motor drivers

5 files changed, 620 insertions, 995 deletions

diff --git a/debug/IMU_comp/IMU_comp.ino b/debug/IMU_comp/IMU_comp.ino
index 40d99b6..0c3928d 100644
--- a/debug/IMU_comp/IMU_comp.ino
+++ b/debug/IMU_comp/IMU_comp.ino
@@ -1,11 +1,9 @@
-//https://www.pololu.com/product/2862
 #include <Wire.h>
 #include <LIS3MDL.h>
+#include <math.h>
 
 LIS3MDL mag;
 
-char report[80];
-
 void setup()
 {
   Serial.begin(9600);
@@ -24,9 +22,24 @@ void loop()
 {
   mag.read();
 
-  snprintf(report, sizeof(report), "M: %6d %6d %6d",
-    mag.m.x, mag.m.y, mag.m.z);
-  Serial.println(report);
+  // Calculate heading
+  float heading = atan2(mag.m.y, mag.m.x);
+  if (heading < 0)
+    heading += 2 * PI; // Normalize heading to positive angles
+
+  // Convert from radians to degrees
+  float headingDegrees = heading * 180.0 / PI;
+
+  // Adjust for magnetic declination if needed
+  // headingDegrees += magneticDeclination;
+
+  // Normalize headingDegrees to [0, 360) range
+  if (headingDegrees >= 360.0)
+    headingDegrees -= 360.0;
+
+  // Print heading
+  Serial.print("Heading: ");
+  Serial.println(headingDegrees);
 
   delay(100);
 }
diff --git a/debug/motordriver/kiwidrive_calc.svg b/debug/motordriver/kiwidrive_calc.svg
new file mode 100644
index 0000000..3ca09e2
--- /dev/null
+++ b/debug/motordriver/kiwidrive_calc.svg
@@ -0,0 +1,323 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="210mm"
+   height="297mm"
+   viewBox="0 0 210 297"
+   version="1.1"
+   id="svg8"
+   inkscape:version="1.0.2 (e86c870879, 2021-01-15)"
+   sodipodi:docname="kiwidrive_calc.svg">
+  <defs
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+     inkscape:window-y="0"
+     inkscape:window-maximized="1" />
+  <metadata
+     id="metadata5">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
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diff --git a/debug/motordriver/nomultiplexer/nomultiplexer.ino b/debug/motordriver/nomultiplexer/nomultiplexer.ino
index d2800a8..4ca1ca8 100644
--- a/debug/motordriver/nomultiplexer/nomultiplexer.ino
+++ b/debug/motordriver/nomultiplexer/nomultiplexer.ino
@@ -2,25 +2,29 @@
 //https://www.pololu.com/product/2997
 //https://www.pololu.com/product/4861
 //
-// motor one
-int m1penA = 1;
+// motor one/A  front
+int m1enA = 1;
 int m1enB = 2;
 int m1pwm1 = 3;
 int m1pwm2 = 4;
 int m1encA = 13;
 int m1encB = 14;
-// motor two
+// motor two/B  left
 int m2enA = 5;
 int m2enB = 6;
 int m2pwm1 = 7;
 int m2pwm2 = 8;
-// motor three
+int m2encA = 15;
+int m2encB = 16;
+// motor three/C    right
 int m3enA = 9;
 int m3enB = 10;
 int m3pwm1 = 11;
 int m3pwm2 = 12;
+int m3encA = 17;
+int m3encB = 18;
 
-int sp = 160;
+double sp = 1.000; //speed in 0-1
 
 double dirA = 0.00;
 double dirB = 0.00;
@@ -29,6 +33,23 @@ double spdA = 0.00;
 double spdB = 0.00;
 double spdC = 0.00;
 double dirrad = 0.00;
+double pi = 3.1415926535897;
+
+double Arpm = 0.00;
+volatile long Aencount = 0;
+unsigned long ALtime = 0;
+unsigned long ACtime = 0;
+unsigned long APtime = 0;
+double Brpm = 0.00;
+volatile long Bencount = 0;
+unsigned long BLtime = 0;
+unsigned long BCtime = 0;
+unsigned long BPtime = 0;
+double Crpm = 0.00;
+volatile long Cencount = 0;
+unsigned long CLtime = 0;
+unsigned long CCtime = 0;
+unsigned long CPtime = 0;
 
 void setup()
 {
@@ -47,146 +68,189 @@ void setup()
  pinMode(m3pwm1, OUTPUT);
  pinMode(m3pwm2, OUTPUT);
 
+ //set encoder pins to input
  pinMode(m1encA, INPUT);
  pinMode(m1encB, INPUT);
+ pinMode(m2encA, INPUT);
+ pinMode(m2encB, INPUT);
+ pinMode(m3encA, INPUT);
+ pinMode(m3encB, INPUT);
+ attachInterrupt(digitalPinToInterrupt(m1encA), AencoderISR, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(m1encB), AencoderISR, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(m2encA), BencoderISR, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(m2encB), BencoderISR, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(m3encA), CencoderISR, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(m3encB), CencoderISR, CHANGE);
+}
+
+void AencoderISR() {
+  Aencount++;
+}
+void BencoderISR() {
+  Bencount++;
