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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 2024 stark contributors - - 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. \ No newline at end of file diff --git a/README.md b/README.md deleted file mode 100644 index 21581be1..00000000 --- a/README.md +++ /dev/null @@ -1,228 +0,0 @@ -# STARK - -

- SymX Logo -

- -STARK is a C++ and Python simulation _platform_ that provides easy access to state-of-the-art methods to robustly solve simulations of rigid and deformable objects in a strongly coupled manner. -To the best of our knowledge, no other existing open source simulation environment provides such a rich collection of models, including coupling, with the same level of robustness. -STARK has been validated through real-world, challenging cases of interactions between robots and deformable objects, see the [STARK ICRA'24 paper](https://www.animation.rwth-aachen.de/publication/0588/). - -

- -    - -

- -One of the main features of STARK is that it uses a powerful symbolic differentiation and code generation engine that allows for a concise formulation of the global variational form of the non-linear dynamic problem. -Adding new models (e.g. materials, joints, interactions, ...) in STARK is as simple as specifying their energy potential in symbolic form together with the data they depend on. -This removes the tedium of manually deriving, implementing, testing and optimizing new models and integrating them in existing complex simulation environments. -STARK collects all the potentials and uses Newton's Method to find the solution to the non-linear implicit time-stepping problem. -Presently, even though STARK has a C++ and Python API, models can only be defined in C++. - -By default, STARK comes out-of-the-box with important widely used models: -- 3D and 2D **FEM** discretizations for deformable non-linear materials -- **Discrete Shells** for cloths and stiff shells -- **Rigid Bodies** with joints and motors -- Frictional Contact with **IPC** - -See [Features](#features) section for more details. - -There are two use cases for STARK: - - As an external, black-box, powerful simulator that can handle very challenging scenarios. - No knowledge of STARK internals are needed in this case, and users can directly use the high-level C++ or Python APIs. - - As a research and development tool for simulation. - Thanks mainly to the symbolic differentiation and integrated collision detection, STARK can dramatically increase productivity of simulation technology research. - See [here](stark/src/models) how the models contained in STARK are implemented. - - -## Hello World -The following is a script example using STARK's Python API to execute a simulation of a piece of cloth falling on a rigid box with a prescribed spinning motion. - -

- -

- -```python -import numpy as np -import pystark - -settings = pystark.Settings() -settings.output.simulation_name = "spinning_box_cloth" -settings.output.output_directory = "output_folder" -settings.output.codegen_directory = "codegen_folder" -simulation = pystark.Simulation(settings) - -# Global frictional contact IPC parameters -contact_params = pystark.EnergyFrictionalContact.GlobalParams() -contact_params.default_contact_thickness = 0.001 # Can be overriden by per-object thickness -contact_params.friction_stick_slide_threshold = 0.01 -simulation.interactions().contact().set_global_params(contact_params) - -# Add deformable surface -cV, cT, cH = simulation.presets().deformables().add_surface_grid("cloth", - size=np.array([0.4, 0.4]), - subdivisions=np.array([20, 20]), - params=pystark.Surface.Params.Cotton_Fabric() -) - -# Add rigid body box -bV, bT, bH = simulation.presets().rigidbodies().add_box("box", mass=1.0, size=0.08) -bH.rigidbody.add_translation(np.array([0.0, 0.0, -0.08])) -fix_handler = simulation.rigidbodies().add_constraint_fix(bH.rigidbody) - -# Set friction pair -cH.contact.set_friction(bH.contact, 1.0) - -# Script -duration = 10.0 -def script(t): - fix_handler.set_transformation( - translation=np.array([0.0, 0.0, -0.08 - 0.1*np.sin(t)]), - angle_deg=100.0*t, - axis=np.array([0.0, 0.0, 1.0])) -simulation.add_time_event(0, duration, script) - -# Run -simulation.run(duration) -``` - -The output is a sequence of VTK files per output group (in this case one sequence for the cloth and another for the box). -VTK files can be viewed in Blender with [this](https://github.com/InteractiveComputerGraphics/blender-sequence-loader) add-on or in [Paraview](https://www.paraview.org/). -You can use [meshio](https://github.com/nschloe/meshio) to transform VTK meshes to other formats. - -STARK code will always follow the same structure: - - Define global settings and parameters. - - Add objects, boundary conditions and define interactions. In this example, `presets` are used but custom objects and composed materials are also possible. - - Optionally, specify time-dependent events (script). - - Run. - -See the folder [`stark/pystark/examples`](pystark/examples) for more scenes using the Python API and [`stark/examples`](examples/) for scenes written in C++. - - -## Get STARK -STARK's C++ and Python APIs are essentially equivalent. -A user who just wants to _use_ STARK with the models that it comes with, probably will prefer the Python API. -Users looking to work on their own new models to _extend_ STARK with new functionality will have to work directly in the C++ source code. - -Every time STARK encounters a new potential energy, it will generate and compile code to compute its derivatives. -Therefore, a C++17 compiler is required. -You can specify the command to invoke a compatible compiler using `pystark.set_compiler_command(str)` in Python and `stark::set_compiler_command(str)` in C++. -By default, it is `"g++"` in Unix and -``` -pystark.set_compiler_command("\"C:\\Program Files\\Microsoft Visual Studio\\2022\\Community\\VC\\Auxiliary\\Build\\vcvarsx86_amd64.bat\"") -``` -in Windows. -Use `pystark.Settings().debug.symx_suppress_compiler_output = False` to inspect the compiler's output. - - -If you don't have a C++17 compiler and just want to use the models shipped with STARK by default, you can download the corresponding compiled binaries [here](https://rwth-aachen.sciebo.de/s/5NXgsPtoDyVl8Yo). -Don't forget to point STARK to the folder containing those in `settings.output.codegen_directory`. - -### Python API -You can install STARK for Python 3.8+ using -``` -pip install stark-sim -``` - -### Build from source -To build from source you will need [CMake](https://cmake.org/) and a C++17 compiler. -All dependencies are bundled with STARK or are downloaded by CMake at build time. - -## Examples with code -
- - - - - - - - - - -
- Alt text for gif1 -
- twisting_cloth.py - 		- Alt text for gif1 -
- boxes_on_cloth.py -
- Alt text for gif1 -
- inflation.py - 		- Alt text for gif1 -
- viscoelasticity.py -
-
- - -## Features - -### Models -Besides a simulator, STARK is a repository of potential energies commonly used for deformable and rigid objects and frictional contact. -The following models can be found in symbolic form in `stark/stark/src/models/`: - -* Deformable objects - - 2D and 3D linear FEM (triangles and tets) with the Neo-Hookean and Stable Neo-Hookean constitutive models, respectively ([paper](https://dl.acm.org/doi/10.1145/3180491)) - - Discrete Shells ([paper](https://dl.acm.org/doi/10.5555/846276.846284)) - - Strain limiting ([paper](https://dl.acm.org/doi/10.1145/3450626.3459767)) - - Inertial and material damping -* Rigid bodies - - Soft joints (linear) - - Smooth force/torque capped motors [(paper)](https://www.animation.rwth-aachen.de/publication/0588/) - - Comprehensive collection of constraints (ball joints, hinge joints, sliders, ...) -* Frictional contact (based on triangle meshes) - - IPC [(paper)](https://dl.acm.org/doi/abs/10.1145/3386569.3392425) -* Attachments (based on triangle mesh distances) - -### Solver -* Symbolic differentiation - - Automatic generation of gradients and Hessians - - Parallel autonomous global evaluation and assembly -* Triangle-based collision detection -* Solver - - Newton's Method - - Intersection free line search (CCD coming soon) - - Conjugate Gradient or Direct LU linear solver - - Optional adaptive time step size - - Optional numerical PSD projection of element Hessians -* Event-based scripts - -## Research using STARK -* ["Micropolar Elasticity in Physically-Based Animation"](https://www.animation.rwth-aachen.de/publication/0582/) - Löschner et al., 2023 -* ["Curved Three-Director Cosserat Shells with Strong Coupling"](https://www.animation.rwth-aachen.de/publication/0589/) - Löschner et al., 2024 -* ["Strongly Coupled Simulation of Magnetic Rigid Bodies"](https://www.animation.rwth-aachen.de/publication/0590/) - Westhofen et al., 2024 - -## Cite STARK -```bibtex -@InProceedings{FLL+24, - author={Fernández-Fernández, José Antonio and Lange, Ralph and Laible, Stefan and Arras, Kai O. and Bender, Jan}, - booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, - title={STARK: A Unified Framework for Strongly Coupled Simulation of Rigid and Deformable Bodies with Frictional Contact}, - year={2024}, - pages={16888-16894}, - doi={10.1109/ICRA57147.2024.10610574}} -} -``` - -## Acknowledgments - - - - - - -
- - - Robert Bosch GmbH is acknowledged for generous financial support of the development of the initial version of STARK from 2019 to 2021. -
- -List of collaborators to the codebase: - - [José Antonio Fernández-Fernández](https://github.com/JoseAntFer) - - [Fabian Löschner](https://github.com/w1th0utnam3) diff --git a/_sources/architecture.md.txt b/_sources/architecture.md.txt new file mode 100644 index 00000000..1eb0954a --- /dev/null +++ b/_sources/architecture.md.txt @@ -0,0 +1,140 @@ +# Architecture + +STARK's public API is straightforward. +Users work through a single entry point, `Simulation`, which exposes all physics subsystems. +Internally, `Stark` orchestrates time stepping and uses SymX's Newton solves. + +## Component Map + +```{mermaid} +flowchart TD + Sim["Simulation"] + + Def["deformables"] + RB["rigidbodies"] + Int["interactions"] + Pre["presets"] + + Core["Stark"] + SymX["SymX"] + + Sim --> Def + Sim --> RB + Sim --> Int + Sim --> Pre + Sim --> Core + Def & RB & Int -.->|register| Core + Core --> SymX +``` + + +## `Simulation` + +`Simulation` is the single public entry point. +Constructing it with a `Settings` object is all that is needed to start a simulation: + +```cpp +stark::Settings settings; +settings.output.directory = "./output"; +settings.simulation.max_time_step_size = 0.01; + +stark::Simulation simulation(settings); +``` + +The four subsystems are available as public `shared_ptr` fields: + +```cpp +simulation.deformables // deformable meshes and FEM energies +simulation.rigidbodies // rigid bodies and joints +simulation.interactions // cross-system contact and attachments +simulation.presets // high-level scene factories +``` + +Once the scene is built, the simulation is advanced by calling `run()`: + +```cpp +simulation.run(); // run until no time events remain +simulation.run(5.0); // run for exactly 5 seconds +simulation.run_one_time_step(); // advance by a single time step +``` + +Time-dependent boundary conditions and scripted motions are registered through `simulation.get_script()` or `simulation.add_time_event()`. +See [Simulation Loop](simulation_loop.md) for the full API. + +--- + +## Physics Subsystems + +### `deformables` + +Manages all deformable objects: rods, shells (or cloth), and volumetric soft bodies. + +Internally, all deformable node positions and velocities are stored in a single flat array inside `PointDynamics`. +When you add a mesh, its nodes are appended to that shared array and identified by a `PointSetHandler`. +This flat representation keeps internals simple and improves parallelism and vectorization. + +The energy models that act on point sets are: + +| Model | Description | +|---|---| +| `EnergyLumpedInertia` | Mass and Rayleigh damping for any topology | +| `EnergyPrescribedPositions` | Penalty-based kinematic boundary conditions | +| `EnergySegmentStrain` | 1D stretching for rods and cables | +| `EnergyTriangleStrain` | 2D membrane strain for cloth and shells | +| `EnergyDiscreteShells` | Bending stiffness | +| `EnergyTetStrain` | 3D volumetric FEM for soft bodies | + +In practice you almost never compose these by hand. +The [Presets](presets.md) subsystem wraps the most common combinations into single calls. +The [Deformables](deformables.md) page covers the full API for when you need direct control. + +### `rigidbodies` + +Manages rigid bodies and the constraints between them. + +Like deformables, all rigid-body state lives in a single flat array inside `RigidBodyDynamics`. +Each body has six DOFs (3 translational, 3 rotational) and is identified by a `RigidBodyHandler`. + +The energy models are: + +| Model | Description | +|---|---| +| `EnergyRigidBodyInertia` | Mass, inertia tensor, and Rayleigh damping | +| `EnergyRigidBodyConstraints` | All joints, motors, and springs between bodies | + +See [Rigid Bodies](rigidbodies.md) and [Rigid Body Constraints](rb_constraints.md) for the full API. + +### `interactions` + +Manages energies that couple the two state systems — or connect objects of the same system across separate point sets. + +| Model | Description | +|---|---| +| `EnergyFrictionalContact` | IPC-based frictional contact (deformable–deformable, rigid–deformable, rigid–rigid) | +| `EnergyAttachments` | Penalty-based gluing of surface or point pairs | + +See [Contact](contact.md) and [Attachments](attachments.md). + +### `presets` + +High-level factory calls that compose inertia, strain, bending, and output registration into single calls. +Most users should start here. +See [Presets](presets.md) for the full list. + +--- + +## `Stark` class + +`Stark` is the engine that drives the simulation. + +Its key components are: + +- **`GlobalPotential`** — the SymX energy registry. Energy models call `global_potential->add_potential(...)` during construction to register their symbolic expression and the state variables it acts on. +- **`Callbacks`** — hook points for injecting logic at fixed moments in the loop: `before_time_step`, `on_time_step_accepted`, `after_time_step`, and `write_frame`. +- **`EventDrivenScript`** — fires lambdas at specified simulation times or on solver events. +- **`Settings`** — output paths, time step size, Newton tolerances, contact parameters, and more. + +Under normal use you do not interact with `Stark` directly. +When writing a custom energy model that extends STARK, you access it through `simulation.get_stark()`. +See [Extending STARK](extending.md) for a worked example. + diff --git a/_sources/attachments.md.txt b/_sources/attachments.md.txt new file mode 100644 index 00000000..b9f6baa7 --- /dev/null +++ b/_sources/attachments.md.txt @@ -0,0 +1,92 @@ +# Attachments + +Attachments are penalty-based constraints that connect points on two deformable objects, or points on a rigid body to a deformable object. +They are the standard way to glue parts of the simulation together. + +Attachments are managed by `simulation.interactions->attachments` (C++) or `simulation.interactions().attachments()` (Python). + +## Deformable–Deformable + +### Point to Point + +Connects a list of vertices on one point set to the corresponding vertices on another: + +```cpp +auto h = simulation.interactions->attachments->add( + set_a_handler, set_b_handler, + points_a, // std::vector — vertex indices in set A + points_b, // std::vector — vertex indices in set B + stark::EnergyAttachments::Params() +); +``` + +### Point to Edge (Barycentric) + +Attaches vertices on set A to positions on edges of set B via barycentric coordinates: + +```cpp +auto h = simulation.interactions->attachments->add( + set_a, set_b, + points_a, + edges_b, // std::vector> + bary_coords, // std::vector> + params +); +``` + +### Point to Triangle (Barycentric) + +Attaches vertices on set A to triangles of set B: + +```cpp +auto h = simulation.interactions->attachments->add( + set_a, set_b, + points_a, + triangles_b, // std::vector> + bary_coords, // std::vector> + params +); +``` + +### By Distance + +Automatically finds and attaches all vertices within a given distance of a target mesh: + +```cpp +auto multi_h = simulation.interactions->attachments->add_by_distance( + set_a, set_b, + points_a, // candidate source vertices + triangles_b, // target triangle mesh + distance, // match within this distance + params +); +``` + +Returns a `MultiHandler` that groups the individual attachment handlers. + +## Rigid Body–Deformable + +Attaches vertices on a deformable point set to local-frame points on a rigid body: + +```cpp +auto h = simulation.interactions->attachments->add( + rb_handler, + set_handler, + rb_points_local, // std::vector — rigid body frame + set_points, // std::vector — vertex indices in the point set + params +); +``` + + +## Parameters + +```cpp +stark::EnergyAttachments::Params params; +params.stiffness = 1e6; // penalty stiffness (N/m) +params.tolerance = 1e-3; // distance below which the constraint is considered satisfied +``` + +High stiffness gives a near-rigid bond; lower stiffness gives a soft connection. +Stiffness hardens automatically when the tolerance is not met at the end of a time step. + diff --git a/_sources/contact.md.txt b/_sources/contact.md.txt new file mode 100644 index 00000000..46c22038 --- /dev/null +++ b/_sources/contact.md.txt @@ -0,0 +1,170 @@ +# Frictional Contact + +STARK uses an **IPC (Incremental Potential Contact)** based formulation for frictional contact. +It is guaranteed to be intersection-free and handles all contact pairs (deformable–deformable, rigid–deformable, rigid–rigid) in a unified framework. + +Contact is handled by `simulation.interactions->contact` (C++) or `simulation.interactions().contact()` (Python). + +## Contact Handler +Every mesh that should collide is registered as a contact object and receives a `ContactHandler`, used to configure friction, disable pairs, or update contact thickness. + +The actual motion comes from the underlying `PointSetHandler` or `RigidBodyHandler`; the contact object holds only the collision geometry. + +Contact geometry is registered either through presets (recommended) or manually. Details at the end of this page. + +## Global Parameters + +Set once before the simulation starts: + +```cpp +// C++ +stark::EnergyFrictionalContact::GlobalParams params; + +// Contact thickness (d_hat): the distance at which contact forces activate +// MUST be set; no sensible default exists — it depends on your scene scale +params.default_contact_thickness = 0.001; // 1 mm + +// Stiffness range (automatically hardened when penetration is detected) +params.min_contact_stiffness = 1e4; +params.max_contact_stiffness = 1e20; + +// Friction: stick-to-slide threshold (relative tangential displacement) +params.friction_stick_slide_threshold = 0.01; + +// Enable/disable specific contact modes +params.collisions_enabled = true; +params.friction_enabled = true; +params.triangle_point_enabled = true; +params.edge_edge_enabled = true; +params.intersection_test_enabled = true; + +simulation.interactions->contact->set_global_params(params); +``` + + +## Setting up frictional contact +### Setting Friction Between Pairs + +Friction must be explicitly enabled between each pair of contact objects. +The Coulomb friction coefficient $\mu$ is set per pair: + +```cpp +// C++ +ch_cloth.set_friction(ch_box, 0.5); // μ = 0.5 between cloth and box +ch_cloth.set_friction(ch_cloth, 0.1); // self-contact with μ = 0.1 +``` + +Pairs without an explicit `set_friction` call have no friction forces between them. + +### Per-Object Contact Thickness + +You can override the global default thickness per object: + +```cpp +ch_cloth.set_contact_thickness(0.0005); // 0.5 mm +``` + +### Disabling Collisions Between Pairs + +To exclude specific pairs from collision detection entirely (e.g. objects that start overlapping): + +```cpp +ch_a.disable_collision(ch_b); +``` + +## Stiffness Hardening + +When Newton's Method cannot resolve an intersection, contact stiffness is doubled and the step is retried. +This repeats until penetration resolves or `max_contact_stiffness` is reached. +You will see messages like: + +``` +Penetration couldn't be avoided. Contact stiffness hardened from 1.0e+04 to 2.0e+04. +``` + +This is normal in contact-heavy scenes. + + +## Registering Contact Objects + +### Contact through presets + +Presets are the recommended path for standard objects. Deformable and rigid-body presets automatically register suitable collision geometry and return a contact handle in the preset handler. + +```cpp +// Deformable object with contact +stark::Volume::Params rubber = stark::Volume::Params::Soft_Rubber(); +rubber.contact.contact_thickness = 0.001; + +auto [V, T, body] = simulation.presets->deformables->add_volume( + "body", + vertices, + tets, + rubber +); + +stark::ContactHandler body_contact = body.contact; + +// Rigid body with contact +auto [floor_V, floor_T, floor] = simulation.presets->rigidbodies->add_box( + "floor", + 1.0, + Eigen::Vector3d(2.0, 2.0, 0.05), + stark::ContactParams().set_contact_thickness(0.001) +); + +stark::ContactHandler floor_contact = floor.contact; +``` + +### Manual contact registration + +For custom objects, register the contact geometry directly. +The collision mesh indices refer to vertices of the `PointSetHandler`. + +```cpp +stark::PointSetHandler point_set = /* your deformable point set */; +std::vector> surface_triangles = /* collision surface */; + +stark::ContactHandler cloth_contact = + simulation.interactions->contact->add_triangles( + point_set, + surface_triangles, + stark::ContactParams().set_contact_thickness(0.001) + ); +``` + +For segment-like objects, use edges instead of triangles: + +```cpp +std::vector> edges = /* collision edges */; + +stark::ContactHandler rod_contact = + simulation.interactions->contact->add_edges( + point_set, + edges, + stark::ContactParams().set_contact_thickness(0.001) + ); +``` + +#### Contact on a subset of a point set + +Sometimes the simulated point set contains more vertices than the collision mesh. For example, a tetrahedral volume may use only its boundary triangles for contact. + +Use the overload with `point_set_map` in that case. The collision mesh is indexed locally into `point_set_map`, and `point_set_map[i]` maps collision vertex `i` to a vertex in the full point set. + +```cpp +stark::PointSetHandler point_set = /* full deformable point set */; + +std::vector surface_to_point_set = /* collision vertex -> point-set vertex */; +std::vector> surface_triangles = /* indexed into surface_to_point_set */; + +stark::ContactHandler contact = + simulation.interactions->contact->add_triangles( + point_set, + surface_triangles, + surface_to_point_set, + stark::ContactParams().set_contact_thickness(0.001) + ); +``` + +This is the manual equivalent of what presets do for volumetric objects: the simulation uses tetrahedra, but contact is registered on the boundary surface. diff --git a/_sources/deformables.md.txt b/_sources/deformables.md.txt new file mode 100644 index 00000000..963879df --- /dev/null +++ b/_sources/deformables.md.txt @@ -0,0 +1,168 @@ +# Deformables + +All deformable models operate on **point sets**, arrays of 3D positions and velocities managed by `PointDynamics`. +Register a point set to get a `PointSetHandler`, which you pass to each energy model: + +```cpp +auto ps = simulation.deformables->point_sets->add(vertices); +``` + +## Transforms + +You can reposition and reorient the point set, or give it an initial velocity: + +```cpp +ps.add_translation({0.0, 0.0, 1.0}); +ps.add_rotation(90.0, {1.0, 0.0, 0.0}); // angle_deg, axis +ps.set_velocity({0.0, 0.0, -1.0}); // applied to all points +``` + +## Potential energies + +### EnergyLumpedInertia + +Mass and Rayleigh damping for a point set. +Works with any topology (edges, triangles, tets); mass is lumped to vertices proportional to element volume. + +```cpp +auto inertia_h = simulation.deformables->lumped_inertia->add( + ps, triangles, + stark::EnergyLumpedInertia::Params() + .set_density(0.2) // [kg/m²] for surfaces, [kg/m³] for volumes, etc. + .set_damping(0.5) +); +``` + +Every dynamic point set needs at least one inertia registration. +The `quasistatic` flag disables the kinetic energy term; see [Simulation Loop](simulation_loop.md) for quasistatic usage. + +--- + +### EnergyPrescribedPositions + +Penalty-based kinematic boundary conditions. +Selected vertices are attracted to a target configuration with a stiffness penalty. + +```cpp +auto bc = simulation.deformables->prescribed_positions->add_inside_aabb( + ps, + Eigen::Vector3d(0, 0, 0), // AABB centre + Eigen::Vector3d(0.001, 1, 1), // AABB half-extents + stark::EnergyPrescribedPositions::Params() + .set_stiffness(1e6) +); +``` + +You can also select by explicit vertex list (`add`) or invert the AABB selection (`add_outside_aabb`). + +To animate the boundary condition, update its target transformation each time step: + +```cpp +simulation.add_time_event(0.0, duration, [&](double t) { + bc.set_transformation( + Eigen::Vector3d(0, 0, 0), // translation + t * 90.0, // rotation angle (deg) + Eigen::Vector3d(1, 0, 0) // rotation axis + ); +}); +``` + +--- + +### EnergySegmentStrain + +1D axial strain energy for rods and cables. +Acts on pairs of connected vertices (segments). + +```cpp +auto strain_h = simulation.deformables->segment_strain->add( + ps, segments, + stark::EnergySegmentStrain::Params() + .set_section_radius(5e-3) // rod cross-section radius + .set_youngs_modulus(1e6) + .set_damping(0.0) +); +``` + +Optional strain limiting caps elongation to prevent explosive stretching. +`elasticity_only = true` disables strain limiting and damping for a cheaper solve. + +--- + +### EnergyTriangleStrain + +2D membrane strain energy for cloth and thin shells. +Acts on triangles and models in-plane stretching and compression using the Neo-Hookean constitutive model. + +```cpp +auto strain_h = simulation.deformables->triangle_strain->add( + ps, triangles, + stark::EnergyTriangleStrain::Params() + .set_thickness(0.001) // shell thickness (m) + .set_youngs_modulus(1e5) + .set_poissons_ratio(0.3) + .set_strain_limit(0.2) // optional; 0 = disabled +); +``` + +An `inflation` parameter adds an outward pressure force, useful for inflatables. +`elasticity_only = true` disables strain limiting and damping for a cheaper solve. + +--- + +### EnergyDiscreteShells + +Bending energy for triangle meshes (Grinspun et al. discrete shells or Bergou et al. flat quadratic model), acting on hinge edges. + +```cpp +auto bending_h = simulation.deformables->discrete_shells->add( + ps, triangles, + stark::EnergyDiscreteShells::Params() + .set_stiffness(1e-3) + .set_flat_rest_angle(true) // true → Bergou quadratic; false → use mesh's rest angle +); +``` + +This is always paired with `EnergyTriangleStrain` on the same triangle mesh. +The `Surface` preset does this automatically. + +--- + +### EnergyTetStrain + +3D volumetric FEM strain energy for soft bodies. +Acts on linear tetrahedra using the Neo-Hookean constitutive model. + +```cpp +auto strain_h = simulation.deformables->tet_strain->add( + ps, tets, + stark::EnergyTetStrain::Params() + .set_youngs_modulus(1e5) + .set_poissons_ratio(0.4) +); +``` + +`elasticity_only = true` disables strain limiting and damping for a cheaper solve. + + +--- + +## Manual Composition + +Any combination of the above energies can be registered on the same `PointSetHandler`. +See `examples/main.cpp` for a mesh with volumetric interior, shell surface, and rod edges — each energy registers independently and all contribute to the same Newton solve. + +## Output + +Mesh output is registered separately: + +```cpp +simulation.deformables->output->add_triangle_mesh("cloth", ps, triangles); +simulation.deformables->output->add_tet_mesh("body", ps, tets); +simulation.deformables->output->add_segment_mesh("rod", ps, segments); +simulation.deformables->output->add_point_set("pts", ps); +``` + +Presets handle this automatically. + + diff --git a/_sources/extending.md.txt b/_sources/extending.md.txt new file mode 100644 index 00000000..40567fab --- /dev/null +++ b/_sources/extending.md.txt @@ -0,0 +1,60 @@ +# Extending STARK + +STARK physics models are SymX energy potentials, scalar functions of the degrees of freedom. +SymX differentiates them symbolically and feeds the gradient and Hessian to Newton's method. + +The simplest form of extension is adding a model inside the existing infrastructure (e.g. new bending modes in `EnergyDiscreteShells`). +This page shows how to inject a custom energy from outside, without modifying STARK internals. + +## The Core Idea + +The DoFs for deformable objects are registered by `PointDynamics` (velocities `v1`, positions `x0`/`x1`), and analogously for rigid bodies in `RigidBodyDynamics`. +To add a custom energy, register it with `GlobalPotential` via a connectivity table. + +See the [SymX docs](https://symx.physics-simulation.org/second_order_optimization.html#) for the `GlobalPotential` API. + + +## Example: implicit magnetic attraction + +The following example adds a simple magnetic attraction potential to deformable boxes. The magnet is represented by a scripted rigid sphere, while the actual attraction is a custom SymX energy acting on the deformable vertices. + +For every affected deformable vertex, the energy is + +$$ +E_i(x_i) = -\frac{k}{\sqrt{\|x_i - x_c\|^2}}, +$$ + +where $x_i$ is the current candidate position of the attracted vertex, `x_c` is the current magnet position and `k` controls the strength. + +The force produced by this energy is attractive, and because the term is registered as a SymX potential, STARK also receives the corresponding Hessian contribution automatically. +This is incorporated to the rest of the physical effects and piped into the optimization pipeline. + +The following is the energy definition + +```cpp +stark::Stark& stark_core = simulation.get_stark(); +stark::PointDynamics* dyn = simulation.deformables->point_sets.get(); + +stark_core.global_potential->add_potential("EnergyMagneticAttraction", magnetic_vertices, + [&](MappedWorkspace& mws, Element& elem) + { + Vector v1 = mws.make_vector(dyn->v1.data, elem["point"]); + Vector x0 = mws.make_vector(dyn->x0.data, elem["point"]); + Scalar dt = mws.make_scalar(stark_core.dt); + Scalar k = mws.make_scalar(magnet_force); + Vector m = mws.make_vector(magnet_center); + + Vector x1 = stark::time_integration(x0, v1, dt); + Vector r = x1 - m; + Scalar d = r.norm(); + + return -k / d; + } +); +``` + +As you can see, non-trivial implicit effects that would otherwise require deep solver expertise reduce to a handful of lines of symbolic code. +This is what makes STARK effective as a research and prototyping platform. + +The full example is in `examples/main.cpp` as `magnetic_deformables_implicit()`. + diff --git a/_sources/hello_world.md.txt b/_sources/hello_world.md.txt new file mode 100644 index 00000000..10e5c7c8 --- /dev/null +++ b/_sources/hello_world.md.txt @@ -0,0 +1,107 @@ +# Hello World + +Here you can find two quick STARK "hello world" programs — one in Python, one in C++. +Both simulate a piece of cloth falling on a rigid box that spins in place. + +

