.id,canvas:this.canvas,x:this.x,y:this.y,b:this.b,h:this.h,t0:this.t0,Dt:this.Dt,mode:this.mode,cnv:this.cnv,against:this.against,show:this.show,of:this.of})},draw(t){if(!this.canvas){t.chart(this.graph);if(this.mode==="preview"){t.nod({x:()=>this.previewNod.x,y:()=>this.previewNod.y,scl:()=>this.previewNod.scl})}return t}}};
/**
 * mec.shape (c) 2018 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.node.js
 * @requires mec.constraint.js
 * @requires mec.model.js
 * @requires g2.js
 */
"use strict";mec.shape={extend(t){if(t.type&&mec.shape[t.type]){Object.setPrototypeOf(t,mec.shape[t.type]);t.constructor()}return t}};mec.shape.fix={validate(t){if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"shape",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"shape",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=this.w0||0},dependsOn(t){return this.p===t},asJSON(){return'{ "type":"'+this.type+'","p":"'+this.p.id+'"'+(this.w0&&this.w0>1e-4?',"w0":'+this.w0:"")+" }"},draw(t){t.nodfix({x:()=>this.p.x,y:()=>this.p.y,w:this.w0||0})}},mec.shape.flt={validate(t){if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"shape",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"shape",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=this.w0||0},dependsOn(t){return this.p===t},asJSON(){return'{ "type":"'+this.type+'","p":"'+this.p.id+'"'+(this.w0&&this.w0>1e-4?',"w0":'+this.w0:"")+" }"},draw(t){t.nodflt({x:()=>this.p.x,y:()=>this.p.y,w:this.w0||0})}};mec.shape.slider={validate(t){if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"slider",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"slider",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref&&!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"slider",id:this.id,idx:t,reftype:"constraint",name:this.wref};else this.wref=this.model.constraintById(this.wref);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=this.w0||0},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","p":"'+this.p.id+'"'+(this.w0&&this.w0>1e-4?',"w0":'+this.w0:"")+(this.wref?',"wref":"'+this.wref.id+'"':"")+" }"},draw(t){const i=this.wref?()=>this.wref.w:this.w0||0;t.beg({x:()=>this.p.x,y:()=>this.p.y,w:i}).rec({x:-16,y:-10,b:32,h:20,ls:"@nodcolor",fs:"@linkfill",lw:1,lj:"round"}).end()}};mec.shape.bar={validate(t){if(this.p1===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"bar",id:this.id,idx:t,reftype:"node",name:"p1"};if(!this.model.nodeById(this.p1))return{mid:"E_ELEM_INVALID_REF",elemtype:"bar",id:this.id,idx:t,reftype:"node",name:this.p1};else this.p1=this.model.nodeById(this.p1);if(this.p2===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"bar",id:this.id,idx:t,reftype:"node",name:"p2"};if(!this.model.nodeById(this.p2))return{mid:"E_ELEM_INVALID_REF",elemtype:"bar",id:this.id,idx:t,reftype:"node",name:this.p2};else this.p2=this.model.nodeById(this.p2);return false},init(t,i){this.model=t;this.model.notifyValid(this.validate(i))},dependsOn(t){return this.p1===t||this.p2===t},asJSON(){return'{ "type":"'+this.type+'","p1":"'+this.p1.id+'","p2":"'+this.p2.id+'" }'},draw(t){const i=()=>this.p1.x,e=()=>this.p1.y,s=()=>this.p2.x,r=()=>this.p2.y;t.lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodcolor",lw:8,lc:"round"}).lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodfill2",lw:5.5,lc:"round"}).lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodfill",lw:3,lc:"round"})}};mec.shape.beam={validate(t){if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"beam",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"beam",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"beam",id:this.id,idx:t,reftype:"constraint",name:"wref"};if(!