+}
+void CencoderISR() {
+  Cencount++;
+}
+void Areadenc() {
+  ACtime = micros();
+  APtime = ACtime - ALtime;
+  ALtime = ACtime;
+  Arpm = (Aencount / 211.2) * (60000000.0 / APtime);
+  Serial.print("Motor A RPM: ");
+  Serial.print(Arpm);
+  Serial.print("    Sample period:");
+  Serial.print(APtime);
+  Serial.print("ms, encoder count:");
+  Serial.println(Aencount);
+  Aencount = 0;
+}
+void Breadenc() {
+  BCtime = micros();
+  BPtime = BCtime - BLtime;
+  BLtime = BCtime;
+  Brpm = (Bencount / 211.2) * (60000000.0 / BPtime);
+  Serial.print("Motor B RPM: ");
+  Serial.print(Brpm);
+  Serial.print("    Sample period: ");
+  Serial.print(BPtime);
+  Serial.print(" ms, encoder count: ");
+  Serial.println(Bencount);
+  Bencount = 0;
+}
+void Creadenc() {
+  CCtime = micros();
+  CPtime = CCtime - CLtime;
+  CLtime = CCtime;
+  Crpm = (Cencount / 211.2) * (60000000.0 / CPtime);
+  Serial.print("Motor C RPM: ");
+  Serial.print(Crpm);
+  Serial.print("    Sample period: ");
+  Serial.print(CPtime);
+  Serial.print(" ms, encoder count: ");
+  Serial.println(Cencount);
+  Cencount = 0;
 }
 
-void Amove(int sped){
+void Amove(double sped) {
+  spdA = abs(sped)*255;
   digitalWrite(m1enA, HIGH);
-  digitalWrite(m1enA, LOW);
-  sp = abs(sped);
+  digitalWrite(m1enB, LOW);
   if (sped < 0) {
-    Serial.print("back");
-    analogWrite(m1pwm1, sp);
-    digitalWrite(m1pwm2, LOW);
+    Serial.print("Motor A back ");
+    analogWrite(m1pwm1, spdA);
+    analogWrite(m1pwm2, 0);
   } else {
-    Serial.print("forward");
-    digitalWrite(m1pwm1, LOW);
-    analogWrite(m1pwm2, sp);
+    Serial.print("Motor A forward ");
+    analogWrite(m1pwm1, 0);
+    analogWrite(m1pwm2, spdA);
   } 
-  Serial.println(sp);
+  Serial.println(spdA);
 }
-void Bmove(int sped) {
-  Serial.print("moving B ");
+void Bmove(double sped) {
+  spdB = abs(sped)*255;
+  digitalWrite(m2enA, HIGH);
+  digitalWrite(m2enB, LOW);
   if (sped < 0) {
-    digitalWrite(in3, LOW);
-    digitalWrite(in4, HIGH);
-    Serial.print("back");
+    Serial.print("Motor B back ");
+    analogWrite(m2pwm1, spdB);
+    analogWrite(m2pwm2, 0);
   } else {
-    digitalWrite(in3, HIGH);
-    digitalWrite(in4, LOW);
-    Serial.print("forward");
+    Serial.print("Motor B forward ");
+    analogWrite(m2pwm1, 0);
+    analogWrite(m2pwm2, spdB);
   } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enB, sp);
-  Serial.println(sp);
+  Serial.println(spdB);
 }
-void Cmove(int sped) {
-  Serial.print("moving C ");
+void Cmove(double sped) {
+  spdC = abs(sped) * 255;
+  digitalWrite(m3enA, HIGH);
+  digitalWrite(m3enB, LOW);
   if (sped < 0) {
-    digitalWrite(in5, LOW);
-    digitalWrite(in6, HIGH);
-    Serial.print("back");
+    Serial.print("Motor C back ");
+    analogWrite(m3pwm1, spdC);
+    analogWrite(m3pwm2, 0);
   } else {
-    digitalWrite(in5, HIGH);
-    digitalWrite(in6, LOW);
-    Serial.print("forward");
+    Serial.print("Motor C forward ");
+    analogWrite(m3pwm1, 0);
+    analogWrite(m3pwm2, spdC);
   } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enC, sp);
-  Serial.println(sp);
-}
-
-void turnoff(){
-  Serial.println("stop");
-  analogWrite(enA, 0);
-  analogWrite(enB, 0);
-  analogWrite(enC, 0);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, LOW); 
-}
-void forward(int speed){
-  Serial.println("forward");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-}
-void turn(int speed){
-  Serial.println("turn");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, HIGH);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
+  Serial.println(spdC);
 }
 
 void moveohmi(int speed, int direction){
-  turnoff();
-  double dirrad = (direction*71) / 4068;
-  dirA = 1.047198-dirrad; 
-  dirB = 3.141593-dirrad;
-  dirC = 5.235988-dirrad;
-  spdA = speed*sin(dirA);
-  spdB = speed*sin(dirB);
-  spdC = speed*sin(dirC);
-  Amove(spdA);
-  Bmove(spdB);
-  Cmove(spdC);
-}
-void beddermoveohmi(int speed, int direction){
-  turnoff();
+  Amove(0);
+  Bmove(0);
+  Cmove(0);
 
-  double dirrad = (direction*71) / 4068;  
+  double dirrad = (direction*71.0000) / 4068.0000;  