+ Spinning box cloth simulation +

+ +## Python + +```python +import numpy as np +import pystark + +# 1. Configure output and solver settings +settings = pystark.Settings() +settings.output.simulation_name = "spinning_box_cloth" +settings.output.output_directory = "output_folder" +settings.output.codegen_directory = "codegen_folder" + +# 2. Create the simulation +simulation = pystark.Simulation(settings) + +# 3. Set global contact parameters +contact_params = pystark.EnergyFrictionalContact.GlobalParams() +contact_params.default_contact_thickness = 0.0025 +simulation.interactions().contact().set_global_params(contact_params) + +# 4. Add a deformable cloth surface +cV, cT, cH = simulation.presets().deformables().add_surface_grid( + "cloth", + size=np.array([0.4, 0.4]), + subdivisions=np.array([32, 32]), + params=pystark.Surface.Params.Cotton_Fabric() +) + +# 5. Add a rigid body box +bV, bT, bH = simulation.presets().rigidbodies().add_box("box", mass=1.0, size=0.08) +bH.rigidbody.add_translation(np.array([0.0, 0.0, -0.08])) +fix_handler = simulation.rigidbodies().add_constraint_fix(bH.rigidbody) + +# 6. Script: spin the box over time +duration = 10.0 +def script(t): + fix_handler.set_transformation( + np.array([0.0, 0.0, -0.08]), + 90.0*t, + np.array([0.0, 0.0, 1.0]) + ) + +# 7. Run +simulation.run(duration, script) +``` + +## C++ + +The same scene in C++: + +```cpp +#include + +void spinning_box_cloth() +{ + // 1. Configure output and solver settings + stark::Settings settings; + settings.output.simulation_name = "spinning_box_cloth"; + settings.output.output_directory = "output_folder"; + settings.output.codegen_directory = "codegen_folder"; + + // 2. Create the simulation + stark::Simulation simulation(settings); + + // 3. Set global contact parameters + stark::EnergyFrictionalContact::GlobalParams contact_params; + contact_params.default_contact_thickness = 0.0025; + simulation.interactions->contact->set_global_params(contact_params); + + // 4. Add a deformable cloth surface + auto cloth = simulation.presets->deformables->add_surface_grid( + "cloth", + Eigen::Vector2d(0.4, 0.4), + {32, 32}, + stark::Surface::Params::Cotton_Fabric() + ); + + // 5. Add a rigid body box + auto box = simulation.presets->rigidbodies->add_box("box", 1.0, 0.08); + box.handler.rigidbody.add_translation({0.0, 0.0, -0.08}); + auto fix = simulation.rigidbodies->add_constraint_fix(box.handler.rigidbody); + + // 6. Script: spin the box + double duration = 10.0; + simulation.add_time_event(0.0, duration, [&](double t) { + fix.set_transformation( + {0.0, 0.0, -0.08 - 0.1*std::sin(t)}, + 90.0*t, + {0.0, 0.0, 1.0}); + }); + + // 7. Run + simulation.run(duration); +} +``` + +The C++ and Python APIs are intentionally parallel. +C++ uses direct field access (`simulation.presets->deformables`); Python uses accessor methods (`simulation.presets().deformables()`). diff --git a/_sources/index.md.txt b/_sources/index.md.txt new file mode 100644 index 00000000..922f0d32 --- /dev/null +++ b/_sources/index.md.txt @@ -0,0 +1,58 @@ +# STARK Documentation + +

+ SymX Logo +

+ +Welcome to the STARK documentation. +STARK is a C++ and Python simulation platform for simulating rigid and deformable objects in strongly coupled scenarios. +Check out the [STARK GitHub repo](https://github.com/InteractiveComputerGraphics/stark) and the [STARK ICRA'24 paper](https://www.animation.rwth-aachen.de/publication/0588/). + +These pages give a high-level overview of the main concepts and show how to use the library. +They are not a doxygen-style exhaustive documentation, but rather a guide on how the library works and how to use it effectively. + +STARK is built on top of [SymX](https://github.com/InteractiveComputerGraphics/SymX), a symbolic math engine that handles differentiation, evaluation, and optimization via a Newton solver. +This makes STARK **very easy** to expand with new models, which makes it a great platform to do research with. +Plus, STARK already ships with many ready-to-use models through a convenient interface, scripting utilities, and a Python API. + +Note that if you need something simpler or more customizable than STARK, consider using SymX directly. + +## Table of Contents + +```{toctree} +:caption: Getting Started +:maxdepth: 1 + +hello_world +setup +architecture +``` + +```{toctree} +:caption: Core Concepts +:maxdepth: 1 + +settings +io +simulation_loop +``` + +```{toctree} +:caption: Physics Models +:maxdepth: 1 + +problem_representation +presets +deformables +rigidbodies +rb_constraints +contact +attachments +``` + +```{toctree} +:caption: Advanced +:maxdepth: 1 + +extending +``` diff --git a/_sources/io.md.txt b/_sources/io.md.txt new file mode 100644 index 00000000..0d20c90f --- /dev/null +++ b/_sources/io.md.txt @@ -0,0 +1,403 @@ +# Input / Output + +In STARK meshes are ordinary C++ containers, frames are written as VTK files, and solver diagnostics are printed both to the console and to yaml log files. This makes it easy to combine STARK with external mesh generation and pre/post processing tools. +VTK Files can directly be inspected on ParaView and Blender and logs are easily parsed by Python scripts. + +A typical simulation produces three kinds of output: + +| Output | Purpose | Typical file | +|---|---|---| +| VTK frames | Geometry data | `my_sim_object_42.vtk` | +| Text log | Human-readable copy of console/file output | `my_sim__2026-05-13__15-24-16.log` | +| YAML log | Machine-readable solver statistics and timings | `my_sim__2026-05-13__15-24-16.yaml` | + +The output directory, simulation name, frame rate, and verbosity are configured through `stark::Settings`. + +```cpp +stark::Settings settings; +settings.output.simulation_name = "my_sim"; +settings.output.output_directory = "build/output/my_sim"; +settings.output.codegen_directory = "build/codegen"; +settings.output.fps = 30; +settings.output.console_verbosity = symx::Verbosity::Summary; +settings.output.file_verbosity = symx::Verbosity::Full; + +stark::Simulation simulation(settings); +``` + +`simulation_name`, `output_directory`, and `codegen_directory` must be set. STARK creates the directories automatically. The code-generation directory is used by SymX to cache generated/compiled kernels; it is not where frame files are written. + +## Mesh input + +STARK does not require a special mesh class at the API boundary. Most geometry is represented as + +```cpp +std::vector vertices; +std::vector> connectivity; +``` + +where `N = 1` for points, `N = 2` for segments, `N = 3` for triangles, and `N = 4` for tetrahedra. This means you can bring meshes from your own meshing code, external tools, procedural generators, or the helper functions bundled with STARK. + +### Loading VTK meshes + +STARK bundles `vtkio`, which can read a VTK file into the usual vertex/connectivity containers. + +```cpp +#include + +std::vector vertices; +std::vector> tets; + +vtkio::VTKFile vtk_file; +vtk_file.read("bunny.vtk"); +vtk_file.get_points_to_twice_indexable(vertices); +vtk_file.get_cells_to_twice_indexable(tets); +``` + +For the common case, STARK also provides `load_vtk` wrappers: + +```cpp +stark::Mesh<4> tet_mesh = stark::load_vtk<4>("bunny.vtk"); +``` + +### Loading OBJ triangle meshes + +Triangle OBJ meshes can be loaded with: + +```cpp +std::vector> meshes = stark::load_obj("model.obj"); +``` + +The OBJ loader expects triangular faces. If the file contains multiple OBJ shapes, the return value contains one `stark::Mesh<3>` per shape. + +### Procedural mesh generators + +For examples, tests, and simple scenes, STARK provides a few built-in mesh generators: + +```cpp +auto sphere = stark::make_sphere(0.5); +auto box = stark::make_box({1.0, 0.5, 0.2}); +auto cyl = stark::make_cylinder(0.2, 1.0); +auto torus = stark::make_torus(1.0, 0.1); + +auto cloth = stark::generate_triangle_grid( + Eigen::Vector2d{0.0, 0.0}, // center + Eigen::Vector2d{1.0, 1.0}, // dimensions + std::array{32, 32}, // quads per dimension + 0.0 // z coordinate +); + +auto block = stark::generate_tet_grid( + Eigen::Vector3d{0.0, 0.0, 0.0}, + Eigen::Vector3d{1.0, 1.0, 1.0}, + std::array{10, 10, 10} +); +``` + +### Presets and Handles + +The highest-level option is presets, which generate geometry, register physics, and return mesh data and handles. + +```cpp +stark::Volume::Params material = stark::Volume::Params::Soft_Rubber(); + +auto [V, T, H] = simulation.presets->deformables->add_volume_grid( + "block", + Eigen::Vector3d{1.0, 1.0, 1.0}, // size + std::array{8, 8, 8}, // subdivisions + material +); +``` + +As a preset, `add_volume_grid` returns the mesh data and a set of handles associated with the standard elastic volume model: + +- `std::vector` containing the mesh vertices +- `std::vector>` containing the tetrahedral connectivity +- `stark::Volume::Handler`: handle to the volume object which in turn contains + - `stark::PointSetHandler`: handle to the vertex representation of the object + - `stark::EnergyLumpedInertia::Handler`: handle to the inertia term + - `stark::EnergyTetStrain::Handler`: handle to the strain energy term + - `stark::ContactHandler`: handle to the contact representation + +Handlers provide convenient interfaces to modify object definitions. For instance, you can move all the vertices of the "block" object by +``` +H.point_set.add_displacement({0.0, 0.0, 1.0}); +``` + +More on modelling with STARK in the upcoming "Physical Models" chapter. + +## Writing VTK files + +STARK writes frame geometry in VTK format. +It will write meshes automatically every frame as you would expect. +Further, the built in helpers if you want to write your own geometry: + +```cpp +stark::write_VTK("points.vtk", vertices, points); +stark::write_VTK("edges.vtk", vertices, edges); +stark::write_VTK("surface.vtk", vertices, triangles); +stark::write_VTK("volume.vtk", vertices, tets); + +// Triangle meshes can optionally include generated vertex normals. +stark::write_VTK("surface_with_normals.vtk", vertices, triangles, true); +``` + +Or use `vtkio` directly: + +```cpp +vtkio::VTKFile vtk_file; +vtk_file.set_points_from_twice_indexable(vertices); +vtk_file.set_cells_from_twice_indexable(tets, vtkio::CellType::Tetra); +vtk_file.write("frame_0000.vtk"); +``` + +## Registering simulation output + +Most STARK systems expose output helpers that register geometry to be written every frame. For deformables, typical calls look like this: + +```cpp +simulation.deformables->output->add_tet_mesh("tets", nodeset, tets); +simulation.deformables->output->add_triangle_mesh("surface", nodeset, triangles, tri_tet_map); +simulation.deformables->output->add_segment_mesh("edges", nodeset, edges, edge_tet_map); +simulation.deformables->output->add_point_set("points", nodeset); +``` + +The name passed to the output helper becomes part of the filename. Internally, frame paths are generated as + +```text +/__.vtk +``` + +Frame writing is controlled by: + +| Setting | Meaning | +|---|---| +| `settings.output.enable_frame_writes` | Enables/disables frame file output. | +| `settings.output.fps` | Output frame rate. `30` writes 30 frames per simulated second; `-1` writes every time step. | + + +### Custom per-frame output callbacks + +The frame writer is callback-based. STARK's built-in output systems use the same mechanism: register a function that is executed whenever a frame is written. + +```cpp +stark.callbacks->add_write_frame([&]() { + const std::string path = stark.get_frame_path("debug_surface") + ".vtk"; + stark::write_VTK(path, debug_vertices, debug_triangles, true); +}); +``` + +## Visualizing VTK output + +### Blender + +For rendering and animation, VTK sequences can be imported into Blender with the [Blender Sequence Loader](https://github.com/InteractiveComputerGraphics/blender-sequence-loader) add-on. The add-on loads mesh sequences just-in-time as the Blender frame changes, which avoids loading the full simulation into memory at once. It supports common geometric data such as points, lines, triangles, quads, and can extract surface meshes from tetrahedral or hexahedral volume meshes. + +```{figure} ../_static/blender.png +:alt: STARK VTK output rendered in Blender +:width: 90% + +STARK frame sequence loaded in Blender with Sequence Loader. +``` + + +### ParaView + +Sequences can also be viewed with ParaView. Open one of the generated `.vtk` files, or open the file sequence if the filenames share the same prefix and increasing frame index. + +```{figure} ../_static/paraview.png +:alt: STARK VTK output opened in ParaView +:width: 90% + +STARK frame sequence visualized in ParaView. +``` + + +## Console output + +A normal STARK run prints four main sections: settings, SymX compilation/loading, simulation progress, and final summary. + +### Settings header + +At startup, STARK prints the effective settings used by the run. +The following is a representative selection: + +```text +================================== Settings ============================== +Stark Settings + Output + simulation_name: "spinning_box_cloth" + output_directory: ".../build/output/spinning_box_cloth" + codegen_directory: ".../build/codegen" + fps: 30 + console_verbosity: Summary + file_verbosity: Full + Simulation + gravity: (0.000000, 0.000000, -9.810000) + max_time_step_size: 3.3333e-02 + use_adaptive_time_step: true + Newton's Method + projection_mode: Progressive + solver: BDPCG + Execution + end_frame: 2147483647 + n_threads: 10 +``` + +### SymX section + +The SymX section reports generated symbolic kernels and compilation/cache status. + +```text +==================================== SymX ================================ +Second Order Potentials: + EnergyBendingFlat...............................................loaded + EnergyLumpedInertia.............................................loaded + EnergyTetStrain.................................................loaded + contact_d_d_pt_pt_cubic.........................queued for compilation + friction_d_d_pt_C0..............................................loaded +Compiling... done. +Total time: 0.712316 s + +Degrees of freedom: +soft.v1: 3267 +rigid.v1: 3 +rigid.w1: 3 +Total: 3273 +``` + +### Simulation section + +The STARK section prints frame markers and one line per solved time step. +The following corresponds to `symx::Verbosity::Summary`: + +```text +==================================== STARK =============================== +[Frame: 0] Time: 0.000 s + 0. dt: 33.33 ms | #newton: 3 | ph: 0.0% | #CG/newton: 43 | ls (cap|max|inv|bt): 0| 0| 0| 0| runtime: 12.7 ms | cr: 0.4 +[Frame: 1] Time: 0.067 s + 1. dt: 33.33 ms | #newton: 8 | ph: 37.9% | #CG/newton: 162 | ls (cap|max|inv|bt): 0| 0| 0| 1| runtime: 80.6 ms | cr: 2.4 +``` + +The main fields are: + +| Field | Meaning | +|---|---| +| `dt` | Current simulation time step. | +| `#newton` | Newton iterations used for this time step. | +| `ph` | Percentage of Hessian blocks projected to positive definite during the solve. | +| `#CG/newton` | Average linear-solver iterations per Newton iteration. | +| `ls (cap\|max\|inv\|bt)` | Line-search counters: step cap reductions, maximum-step reductions, invalid-state rejections, and Armijo backtracking reductions. | +| `runtime` | Wall-clock time for the time-step solve. | +| `cr` | Compute ratio: `runtime / dt`. | + +Contact simulations may also print corrective events, for example: + +```text +Penetration couldn't be avoided. Contact stiffness hardened from 1.0e+05 to 2.0e+05. +``` + +This indicates that STARK detected a failed contact validity condition and increased the offending contact stiffness before retrying. + + +## YAML log structure + +The YAML log is the machine-readable companion to the console output. It is written periodically during the run and once more at the end. Its top-level structure is: + +```yaml +accumulators: + time_steps: 301 + avg dt: 0.03333333 + failed_steps: 0.170669 + newton_iterations: 3636 + cg_iterations: 348569 + ls_inv: 563 + ls_bt: 1633 + projected_hessians_ratio: 245.7605 + +timers: + linear_system_solve: + total: 16.078993 + count: 8154 + avg: 0.001972 + min: 0.000054 + max: 0.011288 + assembly: + total: 3.024711 + count: 11936 + avg: 0.000253 + min: 0.000005 + max: 0.003527 + +statistics: + dt: + total: 10.03333 + avg: 0.03333333 + min: 0.03333333 + max: 0.03333333 + count: 301 + newton_iterations: + total: 3636 + avg: 11.882353 + min: 3 + max: 49 + count: 306 + +series: + time: [0.03333333, 0.06666667, 0.1, ...] + frame: [1, 1, 2, ...] + dt: [0.03333333, 0.03333333, 0.03333333, ...] + newton_iterations: [3, 7, 8, ...] +``` + +The sections have different purposes: + +| Section | Purpose | +|---|---| +| `accumulators` | Totals or last accumulated values over the full run. | +| `timers` | Runtime measurements for named code regions. Each timer stores total time, call count, average, minimum, and maximum. | +| `statistics` | Aggregated statistics for scalar quantities such as `dt`, Newton iterations, CG iterations, and Hessian projection ratio. | +| `series` | Per-step time series useful for plotting convergence, time-step changes, or solver cost over time. | + + +## Final summary + +At the end of the run, STARK prints a compact summary of the simulation, solve statistics, and runtime breakdown. + +```text +================================== Summary =============================== +Info + Name: spinning_box_cloth + Simulation time: 10.033 s + ndofs: 3273 + Frames: 301 + Time steps: 301 + dt [ms]: avg: 33.3 | min: 33.3 | max: 33.3 + + Solve Total Avg Min Max + -------------------------------------------------------------- + Newton iterations 3636 11.9 3 49 + CG iterations 348569 92.2 1 275 + Line search inv 563 0.2 0 8 + Line search bt 1633 0.4 0 6 + Projected hessians 6.5% 0.0% 99.0% + + Runtime Time (s) % + ------------------------------------------------------------ + linear_system_solve 16.078993 46.6% + before_energy_evaluation 8.025052 23.3% + evaluate_P_grad_hess 3.035306 8.8% + assembly 3.024711 8.8% + project_to_PD 1.711081 5.0% + write_frame 0.129421 0.4% + ------------------------------------------------------------ + Total 34.473580 100.0% +``` + + +## Practical notes + +- Keep `codegen_directory` persistent between runs to benefit from SymX kernel caching. +- Use `console_verbosity = Summary` for normal runs and higher verbosity when debugging. +- Use the `.yaml` log for plots and comparisons instead of scraping console output. +- Disable frame writes for timing benchmarks unless visualization output is part of what you want to measure. diff --git a/_sources/presets.md.txt b/_sources/presets.md.txt new file mode 100644 index 00000000..c0d39c4c --- /dev/null +++ b/_sources/presets.md.txt @@ -0,0 +1,180 @@ +# Presets + +Presets are the most convenient way to declare a simulation. +They combine state and energy registration, and optionally geometry generation in a single call. +Most of the examples bundled with STARK use presets. + +Access them via `simulation.presets->deformables` and `simulation.presets->rigidbodies` (C++), or `simulation.presets().deformables()` / `simulation.presets().rigidbodies()` (Python). + +## Handlers + +Every preset returns a **VCH** (Vertex-Connectivity-Handler) struct with three fields: + +- **`vertices`** — the generated vertex positions +- **`triangles` / `segments` / `tets`** — the generated connectivity (type depends on preset) +- **`handler`** — sub-handlers for each registered energy model, plus a `PointSetHandler` for transforms and a `ContactHandler` for friction + + +## Deformable Presets + +All deformable presets register: **lumped inertia** + the appropriate **deformation energy** + **contact**. + +### Volume (Soft Body) + +A tet mesh filling an axis-aligned box, or any custom tet mesh. +Registered energies: `EnergyLumpedInertia` + `EnergyTetStrain`. + +```cpp +// Uniform tet grid +auto [V, T, H] = simulation.presets->deformables->add_volume_grid( + "body", + Eigen::Vector3d(0.1, 0.1, 0.2), // physical size (m) + {3, 3, 6}, // subdivisions per axis + stark::Volume::Params::Soft_Rubber() +); + +// Custom tet mesh (e.g. from TetGen / Gmsh) +auto [V, T, H] = simulation.presets->deformables->add_volume("body", vertices, tets, params); +``` + +`H` is a `Volume::Handler` with fields: `point_set`, `inertia`, `strain`, `contact`. + +**Material parameters:** +```cpp +stark::Volume::Params params = stark::Volume::Params::Soft_Rubber(); + +params.inertia.density = 1000.0; // kg/m³ +params.inertia.damping = 0.1; + +params.strain.elasticity_only = false; +params.strain.youngs_modulus = 1e4; +params.strain.poissons_ratio = 0.3; +params.strain.strain_limit = 1.0; +params.strain.strain_limit_stiffness = 1e2; +params.strain.damping = 0.0; + +params.contact.thickness = 0.001; +``` + +### Surface (Cloth / Shell) + +A triangle mesh, flat grid or custom, with in-plane strain and optional bending. +Registered energies: `EnergyLumpedInertia` + `EnergyTriangleStrain` + `EnergyDiscreteShells`. + +```cpp +// Flat grid +auto [V, T, H] = simulation.presets->deformables->add_surface_grid( + "cloth", + Eigen::Vector2d(0.5, 0.5), // physical size in X and Y + {30, 30}, // vertex count per axis + stark::Surface::Params::Cotton_Fabric() +); + +// Custom triangle mesh +auto [V, T, H] = simulation.presets->deformables->add_surface("cloth", vertices, triangles, params); +``` + +`H` is a `Surface::Handler` with fields: `point_set`, `inertia`, `strain`, `bending`, `contact`. + +**Material parameters:** +```cpp +stark::Surface::Params params = stark::Surface::Params::Cotton_Fabric(); + +params.inertia.density = 0.2; // kg/m² +params.inertia.damping = 0.1; + +params.strain.elasticity_only = false; +params.strain.thickness = 0.001; // m +params.strain.youngs_modulus = 5e3; +params.strain.poissons_ratio = 0.3; +params.strain.strain_limit = 0.1; +params.strain.strain_limit_stiffness = 1e6; +params.strain.damping = 0.1; + +params.bending.flat_rest_angle = true; +params.bending.stiffness = 1e-6; +params.bending.damping = 0.01; + +params.contact.thickness = 0.001; +``` + +### Line (Rod / Cable) + +A 1D chain of segments. +Registered energies: `EnergyLumpedInertia` + `EnergySegmentStrain`. + +```cpp +// Straight rod with uniform segments +auto [V, S, H] = simulation.presets->deformables->add_line_as_segments( + "rod", + Eigen::Vector3d(0, 0, 0), // start + Eigen::Vector3d(1, 0, 0), // end + 20, // number of segments + stark::Line::Params::Elastic_Rubberband() +); + +// Arbitrary geometry +auto [V, S, H] = simulation.presets->deformables->add_line("rod", vertices, segments, params); +``` + +`H` is a `Line::Handler` with fields: `point_set`, `inertia`, `strain`, `contact`. + +**Material parameters:** +```cpp +stark::Line::Params params = stark::Line::Params::Elastic_Rubberband(); + +params.inertia.density = 0.05; // kg/m +params.inertia.damping = 0.1; + +params.strain.elasticity_only = false; +params.strain.section_radius = 0.002; // m +params.strain.youngs_modulus = 1e4; +params.strain.strain_limit = 0.1; +params.strain.strain_limit_stiffness = 1e5; +params.strain.damping = 1e-4; + +params.contact.thickness = 0.001; +``` + + + +### Prescribed Surface + +A surface with zero dynamic DOFs — vertices follow exactly the transformation you script. +Useful for kinematic obstacles and animated rigid-looking objects that need contact. +Registered energies: `EnergyPrescribedPositions` + contact. + +```cpp +auto H = simulation.presets->deformables->add_prescribed_surface( + "obstacle", vertices, triangles, stark::PrescribedSurface::Params() +); +``` + +## Rigid