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"beam",id:this.id,idx:t,reftype:"constraint",name:this.wref};else this.wref=this.model.constraintById(this.wref);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.len=this.len||100},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","p":"'+this.p.id+'","wref":"'+this.wref.id+'","len":"'+this.len+'" }'},draw(t){const i=()=>this.p.x,e=()=>this.p.y,s=()=>this.p.x+this.len*Math.cos(this.wref.w),r=()=>this.p.y+this.len*Math.sin(this.wref.w);t.lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodcolor",lw:8,lc:"round"}).lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodfill2",lw:5.5,lc:"round"}).lin({x1:i,y1:e,x2:s,y2:r,ls:"@nodfill",lw:3,lc:"round"})}};mec.shape.wheel={validate(t){if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"wheel",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"wheel",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"wheel",id:this.id,idx:t,reftype:"constraint",name:"wref"};if(!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"wheel",id:this.id,idx:t,reftype:"constraint",name:this.wref};else this.wref=this.model.constraintById(this.wref);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=this.w0||0;this.r=this.r||20},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","p":"'+this.p.id+'","r":'+this.r+(this.w0&&this.w0>1e-4?',"w0":'+this.w0:"")+(this.wref?',"wref":"'+this.wref.id+'"':"")+" }"},draw(t){const i=this.wref?()=>this.wref.w:this.w0||0,e=this.r,s=Math.sin(2*Math.PI/3),r=Math.cos(2*Math.PI/3);t.beg({x:()=>this.p.x,y:()=>this.p.y,w:i}).lin({x1:0,y1:0,x2:e-4,y2:0,ls:"@nodcolor",lw:8,lc:"round"}).lin({x1:0,y1:0,x2:e-4,y2:0,ls:"@nodfill2",lw:5.5,lc:"round"}).lin({x1:0,y1:0,x2:e-4,y2:0,ls:"@nodfill",lw:3,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:(e-4)*s,ls:"@nodcolor",lw:8,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:(e-4)*s,ls:"@nodfill2",lw:5.5,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:(e-4)*s,ls:"@nodfill",lw:3,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:-(e-4)*s,ls:"@nodcolor",lw:8,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:-(e-4)*s,ls:"@nodfill2",lw:5.5,lc:"round"}).lin({x1:0,y1:0,x2:(e-4)*r,y2:-(e-4)*s,ls:"@nodfill",lw:3,lc:"round"}).cir({x:0,y:0,r:e-2.5,ls:"#e6e6e6",fs:"transparent",lw:5}).cir({x:0,y:0,r:e,ls:"@nodcolor",fs:"transparent",lw:1}).cir({x:0,y:0,r:e-5,ls:"@nodcolor",fs:"transparent",lw:1}).end()}};mec.shape.poly={validate(t){if(this.pts===undefined)return{mid:"E_POLY_PTS_MISSING",id:this.id,idx:t};if(this.pts.length<2)return{mid:"E_POLY_PTS_INVALID",id:this.id,idx:t};if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"polygon",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"polygon",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"polygon",id:this.id,idx:t,reftype:"constraint",name:"wref"};if(!