   Serial.println(dirrad);
   //vector ontb in x en y
-  double x = sin(dirrad)*speed;
-  double y = cos(dirrad)*speed;
+  double y = sin(dirrad);
+  double x = cos(dirrad);
   Serial.println((String)"x:"+x+" y:"+y);
-  spdA = -0.5*x - sqrt(3)/2*y;
-  spdB = x;
-  spdC = -0.5*x + sqrt(3)/2*y;
-  Amove(spdA);
-  Bmove(spdB);
-  Cmove(spdC);
-
-  Serial.println(spdA);
-  Serial.println(spdB);
-  Serial.println(spdC);
+  double spdeA = y*speed;
+  double spdeB = (-0.500*x - sqrt(3.000)/2.000*y)*speed;
+  double spdeC = (-0.500*x + sqrt(3.000)/2.000*y)*speed;
+  Serial.println(spdeA);
+  Amove(spdeA);
+  Bmove(spdeB);
+  Cmove(spdeC);
   Serial.println();
   Serial.println();
 }
-void loop()
-{
+void rotate(int rodeg, int speed){
+//use compas heading
+}
+void demo(){
+  
+  Amove(sp);
+  Bmove(sp);
+  Cmove(sp); 
+  Serial.println("seperate A B C rotation");
   delay(1000);
-  turnoff();
-  beddermoveohmi(255, 0);
+  
+  Amove(0);
+  Bmove(0);
+  Cmove(0);
+  Serial.println("seperate A B C stop");
   delay(1000);
-  turnoff();
-  Amove(255);
+
+  Amove(-sp);
+  Bmove(-sp);
+  Cmove(-sp);
+  Serial.println("seperate A B C -rotation");
   delay(1000);
-  turnoff();
-  Bmove(255);
+
+  moveohmi(0, 0);
+  Serial.println("ohmi stop");
   delay(1000);
-  turnoff();
-  Cmove(255);
+
+  rotate(90, sp);
+  Serial.println("rotation function 90deg");
+  rotate(90, sp);
+  Serial.println("rotation function -90deg");
+  delay(1000);
+
+  moveohmi(sp, 35);
+  Serial.println("ohmi move 35deg");
   delay(1000);
-  turnoff();
-  turn(254);
+  
+  moveohmi(sp, 215);
+  Serial.println("ohmi move 215deg");
   delay(1000);
+
+  for(int i = 0; i<360; i++){
+    moveohmi(sp, i);
+    Serial.println(i);
+    delay(50);
+  }
+  Serial.println("ohmi move circle");
+  delay(1000);
+ 
+}
+void loop(){
+  demo();
+  delay(100);
+
 }
diff --git a/debug/motordriver/onemotor/onemotor.ino b/debug/motordriver/onemotor/onemotor.ino
new file mode 100644
index 0000000..f3d91e6
--- /dev/null
+++ b/debug/motordriver/onemotor/onemotor.ino
@@ -0,0 +1,88 @@
+#include <Arduino.h>
+
+int enA = 1;
+int enB = 2;
+int pwm1 = 3;
+int pwm2 = 4;
+int encoA = 5;
+int encoB = 6;
+
+int speed = 100; // speed 0-100
+
+double sp = 0.00;
+double rpm = 0.00;
+volatile long encount = 0;
+unsigned long Ltime = 0;
+unsigned long Ctime = 0;
+unsigned long Ptime = 0;
+
+void setup() {
+  pinMode(enA, OUTPUT);
+  pinMode(enB, OUTPUT);
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+
+  pinMode(encoA, INPUT_PULLUP);
+  pinMode(encoB, INPUT_PULLUP);
+
+  attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
+
+  Serial.begin(9600);
+}
+
+void encoderISR() {
+  encount++;
+}
+
+void readenc() {
+  Ctime = micros();
+  Ptime = Ctime - Ltime;
+  Ltime = Ctime;
+  rpm = (encount / 211.2) * (60000000.0 / Ptime);
+  Serial.print("RPM: ");
+  Serial.print(rpm);
+  Serial.print("    Sample period:");
+  Serial.print(Ptime);
+  Serial.print("ms, encoder count:");
+  Serial.println(encount);
+
+  encount = 0;
+}
+void resetenc(){
+  Ctime = micros();
+  Ltime = Ctime;
+  encount = 0;
+}
+
+void move(int sped) {
+  sp = abs(sped)*2.55;
+  digitalWrite(enA, HIGH);
+  digitalWrite(enB, LOW);
+  if (sped < 0) {
+    Serial.print("back ");
+    analogWrite(pwm1, sp);
+    analogWrite(pwm2, 0);
+  } else {
+    Serial.print("forward ");
+    analogWrite(pwm1, 0);
+    analogWrite(pwm2, sp);
+  } 
+  Serial.println(sp);
+}
+
+void loop() {
+  move(speed);
+  delay(1000);
+  readenc();
+
+  
+  move(0);
+  resetenc();
+  delay(1000);
+  readenc();
+
+  move(-speed);
+  delay(1000);
+  readenc();
+}
diff --git a/poster.svg b/poster.svg
index 7220852..a97eb3c 100644
--- a/poster.svg
+++ b/poster.svg
@@ -1529,9 +1529,9 @@
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          y="126.45893"><tspan>microconrtoller that </tspan></tspan><tspan
          x="194.47379"
          y="133.51448"><tspan>directs all components.</tspan></tspan></text>
-    <text
-       xml:space="preserve"
-       style="font-style:normal;font-weight:normal;font-size:5.43128px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.135782"