Body Presets + +Rigid body presets register inertia and attach a collision/render mesh. +The inertia tensor is computed automatically from the chosen shape. + +```cpp +// Box (uniform cube or non-uniform) +auto [V, T, H] = simulation.presets->rigidbodies->add_box("box", mass, 0.1); // cube side +auto [V, T, H] = simulation.presets->rigidbodies->add_box("box", mass, size_vec3); // non-uniform + +// Sphere +auto [V, T, H] = simulation.presets->rigidbodies->add_sphere("ball", mass, radius); + +// Cylinder +auto [V, T, H] = simulation.presets->rigidbodies->add_cylinder("cyl", mass, radius, height); + +// Torus +auto [V, T, H] = simulation.presets->rigidbodies->add_torus("torus", mass, outer_r, inner_r); + +// Custom mesh +auto H = simulation.presets->rigidbodies->add( + "body", mass, inertia_tensor_local, vertices, triangles +); +``` + +`H.rigidbody` is the `RigidBodyHandler` for motion control (see [Rigid Bodies](rigidbodies.md)). +`H.contact` is the `ContactHandler` for friction pairing (see [Contact](contact.md)). + diff --git a/_sources/problem_representation.md.txt b/_sources/problem_representation.md.txt new file mode 100644 index 00000000..d7d93537 --- /dev/null +++ b/_sources/problem_representation.md.txt @@ -0,0 +1,50 @@ +# Problem Representation + +Every STARK simulation is built from two ingredients: **state** (inertial point and rigid body systems) and **energies** (the physics that act on that state). + +## State + +STARK maintains two global state systems: + +- **Point sets**: `PointDynamics` holds all deformable objects. +When you add a cloth, a tet mesh, or a cable, its state is appended to one shared array of 3D positions and velocities. +This flat representation gives a clean internal structure and improves parallelization and vectorization. +Each object is identified by its `PointSetHandler`. +- **Rigid bodies**: `RigidBodyDynamics` holds one entry per rigid body, each representing a translation (3 DOFs) and an orientation quaternion mapped to an angular velocity (3 DOFs). +Like point sets, all rigid bodies live in a single shared array. +Each body is identified by its `RigidBodyHandler`. + + +## Energies + +Mechanical effects and constraints are expressed as energy potentials that are functions of the current state. +SymX differentiates them automatically to produce gradient and Hessian contributions to the Newton solver. +Energies fall into three natural groups: + +**Deformable energies** — act exclusively on point sets: + +| Energy | Purpose | +|---|---| +| `EnergyLumpedInertia` | Mass and Rayleigh damping for any topology (edges, triangles, tets) | +| `EnergyPrescribedPositions` | Penalty-based kinematic boundary conditions | +| `EnergySegmentStrain` | 1D stretching for rods and cables | +| `EnergyTriangleStrain` | 2D membrane strain for cloth and shells | +| `EnergyDiscreteShells` | Bending stiffness (Bergou discrete shells) | +| `EnergyTetStrain` | 3D volumetric FEM for soft bodies | + +**Rigid body energies** — act exclusively on rigid bodies: + +| Energy | Purpose | +|---|---| +| `EnergyRigidBodyInertia` | Mass, inertia tensor, and Rayleigh damping | +| `EnergyRigidBodyConstraints` | All joints, motors, and springs between bodies | + +**Coupling energies** — bridge the two state systems (or bodies of the same system): + +| Energy | Purpose | +|---|---| +| `EnergyFrictionalContact` | IPC-based frictional contact (d–d, rb–d, rb–rb) | +| `EnergyAttachments` | Penalty-based gluing of surface/point pairs | + +Modelling an object typically requires composing multiple energies (e.g. inertia + triangle strain + bending for cloth). +[Presets](presets.md) wrap the most common combinations into single calls. diff --git a/_sources/rb_constraints.md.txt b/_sources/rb_constraints.md.txt new file mode 100644 index 00000000..3a1ee6bc --- /dev/null +++ b/_sources/rb_constraints.md.txt @@ -0,0 +1,387 @@ +# Rigid Body Constraints + +Rigid body constraints restrict and drive rigid body motion: they attach bodies, build joints, add springs, and control velocity. + +Each `add_constraint_*()` call returns a handle for adjusting parameters, enabling/disabling, labeling, or querying the constraint violation. + +```cpp +// Global defaults used by subsequently created hard constraints. +simulation.rigidbodies->set_default_constraint_stiffness(1e6); +simulation.rigidbodies->set_default_constraint_distance_tolerance(1e-3); // m +simulation.rigidbodies->set_default_constraint_angle_tolerance(1.0); // deg + +// Example: a hinge joint between two rigid bodies. +auto hinge = simulation.rigidbodies->add_constraint_hinge( + body_a, + body_b, + pivot_point, // world-space point at creation time + hinge_axis // world-space direction at creation time +); + +hinge.set_stiffness(1e8); +hinge.set_tolerance_in_m(1e-4); +hinge.set_tolerance_in_deg(0.1); +hinge.set_label("main_hinge"); +``` + +## How constraints work + +STARK rigid body constraints are implemented as **energy terms** in the global optimization problem. +Most rigid body constraints are defined from points or directions given in world coordinates at creation time. + +Hard constraints use finite stiffness with a tolerance. +After convergence, STARK checks the violation and hardens stiffness if the tolerance is exceeded, avoiding the need to manually tune very large stiffness values. + +There are two important categories: + +- **Primitive constraints** are the actual energy terms registered in SymX. +- **Composed constraints** are convenience joints built by combining primitive constraints. + + +## Common handle operations + +All constraint handles support basic operations such as: + +```cpp +constraint.set_label("name"); // Used for traceability +constraint.enable(true); // activate +constraint.enable(false); // deactivate +``` + +Hard positional constraints usually provide: + +```cpp +constraint.set_stiffness(1e8); +constraint.set_tolerance_in_m(1e-4); +``` + +Hard directional constraints usually provide: + +```cpp +constraint.set_stiffness(1e8); +constraint.set_tolerance_in_deg(1.0); +``` + +Velocity controllers and springs expose their physical parameters directly, such as target velocity, maximum force, maximum torque, damping, or rest length. + +## Primitive Constraints + +Primitive constraints are the low-level constraint energies implemented by STARK. The higher-level joints later in this page are built from these pieces. + +### Global Point + +Fixes one body-local point to a target point in world space. + +```cpp +auto c = simulation.rigidbodies->add_constraint_global_point( + body, + world_point +); +``` + +### Global Direction + +Aligns one body-local direction with a target direction in world space. + +```cpp +auto c = simulation.rigidbodies->add_constraint_global_direction( + body, + world_direction +); +``` + +### Point + +Constrains one point on body A to coincide with one point on body B. This is the primitive ball-joint constraint. + +```cpp +auto c = simulation.rigidbodies->add_constraint_point( + body_a, + body_b, + world_point +); +``` + +### Point on Axis + +Constrains a point on body B to lie on an axis attached to body A. + +```cpp +auto c = simulation.rigidbodies->add_constraint_point_on_axis( + body_a, + body_b, + world_point, + world_axis +); +``` + + +### Distance + +Constrains the distance between two body-local points to remain equal to the distance at creation time. + +```cpp +auto c = simulation.rigidbodies->add_constraint_distance( + body_a, + body_b, + point_on_a_world, + point_on_b_world +); +``` + +### Distance Limits + +Constrains the distance between two body-local points to remain inside an interval. + +```cpp +auto c = simulation.rigidbodies->add_constraint_distance_limits( + body_a, + body_b, + point_on_a_world, + point_on_b_world, + min_distance, + max_distance +); +``` + +### Direction + +Aligns one body-local direction on body A with one body-local direction on body B. + +```cpp +auto c = simulation.rigidbodies->add_constraint_direction( + body_a, + body_b, + world_direction +); +``` + +### Angle Limit + +Restricts the angle between two body-local directions. + +```cpp +auto c = simulation.rigidbodies->add_constraint_angle_limit( + body_a, + body_b, + world_direction, + admissible_angle_deg +); +``` + +### Damped Spring + +Adds a damped linear spring between two body-local points. + +```cpp +auto spring = simulation.rigidbodies->add_constraint_spring( + body_a, + body_b, + point_on_a_world, + point_on_b_world, + stiffness, + damping // optional, default 0.0 +); +``` + +### Linear Velocity + +Drives the relative linear velocity of body B with respect to body A along a direction attached to body A. + +```cpp +auto c = simulation.rigidbodies->add_constraint_linear_velocity( + body_a, + body_b, + world_direction, + target_v, // m/s + max_abs_force, // N + delay // optional, default 0.01 s +); +``` + +### Angular Velocity + +Drives the relative angular velocity of body B with respect to body A around a direction attached to body A. + +```cpp +auto c = simulation.rigidbodies->add_constraint_angular_velocity( + body_a, + body_b, + world_axis, + target_w, // rad/s + max_abs_torque, // Nm + delay // optional, default 0.01 s +); +``` + + +## Composed Constraints + +Composed constraints are convenience APIs that combine primitive constraints. They return composed handles that forward stiffness, tolerance, label, and activation changes to the underlying primitives. + +### Fix + +Fixes a rigid body in world space by combining one global point constraint with two global direction constraints. + +```cpp +auto fix = simulation.rigidbodies->add_constraint_fix(body); +``` + +The body is fixed at its current pose at creation time.The typical scripting pattern: create a fix, then update its target transformation each step. + +```cpp +auto fix = simulation.rigidbodies->add_constraint_fix(body); + +simulation.add_time_event(0.0, duration, [&](double t) { + fix.set_transformation( + Eigen::Vector3d(0.0, 0.0, 0.2 * t), // target translation + 30.0 * t, // angle in degrees + Eigen::Vector3d::UnitZ() // rotation axis + ); +}); +``` + +### Attachment + +Rigidly attaches two bodies together, producing a zero-DOF joint. + +```cpp +auto attachment = simulation.rigidbodies->add_constraint_attachment( + body_a, + body_b +); +``` + +The attachment is created at the midpoint between the current body translations and locks the relative orientation with two direction constraints. + + +### Point with Angle Limit + +Combines a point constraint with an angular range limit. + +```cpp +auto joint = simulation.rigidbodies->add_constraint_point_with_angle_limit( + body_a, + body_b, + pivot_point, + limit_axis, + admissible_angle_deg +); +``` + +Conceptually, this behaves like a ball joint with an angular cone limit. + +### Hinge + +Creates a one-DOF hinge joint: the bodies share a pivot point and may rotate relative to each other around the hinge axis. + +```cpp +auto hinge = simulation.rigidbodies->add_constraint_hinge( + body_a, + body_b, + pivot_point, + hinge_axis +); +``` + + +### Hinge with Angle Limit + +Creates a hinge joint with a symmetric angular limit around the hinge axis. + +```cpp +auto hinge = simulation.rigidbodies->add_constraint_hinge_with_angle_limit( + body_a, + body_b, + pivot_point, + hinge_axis, + admissible_angle_deg +); +``` + + +### Spring with Limits + +Adds a damped spring and additionally constrains its length to remain inside a prescribed interval. + +```cpp +auto spring = simulation.rigidbodies->add_constraint_spring_with_limits( + body_a, + body_b, + point_on_a_world, + point_on_b_world, + spring_stiffness, + min_length, + max_length, + damping // optional, default 0.0 +); +``` + +The spring stiffness and the hard distance-limit stiffness are independent. The composed handle exposes `set_spring_stiffness()` for the spring and `set_stiffness()` for the distance limits. + +### Slider + +Creates a slider-like joint where a point on one body can move along an axis attached to the other body. + +```cpp +auto slider = simulation.rigidbodies->add_constraint_slider( + body_a, + body_b, + pivot_point, + slide_axis +); +``` + +This permits sliding along the axis while keeping the corresponding body directions aligned. + +### Prismatic Slider + +Creates a stricter prismatic joint by adding an additional orthogonal direction lock to the slider. + +```cpp +auto slider = simulation.rigidbodies->add_constraint_prismatic_slider( + body_a, + body_b, + pivot_point, + slide_axis +); +``` + +This keeps the bodies aligned as a prismatic pair while allowing translation along the slide axis. + +### Prismatic Press + +Creates a prismatic slider driven by a force-limited linear velocity controller. + +```cpp +auto press = simulation.rigidbodies->add_constraint_prismatic_press( + body_a, + body_b, + pivot_point, + slide_axis, + target_v, + max_force, + delay // optional, default 0.01 s +); +``` + +This is useful for grippers, presses, pistons, and other constrained linear actuators. + +### Motor + +Creates a hinge driven by a torque-limited angular velocity controller. + +```cpp +auto motor = simulation.rigidbodies->add_constraint_motor( + body_a, + body_b, + pivot_point, + rotation_axis, + target_w, + max_torque, + delay // optional, default 0.01 s +); +``` + +This is the standard rigid body rotational motor. + diff --git a/_sources/rigidbodies.md.txt b/_sources/rigidbodies.md.txt new file mode 100644 index 00000000..b5b04916 --- /dev/null +++ b/_sources/rigidbodies.md.txt @@ -0,0 +1,84 @@ +# Rigid Bodies + +STARK's rigid body system handles articulated mechanisms. +The main entry point is `simulation.rigidbodies`. + +To declare a rigid body without a preset (no mesh, no collision), you can use: + +```cpp +Eigen::Matrix3d I = stark::inertia_tensor_box(mass, size); +RigidBodyHandler rb = simulation.rigidbodies->add(mass, I); +``` + +Helper functions cover common shapes: `inertia_tensor_box`, `inertia_tensor_sphere`, `inertia_tensor_cylinder`, `inertia_tensor_torus`. + +--- + +## RigidBodyHandler + +`RigidBodyHandler` is the primary handle for controlling a single rigid body. + +### Transforms (pre-simulation setup) + +```cpp +rb.set_translation({0.0, 0.0, 1.0}); +rb.add_translation({0.0, 0.0, 0.5}); +rb.set_rotation(45.0, {0.0, 0.0, 1.0}); // angle_deg, axis +rb.add_rotation(10.0, {0.0, 1.0, 0.0}); +``` + +### Velocities + +```cpp +rb.set_velocity({1.0, 0.0, 0.0}); +rb.set_angular_velocity({0.0, 0.0, 3.14}); +``` + +### External forces and torques + +Forces and torques accumulate across calls and are reset each time step. + +```cpp +rb.add_force_at_centroid({0.0, 0.0, -9.81 * mass}); +rb.add_force_at(force_world, application_point_world); // also induces torque +rb.add_torque({0.0, 0.0, 1.0}); +``` + +### Coordinate transforms + +```cpp +Eigen::Vector3d x_world = rb.transform_local_to_global_point({0.0, 0.0, 0.5}); +Eigen::Vector3d d_world = rb.transform_local_to_global_direction({1.0, 0.0, 0.0}); +Eigen::Matrix3d R = rb.get_rotation_matrix(); +``` + +--- + +## Scripting Rigid Bodies + +The most common pattern is to fix a body and drive it with a prescribed trajectory. +A scripted box spinning over time looks like: + +```cpp +auto fix = simulation.rigidbodies->add_constraint_fix(rb); +simulation.add_time_event(0.0, duration, [&](double t) { + fix.set_transformation( + Eigen::Vector3d(0, 0, 0), + t * 90.0, + Eigen::Vector3d(0, 0, 1) + ); +}); +``` + +## Output + +Rigid body mesh output is handled by the presets automatically. +For custom rigid bodies, register the mesh explicitly: + +```cpp +simulation.presets->rigidbodies->add( + "my_body", mass, I, + collision_vertices, collision_triangles, + render_vertices, render_triangles +); +``` diff --git a/_sources/settings.md.txt b/_sources/settings.md.txt new file mode 100644 index 00000000..2b8395a4 --- /dev/null +++ b/_sources/settings.md.txt @@ -0,0 +1,177 @@ +# Settings + +All STARK configuration is collected in a single `stark::Settings` object that is passed to the `stark::Simulation` constructor. +STARK owns the output, simulation, and execution settings, while the nonlinear solver settings are provided by SymX through `symx::NewtonSettings`. +At minimum, a simulation should provide a name and an output directory. + +It is **strongly recommended** to review all available options; the right tolerances, solver, and time step often depend on the problem at hand. +The difference in performance and accuracy between a good and a bad setup can be very significant. + +The following is a typical lean configuration that relies almost entirely on defaults: + +```cpp +#include + +int main() +{ + stark::Settings settings; + + // Required output settings + settings.output.simulation_name = "hanging_cloth"; + settings.output.output_directory = OUTPUT_PATH + "/hanging_cloth"; + + // Typical simulation controls + settings.execution.end_simulation_time = 5.0; + settings.simulation.max_time_step_size = 1.0 / 30.0; + settings.simulation.init_frictional_contact = false; + settings.newton.step_tolerance = 1e-3; // [m/s] + settings.newton.residual_tolerance_abs = 1e-3; // [N] + + stark::Simulation simulation(settings); + simulation.run(); +} +``` + +## Convergence +Before all the options are introduced, it is important to highlight the importance of convergence. +The following are the options given by STARK/SymX: +- `newton.min_iterations` can be used to enforce at least N corrections are applied, even if already converged. Setting this to 1 can prevent subtle motions from freezing. +- There are four main convergence options. Convergence is granted once one of them is true: + - $\| \nabla_x G \| <$ `newton.residual_tolerance_abs` in Newtons. + - $\frac{\| \nabla_x G \|}{\| \nabla_x G_0 \|} <$ `newton.residual_tolerance_rel` + - $\| \Delta \mathbf x \|_{\infty} < $ `newton.step_tolerance` the Newton step in m/s. + - `newton.max_iterations` reached and `newton.max_iterations_as_success = true` + +Most often when simulations are slow or behave unrealistically it is because the convergence criteria and tolerances are not set appropriately. +Typically, `newton.step_tolerance` is the most robust general criteria, but it too can be really challenging to obtain in challenging simulations. +Sometimes, shortening the time step size is the best option. +Other times, returning success on a fixed amount of Newton iterations is justified. + + +## Structure + +`stark::Settings` is organized into four sections: + +| Section | Type | Purpose | +|---|---|---| +| `settings.output` | `stark::Settings::Output` | Paths, frame writing, console output, and log files. | +| `settings.simulation` | `stark::Settings::Simulation` | Global physical and time-stepping parameters. | +| `settings.newton` | `symx::NewtonSettings` | SymX nonlinear solver, line search, Hessian projection, and linear solver settings. | +| `settings.execution` | `stark::Settings::Execution` | Runtime limits and thread count. | + +STARK applies defaults in `Settings::Settings()`: it sets the timestamp, picks a codegen directory from SymX, sets the default thread count, and overrides some SymX Newton defaults for simulation use. +The tables below list the effective STARK defaults. + +## Output settings + +Output settings control where STARK writes generated code, logs, and frame data. +`simulation_name`, `output_directory`, and `codegen_directory` must be non-empty when the internal `Stark` object is constructed. +By default, `codegen_directory` is filled from `symx::get_codegen_dir()`. + +| Field | Effective default | Description | +|---|---:|---| +| `simulation_name` | `""` | Name of the simulation. Used in log and frame file names. Must be set by the user. | +| `output_directory` | `""` | Directory where STARK writes logs and frame output. Must be set by the user. | +| `codegen_directory` | `symx::get_codegen_dir()` | Directory used by SymX for generated and compiled code. Cached code can be reused between runs. | +| `time_stamp` | creation time | Timestamp string generated when `Settings` is constructed, formatted as `YYYY-MM-DD__hh-mm-ss`. Used to avoid log-file collisions. | +| `fps` | `30` | Frame output rate in simulation frames per second. Use `fps < 0` to write every accepted time step, and `fps == 0` to disable frame-write callbacks. | +| `console_verbosity` | `symx::Verbosity::Summary` | Console verbosity. Common values are `Minimal`, `Summary`, `Medium`, and `Full`. | +| `file_verbosity` | `symx::Verbosity::Full` | Verbosity of the `.log` file written next to the simulation output. | +| `enable_frame_writes` | `true` | Enables frame writing after accepted time steps. Useful to disable heavy VTK/output callbacks while keeping the simulation and logs active. | +| `enable_output` | `true` | Enables the SymX output sink. Set to `false` to silence normal console/file output. | + +## Simulation settings + +Simulation settings control global physical parameters and adaptive time stepping. +The time step starts at `max_time_step_size`. +A successful step may grow `dt` up to this maximum. +A failed step halves `dt` and retries, unless adaptive stepping is disabled. + +| Field | Effective default | Description | +|---|---:|---| +| `gravity` | `{0.0, 0.0, -9.81}` | Global gravity acceleration used by STARK systems that query the simulation gravity. Can also be changed later with `simulation.set_gravity(...)`. | +| `init_frictional_contact` | `true` | Initializes the frictional contact infrastructure. Set to `false` for examples without contact to reduce setup/runtime overhead. | +| `max_time_step_size` | `1.0 / 30.0` | Maximum time step size, and also the initial `dt`. | +| `use_adaptive_time_step` | `true` | If `true`, failed difficult steps reduce `dt` and retry. If `false`, such failures stop the simulation. | +| `time_step_size_success_multiplier` | `1.05` | Multiplicative growth factor applied to `dt` after a successful accepted step, clamped by `max_time_step_size`. | +| `time_step_size_lower_bound` | `1e-6` | Minimum allowed adaptive time step. If `dt` drops below this value, STARK stops with an error. | + +## Newton settings + +`settings.newton` is a `symx::NewtonSettings` object. +These settings are passed to SymX when STARK creates the internal Newton solver during initialization. + +### Iteration and convergence + +| Field | Effective default | Description | +|---|---:|---| +| `max_iterations` | `INT_MAX` | Maximum Newton iterations per solve. The default is effectively unlimited. | +| `min_iterations` | `0` | Minimum Newton iterations before convergence is accepted. | +| `residual_tolerance_abs` | `1e-6` | Absolute convergence tolerance on the nonlinear residual. | +| `residual_tolerance_rel` | `0.0` | Relative convergence tolerance on the nonlinear residual. Disabled by default. | +| `step_tolerance` | `1e-3` | Convergence tolerance on the Newton step size. STARK overwrites the raw SymX default of `1e-6`. | +| `max_iterations_as_success` | `false` | If `true`, reaching `max_iterations` is treated as a successful solve instead of a failure. | + +### Line search + +| Field | Effective default | Description | +|---|---:|---| +| `step_cap` | `infinity` | Maximum allowed Newton step norm. Use this to limit aggressive updates in difficult problems. | +| `enable_armijo_backtracking` | `true` | Enables Armijo backtracking for sufficient energy decrease. | +| `line_search_armijo_beta` | `1e-4` | Armijo sufficient-decrease parameter. Smaller values accept weaker agreement with the local model. | +| `max_backtracking_armijo_iterations` | `20` | Maximum number of Armijo backtracking iterations per Newton step. | +| `max_backtracking_invalid_state_iterations` | `8` | Maximum number of backtracking iterations caused by invalid intermediate states, such as contact penetration. | +| `print_line_search_upon_failure` | `false` | Prints additional line-search information when a solve fails. Useful for debugging. | + +### Hessian projection + +SymX can modify local Hessians to obtain a positive-definite global system for Newton-like descent directions. +This is important for robust implicit time stepping, especially with nonlinear materials and contact. + +| Field | Effective default | Description | +|---|---:|---| +| `projection_mode` | `Progressive` | Hessian projection strategy. STARK overwrites the raw SymX default of `ProjectedNewton`. | +| `projection_eps` | `1e-10` | Minimum eigenvalue used by projection. | +| `project_to_pd_use_mirroring` | `false` | If `true`, negative eigenvalues are mirrored instead of clamped. | +| `project_on_demand_countdown` | `4` | Number of iterations to continue projecting after a projection-triggering failure in `ProjectOnDemand` mode. | +| `ppn_tightening_factor` | `0.5` | Tightening factor used by progressive projected Newton after non-descending behavior. | +| `ppn_release_factor` | `2.0` | Release factor used by progressive projected Newton after successful behavior. | + +Available projection modes: + +| Value | Meaning | +|---|---| +| `symx::ProjectionToPD::Newton` | Pure Newton. Do not project Hessians. Fast, but not guaranteed to produce descent directions for indefinite problems. | +| `symx::ProjectionToPD::ProjectedNewton` | Always project local Hessians to positive definite before assembly. Robust, but potentially more expensive. | +| `symx::ProjectionToPD::ProjectOnDemand` | Start without projection and enable it after solver failures or non-descending directions. | +| `symx::ProjectionToPD::Progressive` | Progressively adjusts projection based on solve behavior. This is STARK's default. | + +### Linear solver + +| Field | Effective default | Description | +|---|---:|---| +| `linear_solver` | `symx::LinearSolver::BDPCG` | Linear solver used for the Newton system. | +| `cg_max_iterations` | `10000` | Maximum conjugate-gradient iterations. Used by iterative solvers. | +| `cg_abs_tolerance` | `1e-12` | Absolute CG residual tolerance. | +| `cg_rel_tolerance` | `1e-4` | Relative CG residual tolerance. | +| `cg_stop_on_indefiniteness` | `true` | Stops CG when indefiniteness is detected. This can trigger projection or failure handling depending on the projection mode. | +| `bailout_residual` | `1e-10` | Skips taking a step if the nonlinear residual is already below this value, avoiding unnecessary unstable linear solves near convergence. | + +Available linear solvers: + +| Value | Meaning | +|---|---| +| `symx::LinearSolver::BDPCG` | Block-diagonal preconditioned conjugate gradient. Default. | +| `symx::LinearSolver::DirectLLT` | Direct LLT solve. Useful for smaller problems or debugging. | + +## Execution settings + +Execution settings control when the simulation stops and how many CPU threads are forwarded to SymX. +They are independent of physical time-stepping parameters. + +| Field | Effective default | Description | +|---|---:|---| +| `allowed_execution_time` | `std::numeric_limits::max()` | Wall-clock runtime limit in seconds. STARK stops when this limit is exceeded. | +| `end_simulation_time` | `std::numeric_limits::max()` | Simulated-time limit. Commonly set in examples, e.g. `settings.execution.end_simulation_time = 5.0;`. | +| `end_frame` | `std::numeric_limits::max()` | Frame-count limit. STARK stops when the frame counter exceeds this value. | +| `n_threads` | `omp_get_max_threads() / 2` | Number of threads forwarded to the SymX context. The raw member initializer is `-1`, but STARK replaces