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+ +/* global default_theme, default_dark_theme, default_light_theme, hljs, ClipboardJS */ + +// Fix back button cache problem +window.onunload = function() { }; + +// Global variable, shared between modules +function playground_text(playground, hidden = true) { + const code_block = playground.querySelector('code'); + + if (window.ace && code_block.classList.contains('editable')) { + const editor = window.ace.edit(code_block); + return editor.getValue(); + } else if (hidden) { + return code_block.textContent; + } else { + return code_block.innerText; + } +} + +(function codeSnippets() { + function fetch_with_timeout(url, options, timeout = 6000) { + return Promise.race([ + fetch(url, options), + new Promise((_, reject) => setTimeout(() => reject(new Error('timeout')), timeout)), + ]); + } + + const playgrounds = Array.from(document.querySelectorAll('.playground')); + if (playgrounds.length > 0) { + fetch_with_timeout('https://play.rust-lang.org/meta/crates', { + headers: { + 'Content-Type': 'application/json', + }, + method: 'POST', + mode: 'cors', + }) + .then(response => response.json()) + .then(response => { + // get list of crates available in the rust playground + const playground_crates = response.crates.map(item => item['id']); + playgrounds.forEach(block => handle_crate_list_update(block, playground_crates)); + }); + } + + function handle_crate_list_update(playground_block, playground_crates) { + // update the play buttons after receiving the response + update_play_button(playground_block, playground_crates); + + // and install on change listener to dynamically update ACE editors + if (window.ace) { + const code_block = playground_block.querySelector('code'); + if (code_block.classList.contains('editable')) { + const editor = window.ace.edit(code_block); + editor.addEventListener('change', () => { + update_play_button(playground_block, playground_crates); + }); + // add Ctrl-Enter command to execute rust code + editor.commands.addCommand({ + name: 'run', + bindKey: { + win: 'Ctrl-Enter', + mac: 'Ctrl-Enter', + }, + exec: _editor => run_rust_code(playground_block), + }); + } + } + } + + // updates the visibility of play button based on `no_run` class and + // used crates vs ones available on https://play.rust-lang.org + function update_play_button(pre_block, playground_crates) { + const play_button = pre_block.querySelector('.play-button'); + + // skip if code is `no_run` + if (pre_block.querySelector('code').classList.contains('no_run')) { + play_button.classList.add('hidden'); + return; + } + + // get list of `extern crate`'s from snippet + const txt = playground_text(pre_block); + const re = /extern\s+crate\s+([a-zA-Z_0-9]+)\s*;/g; + const snippet_crates = []; + let item; + // eslint-disable-next-line no-cond-assign + while (item = re.exec(txt)) { + snippet_crates.push(item[1]); + } + + // check if all used crates are available on play.rust-lang.org + const all_available = snippet_crates.every(function(elem) { + return playground_crates.indexOf(elem) > -1; + }); + + if (all_available) { + play_button.classList.remove('hidden'); + } else { + play_button.classList.add('hidden'); + } + } + + function run_rust_code(code_block) { + let result_block = code_block.querySelector('.result'); + if (!result_block) { + result_block = document.createElement('code'); + result_block.className = 'result hljs language-bash'; + + code_block.append(result_block); + } + + const text = playground_text(code_block); + const classes = code_block.querySelector('code').classList; + let edition = '2015'; + classes.forEach(className => { + if (className.startsWith('edition')) { + edition = className.slice(7); + } + }); + const params = { + version: 'stable', + optimize: '0', + code: text, + edition: edition, + }; + + if (text.indexOf('#![feature') !== -1) { + params.version = 'nightly'; + } + + result_block.innerText = 'Running...'; + + fetch_with_timeout('https://play.rust-lang.org/evaluate.json', { + headers: { + 'Content-Type': 'application/json', + }, + method: 'POST', + mode: 'cors', + body: JSON.stringify(params), + }) + .then(response => response.json()) + .then(response => { + if (response.result.trim() === '') { + result_block.innerText = 'No output'; + result_block.classList.add('result-no-output'); + } else { + result_block.innerText = response.result; + result_block.classList.remove('result-no-output'); + } + }) + .catch(error => result_block.innerText = 'Playground Communication: ' + error.message); + } + + // Syntax highlighting Configuration + hljs.configure({ + tabReplace: ' ', // 4 spaces + languages: [], // Languages used for auto-detection + }); + + const code_nodes = Array + .from(document.querySelectorAll('code')) + // Don't highlight `inline code` blocks in headers. + .filter(function(node) { + return !node.parentElement.classList.contains('header'); + }); + + if (window.ace) { + // language-rust class needs to be removed for editable + // blocks or highlightjs will capture events + code_nodes + .filter(function(node) { + return node.classList.contains('editable'); + }) + .forEach(function(block) { + block.classList.remove('language-rust'); + }); + + code_nodes + .filter(function(node) { + return !node.classList.contains('editable'); + }) + .forEach(function(block) { + hljs.highlightBlock(block); + }); + } else { + code_nodes.forEach(function(block) { + hljs.highlightBlock(block); + }); + } + + // Adding the hljs class gives code blocks the color css + // even if highlighting doesn't apply + code_nodes.forEach(function(block) { + block.classList.add('hljs'); + }); + + Array.from(document.querySelectorAll('code.hljs')).forEach(function(block) { + + const lines = Array.from(block.querySelectorAll('.boring')); + // If no lines were hidden, return + if (!lines.length) { + return; + } + block.classList.add('hide-boring'); + + const buttons = document.createElement('div'); + buttons.className = 'buttons'; + buttons.innerHTML = ''; + + // add expand button + const pre_block = block.parentNode; + pre_block.insertBefore(buttons, pre_block.firstChild); + + pre_block.querySelector('.buttons').addEventListener('click', function(e) { + if (e.target.classList.contains('fa-eye')) { + e.target.classList.remove('fa-eye'); + e.target.classList.add('fa-eye-slash'); + e.target.title = 'Hide lines'; + e.target.setAttribute('aria-label', e.target.title); + + block.classList.remove('hide-boring'); + } else if (e.target.classList.contains('fa-eye-slash')) { + e.target.classList.remove('fa-eye-slash'); + e.target.classList.add('fa-eye'); + e.target.title = 'Show hidden lines'; + e.target.setAttribute('aria-label', e.target.title); + + block.classList.add('hide-boring'); + } + }); + }); + + if (window.playground_copyable) { + Array.from(document.querySelectorAll('pre code')).forEach(function(block) { + const pre_block = block.parentNode; + if (!pre_block.classList.contains('playground')) { + let buttons = pre_block.querySelector('.buttons'); + if (!buttons) { + buttons = document.createElement('div'); + buttons.className = 'buttons'; + pre_block.insertBefore(buttons, pre_block.firstChild); + } + + const clipButton = document.createElement('button'); + clipButton.className = 'clip-button'; + clipButton.title = 'Copy to clipboard'; + clipButton.setAttribute('aria-label', clipButton.title); + clipButton.innerHTML = ''; + + buttons.insertBefore(clipButton, buttons.firstChild); + } + }); + } + + // Process playground code blocks + Array.from(document.querySelectorAll('.playground')).forEach(function(pre_block) { + // Add play button + let buttons = pre_block.querySelector('.buttons'); + if (!buttons) { + buttons = document.createElement('div'); + buttons.className = 'buttons'; + pre_block.insertBefore(buttons, pre_block.firstChild); + } + + const runCodeButton = document.createElement('button'); + runCodeButton.className = 'fa fa-play play-button'; + runCodeButton.hidden = true; + runCodeButton.title = 'Run this code'; + runCodeButton.setAttribute('aria-label', runCodeButton.title); + + buttons.insertBefore(runCodeButton, buttons.firstChild); + runCodeButton.addEventListener('click', () => { + run_rust_code(pre_block); + }); + + if (window.playground_copyable) { + const copyCodeClipboardButton = document.createElement('button'); + copyCodeClipboardButton.className = 'clip-button'; + copyCodeClipboardButton.innerHTML = ''; + copyCodeClipboardButton.title = 'Copy to clipboard'; + copyCodeClipboardButton.setAttribute('aria-label', copyCodeClipboardButton.title); + + buttons.insertBefore(copyCodeClipboardButton, buttons.firstChild); + } + + const code_block = pre_block.querySelector('code'); + if (window.ace && code_block.classList.contains('editable')) { + const undoChangesButton = document.createElement('button'); + undoChangesButton.className = 'fa fa-history reset-button'; + undoChangesButton.title = 'Undo changes'; + undoChangesButton.setAttribute('aria-label', undoChangesButton.title); + + buttons.insertBefore(undoChangesButton, buttons.firstChild); + + undoChangesButton.addEventListener('click', function() { + const editor = window.ace.edit(code_block); + editor.setValue(editor.originalCode); + editor.clearSelection(); + }); + } + }); +})(); + +(function themes() { + const html = document.querySelector('html'); + const themeToggleButton = document.getElementById('theme-toggle'); + const themePopup = document.getElementById('theme-list'); + const themeColorMetaTag = document.querySelector('meta[name="theme-color"]'); + const themeIds = []; + themePopup.querySelectorAll('button.theme').forEach(function(el) { + themeIds.push(el.id); + }); + const stylesheets = { + ayuHighlight: document.querySelector('#ayu-highlight-css'), + tomorrowNight: document.querySelector('#tomorrow-night-css'), + highlight: document.querySelector('#highlight-css'), + }; + + function showThemes() { + themePopup.style.display = 'block'; + themeToggleButton.setAttribute('aria-expanded', true); + themePopup.querySelector('button#' + get_theme()).focus(); + } + + function updateThemeSelected() { + themePopup.querySelectorAll('.theme-selected').forEach(function(el) { + el.classList.remove('theme-selected'); + }); + const selected = get_saved_theme() ?? 'default_theme'; + let element = themePopup.querySelector('button#' + selected); + if (element === null) { + // Fall back in case there is no "Default" item. + element = themePopup.querySelector('button#' + get_theme()); + } + element.classList.add('theme-selected'); + } + + function hideThemes() { + themePopup.style.display = 'none'; + themeToggleButton.setAttribute('aria-expanded', false); + themeToggleButton.focus(); + } + + function get_saved_theme() { + let theme = null; + try { + theme = localStorage.getItem('mdbook-theme'); + } catch (e) { + // ignore error. + } + return theme; + } + + function delete_saved_theme() { + localStorage.removeItem('mdbook-theme'); + } + + function get_theme() { + const theme = get_saved_theme(); + if (theme === null || theme === undefined || !themeIds.includes(theme)) { + if (typeof default_dark_theme === 'undefined') { + // A customized index.hbs might not define this, so fall back to + // old behavior of determining the default on page load. + return default_theme; + } + return window.matchMedia('(prefers-color-scheme: dark)').matches + ? default_dark_theme + : default_light_theme; + } else { + return theme; + } + } + + let previousTheme = default_theme; + function set_theme(theme, store = true) { + let ace_theme; + + if (theme === 'coal' || theme === 'navy') { + stylesheets.ayuHighlight.disabled = true; + stylesheets.tomorrowNight.disabled = false; + stylesheets.highlight.disabled = true; + + ace_theme = 'ace/theme/tomorrow_night'; + } else if (theme === 'ayu') { + stylesheets.ayuHighlight.disabled = false; + stylesheets.tomorrowNight.disabled = true; + stylesheets.highlight.disabled = true; + ace_theme = 'ace/theme/tomorrow_night'; + } else { + stylesheets.ayuHighlight.disabled = true; + stylesheets.tomorrowNight.disabled = true; + stylesheets.highlight.disabled = false; + ace_theme = 'ace/theme/dawn'; + } + + setTimeout(function() { + themeColorMetaTag.content = getComputedStyle(document.documentElement).backgroundColor; + }, 1); + + if (window.ace && window.editors) { + window.editors.forEach(function(editor) { + editor.setTheme(ace_theme); + }); + } + + if (store) { + try { + localStorage.setItem('mdbook-theme', theme); + } catch (e) { + // ignore error. + } + } + + html.classList.remove(previousTheme); + html.classList.add(theme); + previousTheme = theme; + updateThemeSelected(); + } + + const query = window.matchMedia('(prefers-color-scheme: dark)'); + query.onchange = function() { + set_theme(get_theme(), false); + }; + + // Set theme. + set_theme(get_theme(), false); + + themeToggleButton.addEventListener('click', function() { + if (themePopup.style.display === 'block') { + hideThemes(); + } else { + showThemes(); + } + }); + + themePopup.addEventListener('click', function(e) { + let theme; + if (e.target.className === 'theme') { + theme = e.target.id; + } else if (e.target.parentElement.className === 'theme') { + theme = e.target.parentElement.id; + } else { + return; + } + if (theme === 'default_theme' || theme === null) { + delete_saved_theme(); + set_theme(get_theme(), false); + } else { + set_theme(theme); + } + }); + + themePopup.addEventListener('focusout', function(e) { + // e.relatedTarget is null in Safari and Firefox on macOS (see workaround below) + if (!!e.relatedTarget && + !themeToggleButton.contains(e.relatedTarget) && + !themePopup.contains(e.relatedTarget) + ) { + hideThemes(); + } + }); + + // Should not be needed, but it works around an issue on macOS & iOS: + // https://github.com/rust-lang/mdBook/issues/628 + document.addEventListener('click', function(e) { + if (themePopup.style.display === 'block' && + !themeToggleButton.contains(e.target) && + !themePopup.contains(e.target) + ) { + hideThemes(); + } + }); + + document.addEventListener('keydown', function(e) { + if (e.altKey || e.ctrlKey || e.metaKey || e.shiftKey) { + return; + } + if (!themePopup.contains(e.target)) { + return; + } + + let li; + switch (e.key) { + case 'Escape': + e.preventDefault(); + hideThemes(); + break; + case 'ArrowUp': + e.preventDefault(); + li = document.activeElement.parentElement; + if (li && li.previousElementSibling) { + li.previousElementSibling.querySelector('button').focus(); + } + break; + case 'ArrowDown': + e.preventDefault(); + li = document.activeElement.parentElement; + if (li && li.nextElementSibling) { + li.nextElementSibling.querySelector('button').focus(); + } + break; + case 'Home': + e.preventDefault(); + themePopup.querySelector('li:first-child button').focus(); + break; + case 'End': + e.preventDefault(); + themePopup.querySelector('li:last-child button').focus(); + break; + } + }); +})(); + +(function sidebar() { + const body = document.querySelector('body'); + const sidebar = document.getElementById('sidebar'); + const sidebarLinks = document.querySelectorAll('#sidebar a'); + const sidebarToggleButton = document.getElementById('sidebar-toggle'); + const sidebarToggleAnchor = document.getElementById('sidebar-toggle-anchor'); + const sidebarResizeHandle = document.getElementById('sidebar-resize-handle'); + let firstContact = null; + + function showSidebar() { + body.classList.remove('sidebar-hidden'); + body.classList.add('sidebar-visible'); + Array.from(sidebarLinks).forEach(function(link) { + link.setAttribute('tabIndex', 0); + }); + sidebarToggleButton.setAttribute('aria-expanded', true); + sidebar.setAttribute('aria-hidden', false); + try { + localStorage.setItem('mdbook-sidebar', 'visible'); + } catch (e) { + // Ignore error. + } + } + + function hideSidebar() { + body.classList.remove('sidebar-visible'); + body.classList.add('sidebar-hidden'); + Array.from(sidebarLinks).forEach(function(link) { + link.setAttribute('tabIndex', -1); + }); + sidebarToggleButton.setAttribute('aria-expanded', false); + sidebar.setAttribute('aria-hidden', true); + try { + localStorage.setItem('mdbook-sidebar', 'hidden'); + } catch (e) { + // Ignore error. + } + } + + // Toggle sidebar + sidebarToggleAnchor.addEventListener('change', function sidebarToggle() { + if (sidebarToggleAnchor.checked) { + const current_width = parseInt( + document.documentElement.style.getPropertyValue('--sidebar-target-width'), 10); + if (current_width < 150) { + document.documentElement.style.setProperty('--sidebar-target-width', '150px'); + } + showSidebar(); + } else { + hideSidebar(); + } + }); + + sidebarResizeHandle.addEventListener('mousedown', initResize, false); + + function initResize() { + window.addEventListener('mousemove', resize, false); + window.addEventListener('mouseup', stopResize, false); + body.classList.add('sidebar-resizing'); + } + function resize(e) { + let pos = e.clientX - sidebar.offsetLeft; + if (pos < 20) { + hideSidebar(); + } else { + if (body.classList.contains('sidebar-hidden')) { + showSidebar(); + } + pos = Math.min(pos, window.innerWidth - 100); + document.documentElement.style.setProperty('--sidebar-target-width', pos + 'px'); + } + } + //on mouseup remove windows functions mousemove & mouseup + function stopResize() { + body.classList.remove('sidebar-resizing'); + window.removeEventListener('mousemove', resize, false); + window.removeEventListener('mouseup', stopResize, false); + } + + document.addEventListener('touchstart', function(e) { + firstContact = { + x: e.touches[0].clientX, + time: Date.now(), + }; + }, { passive: true }); + + document.addEventListener('touchmove', function(e) { + if (!firstContact) { + return; + } + + const curX = e.touches[0].clientX; + const xDiff = curX - firstContact.x, + tDiff = Date.now() - firstContact.time; + + if (tDiff < 250 && Math.abs(xDiff) >= 150) { + if (xDiff >= 0 && firstContact.x < Math.min(document.body.clientWidth * 0.25, 300)) { + showSidebar(); + } else if (xDiff < 0 && curX < 300) { + hideSidebar(); + } + + firstContact = null; + } + }, { passive: true }); +})(); + +(function chapterNavigation() { + document.addEventListener('keydown', function(e) { + if (e.altKey || e.ctrlKey || e.metaKey) { + return; + } + if (window.search && window.search.hasFocus()) { + return; + } + const html = document.querySelector('html'); + + function next() { + const nextButton = document.querySelector('.nav-chapters.next'); + if (nextButton) { + window.location.href = nextButton.href; + } + } + function prev() { + const previousButton = document.querySelector('.nav-chapters.previous'); + if (previousButton) { + window.location.href = previousButton.href; + } + } + function showHelp() { + const container = document.getElementById('mdbook-help-container'); + const overlay = document.getElementById('mdbook-help-popup'); + container.style.display = 'flex'; + + // Clicking outside the popup will dismiss it. + const mouseHandler = event => { + if (overlay.contains(event.target)) { + return; + } + if (event.button !== 0) { + return; + } + event.preventDefault(); + event.stopPropagation(); + document.removeEventListener('mousedown', mouseHandler); + hideHelp(); + }; + + // Pressing esc will dismiss the popup. + const escapeKeyHandler = event => { + if (event.key === 'Escape') { + event.preventDefault(); + event.stopPropagation(); + document.removeEventListener('keydown', escapeKeyHandler, true); + hideHelp(); + } + }; + document.addEventListener('keydown', escapeKeyHandler, true); + document.getElementById('mdbook-help-container') + .addEventListener('mousedown', mouseHandler); + } + function hideHelp() { + document.getElementById('mdbook-help-container').style.display = 'none'; + } + + // Usually needs the Shift key to be pressed + switch (e.key) { + case '?': + e.preventDefault(); + showHelp(); + break; + } + + // Rest of the keys are only active when the Shift key is not pressed + if (e.shiftKey) { + return; + } + + switch (e.key) { + case 'ArrowRight': + e.preventDefault(); + if (html.dir === 'rtl') { + prev(); + } else { + next(); + } + break; + case 'ArrowLeft': + e.preventDefault(); + if (html.dir === 'rtl') { + next(); + } else { + prev(); + } + break; + } + }); +})(); + +(function clipboard() { + const clipButtons = document.querySelectorAll('.clip-button'); + + function hideTooltip(elem) { + elem.firstChild.innerText = ''; + elem.className = 'clip-button'; + } + + function showTooltip(elem, msg) { + elem.firstChild.innerText = msg; + elem.className = 'clip-button tooltipped'; + } + + const clipboardSnippets = new ClipboardJS('.clip-button', { + text: function(trigger) { + hideTooltip(trigger); + const playground = trigger.closest('pre'); + return playground_text(playground, false); + }, + }); + + Array.from(clipButtons).forEach(function(clipButton) { + clipButton.addEventListener('mouseout', function(e) { + hideTooltip(e.currentTarget); + }); + }); + + clipboardSnippets.on('success', function(e) { + e.clearSelection(); + showTooltip(e.trigger, 'Copied!'); + }); + + clipboardSnippets.on('error', function(e) { + showTooltip(e.trigger, 'Clipboard error!'); + }); +})(); + +(function scrollToTop() { + const menuTitle = document.querySelector('.menu-title'); + + menuTitle.addEventListener('click', function() { + document.scrollingElement.scrollTo({ top: 0, behavior: 'smooth' }); + }); +})(); + +(function controllMenu() { + const menu = document.getElementById('menu-bar'); + + (function controllPosition() { + let scrollTop = document.scrollingElement.scrollTop; + let prevScrollTop = scrollTop; + const minMenuY = -menu.clientHeight - 50; + // When the script loads, the page can be at any scroll (e.g. if you reforesh it). + menu.style.top = scrollTop + 'px'; + // Same as parseInt(menu.style.top.slice(0, -2), but faster + let topCache = menu.style.top.slice(0, -2); + menu.classList.remove('sticky'); + let stickyCache = false; // Same as menu.classList.contains('sticky'), but faster + document.addEventListener('scroll', function() { + scrollTop = Math.max(document.scrollingElement.scrollTop, 0); + // `null` means that it doesn't need to be updated + let nextSticky = null; + let nextTop = null; + const scrollDown = scrollTop > prevScrollTop; + const menuPosAbsoluteY = topCache - scrollTop; + if (scrollDown) { + nextSticky = false; + if (menuPosAbsoluteY > 0) { + nextTop = prevScrollTop; + } + } else { + if (menuPosAbsoluteY > 0) { + nextSticky = true; + } else if (menuPosAbsoluteY < minMenuY) { + nextTop = prevScrollTop + minMenuY; + } + } + if (nextSticky === true && stickyCache === false) { + menu.classList.add('sticky'); + stickyCache = true; + } else if (nextSticky === false && stickyCache === true) { + menu.classList.remove('sticky'); + stickyCache = false; + } + if (nextTop !== null) { + menu.style.top = nextTop + 'px'; + topCache = nextTop; + } + prevScrollTop = scrollTop; + }, { passive: true }); + })(); + (function controllBorder() { + function updateBorder() { + if (menu.offsetTop === 0) { + menu.classList.remove('bordered'); + } else { + menu.classList.add('bordered'); + } + } + updateBorder(); + document.addEventListener('scroll', updateBorder, { passive: true }); + })(); +})(); diff --git a/docs/book.toml b/docs/book.toml new file mode 100644 index 0000000..5b8d62a --- /dev/null +++ b/docs/book.toml @@ -0,0 +1,9 @@ +[book] +authors = ["Asger Juul Brunshøj"] +language = "en" +src = "src" +title = "docs" + +[preprocessor.katex] +after = ["links"] +pre-render = true diff --git a/docs/chapter_1.html b/docs/chapter_1.html new file mode 100644 index 0000000..a9f450c --- /dev/null +++ b/docs/chapter_1.html @@ -0,0 +1,209 @@ + + + + + + Chapter 1 - docs + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+