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-         x="279.3103"
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-         style="fill:#ffffff;fill-opacity:1;stroke-width:0.135782">Port multiplexer</tspan></text>
-    <text
-       xml:space="preserve"
-       style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;white-space:pre;inline-size:70.9774;fill:#ffffff;fill-opacity:1;stroke-width:0.264583"
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-       transform="matrix(0.51319367,0,0,0.51319367,183.75216,2.1346637)"><tspan
-         x="194.47379"
-         y="112.34783"><tspan>We are using the </tspan></tspan><tspan
-         x="194.47379"
-         y="119.40338"><tspan>MCP23017 as a IO </tspan></tspan><tspan
-         x="194.47379"
-         y="126.45893"><tspan>expander</tspan><tspan> becouse the </tspan></tspan><tspan
-         x="194.47379"
-         y="133.51448"><tspan>teensy does not have </tspan></tspan><tspan
-         x="194.47379"
-         y="140.57004"><tspan>enough ports. </tspan></tspan></text>
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s=0;s&lt;4;++s)e[s]=[],e[s][0]=n(t[0][s],t[1][s],t[2][s],t[3][s]),e[s][1]=[],e[s][1].push(...n(...e[s][0][0])),e[s][1].push(...n(...e[s][0][1])),e[s][2]=[],e[s][2].push(...n(...e[s][1][0])),e[s][2].push(...n(...e[s][1][1])),e[s][2].push(...n(...e[s][1][2])),e[s][2].push(...n(...e[s][1][3]));for(let t=0;t&lt;8;++t){s[t]=[];for(let r=0;r&lt;4;++r)s[t][r]=[],s[t][r][0]=n(e[0][2][t][r],e[1][2][t][r],e[2][2][t][r],e[3][2][t][r]),s[t][r][1]=[],s[t][r][1].push(...n(...s[t][r][0][0])),s[t][r][1].push(...n(...s[t][r][0][1])),s[t][r][2]=[],s[t][r][2].push(...n(...s[t][r][1][0])),s[t][r][2].push(...n(...s[t][r][1][1])),s[t][r][2].push(...n(...s[t][r][1][2])),s[t][r][2].push(...n(...s[t][r][1][3]))}for(let t=0;t&lt;8;++t){r[t]=[];for(let e=0;e&lt;8;++e)r[t][e]=[],r[t][e][0]=s[t][0][2][e],r[t][e][1]=s[t][1][2][e],r[t][e][2]=s[t][2][2][e],r[t][e][3]=s[t][3][2][e]}return r};class x{constructor(t,e){this.x=t||0,this.y=e||0}toString(){return`(x=${this.x}, y=${this.y})`}clone(){return new x(this.x,this.y)}add(t){return new x(this.x+t.x,this.y+t.y)}scale(t){return void 0===t.x?new x(this.x*t,this.y*t):new x(this.x*t.x,this.y*t.y)}distSquared(t){let e=this.x-t.x,s=this.y-t.y;return e*e+s*s}transform(t){let e=this.x*t.a+this.y*t.c+t.e,s=this.x*t.b+this.y*t.d+t.f;return new x(e,s)}}class g{constructor(t,e,s,r,n,o){void 0===t?(this.a=1,this.b=0,this.c=0,this.d=1,this.e=0,this.f=0):(this.a=t,this.b=e,this.c=s,this.d=r,this.e=n,this.f=o)}toString(){return`affine: ${this.a} ${this.c} ${this.e} \n       ${this.b} ${this.d} ${this.f}`}append(t){t instanceof g||console.error(&quot;mesh.js: argument to Affine.append is not affine!&quot;);let e=this.a*t.a+this.c*t.b,s=this.b*t.a+this.d*t.b,r=this.a*t.c+this.c*t.d,n=this.b*t.c+this.d*t.d,o=this.a*t.e+this.c*t.f+this.e,i=this.b*t.e+this.d*t.f+this.f;return new g(e,s,r,n,o,i)}}class w{constructor(t,e){this.nodes=t,this.colors=e}paintCurve(t,e){if(o(this.nodes)&gt;r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t&lt;4;++t)r[0][t]=this.colors[0][t],r[1][t]=(this.colors[0][t]+this.colors[1][t])/2,o[0][t]=r[1][t],o[1][t]=this.colors[1][t];let i=new w(s[0],r),a=new w(s[1],o);i.paintCurve(t,e),a.paintCurve(t,e)}else{let s=Math.round(this.nodes[0].x);if(s&gt;=0&amp;&amp;s&lt;e){let r=4*(~~this.nodes[0].y*e+s);t[r]=Math.round(this.colors[0][0]),t[r+1]=Math.round(this.colors[0][1]),t[r+2]=Math.round(this.colors[0][2]),t[r+3]=Math.round(this.colors[0][3])}}}}class m{constructor(t,e){this.nodes=t,this.colors=e}split(){let t=[[],[],[],[]],e=[[],[],[],[]],s=[[[],[]],[[],[]]],r=[[[],[]],[[],[]]];for(let s=0;s&lt;4;++s){const r=n(this.nodes[0][s],this.nodes[1][s],this.nodes[2][s],this.nodes[3][s]);t[0][s]=r[0][0],t[1][s]=r[0][1],t[2][s]=r[0][2],t[3][s]=r[0][3],e[0][s]=r[1][0],e[1][s]=r[1][1],e[2][s]=r[1][2],e[3][s]=r[1][3]}for(let t=0;t&lt;4;++t)s[0][0][t]=this.colors[0][0][t],s[0][1][t]=this.colors[0][1][t],s[1][0][t]=(this.colors[0][0][t]+this.colors[1][0][t])/2,s[1][1][t]=(this.colors[0][1][t]+this.colors[1][1][t])/2,r[0][0][t]=s[1][0][t],r[0][1][t]=s[1][1][t],r[1][0][t]=this.colors[1][0][t],r[1][1][t]=this.colors[1][1][t];return[new