it at construction time with half of the OpenMP maximum. Set this explicitly for reproducible CPU usage. | diff --git a/_sources/setup.md.txt b/_sources/setup.md.txt new file mode 100644 index 00000000..e6d05886 --- /dev/null +++ b/_sources/setup.md.txt @@ -0,0 +1,115 @@ +# Setup + +STARK is written in C++ and comes with optional Python bindings (`pystark`). +STARK bundles its main third-party dependencies, which includes `SymX`, `Eigen`, `fmt`, `TriangleMeshCollisionDetection`, `vtkio`, `par_shapes`, and `tinyobjloader`. +For SymX-specific build options such as compiler selection, code-generation folders, and Hessian storage precision, see the [SymX setup page](https://symx.physics-simulation.org/setup.html). + +## Requirements + +| Requirement | Notes | +|---|---| +| CMake | 3.18 or newer | +| C++ compiler | C++20-capable compiler | +| OpenMP | Required by the STARK C++ library | +| Python | Optional; Python 3.8+ with development-module support for `pystark` | +| NumPy | Optional; required when using `pystark` | + +## Project structure + +| Folder | Contents | +|---|---| +| `stark/` | Core C++ library | +| `examples/` | C++ example scenes | +| `tests/` | C++ unit tests | +| `pystark/` | Python package and nanobind bindings | +| `docs/` | Documentation source | + +## Building the C++ library and examples + +From the repository root: + +```bash +cmake -S . -B build +cmake --build build --parallel +``` + +The examples are built by default: + +```bash +./build/examples/examples +``` + +STARK defaults to a Release build when no build type is specified. To choose explicitly: + +```bash +cmake -S . -B build -DCMAKE_BUILD_TYPE=Release +``` + +## Optional tests + +Tests are disabled by default. Enable them at configure time: + +```bash +cmake -S . -B build -DSTARK_BUILD_TESTS=ON +cmake --build build --parallel --target stark_tests +./build/tests/stark_tests +``` + +## Optional Python bindings + +The Python bindings are disabled by default. Enable them with: + +```bash +cmake -S . -B build -DSTARK_BUILD_PYTHON_BINDINGS=ON +cmake --build build --parallel --target pystark +``` + +When using Conda, Miniforge, virtualenv, or multiple Python installations, explicitly select the Python executable: + +```bash +cmake -S . -B build \ + -DSTARK_BUILD_PYTHON_BINDINGS=ON \ + -DSTARK_PYTHON_EXECUTABLE=$HOME/miniforge3/envs/ENVNAME/bin/python + +cmake --build build --parallel --target pystark +``` + +`pystark` uses nanobind, which is fetched automatically by CMake. +The compiled extension module is written directly into the source-tree Python package: + +```txt +pystark/pystark/ +``` + +To import it from the source tree, add the package folder to `PYTHONPATH`: + +```bash +export PYTHONPATH=/path/to/stark/pystark:$PYTHONPATH +``` + +You can also add the path to the built pystark manually from python by +```python +import sys +sys.path.append("path/to/stark/pystark") +``` + +Then verify: + +```python +import pystark +``` + + +## CMake options + +| Option | Default | Description | +|---|---:|---| +| `STARK_BUILD_TESTS` | `OFF` | Build the C++ test executable | +| `STARK_BUILD_EXAMPLES` | `ON` | Build the C++ examples | +| `STARK_BUILD_PYTHON_BINDINGS` | `OFF` | Build the `pystark` Python extension module | +| `STARK_PYTHON_EXECUTABLE` | unset | Explicit Python executable used when building `pystark` | +| `STARK_ENABLE_AVX2` | AUTO | Use AVX2 instructions. AUTO tries to infer local support | + +STARK also forwards or inherits relevant SymX options, including SIMD/JIT/compiler-related settings. +For those, use the SymX setup page as the reference. + diff --git a/_sources/simulation_loop.md.txt b/_sources/simulation_loop.md.txt new file mode 100644 index 00000000..7dd2c0fd --- /dev/null +++ b/_sources/simulation_loop.md.txt @@ -0,0 +1,335 @@ +# Simulation Loop + +STARK advances a simulation by repeatedly solving one nonlinear optimization problem per time step. +This is triggered by the `.run()` method: + +```cpp +stark::Simulation simulation(settings); + +// Build objects, materials, contact, boundary conditions, and output... + +simulation.run(); +``` + +Internally, each call to `run_one_time_step()` updates time-dependent data, runs Newton's method via SymX, commits or retries the step, writes frame output, and logs solver statistics. + + +## Optimization Problem + +STARK does **not** solve directly for final _positions_. +For deformable point sets, the primary unknowns are the next-step velocities `v1`. +The next positions are reconstructed by first-order time integration: + +```cpp +x1 = x0 + dt * v1; +``` + +For example, a deformable object contributes one 3D velocity unknown per point: + +```text +soft.v1: 3267 +``` + +Rigid bodies contribute linear and angular velocity unknowns: + +```text +rigid.v1: 3 +rigid.w1: 3 +``` + +All energies are written as functions of the predicted next state. +A minimum of the global potential corresponds to a force balance, found by Newton's method. + + +## Initialization + +The first time a simulation step is requested, STARK initializes the solver: + +1. check that at least one degree of freedom was registered, +2. create the SymX Newton solver from the global potential, +3. compile/load the generated SymX kernels, +4. print the degrees of freedom, +5. write frame zero, +6. run `before_simulation` callbacks, +7. check that the initial state is valid. + + +## High-level time loop + +A simplified version of `simulation.run()` is: + +```cpp +while (!finished) { + script.run_a_cycle(simulation.get_time()); + user_callback(); // optional callback passed to run(...) + + bool keep_running = stark.run_one_step(); + if (!keep_running) { + break; + } +} + +stark.print_summary(); +``` + +The loop stops when one of the configured limits is reached: + +- `settings.execution.end_simulation_time` +- `settings.execution.end_frame` +- `settings.execution.allowed_execution_time` +- the duration passed to `simulation.run(duration)` +- a callback requests termination +- the solver fails in a non-recoverable way + + +## Newton's method inside each step + +The nonlinear solve is handled by the SymX Newton solver. +Check the [original SymX docs](https://symx.physics-simulation.org/newtons_method.html) for more details. + +The simplified inner loop is: + +```text +check initial state validity + +for each Newton iteration: + run before_step callbacks + run before_energy_evaluation callbacks + evaluate energy, gradient, and local Hessians + compute residual + check residual convergence + + repeat: + project local Hessians if needed + assemble/update the global Hessian + solve H * du = -grad + check that du is a descent direction + if not, increase projection and retry + + check step-size convergence + + line search: + apply user step_cap + apply max_allowed_step callbacks + backtrack until intermediate state is valid + backtrack until Armijo sufficient decrease holds + + run optional user convergence callbacks + run after_step callbacks + +check converged-state validity +``` + + +### Hessian projection + +STARK commonly runs with positive-definite Hessian projection enabled. This makes the Newton system more robust for simulation problems whose local Hessians may become indefinite. +Depending on the selected projection mode, SymX can: + +- run pure Newton without projection, +- project all local Hessians, +- project only after a failed linear solve or non-descending direction, +- progressively project selected blocks based on the gradient magnitude. + +The console field `ph` reports the percentage of projected local Hessians during a step. + +### Line search + +The line search has several layers: + +| Stage | Meaning | Typical use | +|---|---|---| +| `cap` | Clamp the update by `settings.newton.step_cap` | Prevent overly large Newton steps | +| `max` | Clamp by `max_allowed_step` callbacks | Continuous collision detection and other hard step limits | +| `inv` | Backtrack while the intermediate state is invalid | Avoid inversions, penetrations, or other invalid states | +| `bt` | Armijo backtracking | Require sufficient energy decrease | + +These are the four counters printed as + +```text +ls (cap|max|inv|bt): 0| 0| 1| 4 +``` + +## Adaptive time step + +STARK optionally allows for adaptive time step, which allows for automatically reducing the time step when the problem is challenging and otherwise keeps it at a user specified value. + +The time step starts as + +```cpp +dt = settings.simulation.max_time_step_size; +``` + +After a successful accepted step, STARK grows it by + +```cpp +dt = min(max_time_step_size, dt * time_step_size_success_multiplier); +``` + +If Newton fails because the step is too difficult (e.g. maximum Newton iteration reached), STARK halves `dt` and retries the same simulation time: + +```cpp +dt *= 0.5; +``` + +If `dt` drops below `settings.simulation.time_step_size_lower_bound`, the simulation exits. + + +## Callbacks + +Callbacks inject behavior into the solver loop. +Most users only need the scripting interface, but lower-level callbacks are useful when extending STARK. + +Callbacks are accessed through `simulation.get_callbacks()`, which returns a reference to `stark::Callbacks`. +That struct exposes the STARK-level methods directly, and a `newton` member of type `symx::SolverCallbacks` that carries the SymX/Newton-level hooks. + +### STARK-level callbacks +These callbacks relate to time stepping. + +| Callback | When it runs | Purpose | +|---|---|---| +| `before_simulation` | once during initialization, after frame zero is written | initialize derived data | +| `before_time_step` | before Newton starts | reset unknowns, update forces, update time-step data | +| `on_time_step_accepted` | only after Newton succeeds and the state is accepted | commit the solved state | +| `after_time_step` | after accepting the step, before advancing output/logging is complete | post-step updates | +| `write_frame` | whenever a frame should be written | write VTK/output data | +| `should_continue_execution` | before each attempted step | allow systems/users to stop the simulation | + +The frame-writing callback is how STARK's built-in output system writes registered meshes every frame. +The frame cadence is controlled by `settings.output.fps`. + +Register a STARK-level callback via `simulation.get_callbacks()->add_(f)`: + +```cpp +simulation.get_callbacks()->add_before_time_step([&]() { + // runs once before Newton starts for every time step + // e.g. update step-lagged quantities +}); +``` + +### SymX/Newton callbacks +These callbacks relate to the Newton solves. Check the [original SymX docs](https://symx.physics-simulation.org/newtons_method.html) for more details. + +| Callback | When it runs | Purpose | +|---|---|---| +| `before_step` | at the very start of each Newton iteration | logging, resetting per-iteration state | +| `before_energy_evaluation` | before each energy or gradient/Hessian evaluation | update collision sets, derived fields, or time-dependent data | +| `is_initial_state_valid` | before Newton starts | reject invalid starting states | +| `max_allowed_step` | before line-search backtracking | impose step limits, commonly from CCD | +| `is_intermediate_state_valid` | during line search | reject invalid intermediate states | +| `on_intermediate_state_invalid` | after too many invalid-state backtracks | harden constraints/contact or report failure | +| `on_armijo_fail` | after too many Armijo backtracks | diagnostics or model adjustment | +| `is_converged` | after a line-search update | add custom convergence criteria | +| `is_converged_state_valid` | after Newton reports success | verify final constraints/contact tolerances | +| `after_step` | at the end of each Newton iteration | per-iteration diagnostics, adaptive parameter updates | + +Notes: +- Boolean validity callbacks are combined with logical `AND`. All registered checks must pass. +- `max_allowed_step` callbacks are combined by taking the smallest returned step fraction. +- The default residual used by Newton is the infinity norm of the gradient, unless a custom residual callback is installed. + +SymX/Newton callbacks live on `simulation.get_callbacks()->newton`, which is of type `symx::spSolverCallbacks` (defined in SymX): + +```cpp +simulation.get_callbacks()->newton->add_before_energy_evaluation([&]() { + // runs before every energy / gradient / Hessian evaluation inside Newton + // e.g. update broad-phase collision sets +}); +``` + +## Public scripting and control + +For ordinary scene control, use the public scripting interface rather than low-level core callbacks. + +### Time events + +A time event runs while `t0 <= simulation.get_time() < t1`: + +```cpp +simulation.add_time_event(0.0, 2.0, + [&](double t) + { + const double z = stark::blend(0.0, 1.0, 0.0, 2.0, t, stark::BlendType::Linear); + boundary.set_transformation({0.0, 0.0, z}, Eigen::Matrix3d::Identity()); + } +); +``` + +This is the most convenient way to animate boundary conditions, gravity, material parameters, friction coefficients, target positions, rigid-body motors, or other time-dependent scene data. + +### Events with state + +For more advanced cases, the event callback can receive an `EventInfo` object: + +```cpp +simulation.add_time_event(1.0, 3.0, + [&](double t, stark::EventInfo& event) + { + if (event.is_first_call()) { + event.msg = "activated"; + } + + // event.get_n_calls(), event.get_begin_time(), event.pack(...), event.unpack(...) + // can be used to keep small pieces of state between calls. + } +); +``` + +For full control, `simulation.get_script().add_event(...)` exposes the event system directly with custom `run_when` and `delete_when` predicates. + +### Simple run callback + +`simulation.run(callback)` executes `callback` before every attempted time step: + +```cpp +simulation.run( + [&]() + { + const Eigen::Vector3d center = magnet.rigidbody.get_translation(); + + for (int i = 0; i < object.point_set.size(); ++i) { + const Eigen::Vector3d x = object.point_set.get_position(i); + const Eigen::Vector3d u = center - x; + object.point_set.set_force(i, 0.1 * u.normalized() / u.squaredNorm()); + } + } +); +``` + +Use this for simple procedural control that should run throughout the simulation. For time-bounded behavior, prefer `add_time_event`. + +### Manual stepping + +For interactive applications or external control loops, use: + +```cpp +while (viewer_is_open) { + simulation.run_one_time_step(); + // update viewer, UI, custom data, etc. +} +``` + +This executes one script cycle and then attempts one STARK time step. + +## Quasistatic simulations + +STARK supports quasistatic problems, though not as a first-class mode: it still solves for velocity-like unknowns using the same time-step machinery. +The trick is to choose parameters so the velocity unknown behaves as a positional increment. + +The `quasistatic_column_extrusion()` example uses the following key changes: + +```cpp +const double duration = 1.0; +const double dt = duration * 0.99999; // Do not overflow the sim duration in a single step +const bool is_quasistatic = true; + +settings.execution.end_simulation_time = duration; +settings.simulation.max_time_step_size = dt; +settings.output.fps = 1.0 / dt; + +settings.newton.projection_mode = symx::ProjectionToPD::ProjectedNewton; // Advisable +settings.newton.project_to_pd_use_mirroring = true; // Advisable + +stark::Volume::Params material; +material.inertia.quasistatic = true; // Important! +``` diff --git a/_static/base-stemmer.js b/_static/base-stemmer.js new file mode 100644 index 00000000..e6fa0c49 --- /dev/null +++ b/_static/base-stemmer.js @@ -0,0 +1,476 @@ +// @ts-check + +/**@constructor*/ +BaseStemmer = function() { + /** @protected */ + this.current = ''; + this.cursor = 0; + this.limit = 0; + this.limit_backward = 0; + this.bra = 0; + this.ket = 0; + + /** + * @param {string} value + */ + this.setCurrent = function(value) { + this.current = value; + this.cursor = 0; + this.limit = this.current.length; + this.limit_backward = 0; + this.bra = this.cursor; + this.ket = this.limit; + }; + + /** + * @return {string} + */ + this.getCurrent = function() { + return this.current; + }; + + /** + * @param {BaseStemmer} other + */ + this.copy_from = function(other) { + /** @protected */ + this.current = other.current; + this.cursor = other.cursor; + this.limit = other.limit; + this.limit_backward = other.limit_backward; + this.bra = other.bra; + this.ket = other.ket; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.in_grouping = function(s, min, max) { + /** @protected */ + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor++; + return true; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.go_in_grouping = function(s, min, max) { + /** @protected */ + while (this.cursor < this.limit) { + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) + return true; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) + return true; + this.cursor++; + } + return false; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.in_grouping_b = function(s, min, max) { + /** @protected */ + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor--; + return true; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.go_in_grouping_b = function(s, min, max) { + /** @protected */ + while (this.cursor > this.limit_backward) { + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) return true; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return true; + this.cursor--; + } + return false; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.out_grouping = function(s, min, max) { + /** @protected */ + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + this.cursor++; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) == 0) { + this.cursor++; + return true; + } + return false; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.go_out_grouping = function(s, min, max) { + /** @protected */ + while (this.cursor < this.limit) { + var ch = this.current.charCodeAt(this.cursor); + if (ch <= max && ch >= min) { + ch -= min; + if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) != 0) { + return true; + } + } + this.cursor++; + } + return false; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.out_grouping_b = function(s, min, max) { + /** @protected */ + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + this.cursor--; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) { + this.cursor--; + return true; + } + return false; + }; + + /** + * @param {number[]} s + * @param {number} min + * @param {number} max + * @return {boolean} + */ + this.go_out_grouping_b = function(s, min, max) { + /** @protected */ + while (this.cursor > this.limit_backward) { + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch <= max && ch >= min) { + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) != 0) { + return true; + } + } + this.cursor--; + } + return false; + }; + + /** + * @param {string} s + * @return {boolean} + */ + this.eq_s = function(s) + { + /** @protected */ + if (this.limit - this.cursor < s.length) return false; + if (this.current.slice(this.cursor, this.cursor + s.length) != s) + { + return false; + } + this.cursor += s.length; + return true; + }; + + /** + * @param {string} s + * @return {boolean} + */ + this.eq_s_b = function(s) + { + /** @protected */ + if (this.cursor - this.limit_backward < s.length) return false; + if (this.current.slice(this.cursor - s.length, this.cursor) != s) + { + return false; + } + this.cursor -= s.length; + return true; + }; + + /** + * @param {Among[]} v + * @return {number} + */ + this.find_among = function(v) + { + /** @protected */ + var i = 0; + var j = v.length; + + var c = this.cursor; + var l = this.limit; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >>> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; // smaller + // w[0]: string, w[1]: substring_i, w[2]: result, w[3]: function (optional) + var w = v[k]; + var i2; + for (i2 = common; i2 < w[0].length; i2++) + { + if (c + common == l) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c + common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; // v->s has been inspected + if (j == i) break; // only one item in v + + // - but now we need to go round once more to get + // v->s inspected. This looks messy, but is actually + // the optimal approach. + + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c + w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c + w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + // find_among_b is for backwards processing. Same comments apply + /** + * @param {Among[]} v + * @return {number} + */ + this.find_among_b = function(v) + { + /** @protected */ + var i = 0; + var j = v.length + + var c = this.cursor; + var lb = this.limit_backward; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; + var w = v[k]; + var i2; + for (i2 = w[0].length - 1 - common; i2 >= 0; i2--) + { + if (c - common == lb) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c - 1 - common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; + if (j == i) break; + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c - w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c - w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + /* to replace chars between c_bra and c_ket in this.current by the + * chars in s. + */ + /** + * @param {number} c_bra + * @param {number} c_ket + * @param {string} s + * @return {number} + */ + this.replace_s = function(c_bra, c_ket, s) + { + /** @protected */ + var adjustment = s.length - (c_ket - c_bra); + this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket); + this.limit += adjustment; + if (this.cursor >= c_ket) this.cursor += adjustment; + else if (this.cursor > c_bra) this.cursor = c_bra; + return adjustment; + }; + + /** + * @return {boolean} + */ + this.slice_check = function() + { + /** @protected */ + if (this.bra < 0 || + this.bra > this.ket || + this.ket > this.limit || + this.limit > this.current.length) + { + return false; + } + return true; + }; + + /** + * @param {number} c_bra + * @return {boolean} + */ + this.slice_from = function(s) + { + /** @protected */ + var result = false; + if (this.slice_check()) + { + this.replace_s(this.bra, this.ket, s); + result = true; + } + return result; + }; + + /** + * @return {boolean} + */ + this.slice_del = function() + { + /** @protected */ + return this.slice_from(""); + }; + + /** + * @param {number} c_bra + * @param {number} c_ket + * @param {string} s + */ + this.insert = function(c_bra, c_ket, s) + { + /** @protected */ + var adjustment = this.replace_s(c_bra, c_ket, s); + if (c_bra <= this.bra) this.bra += adjustment; + if (c_bra <= this.ket) this.ket += adjustment; + }; + + /** + * @return {string} + */ + this.slice_to = function() + { + /** @protected */ + var result = ''; + if (this.slice_check()) + { + result = this.current.slice(this.bra, this.ket); + } + return result; + }; + + /** + * @return {string} + */ + this.assign_to = function() + { + /** @protected */ + return this.current.slice(0, this.limit); + }; +}; diff --git a/stark/extern/fmt/doc/html/_static/basic.css b/_static/basic.css similarity index 84% rename from stark/extern/fmt/doc/html/_static/basic.css rename to _static/basic.css index 24a49f09..4738b2ed 100644 --- a/stark/extern/fmt/doc/html/_static/basic.css +++ b/_static/basic.css @@ -1,12 +1,5 @@ /* - * basic.css - * ~~~~~~~~~ - * * Sphinx stylesheet -- basic theme. - * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. - * :license: BSD, see LICENSE for details. - * */ /* -- main layout ----------------------------------------------------------- */ @@ -115,22 +108,18 @@ img { /* -- search page ----------------------------------------------------------- */ ul.search { - margin: 10px 0 0 20px; - padding: 0; + margin-top: 10px; } ul.search li { - padding: 5px 0 5px 20px; - background-image: url(file.png); - background-repeat: no-repeat; - background-position: 0 7px; + padding: 5px 0; } ul.search li a { font-weight: bold; } -ul.search li div.context { +ul.search li p.context { color: #888; margin: 2px 0 0 30px; text-align: left; @@ -222,7 +211,7 @@ table.modindextable td { /* -- general body styles --------------------------------------------------- */ div.body { - min-width: 450px; + min-width: 360px; max-width: 800px; } @@ -237,14 +226,8 @@ a.headerlink { visibility: hidden; } -a.brackets:before, -span.brackets > a:before{ - content: "["; -} - -a.brackets:after, -span.brackets > a:after { - content: "]"; +a:visited { + color: #551A8B; } h1:hover > a.headerlink, @@ -277,25 +260,25 @@ p.rubric { font-weight: bold; } -img.align-left, .figure.align-left, object.align-left { +img.align-left, figure.align-left, .figure.align-left, object.align-left { clear: left; float: left; margin-right: 1em; } -img.align-right, .figure.align-right, object.align-right { +img.align-right, figure.align-right, .figure.align-right, object.align-right { clear: right; float: right; margin-left: 1em; } -img.align-center, .figure.align-center, object.align-center { +img.align-center, figure.align-center, .figure.align-center, object.align-center { display: block; margin-left: auto; margin-right: auto; } -img.align-default, .figure.align-default { +img.align-default, figure.align-default, .figure.align-default { display: block; margin-left: auto; margin-right: auto; @@ -319,7 +302,8 @@ img.align-default, .figure.align-default { /* -- sidebars -------------------------------------------------------------- */ -div.sidebar { +div.sidebar, +aside.sidebar { margin: 0 0 0.5em 1em; border: 1px solid #ddb; padding: 7px; @@ -334,12 +318,16 @@ p.sidebar-title { font-weight: bold; } +nav.contents, +aside.topic, div.admonition, div.topic, blockquote { clear: left; } /* -- topics ---------------------------------------------------------------- */ +nav.contents, +aside.topic, div.topic { border: 1px solid #ccc; padding: 7px; @@ -377,12 +365,18 @@ div.body p.centered { /* -- content of sidebars/topics/admonitions -------------------------------- */ div.sidebar > :last-child, +aside.sidebar > :last-child, +nav.contents > :last-child, +aside.topic > :last-child, div.topic > :last-child, div.admonition > :last-child { margin-bottom: 0; } div.sidebar::after, +aside.sidebar::after, +nav.contents::after, +aside.topic::after, div.topic::after, div.admonition::after, blockquote::after { @@ -425,10 +419,6 @@ table.docutils td, table.docutils th { border-bottom: 1px solid #aaa; } -table.footnote td, table.footnote th { - border: 0 !important; -} - th { text-align: left; padding-right: 5px; @@ -455,20 +445,22 @@ td > :last-child { /* -- figures --------------------------------------------------------------- */ -div.figure { +div.figure, figure { margin: 0.5em; padding: 0.5em; } -div.figure p.caption { +div.figure p.caption, figcaption { padding: 0.3em; } -div.figure p.caption span.caption-number { +div.figure p.caption span.caption-number, +figcaption span.caption-number { font-style: italic; } -div.figure p.caption span.caption-text { +div.figure p.caption span.caption-text, +figcaption span.caption-text { } /* -- field list styles ----------------------------------------------------- */ @@ -503,6 +495,63 @@ table.hlist td { vertical-align: top; } +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + /* -- other body styles ----------------------------------------------------- */ @@ -553,19 +602,26 @@ ul.simple p { margin-bottom: 0; } -dl.footnote > dt, -dl.citation > dt { +aside.footnote > span, +div.citation > span { float: left; - margin-right: 0.5em; } - -dl.footnote > dd, -dl.citation > dd { +aside.footnote > span:last-of-type, +div.citation > span:last-of-type { + padding-right: 0.5em; +} +aside.footnote > p { + margin-left: 2em; +} +div.citation > p { + margin-left: 4em; +} +aside.footnote > p:last-of-type, +div.citation > p:last-of-type { margin-bottom: 0em; } - -dl.footnote > dd:after, -dl.citation > dd:after { +aside.footnote > p:last-of-type:after, +div.citation > p:last-of-type:after { content: ""; clear: both; } @@ -582,10 +638,6 @@ dl.field-list > dt { padding-right: 5px; } -dl.field-list > dt:after { - content: ":"; -} - dl.field-list > dd { padding-left: 0.5em; margin-top: 0em; @@ -611,6 +663,16 @@ dd { margin-left: 30px; } +.sig dd { + margin-top: 0px; + margin-bottom: 0px; +} + +.sig dl { + margin-top: 0px; + margin-bottom: 0px; +} + dl > dd:last-child, dl > dd:last-child > :last-child { margin-bottom: 0; @@ -629,14 +691,6 @@ dl.glossary dt { font-size: 1.1em; } -.optional { - font-size: 1.3em; -} - -.sig-paren { - font-size: larger; -} - .versionmodified { font-style: italic; } @@ -677,8 +731,9 @@ dl.glossary dt { .classifier:before { font-style: normal; - margin: 0.5em; + margin: 0 0.5em; content: ":"; + display: inline-block; } abbr, acronym { @@ -702,6 +757,7 @@ span.pre { -ms-hyphens: none; -webkit-hyphens: none; hyphens: none; + white-space: nowrap; } div[class*="highlight-"] { @@ -765,8 +821,12 @@ div.code-block-caption code { table.highlighttable td.linenos, span.linenos, -div.doctest > div.highlight span.gp { /* gp: Generic.Prompt */ - user-select: none; +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ } div.code-block-caption span.caption-number { @@ -781,16 +841,6 @@ div.literal-block-wrapper { margin: 1em 0; } -code.descname { - background-color: transparent; - font-weight: bold; - font-size: 1.2em; -} - -code.descclassname { - background-color: transparent; -} - code.xref, a code { background-color: transparent; font-weight: bold; diff --git a/_static/blender.png b/_static/blender.png new file mode 100644 index 00000000..ef76d2cd Binary files /dev/null and b/_static/blender.png differ diff --git a/_static/debug.css b/_static/debug.css new file mode 100644 index 00000000..74d4aec3 --- /dev/null +++ b/_static/debug.css @@ -0,0 +1,69 @@ +/* + This CSS file should be overridden by the theme authors. It's + meant for debugging and developing the skeleton that this theme provides. +*/ +body { + font-family: -apple-system, "Segoe UI", Roboto, Helvetica, Arial, sans-serif, + "Apple Color Emoji", "Segoe UI Emoji"; + background: lavender; +} +.sb-announcement { + background: rgb(131, 131, 131); +} +.sb-announcement__inner { + background: black; + color: white; +} +.sb-header { + background: lightskyblue; +} +.sb-header__inner { + background: royalblue; + color: white; +} +.sb-header-secondary { + background: lightcyan; +} +.sb-header-secondary__inner { + background: cornflowerblue; + color: white; +} +.sb-sidebar-primary { + background: lightgreen; +} +.sb-main { + background: blanchedalmond; +} +.sb-main__inner { + background: antiquewhite; +} +.sb-header-article { + background: lightsteelblue; +} +.sb-article-container { + background: snow; +} +.sb-article-main { + background: white; +} +.sb-footer-article { + background: lightpink; +} +.sb-sidebar-secondary { + background: lightgoldenrodyellow; +} +.sb-footer-content { + background: plum; +} +.sb-footer-content__inner { + background: palevioletred; +} +.sb-footer { + background: pink; +} +.sb-footer__inner { + background: salmon; +} +.sb-article { + background: white; +} diff --git a/_static/doctools.js b/_static/doctools.js new file mode 100644 index 00000000..807cdb17 --- /dev/null +++ b/_static/doctools.js @@ -0,0 +1,150 @@ +/* + * Base JavaScript utilities for all Sphinx HTML documentation. + */ +"use strict"; + +const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ + "TEXTAREA", + "INPUT", + "SELECT", + "BUTTON", +]); + +const _ready = (callback) => { + if (document.readyState !