Keyboard shortcuts

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+

Press ← or → to navigate between chapters

+

Press S or / to search in the book

+

Press ? to show this help

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Press Esc to hide this help

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+ + + + + + + + + + + + + +
+ +
+ + + + + + + + +
+
+

Chapter 1

+ +
+ + +
+
+ + + +
+ + + + + + + + + + + + + + + + + + +
+ + diff --git a/docs/clipboard.min.js b/docs/clipboard.min.js new file mode 100644 index 0000000..02c549e --- /dev/null +++ b/docs/clipboard.min.js @@ -0,0 +1,7 @@ +/*! + * clipboard.js v2.0.4 + * https://zenorocha.github.io/clipboard.js + * + * Licensed MIT © Zeno Rocha + */ +!function(t,e){"object"==typeof exports&&"object"==typeof module?module.exports=e():"function"==typeof define&&define.amd?define([],e):"object"==typeof exports?exports.ClipboardJS=e():t.ClipboardJS=e()}(this,function(){return function(n){var o={};function r(t){if(o[t])return o[t].exports;var e=o[t]={i:t,l:!1,exports:{}};return n[t].call(e.exports,e,e.exports,r),e.l=!0,e.exports}return r.m=n,r.c=o,r.d=function(t,e,n){r.o(t,e)||Object.defineProperty(t,e,{enumerable:!0,get:n})},r.r=function(t){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&"object"==typeof e&&e&&e.__esModule)return e;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,"default",{enumerable:!0,value:e}),2&t&&"string"!=typeof e)for(var o in e)r.d(n,o,function(t){return e[t]}.bind(null,o));return n},r.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return r.d(e,"a",e),e},r.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},r.p="",r(r.s=0)}([function(t,e,n){"use strict";var r="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(t){return typeof t}:function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},i=function(){function o(t,e){for(var n=0;n .hljs { + color: var(--links); +} + +/* + body-container is necessary because mobile browsers don't seem to like + overflow-x on the body tag when there is a tag. +*/ +#body-container { + /* + This is used when the sidebar pushes the body content off the side of + the screen on small screens. Without it, dragging on mobile Safari + will want to reposition the viewport in a weird way. + */ + overflow-x: clip; +} + +/* Menu Bar */ + +#menu-bar, +#menu-bar-hover-placeholder { + z-index: 101; + margin: auto calc(0px - var(--page-padding)); +} +#menu-bar { + position: relative; + display: flex; + flex-wrap: wrap; + background-color: var(--bg); + border-block-end-color: var(--bg); + border-block-end-width: 1px; + border-block-end-style: solid; +} +#menu-bar.sticky, +#menu-bar-hover-placeholder:hover + #menu-bar, +#menu-bar:hover, +html.sidebar-visible #menu-bar { + position: -webkit-sticky; + position: sticky; + top: 0 !important; +} +#menu-bar-hover-placeholder { + position: sticky; + position: -webkit-sticky; + top: 0; + height: var(--menu-bar-height); +} +#menu-bar.bordered { + border-block-end-color: var(--table-border-color); +} +#menu-bar i, #menu-bar .icon-button { + position: relative; + padding: 0 8px; + z-index: 10; + line-height: var(--menu-bar-height); + cursor: pointer; + transition: color 0.5s; +} +@media only screen and (max-width: 420px) { + #menu-bar i, #menu-bar .icon-button { + padding: 0 5px; + } +} + +.icon-button { + border: none; + background: none; + padding: 0; + color: inherit; +} +.icon-button i { + margin: 0; +} + +.right-buttons { + margin: 0 15px; +} +.right-buttons a { + text-decoration: none; +} + +.left-buttons { + display: flex; + margin: 0 5px; +} +html:not(.js) .left-buttons button { + display: none; +} + +.menu-title { + display: inline-block; + font-weight: 200; + font-size: 2.4rem; + line-height: var(--menu-bar-height); + text-align: center; + margin: 0; + flex: 1; + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; +} +.menu-title { + cursor: pointer; +} + +.menu-bar, +.menu-bar:visited, +.nav-chapters, +.nav-chapters:visited, +.mobile-nav-chapters, +.mobile-nav-chapters:visited, +.menu-bar .icon-button, +.menu-bar a i { + color: var(--icons); +} + +.menu-bar i:hover, +.menu-bar .icon-button:hover, +.nav-chapters:hover, +.mobile-nav-chapters i:hover { + color: var(--icons-hover); +} + +/* Nav Icons */ + +.nav-chapters { + font-size: 2.5em; + text-align: center; + text-decoration: none; + + position: fixed; + top: 0; + bottom: 0; + margin: 0; + max-width: 150px; + min-width: 90px; + + display: flex; + justify-content: center; + align-content: center; + flex-direction: column; + + transition: color 0.5s, background-color 0.5s; +} + +.nav-chapters:hover { + text-decoration: none; + background-color: var(--theme-hover); + transition: background-color 0.15s, color 0.15s; +} + +.nav-wrapper { + margin-block-start: 50px; + display: none; +} + +.mobile-nav-chapters { + font-size: 2.5em; + text-align: center; + text-decoration: none; + width: 90px; + border-radius: 5px; + background-color: var(--sidebar-bg); +} + +/* Only Firefox supports flow-relative values */ +.previous { float: left; } +[dir=rtl] .previous { float: right; } + +/* Only Firefox supports flow-relative values */ +.next { + float: right; + right: var(--page-padding); +} +[dir=rtl] .next { + float: left; + right: unset; + left: var(--page-padding); +} + +/* Use the correct buttons for RTL layouts*/ +[dir=rtl] .previous i.fa-angle-left:before {content:"\f105";} +[dir=rtl] .next i.fa-angle-right:before { content:"\f104"; } + +@media only screen and (max-width: 1080px) { + .nav-wide-wrapper { display: none; } + .nav-wrapper { display: block; } +} + +/* sidebar-visible */ +@media only screen and (max-width: 1380px) { + #sidebar-toggle-anchor:checked ~ .page-wrapper .nav-wide-wrapper { display: none; } + #sidebar-toggle-anchor:checked ~ .page-wrapper .nav-wrapper { display: block; } +} + +/* Inline code */ + +:not(pre) > .hljs { + display: inline; + padding: 0.1em 0.3em; + border-radius: 3px; +} + +:not(pre):not(a) > .hljs { + color: var(--inline-code-color); + overflow-x: initial; +} + +a:hover > .hljs { + text-decoration: underline; +} + +pre { + position: relative; +} +pre > .buttons { + position: absolute; + z-index: 100; + right: 0px; + top: 2px; + margin: 0px; + padding: 2px 0px; + + color: var(--sidebar-fg); + cursor: pointer; + visibility: hidden; + opacity: 0; + transition: visibility 0.1s linear, opacity 0.1s linear; +} +pre:hover > .buttons { + visibility: visible; + opacity: 1 +} +pre > .buttons :hover { + color: var(--sidebar-active); + border-color: var(--icons-hover); + background-color: var(--theme-hover); +} +pre > .buttons i { + margin-inline-start: 8px; +} +pre > .buttons button { + cursor: inherit; + margin: 0px 5px; + padding: 4px 4px 3px 5px; + font-size: 23px; + + border-style: solid; + border-width: 1px; + border-radius: 4px; + border-color: var(--icons); + background-color: var(--theme-popup-bg); + transition: 100ms; + transition-property: color,border-color,background-color; + color: var(--icons); +} + +pre > .buttons button.clip-button { + padding: 2px 4px 0px 6px; +} +pre > .buttons button.clip-button::before { + /* clipboard image from octicons (https://github.com/primer/octicons/tree/v2.0.0) MIT license + */ + content: url('data:image/svg+xml,\ +\ +\ +'); + filter: var(--copy-button-filter); +} +pre > .buttons button.clip-button:hover::before { + filter: var(--copy-button-filter-hover); +} + +@media (pointer: coarse) { + pre > .buttons button { + /* On mobile, make it easier to tap buttons. */ + padding: 0.3rem 1rem; + } + + .sidebar-resize-indicator { + /* Hide resize indicator on devices with limited accuracy */ + display: none; + } +} +pre > code { + display: block; + padding: 1rem; +} + +/* FIXME: ACE editors overlap their buttons because ACE does absolute + positioning within the code block which breaks padding. The only solution I + can think of is to move the padding to the outer pre tag (or insert a div + wrapper), but that would require fixing a whole bunch of CSS rules. +*/ +.hljs.ace_editor { + padding: 0rem 0rem; +} + +pre > .result { + margin-block-start: 10px; +} + +/* Search */ + +#searchresults a { + text-decoration: none; +} + +mark { + border-radius: 2px; + padding-block-start: 0; + padding-block-end: 1px; + padding-inline-start: 3px; + padding-inline-end: 3px; + margin-block-start: 0; + margin-block-end: -1px; + margin-inline-start: -3px; + margin-inline-end: -3px; + background-color: var(--search-mark-bg); + transition: background-color 300ms linear; + cursor: pointer; +} + +mark.fade-out { + background-color: rgba(0,0,0,0) !important; + cursor: auto; +} + +.searchbar-outer { + margin-inline-start: auto; + margin-inline-end: auto; + max-width: var(--content-max-width); +} + +#searchbar { + width: 100%; + margin-block-start: 5px; + margin-block-end: 0; + margin-inline-start: auto; + margin-inline-end: auto; + padding: 10px 16px; + transition: box-shadow 300ms ease-in-out; + border: 1px solid var(--searchbar-border-color); + border-radius: 3px; + background-color: var(--searchbar-bg); + color: var(--searchbar-fg); +} +#searchbar:focus, +#searchbar.active { + box-shadow: 0 0 3px var(--searchbar-shadow-color); +} + +.searchresults-header { + font-weight: bold; + font-size: 1em; + padding-block-start: 18px; + padding-block-end: 0; + padding-inline-start: 5px; + padding-inline-end: 0; + color: var(--searchresults-header-fg); +} + +.searchresults-outer { + margin-inline-start: auto; + margin-inline-end: auto; + max-width: var(--content-max-width); + border-block-end: 1px dashed var(--searchresults-border-color); +} + +ul#searchresults { + list-style: none; + padding-inline-start: 20px; +} +ul#searchresults li { + margin: 10px 0px; + padding: 2px; + border-radius: 2px; +} +ul#searchresults li.focus { + background-color: var(--searchresults-li-bg); +} +ul#searchresults span.teaser { + display: block; + clear: both; + margin-block-start: 5px; + margin-block-end: 0; + margin-inline-start: 20px; + margin-inline-end: 0; + font-size: 0.8em; +} +ul#searchresults span.teaser em { + font-weight: bold; + font-style: normal; +} + +/* Sidebar */ + +.sidebar { + position: fixed; + left: 0; + top: 0; + bottom: 0; + width: var(--sidebar-width); + font-size: 0.875em; + box-sizing: border-box; + -webkit-overflow-scrolling: touch; + overscroll-behavior-y: contain; + background-color: var(--sidebar-bg); + color: var(--sidebar-fg); +} +.sidebar-iframe-inner { + --padding: 10px; + + background-color: var(--sidebar-bg); + padding: var(--padding); + margin: 0; + font-size: 1.4rem; + color: var(--sidebar-fg); + min-height: calc(100vh - var(--padding) * 2); +} +.sidebar-iframe-outer { + border: none; + height: 100%; + position: absolute; + top: 0; + bottom: 0; + left: 0; + right: 0; +} +[dir=rtl] .sidebar { left: unset; right: 0; } +.sidebar-resizing { + -moz-user-select: none; + -webkit-user-select: none; + -ms-user-select: none; + user-select: none; +} +html:not(.sidebar-resizing) .sidebar { + transition: transform 0.3s; /* Animation: slide away */ +} +.sidebar code { + line-height: 2em; +} +.sidebar .sidebar-scrollbox { + overflow-y: auto; + position: absolute; + top: 0; + bottom: 0; + left: 0; + right: 0; + padding: 10px 10px; +} +.sidebar .sidebar-resize-handle { + position: absolute; + cursor: col-resize; + width: 0; + right: calc(var(--sidebar-resize-indicator-width) * -1); + top: 0; + bottom: 0; + display: flex; + align-items: center; +} + +.sidebar-resize-handle .sidebar-resize-indicator { + width: 100%; + height: 16px; + color: var(--icons); + margin-inline-start: var(--sidebar-resize-indicator-space); + display: flex; + align-items: center; + justify-content: flex-start; +} +.sidebar-resize-handle .sidebar-resize-indicator::before { + content: ""; + width: 2px; + height: 12px; + border-left: dotted 2px currentColor; +} +.sidebar-resize-handle .sidebar-resize-indicator::after { + content: ""; + width: 2px; + height: 16px; + border-left: dotted 2px currentColor; +} + +[dir=rtl] .sidebar .sidebar-resize-handle { + left: calc(var(--sidebar-resize-indicator-width) * -1); + right: unset; +} +.js .sidebar .sidebar-resize-handle { + cursor: col-resize; + width: calc(var(--sidebar-resize-indicator-width) - var(--sidebar-resize-indicator-space)); +} +/* sidebar-hidden */ +#sidebar-toggle-anchor:not(:checked) ~ .sidebar { + transform: translateX(calc(0px - var(--sidebar-width) - var(--sidebar-resize-indicator-width))); + z-index: -1; +} +[dir=rtl] #sidebar-toggle-anchor:not(:checked) ~ .sidebar { + transform: translateX(calc(var(--sidebar-width) + var(--sidebar-resize-indicator-width))); +} +.sidebar::-webkit-scrollbar { + background: var(--sidebar-bg); +} +.sidebar::-webkit-scrollbar-thumb { + background: var(--scrollbar); +} + +/* sidebar-visible */ +#sidebar-toggle-anchor:checked ~ .page-wrapper { + transform: translateX(calc(var(--sidebar-width) + var(--sidebar-resize-indicator-width))); +} +[dir=rtl] #sidebar-toggle-anchor:checked ~ .page-wrapper { + transform: translateX(calc(0px - var(--sidebar-width) - var(--sidebar-resize-indicator-width))); +} +@media only screen and (min-width: 620px) { + #sidebar-toggle-anchor:checked ~ .page-wrapper { + transform: none; + margin-inline-start: calc(var(--sidebar-width) + var(--sidebar-resize-indicator-width)); + } + [dir=rtl] #sidebar-toggle-anchor:checked ~ .page-wrapper { + transform: none; + } +} + +.chapter { + list-style: none outside none; + padding-inline-start: 0; + line-height: 2.2em; +} + +.chapter ol { + width: 100%; +} + +.chapter li { + display: flex; + color: var(--sidebar-non-existant); +} +.chapter li a { + display: block; + padding: 0; + text-decoration: none; + color: var(--sidebar-fg); +} + +.chapter li a:hover { + color: var(--sidebar-active); +} + +.chapter li a.active { + color: var(--sidebar-active); +} + +.chapter li > a.toggle { + cursor: pointer; + display: block; + margin-inline-start: auto; + padding: 0 10px; + user-select: none; + opacity: 0.68; +} + +.chapter li > a.toggle div { + transition: transform 0.5s; +} + +/* collapse the section */ +.chapter li:not(.expanded) + li > ol { + display: none; +} + +.chapter li.chapter-item { + line-height: 1.5em; + margin-block-start: 0.6em; +} + +.chapter li.expanded > a.toggle div { + transform: rotate(90deg); +} + +.spacer { + width: 100%; + height: 3px; + margin: 5px 0px; +} +.chapter .spacer { + background-color: var(--sidebar-spacer); +} + +@media (-moz-touch-enabled: 1), (pointer: coarse) { + .chapter li a { padding: 5px 0; } + .spacer { margin: 10px 0; } +} + +.section { + list-style: none outside none; + padding-inline-start: 20px; + line-height: 1.9em; +} + +/* Theme Menu Popup */ + +.theme-popup { + position: absolute; + left: 10px; + top: var(--menu-bar-height); + z-index: 1000; + border-radius: 4px; + font-size: 0.7em; + color: var(--fg); + background: var(--theme-popup-bg); + border: 1px solid var(--theme-popup-border); + margin: 0; + padding: 0; + list-style: none; + display: none; + /* Don't let the children's background extend past the rounded corners. */ + overflow: hidden; +} +[dir=rtl] .theme-popup { left: unset; right: 10px; } +.theme-popup .default { + color: var(--icons); +} +.theme-popup .theme { + width: 100%; + border: 0; + margin: 0; + padding: 2px 20px; + line-height: 25px; + white-space: nowrap; + text-align: start; + cursor: pointer; + color: inherit; + background: inherit; + font-size: inherit; +} +.theme-popup .theme:hover { + background-color: var(--theme-hover); +} + +.theme-selected::before { + display: inline-block; + content: "✓"; + margin-inline-start: -14px; + width: 14px; +} + +/* The container for the help popup that covers the whole window. */ +#mdbook-help-container { + /* Position and size for the whole window. */ + position: fixed; + top: 0; + left: 0; + right: 0; + bottom: 0; + /* This uses flex layout (which is set in book.js), and centers the popup + in the window.