diff options
| -rw-r--r-- | CODE/CODE.ino | 45 | ||||
| -rw-r--r-- | part_diagram.svg | 861 | ||||
| -rw-r--r-- | poster.svg | 2139 |
3 files changed, 2915 insertions, 130 deletions
diff --git a/CODE/CODE.ino b/CODE/CODE.ino index c593334..26fae53 100644 --- a/CODE/CODE.ino +++ b/CODE/CODE.ino @@ -27,11 +27,11 @@ #define ir15 14 // GPB6 #define ir16 15 // GPB7 -//miltiplex1 -#define pwm5 12 // GPA0 Motor driver 3 pwm1 -#define pwm6 13 // GPA1 Motor driver 3 pwm2 -#define enB3 14 // GPA2 Motor driver 3 enB -#define enA3 15 // GPA3 Motor driver 3 enA +//miltiplex2 +#define pwm5 0 // GPA0 Motor driver 3 pwm1 +#define pwm6 1 // GPA1 Motor driver 3 pwm2 +#define enB3 2 // GPA2 Motor driver 3 enB +#define enA3 3 // GPA3 Motor driver 3 enA #define M1A 4 // GPA4 Motor 1 A #define M1B 5 // GPA5 Morot 1 B #define M2A 6 // GPA6 Motor 2 A @@ -52,8 +52,6 @@ #define dip2 3 //settings dip switch port 2 #define dip3 4 //settings dip switch port 3 #define dip4 5 //settings dip switch port 4 -#define dip5 6 //settings dip switch port 5 -#define dip6 27 //settings dip switch port 6 #define buz 8 //buzzer @@ -97,12 +95,43 @@ MAKE_TYPE_INFO( short ) void setup() { Serial.begin(9600); - - + Serial1.begin(19200); //connect unconected pins to GND + pinMode(6, INPUT_PULLUP); + pinMode(7, INPUT_PULLUP); + pinMode(10, INPUT_PULLUP); + pinMode(11, INPUT_PULLUP); + pinMode(12, INPUT_PULLUP); + pinMode(29, INPUT_PULLUP); + pinMode(30, INPUT_PULLUP); + pinMode(31, INPUT_PULLUP); + pinMode(32, INPUT_PULLUP); + pinMode(33, INPUT_PULLUP); + pinMode(34, INPUT_PULLUP); + pinMode(35, INPUT_PULLUP); + pinMode(36, INPUT_PULLUP); + pinMode(37, INPUT_PULLUP); + pinMode(38, INPUT_PULLUP); + pinMode(39, INPUT_PULLUP); pinMode(40, INPUT_PULLUP); pinMode(41, INPUT_PULLUP); + pinMode(13, INPUT_PULLUP); + pinMode(14, INPUT_PULLUP); + pinMode(15, INPUT_PULLUP); + pinMode(16, INPUT_PULLUP); + pinMode(17, INPUT_PULLUP); + pinMode(20, INPUT_PULLUP); + pinMode(21, INPUT_PULLUP); + pinMode(22, INPUT_PULLUP); + pinMode(23, INPUT_PULLUP); + + //extrapins + pinMode(25, INPUT_PULLUP); + pinMode(26, INPUT_PULLUP); + pinMode(27, INPUT_PULLUP); + pinMode(28, INPUT_PULLUP); // Initialize first MCP23017 with I2C address 0x20 if (!mcp1.begin_I2C(mcp1ADDR)) { diff --git a/part_diagram.svg b/part_diagram.svg new file mode 100644 index 0000000..8d45e14 --- /dev/null +++ b/part_diagram.svg @@ -0,0 +1,861 @@ +<?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="297.0mm" + height="210.0mm" + viewBox="0 0 297.0 210.0" + version="1.1" + id="SVGRoot" + sodipodi:docname="part_diagram.svg" + inkscape:version="1.0.2 (e86c870879, 2021-01-15)"> + <defs + id="defs202"> + <meshgradient + inkscape:collect="always" + id="meshgradient964-5" + gradientUnits="userSpaceOnUse" + x="127.30518" + y="116.33867" + 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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inkscape:cy="666.56885" + inkscape:zoom="1" + inkscape:cx="763.14253" + inkscape:cy="604.32945" inkscape:document-units="mm" inkscape:current-layer="layer1" inkscape:document-rotation="0" @@ -1257,22 +1857,22 @@ style="font-size:2.82222px;fill:#ffffff;fill-opacity:1;stroke-width:0.264583">will go towards the ball using the other IR seekers. </tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="152.955" - y="100.63959" + style="font-style:normal;font-weight:normal;font-size:6.22505px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.155627" + x="303.42633" + y="123.91553" id="text1853"><tspan sodipodi:role="line" id="tspan1851" - x="152.955" - y="100.63959" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">IR seekers</tspan></text> + x="303.42633" + y="123.91553" + 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style="font-style:normal;font-weight:normal;font-size:6.17155px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.154289" + x="228.61101" + y="104.17287" id="text1853-1"><tspan