== "loading") { + callback(); + } else { + document.addEventListener("DOMContentLoaded", callback); + } +}; + +/** + * Small JavaScript module for the documentation. + */ +const Documentation = { + init: () => { + Documentation.initDomainIndexTable(); + Documentation.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS: {}, + PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), + LOCALE: "unknown", + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext: (string) => { + const translated = Documentation.TRANSLATIONS[string]; + switch (typeof translated) { + case "undefined": + return string; // no translation + case "string": + return translated; // translation exists + default: + return translated[0]; // (singular, plural) translation tuple exists + } + }, + + ngettext: (singular, plural, n) => { + const translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated !== "undefined") + return translated[Documentation.PLURAL_EXPR(n)]; + return n === 1 ? singular : plural; + }, + + addTranslations: (catalog) => { + Object.assign(Documentation.TRANSLATIONS, catalog.messages); + Documentation.PLURAL_EXPR = new Function( + "n", + `return (${catalog.plural_expr})`, + ); + Documentation.LOCALE = catalog.locale; + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar: () => { + document.querySelectorAll("input[name=q]")[0]?.focus(); + }, + + /** + * Initialise the domain index toggle buttons + */ + initDomainIndexTable: () => { + const toggler = (el) => { + const idNumber = el.id.substr(7); + const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); + if (el.src.substr(-9) === "minus.png") { + el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; + toggledRows.forEach((el) => (el.style.display = "none")); + } else { + el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; + toggledRows.forEach((el) => (el.style.display = "")); + } + }; + + const togglerElements = document.querySelectorAll("img.toggler"); + togglerElements.forEach((el) => + el.addEventListener("click", (event) => toggler(event.currentTarget)), + ); + togglerElements.forEach((el) => (el.style.display = "")); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); + }, + + initOnKeyListeners: () => { + // only install a listener if it is really needed + if ( + !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS + && !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + ) + return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) + return; + // bail with special keys + if (event.altKey || event.ctrlKey || event.metaKey) return; + + if (!event.shiftKey) { + switch (event.key) { + case "ArrowLeft": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const prevLink = document.querySelector('link[rel="prev"]'); + if (prevLink && prevLink.href) { + window.location.href = prevLink.href; + event.preventDefault(); + } + break; + case "ArrowRight": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const nextLink = document.querySelector('link[rel="next"]'); + if (nextLink && nextLink.href) { + window.location.href = nextLink.href; + event.preventDefault(); + } + break; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case "/": + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break; + Documentation.focusSearchBar(); + event.preventDefault(); + } + }); + }, +}; + +// quick alias for translations +const _ = Documentation.gettext; + +_ready(Documentation.init); diff --git a/_static/documentation_options.js b/_static/documentation_options.js new file mode 100644 index 00000000..7e4c114f --- /dev/null +++ b/_static/documentation_options.js @@ -0,0 +1,13 @@ +const DOCUMENTATION_OPTIONS = { + VERSION: '', + LANGUAGE: 'en', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/_static/english-stemmer.js b/_static/english-stemmer.js new file mode 100644 index 00000000..056760ee --- /dev/null +++ b/_static/english-stemmer.js @@ -0,0 +1,1066 @@ +// Generated from english.sbl by Snowball 3.0.1 - https://snowballstem.org/ + +/**@constructor*/ +var EnglishStemmer = function() { + var base = new BaseStemmer(); + + /** @const */ var a_0 = [ + ["arsen", -1, -1], + ["commun", -1, -1], + ["emerg", -1, -1], + ["gener", -1, -1], + ["later", -1, -1], + ["organ", -1, -1], + ["past", -1, -1], + ["univers", -1, -1] + ]; + + /** @const */ var a_1 = [ + ["'", -1, 1], + ["'s'", 0, 1], + ["'s", -1, 1] + ]; + + /** @const */ var a_2 = [ + ["ied", -1, 2], + ["s", -1, 3], + ["ies", 1, 2], + ["sses", 1, 1], + ["ss", 1, -1], + ["us", 1, -1] + ]; + + /** @const */ var a_3 = [ + ["succ", -1, 1], + ["proc", -1, 1], + ["exc", -1, 1] + ]; + + /** @const */ var a_4 = [ + ["even", -1, 2], + ["cann", -1, 2], + ["inn", -1, 2], + ["earr", -1, 2], + ["herr", -1, 2], + ["out", -1, 2], + ["y", -1, 1] + ]; + + /** @const */ var a_5 = [ + ["", -1, -1], + ["ed", 0, 2], + ["eed", 1, 1], + ["ing", 0, 3], + ["edly", 0, 2], + ["eedly", 4, 1], + ["ingly", 0, 2] + ]; + + /** @const */ var a_6 = [ + ["", -1, 3], + ["bb", 0, 2], + ["dd", 0, 2], + ["ff", 0, 2], + ["gg", 0, 2], + ["bl", 0, 1], + ["mm", 0, 2], + ["nn", 0, 2], + ["pp", 0, 2], + ["rr", 0, 2], + ["at", 0, 1], + ["tt", 0, 2], + ["iz", 0, 1] + ]; + + /** @const */ var a_7 = [ + ["anci", -1, 3], + ["enci", -1, 2], + ["ogi", -1, 14], + ["li", -1, 16], + ["bli", 3, 12], + ["abli", 4, 4], + ["alli", 3, 8], + ["fulli", 3, 9], + ["lessli", 3, 15], + ["ousli", 3, 10], + ["entli", 3, 5], + ["aliti", -1, 8], + ["biliti", -1, 12], + ["iviti", -1, 11], + ["tional", -1, 1], + ["ational", 14, 7], + ["alism", -1, 8], + ["ation", -1, 7], + ["ization", 17, 6], + ["izer", -1, 6], + ["ator", -1, 7], + ["iveness", -1, 11], + ["fulness", -1, 9], + ["ousness", -1, 10], + ["ogist", -1, 13] + ]; + + /** @const */ var a_8 = [ + ["icate", -1, 4], + ["ative", -1, 6], + ["alize", -1, 3], + ["iciti", -1, 4], + ["ical", -1, 4], + ["tional", -1, 1], + ["ational", 5, 2], + ["ful", -1, 5], + ["ness", -1, 5] + ]; + + /** @const */ var a_9 = [ + ["ic", -1, 1], + ["ance", -1, 1], + ["ence", -1, 1], + ["able", -1, 1], + ["ible", -1, 1], + ["ate", -1, 1], + ["ive", -1, 1], + ["ize", -1, 1], + ["iti", -1, 1], + ["al", -1, 1], + ["ism", -1, 1], + ["ion", -1, 2], + ["er", -1, 1], + ["ous", -1, 1], + ["ant", -1, 1], + ["ent", -1, 1], + ["ment", 15, 1], + ["ement", 16, 1] + ]; + + /** @const */ var a_10 = [ + ["e", -1, 1], + ["l", -1, 2] + ]; + + /** @const */ var a_11 = [ + ["andes", -1, -1], + ["atlas", -1, -1], + ["bias", -1, -1], + ["cosmos", -1, -1], + ["early", -1, 5], + ["gently", -1, 3], + ["howe", -1, -1], + ["idly", -1, 2], + ["news", -1, -1], + ["only", -1, 6], + ["singly", -1, 7], + ["skies", -1, 1], + ["sky", -1, -1], + ["ugly", -1, 4] + ]; + + /** @const */ var /** Array */ g_aeo = [17, 64]; + + /** @const */ var /** Array */ g_v = [17, 65, 16, 1]; + + /** @const */ var /** Array */ g_v_WXY = [1, 17, 65, 208, 1]; + + /** @const */ var /** Array */ g_valid_LI = [55, 141, 2]; + + var /** boolean */ B_Y_found = false; + var /** number */ I_p2 = 0; + var /** number */ I_p1 = 0; + + + /** @return {boolean} */ + function r_prelude() { + B_Y_found = false; + /** @const */ var /** number */ v_1 = base.cursor; + lab0: { + base.bra = base.cursor; + if (!(base.eq_s("'"))) + { + break lab0; + } + base.ket = base.cursor; + if (!base.slice_del()) + { + return false; + } + } + base.cursor = v_1; + /** @const */ var /** number */ v_2 = base.cursor; + lab1: { + base.bra = base.cursor; + if (!(base.eq_s("y"))) + { + break lab1; + } + base.ket = base.cursor; + if (!base.slice_from("Y")) + { + return false; + } + B_Y_found = true; + } + base.cursor = v_2; + /** @const */ var /** number */ v_3 = base.cursor; + lab2: { + while(true) + { + /** @const */ var /** number */ v_4 = base.cursor; + lab3: { + golab4: while(true) + { + /** @const */ var /** number */ v_5 = base.cursor; + lab5: { + if (!(base.in_grouping(g_v, 97, 121))) + { + break lab5; + } + base.bra = base.cursor; + if (!(base.eq_s("y"))) + { + break lab5; + } + base.ket = base.cursor; + base.cursor = v_5; + break golab4; + } + base.cursor = v_5; + if (base.cursor >= base.limit) + { + break lab3; + } + base.cursor++; + } + if (!base.slice_from("Y")) + { + return false; + } + B_Y_found = true; + continue; + } + base.cursor = v_4; + break; + } + } + base.cursor = v_3; + return true; + }; + + /** @return {boolean} */ + function r_mark_regions() { + I_p1 = base.limit; + I_p2 = base.limit; + /** @const */ var /** number */ v_1 = base.cursor; + lab0: { + lab1: { + /** @const */ var /** number */ v_2 = base.cursor; + lab2: { + if (base.find_among(a_0) == 0) + { + break lab2; + } + break lab1; + } + base.cursor = v_2; + if (!base.go_out_grouping(g_v, 97, 121)) + { + break lab0; + } + base.cursor++; + if (!base.go_in_grouping(g_v, 97, 121)) + { + break lab0; + } + base.cursor++; + } + I_p1 = base.cursor; + if (!base.go_out_grouping(g_v, 97, 121)) + { + break lab0; + } + base.cursor++; + if (!base.go_in_grouping(g_v, 97, 121)) + { + break lab0; + } + base.cursor++; + I_p2 = base.cursor; + } + base.cursor = v_1; + return true; + }; + + /** @return {boolean} */ + function r_shortv() { + lab0: { + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab1: { + if (!(base.out_grouping_b(g_v_WXY, 89, 121))) + { + break lab1; + } + if (!(base.in_grouping_b(g_v, 97, 121))) + { + break lab1; + } + if (!(base.out_grouping_b(g_v, 97, 121))) + { + break lab1; + } + break lab0; + } + base.cursor = base.limit - v_1; + lab2: { + if (!(base.out_grouping_b(g_v, 97, 121))) + { + break lab2; + } + if (!(base.in_grouping_b(g_v, 97, 121))) + { + break lab2; + } + if (base.cursor > base.limit_backward) + { + break lab2; + } + break lab0; + } + base.cursor = base.limit - v_1; + if (!(base.eq_s_b("past"))) + { + return false; + } + } + return true; + }; + + /** @return {boolean} */ + function r_R1() { + return I_p1 <= base.cursor; + }; + + /** @return {boolean} */ + function r_R2() { + return I_p2 <= base.cursor; + }; + + /** @return {boolean} */ + function r_Step_1a() { + var /** number */ among_var; + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab0: { + base.ket = base.cursor; + if (base.find_among_b(a_1) == 0) + { + base.cursor = base.limit - v_1; + break lab0; + } + base.bra = base.cursor; + if (!base.slice_del()) + { + return false; + } + } + base.ket = base.cursor; + among_var = base.find_among_b(a_2); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + if (!base.slice_from("ss")) + { + return false; + } + break; + case 2: + lab1: { + /** @const */ var /** number */ v_2 = base.limit - base.cursor; + lab2: { + { + /** @const */ var /** number */ c1 = base.cursor - 2; + if (c1 < base.limit_backward) + { + break lab2; + } + base.cursor = c1; + } + if (!base.slice_from("i")) + { + return false; + } + break lab1; + } + base.cursor = base.limit - v_2; + if (!base.slice_from("ie")) + { + return false; + } + } + break; + case 3: + if (base.cursor <= base.limit_backward) + { + return false; + } + base.cursor--; + if (!base.go_out_grouping_b(g_v, 97, 121)) + { + return false; + } + base.cursor--; + if (!base.slice_del()) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_Step_1b() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_5); + base.bra = base.cursor; + lab0: { + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab1: { + switch (among_var) { + case 1: + /** @const */ var /** number */ v_2 = base.limit - base.cursor; + lab2: { + lab3: { + /** @const */ var /** number */ v_3 = base.limit - base.cursor; + lab4: { + if (base.find_among_b(a_3) == 0) + { + break lab4; + } + if (base.cursor > base.limit_backward) + { + break lab4; + } + break lab3; + } + base.cursor = base.limit - v_3; + if (!r_R1()) + { + break lab2; + } + if (!base.slice_from("ee")) + { + return false; + } + } + } + base.cursor = base.limit - v_2; + break; + case 2: + break lab1; + case 3: + among_var = base.find_among_b(a_4); + if (among_var == 0) + { + break lab1; + } + switch (among_var) { + case 1: + /** @const */ var /** number */ v_4 = base.limit - base.cursor; + if (!(base.out_grouping_b(g_v, 97, 121))) + { + break lab1; + } + if (base.cursor > base.limit_backward) + { + break lab1; + } + base.cursor = base.limit - v_4; + base.bra = base.cursor; + if (!base.slice_from("ie")) + { + return false; + } + break; + case 2: + if (base.cursor > base.limit_backward) + { + break lab1; + } + break; + } + break; + } + break lab0; + } + base.cursor = base.limit - v_1; + /** @const */ var /** number */ v_5 = base.limit - base.cursor; + if (!base.go_out_grouping_b(g_v, 97, 121)) + { + return false; + } + base.cursor--; + base.cursor = base.limit - v_5; + if (!base.slice_del()) + { + return false; + } + base.ket = base.cursor; + base.bra = base.cursor; + /** @const */ var /** number */ v_6 = base.limit - base.cursor; + among_var = base.find_among_b(a_6); + switch (among_var) { + case 1: + if (!base.slice_from("e")) + { + return false; + } + return false; + case 2: + { + /** @const */ var /** number */ v_7 = base.limit - base.cursor; + lab5: { + if (!(base.in_grouping_b(g_aeo, 97, 111))) + { + break lab5; + } + if (base.cursor > base.limit_backward) + { + break lab5; + } + return false; + } + base.cursor = base.limit - v_7; + } + break; + case 3: + if (base.cursor != I_p1) + { + return false; + } + /** @const */ var /** number */ v_8 = base.limit - base.cursor; + if (!r_shortv()) + { + return false; + } + base.cursor = base.limit - v_8; + if (!base.slice_from("e")) + { + return false; + } + return false; + } + base.cursor = base.limit - v_6; + base.ket = base.cursor; + if (base.cursor <= base.limit_backward) + { + return false; + } + base.cursor--; + base.bra = base.cursor; + if (!base.slice_del()) + { + return false; + } + } + return true; + }; + + /** @return {boolean} */ + function r_Step_1c() { + base.ket = base.cursor; + lab0: { + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab1: { + if (!(base.eq_s_b("y"))) + { + break lab1; + } + break lab0; + } + base.cursor = base.limit - v_1; + if (!(base.eq_s_b("Y"))) + { + return false; + } + } + base.bra = base.cursor; + if (!(base.out_grouping_b(g_v, 97, 121))) + { + return false; + } + lab2: { + if (base.cursor > base.limit_backward) + { + break lab2; + } + return false; + } + if (!base.slice_from("i")) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_Step_2() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_7); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + if (!r_R1()) + { + return false; + } + switch (among_var) { + case 1: + if (!base.slice_from("tion")) + { + return false; + } + break; + case 2: + if (!base.slice_from("ence")) + { + return false; + } + break; + case 3: + if (!base.slice_from("ance")) + { + return false; + } + break; + case 4: + if (!base.slice_from("able")) + { + return false; + } + break; + case 5: + if (!base.slice_from("ent")) + { + return false; + } + break; + case 6: + if (!base.slice_from("ize")) + { + return false; + } + break; + case 7: + if (!base.slice_from("ate")) + { + return false; + } + break; + case 8: + if (!base.slice_from("al")) + { + return false; + } + break; + case 9: + if (!base.slice_from("ful")) + { + return false; + } + break; + case 10: + if (!base.slice_from("ous")) + { + return false; + } + break; + case 11: + if (!base.slice_from("ive")) + { + return false; + } + break; + case 12: + if (!base.slice_from("ble")) + { + return false; + } + break; + case 13: + if (!base.slice_from("og")) + { + return false; + } + break; + case 14: + if (!(base.eq_s_b("l"))) + { + return false; + } + if (!base.slice_from("og")) + { + return false; + } + break; + case 15: + if (!base.slice_from("less")) + { + return false; + } + break; + case 16: + if (!(base.in_grouping_b(g_valid_LI, 99, 116))) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_Step_3() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_8); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + if (!r_R1()) + { + return false; + } + switch (among_var) { + case 1: + if (!base.slice_from("tion")) + { + return false; + } + break; + case 2: + if (!base.slice_from("ate")) + { + return false; + } + break; + case 3: + if (!base.slice_from("al")) + { + return false; + } + break; + case 4: + if (!base.slice_from("ic")) + { + return false; + } + break; + case 5: + if (!base.slice_del()) + { + return false; + } + break; + case 6: + if (!r_R2()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_Step_4() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_9); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + if (!r_R2()) + { + return false; + } + switch (among_var) { + case 1: + if (!base.slice_del()) + { + return false; + } + break; + case 2: + lab0: { + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab1: { + if (!(base.eq_s_b("s"))) + { + break lab1; + } + break lab0; + } + base.cursor = base.limit - v_1; + if (!(base.eq_s_b("t"))) + { + return false; + } + } + if (!base.slice_del()) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_Step_5() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_10); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + lab0: { + lab1: { + if (!r_R2()) + { + break lab1; + } + break lab0; + } + if (!r_R1()) + { + return false; + } + { + /** @const */ var /** number */ v_1 = base.limit - base.cursor; + lab2: { + if (!r_shortv()) + { + break lab2; + } + return false; + } + base.cursor = base.limit - v_1; + } + } + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!r_R2()) + { + return false; + } + if (!(base.eq_s_b("l"))) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_exception1() { + var /** number */ among_var; + base.bra = base.cursor; + among_var = base.find_among(a_11); + if (among_var == 0) + { + return false; + } + base.ket = base.cursor; + if (base.cursor < base.limit) + { + return false; + } + switch (among_var) { + case 1: + if (!base.slice_from("sky")) + { + return false; + } + break; + case 2: + if (!base.slice_from("idl")) + { + return false; + } + break; + case 3: + if (!base.slice_from("gentl")) + { + return false; + } + break; + case 4: + if (!base.slice_from("ugli")) + { + return false; + } + break; + case 5: + if (!base.slice_from("earli")) + { + return false; + } + break; + case 6: + if (!base.slice_from("onli")) + { + return false; + } + break; + case 7: + if (!base.slice_from("singl")) + { + return false; + } + break; + } + return true; + }; + + /** @return {boolean} */ + function r_postlude() { + if (!B_Y_found) + { + return false; + } + while(true) + { + /** @const */ var /** number */ v_1 = base.cursor; + lab0: { + golab1: while(true) + { + /** @const */ var /** number */ v_2 = base.cursor; + lab2: { + base.bra = base.cursor; + if (!(base.eq_s("Y"))) + { + break lab2; + } + base.ket = base.cursor; + base.cursor = v_2; + break golab1; + } + base.cursor = v_2; + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + } + if (!base.slice_from("y")) + { + return false; + } + continue; + } + base.cursor = v_1; + break; + } + return true; + }; + + this.stem = /** @return {boolean} */ function() { + lab0: { + /** @const */ var /** number */ v_1 = base.cursor; + lab1: { + if (!r_exception1()) + { + break lab1; + } + break lab0; + } + base.cursor = v_1; + lab2: { + { + /** @const */ var /** number */ v_2 = base.cursor; + lab3: { + { + /** @const */ var /** number */ c1 = base.cursor + 3; + if (c1 > base.limit) + { + break lab3; + } + base.cursor = c1; + } + break lab2; + } + base.cursor = v_2; + } + break lab0; + } + base.cursor = v_1; + r_prelude(); + r_mark_regions(); + base.limit_backward = base.cursor; base.cursor = base.limit; + /** @const */ var /** number */ v_3 = base.limit - base.cursor; + r_Step_1a(); + base.cursor = base.limit - v_3; + /** @const */ var /** number */ v_4 = base.limit - base.cursor; + r_Step_1b(); + base.cursor = base.limit - v_4; + /** @const */ var /** number */ v_5 = base.limit - base.cursor; + r_Step_1c(); + base.cursor = base.limit - v_5; + /** @const */ var /** number */ v_6 = base.limit - base.cursor; + r_Step_2(); + base.cursor = base.limit - v_6; + /** @const */ var /** number */ v_7 = base.limit - base.cursor; + r_Step_3(); + base.cursor = base.limit - v_7; + /** @const */ var /** number */ v_8 = base.limit - base.cursor; + r_Step_4(); + base.cursor = base.limit - v_8; + /** @const */ var /** number */ v_9 = base.limit - base.cursor; + r_Step_5(); + base.cursor = base.limit - v_9; + base.cursor = base.limit_backward; + /** @const */ var /** number */ v_10 = base.cursor; + r_postlude(); + base.cursor = v_10; + } + return true; + }; + + /**@return{string}*/ + this['stemWord'] = function(/**string*/word) { + base.setCurrent(word); + this.stem(); + return base.getCurrent(); + }; +}; diff --git a/stark/extern/fmt/doc/html/_static/file.png b/_static/file.png similarity index 100% rename from stark/extern/fmt/doc/html/_static/file.png rename to _static/file.png diff --git a/_static/language_data.js b/_static/language_data.js new file mode 100644 index 00000000..57767864 --- /dev/null +++ b/_static/language_data.js @@ -0,0 +1,13 @@ +/* + * This script contains the language-specific data used by searchtools.js, + * namely the set of stopwords, stemmer, scorer and splitter. + */ + +const stopwords = new Set(["a", "about", "above", "after", "again", "against", "all", "am", "an", "and", "any", "are", "aren't", "as", "at", "be", "because", "been", "before", "being", "below", "between", "both", "but", "by", "can't", "cannot", "could", "couldn't", "did", "didn't", "do", "does", "doesn't", "doing", "don't", "down", "during", "each", "few", "for", "from", "further", "had", "hadn't", "has", "hasn't", "have", "haven't", "having", "he", "he'd", "he'll", "he's", "her", "here", "here's", "hers", "herself", "him", "himself", "his", "how", "how's", "i", "i'd", "i'll", "i'm", "i've", "if", "in", "into", "is", "isn't", "it", "it's", "its", "itself", "let's", "me", "more", "most", "mustn't", "my", "myself", "no", "nor", "not", "of", "off", "on", "once", "only", "or", "other", "ought", "our", "ours", "ourselves", "out", "over", "own", "same", "shan't", "she", "she'd", "she'll", "she's", "should", "shouldn't", "so", "some", "such", "than", "that", "that's", "the", "their", "theirs", "them", "themselves", "then", "there", "there's", "these", "they", "they'd", "they'll", "they're", "they've", "this", "those", "through", "to", "too", "under", "until", "up", "very", "was", "wasn't", "we", "we'd", "we'll", "we're", "we've", "were", "weren't", "what", "what's", "when", "when's", "where", "where's", "which", "while", "who", "who's", "whom", "why", "why's", "with", "won't", "would", "wouldn't", "you", "you'd", "you'll", "you're", "you've", "your", "yours", "yourself", "yourselves"]); +window.stopwords = stopwords; // Export to global scope + + +/* Non-minified versions are copied as separate JavaScript files, if available */ +BaseStemmer=function(){this.current="",this.cursor=0,this.limit=0,this.limit_backward=0,this.bra=0,this.ket=0,this.setCurrent=function(t){this.current=t,this.cursor=0,this.limit=this.current.length,this.limit_backward=0,this.bra=this.cursor,this.ket=this.limit},this.getCurrent=function(){return this.current},this.copy_from=function(t){this.current=t.current,this.cursor=t.cursor,this.limit=t.limit,this.limit_backward=t.limit_backward,this.bra=t.bra,this.ket=t.ket},this.in_grouping=function(t,r,i){return!(this.cursor>=this.limit||i<(i=this.current.charCodeAt(this.cursor))||i>>3]&1<<(7&i))||(this.cursor++,0))},this.go_in_grouping=function(t,r,i){for(;this.cursor>>3]&1<<(7&s)))return!0;this.cursor++}return!1},this.in_grouping_b=function(t,r,i){return!