*/ + display: none; + align-items: center; + justify-content: center; + z-index: 1000; + /* Dim out the book while the popup is visible. */ + background: var(--overlay-bg); +} + +/* The popup help box. */ +#mdbook-help-popup { + box-shadow: 0 4px 24px rgba(0,0,0,0.15); + min-width: 300px; + max-width: 500px; + width: 100%; + box-sizing: border-box; + display: flex; + flex-direction: column; + align-items: center; + background-color: var(--bg); + color: var(--fg); + border-width: 1px; + border-color: var(--theme-popup-border); + border-style: solid; + border-radius: 8px; + padding: 10px; +} + +.mdbook-help-title { + text-align: center; + /* mdbook's margin for h2 is way too large. */ + margin: 10px; +} diff --git a/docs/css/general.css b/docs/css/general.css new file mode 100644 index 0000000..9946cfc --- /dev/null +++ b/docs/css/general.css @@ -0,0 +1,279 @@ +/* Base styles and content styles */ + +:root { + /* Browser default font-size is 16px, this way 1 rem = 10px */ + font-size: 62.5%; + color-scheme: var(--color-scheme); +} + +html { + font-family: "Open Sans", sans-serif; + color: var(--fg); + background-color: var(--bg); + text-size-adjust: none; + -webkit-text-size-adjust: none; +} + +body { + margin: 0; + font-size: 1.6rem; + overflow-x: hidden; +} + +code { + font-family: var(--mono-font) !important; + font-size: var(--code-font-size); + direction: ltr !important; +} + +/* make long words/inline code not x overflow */ +main { + overflow-wrap: break-word; +} + +/* make wide tables scroll if they overflow */ +.table-wrapper { + overflow-x: auto; +} + +/* Don't change font size in headers. */ +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + font-size: unset; +} + +.left { float: left; } +.right { float: right; } +.boring { opacity: 0.6; } +.hide-boring .boring { display: none; } +.hidden { display: none !important; } + +h2, h3 { margin-block-start: 2.5em; } +h4, h5 { margin-block-start: 2em; } + +.header + .header h3, +.header + .header h4, +.header + .header h5 { + margin-block-start: 1em; +} + +h1:target::before, +h2:target::before, +h3:target::before, +h4:target::before, +h5:target::before, +h6:target::before { + display: inline-block; + content: "»"; + margin-inline-start: -30px; + width: 30px; +} + +/* This is broken on Safari as of version 14, but is fixed + in Safari Technology Preview 117 which I think will be Safari 14.2. + https://bugs.webkit.org/show_bug.cgi?id=218076 +*/ +:target { + /* Safari does not support logical properties */ + scroll-margin-top: calc(var(--menu-bar-height) + 0.5em); +} + +.page { + outline: 0; + padding: 0 var(--page-padding); + margin-block-start: calc(0px - var(--menu-bar-height)); /* Compensate for the #menu-bar-hover-placeholder */ +} +.page-wrapper { + box-sizing: border-box; + background-color: var(--bg); +} +.no-js .page-wrapper, +.js:not(.sidebar-resizing) .page-wrapper { + transition: margin-left 0.3s ease, transform 0.3s ease; /* Animation: slide away */ +} +[dir=rtl] .js:not(.sidebar-resizing) .page-wrapper { + transition: margin-right 0.3s ease, transform 0.3s ease; /* Animation: slide away */ +} + +.content { + overflow-y: auto; + padding: 0 5px 50px 5px; +} +.content main { + margin-inline-start: auto; + margin-inline-end: auto; + max-width: var(--content-max-width); +} +.content p { line-height: 1.45em; } +.content ol { line-height: 1.45em; } +.content ul { line-height: 1.45em; } +.content a { text-decoration: none; } +.content a:hover { text-decoration: underline; } +.content img, .content video { max-width: 100%; } +.content .header:link, +.content .header:visited { + color: var(--fg); +} +.content .header:link, +.content .header:visited:hover { + text-decoration: none; +} + +table { + margin: 0 auto; + border-collapse: collapse; +} +table td { + padding: 3px 20px; + border: 1px var(--table-border-color) solid; +} +table thead { + background: var(--table-header-bg); +} +table thead td { + font-weight: 700; + border: none; +} +table thead th { + padding: 3px 20px; +} +table thead tr { + border: 1px var(--table-header-bg) solid; +} +/* Alternate background colors for rows */ +table tbody tr:nth-child(2n) { + background: var(--table-alternate-bg); +} + + +blockquote { + margin: 20px 0; + padding: 0 20px; + color: var(--fg); + background-color: var(--quote-bg); + border-block-start: .1em solid var(--quote-border); + border-block-end: .1em solid var(--quote-border); +} + +.warning { + margin: 20px; + padding: 0 20px; + border-inline-start: 2px solid var(--warning-border); +} + +.warning:before { + position: absolute; + width: 3rem; + height: 3rem; + margin-inline-start: calc(-1.5rem - 21px); + content: "ⓘ"; + text-align: center; + background-color: var(--bg); + color: var(--warning-border); + font-weight: bold; + font-size: 2rem; +} + +blockquote .warning:before { + background-color: var(--quote-bg); +} + +kbd { + background-color: var(--table-border-color); + border-radius: 4px; + border: solid 1px var(--theme-popup-border); + box-shadow: inset 0 -1px 0 var(--theme-hover); + display: inline-block; + font-size: var(--code-font-size); + font-family: var(--mono-font); + line-height: 10px; + padding: 4px 5px; + vertical-align: middle; +} + +sup { + /* Set the line-height for superscript and footnote references so that there + isn't an awkward space appearing above lines that contain the footnote. + + See https://github.com/rust-lang/mdBook/pull/2443#discussion_r1813773583 + for an explanation. + */ + line-height: 0; +} + +.footnote-definition { + font-size: 0.9em; +} +/* The default spacing for a list is a little too large. */ +.footnote-definition ul, +.footnote-definition ol { + padding-left: 20px; +} +.footnote-definition > li { + /* Required to position the ::before target */ + position: relative; +} +.footnote-definition > li:target { + scroll-margin-top: 50vh; +} +.footnote-reference:target { + scroll-margin-top: 50vh; +} +/* Draws a border around the footnote (including the marker) when it is selected. + TODO: If there are multiple linkbacks, highlight which one you just came + from so you know which one to click. +*/ +.footnote-definition > li:target::before { + border: 2px solid var(--footnote-highlight); + border-radius: 6px; + position: absolute; + top: -8px; + right: -8px; + bottom: -8px; + left: -32px; + pointer-events: none; + content: ""; +} +/* Pulses the footnote reference so you can quickly see where you left off reading. + This could use some improvement. +*/ +@media not (prefers-reduced-motion) { + .footnote-reference:target { + animation: fn-highlight 0.8s; + border-radius: 2px; + } + + @keyframes fn-highlight { + from { + background-color: var(--footnote-highlight); + } + } +} + +.tooltiptext { + position: absolute; + visibility: hidden; + color: #fff; + background-color: #333; + transform: translateX(-50%); /* Center by moving tooltip 50% of its width left */ + left: -8px; /* Half of the width of the icon */ + top: -35px; + font-size: 0.8em; + text-align: center; + border-radius: 6px; + padding: 5px 8px; + margin: 5px; + z-index: 1000; +} +.tooltipped .tooltiptext { + visibility: visible; +} + +.chapter li.part-title { + color: var(--sidebar-fg); + margin: 5px 0px; + font-weight: bold; +} + +.result-no-output { + font-style: italic; +} diff --git a/docs/css/print.css b/docs/css/print.css new file mode 100644 index 0000000..80ec3a5 --- /dev/null +++ b/docs/css/print.css @@ -0,0 +1,50 @@ + +#sidebar, +#menu-bar, +.nav-chapters, +.mobile-nav-chapters { + display: none; +} + +#page-wrapper.page-wrapper { + transform: none !important; + margin-inline-start: 0px; + overflow-y: initial; +} + +#content { + max-width: none; + margin: 0; + padding: 0; +} + +.page { + overflow-y: initial; +} + +code { + direction: ltr !important; +} + +pre > .buttons { + z-index: 2; +} + +a, a:visited, a:active, a:hover { + color: #4183c4; + text-decoration: none; +} + +h1, h2, h3, h4, h5, h6 { + page-break-inside: avoid; + page-break-after: avoid; +} + +pre, code { + page-break-inside: avoid; + white-space: pre-wrap; +} + +.fa { + display: none !important; +} diff --git a/docs/css/variables.css b/docs/css/variables.css new file mode 100644 index 0000000..5742d24 --- /dev/null +++ b/docs/css/variables.css @@ -0,0 +1,330 @@ + +/* Globals */ + +:root { + --sidebar-target-width: 300px; + --sidebar-width: min(var(--sidebar-target-width), 80vw); + --sidebar-resize-indicator-width: 8px; + --sidebar-resize-indicator-space: 2px; + --page-padding: 15px; + --content-max-width: 750px; + --menu-bar-height: 50px; + --mono-font: "Source Code Pro", Consolas, "Ubuntu Mono", Menlo, "DejaVu Sans Mono", monospace, monospace; + --code-font-size: 0.875em; /* please adjust the ace font size accordingly in editor.js */ +} + +/* Themes */ + +.ayu { + --bg: hsl(210, 25%, 8%); + --fg: #c5c5c5; + + --sidebar-bg: #14191f; + --sidebar-fg: #c8c9db; + --sidebar-non-existant: #5c6773; + --sidebar-active: #ffb454; + --sidebar-spacer: #2d334f; + + --scrollbar: var(--sidebar-fg); + + --icons: #737480; + --icons-hover: #b7b9cc; + + --links: #0096cf; + + --inline-code-color: #ffb454; + + --theme-popup-bg: #14191f; + --theme-popup-border: #5c6773; + --theme-hover: #191f26; + + --quote-bg: hsl(226, 15%, 17%); + --quote-border: hsl(226, 15%, 22%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(210, 25%, 13%); + --table-header-bg: hsl(210, 25%, 28%); + --table-alternate-bg: hsl(210, 25%, 11%); + + --searchbar-border-color: #848484; + --searchbar-bg: #424242; + --searchbar-fg: #fff; + --searchbar-shadow-color: #d4c89f; + --searchresults-header-fg: #666; + --searchresults-border-color: #888; + --searchresults-li-bg: #252932; + --search-mark-bg: #e3b171; + + --color-scheme: dark; + + /* Same as `--icons` */ + --copy-button-filter: invert(45%) sepia(6%) saturate(621%) hue-rotate(198deg) brightness(99%) contrast(85%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(68%) sepia(55%) saturate(531%) hue-rotate(341deg) brightness(104%) contrast(101%); + + --footnote-highlight: #2668a6; + + --overlay-bg: rgba(33, 40, 48, 0.4); +} + +.coal { + --bg: hsl(200, 7%, 8%); + --fg: #98a3ad; + + --sidebar-bg: #292c2f; + --sidebar-fg: #a1adb8; + --sidebar-non-existant: #505254; + --sidebar-active: #3473ad; + --sidebar-spacer: #393939; + + --scrollbar: var(--sidebar-fg); + + --icons: #43484d; + --icons-hover: #b3c0cc; + + --links: #2b79a2; + + --inline-code-color: #c5c8c6; + + --theme-popup-bg: #141617; + --theme-popup-border: #43484d; + --theme-hover: #1f2124; + + --quote-bg: hsl(234, 21%, 18%); + --quote-border: hsl(234, 21%, 23%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(200, 7%, 13%); + --table-header-bg: hsl(200, 7%, 28%); + --table-alternate-bg: hsl(200, 7%, 11%); + + --searchbar-border-color: #aaa; + --searchbar-bg: #b7b7b7; + --searchbar-fg: #000; + --searchbar-shadow-color: #aaa; + --searchresults-header-fg: #666; + --searchresults-border-color: #98a3ad; + --searchresults-li-bg: #2b2b2f; + --search-mark-bg: #355c7d; + + --color-scheme: dark; + + /* Same as `--icons` */ + --copy-button-filter: invert(26%) sepia(8%) saturate(575%) hue-rotate(169deg) brightness(87%) contrast(82%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(36%) sepia(70%) saturate(503%) hue-rotate(167deg) brightness(98%) contrast(89%); + + --footnote-highlight: #4079ae; + + --overlay-bg: rgba(33, 40, 48, 0.4); +} + +.light, html:not(.js) { + --bg: hsl(0, 0%, 100%); + --fg: hsl(0, 0%, 0%); + + --sidebar-bg: #fafafa; + --sidebar-fg: hsl(0, 0%, 0%); + --sidebar-non-existant: #aaaaaa; + --sidebar-active: #1f1fff; + --sidebar-spacer: #f4f4f4; + + --scrollbar: #8F8F8F; + + --icons: #747474; + --icons-hover: #000000; + + --links: #20609f; + + --inline-code-color: #301900; + + --theme-popup-bg: #fafafa; + --theme-popup-border: #cccccc; + --theme-hover: #e6e6e6; + + --quote-bg: hsl(197, 37%, 96%); + --quote-border: hsl(197, 37%, 91%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(0, 0%, 95%); + --table-header-bg: hsl(0, 0%, 80%); + --table-alternate-bg: hsl(0, 0%, 97%); + + --searchbar-border-color: #aaa; + --searchbar-bg: #fafafa; + --searchbar-fg: #000; + --searchbar-shadow-color: #aaa; + --searchresults-header-fg: #666; + --searchresults-border-color: #888; + --searchresults-li-bg: #e4f2fe; + --search-mark-bg: #a2cff5; + + --color-scheme: light; + + /* Same as `--icons` */ + --copy-button-filter: invert(45.49%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(14%) sepia(93%) saturate(4250%) hue-rotate(243deg) brightness(99%) contrast(130%); + + --footnote-highlight: #7e7eff; + + --overlay-bg: rgba(200, 200, 205, 0.4); +} + +.navy { + --bg: hsl(226, 23%, 11%); + --fg: #bcbdd0; + + --sidebar-bg: #282d3f; + --sidebar-fg: #c8c9db; + --sidebar-non-existant: #505274; + --sidebar-active: #2b79a2; + --sidebar-spacer: #2d334f; + + --scrollbar: var(--sidebar-fg); + + --icons: #737480; + --icons-hover: #b7b9cc; + + --links: #2b79a2; + + --inline-code-color: #c5c8c6; + + --theme-popup-bg: #161923; + --theme-popup-border: #737480; + --theme-hover: #282e40; + + --quote-bg: hsl(226, 15%, 17%); + --quote-border: hsl(226, 15%, 22%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(226, 23%, 16%); + --table-header-bg: hsl(226, 23%, 31%); + --table-alternate-bg: hsl(226, 23%, 14%); + + --searchbar-border-color: #aaa; + --searchbar-bg: #aeaec6; + --searchbar-fg: #000; + --searchbar-shadow-color: #aaa; + --searchresults-header-fg: #5f5f71; + --searchresults-border-color: #5c5c68; + --searchresults-li-bg: #242430; + --search-mark-bg: #a2cff5; + + --color-scheme: dark; + + /* Same as `--icons` */ + --copy-button-filter: invert(51%) sepia(10%) saturate(393%) hue-rotate(198deg) brightness(86%) contrast(87%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(46%) sepia(20%) saturate(1537%) hue-rotate(156deg) brightness(85%) contrast(90%); + + --footnote-highlight: #4079ae; + + --overlay-bg: rgba(33, 40, 48, 0.4); +} + +.rust { + --bg: hsl(60, 9%, 87%); + --fg: #262625; + + --sidebar-bg: #3b2e2a; + --sidebar-fg: #c8c9db; + --sidebar-non-existant: #505254; + --sidebar-active: #e69f67; + --sidebar-spacer: #45373a; + + --scrollbar: var(--sidebar-fg); + + --icons: #737480; + --icons-hover: #262625; + + --links: #2b79a2; + + --inline-code-color: #6e6b5e; + + --theme-popup-bg: #e1e1db; + --theme-popup-border: #b38f6b; + --theme-hover: #99908a; + + --quote-bg: hsl(60, 5%, 75%); + --quote-border: hsl(60, 5%, 70%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(60, 9%, 82%); + --table-header-bg: #b3a497; + --table-alternate-bg: hsl(60, 9%, 84%); + + --searchbar-border-color: #aaa; + --searchbar-bg: #fafafa; + --searchbar-fg: #000; + --searchbar-shadow-color: #aaa; + --searchresults-header-fg: #666; + --searchresults-border-color: #888; + --searchresults-li-bg: #dec2a2; + --search-mark-bg: #e69f67; + + /* Same as `--icons` */ + --copy-button-filter: invert(51%) sepia(10%) saturate(393%) hue-rotate(198deg) brightness(86%) contrast(87%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(77%) sepia(16%) saturate(1798%) hue-rotate(328deg) brightness(98%) contrast(83%); + + --footnote-highlight: #d3a17a; + + --overlay-bg: rgba(150, 150, 150, 0.25); +} + +@media (prefers-color-scheme: dark) { + html:not(.js) { + --bg: hsl(200, 7%, 8%); + --fg: #98a3ad; + + --sidebar-bg: #292c2f; + --sidebar-fg: #a1adb8; + --sidebar-non-existant: #505254; + --sidebar-active: #3473ad; + --sidebar-spacer: #393939; + + --scrollbar: var(--sidebar-fg); + + --icons: #43484d; + --icons-hover: #b3c0cc; + + --links: #2b79a2; + + --inline-code-color: #c5c8c6; + + --theme-popup-bg: #141617; + --theme-popup-border: #43484d; + --theme-hover: #1f2124; + + --quote-bg: hsl(234, 21%, 18%); + --quote-border: hsl(234, 21%, 23%); + + --warning-border: #ff8e00; + + --table-border-color: hsl(200, 7%, 13%); + --table-header-bg: hsl(200, 7%, 28%); + --table-alternate-bg: hsl(200, 7%, 11%); + + --searchbar-border-color: #aaa; + --searchbar-bg: #b7b7b7; + --searchbar-fg: #000; + --searchbar-shadow-color: #aaa; + --searchresults-header-fg: #666; + --searchresults-border-color: #98a3ad; + --searchresults-li-bg: #2b2b2f; + --search-mark-bg: #355c7d; + + --color-scheme: dark; + + /* Same as `--icons` */ + --copy-button-filter: invert(26%) sepia(8%) saturate(575%) hue-rotate(169deg) brightness(87%) contrast(82%); + /* Same as `--sidebar-active` */ + --copy-button-filter-hover: invert(36%) sepia(70%) saturate(503%) hue-rotate(167deg) brightness(98%) contrast(89%); + } +} diff --git a/docs/elasticlunr.min.js b/docs/elasticlunr.min.js new file mode 100644 index 0000000..94b20dd --- /dev/null +++ b/docs/elasticlunr.min.js @@ -0,0 +1,10 @@ +/** + * elasticlunr - http://weixsong.github.io + * Lightweight full-text search engine in Javascript for browser search and offline search. - 0.9.5 + * + * Copyright (C) 2017 Oliver Nightingale + * Copyright (C) 2017 Wei Song + * MIT Licensed + * @license + */ +!function(){function e(e){if(null===e||"object"!