sodipodi:role="line" id="tspan1851-8" - x="159.54375" - y="148.32965" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Camera</tspan></text> + x="228.61101" + y="104.17287" + style="fill:#ffffff;fill-opacity:1;stroke-width:0.154289">Camera</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" x="194.47379" y="112.34783" id="text1857-9" - transform="translate(-47.656793,47.411533)"><tspan + transform="matrix(0.58314077,0,0,0.58314077,107.78395,45.323397)"><tspan x="194.47379" y="112.34783"><tspan>We use openmv H7 to </tspan></tspan><tspan x="194.47379" y="119.40338"><tspan>find the goal.</tspan></tspan></text> <text 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transform="matrix(0.5724603,0,0,0.5724603,3.4824774,112.89908)"><tspan x="194.47379" y="112.34783"><tspan>We are using the pololy </tspan></tspan><tspan x="194.47379" @@ -1330,22 +1930,22 @@ y="126.45893"><tspan>move the robot.</tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="239.00046" - y="151.38217" + style="font-style:normal;font-weight:normal;font-size:5.99597px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.1499" + x="310.42203" + y="143.31952" id="text1853-1-2-3"><tspan sodipodi:role="line" id="tspan1851-8-0-7" - x="239.00046" - y="151.38217" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Upper PCB</tspan></text> + x="310.42203" + y="143.31952" + style="fill:#ffffff;fill-opacity:1;stroke-width:0.1499">Upper PCB</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" x="194.47379" y="112.34783" id="text1857-2-9" - transform="translate(37.069932,46.470682)"><tspan + transform="matrix(0.56655017,0,0,0.56655017,196.01825,83.881919)"><tspan x="194.47379" y="112.34783"><tspan>We designd the upper </tspan></tspan><tspan x="194.47379" @@ -1356,15 +1956,15 @@ y="133.51448"><tspan>seeksers. </tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="153.38248" - y="202.24332" + style="font-style:normal;font-weight:normal;font-size:6.54433px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.163609" + x="202.03111" + y="229.35857" id="text1853-1-2-3-2"><tspan sodipodi:role="line" id="tspan1851-8-0-7-2" - x="153.38248" - y="202.24332" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Lower PCB</tspan></text> + x="202.03111" + y="229.35857" + style="fill:#ffffff;fill-opacity:1;stroke-width:0.163609">Lower PCB</tspan></text> <text xml:space="preserve" style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;stroke-width:0.264583" @@ -1382,7 +1982,7 @@ x="194.47379" y="112.34783" id="text1857-9-9" - transform="translate(-50.229119,96.881312)"><tspan + transform="matrix(0.61836425,0,0,0.61836425,76.124968,164.20647)"><tspan x="194.47379" y="112.34783"><tspan>This pcb holds the color </tspan></tspan><tspan x="194.47379" @@ -1393,22 +1993,22 @@ y="133.51448"><tspan>to the motors. </tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="234.62903" - y="197.36482" + style="font-style:normal;font-weight:normal;font-size:5.99441px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.14986" + x="303.922" + y="195.98012" id="text1853-1-2-3-2-6"><tspan sodipodi:role="line" id="tspan1851-8-0-7-2-1" - x="234.62903" - y="197.36482" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Color sensors</tspan></text> + x="303.922" + y="195.98012" + style="fill:#ffffff;fill-opacity:1;stroke-width:0.14986">Color sensors</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" x="194.47379" y="112.34783" id="text1857-2-9-9" - transform="translate(28.376655,94.980955)"><tspan + transform="matrix(0.56640238,0,0,0.56640238,187.10017,137.98964)"><tspan x="194.47379" y="112.34783"><tspan>We are using the </tspan></tspan><tspan x="194.47379" @@ -1419,54 +2019,26 @@ y="133.51448"><tspan>the ground.</tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="318.35428" - y="17.431398" - id="text1853-1-2-3-2-6-3"><tspan - sodipodi:role="line" - id="tspan1851-8-0-7-2-1-1" - x="318.35428" - y="17.431398" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Compas</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" - x="194.47379" - y="112.34783" - id="text1857-7" - transform="translate(109.69945,-83.951729)"><tspan - x="194.47379" - y="112.34783"><tspan>We use the MinIMU-9 v6 </tspan></tspan><tspan - x="194.47379" - y="119.40338"><tspan>Gyro as a compas. This </tspan></tspan><tspan - x="194.47379" - y="126.45893"><tspan>is a backup to locate the </tspan></tspan><tspan - x="194.47379" - y="133.51448"><tspan>goal in case the camere </tspan></tspan><tspan - x="194.47379" - y="140.57004"><tspan>does not work.</tspan></tspan></text> - <text - xml:space="preserve" id="text2471" style="line-height:1.25;font-family:sans-serif;font-size:5.64444444px;white-space:pre;shape-inside:url(#rect2473);" /> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="217.65178" - y="56.762501" + style="font-style:normal;font-weight:normal;font-size:6.02318px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.15058" + x="275.04123" + y="101.44453" id="text1853-1-2-3-2-6-3-0"><tspan sodipodi:role="line" id="tspan1851-8-0-7-2-1-1-3" - x="217.65178" - y="56.762501" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Teensy</tspan></text> + x="275.04123" + y="101.44453" + style="fill:#ffffff;fill-opacity:1;stroke-width:0.15058">Teensy</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" x="194.47379" y="112.34783" id="text1857-2-6" - transform="translate(8.5901481,-45.504323)"><tspan + transform="matrix(0.56912086,0,0,0.56912086,156.0599,43.242355)"><tspan x="194.47379" y="112.34783"><tspan>We are using the teensy </tspan></tspan><tspan x="194.47379" @@ -1477,22 +2049,22 @@ y="133.51448"><tspan>directs all components.</tspan></tspan></text> <text xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="109.05659" - y="245.6022" + 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" + x="279.3103" + y="53.704185" id="text1853-1-2-3-2-1"><tspan sodipodi:role="line" id="tspan1851-8-0-7-2-0" - x="109.05659" - y="245.6022" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">Port multiplexer</tspan></text> + x="279.3103" + y="53.704185" + 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" x="194.47379" y="112.34783" id="text1857-9-9-6" - transform="translate(-77.146342,145.11477)"><tspan + 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" @@ -1503,40 +2075,6 @@ y="133.51448"><tspan>teensy does not have </tspan></tspan><tspan x="194.47379" y="140.57004"><tspan>enough ports. </tspan></tspan></text> - <text - xml:space="preserve" - style="font-style:normal;font-weight:normal;font-size:10.5833px;line-height:1.25;font-family:sans-serif;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:0.264583" - x="307.57828" - y="73.705849" - id="text1853-1-2-3-2-1-3"><tspan - sodipodi:role="line" - id="tspan1851-8-0-7-2-0-2" - x="307.57828" - y="73.705849" - style="fill:#ffffff;fill-opacity:1;stroke-width:0.264583">I2C 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" - x="194.47379" - y="112.34783" - id="text1857-9-9-6-0" - transform="translate(117.19611,-26.669306)"><tspan - x="194.47379" - y="112.34783"><tspan>We are using the </tspan></tspan><tspan - x="194.47379" - y="119.40338"><tspan>pca9548a as i2c </tspan></tspan><tspan - x="194.47379" - y="126.45893"><tspan>multiplexer becouse the </tspan></tspan><tspan - x="194.47379" - y="133.51448"><tspan>color sensors do not </tspan></tspan><tspan - x="194.47379" - y="140.57004"><tspan>have customisable i2c </tspan></tspan><tspan - x="194.47379" - y="147.6256"><tspan>addreses and thus need </tspan></tspan><tspan - x="194.47379" - y="154.68116"><tspan>to have a device that </tspan></tspan><tspan - x="194.47379" - y="161.73671"><tspan>lets us read them all. </tspan></tspan></text> <path