(this.cursor<=this.limit_backward||i<(i=this.current.charCodeAt(this.cursor-1))||i>>3]&1<<(7&i))||(this.cursor--,0))},this.go_in_grouping_b=function(t,r,i){for(;this.cursor>this.limit_backward;){var s=this.current.charCodeAt(this.cursor-1);if(i>>3]&1<<(7&s)))return!0;this.cursor--}return!1},this.out_grouping=function(t,r,i){return!(this.cursor>=this.limit)&&(i<(i=this.current.charCodeAt(this.cursor))||i>>3]&1<<(7&i)))&&(this.cursor++,!0)},this.go_out_grouping=function(t,r,i){for(;this.cursor>>3]&1<<(7&s)))return!0;this.cursor++}return!1},this.out_grouping_b=function(t,r,i){return!(this.cursor<=this.limit_backward)&&(i<(i=this.current.charCodeAt(this.cursor-1))||i>>3]&1<<(7&i)))&&(this.cursor--,!0)},this.go_out_grouping_b=function(t,r,i){for(;this.cursor>this.limit_backward;){var s=this.current.charCodeAt(this.cursor-1);if(s<=i&&r<=s&&0!=(t[(s-=r)>>>3]&1<<(7&s)))return!0;this.cursor--}return!1},this.eq_s=function(t){return!(this.limit-this.cursor>>1),o=0,a=e=(l=t[r])[0].length){if(this.cursor=s+l[0].length,l.length<4)return l[2];var g=l[3](this);if(this.cursor=s+l[0].length,g)return l[2]}}while(0<=(r=l[1]));return 0},this.find_among_b=function(t){for(var r=0,i=t.length,s=this.cursor,h=this.limit_backward,e=0,n=0,c=!1;;){for(var u,o=r+(i-r>>1),a=0,l=e=(u=t[r])[0].length){if(this.cursor=s-u[0].length,u.length<4)return u[2];var g=u[3](this);if(this.cursor=s-u[0].length,g)return u[2]}}while(0<=(r=u[1]));return 0},this.replace_s=function(t,r,i){var s=i.length-(r-t);return this.current=this.current.slice(0,t)+i+this.current.slice(r),this.limit+=s,this.cursor>=r?this.cursor+=s:this.cursor>t&&(this.cursor=t),s},this.slice_check=function(){return!(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>this.current.length)},this.slice_from=function(t){var r=!1;return this.slice_check()&&(this.replace_s(this.bra,this.ket,t),r=!0),r},this.slice_del=function(){return this.slice_from("")},this.insert=function(t,r,i){r=this.replace_s(t,r,i);t<=this.bra&&(this.bra+=r),t<=this.ket&&(this.ket+=r)},this.slice_to=function(){var t="";return t=this.slice_check()?this.current.slice(this.bra,this.ket):t},this.assign_to=function(){return this.current.slice(0,this.limit)}}; +var EnglishStemmer=function(){var a=new BaseStemmer,c=[["arsen",-1,-1],["commun",-1,-1],["emerg",-1,-1],["gener",-1,-1],["later",-1,-1],["organ",-1,-1],["past",-1,-1],["univers",-1,-1]],o=[["'",-1,1],["'s'",0,1],["'s",-1,1]],u=[["ied",-1,2],["s",-1,3],["ies",1,2],["sses",1,1],["ss",1,-1],["us",1,-1]],t=[["succ",-1,1],["proc",-1,1],["exc",-1,1]],l=[["even",-1,2],["cann",-1,2],["inn",-1,2],["earr",-1,2],["herr",-1,2],["out",-1,2],["y",-1,1]],n=[["",-1,-1],["ed",0,2],["eed",1,1],["ing",0,3],["edly",0,2],["eedly",4,1],["ingly",0,2]],f=[["",-1,3],["bb",0,2],["dd",0,2],["ff",0,2],["gg",0,2],["bl",0,1],["mm",0,2],["nn",0,2],["pp",0,2],["rr",0,2],["at",0,1],["tt",0,2],["iz",0,1]],_=[["anci",-1,3],["enci",-1,2],["ogi",-1,14],["li",-1,16],["bli",3,12],["abli",4,4],["alli",3,8],["fulli",3,9],["lessli",3,15],["ousli",3,10],["entli",3,5],["aliti",-1,8],["biliti",-1,12],["iviti",-1,11],["tional",-1,1],["ational",14,7],["alism",-1,8],["ation",-1,7],["ization",17,6],["izer",-1,6],["ator",-1,7],["iveness",-1,11],["fulness",-1,9],["ousness",-1,10],["ogist",-1,13]],m=[["icate",-1,4],["ative",-1,6],["alize",-1,3],["iciti",-1,4],["ical",-1,4],["tional",-1,1],["ational",5,2],["ful",-1,5],["ness",-1,5]],b=[["ic",-1,1],["ance",-1,1],["ence",-1,1],["able",-1,1],["ible",-1,1],["ate",-1,1],["ive",-1,1],["ize",-1,1],["iti",-1,1],["al",-1,1],["ism",-1,1],["ion",-1,2],["er",-1,1],["ous",-1,1],["ant",-1,1],["ent",-1,1],["ment",15,1],["ement",16,1]],k=[["e",-1,1],["l",-1,2]],g=[["andes",-1,-1],["atlas",-1,-1],["bias",-1,-1],["cosmos",-1,-1],["early",-1,5],["gently",-1,3],["howe",-1,-1],["idly",-1,2],["news",-1,-1],["only",-1,6],["singly",-1,7],["skies",-1,1],["sky",-1,-1],["ugly",-1,4]],d=[17,64],v=[17,65,16,1],i=[1,17,65,208,1],w=[55,141,2],p=!1,y=0,h=0;function 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false,\n nestedClass: \"active\",\n\n // Offset & reflow\n offset: 0,\n reflow: false,\n\n // Event support\n events: true,\n };\n\n //\n // Methods\n //\n\n /**\n * Merge two or more objects together.\n * @param {Object} objects The objects to merge together\n * @returns {Object} Merged values of defaults and options\n */\n var extend = function () {\n var merged = {};\n Array.prototype.forEach.call(arguments, function (obj) {\n for (var key in obj) {\n if (!obj.hasOwnProperty(key)) return;\n merged[key] = obj[key];\n }\n });\n return merged;\n };\n\n /**\n * Emit a custom event\n * @param {String} type The event type\n * @param {Node} elem The element to attach the event to\n * @param {Object} detail Any details to pass along with the event\n */\n var emitEvent = function (type, elem, detail) {\n // Make sure events are enabled\n if (!detail.settings.events) return;\n\n // Create a new event\n var event = new CustomEvent(type, {\n bubbles: true,\n cancelable: true,\n detail: detail,\n });\n\n // Dispatch the event\n elem.dispatchEvent(event);\n };\n\n /**\n * Get an element's distance from the top of the Document.\n * @param {Node} elem The element\n * @return {Number} Distance from the top in pixels\n */\n var getOffsetTop = function (elem) {\n var location = 0;\n if (elem.offsetParent) {\n while (elem) {\n location += elem.offsetTop;\n elem = elem.offsetParent;\n }\n }\n return location >= 0 ? location : 0;\n };\n\n /**\n * Sort content from first to last in the DOM\n * @param {Array} contents The content areas\n */\n var sortContents = function (contents) {\n if (contents) {\n contents.sort(function (item1, item2) {\n var offset1 = getOffsetTop(item1.content);\n var offset2 = getOffsetTop(item2.content);\n if (offset1 < offset2) return -1;\n return 1;\n });\n }\n };\n\n /**\n * Get the offset to use for calculating position\n * @param {Object} settings The settings for this instantiation\n * @return {Float} The number of pixels to offset the calculations\n */\n var getOffset = function (settings) {\n // if the offset is a function run it\n if (typeof settings.offset === \"function\") {\n return parseFloat(settings.offset());\n }\n\n // Otherwise, return it as-is\n return parseFloat(settings.offset);\n };\n\n /**\n * Get the document element's height\n * @private\n * @returns {Number}\n */\n var getDocumentHeight = function () {\n return Math.max(\n document.body.scrollHeight,\n document.documentElement.scrollHeight,\n document.body.offsetHeight,\n document.documentElement.offsetHeight,\n document.body.clientHeight,\n document.documentElement.clientHeight,\n );\n };\n\n /**\n * Determine if an element is in view\n * @param {Node} elem The element\n * @param {Object} settings The settings for this instantiation\n * @param {Boolean} bottom If true, check if element is above bottom of viewport instead\n * @return {Boolean} Returns true if element is in the viewport\n */\n var isInView = function (elem, settings, bottom) {\n var bounds = elem.getBoundingClientRect();\n var offset = getOffset(settings);\n if (bottom) {\n return (\n parseInt(bounds.bottom, 10) <\n (window.innerHeight || document.documentElement.clientHeight)\n );\n }\n return parseInt(bounds.top, 10) <= offset;\n };\n\n /**\n * Check if at the bottom of the viewport\n * @return {Boolean} If true, page is at the bottom of the viewport\n */\n var isAtBottom = function () {\n if (\n Math.ceil(window.innerHeight + window.pageYOffset) >=\n getDocumentHeight()\n )\n return true;\n return false;\n };\n\n /**\n * Check if the last item should be used (even if not at the top of the page)\n * @param {Object} item The last item\n * @param {Object} settings The settings for this instantiation\n * @return {Boolean} If true, use the last item\n */\n var useLastItem = function (item, settings) {\n if (isAtBottom() && isInView(item.content, settings, true)) return true;\n return false;\n };\n\n /**\n * Get the active content\n * @param {Array} contents The content areas\n * @param {Object} settings The settings for this instantiation\n * @return {Object} The content area and matching navigation link\n */\n var getActive = function (contents, settings) {\n var last = contents[contents.length - 1];\n if (useLastItem(last, settings)) return last;\n for (var i = contents.length - 1; i >= 0; i--) {\n if (isInView(contents[i].content, settings)) return contents[i];\n }\n };\n\n /**\n * Deactivate parent navs in a nested navigation\n * @param {Node} nav The starting navigation element\n * @param {Object} settings The settings for this instantiation\n */\n var deactivateNested = function (nav, settings) {\n // If nesting isn't activated, bail\n if (!settings.nested || !nav.parentNode) return;\n\n // Get the parent navigation\n var li = nav.parentNode.closest(\"li\");\n if (!li) return;\n\n // Remove the active class\n li.classList.remove(settings.nestedClass);\n\n // Apply recursively to any parent navigation elements\n deactivateNested(li, settings);\n };\n\n /**\n * Deactivate a nav and content area\n * @param {Object} items The nav item and content to deactivate\n * @param {Object} settings The settings for this instantiation\n */\n var deactivate = function (items, settings) {\n // Make sure there are items to deactivate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Remove the active class from the nav and content\n li.classList.remove(settings.navClass);\n items.content.classList.remove(settings.contentClass);\n\n // Deactivate any parent navs in a nested navigation\n deactivateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeDeactivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Activate parent navs in a nested navigation\n * @param {Node} nav The starting navigation element\n * @param {Object} settings The settings for this instantiation\n */\n var activateNested = function (nav, settings) {\n // If nesting isn't activated, bail\n if (!settings.nested) return;\n\n // Get the parent navigation\n var li = nav.parentNode.closest(\"li\");\n if (!li) return;\n\n // Add the active class\n li.classList.add(settings.nestedClass);\n\n // Apply recursively to any parent navigation elements\n activateNested(li, settings);\n };\n\n /**\n * Activate a nav and content area\n * @param {Object} items The nav item and content to activate\n * @param {Object} settings The settings for this instantiation\n */\n var activate = function (items, settings) {\n // Make sure there are items to activate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Add the active class to the nav and content\n li.classList.add(settings.navClass);\n items.content.classList.add(settings.contentClass);\n\n // Activate any parent navs in a nested navigation\n activateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeActivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Create the Constructor object\n * @param {String} selector The selector to use for navigation items\n * @param {Object} options User options and settings\n */\n var Constructor = function (selector, options) {\n //\n // Variables\n //\n\n var publicAPIs = {};\n var navItems, contents, current, timeout, settings;\n\n //\n // Methods\n //\n\n /**\n * Set variables from DOM elements\n */\n publicAPIs.setup = function () {\n // Get all nav items\n navItems = document.querySelectorAll(selector);\n\n // Create contents array\n contents = [];\n\n // Loop through each item, get it's matching content, and push to the array\n Array.prototype.forEach.call(navItems, function (item) {\n // Get the content for the nav item\n var content = document.getElementById(\n decodeURIComponent(item.hash.substr(1)),\n );\n if (!content) return;\n\n // Push to the contents array\n 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window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(publicAPIs.detect);\n };\n\n /**\n * Update content sorting on resize\n * Debounced for performance\n */\n var resizeHandler = function (event) {\n // If there's a timer, cancel it\n if (timeout) {\n window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(function () {\n sortContents(contents);\n publicAPIs.detect();\n });\n };\n\n /**\n * Destroy the current instantiation\n */\n publicAPIs.destroy = function () {\n // Undo DOM changes\n if (current) {\n deactivate(current, settings);\n }\n\n // Remove event listeners\n window.removeEventListener(\"scroll\", scrollHandler, false);\n if (settings.reflow) {\n window.removeEventListener(\"resize\", resizeHandler, false);\n }\n\n // Reset variables\n contents = null;\n navItems = null;\n current = null;\n timeout = null;\n settings = null;\n };\n\n /**\n * Initialize the current instantiation\n */\n var init = function () {\n // Merge user options into defaults\n settings = extend(defaults, options || {});\n\n // Setup variables based on the current DOM\n publicAPIs.setup();\n\n // Find the currently active content\n publicAPIs.detect();\n\n // Setup event listeners\n window.addEventListener(\"scroll\", scrollHandler, false);\n if (settings.reflow) {\n window.addEventListener(\"resize\", resizeHandler, false);\n }\n };\n\n //\n // Initialize and return the public APIs\n //\n\n init();\n return publicAPIs;\n };\n\n //\n // Return the Constructor\n //\n\n return Constructor;\n },\n);\n","// The module cache\nvar __webpack_module_cache__ = {};\n\n// The require function\nfunction __webpack_require__(moduleId) {\n\t// Check if module is in cache\n\tvar cachedModule = __webpack_module_cache__[moduleId];\n\tif (cachedModule !== undefined) {\n\t\treturn cachedModule.exports;\n\t}\n\t// Create a new module (and put it into the cache)\n\tvar module = __webpack_module_cache__[moduleId] = {\n\t\t// no module.id needed\n\t\t// no module.loaded needed\n\t\texports: {}\n\t};\n\n\t// Execute the module function\n\t__webpack_modules__[moduleId].call(module.exports, module, module.exports, __webpack_require__);\n\n\t// Return the exports of the module\n\treturn module.exports;\n}\n\n","// getDefaultExport function for compatibility with non-harmony modules\n__webpack_require__.n = (module) => {\n\tvar getter = module && module.__esModule ?\n\t\t() => (module['default']) :\n\t\t() => (module);\n\t__webpack_require__.d(getter, { a: getter });\n\treturn getter;\n};","// define getter functions for harmony exports\n__webpack_require__.d = (exports, definition) => {\n\tfor(var key in definition) {\n\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n\t\t}\n\t}\n};","__webpack_require__.g = (function() {\n\tif (typeof globalThis === 'object') return globalThis;\n\ttry {\n\t\treturn this || new Function('return this')();\n\t} catch (e) {\n\t\tif (typeof window === 'object') return window;\n\t}\n})();","__webpack_require__.o = (obj, prop) => (Object.prototype.hasOwnProperty.call(obj, prop))","import Gumshoe from \"./gumshoe-patched.js\";\n\n////////////////////////////////////////////////////////////////////////////////\n// Scroll Handling\n////////////////////////////////////////////////////////////////////////////////\nvar tocScroll = null;\nvar header = null;\nvar lastScrollTop = document.documentElement.scrollTop;\nconst GO_TO_TOP_OFFSET = 64;\n\nfunction scrollHandlerForHeader(positionY) {\n if (positionY > 0) {\n header.classList.add(\"scrolled\");\n } else {\n header.classList.remove(\"scrolled\");\n }\n}\n\nfunction scrollHandlerForBackToTop(positionY) {\n if (positionY < GO_TO_TOP_OFFSET) {\n document.documentElement.classList.remove(\"show-back-to-top\");\n } else {\n if (positionY < 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+ +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { + var Scorer = { + // Implement the following function to further tweak the score for each result + // The function takes a result array [docname, title, anchor, descr, score, filename] + // and returns the new score. + /* + score: result => { + const [docname, title, anchor, descr, score, filename, kind] = result + return score + }, + */ + + // query matches the full name of an object + objNameMatch: 11, + // or matches in the last dotted part of the object name + objPartialMatch: 6, + // Additive scores depending on the priority of the object + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, + // Used when the priority is not in the mapping. + objPrioDefault: 0, + + // query found in title + title: 15, + partialTitle: 7, + // query found in terms + term: 5, + partialTerm: 2, + }; +} + +// Global search result kind enum, used by themes to style search results. +// prettier-ignore +class SearchResultKind { + static get index() { return "index"; } + static get object() { return "object"; } + static get text() { return "text"; } + static get title() { return "title"; } +} + +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string + +const _escapeHTML = (text) => { + return text + .replaceAll("&", "&") + .replaceAll("<", "<") + .replaceAll(">", ">") + .replaceAll('"', """) + .replaceAll("'", "'"); +}; + +const _displayItem = (item, searchTerms, highlightTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + const contentRoot = document.documentElement.dataset.content_root; + + const [docName, title, anchor, descr, score, _filename, kind] = item; + + let listItem = document.createElement("li"); + // Add a class representing the item's type: + // can be used by a theme's CSS selector for styling + // See SearchResultKind for the class names. + listItem.classList.add(`kind-${kind}`); + let requestUrl; + let linkUrl; + if (docBuilder === "dirhtml") { + // dirhtml builder + let dirname = docName + "/"; + if (dirname.match(/\/index\/$/)) + dirname = dirname.substring(0, dirname.length - 6); + else if (dirname === "index/") dirname = ""; + requestUrl = contentRoot + dirname; + linkUrl = requestUrl; + } else { + // normal html builders + requestUrl = contentRoot + docName + docFileSuffix; + linkUrl = docName + docLinkSuffix; + } + let linkEl = listItem.appendChild(document.createElement("a")); + linkEl.href = linkUrl + anchor; + linkEl.dataset.score = score; + linkEl.innerHTML = _escapeHTML(title); + if (descr) { + listItem.appendChild(document.createElement("span")).innerHTML = + ` (${_escapeHTML(descr)})`; + // highlight search terms in the description + if (SPHINX_HIGHLIGHT_ENABLED) + // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js + highlightTerms.forEach((term) => + _highlightText(listItem, term, "highlighted"), + ); + } else if (showSearchSummary) + fetch(requestUrl) + .then((responseData) => responseData.text()) + .then((data) => { + if (data) + listItem.appendChild( + Search.makeSearchSummary(data, searchTerms, anchor), + ); + // highlight search terms in the summary + if (SPHINX_HIGHLIGHT_ENABLED) + // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js + highlightTerms.forEach((term) => + _highlightText(listItem, term, "highlighted"), + ); + }); + Search.output.appendChild(listItem); +}; +const _finishSearch = (resultCount) => { + Search.stopPulse(); + Search.title.innerText = _("Search Results"); + if (!resultCount) + Search.status.innerText = Documentation.gettext( + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories.", + ); + else + Search.status.innerText = Documentation.ngettext( + "Search finished, found one page matching the search query.", + "Search finished, found ${resultCount} pages matching the search query.", + resultCount, + ).replace("${resultCount}", resultCount); +}; +const _displayNextItem = ( + results, + resultCount, + searchTerms, + highlightTerms, +) => { + // results left, load the summary and display it + // this is intended to be dynamic (don't sub resultsCount) + if (results.length) { + _displayItem(results.pop(), searchTerms, highlightTerms); + setTimeout( + () => _displayNextItem(results, resultCount, searchTerms, highlightTerms), + 5, + ); + } + // search finished, update title and status message + else _finishSearch(resultCount); +}; +// Helper function used by query() to order search results. +// Each input is an array of [docname, title, anchor, descr, score, filename, kind]. +// Order the results by score (in opposite order of appearance, since the +// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically. +const _orderResultsByScoreThenName = (a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { + // same score: sort alphabetically + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional + } + return leftScore > rightScore ? 1 : -1; +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => + query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter((term) => term); // remove remaining empty strings +} + +/** + * Search Module + */ +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString, anchor) => { + const htmlElement = new DOMParser().parseFromString( + htmlString, + "text/html", + ); + for (const removalQuery of [".headerlink", "script", "style"]) { + htmlElement.querySelectorAll(removalQuery).forEach((el) => { + el.remove(); + }); + } + if (anchor) { + const anchorContent = htmlElement.querySelector( + `[role="main"] ${anchor}`, + ); + if (anchorContent) return anchorContent.textContent; + + console.warn( + `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`, + ); + } + + // if anchor not specified or not found, fall back to main content + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent) return docContent.textContent; + + console.warn( + "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template.", + ); + return ""; + }, + + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); + }, + + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), + + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); + } + }, + + hasIndex: () => Search._index !== null, + + deferQuery: (query) => (Search._queued_query = query), + + stopPulse: () => (Search._pulse_status = -1), + + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { + Search._pulse_status = (Search._pulse_status + 1) % 4; + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something (or wait until index is loaded) + */ + performSearch: (query) => { + // create the required interface elements + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.setAttribute("role", "list"); + searchList.classList.add("search"); + + const out = document.getElementById("search-results"); + Search.title = out.appendChild(searchText); + Search.dots = Search.title.appendChild(document.createElement("span")); + Search.status = out.appendChild(searchSummary); + Search.output = out.appendChild(searchList); + + const searchProgress = document.getElementById("search-progress"); + // Some themes don't use the search progress node + if (searchProgress) { + searchProgress.innerText = _("Preparing search..."); + } + Search.startPulse(); + + // index already loaded, the browser was quick! + if (Search.hasIndex()) Search.query(query); + else Search.deferQuery(query); + }, + + _parseQuery: (query) => { + // stem the search terms and add them to the correct list + const stemmer = new Stemmer(); + const searchTerms = new Set(); + const excludedTerms = new Set(); + const highlightTerms = new Set(); + const objectTerms = new Set(splitQuery(query.toLowerCase().trim())); + splitQuery(query.trim()).forEach((queryTerm) => { + const queryTermLower = queryTerm.toLowerCase(); + + // maybe skip this "word" + // stopwords set is from language_data.js + if (stopwords.has(queryTermLower) || queryTerm.match(/^\d+$/)) return; + + // stem the word + let word = stemmer.stemWord(queryTermLower); + // select the correct list + if (word[0] === "-") excludedTerms.add(word.substr(1)); + else { + searchTerms.add(word); + highlightTerms.add(queryTermLower); + } + }); + + if (SPHINX_HIGHLIGHT_ENABLED) { + // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js + localStorage.setItem( + "sphinx_highlight_terms", + [...highlightTerms].join(" "), + ); + } + + // console.debug("SEARCH: searching for:"); + // console.info("required: ", [...searchTerms]); + // console.info("excluded: ", [...excludedTerms]); + + return [query, searchTerms, excludedTerms, highlightTerms, objectTerms]; + }, + + /** + * execute search (requires search index to be loaded) + */ + _performSearch: ( + query, + searchTerms, + excludedTerms, + highlightTerms, + objectTerms, + ) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + const allTitles = Search._index.alltitles; + const indexEntries = Search._index.indexentries; + + // Collect multiple result groups to be sorted separately and then ordered. + // Each is an array of [docname, title, anchor, descr, score, filename, kind]. + const normalResults = []; + const nonMainIndexResults = []; + + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase().trim(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if ( + title.toLowerCase().trim().includes(queryLower) + && queryLower.length >= title.length / 2 + ) { + for (const [file, id] of foundTitles) { + const score = Math.round( + (Scorer.title * queryLower.length) / title.length, + ); + const boost = titles[file] === title ? 