=typeof e)return e;var t=e.constructor();for(var n in e)e.hasOwnProperty(n)&&(t[n]=e[n]);return t}var t=function(e){var n=new t.Index;return n.pipeline.add(t.trimmer,t.stopWordFilter,t.stemmer),e&&e.call(n,n),n};t.version="0.9.5",lunr=t,t.utils={},t.utils.warn=function(e){return function(t){e.console&&console.warn&&console.warn(t)}}(this),t.utils.toString=function(e){return void 0===e||null===e?"":e.toString()},t.EventEmitter=function(){this.events={}},t.EventEmitter.prototype.addListener=function(){var e=Array.prototype.slice.call(arguments),t=e.pop(),n=e;if("function"!=typeof t)throw new TypeError("last argument must be a function");n.forEach(function(e){this.hasHandler(e)||(this.events[e]=[]),this.events[e].push(t)},this)},t.EventEmitter.prototype.removeListener=function(e,t){if(this.hasHandler(e)){var n=this.events[e].indexOf(t);-1!==n&&(this.events[e].splice(n,1),0==this.events[e].length&&delete this.events[e])}},t.EventEmitter.prototype.emit=function(e){if(this.hasHandler(e)){var t=Array.prototype.slice.call(arguments,1);this.events[e].forEach(function(e){e.apply(void 0,t)},this)}},t.EventEmitter.prototype.hasHandler=function(e){return e in this.events},t.tokenizer=function(e){if(!arguments.length||null===e||void 0===e)return[];if(Array.isArray(e)){var n=e.filter(function(e){return null===e||void 0===e?!1:!0});n=n.map(function(e){return t.utils.toString(e).toLowerCase()});var i=[];return n.forEach(function(e){var n=e.split(t.tokenizer.seperator);i=i.concat(n)},this),i}return e.toString().trim().toLowerCase().split(t.tokenizer.seperator)},t.tokenizer.defaultSeperator=/[\s\-]+/,t.tokenizer.seperator=t.tokenizer.defaultSeperator,t.tokenizer.setSeperator=function(e){null!==e&&void 0!==e&&"object"==typeof e&&(t.tokenizer.seperator=e)},t.tokenizer.resetSeperator=function(){t.tokenizer.seperator=t.tokenizer.defaultSeperator},t.tokenizer.getSeperator=function(){return t.tokenizer.seperator},t.Pipeline=function(){this._queue=[]},t.Pipeline.registeredFunctions={},t.Pipeline.registerFunction=function(e,n){n in t.Pipeline.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+n),e.label=n,t.Pipeline.registeredFunctions[n]=e},t.Pipeline.getRegisteredFunction=function(e){return e in t.Pipeline.registeredFunctions!=!0?null:t.Pipeline.registeredFunctions[e]},t.Pipeline.warnIfFunctionNotRegistered=function(e){var n=e.label&&e.label in this.registeredFunctions;n||t.utils.warn("Function is not registered with pipeline. This may cause problems when serialising the index.\n",e)},t.Pipeline.load=function(e){var n=new t.Pipeline;return e.forEach(function(e){var i=t.Pipeline.getRegisteredFunction(e);if(!i)throw new Error("Cannot load un-registered function: "+e);n.add(i)}),n},t.Pipeline.prototype.add=function(){var e=Array.prototype.slice.call(arguments);e.forEach(function(e){t.Pipeline.warnIfFunctionNotRegistered(e),this._queue.push(e)},this)},t.Pipeline.prototype.after=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._queue.indexOf(e);if(-1===i)throw new Error("Cannot find existingFn");this._queue.splice(i+1,0,n)},t.Pipeline.prototype.before=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._queue.indexOf(e);if(-1===i)throw new Error("Cannot find existingFn");this._queue.splice(i,0,n)},t.Pipeline.prototype.remove=function(e){var t=this._queue.indexOf(e);-1!==t&&this._queue.splice(t,1)},t.Pipeline.prototype.run=function(e){for(var t=[],n=e.length,i=this._queue.length,o=0;n>o;o++){for(var r=e[o],s=0;i>s&&(r=this._queue[s](r,o,e),void 0!==r&&null!==r);s++);void 0!==r&&null!==r&&t.push(r)}return t},t.Pipeline.prototype.reset=function(){this._queue=[]},t.Pipeline.prototype.get=function(){return this._queue},t.Pipeline.prototype.toJSON=function(){return this._queue.map(function(e){return t.Pipeline.warnIfFunctionNotRegistered(e),e.label})},t.Index=function(){this._fields=[],this._ref="id",this.pipeline=new t.Pipeline,this.documentStore=new t.DocumentStore,this.index={},this.eventEmitter=new t.EventEmitter,this._idfCache={},this.on("add","remove","update",function(){this._idfCache={}}.bind(this))},t.Index.prototype.on=function(){var e=Array.prototype.slice.call(arguments);return this.eventEmitter.addListener.apply(this.eventEmitter,e)},t.Index.prototype.off=function(e,t){return this.eventEmitter.removeListener(e,t)},t.Index.load=function(e){e.version!==t.version&&t.utils.warn("version mismatch: current "+t.version+" importing "+e.version);var n=new this;n._fields=e.fields,n._ref=e.ref,n.documentStore=t.DocumentStore.load(e.documentStore),n.pipeline=t.Pipeline.load(e.pipeline),n.index={};for(var i in e.index)n.index[i]=t.InvertedIndex.load(e.index[i]);return n},t.Index.prototype.addField=function(e){return this._fields.push(e),this.index[e]=new t.InvertedIndex,this},t.Index.prototype.setRef=function(e){return this._ref=e,this},t.Index.prototype.saveDocument=function(e){return this.documentStore=new t.DocumentStore(e),this},t.Index.prototype.addDoc=function(e,n){if(e){var n=void 0===n?!0:n,i=e[this._ref];this.documentStore.addDoc(i,e),this._fields.forEach(function(n){var o=this.pipeline.run(t.tokenizer(e[n]));this.documentStore.addFieldLength(i,n,o.length);var r={};o.forEach(function(e){e in r?r[e]+=1:r[e]=1},this);for(var s in r){var u=r[s];u=Math.sqrt(u),this.index[n].addToken(s,{ref:i,tf:u})}},this),n&&this.eventEmitter.emit("add",e,this)}},t.Index.prototype.removeDocByRef=function(e){if(e&&this.documentStore.isDocStored()!==!1&&this.documentStore.hasDoc(e)){var t=this.documentStore.getDoc(e);this.removeDoc(t,!1)}},t.Index.prototype.removeDoc=function(e,n){if(e){var n=void 0===n?!0:n,i=e[this._ref];this.documentStore.hasDoc(i)&&(this.documentStore.removeDoc(i),this._fields.forEach(function(n){var o=this.pipeline.run(t.tokenizer(e[n]));o.forEach(function(e){this.index[n].removeToken(e,i)},this)},this),n&&this.eventEmitter.emit("remove",e,this))}},t.Index.prototype.updateDoc=function(e,t){var t=void 0===t?!0:t;this.removeDocByRef(e[this._ref],!1),this.addDoc(e,!1),t&&this.eventEmitter.emit("update",e,this)},t.Index.prototype.idf=function(e,t){var n="@"+t+"/"+e;if(Object.prototype.hasOwnProperty.call(this._idfCache,n))return this._idfCache[n];var i=this.index[t].getDocFreq(e),o=1+Math.log(this.documentStore.length/(i+1));return this._idfCache[n]=o,o},t.Index.prototype.getFields=function(){return this._fields.slice()},t.Index.prototype.search=function(e,n){if(!e)return[];e="string"==typeof e?{any:e}:JSON.parse(JSON.stringify(e));var i=null;null!=n&&(i=JSON.stringify(n));for(var o=new t.Configuration(i,this.getFields()).get(),r={},s=Object.keys(e),u=0;u0&&t.push(e);for(var i in n)"docs"!==i&&"df"!==i&&this.expandToken(e+i,t,n[i]);return t},t.InvertedIndex.prototype.toJSON=function(){return{root:this.root}},t.Configuration=function(e,n){var e=e||"";if(void 0==n||null==n)throw new Error("fields should not be null");this.config={};var i;try{i=JSON.parse(e),this.buildUserConfig(i,n)}catch(o){t.utils.warn("user configuration parse failed, will use default configuration"),this.buildDefaultConfig(n)}},t.Configuration.prototype.buildDefaultConfig=function(e){this.reset(),e.forEach(function(e){this.config[e]={boost:1,bool:"OR",expand:!1}},this)},t.Configuration.prototype.buildUserConfig=function(e,n){var i="OR",o=!1;if(this.reset(),"bool"in e&&(i=e.bool||i),"expand"in e&&(o=e.expand||o),"fields"in e)for(var r in e.fields)if(n.indexOf(r)>-1){var s=e.fields[r],u=o;void 0!=s.expand&&(u=s.expand),this.config[r]={boost:s.boost||0===s.boost?s.boost:1,bool:s.bool||i,expand:u}}else t.utils.warn("field name in user configuration not found in index instance fields");else this.addAllFields2UserConfig(i,o,n)},t.Configuration.prototype.addAllFields2UserConfig=function(e,t,n){n.forEach(function(n){this.config[n]={boost:1,bool:e,expand:t}},this)},t.Configuration.prototype.get=function(){return this.config},t.Configuration.prototype.reset=function(){this.config={}},lunr.SortedSet=function(){this.length=0,this.elements=[]},lunr.SortedSet.load=function(e){var t=new this;return t.elements=e,t.length=e.length,t},lunr.SortedSet.prototype.add=function(){var e,t;for(e=0;e1;){if(r===e)return o;e>r&&(t=o),r>e&&(n=o),i=n-t,o=t+Math.floor(i/2),r=this.elements[o]}return r===e?o:-1},lunr.SortedSet.prototype.locationFor=function(e){for(var t=0,n=this.elements.length,i=n-t,o=t+Math.floor(i/2),r=this.elements[o];i>1;)e>r&&(t=o),r>e&&(n=o),i=n-t,o=t+Math.floor(i/2),r=this.elements[o];return r>e?o:e>r?o+1:void 0},lunr.SortedSet.prototype.intersect=function(e){for(var t=new lunr.SortedSet,n=0,i=0,o=this.length,r=e.length,s=this.elements,u=e.elements;;){if(n>o-1||i>r-1)break;s[n]!==u[i]?s[n]u[i]&&i++:(t.add(s[n]),n++,i++)}return t},lunr.SortedSet.prototype.clone=function(){var e=new lunr.SortedSet;return e.elements=this.toArray(),e.length=e.elements.length,e},lunr.SortedSet.prototype.union=function(e){var t,n,i;this.length>=e.length?(t=this,n=e):(t=e,n=this),i=t.clone();for(var o=0,r=n.toArray();o + + + + diff --git a/docs/figures.py b/docs/figures.py new file mode 100644 index 0000000..bca308b --- /dev/null +++ b/docs/figures.py @@ -0,0 +1,115 @@ +import math +import drawsvg as draw +import os +from pathlib import Path + +images_path = Path(os.path.realpath(__file__)).parent.joinpath('src').joinpath('images') + +# Define arrowhead marker +arrow = draw.Marker(0,0,10,10, refX="10", refY="5", markerWidth="6", markerHeight="6", orient='auto-start-reverse') +arrow.append(draw.Path(d='M 0 0 L 10 5 L 0 10 z', fill='black')) + +class Point: + def __init__(self, x, y): + self.x = x + self.y = y + +def force_diagram(): + d = draw.Drawing(600, 600, origin='center') + + # Outline drawing area + d.append(draw.Rectangle(-300,-300,600,600, fill='white')) + + # Coordinate system + c = translate(coordinate_system(), -230, -230) + d.append(c) + + # Define group + g = draw.Group(fill='black', stroke='black', stroke_width=1.5) + + A = Point(0, -200) + B = Point(0, 200) + steering_angle = 20 + + w = 300 + g.append(draw.Rectangle(-w/2,-280, w, 560, fill='none', stroke_width=1)) + wheel = draw.Rectangle(-15,-40, 30, 80, fill='none', stroke_width=1) + g.append(translate(rotate(wheel, steering_angle), -w/2, A.y)) + g.append(translate(rotate(wheel, steering_angle), w/2, A.y)) + g.append(translate(wheel, -w/2, B.y)) + g.append(translate(wheel, w/2, B.y)) + + # Center of Mass + g.append(draw.Circle(0, 0, 3)) + g.append(text("CM", 0, 0, angle=180)) + + # Velocity vector + g.append(draw.Line(0, 0, -50, -160, marker_end=arrow)) + g.append(text("v", -50, -160, angle=-110)) + + # Point A + g.append(text("A", A.x, A.y, angle=180)) + g.append(draw.Circle(A.x, A.y, 3)) + g.append(draw.Line(A.x, A.y, 80, -170, marker_end=arrow)) + g.append(text("F_A", 80, -170)) + + # Point B + g.append(text("B", B.x, B.y, angle=180)) + g.append(draw.Circle(B.x, B.y, 3)) + g.append(draw.Line(B.x, B.y, 70, 200, marker_end=arrow)) + g.append(text("F_B", 70, 200)) + + d.append(translate(g, 100, 0)) + d.save_svg(f'{images_path}/force_diagram.svg') + +def coordinate_system(): + g = draw.Group(stroke='black', stroke_width=1.5) + + g.append(draw.Line(0, 0, 50, 0, marker_end=arrow)) + g.append(text("x", 50, 0)) + + g.append(draw.Line(0, 0, 0, 50, marker_end=arrow)) + g.append(text("y", 0, 50, angle=90)) + + # Arc + cx = 0 + cy = 0 + r = 50 + start = 120 + end = -30 + start_angle = math.radians(start) + end_angle = math.radians(end) + + x0 = cx + r * math.cos(start_angle) + y0 = cy + r * math.sin(start_angle) + x1 = cx + r * math.cos(end_angle) + y1 = cy + r * math.sin(end_angle) + + # SVG arc path from (x0, y0) to (x1, y1) around center + path_d = f'M {x0} {y0} A {r} {r} 0 1 1 {x1} {y1}' + arc = draw.Path(d=path_d, fill='none', marker_end=arrow) + g.append(arc) + + return g + +# Wrap in translated group +def translate(t, x, y): + g = draw.Group(transform=f"translate({x},{y})") + g.append(t) + return g + +# Wrap in rotated group +def rotate(t, a): + g = draw.Group(transform=f"rotate({a})") + g.append(t) + return g + +def text(text, x, y, offset=20, angle=0): + angle = math.radians(angle) + x = x + offset * math.cos(angle) + y = y + offset * math.sin(angle) + + return draw.Text(text, 18, x, y, stroke_width=1, center=True) + +force_diagram() + diff --git a/docs/fonts/OPEN-SANS-LICENSE.txt b/docs/fonts/OPEN-SANS-LICENSE.txt new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/docs/fonts/OPEN-SANS-LICENSE.txt @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/docs/fonts/SOURCE-CODE-PRO-LICENSE.txt b/docs/fonts/SOURCE-CODE-PRO-LICENSE.txt new file mode 100644 index 0000000..366206f --- /dev/null +++ b/docs/fonts/SOURCE-CODE-PRO-LICENSE.txt @@ -0,0 +1,93 @@ +Copyright 2010, 2012 Adobe Systems Incorporated (http://www.adobe.com/), with Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark of Adobe Systems Incorporated in the United States and/or other countries. + +This Font Software is licensed under the SIL Open Font License, Version 1.1. +This license is copied below, and is also available with a FAQ at: +http://scripts.sil.org/OFL + + +----------------------------------------------------------- +SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007 +----------------------------------------------------------- + +PREAMBLE +The goals of the Open Font License (OFL) are to stimulate worldwide +development of collaborative font projects, to support the font creation +efforts of academic and linguistic communities, and to provide a free and +open framework in which fonts may be shared and improved in partnership +with others. + +The OFL allows the licensed fonts to be used, studied, modified and +redistributed freely as long as they are not sold by themselves. The +fonts, including any derivative works, can be bundled, embedded, +redistributed