style="fill:#ffff00;fill-opacity:0.99198669;stroke:none;stroke-width:1.00157;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" d="m 238.01223,90.845841 c 5.88175,-0.18543 15.78173,-0.201099 21.99998,-0.03481 6.21824,0.166275 1.40591,0.317991 -10.69408,0.337141 -12.09998,0.01915 -17.18764,-0.116896 -11.3059,-0.302326 z" @@ -1716,7 +2254,7 @@ <g inkscape:label="Layer 1" id="layer1-2" - 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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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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("bilinear"===this.type||s<2||r<2){let n;for(let o=0;o<s;++o)for(let s=0;s<r;++s){let r=[];for(let t=3*o,e=3*o+4;t<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<s;++t){w[t]=new Array(r);for(let e=0;e<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<s;++t)for(let e=0;e<r;++e)0!==t&&t!==x&&(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&&e!==g&&(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<r;++t){w[0][t][2]=[],w[x][t][2]=[];for(let 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>0){let e=window.getComputedStyle(o[r]).stopColor.match(/^rgb\s*\(\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*\)$/i),a=window.getComputedStyle(o[r]).stopOpacity,h=255;a&&(h=Math.floor(255*a)),e&&(0===i?(s[t][n]=[],s[t][n][0]=Math.floor(e[1]),s[t][n][1]=Math.floor(e[2]),s[t][n][2]=Math.floor(e[3]),s[t][n][3]=h):1===i?(s[t][n+1]=[],s[t][n+1][0]=Math.floor(e[1]),s[t][n+1][1]=Math.floor(e[2]),s[t][n+1][2]=Math.floor(e[3]),s[t][n+1][3]=h):2===i?(s[t+1][n+1]=[],s[t+1][n+1][0]=Math.floor(e[1]),s[t+1][n+1][1]=Math.floor(e[2]),s[t+1][n+1][2]=Math.floor(e[3]),s[t+1][n+1][3]=h):3===i&&(s[t+1][n]=[],s[t+1][n][0]=Math.floor(e[1]),s[t+1][n][1]=Math.floor(e[2]),s[t+1][n][2]=Math.floor(e[3]),s[t+1][n][3]=h))}}e[3*t+1][3*n+1]=new x,e[3*t+1][3*n+2]=new x,e[3*t+2][3*n+1]=new x,e[3*t+2][3*n+2]=new 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<4;++s)e[s]=[],e[s][0]=n(t[0][s],t[1][s],t[2][s],t[3][s]),e[s][1]=[],e[s][1].push(...n(...e[s][0][0])),e[s][1].push(...n(...e[s][0][1])),e[s][2]=[],e[s][2].push(...n(...e[s][1][0])),e[s][2].push(...n(...e[s][1][1])),e[s][2].push(...n(...e[s][1][2])),e[s][2].push(...n(...e[s][1][3]));for(let t=0;t<8;++t){s[t]=[];for(let r=0;r<4;++r)s[t][r]=[],s[t][r][0]=n(e[0][2][t][r],e[1][2][t][r],e[2][2][t][r],e[3][2][t][r]),s[t][r][1]=[],s[t][r][1].push(...n(...s[t][r][0][0])),s[t][r][1].push(...n(...s[t][r][0][1])),s[t][r][2]=[],s[t][r][2].push(...n(...s[t][r][1][0])),s[t][r][2].push(...n(...s[t][r][1][1])),s[t][r][2].push(...n(...s[t][r][1][2])),s[t][r][2].push(...n(...s[t][r][1][3]))}for(let t=0;t<8;++t){r[t]=[];for(let e=0;e<8;++e)r[t][e]=[],r[t][e][0]=s[t][0][2][e],r[t][e][1]=s[t][1][2][e],r[t][e][2]=s[t][2][2][e],r[t][e][3]=s[t][3][2][e]}return r};class x{constructor(t,e){this.x=t||0,this.y=e||0}toString(){return`(x=${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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>0){let e=window.getComputedStyle(o[r]).stopColor.match(/^rgb\s*\(\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*\)$/i),a=window.getComputedStyle(o[r]).stopOpacity,h=255;a&&(h=Math.floor(255*a)),e&&(0===i?(s[t][n]=[],s[t][n][0]=Math.floor(e[1]),s[t][n][1]=Math.floor(e[2]),s[t][n][2]=Math.floor(e[3]),s[t][n][3]=h):1===i?(s[t][n+1]=[],s[t][n+1][0]=Math.floor(e[1]),s[t][n+1][1]=Math.floor(e[2]),s[t][n+1][2]=Math.floor(e[3]),s[t][n+1][3]=h):2===i?