1 : 0; // add a boost for document titles + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score + boost, + filenames[file], + SearchResultKind.title, + ]); + } + } + } + + // search for explicit entries in index directives + for (const [entry, foundEntries] of Object.entries(indexEntries)) { + if (entry.includes(queryLower) && queryLower.length >= entry.length / 2) { + for (const [file, id, isMain] of foundEntries) { + const score = Math.round((100 * queryLower.length) / entry.length); + const result = [ + docNames[file], + titles[file], + id ? "#" + id : "", + null, + score, + filenames[file], + SearchResultKind.index, + ]; + if (isMain) { + normalResults.push(result); + } else { + nonMainIndexResults.push(result); + } + } + } + } + + // lookup as object + objectTerms.forEach((term) => + normalResults.push(...Search.performObjectSearch(term, objectTerms)), + ); + + // lookup as search terms in fulltext + normalResults.push( + ...Search.performTermsSearch(searchTerms, excludedTerms), + ); + + // let the scorer override scores with a custom scoring function + if (Scorer.score) { + normalResults.forEach((item) => (item[4] = Scorer.score(item))); + nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item))); + } + + // Sort each group of results by score and then alphabetically by name. + normalResults.sort(_orderResultsByScoreThenName); + nonMainIndexResults.sort(_orderResultsByScoreThenName); + + // Combine the result groups in (reverse) order. + // Non-main index entries are typically arbitrary cross-references, + // so display them after other results. + let results = [...nonMainIndexResults, ...normalResults]; + + // remove duplicate search results + // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept + let seen = new Set(); + results = results.reverse().reduce((acc, result) => { + let resultStr = result + .slice(0, 4) + .concat([result[5]]) + .map((v) => String(v)) + .join(","); + if (!seen.has(resultStr)) { + acc.push(result); + seen.add(resultStr); + } + return acc; + }, []); + + return results.reverse(); + }, + + query: (query) => { + const [ + searchQuery, + searchTerms, + excludedTerms, + highlightTerms, + objectTerms, + ] = Search._parseQuery(query); + const results = Search._performSearch( + searchQuery, + searchTerms, + excludedTerms, + highlightTerms, + objectTerms, + ); + + // for debugging + //Search.lastresults = results.slice(); // a copy + // console.info("search results:", Search.lastresults); + + // print the results + _displayNextItem(results, results.length, searchTerms, highlightTerms); + }, + + /** + * search for object names + */ + performObjectSearch: (object, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const objects = Search._index.objects; + const objNames = Search._index.objnames; + const titles = Search._index.titles; + + const results = []; + + const objectSearchCallback = (prefix, match) => { + const name = match[4]; + const fullname = (prefix ? prefix + "." : "") + name; + const fullnameLower = fullname.toLowerCase(); + if (fullnameLower.indexOf(object) < 0) return; + + let score = 0; + const parts = fullnameLower.split("."); + + // check for different match types: exact matches of full name or + // "last name" (i.e. last dotted part) + if (fullnameLower === object || parts.slice(-1)[0] === object) + score += Scorer.objNameMatch; + else if (parts.slice(-1)[0].indexOf(object) > -1) + score += Scorer.objPartialMatch; // matches in last name + + const objName = objNames[match[1]][2]; + const title = titles[match[0]]; + + // If more than one term searched for, we require other words to be + // found in the name/title/description + const otherTerms = new Set(objectTerms); + otherTerms.delete(object); + if (otherTerms.size > 0) { + const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase(); + if ( + [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0) + ) + return; + } + + let anchor = match[3]; + if (anchor === "") anchor = fullname; + else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname; + + const descr = objName + _(", in ") + title; + + // add custom score for some objects according to scorer + if (Scorer.objPrio.hasOwnProperty(match[2])) + score += Scorer.objPrio[match[2]]; + else score += Scorer.objPrioDefault; + + results.push([ + docNames[match[0]], + fullname, + "#" + anchor, + descr, + score, + filenames[match[0]], + SearchResultKind.object, + ]); + }; + Object.keys(objects).forEach((prefix) => + objects[prefix].forEach((array) => objectSearchCallback(prefix, array)), + ); + return results; + }, + + /** + * search for full-text terms in the index + */ + performTermsSearch: (searchTerms, excludedTerms) => { + // prepare search + const terms = Search._index.terms; + const titleTerms = Search._index.titleterms; + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + + const scoreMap = new Map(); + const fileMap = new Map(); + + // perform the search on the required terms + searchTerms.forEach((word) => { + const files = []; + // find documents, if any, containing the query word in their text/title term indices + // use Object.hasOwnProperty to avoid mismatching against prototype properties + const arr = [ + { + files: terms.hasOwnProperty(word) ? terms[word] : undefined, + score: Scorer.term, + }, + { + files: titleTerms.hasOwnProperty(word) ? titleTerms[word] : undefined, + score: Scorer.title, + }, + ]; + // add support for partial matches + if (word.length > 2) { + const escapedWord = _escapeRegExp(word); + if (!terms.hasOwnProperty(word)) { + Object.keys(terms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: terms[term], score: Scorer.partialTerm }); + }); + } + if (!titleTerms.hasOwnProperty(word)) { + Object.keys(titleTerms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: titleTerms[term], score: Scorer.partialTitle }); + }); + } + } + + // no match but word was a required one + if (arr.every((record) => record.files === undefined)) return; + + // found search word in contents + arr.forEach((record) => { + if (record.files === undefined) return; + + let recordFiles = record.files; + if (recordFiles.length === undefined) recordFiles = [recordFiles]; + files.push(...recordFiles); + + // set score for the word in each file + recordFiles.forEach((file) => { + if (!scoreMap.has(file)) scoreMap.set(file, new Map()); + const fileScores = scoreMap.get(file); + fileScores.set(word, record.score); + }); + }); + + // create the mapping + files.forEach((file) => { + if (!fileMap.has(file)) fileMap.set(file, [word]); + else if (fileMap.get(file).indexOf(word) === -1) + fileMap.get(file).push(word); + }); + }); + + // now check if the files don't contain excluded terms + const results = []; + for (const [file, wordList] of fileMap) { + // check if all requirements are matched + + // as search terms with length < 3 are discarded + const filteredTermCount = [...searchTerms].filter( + (term) => term.length > 2, + ).length; + if ( + wordList.length !== searchTerms.size + && wordList.length !== filteredTermCount + ) + continue; + + // ensure that none of the excluded terms is in the search result + if ( + [...excludedTerms].some( + (term) => + terms[term] === file + || titleTerms[term] === file + || (terms[term] || []).includes(file) + || (titleTerms[term] || []).includes(file), + ) + ) + break; + + // select one (max) score for the file. + const score = Math.max(...wordList.map((w) => scoreMap.get(file).get(w))); + // add result to the result list + results.push([ + docNames[file], + titles[file], + "", + null, + score, + filenames[file], + SearchResultKind.text, + ]); + } + return results; + }, + + /** + * helper function to return a node containing the + * search summary for a given text. keywords is a list + * of stemmed words. + */ + makeSearchSummary: (htmlText, keywords, anchor) => { + const text = Search.htmlToText(htmlText, anchor); + if (text === "") return null; + + const textLower = text.toLowerCase(); + const actualStartPosition = [...keywords] + .map((k) => textLower.indexOf(k.toLowerCase())) + .filter((i) => i > -1) + .slice(-1)[0]; + const startWithContext = Math.max(actualStartPosition - 120, 0); + + const top = startWithContext === 0 ? "" : "..."; + const tail = startWithContext + 240 < text.length ? "..." : ""; + + let summary = document.createElement("p"); + summary.classList.add("context"); + summary.textContent = + top + text.substr(startWithContext, 240).trim() + tail; + + return summary; + }, +}; + +_ready(Search.init); diff --git a/_static/skeleton.css b/_static/skeleton.css new file mode 100644 index 00000000..467c878c --- /dev/null +++ b/_static/skeleton.css @@ -0,0 +1,296 @@ +/* Some sane resets. */ +html { + height: 100%; +} + +body { + margin: 0; + min-height: 100%; +} + +/* All the flexbox magic! */ +body, +.sb-announcement, +.sb-content, +.sb-main, +.sb-container, +.sb-container__inner, +.sb-article-container, +.sb-footer-content, +.sb-header, +.sb-header-secondary, +.sb-footer { + display: flex; +} + +/* These order things vertically */ +body, +.sb-main, +.sb-article-container { + flex-direction: column; +} + +/* Put elements in the center */ +.sb-header, +.sb-header-secondary, +.sb-container, +.sb-content, +.sb-footer, +.sb-footer-content { + justify-content: center; +} +/* Put elements at the ends */ +.sb-article-container { + justify-content: space-between; +} + +/* These elements grow. */ +.sb-main, +.sb-content, +.sb-container, +article { + flex-grow: 1; +} + +/* Because padding making this wider is not fun */ +article { + box-sizing: border-box; +} + +/* The announcements element should never be wider than the page. */ +.sb-announcement { + max-width: 100%; +} + +.sb-sidebar-primary, +.sb-sidebar-secondary { + flex-shrink: 0; + width: 17rem; +} + +.sb-announcement__inner { + justify-content: center; + + box-sizing: border-box; + height: 3rem; + + overflow-x: auto; + white-space: nowrap; +} + +/* Sidebars, with checkbox-based toggle */ +.sb-sidebar-primary, +.sb-sidebar-secondary { + position: fixed; + height: 100%; + top: 0; +} + +.sb-sidebar-primary { + left: -17rem; + transition: left 250ms ease-in-out; +} +.sb-sidebar-secondary { + right: -17rem; + transition: right 250ms ease-in-out; +} + +.sb-sidebar-toggle { + display: none; +} +.sb-sidebar-overlay { + position: fixed; + top: 0; + width: 0; + height: 0; + + transition: width 0ms ease 250ms, height 0ms ease 250ms, opacity 250ms ease; + + opacity: 0; + background-color: rgba(0, 0, 0, 0.54); +} + +#sb-sidebar-toggle--primary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--primary"], +#sb-sidebar-toggle--secondary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--secondary"] { + width: 100%; + height: 100%; + opacity: 1; + transition: width 0ms ease, height 0ms ease, opacity 250ms ease; +} + +#sb-sidebar-toggle--primary:checked ~ .sb-container .sb-sidebar-primary { + left: 0; +} +#sb-sidebar-toggle--secondary:checked ~ .sb-container .sb-sidebar-secondary { + right: 0; +} + +/* Full-width mode */ +.drop-secondary-sidebar-for-full-width-content + .hide-when-secondary-sidebar-shown { + display: none !important; +} +.drop-secondary-sidebar-for-full-width-content .sb-sidebar-secondary { + display: none !important; +} + +/* Mobile views */ +.sb-page-width { + width: 100%; +} + +.sb-article-container, +.sb-footer-content__inner, +.drop-secondary-sidebar-for-full-width-content .sb-article, +.drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 100vw; +} + +.sb-article, +.match-content-width { + padding: 0 1rem; + box-sizing: border-box; +} + +@media (min-width: 32rem) { + .sb-article, + .match-content-width { + padding: 0 2rem; + } +} + +/* Tablet views */ +@media (min-width: 42rem) { + .sb-article-container { + width: auto; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 42rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 46rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 46rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 50rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 50rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Tablet views */ +@media (min-width: 59rem) { + .sb-sidebar-secondary { + position: static; + } + .hide-when-secondary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 63rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 67rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Desktop views */ +@media (min-width: 76rem) { + .sb-sidebar-primary { + position: static; + } + .hide-when-primary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} + +/* Full desktop views */ +@media (min-width: 80rem) { + .sb-article, + .match-content-width { + width: 46rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } +} + +@media (min-width: 84rem) { + .sb-article, + .match-content-width { + width: 50rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } +} + +@media (min-width: 88rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-page-width { + width: 88rem; + } +} diff --git a/_static/sphinx_highlight.js b/_static/sphinx_highlight.js new file mode 100644 index 00000000..a74e103a --- /dev/null +++ b/_static/sphinx_highlight.js @@ -0,0 +1,159 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true; + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 + && !parent.classList.contains(className) + && !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + const rest = document.createTextNode(val.substr(pos + text.length)); + parent.insertBefore(span, parent.insertBefore(rest, node.nextSibling)); + node.nodeValue = val.substr(0, pos); + /* There may be more occurrences of search term in this node. So call this + * function recursively on the remaining fragment. + */ + _highlight(rest, addItems, text, className); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect", + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target), + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms"); + // Update history only if '?highlight' is present; otherwise it + // clears text fragments (not set in window.location by the browser) + if (url.searchParams.has("highlight")) { + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + } + + // get individual terms from highlight string + const terms = highlight + .toLowerCase() + .split(/\s+/) + .filter((x) => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

' + + '' + + _("Hide Search Matches") + + "

", + ), + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms"); + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) + return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) + return; + if ( + DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + && event.key === "Escape" + ) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/docs/images/spinning_box_cloth.gif b/_static/spinning_box_cloth.gif similarity index 100% rename from docs/images/spinning_box_cloth.gif rename to _static/spinning_box_cloth.gif diff --git a/docs/images/stark1920.png b/_static/stark1920.png similarity index 100% rename from docs/images/stark1920.png rename to _static/stark1920.png diff --git a/_static/stark1920w.png b/_static/stark1920w.png new file mode 100644 index 00000000..4f041225 Binary files /dev/null and b/_static/stark1920w.png differ diff --git a/_static/stark250.png b/_static/stark250.png new file mode 100644 index 00000000..5fdaecfd Binary files /dev/null and b/_static/stark250.png differ diff --git a/_static/stark250w.png b/_static/stark250w.png new file mode 100644 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Remove the inheritance of text transform in Firefox.\n */\n\nbutton,\nselect { /* 1 */\n text-transform: none;\n}\n\n/**\n * Correct the inability to style clickable types in iOS and Safari.\n */\n\nbutton,\n[type=\"button\"],\n[type=\"reset\"],\n[type=\"submit\"] {\n -webkit-appearance: button;\n}\n\n/**\n * Remove the inner border and padding in Firefox.\n */\n\nbutton::-moz-focus-inner,\n[type=\"button\"]::-moz-focus-inner,\n[type=\"reset\"]::-moz-focus-inner,\n[type=\"submit\"]::-moz-focus-inner {\n border-style: none;\n padding: 0;\n}\n\n/**\n * Restore the focus styles unset by the previous rule.\n */\n\nbutton:-moz-focusring,\n[type=\"button\"]:-moz-focusring,\n[type=\"reset\"]:-moz-focusring,\n[type=\"submit\"]:-moz-focusring {\n outline: 1px dotted ButtonText;\n}\n\n/**\n * Correct the padding in Firefox.\n */\n\nfieldset {\n padding: 0.35em 0.75em 0.625em;\n}\n\n/**\n * 1. Correct the text wrapping in Edge and IE.\n * 2. Correct the color inheritance from `fieldset` elements in IE.\n * 3. Remove the padding so developers are not caught out when they zero out\n * `fieldset` elements in all browsers.\n */\n\nlegend {\n box-sizing: border-box; /* 1 */\n color: inherit; /* 2 */\n display: table; /* 1 */\n max-width: 100%; /* 1 */\n padding: 0; /* 3 */\n white-space: normal; /* 1 */\n}\n\n/**\n * Add the correct vertical alignment in Chrome, Firefox, and Opera.\n */\n\nprogress {\n vertical-align: baseline;\n}\n\n/**\n * Remove the default vertical scrollbar in IE 10+.\n */\n\ntextarea {\n overflow: auto;\n}\n\n/**\n * 1. Add the correct box sizing in IE 10.\n * 2. Remove the padding in IE 10.\n */\n\n[type=\"checkbox\"],\n[type=\"radio\"] {\n box-sizing: border-box; /* 1 */\n padding: 0; /* 2 */\n}\n\n/**\n * Correct the cursor style of increment and decrement buttons in Chrome.\n */\n\n[type=\"number\"]::-webkit-inner-spin-button,\n[type=\"number\"]::-webkit-outer-spin-button {\n height: auto;\n}\n\n/**\n * 1. Correct the odd appearance in Chrome and Safari.\n * 2. Correct the outline style in Safari.\n */\n\n[type=\"search\"] {\n -webkit-appearance: textfield; /* 1 */\n outline-offset: -2px; /* 2 */\n}\n\n/**\n * Remove the inner padding in Chrome and Safari on macOS.\n */\n\n[type=\"search\"]::-webkit-search-decoration {\n -webkit-appearance: none;\n}\n\n/**\n * 1. Correct the inability to style clickable types in iOS and Safari.\n * 2. Change font properties to `inherit` in Safari.\n */\n\n::-webkit-file-upload-button {\n -webkit-appearance: button; /* 1 */\n font: inherit; /* 2 */\n}\n\n/* Interactive\n ========================================================================== */\n\n/*\n * Add the correct display in Edge, IE 10+, and Firefox.\n */\n\ndetails {\n display: block;\n}\n\n/*\n * Add the correct display in all browsers.\n */\n\nsummary {\n display: list-item;\n}\n\n/* Misc\n ========================================================================== */\n\n/**\n * Add the correct display in IE 10+.\n */\n\ntemplate {\n display: none;\n}\n\n/**\n * Add the correct display in IE 10.\n */\n\n[hidden] {\n display: none;\n}\n","// This file contains styles for managing print media.\n\n////////////////////////////////////////////////////////////////////////////////\n// Hide elements not relevant to print media.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Hide icon container.\n .content-icon-container\n display: none !important\n\n // Hide showing header links if hovering over when printing.\n .headerlink\n display: none !important\n\n // Hide mobile header.\n .mobile-header\n display: none !important\n\n // Hide navigation links.\n .related-pages\n display: none !important\n\n////////////////////////////////////////////////////////////////////////////////\n// Tweaks related to decolorization.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Apply a border around code which no longer have a color background.\n .highlight\n border: 0.1pt solid var(--color-foreground-border)\n\n////////////////////////////////////////////////////////////////////////////////\n// Avoid page break in some relevant cases.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n ul, ol, dl, a, table, pre, blockquote, p\n page-break-inside: avoid\n\n h1, h2, h3, h4, h5, h6, img, figure, caption\n page-break-inside: avoid\n page-break-after: avoid\n\n ul, ol, dl\n page-break-before: avoid\n",".visually-hidden\n position: absolute !important\n width: 1px !important\n height: 1px !important\n padding: 0 !important\n margin: -1px !important\n overflow: hidden !important\n clip: rect(0,0,0,0) !important\n white-space: nowrap !important\n border: 0 !important\n color: var(--color-foreground-primary)\n background: var(--color-background-primary)\n\n:-moz-focusring\n outline: auto\n","// This file serves as the \"skeleton\" of the theming logic.\n//\n// This contains the bulk of the logic for handling dark mode, color scheme\n// toggling and the handling of color-scheme-specific hiding of elements.\n\n@use \"../variables\" as *\n\nbody\n @include fonts\n @include spacing\n @include icons\n @include admonitions\n @include default-admonition(#651fff, \"abstract\")\n @include default-topic(#14B8A6, \"pencil\")\n\n @include colors\n\n.only-light\n display: block !important\nhtml body .only-dark\n display: none !important\n\n// Ignore dark-mode hints if print media.\n@media not print\n // Enable dark-mode, if requested.\n body[data-theme=\"dark\"]\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n // Enable dark mode, unless explicitly told to avoid.\n @media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n//\n// Theme toggle presentation\n//\nbody[data-theme=\"auto\"]\n .theme-toggle svg.theme-icon-when-auto-light\n display: block\n\n @media (prefers-color-scheme: dark)\n .theme-toggle svg.theme-icon-when-auto-dark\n display: block\n .theme-toggle svg.theme-icon-when-auto-light\n display: none\n\nbody[data-theme=\"dark\"]\n .theme-toggle svg.theme-icon-when-dark\n display: block\n\nbody[data-theme=\"light\"]\n .theme-toggle svg.theme-icon-when-light\n display: block\n","// Fonts used by this theme.\n//\n// There are basically two things here -- using the system font stack and\n// defining sizes for various elements in %ages. We could have also used `em`\n// but %age is easier to reason about for me.\n\n@mixin fonts {\n // These are adapted from https://systemfontstack.com/\n --font-stack:\n -apple-system, BlinkMacSystemFont, Segoe UI, Helvetica, Arial, sans-serif,\n Apple Color Emoji, Segoe UI Emoji;\n --font-stack--monospace:\n \"SFMono-Regular\", Menlo, Consolas, Monaco, Liberation Mono, Lucida Console,\n monospace;\n --font-stack--headings: var(--font-stack);\n\n --font-size--normal: 100%;\n --font-size--small: 87.5%;\n --font-size--small--2: 81.25%;\n --font-size--small--3: 75%;\n --font-size--small--4: 62.5%;\n\n // Sidebar\n --sidebar-caption-font-size: var(--font-size--small--2);\n --sidebar-item-font-size: var(--font-size--small);\n --sidebar-search-input-font-size: var(--font-size--small);\n\n // Table of Contents\n --toc-font-size: var(--font-size--small--3);\n --toc-font-size--mobile: var(--font-size--normal);\n --toc-title-font-size: var(--font-size--small--4);\n\n // Admonitions\n //\n // These aren't defined in terms of %ages, since nesting these is permitted.\n --admonition-font-size: 0.8125rem;\n --admonition-title-font-size: 0.8125rem;\n\n // Code\n --code-font-size: var(--font-size--small--2);\n\n // API\n --api-font-size: var(--font-size--small);\n}\n","// Spacing for various elements on the page\n//\n// If the user wants to tweak things in a certain way, they are permitted to.\n// They also have to deal with the consequences though!\n\n@mixin spacing {\n // Header!\n --header-height: calc(\n var(--sidebar-item-line-height) + 4 *\n #{var(--sidebar-item-spacing-vertical)}\n );\n --header-padding: 0.5rem;\n\n // Sidebar\n --sidebar-tree-space-above: 1.5rem;\n --sidebar-caption-space-above: 1rem;\n\n --sidebar-item-line-height: 1rem;\n --sidebar-item-spacing-vertical: 0.5rem;\n --sidebar-item-spacing-horizontal: 1rem;\n --sidebar-item-height: calc(\n var(--sidebar-item-line-height) + 2 *#{var(--sidebar-item-spacing-vertical)}\n );\n\n --sidebar-expander-width: var(--sidebar-item-height); // be square\n\n --sidebar-search-space-above: 0.5rem;\n --sidebar-search-input-spacing-vertical: 0.5rem;\n --sidebar-search-input-spacing-horizontal: 0.5rem;\n --sidebar-search-input-height: 1rem;\n --sidebar-search-icon-size: var(--sidebar-search-input-height);\n\n // Table of Contents\n --toc-title-padding: 0.25rem 0;\n --toc-spacing-vertical: 1.5rem;\n --toc-spacing-horizontal: 1.5rem;\n --toc-item-spacing-vertical: 0.4rem;\n --toc-item-spacing-horizontal: 1rem;\n}\n","// Expose theme icons as CSS variables.\n\n$icons: (\n // Adapted from tabler-icons\n // url: https://tablericons.com/\n \"search\":\n url('data:image/svg+xml;charset=utf-8,'),\n // Factored out from mkdocs-material on 24-Aug-2020.\n // url: https://squidfunk.github.io/mkdocs-material/reference/admonitions/\n \"pencil\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"abstract\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"info\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"flame\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"question\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"warning\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"failure\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"spark\":\n url('data:image/svg+xml;charset=utf-8,')\n);\n\n@mixin icons {\n @each $name, $glyph in $icons {\n --icon-#{$name}: #{$glyph};\n }\n}\n","@use \"sass:list\";\n// Admonitions\n\n// Structure of these is:\n// admonition-class: color \"icon-name\";\n//\n// The colors are translated into CSS variables below. The icons are\n// used directly in the main declarations to set the `mask-image` in\n// the title.\n\n// prettier-ignore\n$admonitions: (\n // Each of these has an reST directives for it.\n \"caution\": #ff9100 \"spark\",\n \"warning\": #ff9100 \"warning\",\n \"danger\": #ff5252 \"spark\",\n \"attention\": #ff5252 \"warning\",\n \"error\": #ff5252 \"failure\",\n \"hint\": #00c852 \"question\",\n \"tip\": #00c852 \"info\",\n \"important\": #00bfa5 \"flame\",\n \"note\": #00b0ff \"pencil\",\n \"seealso\": #448aff \"info\",\n \"admonition-todo\": #808080 \"pencil\"\n);\n\n@mixin default-admonition($color, $icon-name) {\n --color-admonition-title: #{$color};\n --color-admonition-title-background: #{rgba($color, 0.2)};\n\n --icon-admonition-default: var(--icon-#{$icon-name});\n}\n\n@mixin default-topic($color, $icon-name) {\n --color-topic-title: #{$color};\n --color-topic-title-background: #{rgba($color, 0.2)};\n\n --icon-topic-default: var(--icon-#{$icon-name});\n}\n\n@mixin admonitions {\n @each $name, $values in $admonitions {\n --color-admonition-title--#{$name}: #{list.nth($values, 1)};\n --color-admonition-title-background--#{$name}: #{rgba(\n list.nth($values, 1),\n 0.2\n )};\n }\n}\n","// Colors used throughout this theme.\n//\n// The aim is to give the user more control. Thus, instead of hard-coding colors\n// in various parts of the stylesheet, the approach taken is to define all\n// colors as CSS variables and reusing them in all the places.\n//\n// `colors-dark` depends on `colors` being included at a lower specificity.\n\n@mixin colors {\n --color-problematic: #b30000;\n\n // Base Colors\n --color-foreground-primary: black; // for main text and headings\n --color-foreground-secondary: #5a5c63; // for secondary text\n --color-foreground-muted: #6b6f76; // for muted text\n --color-foreground-border: #878787; // for content borders\n\n --color-background-primary: white; // for content\n --color-background-secondary: #f8f9fb; // for navigation + ToC\n --color-background-hover: #efeff4ff; // for navigation-item hover\n --color-background-hover--transparent: #efeff400;\n --color-background-border: #eeebee; // for UI borders\n --color-background-item: #ccc; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #0a4bff;\n --color-brand-content: #2757dd;\n --color-brand-visited: #872ee0;\n\n // API documentation\n --color-api-background: var(--color-background-hover--transparent);\n --color-api-background-hover: var(--color-background-hover);\n --color-api-overall: var(--color-foreground-secondary);\n --color-api-name: var(--color-problematic);\n --color-api-pre-name: var(--color-problematic);\n --color-api-paren: var(--color-foreground-secondary);\n --color-api-keyword: var(--color-foreground-primary);\n\n --color-api-added: #21632c;\n --color-api-added-border: #38a84d;\n --color-api-changed: #046172;\n --color-api-changed-border: #06a1bc;\n --color-api-deprecated: #605706;\n --color-api-deprecated-border: #f0d90f;\n --color-api-removed: #b30000;\n --color-api-removed-border: #ff5c5c;\n\n --color-highlight-on-target: #ffffcc;\n\n // Inline code background\n --color-inline-code-background: var(--color-background-secondary);\n\n // Highlighted text (search)\n --color-highlighted-background: #ddeeff;\n --color-highlighted-text: var(--color-foreground-primary);\n\n // GUI Labels\n --color-guilabel-background: #ddeeff80;\n --color-guilabel-border: #bedaf580;\n --color-guilabel-text: var(--color-foreground-primary);\n\n // Admonitions!\n --color-admonition-background: transparent;\n\n //////////////////////////////////////////////////////////////////////////////\n // Everything below this should be one of:\n // - var(...)\n // - *-gradient(...)