m(t,s),new m(e,r)]}paint(t,e){let s,n=!1;for(let t=0;t&lt;4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))&gt;r){n=!0;break}if(n){let s=this.split();s[0].paint(t,e),s[1].paint(t,e)}else{new w([...this.nodes[0]],[...this.colors[0]]).paintCurve(t,e)}}}class b{constructor(t){this.readMesh(t),this.type=t.getAttribute(&quot;type&quot;)||&quot;bilinear&quot;}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute(&quot;x&quot;)),n=Number(t.getAttribute(&quot;y&quot;));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t&lt;r;++t){e[3*t+1]=[],e[3*t+2]=[],e[3*t+3]=[],s[t+1]=[];let r=o[t].children;for(let n=0,o=r.length;n&lt;o;++n){let o=r[n].children;for(let r=0,i=o.length;r&lt;i;++r){let i=r;0!==t&amp;&amp;++i;let h,d=o[r].getAttribute(&quot;path&quot;),c=&quot;l&quot;;null!=d&amp;&amp;(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case&quot;l&quot;:0===i?(e[3*t][3*n+3]=u[0].add(e[3*t][3*n]),e[3*t][3*n+1]=a(e[3*t][3*n],e[3*t][3*n+3]),e[3*t][3*n+2]=a(e[3*t][3*n+3],e[3*t][3*n])):1===i?(e[3*t+3][3*n+3]=u[0].add(e[3*t][3*n+3]),e[3*t+1][3*n+3]=a(e[3*t][3*n+3],e[3*t+3][3*n+3]),e[3*t+2][3*n+3]=a(e[3*t+3][3*n+3],e[3*t][3*n+3])):2===i?(0===n&amp;&amp;(e[3*t+3][3*n+0]=u[0].add(e[3*t+3][3*n+3])),e[3*t+3][3*n+1]=a(e[3*t+3][3*n],e[3*t+3][3*n+3]),e[3*t+3][3*n+2]=a(e[3*t+3][3*n+3],e[3*t+3][3*n])):(e[3*t+1][3*n]=a(e[3*t][3*n],e[3*t+3][3*n]),e[3*t+2][3*n]=a(e[3*t+3][3*n],e[3*t][3*n]));break;case&quot;L&quot;:0===i?(e[3*t][3*n+3]=u[0],e[3*t][3*n+1]=a(e[3*t][3*n],e[3*t][3*n+3]),e[3*t][3*n+2]=a(e[3*t][3*n+3],e[3*t][3*n])):1===i?(e[3*t+3][3*n+3]=u[0],e[3*t+1][3*n+3]=a(e[3*t][3*n+3],e[3*t+3][3*n+3]),e[3*t+2][3*n+3]=a(e[3*t+3][3*n+3],e[3*t][3*n+3])):2===i?(0===n&amp;&amp;(e[3*t+3][3*n+0]=u[0]),e[3*t+3][3*n+1]=a(e[3*t+3][3*n],e[3*t+3][3*n+3]),e[3*t+3][3*n+2]=a(e[3*t+3][3*n+3],e[3*t+3][3*n])):(e[3*t+1][3*n]=a(e[3*t][3*n],e[3*t+3][3*n]),e[3*t+2][3*n]=a(e[3*t+3][3*n],e[3*t][3*n]));break;case&quot;c&quot;:0===i?(e[3*t][3*n+1]=u[0].add(e[3*t][3*n]),e[3*t][3*n+2]=u[1].add(e[3*t][3*n]),e[3*t][3*n+3]=u[2].add(e[3*t][3*n])):1===i?(e[3*t+1][3*n+3]=u[0].add(e[3*t][3*n+3]),e[3*t+2][3*n+3]=u[1].add(e[3*t][3*n+3]),e[3*t+3][3*n+3]=u[2].add(e[3*t][3*n+3])):2===i?(e[3*t+3][3*n+2]=u[0].add(e[3*t+3][3*n+3]),e[3*t+3][3*n+1]=u[1].add(e[3*t+3][3*n+3]),0===n&amp;&amp;(e[3*t+3][3*n+0]=u[2].add(e[3*t+3][3*n+3]))):(e[3*t+2][3*n]=u[0].add(e[3*t+3][3*n]),e[3*t+1][3*n]=u[1].add(e[3*t+3][3*n]));break;case&quot;C&quot;:0===i?(e[3*t][3*n+1]=u[0],e[3*t][3*n+2]=u[1],e[3*t][3*n+3]=u[2]):1===i?(e[3*t+1][3*n+3]=u[0],e[3*t+2][3*n+3]=u[1],e[3*t+3][3*n+3]=u[2]):2===i?(e[3*t+3][3*n+2]=u[0],e[3*t+3][3*n+1]=u[1],0===n&amp;&amp;(e[3*t+3][3*n+0]=u[2])):(e[3*t+2][3*n]=u[0],e[3*t+1][3*n]=u[1]);break;default:console.error(&quot;mesh.js: &quot;+c+&quot; invalid path type.&quot;)}if(0===t&amp;&amp;0===n||r&gt;0){let e=window.getComputedStyle(o[r]).stopColor.match(/^rgb\s*\(\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*\)$/i),a=window.getComputedStyle(o[r]).stopOpacity,h=255;a&amp;&amp;(h=Math.floor(255*a)),e&amp;&amp;(0===i?(s[t][n]=[],s[t][n][0]=Math.floor(e[1]),s[t][n][1]=Math.floor(e[2]),s[t][n][2]=Math.floor(e[3]),s[t][n][3]=h):1===i?(s[t][n+1]=[],s[t][n+1][0]=Math.floor(e[1]),s[t][n+1][1]=Math.floor(e[2]),s[t][n+1][2]=Math.floor(e[3]),s[t][n+1][3]=h):2===i?(s[t+1][n+1]=[],s[t+1][n+1][0]=Math.floor(e[1]),s[t+1][n+1][1]=Math.floor(e[2]),s[t+1][n+1][2]=Math.floor(e[3]),s[t+1][n+1][3]=h):3===i&amp;&amp;(s[t+1][n]=[],s[t+1][n][0]=Math.floor(e[1]),s[t+1][n][1]=Math.floor(e[2]),s[t+1][n][2]=Math.floor(e[3]),s[t+1][n][3]=h))}}e[3*t+1][3*n+1]=new x,e[3*t+1][3*n+2]=new x,e[3*t+2][3*n+1]=new x,e[3*t+2][3*n+2]=new