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"polygon",id:this.id,idx:t,reftype:"constraint",name:this.wref};else this.wref=this.model.constraintById(this.wref);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.fill=this.fill||"#aaaaaa88";this.stroke=this.stroke||"transparent"},get x0(){return this.p.x0},get y0(){return this.p.y0},get w0(){return this.wref.w0},get w(){return this.wref.w-this.wref.w0},get x(){const t=this.wref.w-this.wref.w0;return this.p.x-Math.cos(t)*this.p.x0+Math.sin(t)*this.p.y0},get y(){const t=this.wref.w-this.wref.w0;return this.p.y-Math.sin(t)*this.p.x0-Math.cos(t)*this.p.y0},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","pts":'+JSON.stringify(this.pts)+',"p":"'+this.p.id+'"'+(this.wref?',"wref":"'+this.wref.id+'"':"")+(this.w0&&this.w0>1e-4&&!(this.wref.w0===this.w0)?',"w0":'+this.w0:"")+(this.stroke&&!(this.stroke==="transparent")?',"stroke":"'+this.stroke+'"':"")+(this.fill&&!(this.fill==="#aaaaaa88")?',"fill":"'+this.fill+'"':"")+" }"},draw(t){t.ply({pts:this.pts,closed:true,x:()=>this.x,y:()=>this.y,w:()=>this.w,fs:this.fill,ls:this.stroke})}};mec.shape.img={validate(t){if(this.uri===undefined)return{mid:"E_IMG_URI_MISSING",id:this.id,idx:t};if(this.p===undefined)return{mid:"E_ELEM_REF_MISSING",elemtype:"image",id:this.id,idx:t,reftype:"node",name:"p"};if(!this.model.nodeById(this.p))return{mid:"E_ELEM_INVALID_REF",elemtype:"image",id:this.id,idx:t,reftype:"node",name:this.p};else this.p=this.model.nodeById(this.p);if(this.wref&&!this.model.constraintById(this.wref))return{mid:"E_ELEM_INVALID_REF",elemtype:"image",id:this.id,idx:t,reftype:"constraint",name:this.wref};else this.wref=this.model.constraintById(this.wref);return false},init(t,i){this.model=t;if(!this.model.notifyValid(this.validate(i)))return;this.w0=this.w0||0;this.xoff=this.xoff||0;this.yoff=this.yoff||0;this.scl=this.scl||1},dependsOn(t){return this.p===t||this.wref===t},asJSON(){return'{ "type":"'+this.type+'","uri":"'+this.uri+'","p":"'+this.p.id+'"'+(this.wref?',"wref":"'+this.wref.id+'"':"")+(this.w0&&Math.abs(this.w0)>1e-4?',"w0":'+this.w0:"")+(this.xoff&&Math.abs(this.xoff)>1e-4?',"xoff":'+this.xoff:"")+(this.yoff&&Math.abs(this.yoff)>1e-4?',"yoff":'+this.yoff:"")+(this.scl&&Math.abs(this.scl-1)>1e-4?',"scl":'+this.scl:"")+" }"},draw(t){const i=this.w0||0,e=this.wref?()=>this.wref.w+i:i;t.img({uri:this.uri,x:()=>this.p.x,y:()=>this.p.y,w:e,scl:this.scl,xoff:this.xoff,yoff:this.yoff})}};
/**
 * mec.model (c) 2018-19 Stefan Goessner
 * @license MIT License
 * @requires mec.core.js
 * @requires mec.node.js
 * @requires mec.constraint.js
 * @requires mec.drive.js
 * @requires mec.load.js
 * @requires mec.view.js
 * @requires mec.shape.js
 */
"use strict";mec.model={extend(t,i=mec){Object.setPrototypeOf(t,this.prototype);t.constructor(i);return t},prototype:{constructor(t){this.env=t;if(t!==mec&&!t.show)this.env.show=Object.create(Object.getPrototypeOf(mec.show),Object.getOwnPropertyDescriptors(mec.show));this.showInfo={nodes:this.env.show.nodeInfo,constraints:this.env.show.constraintInfo,loads:false};this.state={valid:true,itrpos:0,itrvel:0,preview:false};this.timer={t:0,dt:1/60,sleepMin:1};if(!this.nodes)this.nodes=[];if(!this.constraints)this.constraints=[];if(!this.loads)this.loads=[];if(!this.views)this.views=[];if(!this.shapes)this.shapes=[];for(const t of this.nodes)mec.node.extend(t);for(const t of this.constraints)mec.constraint.extend(t);for(const t of this.loads)mec.load.extend(t);for(const t of this.views)mec.view.extend(t);for(const t of this.shapes)mec.shape.extend(t)},init(){if(this.gravity===true)this.gravity=Object.assign({},mec.gravity,{active:true});else