(s[t+1][n+1]=[],s[t+1][n+1][0]=Math.floor(e[1]),s[t+1][n+1][1]=Math.floor(e[2]),s[t+1][n+1][2]=Math.floor(e[3]),s[t+1][n+1][3]=h):3===i&&(s[t+1][n]=[],s[t+1][n][0]=Math.floor(e[1]),s[t+1][n][1]=Math.floor(e[2]),s[t+1][n][2]=Math.floor(e[3]),s[t+1][n][3]=h))}}e[3*t+1][3*n+1]=new x,e[3*t+1][3*n+2]=new x,e[3*t+2][3*n+1]=new x,e[3*t+2][3*n+2]=new 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<4;++s)e[s]=[],e[s][0]=n(t[0][s],t[1][s],t[2][s],t[3][s]),e[s][1]=[],e[s][1].push(...n(...e[s][0][0])),e[s][1].push(...n(...e[s][0][1])),e[s][2]=[],e[s][2].push(...n(...e[s][1][0])),e[s][2].push(...n(...e[s][1][1])),e[s][2].push(...n(...e[s][1][2])),e[s][2].push(...n(...e[s][1][3]));for(let t=0;t<8;++t){s[t]=[];for(let r=0;r<4;++r)s[t][r]=[],s[t][r][0]=n(e[0][2][t][r],e[1][2][t][r],e[2][2][t][r],e[3][2][t][r]),s[t][r][1]=[],s[t][r][1].push(...n(...s[t][r][0][0])),s[t][r][1].push(...n(...s[t][r][0][1])),s[t][r][2]=[],s[t][r][2].push(...n(...s[t][r][1][0])),s[t][r][2].push(...n(...s[t][r][1][1])),s[t][r][2].push(...n(...s[t][r][1][2])),s[t][r][2].push(...n(...s[t][r][1][3]))}for(let t=0;t<8;++t){r[t]=[];for(let e=0;e<8;++e)r[t][e]=[],r[t][e][0]=s[t][0][2][e],r[t][e][1]=s[t][1][2][e],r[t][e][2]=s[t][2][2][e],r[t][e][3]=s[t][3][2][e]}return r};class x{constructor(t,e){this.x=t||0,this.y=e||0}toString(){return`(x=${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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let 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a},u=[[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0],[-3,3,0,0,-2,-1,0,0,0,0,0,0,0,0,0,0],[2,-2,0,0,1,1,0,0,0,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0],[0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0],[0,0,0,0,0,0,0,0,-3,3,0,0,-2,-1,0,0],[0,0,0,0,0,0,0,0,2,-2,0,0,1,1,0,0],[-3,0,3,0,0,0,0,0,-2,0,-1,0,0,0,0,0],[0,0,0,0,-3,0,3,0,0,0,0,0,-2,0,-1,0],[9,-9,-9,9,6,3,-6,-3,6,-6,3,-3,4,2,2,1],[-6,6,6,-6,-3,-3,3,3,-4,4,-2,2,-2,-2,-1,-1],[2,0,-2,0,0,0,0,0,1,0,1,0,0,0,0,0],[0,0,0,0,2,0,-2,0,0,0,0,0,1,0,1,0],[-6,6,6,-6,-4,-2,4,2,-3,3,-3,3,-2,-1,-2,-1],[4,-4,-4,4,2,2,-2,-2,2,-2,2,-2,1,1,1,1]],f=t=>{let e=[];for(let s=0;s<16;++s){e[s]=0;for(let r=0;r<16;++r)e[s]+=u[s][r]*t[r]}return e},p=(t,e,s)=>{const r=e*e,n=s*s,o=e*e*e,i=s*s*s;return t[0]+t[1]*e+t[2]*r+t[3]*o+t[4]*s+t[5]*s*e+t[6]*s*r+t[7]*s*o+t[8]*n+t[9]*n*e+t[10]*n*r+t[11]*n*o+t[12]*i+t[13]*i*e+t[14]*i*r+t[15]*i*o},y=t=>{let e=[],s=[],r=[];for(let s=0;s<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<8;++t){s[t]=[];for(let r=0;r<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<8;++t){r[t]=[];for(let e=0;e<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("mesh.js: argument to Affine.append is not affine!");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)>r){const s=n(...this.nodes);let r=[[],[]],o=[[],[]];for(let t=0;t<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>=0&&s<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<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<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<4;++t)if((s=o([this.nodes[0][t],this.nodes[1][t],this.nodes[2][t],this.nodes[3][t]]))>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("type")||"bilinear"}readMesh(t){let e=[[]],s=[[]],r=Number(t.getAttribute("x")),n=Number(t.getAttribute("y"));e[0][0]=new x(r,n);let o=t.children;for(let t=0,r=o.length;t<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<o;++n){let o=r[n].children;for(let r=0,i=o.length;r<i;++r){let i=r;0!==t&&++i;let h,d=o[r].getAttribute("path"),c="l";null!=d&&(c=(h=d.match(/\s*([lLcC])\s*(.*)/))[1]);let u=l(h[2]);switch(c){case"l":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&&(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"L":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&&(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"c":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&&(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"C":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&&(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("mesh.js: "+c+" invalid path type.")}if(0===t&&0===n||r>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&&(h=Math.floor(255*a)),e&&(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&&(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 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