x,e[3*t+1][3*n+1].x=(-4*e[3*t][3*n].x+6*(e[3*t][3*n+1].x+e[3*t+1][3*n].x)+-2*(e[3*t][3*n+3].x+e[3*t+3][3*n].x)+3*(e[3*t+3][3*n+1].x+e[3*t+1][3*n+3].x)+-1*e[3*t+3][3*n+3].x)/9,e[3*t+1][3*n+2].x=(-4*e[3*t][3*n+3].x+6*(e[3*t][3*n+2].x+e[3*t+1][3*n+3].x)+-2*(e[3*t][3*n].x+e[3*t+3][3*n+3].x)+3*(e[3*t+3][3*n+2].x+e[3*t+1][3*n].x)+-1*e[3*t+3][3*n].x)/9,e[3*t+2][3*n+1].x=(-4*e[3*t+3][3*n].x+6*(e[3*t+3][3*n+1].x+e[3*t+2][3*n].x)+-2*(e[3*t+3][3*n+3].x+e[3*t][3*n].x)+3*(e[3*t][3*n+1].x+e[3*t+2][3*n+3].x)+-1*e[3*t][3*n+3].x)/9,e[3*t+2][3*n+2].x=(-4*e[3*t+3][3*n+3].x+6*(e[3*t+3][3*n+2].x+e[3*t+2][3*n+3].x)+-2*(e[3*t+3][3*n].x+e[3*t][3*n+3].x)+3*(e[3*t][3*n+2].x+e[3*t+2][3*n].x)+-1*e[3*t][3*n].x)/9,e[3*t+1][3*n+1].y=(-4*e[3*t][3*n].y+6*(e[3*t][3*n+1].y+e[3*t+1][3*n].y)+-2*(e[3*t][3*n+3].y+e[3*t+3][3*n].y)+3*(e[3*t+3][3*n+1].y+e[3*t+1][3*n+3].y)+-1*e[3*t+3][3*n+3].y)/9,e[3*t+1][3*n+2].y=(-4*e[3*t][3*n+3].y+6*(e[3*t][3*n+2].y+e[3*t+1][3*n+3].y)+-2*(e[3*t][3*n].y+e[3*t+3][3*n+3].y)+3*(e[3*t+3][3*n+2].y+e[3*t+1][3*n].y)+-1*e[3*t+3][3*n].y)/9,e[3*t+2][3*n+1].y=(-4*e[3*t+3][3*n].y+6*(e[3*t+3][3*n+1].y+e[3*t+2][3*n].y)+-2*(e[3*t+3][3*n+3].y+e[3*t][3*n].y)+3*(e[3*t][3*n+1].y+e[3*t+2][3*n+3].y)+-1*e[3*t][3*n+3].y)/9,e[3*t+2][3*n+2].y=(-4*e[3*t+3][3*n+3].y+6*(e[3*t+3][3*n+2].y+e[3*t+2][3*n+3].y)+-2*(e[3*t+3][3*n].y+e[3*t][3*n+3].y)+3*(e[3*t][3*n+2].y+e[3*t+2][3*n].y)+-1*e[3*t][3*n].y)/9}}this.nodes=e,this.colors=s}paintMesh(t,e){let 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t=0;t&lt;4;++t)r[0][t]=this.colors[0][t],r[1][t]=(this.colors[0][t]+this.colors[1][t])/2,o[0][t]=r[1][t],o[1][t]=this.colors[1][t];let i=new w(s[0],r),a=new w(s[1],o);i.paintCurve(t,e),a.paintCurve(t,e)}else{let s=Math.round(this.nodes[0].x);if(s&gt;=0&amp;&amp;s&lt;e){let r=4*(~~this.nodes[0].y*e+s);t[r]=Math.round(this.colors[0][0]),t[r+1]=Math.round(this.colors[0][1]),t[r+2]=Math.round(this.colors[0][2]),t[r+3]=Math.round(this.colors[0][3])}}}}class m{constructor(t,e){this.nodes=t,this.colors=e}split(){let t=[[],[],[],[]],e=[[],[],[],[]],s=[[[],[]],[[],[]]],r=[[[],[]],[[],[]]];for(let s=0;s&lt;4;++s){const r=n(this.nodes[0][s],this.nodes[1][s],this.nodes[2][s],this.nodes[3][s]);t[0][s]=r[0][0],t[1][s]=r[0][1],t[2][s]=r[0][2],t[3][s]=r[0][3],e[0][s]=r[1][0],e[1][s]=r[1][1],e[2][s]=r[1][2],e[3][s]=r[1][3]}for(let 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o=r[n].children;for(let r=0,i=o.length;r&lt;i;++r){let i=r;0!==t&amp;&amp;++i;let h,d=o[r].getAttribute(&quot;path&quot;),c=&quot;l&quot;;null!=d&amp;&amp;(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case&quot;l&quot;:0===i?(e[3*t][3*n+3]=u[0].add(e[3*t][3*n]),e[3*t][3*n+1]=a(e[3*t][3*n],e[3*t][3*n+3]),e[3*t][3*n+2]=a(e[3*t][3*n+3],e[3*t][3*n])):1===i?(e[3*t+3][3*n+3]=u[0].add(e[3*t][3*n+3]),e[3*t+1][3*n+3]=a(e[3*t][3*n+3],e[3*t+3][3*n+3]),e[3*t+2][3*n+3]=a(e[3*t+3][3*n+3],e[3*t][3*n+3])):2===i?(0===n&amp;&amp;(e[3*t+3][3*n+0]=u[0].add(e[3*t+3][3*n+3])),e[3*t+3][3*n+1]=a(e[3*t+3][3*n],e[3*t+3][3*n+3]),e[3*t+3][3*n+2]=a(e[3*t+3][3*n+3],e[3*t+3][3*n])):(e[3*t+1][3*n]=a(e[3*t][3*n],e[3*t+3][3*n]),e[3*t+2][3*n]=a(e[3*t+3][3*n],e[3*t][3*n]));break;case&quot;L&quot;:0===i?(e[3*t][3*n+3]=u[0],e[3*t][3*n+1]=a(e[3*t][3*n],e[3*t][3*n+3]),e[3*t][3*n+2]=a(e[3*t][3*n+3],e[3*t][3*n])):1===i?(e[3*t+3][3*n+3]=u[0],e[3*t+1][3*n+3]=a(e[3*t][3*n+3],e[3*t+3][3*n+3]),e[3*t+2][3*n+3]=a(e[3*t+3][3*n+3],e[3*t][3*n+3])):2===i?(0===n&amp;&amp;(e[3*t+3][3*n+0]=u[0]),e[3*t+3][3*n+1]=a(e[3*t+3][3*n],e[3*t+3][3*n+3]),e[3*t+3][3*n+2]=a(e[3*t+3][3*n+3],e[3*t+3][3*n])):(e[3*t+1][3*n]=a(e[3*t][3*n],e[3*t+3][3*n]),e[3*t+2][3*n]=a(e[3*t+3][3*n],e[3*t][3*n]));break;case&quot;c&quot;:0===i?(e[3*t][3*n+1]=u[0].add(e[3*t][3*n]),e[3*t][3*n+2]=u[1].add(e[3*t][3*n]),e[3*t][3*n+3]=u[2].add(e[3*t][3*n])):1===i?(e[3*t+1][3*n+3]=u[0].add(e[3*t][3*n+3]),e[3*t+2][3*n+3]=u[1].add(e[3*t][3*n+3]),e[3*t+3][3*n+3]=u[2].add(e[3*t][3*n+3])):2===i?(e[3*t+3][3*n+2]=u[0].add(e[3*t+3][3*n+3]),e[3*t+3][3*n+1]=u[1].add(e[3*t+3][3*n+3]),0===n&amp;&amp;(e[3*t+3][3*n+0]=u[2].add(e[3*t+3][3*n+3]))):(e[3*t+2][3*n]=u[0].add(e[3*t+3][3*n]),e[3*t+1][3*n]=u[1].add(e[3*t+3][3*n]));break;case&quot;C&quot;:0===i?(e[3*t][3*n+1]=u[0],e[3*t][3*n+2]=u[1],e[3*t][3*n+3]=u[2]):1===i?(e[3*t+1][3*n+3]=u[0],e[3*t+2][3*n+3]=u[1],e[3*t+3][3*n+3]=u[2]):2===i?(e[3*t+3][3*n+2]=u[0],e[3*t+3][3*n+1]=u[1],0===n&amp;&amp;(e[3*t+3][3*n+0]=u[2])):(e[3*t+2][3*n]=u[0],e[3*t+1][3*n]=u[1]);break;default:console.error(&quot;mesh.js: &quot;+c+&quot; invalid path type.