and/or sold with any software provided that any reserved +names are not used by derivative works. The fonts and derivatives, +however, cannot be released under any other type of license. The +requirement for fonts to remain under this license does not apply +to any document created using the fonts or their derivatives. + +DEFINITIONS +"Font Software" refers to the set of files released by the Copyright +Holder(s) under this license and clearly marked as such. This may +include source files, build scripts and documentation. + +"Reserved Font Name" refers to any names specified as such after the +copyright statement(s). + +"Original Version" refers to the collection of Font Software components as +distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, +or substituting -- in part or in whole -- any of the components of the +Original Version, by changing formats or by porting the Font Software to a +new environment. + +"Author" refers to any designer, engineer, programmer, technical +writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining +a copy of the Font Software, to use, study, copy, merge, embed, modify, +redistribute, and sell modified and unmodified copies of the Font +Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, +in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, +redistributed and/or sold with any software, provided that each copy +contains the above copyright notice and this license. These can be +included either as stand-alone text files, human-readable headers or +in the appropriate machine-readable metadata fields within text or +binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font +Name(s) unless explicit written permission is granted by the corresponding +Copyright Holder. This restriction only applies to the primary font name as +presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font +Software shall not be used to promote, endorse or advertise any +Modified Version, except to acknowledge the contribution(s) of the +Copyright Holder(s) and the Author(s) or with their explicit written +permission. + +5) The Font Software, modified or unmodified, in part or in whole, +must be distributed entirely under this license, and must not be +distributed under any other license. The requirement for fonts to +remain under this license does not apply to any document created +using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are +not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT +OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE +COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL +DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM +OTHER DEALINGS IN THE FONT SOFTWARE. diff --git a/docs/fonts/fonts.css b/docs/fonts/fonts.css new file mode 100644 index 0000000..698e1e1 --- /dev/null +++ b/docs/fonts/fonts.css @@ -0,0 +1,100 @@ +/* Open Sans is licensed under the Apache License, Version 2.0. See http://www.apache.org/licenses/LICENSE-2.0 */ +/* Source Code Pro is under the Open Font License. See https://scripts.sil.org/cms/scripts/page.php?site_id=nrsi&id=OFL */ + +/* open-sans-300 - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: normal; + font-weight: 300; + src: local('Open Sans Light'), local('OpenSans-Light'), + url('../fonts/open-sans-v17-all-charsets-300.woff2') format('woff2'); +} + +/* open-sans-300italic - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: italic; + font-weight: 300; + src: local('Open Sans Light Italic'), local('OpenSans-LightItalic'), + url('../fonts/open-sans-v17-all-charsets-300italic.woff2') format('woff2'); +} + +/* open-sans-regular - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: normal; + font-weight: 400; + src: local('Open Sans Regular'), local('OpenSans-Regular'), + url('../fonts/open-sans-v17-all-charsets-regular.woff2') format('woff2'); +} + +/* open-sans-italic - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: italic; + font-weight: 400; + src: local('Open Sans Italic'), local('OpenSans-Italic'), + url('../fonts/open-sans-v17-all-charsets-italic.woff2') format('woff2'); +} + +/* open-sans-600 - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: normal; + font-weight: 600; + src: local('Open Sans SemiBold'), local('OpenSans-SemiBold'), + url('../fonts/open-sans-v17-all-charsets-600.woff2') format('woff2'); +} + +/* open-sans-600italic - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: italic; + font-weight: 600; + src: local('Open Sans SemiBold Italic'), local('OpenSans-SemiBoldItalic'), + url('../fonts/open-sans-v17-all-charsets-600italic.woff2') format('woff2'); +} + +/* open-sans-700 - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: normal; + font-weight: 700; + src: local('Open Sans Bold'), local('OpenSans-Bold'), + url('../fonts/open-sans-v17-all-charsets-700.woff2') format('woff2'); +} + +/* open-sans-700italic - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: italic; + font-weight: 700; + src: local('Open Sans Bold Italic'), local('OpenSans-BoldItalic'), + url('../fonts/open-sans-v17-all-charsets-700italic.woff2') format('woff2'); +} + +/* open-sans-800 - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: normal; + font-weight: 800; + src: local('Open Sans ExtraBold'), local('OpenSans-ExtraBold'), + url('../fonts/open-sans-v17-all-charsets-800.woff2') format('woff2'); +} + +/* open-sans-800italic - latin_vietnamese_latin-ext_greek-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Open Sans'; + font-style: italic; + font-weight: 800; + src: local('Open Sans ExtraBold Italic'), local('OpenSans-ExtraBoldItalic'), + url('../fonts/open-sans-v17-all-charsets-800italic.woff2') format('woff2'); +} + +/* source-code-pro-500 - latin_vietnamese_latin-ext_greek_cyrillic-ext_cyrillic */ +@font-face { + font-family: 'Source Code Pro'; + font-style: normal; + font-weight: 500; + src: url('../fonts/source-code-pro-v11-all-charsets-500.woff2') format('woff2'); +} diff --git a/docs/fonts/open-sans-v17-all-charsets-300.woff2 b/docs/fonts/open-sans-v17-all-charsets-300.woff2 new file mode 100644 index 0000000..9f51be3 Binary files /dev/null and b/docs/fonts/open-sans-v17-all-charsets-300.woff2 differ diff --git a/docs/fonts/open-sans-v17-all-charsets-300italic.woff2 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+ + diff --git a/docs/mark.min.js b/docs/mark.min.js new file mode 100644 index 0000000..1636231 --- /dev/null +++ b/docs/mark.min.js @@ -0,0 +1,7 @@ +/*!*************************************************** +* mark.js v8.11.1 +* https://markjs.io/ +* Copyright (c) 2014–2018, Julian Kühnel +* Released under the MIT license https://git.io/vwTVl +*****************************************************/ +!function(e,t){"object"==typeof exports&&"undefined"!=typeof module?module.exports=t():"function"==typeof define&&define.amd?define(t):e.Mark=t()}(this,function(){"use strict";var e="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(e){return typeof e}:function(e){return e&&"function"==typeof Symbol&&e.constructor===Symbol&&e!==Symbol.prototype?"symbol":typeof e},t=function(e,t){if(!(e instanceof t))throw new TypeError("Cannot call a class as a function")},n=function(){function e(e,t){for(var n=0;n1&&void 0!==arguments[1])||arguments[1],i=arguments.length>2&&void 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e.contentWindow.location.href===t&&n!==t&&n}},{key:"observeIframeLoad",value:function(e,t,n){var r=this,i=!1,o=null,a=function a(){if(!i){i=!0,clearTimeout(o);try{r.isIframeBlank(e)||(e.removeEventListener("load",a),r.getIframeContents(e,t,n))}catch(e){n()}}};e.addEventListener("load",a),o=setTimeout(a,this.iframesTimeout)}},{key:"onIframeReady",value:function(e,t,n){try{"complete"===e.contentWindow.document.readyState?this.isIframeBlank(e)?this.observeIframeLoad(e,t,n):this.getIframeContents(e,t,n):this.observeIframeLoad(e,t,n)}catch(e){n()}}},{key:"waitForIframes",value:function(e,t){var n=this,r=0;this.forEachIframe(e,function(){return!0},function(e){r++,n.waitForIframes(e.querySelector("html"),function(){--r||t()})},function(e){e||t()})}},{key:"forEachIframe",value:function(t,n,r){var i=this,o=arguments.length>3&&void 0!==arguments[3]?arguments[3]:function(){},a=t.querySelectorAll("iframe"),s=a.length,c=0;a=Array.prototype.slice.call(a);var 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0!==arguments[3]?arguments[3]:function(){},o=this.getContexts(),a=o.length;a||i(),o.forEach(function(o){var s=function(){r.iterateThroughNodes(e,o,t,n,function(){--a<=0&&i()})};r.iframes?r.waitForIframes(o,s):s()})}}],[{key:"matches",value:function(e,t){var n="string"==typeof t?[t]:t,r=e.matches||e.matchesSelector||e.msMatchesSelector||e.mozMatchesSelector||e.oMatchesSelector||e.webkitMatchesSelector;if(r){var i=!1;return n.every(function(t){return!r.call(e,t)||(i=!0,!1)}),i}return!1}}]),e}(),o=function(){function e(n){t(this,e),this.opt=r({},{diacritics:!0,synonyms:{},accuracy:"partially",caseSensitive:!1,ignoreJoiners:!1,ignorePunctuation:[],wildcards:"disabled"},n)}return n(e,[{key:"create",value:function(e){return"disabled"!==this.opt.wildcards&&(e=this.setupWildcardsRegExp(e)),e=this.escapeStr(e),Object.keys(this.opt.synonyms).length&&(e=this.createSynonymsRegExp(e)),(this.opt.ignoreJoiners||this.opt.ignorePunctuation.length)&&(e=this.setupIgnoreJoinersRegExp(e)),this.opt.diacritics&&(e=this.createDiacriticsRegExp(e)),e=this.createMergedBlanksRegExp(e),(this.opt.ignoreJoiners||this.opt.ignorePunctuation.length)&&(e=this.createJoinersRegExp(e)),"disabled"!==this.opt.wildcards&&(e=this.createWildcardsRegExp(e)),e=this.createAccuracyRegExp(e),new RegExp(e,"gm"+(this.opt.caseSensitive?"":"i"))}},{key:"escapeStr",value:function(e){return e.replace(/[\-\[\]\/\{\}\(\)\*\+\?\.\\\^\$\|]/g,"\\$&")}},{key:"createSynonymsRegExp",value:function(e){var t=this.opt.synonyms,n=this.opt.caseSensitive?"":"i",r=this.opt.ignoreJoiners||this.opt.ignorePunctuation.length?"\0":"";for(var i in t)if(t.hasOwnProperty(i)){var o=t[i],a="disabled"!==this.opt.wildcards?this.setupWildcardsRegExp(i):this.escapeStr(i),s="disabled"!==this.opt.wildcards?this.setupWildcardsRegExp(o):this.escapeStr(o);""!==a&&""!==s&&(e=e.replace(new RegExp("("+this.escapeStr(a)+"|"+this.escapeStr(s)+")","gm"+n),r+"("+this.processSynonyms(a)+"|"+this.processSynonyms(s)+")"+r))}return e}},{key:"processSynonyms",value:function(e){return(this.opt.ignoreJoiners||this.opt.ignorePunctuation.length)&&(e=this.setupIgnoreJoinersRegExp(e)),e}},{key:"setupWildcardsRegExp",value:function(e){return(e=e.replace(/(?:\\)*\?/g,function(e){return"\\"===e.charAt(0)?"?":""})).replace(/(?:\\)*\*/g,function(e){return"\\"===e.charAt(0)?"*":""})}},{key:"createWildcardsRegExp",value:function(e){var t="withSpaces"===this.opt.wildcards;return e.replace(/\u0001/g,t?"[\\S\\s]?":"\\S?").replace(/\u0002/g,t?"[\\S\\s]*?":"\\S*")}},{key:"setupIgnoreJoinersRegExp",value:function(e){return e.replace(/[^(|)\\]/g,function(e,t,n){var 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t=this.opt.caseSensitive?"":"i",n=this.opt.caseSensitive?["aàáảãạăằắẳẵặâầấẩẫậäåāą","AÀÁẢÃẠĂẰẮẲẴẶÂẦẤẨẪẬÄÅĀĄ","cçćč","CÇĆČ","dđď","DĐĎ","eèéẻẽẹêềếểễệëěēę","EÈÉẺẼẸÊỀẾỂỄỆËĚĒĘ","iìíỉĩịîïī","IÌÍỈĨỊÎÏĪ","lł","LŁ","nñňń","NÑŇŃ","oòóỏõọôồốổỗộơởỡớờợöøō","OÒÓỎÕỌÔỒỐỔỖỘƠỞỠỚỜỢÖØŌ","rř","RŘ","sšśșş","SŠŚȘŞ","tťțţ","TŤȚŢ","uùúủũụưừứửữựûüůū","UÙÚỦŨỤƯỪỨỬỮỰÛÜŮŪ","yýỳỷỹỵÿ","YÝỲỶỸỴŸ","zžżź","ZŽŻŹ"]:["aàáảãạăằắẳẵặâầấẩẫậäåāąAÀÁẢÃẠĂẰẮẲẴẶÂẦẤẨẪẬÄÅĀĄ","cçćčCÇĆČ","dđďDĐĎ","eèéẻẽẹêềếểễệëěēęEÈÉẺẼẸÊỀẾỂỄỆËĚĒĘ","iìíỉĩịîïīIÌÍỈĨỊÎÏĪ","lłLŁ","nñňńNÑŇŃ","oòóỏõọôồốổỗộơởỡớờợöøōOÒÓỎÕỌÔỒỐỔỖỘƠỞỠỚỜỢÖØŌ","rřRŘ","sšśșşSŠŚȘŞ","tťțţTŤȚŢ","uùúủũụưừứửữựûüůūUÙÚỦŨỤƯỪỨỬỮỰÛÜŮŪ","yýỳỷỹỵÿYÝỲỶỸỴŸ","zžżźZŽŻŹ"],r=[];return e.split("").forEach(function(i){n.every(function(n){if(-1!==n.indexOf(i)){if(r.indexOf(n)>-1)return!1;e=e.replace(new RegExp("["+n+"]","gm"+t),"["+n+"]"),r.push(n)}return!0})}),e}},{key:"createMergedBlanksRegExp",value:function(e){return e.replace(/[\s]+/gim,"[\\s]+")}},{key:"createAccuracyRegExp",value:function(e){var t=this,n=this.opt.accuracy,r="string"==typeof n?n:n.value,i="";switch(("string"==typeof n?[]:n.limiters).forEach(function(e){i+="|"+t.escapeStr(e)}),r){case"partially":default:return"()("+e+")";case"complementary":return"()([^"+(i="\\s"+(i||this.escapeStr("!\"#$%&'()*+,-./:;<=>?@[\\]^_`{|}~¡¿")))+"]*"+e+"[^"+i+"]*)";case"exactly":return"(^|\\s"+i+")("+e+")(?=$|\\s"+i+")"}}}]),e}(),a=function(){function a(e){t(this,a),this.ctx=e,this.ie=!1;var n=window.navigator.userAgent;(n.indexOf("MSIE")>-1||n.indexOf("Trident")>-1)&&(this.ie=!0)}return n(a,[{key:"log",value:function(t){var n=arguments.length>1&&void 0!==arguments[1]?arguments[1]:"debug",r=this.opt.log;this.opt.debug&&"object"===(void 0===r?"undefined":e(r))&&"function"==typeof r[n]&&r[n]("mark.js: "+t)}},{key:"getSeparatedKeywords",value:function(e){var t=this,n=[];return e.forEach(function(e){t.opt.separateWordSearch?e.split(" 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"+JSON.stringify(e)),this.opt.noMatch(e))):(this.log("Ignoring invalid range: "+JSON.stringify(e)),this.opt.noMatch(e)),{start:n,end:r,valid:i}}},{key:"checkWhitespaceRanges",value:function(e,t,n){var r=void 0,i=!0,o=n.length,a=t-o,s=parseInt(e.start,10)-a;return(r=(s=s>o?o:s)+parseInt(e.length,10))>o&&(r=o,this.log("End range automatically set to the max value of "+o)),s<0||r-s<0||s>o||r>o?(i=!1,this.log("Invalid range: "+JSON.stringify(e)),this.opt.noMatch(e)):""===n.substring(s,r).replace(/\s+/g,"")&&(i=!1,this.log("Skipping whitespace only range: "+JSON.stringify(e)),this.opt.noMatch(e)),{start:s,end:r,valid:i}}},{key:"getTextNodes",value:function(e){var t=this,n="",r=[];this.iterator.forEachNode(NodeFilter.SHOW_TEXT,function(e){r.push({start:n.length,end:(n+=e.textContent).length,node:e})},function(e){return t.matchesExclude(e.parentNode)?NodeFilter.FILTER_REJECT:NodeFilter.FILTER_ACCEPT},function(){e({value:n,nodes:r})})}},{key:"matchesExclude",value:function(e){return i.matches(e,this.opt.exclude.concat(["script","style","title","head","html"]))}},{key:"wrapRangeInTextNode",value:function(e,t,n){var r=this.opt.element?this.opt.element:"mark",i=e.splitText(t),o=i.splitText(n-t),a=document.createElement(r);return a.setAttribute("data-markjs","true"),this.opt.className&&a.setAttribute("class",this.opt.className),a.textContent=i.textContent,i.parentNode.replaceChild(a,i),o}},{key:"wrapRangeInMappedTextNode",value:function(e,t,n,r,i){var o=this;e.nodes.every(function(a,s){var c=e.nodes[s+1];if(void 0===c||c.start>t){if(!r(a.node))return!1;var u=t-a.start,l=(n>a.end?a.end:n)-a.start,h=e.value.substr(0,a.start),f=e.value.substr(l+a.start);if(a.node=o.wrapRangeInTextNode(a.node,u,l),e.value=h+f,e.nodes.forEach(function(t,n){n>=s&&(e.nodes[n].start>0&&n!==s&&(e.nodes[n].start-=l),e.nodes[n].end-=l)}),n-=l,i(a.node.previousSibling,a.start),!(n>a.end))return!1;t=a.end}return!0})}},{key:"wrapGroups",value:function(e,t,n,r){return r((e=this.wrapRangeInTextNode(e,t,t+n)).previousSibling),e}},{key:"separateGroups",value:function(e,t,n,r,i){for(var o=t.length,a=1;a-1&&r(t[a],e)&&(e=this.wrapGroups(e,s,t[a].length,i))}return e}},{key:"wrapMatches",value:function(e,t,n,r,i){var o=this,a=0===t?0:t+1;this.getTextNodes(function(t){t.nodes.forEach(function(t){t=t.node;for(var i=void 0;null!==(i=e.exec(t.textContent))&&""!==i[a];){if(o.opt.separateGroups)t=o.separateGroups(t,i,a,n,r);else{if(!n(i[a],t))continue;var s=i.index;if(0!==a)for(var c=1;c + + + + + docs + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+