if(!this.gravity)this.gravity=Object.assign({},mec.gravity,{active:false});if(!this.tolerance)this.tolerance="medium";this.state.valid=true;for(let t=0;t<this.nodes.length&&this.valid;t++)this.nodes[t].init(this,t);for(let t=0;t<this.constraints.length&&this.valid;t++)if(!this.constraints[t].initialized)this.constraints[t].init(this,t);for(let t=0;t<this.loads.length&&this.valid;t++)this.loads[t].init(this,t);for(let t=0;t<this.views.length&&this.valid;t++)this.views[t].init(this,t);for(let t=0;t<this.shapes.length&&this.valid;t++)this.shapes[t].init(this,t);return this},notifyValid(t){if(t){this.state.msg=t;return this.state.valid=t.mid[0]!=="E"}return true},reset(){this.timer.t=0;this.timer.sleepMin=1;Object.assign(this.state,{valid:true,itrpos:0,itrvel:0});for(const t of this.nodes)t.reset();for(const t of this.constraints)t.reset();for(const t of this.loads)t.reset();for(const t of this.views)t.reset();return this},preview(){let t=false,i=0;for(const e of this.views){if(e.mode==="preview"){i=e.t0+e.Dt;e.reset(t=true)}}if(t){this.reset();this.state.preview=true;this.timer.dt=1/30;for(this.timer.t=0;this.timer.t<=i;this.timer.t+=this.timer.dt){this.pre().itr().post();for(const t of this.views)if(t.preview)t.preview()}this.timer.dt=1/60;this.state.preview=false;this.reset()}return this},asm(){let t=this.asmPos();t=this.asmVel()&&t;return this},pose(){return this.asmPos()},tick(t){this.timer.t+=this.timer.dt=1/60;this.pre().itr().post();return this},stop(){for(const t of this.nodes)t.xt=t.yt=t.xtt=t.ytt=0;return this},get dof(){let t=0;for(const i of this.nodes)t+=i.dof;for(const i of this.constraints)t-=2-i.dof;return t},get hasGravity(){return this.gravity.active},get valid(){return this.state.valid},set valid(t){this.state.valid=t},get msg(){return this.state.msg},get info(){if(this.showInfo.nodes)for(const t of this.nodes)if(t.showInfo)return t.info(this.showInfo.nodes);if(this.showInfo.constraints)for(const t of this.constraints)if(t.showInfo)return t.info(this.showInfo.constraints)},get itrpos(){return this.state.itrpos},set itrpos(t){this.state.itrpos=t},get itrvel(){return this.state.itrvel},set itrvel(t){this.state.itrvel=t},set sleepMinDelta(t){this.timer.sleepMin=this.timer.t+t},get isSleeping(){let t=this.timer.t>this.timer.sleepMin;if(t)for(const i of this.nodes)t=t&&i.isSleeping;return t},get activeDriveCount(){let t=0;for(const i of this.constraints)t+=i.activeDriveCount(this.timer.t);return t},get hasActiveDrives(){return this.activeDriveCount>0},get inputControlledDrives(){const t=[];for(const i of this.constraints){if(i.ori.type==="drive"&&i.ori.input)t.push({constraint:i,sub:"ori"});if(i.len.type==="drive"&&i.len.input)t.push({constraint:i,sub:"len"})}return t},get isActive(){return this.activeDriveCount>0||this.dof>0&&!this.isSleeping},get energy(){var t=0;for(const i of this.nodes)t+=i.energy;for(const i of this.loads)t+=i.energy;return t},get cog(){var t={x:0,y:0},i=0;for(const e of this.nodes){if(!e.base){t.x+=e.x*e.m;t.y+=e.y*e.m;i+=e.m}}t.x/=i;t.y/=i;return t},hasDependents(t){let i=false;for(const e of this.constraints)i=e.dependsOn(t)||i;for(const e of this.loads)i=e.dependsOn(t)||i;for(const e of this.views)i=e.dependsOn(t)||i;for(const e of this.shapes)i=e.dependsOn(t)||i;return i},dependentsOf(t,i){i=i||{constraints:[],loads:[],views:[],shapes:[]};for(const e of this.constraints)if(e.dependsOn(t)){this.dependentsOf(e,i);i.constraints.push(e)}for(const