&quot;)}if(0===t&amp;&amp;0===n||r&gt;0){let e=window.getComputedStyle(o[r]).stopColor.match(/^rgb\s*\(\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*\)$/i),a=window.getComputedStyle(o[r]).stopOpacity,h=255;a&amp;&amp;(h=Math.floor(255*a)),e&amp;&amp;(0===i?(s[t][n]=[],s[t][n][0]=Math.floor(e[1]),s[t][n][1]=Math.floor(e[2]),s[t][n][2]=Math.floor(e[3]),s[t][n][3]=h):1===i?(s[t][n+1]=[],s[t][n+1][0]=Math.floor(e[1]),s[t][n+1][1]=Math.floor(e[2]),s[t][n+1][2]=Math.floor(e[3]),s[t][n+1][3]=h):2===i?(s[t+1][n+1]=[],s[t+1][n+1][0]=Math.floor(e[1]),s[t+1][n+1][1]=Math.floor(e[2]),s[t+1][n+1][2]=Math.floor(e[3]),s[t+1][n+1][3]=h):3===i&amp;&amp;(s[t+1][n]=[],s[t+1][n][0]=Math.floor(e[1]),s[t+1][n][1]=Math.floor(e[2]),s[t+1][n][2]=Math.floor(e[3]),s[t+1][n][3]=h))}}e[3*t+1][3*n+1]=new x,e[3*t+1][3*n+2]=new x,e[3*t+2][3*n+1]=new x,e[3*t+2][3*n+2]=new x,e[3*t+1][3*n+1].x=(-4*e[3*t][3*n].x+6*(e[3*t][3*n+1].x+e[3*t+1][3*n].x)+-2*(e[3*t][3*n+3].x+e[3*t+3][3*n].x)+3*(e[3*t+3][3*n+1].x+e[3*t+1][3*n+3].x)+-1*e[3*t+3][3*n+3].x)/9,e[3*t+1][3*n+2].x=(-4*e[3*t][3*n+3].x+6*(e[3*t][3*n+2].x+e[3*t+1][3*n+3].x)+-2*(e[3*t][3*n].x+e[3*t+3][3*n+3].x)+3*(e[3*t+3][3*n+2].x+e[3*t+1][3*n].x)+-1*e[3*t+3][3*n].x)/9,e[3*t+2][3*n+1].x=(-4*e[3*t+3][3*n].x+6*(e[3*t+3][3*n+1].x+e[3*t+2][3*n].x)+-2*(e[3*t+3][3*n+3].x+e[3*t][3*n].x)+3*(e[3*t][3*n+1].x+e[3*t+2][3*n+3].x)+-1*e[3*t][3*n+3].x)/9,e[3*t+2][3*n+2].x=(-4*e[3*t+3][3*n+3].x+6*(e[3*t+3][3*n+2].x+e[3*t+2][3*n+3].x)+-2*(e[3*t+3][3*n].x+e[3*t][3*n+3].x)+3*(e[3*t][3*n+2].x+e[3*t+2][3*n].x)+-1*e[3*t][3*n].x)/9,e[3*t+1][3*n+1].y=(-4*e[3*t][3*n].y+6*(e[3*t][3*n+1].y+e[3*t+1][3*n].y)+-2*(e[3*t][3*n+3].y+e[3*t+3][3*n].y)+3*(e[3*t+3][3*n+1].y+e[3*t+1][3*n+3].y)+-1*e[3*t+3][3*n+3].y)/9,e[3*t+1][3*n+2].y=(-4*e[3*t][3*n+3].y+6*(e[3*t][3*n+2].y+e[3*t+1][3*n+3].y)+-2*(e[3*t][3*n].y+e[3*t+3][3*n+3].y)+3*(e[3*t+3][3*n+2].y+e[3*t+1][3*n].y)+-1*e[3*t+3][3*n].y)/9,e[3*t+2][3*n+1].y=(-4*e[3*t+3][3*n].y+6*(e[3*t+3][3*n+1].y+e[3*t+2][3*n].y)+-2*(e[3*t+3][3*n+3].y+e[3*t][3*n].y)+3*(e[3*t][3*n+1].y+e[3*t+2][3*n+3].y)+-1*e[3*t][3*n+3].y)/9,e[3*t+2][3*n+2].y=(-4*e[3*t+3][3*n+3].y+6*(e[3*t+3][3*n+2].y+e[3*t+2][3*n+3].y)+-2*(e[3*t+3][3*n].y+e[3*t][3*n+3].y)+3*(e[3*t][3*n+2].y+e[3*t+2][3*n].y)+-1*e[3*t][3*n].y)/9}}this.nodes=e,this.colors=s}paintMesh(t,e){let s=(this.nodes.length-1)/3,r=(this.nodes[0].length-1)/3;if(&quot;bilinear&quot;===this.type||s&lt;2||r&lt;2){let n;for(let o=0;o&lt;s;++o)for(let s=0;s&lt;r;++s){let r=[];for(let t=3*o,e=3*o+4;t&lt;e;++t)r.push(this.nodes[t].slice(3*s,3*s+4));let i=[];i.push(this.colors[o].slice(s,s+2)),i.push(this.colors[o+1].slice(s,s+2)),(n=new m(r,i)).paint(t,e)}}else{let n,o,a,h,l,d,u;const x=s,g=r;s++,r++;let w=new Array(s);for(let t=0;t&lt;s;++t){w[t]=new Array(r);for(let e=0;e&lt;r;++e)w[t][e]=[],w[t][e][0]=this.nodes[3*t][3*e],w[t][e][1]=this.colors[t][e]}for(let t=0;t&lt;s;++t)for(let e=0;e&lt;r;++e)0!==t&amp;&amp;t!==x&amp;&amp;(n=i(w[t-1][e][0],w[t][e][0]),o=i(w[t+1][e][0],w[t][e][0]),w[t][e][2]=c(w[t-1][e][1],w[t][e][1],w[t+1][e][1],n,o)),0!==e&amp;&amp;e!==g&amp;&amp;(n=i(w[t][e-1][0],w[t][e][0]),o=i(w[t][e+1][0],w[t][e][0]),w[t][e][3]=c(w[t][e-1][1],w[t][e][1],w[t][e+1][1],n,o));for(let t=0;t&lt;r;++t){w[0][t][2]=[],w[x][t][2]=[];for(let e=0;e&lt;4;++e)n=i(w[1][t][0],w[0][t][0]),o=i(w[x][t][0],w[x-1][t][0]),w[0][t][2][e]=n&gt;0?2*(w[1][t][1][e]-w[0][t][1][e])/n-w[1][t][2][e]:0,w[x][t][2][e]=o&gt;0?2*(w[x][t][1][e]-w[x-1][t][1][e])/o-w[x-1][t][2][e]:0}for(let t=0;t&lt;s;++t){w[t][0][3]=[],w[t][g][3]=[];for(let e=0;e&lt;4;++e)n=i(w[t][1][0],w[t][0][0]),o=i(w[t][g][0],w[t][g-1][0]),w[t][0][3][e]=n&gt;0?2*(w[t][1][1][e]-w[t][0][1][e])/n-w[t][1][3][e]:0,w[t][g][3][e]=o&gt;0?2*(w[t][g][1][e]-w[t][g-1][1][e])/o-w[t][g-1][3][e]:0}for(let s=0;s&lt;x;++s)for(let r=0;r&lt;g;++r){let n=i(w[s][r][0],w[s+1][r][0]),o=i(w[s][r+1][0],w[s+1][r+1][0]),c=i(w[s][r][0],w[s][r+1][0]),x=i(w[s+1][r][0],w[s+1][r+1][0]),g=[[],[],[],[]];for(let t=0;t&lt;4;++t){(d=[])[0]=w[s][r][1][t],d[1]=w[s+1][r][1][t],d[2]=w[s][r+1][1][t],d[3]=w[s+1][r+1][1][t],d[4]=w[s][r][2][t]*n,d[5]=w[s+1][r][2][t]*n,d[6]=w[s][r+1][2][t]*o,d[7]=w[s+1][r+1][2][t]*o,d[8]=w[s][r][3][t]*c,d[9]=w[s+1][r][3][t]*x,d[10]=w[s][r+1][3][t]*c,d[11]=w[s+1][r+1][3][t]*x,d[12]=0,d[13]=0,d[14]=0,d[15]=0,u=f(d);for(let