Keyboard shortcuts

+
+

Press ← or → to navigate between chapters

+

Press S or / to search in the book

+

Press ? to show this help

+

Press Esc to hide this help

+
+
+
+
+ + + + + + + + + + + + + +
+ +
+ + + + + + + + +
+
+

Chapter 1

+ +
+ + +
+
+ + + +
+ + + + + + + + + + + + + + + + + + + +
+ + diff --git a/docs/searcher.js b/docs/searcher.js new file mode 100644 index 0000000..5f7a7be --- /dev/null +++ b/docs/searcher.js @@ -0,0 +1,529 @@ +'use strict'; + +/* global Mark, elasticlunr, path_to_root */ + +window.search = window.search || {}; +(function search() { + // Search functionality + // + // You can use !hasFocus() to prevent keyhandling in your key + // event handlers while the user is typing their search. + + if (!Mark || !elasticlunr) { + return; + } + + // eslint-disable-next-line max-len + // IE 11 Compatibility from https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/String/startsWith + if (!String.prototype.startsWith) { + String.prototype.startsWith = function(search, pos) { + return this.substr(!pos || pos < 0 ? 0 : +pos, search.length) === search; + }; + } + + const search_wrap = document.getElementById('search-wrapper'), + searchbar = document.getElementById('searchbar'), + searchresults = document.getElementById('searchresults'), + searchresults_outer = document.getElementById('searchresults-outer'), + searchresults_header = document.getElementById('searchresults-header'), + searchicon = document.getElementById('search-toggle'), + content = document.getElementById('content'), + + // SVG text elements don't render if inside a tag. + mark_exclude = ['text'], + marker = new Mark(content), + URL_SEARCH_PARAM = 'search', + URL_MARK_PARAM = 'highlight'; + + let current_searchterm = '', + doc_urls = [], + search_options = { + bool: 'AND', + expand: true, + fields: { + title: {boost: 1}, + body: {boost: 1}, + breadcrumbs: {boost: 0}, + }, + }, + searchindex = null, + results_options = { + teaser_word_count: 30, + limit_results: 30, + }, + teaser_count = 0; + + function hasFocus() { + return searchbar === document.activeElement; + } + + function removeChildren(elem) { + while (elem.firstChild) { + elem.removeChild(elem.firstChild); + } + } + + // Helper to parse a url into its building blocks. + function parseURL(url) { + const a = document.createElement('a'); + a.href = url; + return { + source: url, + protocol: a.protocol.replace(':', ''), + host: a.hostname, + port: a.port, + params: (function() { + const ret = {}; + const seg = a.search.replace(/^\?/, '').split('&'); + for (const part of seg) { + if (!part) { + continue; + } + const s = part.split('='); + ret[s[0]] = s[1]; + } + return ret; + })(), + file: (a.pathname.match(/\/([^/?#]+)$/i) || ['', ''])[1], + hash: a.hash.replace('#', ''), + path: a.pathname.replace(/^([^/])/, '/$1'), + }; + } + + // Helper to recreate a url string from its building blocks. + function renderURL(urlobject) { + let url = urlobject.protocol + '://' + urlobject.host; + if (urlobject.port !== '') { + url += ':' + urlobject.port; + } + url += urlobject.path; + let joiner = '?'; + for (const prop in urlobject.params) { + if (Object.prototype.hasOwnProperty.call(urlobject.params, prop)) { + url += joiner + prop + '=' + urlobject.params[prop]; + joiner = '&'; + } + } + if (urlobject.hash !== '') { + url += '#' + urlobject.hash; + } + return url; + } + + // Helper to escape html special chars for displaying the teasers + const escapeHTML = (function() { + const MAP = { + '&': '&', + '<': '<', + '>': '>', + '"': '"', + '\'': ''', + }; + const repl = function(c) { + return MAP[c]; + }; + return function(s) { + return s.replace(/[&<>'"]/g, repl); + }; + })(); + + function formatSearchMetric(count, searchterm) { + if (count === 1) { + return count + ' search result for \'' + searchterm + '\':'; + } else if (count === 0) { + return 'No search results for \'' + searchterm + '\'.'; + } else { + return count + ' search results for \'' + searchterm + '\':'; + } + } + + function formatSearchResult(result, searchterms) { + const teaser = makeTeaser(escapeHTML(result.doc.body), searchterms); + teaser_count++; + + // The ?URL_MARK_PARAM= parameter belongs inbetween the page and the #heading-anchor + const url = doc_urls[result.ref].split('#'); + if (url.length === 1) { // no anchor found + url.push(''); + } + + // encodeURIComponent escapes all chars that could allow an XSS except + // for '. Due to that we also manually replace ' with its url-encoded + // representation (%27). + const encoded_search = encodeURIComponent(searchterms.join(' ')).replace(/'/g, '%27'); + + return '' + + result.doc.breadcrumbs + '' + '' + teaser + ''; + } + + function makeTeaser(body, searchterms) { + // The strategy is as follows: + // First, assign a value to each word in the document: + // Words that correspond to search terms (stemmer aware): 40 + // Normal words: 2 + // First word in a sentence: 8 + // Then use a sliding window with a constant number of words and count the + // sum of the values of the words within the window. Then use the window that got the + // maximum sum. If there are multiple maximas, then get the last one. + // Enclose the terms in . + const stemmed_searchterms = searchterms.map(function(w) { + return elasticlunr.stemmer(w.toLowerCase()); + }); + const searchterm_weight = 40; + const weighted = []; // contains elements of ["word", weight, index_in_document] + // split in sentences, then words + const sentences = body.toLowerCase().split('. '); + let index = 0; + let value = 0; + let searchterm_found = false; + for (const sentenceindex in sentences) { + const words = sentences[sentenceindex].split(' '); + value = 8; + for (const wordindex in words) { + const word = words[wordindex]; + if (word.length > 0) { + for (const searchtermindex in stemmed_searchterms) { + if (elasticlunr.stemmer(word).startsWith( + stemmed_searchterms[searchtermindex]) + ) { + value = searchterm_weight; + searchterm_found = true; + } + } + weighted.push([word, value, index]); + value = 2; + } + index += word.length; + index += 1; // ' ' or '.' if last word in sentence + } + index += 1; // because we split at a two-char boundary '. ' + } + + if (weighted.length === 0) { + return body; + } + + const window_weight = []; + const window_size = Math.min(weighted.length, results_options.teaser_word_count); + + let cur_sum = 0; + for (let wordindex = 0; wordindex < window_size; wordindex++) { + cur_sum += weighted[wordindex][1]; + } + window_weight.push(cur_sum); + for (let wordindex = 0; wordindex < weighted.length - window_size; wordindex++) { + cur_sum -= weighted[wordindex][1]; + cur_sum += weighted[wordindex + window_size][1]; + window_weight.push(cur_sum); + } + + let max_sum_window_index = 0; + if (searchterm_found) { + let max_sum = 0; + // backwards + for (let i = window_weight.length - 1; i >= 0; i--) { + if (window_weight[i] > max_sum) { + max_sum = window_weight[i]; + max_sum_window_index = i; + } + } + } else { + max_sum_window_index = 0; + } + + // add around searchterms + const teaser_split = []; + index = weighted[max_sum_window_index][2]; + for (let i = max_sum_window_index; i < max_sum_window_index + window_size; i++) { + const word = weighted[i]; + if (index < word[2]) { + // missing text from index to start of `word` + teaser_split.push(body.substring(index, word[2])); + index = word[2]; + } + if (word[1] === searchterm_weight) { + teaser_split.push(''); + } + index = word[2] + word[0].length; + teaser_split.push(body.substring(word[2], index)); + if (word[1] === searchterm_weight) { + teaser_split.push(''); + } + } + + return teaser_split.join(''); + } + + function init(config) { + results_options = config.results_options; + search_options = config.search_options; + doc_urls = config.doc_urls; + searchindex = elasticlunr.Index.load(config.index); + + // Set up events + searchicon.addEventListener('click', () => { + searchIconClickHandler(); + }, false); + searchbar.addEventListener('keyup', () => { + searchbarKeyUpHandler(); + }, false); + document.addEventListener('keydown', e => { + globalKeyHandler(e); + }, false); + // If the user uses the browser buttons, do the same as if a reload happened + window.onpopstate = () => { + doSearchOrMarkFromUrl(); + }; + // Suppress "submit" events so the page doesn't reload when the user presses Enter + document.addEventListener('submit', e => { + e.preventDefault(); + }, false); + + // If reloaded, do the search or mark again, depending on the current url parameters + doSearchOrMarkFromUrl(); + + // Exported functions + config.hasFocus = hasFocus; + } + + function unfocusSearchbar() { + // hacky, but just focusing a div only works once + const tmp = document.createElement('input'); + tmp.setAttribute('style', 'position: absolute; opacity: 0;'); + searchicon.appendChild(tmp); + tmp.focus(); + tmp.remove(); + } + + // On reload or browser history backwards/forwards events, parse the url and do search or mark + function doSearchOrMarkFromUrl() { + // Check current URL for search request + const url = parseURL(window.location.href); + if (Object.prototype.hasOwnProperty.call(url.params, URL_SEARCH_PARAM) + && url.params[URL_SEARCH_PARAM] !== '') { + showSearch(true); + searchbar.value = decodeURIComponent( + (url.params[URL_SEARCH_PARAM] + '').replace(/\+/g, '%20')); + searchbarKeyUpHandler(); // -> doSearch() + } else { + showSearch(false); + } + + if (Object.prototype.hasOwnProperty.call(url.params, URL_MARK_PARAM)) { + const words = decodeURIComponent(url.params[URL_MARK_PARAM]).split(' '); + marker.mark(words, { + exclude: mark_exclude, + }); + + const markers = document.querySelectorAll('mark'); + const hide = () => { + for (let i = 0; i < markers.length; i++) { + markers[i].classList.add('fade-out'); + window.setTimeout(() => { + marker.unmark(); + }, 300); + } + }; + + for (let i = 0; i < markers.length; i++) { + markers[i].addEventListener('click', hide); + } + } + } + + // Eventhandler for keyevents on `document` + function globalKeyHandler(e) { + if (e.altKey || + e.ctrlKey || + e.metaKey || + e.shiftKey || + e.target.type === 'textarea' || + e.target.type === 'text' || + !hasFocus() && /^(?:input|select|textarea)$/i.test(e.target.nodeName) + ) { + return; + } + + if (e.key === 'Escape') { + e.preventDefault(); + searchbar.classList.remove('active'); + setSearchUrlParameters('', + searchbar.value.trim() !== '' ? 'push' : 'replace'); + if (hasFocus()) { + unfocusSearchbar(); + } + showSearch(false); + marker.unmark(); + } else if (!hasFocus() && (e.key === 'S' || e.key === '/')) { + e.preventDefault(); + showSearch(true); + window.scrollTo(0, 0); + searchbar.select(); + } else if (hasFocus() && (e.key === 'ArrowDown' + || e.key === 'Enter')) { + e.preventDefault(); + const first = searchresults.firstElementChild; + if (first !== null) { + unfocusSearchbar(); + first.classList.add('focus'); + if (e.key === 'Enter') { + window.location.assign(first.querySelector('a')); + } + } + } else if (!hasFocus() && (e.key === 'ArrowDown' + || e.key === 'ArrowUp' + || e.key === 'Enter')) { + // not `:focus` because browser does annoying scrolling + const focused = searchresults.querySelector('li.focus'); + if (!focused) { + return; + } + e.preventDefault(); + if (e.key === 'ArrowDown') { + const next = focused.nextElementSibling; + if (next) { + focused.classList.remove('focus'); + next.classList.add('focus'); + } + } else if (e.key === 'ArrowUp') { + focused.classList.remove('focus'); + const prev = focused.previousElementSibling; + if (prev) { + prev.classList.add('focus'); + } else { + searchbar.select(); + } + } else { // Enter + window.location.assign(focused.querySelector('a')); + } + } + } + + function showSearch(yes) { + if (yes) { + search_wrap.classList.remove('hidden'); + searchicon.setAttribute('aria-expanded', 'true'); + } else { + search_wrap.classList.add('hidden'); + searchicon.setAttribute('aria-expanded', 'false'); + const results = searchresults.children; + for (let i = 0; i < results.length; i++) { + results[i].classList.remove('focus'); + } + } + } + + function showResults(yes) { + if (yes) { + searchresults_outer.classList.remove('hidden'); + } else { + searchresults_outer.classList.add('hidden'); + } + } + + // Eventhandler for search icon + function searchIconClickHandler() { + if (search_wrap.classList.contains('hidden')) { + showSearch(true); + window.scrollTo(0, 0); + searchbar.select(); + } else { + showSearch(false); + } + } + + // Eventhandler for keyevents while the searchbar is focused + function searchbarKeyUpHandler() { + const searchterm = searchbar.value.trim(); + if (searchterm !