e of this.loads)if(e.dependsOn(t))i.loads.push(e);for(const e of this.views)if(e.dependsOn(t))i.views.push(e);for(const e of this.shapes)if(e.dependsOn(t))i.shapes.push(e);return i},purgeElements(t){for(const i of t.constraints)this.constraints.splice(this.constraints.indexOf(i),1);for(const i of t.loads)this.loads.splice(this.loads.indexOf(i),1);for(const i of t.views)this.views.splice(this.views.indexOf(i),1);for(const i of t.shapes)this.shapes.splice(this.shapes.indexOf(i),1)},elementById(t){return this.nodeById(t)||this.constraintById(t)||this.loadById(t)||this.viewById(t)||t==="model"&&this},addNode(t){this.nodes.push(t)},nodeById(t){for(const i of this.nodes)if(i.id===t)return i;return false},removeNode(t){const i=this.hasDependents(t);if(!i)this.nodes.splice(this.nodes.indexOf(t),1);return!i},purgeNode(t){this.purgeElements(this.dependentsOf(t));this.nodes.splice(this.nodes.indexOf(t),1)},addConstraint(t){this.constraints.push(t)},constraintById(t){for(const i of this.constraints)if(i.id===t)return i;return false},removeConstraint(t){const i=this.hasDependents(t);if(!i)this.constraints.splice(this.constraints.indexOf(t),1);return!i},purgeConstraint(t){this.purgeElements(this.dependentsOf(t));this.constraints.splice(this.constraints.indexOf(t),1)},addLoad(t){this.loads.push(t)},loadById(t){for(const i of this.loads)if(i.id===t)return i;return false},removeLoad(t){const i=this.hasDependents(t);if(!i)this.loads.splice(this.loads.indexOf(t),1);return!i},purgeLoad(t){this.purgeElements(this.dependentsOf(t));this.loads.splice(this.loads.indexOf(t),1)},addShape(t){this.shapes.push(t)},removeShape(t){const i=this.shapes.indexOf(t);if(i>=0)this.shapes.splice(i,1)},purgeShape(t){this.purgeElements(this.dependentsOf(t));this.shapes.splice(this.shapes.indexOf(t),1)},addView(t){this.views.push(t)},viewById(t){for(const i of this.views)if(i.id===t)return i;return false},removeView(t){const i=this.views.indexOf(t);if(i>=0)this.views.splice(i,1)},purgeView(t){this.purgeElements(this.dependentsOf(t));this.views.splice(this.views.indexOf(t),1)},asJSON(){const t=this.nodes.length;const i=this.constraints.length;const e=this.loads.length;const s=this.shapes.length;const r=this.views.length;const h=(t,i)=>t<i-1?",":"";const n="{"+'\n  "id":"'+this.id+'"'+(this.title?',\n  "title":"'+this.title+'"':"")+(this.gravity.active?',\n  "gravity":true':"")+(t?',\n  "nodes": [\n':"\n")+(t?this.nodes.map((i,e)=>"    "+i.asJSON()+h(e,t)+"\n").join(""):"")+(t?i||e||s||r?"  ],\n":"  ]\n":"")+(i?'  "constraints": [\n':"")+(i?this.constraints.map((t,e)=>"    "+t.asJSON()+h(e,i)+"\n").join(""):"")+(i?e||s||r?"  ],\n":"  ]\n":"")+(e?'  "loads": [\n':"")+(e?this.loads.map((t,i)=>"    "+t.asJSON()+h(i,e)+"\n").join(""):"")+(e?s||r?"  ],\n":"  ]\n":"")+(s?'  "shapes": [\n':"")+(s?this.shapes.map((t,i)=>"    "+t.asJSON()+h(i,s)+"\n").join(""):"")+(s?r?"  ],\n":"  ]\n":"")+(r?'  "views": [\n':"")+(r?this.views.map((t,i)=>"    "+t.asJSON()+h(i,r)+"\n").join(""):"")+(r?"  ]\n":"")+"}";return n},applyLoads(){for(const t of this.nodes){t.Qx=t.Qy=0;if(!t.base&&this.hasGravity){t.Qx=t.m*mec.from_m(this.gravity.x);t.Qy=t.m*mec.from_m(this.gravity.y)}}for(const t of this.loads)t.apply();return this},asmPos(){let t=false;this.itrpos=0;while(!t&&this.itrpos++<mec.asmItrMax){t=this.posStep()}return this.valid=t},posStep(){let t=true;for(const i of this.constraints)t=i.posStep()&&t;return t},asmVel(){let t=false;this.itrvel=0;while(!t&&this.itrvel++<mec.asmItrMax)t=this.velStep();return this.valid=t},velStep(){let t=true;for(const i of this.constraints){t=i.velStep(this.timer.dt)&&t}return t},pre(){for(const t of this.nodes)t.pre_0();for(const t of this.loads)t.apply();for(const t of this.nodes)t.pre(this.timer.dt);for(const t of this.constraints)t.pre(this.timer.dt);this.asmPos(this.timer.dt);for(const t of this.views)if(t.pre)t.pre(this.timer.dt);return this},itr(){if(this.valid)this.asmVel();return this},post(){for(const t of this.nodes)t.post(this.timer.dt);for(const t of this.constraints)t.post(this.timer.dt);for(const t of this.views)if(t.post)t.post(this.timer.dt);return this},draw(t){for(const i of this.shapes)i.draw(t);for(const i of this.views)i.draw(t);for(const i of this.constraints)i.draw(t);for(const i of this.loads)i.draw(t);for(const i of this.nodes)i.draw(t);return this}}};
/**
 * mec.msg.en (c) 2018 Stefan Goessner
 * @license MIT License
 */
"use strict";mec.msg.en={U_SEL_SECOND_NODE:()=>`Select second node.`,W_CSTR_NODES_COINCIDE:({cstr:t,p1:i,p2:e})=>`Warning: Nodes '${i}' and '${e}' of constraint '${t}' coincide.`,E_ELEM_ID_MISSING:({elemtype:t,idx:i})=>`${t} with index ${i} must have an id defined.`,E_ELEM_ID_AMBIGIOUS:({elemtype:t,id:i})=>`${t} id '${i}' is ambigious.`,W_ELEM_ID_MISSING:({elemtype:t,idx:i})=>`${t} with index ${i} should have an id defined.`,E_ELEM_REF_MISSING:({elemtype:t,id:i,idx:e,reftype:s,name:r})=>`${t} ${i?"'"+i+"'":"["+e+"]"} must have a ${s} reference '${r}' defined.`,E_ELEM_INVALID_REF:({elemtype:t,id:i,idx:e,reftype:s,name:r})=>`${s} reference '${r}' of ${t} ${i?"'"+i+"'":"["+e+"]"} is invalid.`,E_NODE_MASS_TOO_SMALL:({id:t,m:i})=>`Node's (id='${t}') mass of ${i} is too small.`,E_CSTR_NODE_MISSING:({id:t,loc:i,p:e})=>`${i} node '${e}' of constraint (id='${t}') is missing.`,E_CSTR_NODE_NOT_EXISTS:({id:t,loc:i,p:e,nodeId:s})=>`${i} node '${e}':'${s}' of constraint '${t}' does not exist.`,E_CSTR_REF_NOT_EXISTS:({id:t,sub:i,ref:e})=>`Reference to '${e}' in '${i} of constraint '${t}' does not exist.`,E_CSTR_DRIVEN_REF_TO_FREE:({id:t,sub:i,ref:e,reftype:s})=>`Driven ${i} constraint of '${t}' must not reference free ${s} of constraint '${e}'.`,W_CSTR_RATIO_IGNORED:({id:t,sub:i,ref:e,reftype:s})=>`Ratio value of driven ${i} constraint '${t}' with reference to '${s}' constraint '${e}' ignored.`,E_FORCE_VALUE_INVALID:({id:t,val:i})=>`Force value '${i}' of load '${t}' is not allowed.`,E_SPRING_RATE_INVALID:({id:t,val:i})=>`Spring rate '${i}' of load '${t}' is not allowed.`,E_POLY_PTS_MISSING:({id:t,idx:i})=>`Polygon shape ${t?"'"+t+"'":"["+i+"]"} must have a points array 'pts' defined.`,E_POLY_PTS_INVALID:({id:t,idx:i})=>`Polygon shape ${t?"'"+t+"'":"["+i+"]"} must have a points array 'pts' with at least two points defined.`,E_IMG_URI_MISSING:({id:t,idx:i})=>`Image shape ${t?"'"+t+"'":"["+i+"]"} must have an uniform resource locator 'uri' defined.`,E_ALY_REF_MISSING:({id:t,idx:i})=>({elemtype:t,id:i,idx:e,reftype:s,name:r})=>`${t} ${i?"'"+i+"'":"["+e+"]"} must have with '${r}' an existing property name of a ${s} specified. One of ${keys} are supported.`,E_ALY_REF_INVALID:({id:t,idx:i})=>({elemtype:t,id:i,idx:e,reftype:s,name:r})=>`${t} ${i?"'"+i+"'":"["+e+"]"} has with '${r}' an invalid property name of a ${s} specified. One of ${keys} are supported.`};