e=0;e&lt;9;++e){g[t][e]=[];for(let s=0;s&lt;9;++s)g[t][e][s]=p(u,e/8,s/8),g[t][e][s]&gt;255?g[t][e][s]=255:g[t][e][s]&lt;0&amp;&amp;(g[t][e][s]=0)}}h=[];for(let t=3*s,e=3*s+4;t&lt;e;++t)h.push(this.nodes[t].slice(3*r,3*r+4));l=y(h);for(let s=0;s&lt;8;++s)for(let r=0;r&lt;8;++r)(a=new m(l[s][r],[[[g[0][s][r],g[1][s][r],g[2][s][r],g[3][s][r]],[g[0][s][r+1],g[1][s][r+1],g[2][s][r+1],g[3][s][r+1]]],[[g[0][s+1][r],g[1][s+1][r],g[2][s+1][r],g[3][s+1][r]],[g[0][s+1][r+1],g[1][s+1][r+1],g[2][s+1][r+1],g[3][s+1][r+1]]]])).paint(t,e)}}}transform(t){if(t instanceof x)for(let e=0,s=this.nodes.length;e&lt;s;++e)for(let s=0,r=this.nodes[0].length;s&lt;r;++s)this.nodes[e][s]=this.nodes[e][s].add(t);else if(t instanceof g)for(let e=0,s=this.nodes.length;e&lt;s;++e)for(let s=0,r=this.nodes[0].length;s&lt;r;++s)this.nodes[e][s]=this.nodes[e][s].transform(t)}scale(t){for(let e=0,s=this.nodes.length;e&lt;s;++e)for(let s=0,r=this.nodes[0].length;s&lt;r;++s)this.nodes[e][s]=this.nodes[e][s].scale(t)}}document.querySelectorAll(&quot;rect,circle,ellipse,path,text&quot;).forEach((r,n)=&gt;{let o=r.getAttribute(&quot;id&quot;);o||(o=&quot;patchjs_shape&quot;+n,r.setAttribute(&quot;id&quot;,o));const i=r.style.fill.match(/^url\(\s*&quot;?\s*#([^\s&quot;]+)&quot;?\s*\)/),a=r.style.stroke.match(/^url\(\s*&quot;?\s*#([^\s&quot;]+)&quot;?\s*\)/);if(i&amp;&amp;i[1]){const a=document.getElementById(i[1]);if(a&amp;&amp;&quot;meshgradient&quot;===a.nodeName){const i=r.getBBox();let l=document.createElementNS(s,&quot;canvas&quot;);d(l,{width:i.width,height:i.height});const c=l.getContext(&quot;2d&quot;);let u=c.createImageData(i.width,i.height);const f=new b(a);&quot;objectBoundingBox&quot;===a.getAttribute(&quot;gradientUnits&quot;)&amp;&amp;f.scale(new x(i.width,i.height));const p=a.getAttribute(&quot;gradientTransform&quot;);null!=p&amp;&amp;f.transform(h(p)),&quot;userSpaceOnUse&quot;===a.getAttribute(&quot;gradientUnits&quot;)&amp;&amp;f.transform(new x(-i.x,-i.y)),f.paintMesh(u.data,l.width),c.putImageData(u,0,0);const y=document.createElementNS(t,&quot;image&quot;);d(y,{width:i.width,height:i.height,x:i.x,y:i.y});let g=l.toDataURL();y.setAttributeNS(e,&quot;xlink:href&quot;,g),r.parentNode.insertBefore(y,r),r.style.fill=&quot;none&quot;;const w=document.createElementNS(t,&quot;use&quot;);w.setAttributeNS(e,&quot;xlink:href&quot;,&quot;#&quot;+o);const m=&quot;patchjs_clip&quot;+n,M=document.createElementNS(t,&quot;clipPath&quot;);M.setAttribute(&quot;id&quot;,m),M.appendChild(w),r.parentElement.insertBefore(M,r),y.setAttribute(&quot;clip-path&quot;,&quot;url(#&quot;+m+&quot;)&quot;),u=null,l=null,g=null}}if(a&amp;&amp;a[1]){const o=document.getElementById(a[1]);if(o&amp;&amp;&quot;meshgradient&quot;===o.nodeName){const i=parseFloat(r.style.strokeWidth.slice(0,-2))*(parseFloat(r.style.strokeMiterlimit)||parseFloat(r.getAttribute(&quot;stroke-miterlimit&quot;))||1),a=r.getBBox(),l=Math.trunc(a.width+i),c=Math.trunc(a.height+i),u=Math.trunc(a.x-i/2),f=Math.trunc(a.y-i/2);let p=document.createElementNS(s,&quot;canvas&quot;);d(p,{width:l,height:c});const y=p.getContext(&quot;2d&quot;);let g=y.createImageData(l,c);const w=new b(o);&quot;objectBoundingBox&quot;===o.getAttribute(&quot;gradientUnits&quot;)&amp;&amp;w.scale(new x(l,c));const m=o.getAttribute(&quot;gradientTransform&quot;);null!=m&amp;&amp;w.transform(h(m)),&quot;userSpaceOnUse&quot;===o.getAttribute(&quot;gradientUnits&quot;)&amp;&amp;w.transform(new x(-u,-f)),w.paintMesh(g.data,p.width),y.putImageData(g,0,0);const M=document.createElementNS(t,&quot;image&quot;);d(M,{width:l,height:c,x:0,y:0});let S=p.toDataURL();M.setAttributeNS(e,&quot;xlink:href&quot;,S);const k=&quot;pattern_clip&quot;+n,A=document.createElementNS(t,&quot;pattern&quot;);d(A,{id:k,patternUnits:&quot;userSpaceOnUse&quot;,width:l,height:c,x:u,y:f}),A.appendChild(M),o.parentNode.appendChild(A),r.style.stroke=&quot;url(#&quot;+k+&quot;)&quot;,g=null,p=null,S=null}}})}();