== '') { + searchbar.classList.add('active'); + doSearch(searchterm); + } else { + searchbar.classList.remove('active'); + showResults(false); + removeChildren(searchresults); + } + + setSearchUrlParameters(searchterm, 'push_if_new_search_else_replace'); + + // Remove marks + marker.unmark(); + } + + // Update current url with ?URL_SEARCH_PARAM= parameter, remove ?URL_MARK_PARAM and + // `#heading-anchor`. `action` can be one of "push", "replace", + // "push_if_new_search_else_replace" and replaces or pushes a new browser history item. + // "push_if_new_search_else_replace" pushes if there is no `?URL_SEARCH_PARAM=abc` yet. + function setSearchUrlParameters(searchterm, action) { + const url = parseURL(window.location.href); + const first_search = !Object.prototype.hasOwnProperty.call(url.params, URL_SEARCH_PARAM); + + if (searchterm !== '' || action === 'push_if_new_search_else_replace') { + url.params[URL_SEARCH_PARAM] = searchterm; + delete url.params[URL_MARK_PARAM]; + url.hash = ''; + } else { + delete url.params[URL_MARK_PARAM]; + delete url.params[URL_SEARCH_PARAM]; + } + // A new search will also add a new history item, so the user can go back + // to the page prior to searching. A updated search term will only replace + // the url. + if (action === 'push' || action === 'push_if_new_search_else_replace' && first_search ) { + history.pushState({}, document.title, renderURL(url)); + } else if (action === 'replace' || + action === 'push_if_new_search_else_replace' && + !first_search + ) { + history.replaceState({}, document.title, renderURL(url)); + } + } + + function doSearch(searchterm) { + // Don't search the same twice + if (current_searchterm === searchterm) { + return; + } else { + current_searchterm = searchterm; + } + + if (searchindex === null) { + return; + } + + // Do the actual search + const results = searchindex.search(searchterm, search_options); + const resultcount = Math.min(results.length, results_options.limit_results); + + // Display search metrics + searchresults_header.innerText = formatSearchMetric(resultcount, searchterm); + + // Clear and insert results + const searchterms = searchterm.split(' '); + removeChildren(searchresults); + for (let i = 0; i < resultcount ; i++) { + const resultElem = document.createElement('li'); + resultElem.innerHTML = formatSearchResult(results[i], searchterms); + searchresults.appendChild(resultElem); + } + + // Display results + showResults(true); + } + + function loadScript(url, id) { + const script = document.createElement('script'); + script.src = url; + script.id = id; + script.onload = () => init(window.search); + script.onerror = error => { + console.error(`Failed to load \`${url}\`: ${error}`); + }; + document.head.append(script); + } + + loadScript(path_to_root + 'searchindex.js', 'search-index'); + +})(window.search); diff --git a/docs/searchindex.js b/docs/searchindex.js new file mode 100644 index 0000000..13d845c --- /dev/null +++ b/docs/searchindex.js @@ -0,0 +1 @@ +window.search = JSON.parse('{"doc_urls":["chapter_1.html#chapter-1"],"index":{"documentStore":{"docInfo":{"0":{"body":0,"breadcrumbs":4,"title":2}},"docs":{"0":{"body":"","breadcrumbs":"Chapter 1 » Chapter 1","id":"0","title":"Chapter 1"}},"length":1,"save":true},"fields":["title","body","breadcrumbs"],"index":{"body":{"root":{"1":{"df":1,"docs":{"0":{"tf":1.0}}},"c":{"df":0,"docs":{},"h":{"a":{"df":0,"docs":{},"p":{"df":0,"docs":{},"t":{"df":0,"docs":{},"e":{"df":0,"docs":{},"r":{"df":1,"docs":{"0":{"tf":1.0}}}}}}},"df":0,"docs":{}}},"df":0,"docs":{}}},"breadcrumbs":{"root":{"1":{"df":1,"docs":{"0":{"tf":1.7320508075688772}}},"c":{"df":0,"docs":{},"h":{"a":{"df":0,"docs":{},"p":{"df":0,"docs":{},"t":{"df":0,"docs":{},"e":{"df":0,"docs":{},"r":{"df":1,"docs":{"0":{"tf":1.7320508075688772}}}}}}},"df":0,"docs":{}}},"df":0,"docs":{}}},"title":{"root":{"1":{"df":1,"docs":{"0":{"tf":1.0}}},"c":{"df":0,"docs":{},"h":{"a":{"df":0,"docs":{},"p":{"df":0,"docs":{},"t":{"df":0,"docs":{},"e":{"df":0,"docs":{},"r":{"df":1,"docs":{"0":{"tf":1.0}}}}}}},"df":0,"docs":{}}},"df":0,"docs":{}}}},"lang":"English","pipeline":["trimmer","stopWordFilter","stemmer"],"ref":"id","version":"0.9.5"},"results_options":{"limit_results":30,"teaser_word_count":30},"search_options":{"bool":"OR","expand":true,"fields":{"body":{"boost":1},"breadcrumbs":{"boost":1},"title":{"boost":2}}}}'); \ No newline at end of file diff --git a/docs/src/2d_vehicle_physics.md b/docs/src/2d_vehicle_physics.md new file mode 100644 index 0000000..0279ea0 --- /dev/null +++ b/docs/src/2d_vehicle_physics.md @@ -0,0 +1,81 @@ +# 2D Vehicle Physics + +![force_diagram](images/force_diagram.svg) + +Terminology: + +$$ +\begin{align} +CM &: \text{Center of Mass} \nonumber \\ +A &: \text{Midpoint between front wheels} \nonumber \\ +B &: \text{Midpoint between rear wheels} \nonumber \\ +\vec F_A &: \text{Lateral force on the front wheels} \nonumber \\ +\vec F_B &: \text{Lateral force on the rear wheels} \nonumber \\ +\end{align} +$$ + +The relation of torque to angular acceleration and force is + +$$ +\begin{align} +\tau +&= \alpha I \nonumber \\ +&= \vec r \times \vec F \nonumber \\ +&= r_x F_y - r_y F_x \nonumber \\ +\end{align} +$$ + +The acceleration of a point P is + +$$ +\begin{align} +\vec a_P +&= \frac{\vec F}{m} + |\vec P_{B/CM}| \cdot \alpha_{CM} \nonumber \\ +\end{align} +$$ + + +## Forces + +### Force: Thrust + +**Front-wheel drive:** +Positive force in the direction that the front wheels are facing (affected by steering). + +**Rear-wheel drive:** +Positive force in the direction that the vehicle is facing. + +### Force: Brakes/Reverse + +**Front-wheel drive:** +Negative force in the direction that the front wheels are facing (affected by steering). + +**Rear-wheel drive:** +Negative force in the direction that the vehicle is facing. + +Stronger force if vehicle is moving "forward" (is braking). +Weaker force if vehicle is moving "backwards" (is reversing). + +### Force: Lateral friction + +Friction force, + +$$ +\begin{align} +F_{fric} +&= \mu \cdot s(\theta_{slip}) \nonumber \\ +\end{align} +$$ + +where the slip function $s$ is + +$$ +s(\theta_{slip}) = +\begin{cases} +\theta_{slip} \cdot p & \text{for} \quad \theta_{slip} \leq 3\degree \nonumber \\ +p & \text{for} \quad \theta_{slip} \gt 3\degree \nonumber \\ +\end{cases} +$$ + +and $p$ is the peak. + diff --git a/docs/src/SUMMARY.md b/docs/src/SUMMARY.md new file mode 100644 index 0000000..9606564 --- /dev/null +++ b/docs/src/SUMMARY.md @@ -0,0 +1,4 @@ +# Summary + +- [2D Vehicle Physics](./2d_vehicle_physics.md) +- [Multiplayer](./multiplayer.md) diff --git a/docs/src/chapter_1.md b/docs/src/chapter_1.md new file mode 100644 index 0000000..b743fda --- /dev/null +++ b/docs/src/chapter_1.md @@ -0,0 +1 @@ +# Chapter 1 diff --git a/docs/src/images/force_diagram.svg b/docs/src/images/force_diagram.svg new file mode 100644 index 0000000..5a73a7b --- /dev/null +++ b/docs/src/images/force_diagram.svg @@ -0,0 +1,52 @@ + + + + + + + + + + + +x + +y + + + + + + + + + + + + + + + + + + + + + + + +CM + +v +A + + +F_A +B + + +F_B + + + \ No newline at end of file diff --git a/docs/src/multiplayer.md b/docs/src/multiplayer.md new file mode 100644 index 0000000..4dd6d8d --- /dev/null +++ b/docs/src/multiplayer.md @@ -0,0 +1,5 @@ +# Multiplayer + +## Determinism + +The `.powf` function used in `car.rs` is distinctly non-deterministic. diff --git a/docs/toc.html b/docs/toc.html new file mode 100644 index 0000000..f0d4b3e --- /dev/null +++ b/docs/toc.html @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + +
  1. Chapter 1
+ + diff --git a/docs/toc.js b/docs/toc.js new file mode 100644 index 0000000..3e0c83c --- /dev/null +++ b/docs/toc.js @@ -0,0 +1,70 @@ +// Populate the sidebar +// +// This is a script, and not included directly in the page, to control the total size of the book. +// The TOC contains an entry for each page, so if each page includes a copy of the TOC, +// the total size of the page becomes O(n**2). +class MDBookSidebarScrollbox extends HTMLElement { + constructor() { + super(); + } + connectedCallback() { + this.innerHTML = '
  1. Chapter 1
'; + // Set the current, active page, and reveal it if it's hidden + let current_page = document.location.href.toString().split("#")[0].split("?")[0]; + if (current_page.endsWith("/")) { + current_page += "index.html"; + } + var links = Array.prototype.slice.call(this.querySelectorAll("a")); + var l = links.length; + for (var i = 0; i < l; ++i) { + var link = links[i]; + var href = link.getAttribute("href"); + if (href && !href.startsWith("#") && !/^(?:[a-z+]+:)?\/\//.test(href)) { + link.href = path_to_root + href; + } + // The "index" page is supposed to alias the first chapter in the book. + if (link.href === current_page || (i === 0 && path_to_root === "" && current_page.endsWith("/index.html"))) { + link.classList.add("active"); + var parent = link.parentElement; + if (parent && parent.classList.contains("chapter-item")) { + parent.classList.add("expanded"); + } + while (parent) { + if (parent.tagName === "LI" && parent.previousElementSibling) { + if (parent.previousElementSibling.classList.contains("chapter-item")) { + parent.previousElementSibling.classList.add("expanded"); + } + } + parent = parent.parentElement; + } + } + } + // Track and set sidebar scroll position + this.addEventListener('click', function(e) { + if (e.target.tagName === 'A') { + sessionStorage.setItem('sidebar-scroll', this.scrollTop); + } + }, { passive: true }); + var sidebarScrollTop = sessionStorage.getItem('sidebar-scroll'); + sessionStorage.removeItem('sidebar-scroll'); + if (sidebarScrollTop) { + // preserve sidebar scroll position when navigating via links within sidebar + this.scrollTop = sidebarScrollTop; + } else { + // scroll sidebar to current active section when navigating via "next/previous chapter" buttons + var activeSection = document.querySelector('#sidebar .active'); + if (activeSection) { + activeSection.scrollIntoView({ block: 'center' }); + } + } + // Toggle buttons + var sidebarAnchorToggles = document.querySelectorAll('#sidebar a.toggle'); + function toggleSection(ev) { + ev.currentTarget.parentElement.classList.toggle('expanded'); + } + Array.from(sidebarAnchorToggles).forEach(function (el) { + el.addEventListener('click', toggleSection); + }); + } +} +window.customElements.define("mdbook-sidebar-scrollbox", MDBookSidebarScrollbox); diff --git a/docs/tomorrow-night.css b/docs/tomorrow-night.css new file mode 100644 index 0000000..11752b8 --- /dev/null +++ b/docs/tomorrow-night.css @@ -0,0 +1,104 @@ +/* Tomorrow Night Theme */ +/* https://github.com/jmblog/color-themes-for-highlightjs */ +/* Original theme - https://github.com/chriskempson/tomorrow-theme */ +/* https://github.com/jmblog/color-themes-for-highlightjs */ + +/* Tomorrow Comment */ +.hljs-comment { + color: #969896; +} + +/* Tomorrow Red */ +.hljs-variable, +.hljs-attribute, +.hljs-attr, +.hljs-tag, +.hljs-regexp, +.ruby .hljs-constant, +.xml .hljs-tag .hljs-title, +.xml .hljs-pi, +.xml .hljs-doctype, +.html .hljs-doctype, +.css .hljs-id, +.css .hljs-class, +.css .hljs-pseudo { + color: #cc6666; +} + +/* Tomorrow Orange */ +.hljs-number, +.hljs-preprocessor, +.hljs-pragma, +.hljs-built_in, +.hljs-literal, +.hljs-params, +.hljs-constant { + color: #de935f; +} + +/* Tomorrow Yellow */ +.ruby .hljs-class .hljs-title, +.css .hljs-rule .hljs-attribute { + color: #f0c674; +} + +/* Tomorrow Green */ +.hljs-string, +.hljs-value, +.hljs-inheritance, +.hljs-header, +.hljs-name, +.ruby .hljs-symbol, +.xml .hljs-cdata { + color: #b5bd68; +} + +/* Tomorrow Aqua */ +.hljs-title, +.hljs-section, +.css .hljs-hexcolor { + color: #8abeb7; +} + +/* Tomorrow Blue */ +.hljs-function, +.python .hljs-decorator, +.python .hljs-title, +.ruby .hljs-function .hljs-title, +.ruby .hljs-title .hljs-keyword, +.perl .hljs-sub, +.javascript .hljs-title, +.coffeescript .hljs-title { + color: #81a2be; +} + +/* Tomorrow Purple */ +.hljs-keyword, +.javascript .hljs-function { + color: #b294bb; +} + +.hljs { + display: block; + overflow-x: auto; + background: #1d1f21; + color: #c5c8c6; +} + +.coffeescript .javascript, +.javascript .xml, +.tex .hljs-formula, +.xml .javascript, +.xml .vbscript, +.xml .css, +.xml .hljs-cdata { + opacity: 0.5; +} + +.hljs-addition { + color: #718c00; +} + +.hljs-deletion { + color: #c82829; +} diff --git a/flake.nix b/flake.nix index e4c1447..1e0c694 100644 --- a/flake.nix +++ b/flake.nix @@ -21,6 +21,15 @@ rust.enable = true; packages = [ pkgs.godot_4 + pkgs.watchexec + pkgs.mdbook + pkgs.mdbook-katex + + (pkgs.python3.withPackages (python-pkgs: [ + python-pkgs.drawsvg + python-pkgs.ruff + python-pkgs.jedi-language-server + ])) ]; }; }; diff --git a/godot/car.tscn b/godot/car.tscn new file mode 100644 index 0000000..fbeb445 --- /dev/null +++ b/godot/car.tscn @@ -0,0 +1,17 @@ +[gd_scene load_steps=3 format=3 uid="uid://ukvcgdjxtkqw"] + +[ext_resource type="Texture2D" uid="uid://by4cbmcpktbmf" path="res://assets/car.png" id="1_7822p"] + +[sub_resource type="RectangleShape2D" id="RectangleShape2D_37kl0"] +size = Vector2(194, 493) + +[node name="Car" type="Car"] +mass = 1300.0 +inertia = 5e+07 + +[node name="CollisionShape2D" type="CollisionShape2D" parent="."] +shape = SubResource("RectangleShape2D_37kl0") + +[node name="Sprite2D" type="Sprite2D" parent="."] +scale = Vector2(0.265446, 0.265446) +texture = ExtResource("1_7822p") diff --git a/godot/game.tscn b/godot/game.tscn new file mode 100644 index 0000000..2d1e566 --- /dev/null +++ b/godot/game.tscn @@ -0,0 +1,11 @@ +[gd_scene load_steps=2 format=3 uid="uid://7713s03g7nxw"] + +[ext_resource type="PackedScene" uid="uid://ukvcgdjxtkqw" path="res://car.tscn" id="1_80nbo"] + +[node name="Node2D" type="Node2D"] + +[node name="Camera2D" type="Camera2D" parent="."] +position = Vector2(0, -1) +zoom = Vector2(0.077, 0.077) + +[node name="Car" parent="." instance=ExtResource("1_80nbo")] diff --git a/godot/project.godot b/godot/project.godot index 7db6084..fa4c97a 100644 --- a/godot/project.godot +++ b/godot/project.godot @@ -11,7 +11,7 @@ config_version=5 [application] config/name="Grand Theft Arena" -run/main_scene="uid://y1wcwxtxgsy5" +run/main_scene="uid://7713s03g7nxw" config/features=PackedStringArray("4.4", "Forward Plus") config/icon="res://icon.svg" @@ -37,3 +37,14 @@ turn_right={ "events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"location":0,"echo":false,"script":null) ] } +handbrake={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"key_label":0,"unicode":32,"location":0,"echo":false,"script":null) +] +} + +[physics] + +2d/default_gravity=0.0 +2d/default_linear_damp=0.0 +2d/default_angular_damp=0.0 diff --git a/godot/test.tscn b/godot/test.tscn deleted file mode 100644 index 035e613..0000000 --- a/godot/test.tscn +++ /dev/null @@ -1,8 +0,0 @@ -[gd_scene load_steps=2 format=3 uid="uid://y1wcwxtxgsy5"] - -[ext_resource type="Texture2D" uid="uid://by4cbmcpktbmf" path="res://assets/car.png" id="1_37kl0"] - -[node name="MyNode" type="Player"] -position = Vector2(582, 324) -scale = Vector2(0.143817, 0.143817) -texture = ExtResource("1_37kl0") diff --git a/justfile b/justfile index 3e77ba7..d80c098 100644 --- a/justfile +++ b/justfile @@ -12,3 +12,20 @@ fmt: # Perform automated fixes fix: bc-fix + +# Launch the editor +ed: + godot godot/project.godot + +# Launch the game +run: + cargo build + godot --path godot + +# mdbook serve +serve-docs: + mdbook serve docs + +# Regenerate docs figures on changes +watch-figures: + watchexec --exts=py --restart --watch docs python3 docs/figures.py diff --git a/rust/crates/grand-theft-arena/src/car.rs b/rust/crates/grand-theft-arena/src/car.rs new file mode 100644 index 0000000..6d568ed --- /dev/null +++ b/rust/crates/grand-theft-arena/src/car.rs @@ -0,0 +1,266 @@ +//! Implements a vehicle model based on the bicycle model. + +use godot::classes::IRigidBody2D; +use godot::classes::RigidBody2D; +use godot::global::deg_to_rad; +use godot::prelude::*; +use std::f32::consts::PI; + +#[derive(GodotClass)] +#[class(base=RigidBody2D)] +struct Car { + engine_force: f32, + brake_force: f32, + air_drag_coefficient: f32, + mechanical_drag: f32, + + max_cornering_force: f32, + front_wheel: Wheel, + rear_wheel: Wheel, + + /// Unit: radians + max_steering_angle: f32, + + base: Base, +} + +struct Wheel { + /// Distance from center of mass. + y_distance: f32, + + /// Whether the wheels have static (good) grip or are slipping (as in drifting) + // TODO + has_grip: bool, +} + +impl Wheel { + /// Returns position vector to wheel. + fn world_offset(&self, rotation: f32) -> Vector2 { + Vector2::new(0.0, self.y_distance).rotated(rotation) + } +} + +#[godot_api] +impl IRigidBody2D for Car { + fn init(base: Base) -> Self { + let engine_force = 4000000.0; + let brake_force = 2.5 * engine_force; + let max_cornering_force = 7000000.0; + + Self { + base, + engine_force, + brake_force, + air_drag_coefficient: 0.05, + mechanical_drag: 2000.0, + max_steering_angle: deg_to_rad(32.0) as f32, + max_cornering_force, + + front_wheel: Wheel { + y_distance: 200.0, + has_grip: true, + }, + + rear_wheel: Wheel { + y_distance: -200.0, + has_grip: true, + }, + } + } + + fn physics_process(&mut self, _delta: f64) { + // self.base_mut().set_mass(1300.0); + // self.base_mut().set_inertia(260000000000.0); + + let input = Input::singleton(); + let move_forward = input.is_action_pressed("move_forward"); + let move_backward = input.is_action_pressed("move_backward"); + let turn_left = input.is_action_pressed("turn_left"); + let turn_right = input.is_action_pressed("turn_right"); + + // TODO: Handbrake + let _handbrake = input.is_action_pressed("handbrake"); + + let rotation = self.base().get_rotation(); + + let forward = self.forward(); + + let front_wheel_velocity = self.wheel_velocity(&self.front_wheel); + let rear_wheel_velocity = self.wheel_velocity(&self.rear_wheel); + + let front_wheel_angle = match (turn_left, turn_right) { + (true, false) => self.steering_angle(), + (false, true) => -self.steering_angle(), + (true, true) | (false, false) => 0.0, + }; + + let front_wheel_position = self.front_wheel.world_offset(rotation); + let rear_wheel_position = self.rear_wheel.world_offset(rotation); + + let front_wheels_direction = forward.rotated(front_wheel_angle); + let rear_wheels_direction = forward; + + // Engine/thrust force + let thrust_force = match (move_forward, move_backward) { + (true, false) => self.engine_force * front_wheels_direction, + (false, true) => { + if forward.dot(self.base().get_linear_velocity()) > 0.0 { + // Moving ahead, so use brakes + -self.brake_force * front_wheels_direction + } else { + // Moving backwards, so reverse + -0.5 * self.engine_force * front_wheels_direction + } + } + _ => Vector2::default(), + }; + + // front wheel drive + self.base_mut().apply_force_ex(thrust_force).position(front_wheel_position).done(); + + let front_slip_angle = front_wheels_direction.angle_to(front_wheel_velocity); + let rear_slip_angle = rear_wheels_direction.angle_to(rear_wheel_velocity); + + let speed_is_negligible = self.speed_is_negligible(); + + if speed_is_negligible { + self.base_mut().set_linear_velocity(Vector2::default()); + } + + // Cornering forces + if !speed_is_negligible { + self.apply_cornering_force(front_wheel_position, front_slip_angle); + self.apply_cornering_force(rear_wheel_position, rear_slip_angle); + }; + + // Air drag + self.apply_air_drag(); + + // Mechanical friction + self.apply_mechanical_drag(); + } +} + +impl Car { + fn apply_cornering_force(&mut self, wheel_position: Vector2, slip_angle: f32) { + let right = self.right(); + + let a = slip_angle.abs(); + let a = if a > PI / 2.0 { PI - a } else { a }; + let f = cornering_force(self.max_cornering_force, a); + + let force_vector = -slip_angle.sign() * right * f; + self.base_mut().apply_force_ex(force_vector).position(wheel_position).done(); + } + + /// Returns normal vector in the direction the car is facing. + fn forward(&self) -> Vector2 { + let rotation = self.base().get_rotation(); + Vector2::UP.rotated(rotation) + } + + /// Returns normal vector to the right of where the car is facing. + fn right(&self) -> Vector2 { + let rotation = self.base().get_rotation(); + Vector2::RIGHT.rotated(rotation) + } + + /// Returns velocity vector of a wheel. + fn wheel_velocity(&self, wheel: &Wheel) -> Vector2 { + let vel = self.base().get_linear_velocity(); + let ang_vel = self.base().get_angular_velocity(); + let rot = self.base().get_rotation(); + vel + ang_vel * wheel.world_offset(rot).rotated(PI / 2.0) + } + + /// Returns current speed. + // TODO: in what unit? + fn speed(&self) -> f32 { + self.base().get_linear_velocity().length() + } + + /// Returns true if current speed is low enough that lateral friction on wheels etc should not be calculated. + fn speed_is_negligible(&self) -> bool { + // Touch and feel value + const THRESHOLD: f32 = 10.0; + + self.speed() < THRESHOLD + } + + /// Returns steering angle, which is reduced from the max steering angle, the faster the car goes. + fn steering_angle(&self) -> f32 { + // Steering angle as function of speed s. + // f(0) = 1 + // f(s) -> 0 as s -> infinity + // Model: + // f(s) = 1 / (1 + s^q) + // where q controls dropoff aggressiveness. + let s = self.speed(); + let scale = 1800.0; + let s = s / scale; + + let q = 1.5; + + let f = 1.0 / (1.0 + s.powf(q)); + + self.max_steering_angle * f + } + + fn apply_air_drag(&mut self) { + let vel = self.base().get_linear_velocity(); + if let Some(direction) = vel.try_normalized() { + let drag = self.air_drag_coefficient * vel.length_squared(); + let drag = -direction * drag; + self.base_mut().apply_force(drag); + } + } + + /// Mechanical loss. + /// + /// Sublinear force. Intented to slow the car when it is already at low speed. + fn apply_mechanical_drag(&mut self) { + let vel = self.base().get_linear_velocity(); + if let Some(direction) = vel.try_normalized() { + // TODO: Note in book that powf is non-deterministic. + let f = self.mechanical_drag * vel.length().powf(0.8); + let f_vec = -direction * f; + self.base_mut().apply_force(f_vec); + } + } +} + +/// Lateral wheel force as a function of slip angle in radians +/// +/// Takes positive slip angle in [0; pi/2] +/// +/// Returns a non-negative value. +fn cornering_force(peak: f32, slip_angle: f32) -> f32 { + debug_assert!(slip_angle >= 0.0); + debug_assert!(slip_angle <= PI / 2.0); + + // TODO: Where should the peak be? + // Sources say + // - 3 degrees + // - 5-6 degrees for street tires and 8 degrees for racing ties. + // - 11 degrees for road tires with smooth curve, 6 degrees for semi-slick/competition track tires with faster drop past peak. Slick tires: 3 degrees for competitive racing. + // + // TODO what about when the input angle is more than 90 degrees? Still return peak then? + + let peak_angle = deg_to_rad(6.0) as f32; + + let magnitude = if slip_angle < peak_angle { + slip_angle * peak + } else { + // TODO: falloff after peak + // Past the peak street tires fall off slower and racing tires fall off faster. + + let c = 0.5; + peak - c * peak * (slip_angle - peak_angle) / deg_to_rad(90.0) as f32 + }; + + // dbg!(rad_to_deg(slip_angle as f64), peak, magnitude); + debug_assert!(magnitude >= 0.0); + debug_assert!(peak >= magnitude); + + magnitude +} diff --git a/rust/crates/grand-theft-arena/src/lib.rs b/rust/crates/grand-theft-arena/src/lib.rs index 4f84726..0645eb1 100644 --- a/rust/crates/grand-theft-arena/src/lib.rs +++ b/rust/crates/grand-theft-arena/src/lib.rs @@ -1,61 +1,10 @@ //! Grand Theft Arena -use godot::classes::ISprite2D; -use godot::classes::Sprite2D; use godot::prelude::*; +mod car; + struct MyExtension; #[gdextension] unsafe impl ExtensionLibrary for MyExtension {} - -#[derive(GodotClass)] -#[class(base=Sprite2D)] -struct Player { - speed: f64, - angular_speed: f64, - - base: Base, -} - -#[godot_api] -impl ISprite2D for Player { - fn init(base: Base) -> Self { - Self { - speed: 400.0, - angular_speed: std::f64::consts::PI, - base, - } - } - - fn physics_process(&mut self, delta: f64) { - let input = Input::singleton(); - - let speed = self.speed; - let angular_speed = self.angular_speed; - - let mut base = self.base_mut(); - - // Rotation - if input.is_action_pressed("turn_left") { - let radians = -angular_speed * delta; - base.rotate(radians as f32); - } - if input.is_action_pressed("turn_right") { - let radians = angular_speed * delta; - base.rotate(radians as f32); - } - - // Movement - let mut velocity = Vector2::ZERO; - if input.is_action_pressed("move_forward") { - let forward = Vector2::UP.rotated(base.get_rotation()); - velocity += forward * speed as f32; - } - if input.is_action_pressed("move_backward") { - let backward = Vector2::UP.rotated(base.get_rotation()); - velocity -= backward * speed as f32; - } - base.translate(velocity * delta as f32); - } -}