\n // - special literal values (eg: transparent, none)\n //////////////////////////////////////////////////////////////////////////////\n\n // Tables\n --color-table-header-background: var(--color-background-secondary);\n --color-table-border: var(--color-background-border);\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: transparent;\n --color-card-marginals-background: var(--color-background-secondary);\n\n // Header\n --color-header-background: var(--color-background-primary);\n --color-header-border: var(--color-background-border);\n --color-header-text: var(--color-foreground-primary);\n\n // Sidebar (left)\n --color-sidebar-background: var(--color-background-secondary);\n --color-sidebar-background-border: var(--color-background-border);\n\n --color-sidebar-brand-text: var(--color-foreground-primary);\n --color-sidebar-caption-text: var(--color-foreground-muted);\n --color-sidebar-link-text: var(--color-foreground-secondary);\n --color-sidebar-link-text--top-level: var(--color-brand-primary);\n\n --color-sidebar-item-background: var(--color-sidebar-background);\n --color-sidebar-item-background--current: var(\n --color-sidebar-item-background\n );\n --color-sidebar-item-background--hover: linear-gradient(\n 90deg,\n var(--color-background-hover--transparent) 0%,\n var(--color-background-hover) var(--sidebar-item-spacing-horizontal),\n var(--color-background-hover) 100%\n );\n\n --color-sidebar-item-expander-background: transparent;\n --color-sidebar-item-expander-background--hover: var(\n --color-background-hover\n );\n\n --color-sidebar-search-text: var(--color-foreground-primary);\n --color-sidebar-search-background: var(--color-background-secondary);\n --color-sidebar-search-background--focus: var(--color-background-primary);\n --color-sidebar-search-border: var(--color-background-border);\n --color-sidebar-search-icon: var(--color-foreground-muted);\n\n // Table of Contents (right)\n --color-toc-background: var(--color-background-primary);\n --color-toc-title-text: var(--color-foreground-muted);\n --color-toc-item-text: var(--color-foreground-secondary);\n --color-toc-item-text--hover: var(--color-foreground-primary);\n --color-toc-item-text--active: var(--color-brand-primary);\n\n // Actual page contents\n --color-content-foreground: var(--color-foreground-primary);\n --color-content-background: transparent;\n\n // Links\n --color-link: var(--color-brand-content);\n --color-link-underline: var(--color-background-border);\n --color-link--hover: var(--color-brand-content);\n --color-link-underline--hover: var(--color-foreground-border);\n\n --color-link--visited: var(--color-brand-visited);\n --color-link-underline--visited: var(--color-background-border);\n --color-link--visited--hover: var(--color-brand-visited);\n --color-link-underline--visited--hover: var(--color-foreground-border);\n}\n\n@mixin colors-dark {\n --color-problematic: #ee5151;\n\n // Base Colors\n --color-foreground-primary: #cfd0d0; // for main text and headings\n --color-foreground-secondary: #9ca0a5; // for secondary text\n --color-foreground-muted: #81868d; // for muted text\n --color-foreground-border: #666666; // for content borders\n\n --color-background-primary: #131416; // for content\n --color-background-secondary: #1a1c1e; // for navigation + ToC\n --color-background-hover: #1e2124ff; // for navigation-item hover\n --color-background-hover--transparent: #1e212400;\n --color-background-border: #303335; // for UI borders\n --color-background-item: #444; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #3d94ff;\n --color-brand-content: #5ca5ff;\n --color-brand-visited: #b27aeb;\n\n // Highlighted text (search)\n --color-highlighted-background: #083563;\n\n // GUI Labels\n --color-guilabel-background: #08356380;\n --color-guilabel-border: #13395f80;\n\n // API documentation\n --color-api-keyword: var(--color-foreground-secondary);\n --color-highlight-on-target: #333300;\n\n --color-api-added: #3db854;\n --color-api-added-border: #267334;\n --color-api-changed: #09b0ce;\n --color-api-changed-border: #056d80;\n --color-api-deprecated: #b1a10b;\n --color-api-deprecated-border: #6e6407;\n --color-api-removed: #ff7575;\n --color-api-removed-border: #b03b3b;\n\n // Admonitions\n --color-admonition-background: #18181a;\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: #18181a;\n --color-card-marginals-background: var(--color-background-hover);\n}\n","// This file contains the styling for making the content throughout the page,\n// including fonts, paragraphs, headings and spacing among these elements.\n\nbody\n font-family: var(--font-stack)\npre,\ncode,\nkbd,\nsamp\n font-family: var(--font-stack--monospace)\n\n// Make fonts look slightly nicer.\nbody\n -webkit-font-smoothing: antialiased\n -moz-osx-font-smoothing: grayscale\n\n// Line height from Bootstrap 4.1\narticle\n line-height: 1.5\n\n//\n// Headings\n//\nh1,\nh2,\nh3,\nh4,\nh5,\nh6\n line-height: 1.25\n font-family: var(--font-stack--headings)\n font-weight: bold\n\n border-radius: 0.5rem\n margin-top: 0.5rem\n margin-bottom: 0.5rem\n margin-left: -0.5rem\n margin-right: -0.5rem\n padding-left: 0.5rem\n padding-right: 0.5rem\n\n + p\n margin-top: 0\n\nh1\n font-size: 2.5em\n margin-top: 1.75rem\n margin-bottom: 1rem\nh2\n font-size: 2em\n margin-top: 1.75rem\nh3\n font-size: 1.5em\nh4\n font-size: 1.25em\nh5\n font-size: 1.125em\nh6\n font-size: 1em\n\nsmall\n opacity: 75%\n font-size: 80%\n\n// Paragraph\np\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n\n// Horizontal rules\nhr.docutils\n height: 1px\n padding: 0\n margin: 2rem 0\n background-color: var(--color-background-border)\n border: 0\n\n.centered\n text-align: center\n\n// Links\na\n text-decoration: underline\n\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n &:visited\n color: var(--color-link--visited)\n text-decoration-color: var(--color-link-underline--visited)\n &:hover\n color: var(--color-link--visited--hover)\n text-decoration-color: var(--color-link-underline--visited--hover)\n\n &:hover\n color: var(--color-link--hover)\n text-decoration-color: var(--color-link-underline--hover)\n &.muted-link\n color: inherit\n &:hover\n color: var(--color-link--hover)\n text-decoration-color: var(--color-link-underline--hover)\n &:visited\n color: var(--color-link--visited--hover)\n text-decoration-color: var(--color-link-underline--visited--hover)\n","// This file contains the styles for the overall layouting of the documentation\n// skeleton, including the responsive changes as well as sidebar toggles.\n//\n// This is implemented as a mobile-last design, which isn't ideal, but it is\n// reasonably good-enough and I got pretty tired by the time I'd finished this\n// to move the rules around to fix this. Shouldn't take more than 3-4 hours,\n// if you know what you're doing tho.\n\n// HACK: Not all browsers account for the scrollbar width in media queries.\n// This results in horizontal scrollbars in the breakpoint where we go\n// from displaying everything to hiding the ToC. We accomodate for this by\n// adding a bit of padding to the TOC drawer, disabling the horizontal\n// scrollbar and allowing the scrollbars to cover the padding.\n// https://www.456bereastreet.com/archive/201301/media_query_width_and_vertical_scrollbars/\n\n// HACK: Always having the scrollbar visible, prevents certain browsers from\n// causing the content to stutter horizontally between taller-than-viewport and\n// not-taller-than-viewport pages.\n@use \"variables\" as *\n\nhtml\n overflow-x: hidden\n overflow-y: scroll\n scroll-behavior: smooth\n\n.sidebar-scroll, .toc-scroll, article[role=main] *\n scrollbar-width: thin\n scrollbar-color: var(--color-foreground-border) transparent\n\n//\n// Overalls\n//\nhtml,\nbody\n height: 100%\n color: var(--color-foreground-primary)\n background: var(--color-background-primary)\n\n.skip-to-content\n position: fixed\n padding: 1rem\n border-radius: 1rem\n left: 0.25rem\n top: 0.25rem\n z-index: 40\n background: var(--color-background-primary)\n color: var(--color-foreground-primary)\n\n transform: translateY(-200%)\n transition: transform 300ms ease-in-out\n\n &:focus-within\n transform: translateY(0%)\n\narticle\n color: var(--color-content-foreground)\n background: var(--color-content-background)\n overflow-wrap: break-word\n\n.page\n display: flex\n // fill the viewport for pages with little content.\n min-height: 100%\n\n.mobile-header\n width: 100%\n height: var(--header-height)\n background-color: var(--color-header-background)\n color: var(--color-header-text)\n border-bottom: 1px solid var(--color-header-border)\n\n // Looks like sub-script/super-script have this, and we need this to\n // be \"on top\" of those.\n z-index: 10\n\n // We don't show the header on large screens.\n display: none\n\n // Add shadow when scrolled\n &.scrolled\n border-bottom: none\n box-shadow: 0 0 0.2rem rgba(0, 0, 0, 0.1), 0 0.2rem 0.4rem rgba(0, 0, 0, 0.2)\n\n .header-center\n a\n color: var(--color-header-text)\n text-decoration: none\n\n.main\n display: flex\n flex: 1\n\n// Sidebar (left) also covers the entire left portion of screen.\n.sidebar-drawer\n box-sizing: border-box\n\n border-right: 1px solid var(--color-sidebar-background-border)\n background: var(--color-sidebar-background)\n\n display: flex\n justify-content: flex-end\n // These next two lines took me two days to figure out.\n width: calc((100% - #{$full-width}) / 2 + #{$sidebar-width})\n min-width: $sidebar-width\n\n// Scroll-along sidebars\n.sidebar-container,\n.toc-drawer\n box-sizing: border-box\n width: $sidebar-width\n\n.toc-drawer\n background: var(--color-toc-background)\n // See HACK described on top of this document\n padding-right: 1rem\n\n.sidebar-sticky,\n.toc-sticky\n position: sticky\n top: 0\n height: min(100%, 100vh)\n height: 100vh\n\n display: flex\n flex-direction: column\n\n.sidebar-scroll,\n.toc-scroll\n flex-grow: 1\n flex-shrink: 1\n\n overflow: auto\n scroll-behavior: smooth\n\n// Central items.\n.content\n padding: 0 $content-padding\n width: $content-width\n\n display: flex\n flex-direction: column\n justify-content: space-between\n\n.icon\n display: inline-block\n height: 1rem\n width: 1rem\n svg\n width: 100%\n height: 100%\n\n//\n// Accommodate announcement banner\n//\n.announcement\n background-color: var(--color-announcement-background)\n color: var(--color-announcement-text)\n\n height: var(--header-height)\n display: flex\n align-items: center\n overflow-x: auto\n & + .page\n min-height: calc(100% - var(--header-height))\n\n.announcement-content\n box-sizing: border-box\n padding: 0.5rem\n min-width: 100%\n white-space: nowrap\n text-align: center\n\n a\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-announcement-text)\n\n &:hover\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-link--hover)\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for theme\n////////////////////////////////////////////////////////////////////////////////\n.no-js .theme-toggle-container // don't show theme toggle if there's no JS\n display: none\n\n.theme-toggle-container\n display: flex\n\n.theme-toggle\n display: flex\n cursor: pointer\n border: none\n padding: 0\n background: transparent\n\n.theme-toggle svg\n height: 1.25rem\n width: 1.25rem\n color: var(--color-foreground-primary)\n display: none\n\n.theme-toggle-header\n display: flex\n align-items: center\n justify-content: center\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for elements\n////////////////////////////////////////////////////////////////////////////////\n.toc-overlay-icon, .nav-overlay-icon\n display: none\n cursor: pointer\n\n .icon\n color: var(--color-foreground-secondary)\n height: 1.5rem\n width: 1.5rem\n\n.toc-header-icon, .nav-overlay-icon\n // for when we set display: flex\n justify-content: center\n align-items: center\n\n.toc-content-icon\n height: 1.5rem\n width: 1.5rem\n\n.content-icon-container\n float: right\n display: flex\n margin-top: 1.5rem\n margin-left: 1rem\n margin-bottom: 1rem\n gap: 0.5rem\n\n .edit-this-page, .view-this-page\n svg\n color: inherit\n height: 1.25rem\n width: 1.25rem\n\n.sidebar-toggle\n position: absolute\n display: none\n// \n.sidebar-toggle[name=\"__toc\"]\n left: 20px\n.sidebar-toggle:checked\n left: 40px\n// \n\n.overlay\n position: fixed\n top: 0\n width: 0\n height: 0\n\n transition: width 0ms, height 0ms, opacity 250ms ease-out\n\n opacity: 0\n background-color: rgba(0, 0, 0, 0.54)\n.sidebar-overlay\n z-index: 20\n.toc-overlay\n z-index: 40\n\n// Keep things on top and smooth.\n.sidebar-drawer\n z-index: 30\n transition: left 250ms ease-in-out\n.toc-drawer\n z-index: 50\n transition: right 250ms ease-in-out\n\n// Show the Sidebar\n#__navigation:checked\n & ~ .sidebar-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .sidebar-drawer\n top: 0\n left: 0\n // Show the toc sidebar\n#__toc:checked\n & ~ .toc-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .toc-drawer\n top: 0\n right: 0\n\n////////////////////////////////////////////////////////////////////////////////\n// Back to top\n////////////////////////////////////////////////////////////////////////////////\n.back-to-top\n text-decoration: none\n\n display: none\n position: fixed\n left: 0\n top: 1rem\n padding: 0.5rem\n padding-right: 0.75rem\n border-radius: 1rem\n font-size: 0.8125rem\n\n background: var(--color-background-primary)\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), #6b728080 0px 0px 1px 0px\n\n z-index: 10\n\n margin-left: 50%\n transform: translateX(-50%)\n svg\n height: 1rem\n width: 1rem\n fill: currentColor\n display: inline-block\n\n span\n margin-left: 0.25rem\n\n .show-back-to-top &\n display: flex\n align-items: center\n\n////////////////////////////////////////////////////////////////////////////////\n// Responsive layouting\n////////////////////////////////////////////////////////////////////////////////\n// Make things a bit bigger on bigger screens.\n@media (min-width: $full-width + $sidebar-width)\n html\n font-size: 110%\n\n@media (max-width: $full-width)\n // Collapse \"toc\" into the icon.\n .toc-content-icon\n display: flex\n .toc-drawer\n position: fixed\n height: 100vh\n top: 0\n right: -$sidebar-width\n border-left: 1px solid var(--color-background-muted)\n .toc-tree\n border-left: none\n font-size: var(--toc-font-size--mobile)\n\n // Accomodate for a changed content width.\n .sidebar-drawer\n width: calc((100% - #{$full-width - $sidebar-width}) / 2 + #{$sidebar-width})\n\n@media (max-width: $content-padded-width + $sidebar-width)\n // Center the page\n .content\n margin-left: auto\n margin-right: auto\n padding: 0 $content-padding--small\n\n@media (max-width: $content-padded-width--small + $sidebar-width)\n // Collapse \"navigation\".\n .nav-overlay-icon\n display: flex\n .sidebar-drawer\n position: fixed\n height: 100vh\n width: $sidebar-width\n\n top: 0\n left: -$sidebar-width\n\n // Swap which icon is visible.\n .toc-header-icon, .theme-toggle-header\n display: flex\n .toc-content-icon, .theme-toggle-content\n display: none\n\n // Show the header.\n .mobile-header\n position: sticky\n top: 0\n display: flex\n justify-content: space-between\n align-items: center\n\n .header-left,\n .header-right\n display: flex\n height: var(--header-height)\n padding: 0 var(--header-padding)\n label\n height: 100%\n width: 100%\n user-select: none\n\n .nav-overlay-icon .icon,\n .theme-toggle svg\n height: 1.5rem\n width: 1.5rem\n\n // Add a scroll margin for the content\n :target\n scroll-margin-top: calc(var(--header-height) + 2.5rem)\n\n // Show back-to-top below the header\n .back-to-top\n top: calc(var(--header-height) + 0.5rem)\n\n // Accommodate for the header.\n .page\n flex-direction: column\n justify-content: center\n\n@media (max-width: $content-width + 2* $content-padding--small)\n // Content should respect window limits.\n .content\n width: 100%\n overflow-x: auto\n\n@media (max-width: $content-width)\n article[role=main] aside.sidebar\n float: none\n width: 100%\n margin: 1rem 0\n","@use \"sass:list\"\n@use \"../variables\" as *\n\n// The design here is strongly inspired by mkdocs-material.\n.admonition, .topic\n margin: 1rem auto\n padding: 0 0.5rem 0.5rem 0.5rem\n\n background: var(--color-admonition-background)\n\n border-radius: 0.2rem\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n font-size: var(--admonition-font-size)\n\n overflow: hidden\n page-break-inside: avoid\n\n // First element should have no margin, since the title has it.\n > :nth-child(2)\n margin-top: 0\n\n // Last item should have no margin, since we'll control that w/ padding\n > :last-child\n margin-bottom: 0\n\n.admonition p.admonition-title,\np.topic-title\n position: relative\n margin: 0 -0.5rem 0.5rem\n padding-left: 2rem\n padding-right: .5rem\n padding-top: .4rem\n padding-bottom: .4rem\n\n font-weight: 500\n font-size: var(--admonition-title-font-size)\n line-height: 1.3\n\n // Our fancy icon\n &::before\n content: \"\"\n position: absolute\n left: 0.5rem\n width: 1rem\n height: 1rem\n\n// Default styles\np.admonition-title\n background-color: var(--color-admonition-title-background)\n &::before\n background-color: var(--color-admonition-title)\n mask-image: var(--icon-admonition-default)\n mask-repeat: no-repeat\n\np.topic-title\n background-color: var(--color-topic-title-background)\n &::before\n background-color: var(--color-topic-title)\n mask-image: var(--icon-topic-default)\n mask-repeat: no-repeat\n\n//\n// Variants\n//\n.admonition\n border-left: 0.2rem solid var(--color-admonition-title)\n\n @each $type, $value in $admonitions\n &.#{$type}\n border-left-color: var(--color-admonition-title--#{$type})\n > .admonition-title\n background-color: var(--color-admonition-title-background--#{$type})\n &::before\n background-color: var(--color-admonition-title--#{$type})\n mask-image: var(--icon-#{list.nth($value, 2)})\n\n.admonition-todo > .admonition-title\n text-transform: uppercase\n","// This file stylizes the API documentation (stuff generated by autodoc). It's\n// deeply nested due to how autodoc structures the HTML without enough classes\n// to select the relevant items.\n\n// API docs!\ndl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)\n // Tweak the spacing of all the things!\n dd\n margin-left: 2rem\n > :first-child\n margin-top: 0.125rem\n > :last-child\n margin-bottom: 0.75rem\n\n // This is used for the arguments\n .field-list\n margin-bottom: 0.75rem\n\n // \"Headings\" (like \"Parameters\" and \"Return\")\n > dt\n text-transform: uppercase\n font-size: var(--font-size--small)\n\n dd:empty\n margin-bottom: 0.5rem\n dd > ul\n margin-left: -1.2rem\n > li\n > p:nth-child(2)\n margin-top: 0\n // When the last-empty-paragraph follows a paragraph, it doesn't need\n // to augument the existing spacing.\n > p + p:last-child:empty\n margin-top: 0\n margin-bottom: 0\n\n // Colorize the elements\n > dt\n color: var(--color-api-overall)\n\n.sig:not(.sig-inline)\n font-weight: bold\n\n font-size: var(--api-font-size)\n font-family: var(--font-stack--monospace)\n\n margin-left: -0.25rem\n margin-right: -0.25rem\n padding-top: 0.25rem\n padding-bottom: 0.25rem\n padding-right: 0.5rem\n\n // These are intentionally em, to properly match the font size.\n padding-left: 3em\n text-indent: -2.5em\n\n border-radius: 0.25rem\n\n background: var(--color-api-background)\n transition: background 100ms ease-out\n\n &:hover\n background: var(--color-api-background-hover)\n\n // adjust the size of the [source] link on the right.\n a.reference\n .viewcode-link\n font-weight: normal\n width: 4.25rem\n\nem.property, span.property\n font-style: normal\n &:first-child\n color: var(--color-api-keyword)\n.sig-name\n color: var(--color-api-name)\n.sig-prename\n font-weight: normal\n color: var(--color-api-pre-name)\n.sig-paren\n color: var(--color-api-paren)\n.sig-param\n font-style: normal\n\ndiv.versionadded,\ndiv.versionchanged,\ndiv.deprecated,\ndiv.versionremoved\n border-left: 0.1875rem solid\n border-radius: 0.125rem\n\n padding-left: 0.75rem\n\n p\n margin-top: 0.125rem\n margin-bottom: 0.125rem\n\ndiv.versionadded\n border-color: var(--color-api-added-border)\n .versionmodified\n color: var(--color-api-added)\n\ndiv.versionchanged\n border-color: var(--color-api-changed-border)\n .versionmodified\n color: var(--color-api-changed)\n\ndiv.deprecated\n border-color: var(--color-api-deprecated-border)\n .versionmodified\n color: var(--color-api-deprecated)\n\ndiv.versionremoved\n border-color: var(--color-api-removed-border)\n .versionmodified\n color: var(--color-api-removed)\n\n// Align the [docs] and [source] to the right.\n.viewcode-link, .viewcode-back\n float: right\n text-align: right\n",".line-block\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n .line-block\n margin-top: 0rem\n margin-bottom: 0rem\n padding-left: 1rem\n","// Captions\narticle p.caption,\ntable > caption,\n.code-block-caption\n font-size: var(--font-size--small)\n text-align: center\n\n// Caption above a TOCTree\n.toctree-wrapper.compound\n .caption, :not(.caption) > .caption-text\n font-size: var(--font-size--small)\n text-transform: uppercase\n\n text-align: initial\n margin-bottom: 0\n\n > ul\n margin-top: 0\n margin-bottom: 0\n","// Inline code\ncode.literal, .sig-inline\n background: var(--color-inline-code-background)\n border-radius: 0.2em\n // Make the font smaller, and use padding to recover.\n font-size: var(--font-size--small--2)\n padding: 0.1em 0.2em\n\n pre.literal-block &\n font-size: inherit\n padding: 0\n\n p &\n border: 1px solid var(--color-background-border)\n\n.sig-inline\n font-family: var(--font-stack--monospace)\n\n// Code and Literal Blocks\n$code-spacing-vertical: 0.625rem\n$code-spacing-horizontal: 0.875rem\n\n// Wraps every literal block + line numbers.\ndiv[class*=\" highlight-\"],\ndiv[class^=\"highlight-\"]\n margin: 1em 0\n display: flex\n\n .table-wrapper\n margin: 0\n padding: 0\n\npre\n margin: 0\n padding: 0\n overflow: auto\n\n // Needed to have more specificity than pygments' \"pre\" selector. :(\n article[role=\"main\"] .highlight &\n line-height: 1.5\n\n &.literal-block,\n .highlight &\n font-size: var(--code-font-size)\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n // Make it look like all the other blocks.\n &.literal-block\n margin-top: 1rem\n margin-bottom: 1rem\n\n border-radius: 0.2rem\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n\n// All code is always contained in this.\n.highlight\n width: 100%\n border-radius: 0.2rem\n\n // Make line numbers and prompts un-selectable.\n .gp, span.linenos\n user-select: none\n pointer-events: none\n\n // Expand the line-highlighting.\n .hll\n display: block\n margin-left: -$code-spacing-horizontal\n margin-right: -$code-spacing-horizontal\n padding-left: $code-spacing-horizontal\n padding-right: $code-spacing-horizontal\n\n/* Make code block captions be nicely integrated */\n.code-block-caption\n display: flex\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n border-radius: 0.25rem\n border-bottom-left-radius: 0\n border-bottom-right-radius: 0\n font-weight: 300\n border-bottom: 1px solid\n\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n border-color: var(--color-background-border)\n\n + div[class]\n margin-top: 0\n > .highlight\n border-top-left-radius: 0\n border-top-right-radius: 0\n\n// When `html_codeblock_linenos_style` is table.\n.highlighttable\n width: 100%\n display: block\n tbody\n display: block\n\n tr\n display: flex\n\n // Line numbers\n td.linenos\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n padding: $code-spacing-vertical $code-spacing-horizontal\n padding-right: 0\n border-top-left-radius: 0.2rem\n border-bottom-left-radius: 0.2rem\n\n .linenodiv\n padding-right: $code-spacing-horizontal\n font-size: var(--code-font-size)\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n\n // Actual code\n td.code\n padding: 0\n display: block\n flex: 1\n overflow: hidden\n\n .highlight\n border-top-left-radius: 0\n border-bottom-left-radius: 0\n\n// When `html_codeblock_linenos_style` is inline.\n.highlight\n span.linenos\n display: inline-block\n padding-left: 0\n padding-right: $code-spacing-horizontal\n margin-right: $code-spacing-horizontal\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n","// Inline Footnote Reference\n.footnote-reference\n font-size: var(--font-size--small--4)\n vertical-align: super\n\n// Definition list, listing the content of each note.\n// docutils <= 0.17\ndl.footnote.brackets\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\n display: grid\n grid-template-columns: max-content auto\n dt\n margin: 0\n > .fn-backref\n margin-left: 0.25rem\n\n &:after\n content: \":\"\n\n .brackets\n &:before\n content: \"[\"\n &:after\n content: \"]\"\n\n dd\n margin: 0\n padding: 0 1rem\n\n// docutils >= 0.18\naside.footnote\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\naside.footnote > span,\ndiv.citation > span\n float: left\n font-weight: 500\n padding-right: 0.25rem\n\naside.footnote > *:not(span),\ndiv.citation > p\n margin-left: 2rem\n","//\n// Figures\n//\nimg\n box-sizing: border-box\n max-width: 100%\n height: auto\n\narticle\n figure, .figure\n border-radius: 0.2rem\n\n margin: 0\n :last-child\n margin-bottom: 0\n\n .align-left\n float: left\n clear: left\n margin: 0 1rem 1rem\n\n .align-right\n float: right\n clear: right\n margin: 0 1rem 1rem\n\n .align-default,\n .align-center\n display: block\n text-align: center\n margin-left: auto\n margin-right: auto\n\n // WELL, table needs to be stylised like a table.\n table.align-default\n display: table\n text-align: initial\n",".genindex-jumpbox, .domainindex-jumpbox\n border-top: 1px solid var(--color-background-border)\n border-bottom: 1px solid var(--color-background-border)\n padding: 0.25rem\n\n.genindex-section, .domainindex-section\n h2\n margin-top: 0.75rem\n margin-bottom: 0.5rem\n ul\n margin-top: 0\n margin-bottom: 0\n","ul,\nol\n padding-left: 1.2rem\n\n // Space lists out like paragraphs\n margin-top: 1rem\n margin-bottom: 1rem\n // reduce margins within li.\n li\n > p:first-child\n margin-top: 0.25rem\n margin-bottom: 0.25rem\n\n > p:last-child\n margin-top: 0.25rem\n\n > ul,\n > ol\n margin-top: 0.5rem\n margin-bottom: 0.5rem\n\nol\n &.arabic\n list-style: decimal\n &.loweralpha\n list-style: lower-alpha\n &.upperalpha\n list-style: upper-alpha\n &.lowerroman\n list-style: lower-roman\n &.upperroman\n list-style: upper-roman\n\n// Don't space lists out when they're \"simple\" or in a `.. toctree::`\n.simple,\n.toctree-wrapper\n li\n > ul,\n > ol\n margin-top: 0\n margin-bottom: 0\n\n// Definition Lists\n.field-list,\n.option-list,\ndl:not([class]),\ndl.simple,\ndl.footnote,\ndl.glossary\n dt\n font-weight: 500\n margin-top: 0.25rem\n + dt\n margin-top: 0\n\n .classifier::before\n content: \":\"\n margin-left: 0.2rem\n margin-right: 0.2rem\n\n dd\n > p:first-child,\n ul\n margin-top: 0.125rem\n\n ul\n margin-bottom: 0.125rem\n",".math-wrapper\n width: 100%\n overflow-x: auto\n\ndiv.math\n position: relative\n text-align: center\n\n .headerlink,\n &:focus .headerlink\n display: none\n\n &:hover .headerlink\n display: inline-block\n\n span.eqno\n position: absolute\n right: 0.5rem\n top: 50%\n transform: translate(0, -50%)\n z-index: 1\n","// Abbreviations\nabbr[title]\n cursor: help\n\n// \"Problematic\" content, as identified by Sphinx\n.problematic\n color: var(--color-problematic)\n\n// Keyboard / Mouse \"instructions\"\nkbd:not(.compound)\n margin: 0 0.2rem\n padding: 0 0.2rem\n border-radius: 0.2rem\n border: 1px solid var(--color-foreground-border)\n color: var(--color-foreground-primary)\n vertical-align: text-bottom\n\n font-size: var(--font-size--small--3)\n display: inline-block\n\n box-shadow: 0 0.0625rem 0 rgba(0, 0, 0, 0.2), inset 0 0 0 0.125rem var(--color-background-primary)\n\n background-color: var(--color-background-secondary)\n\n// Blockquote\nblockquote\n border-left: 4px solid var(--color-background-border)\n background: var(--color-background-secondary)\n\n margin-left: 0\n margin-right: 0\n padding: 0.5rem 1rem\n\n .attribution\n font-weight: 600\n text-align: right\n\n &.pull-quote,\n &.highlights\n font-size: 1.25em\n\n &.epigraph,\n &.pull-quote\n border-left-width: 0\n border-radius: 0.5rem\n\n &.highlights\n border-left-width: 0\n background: transparent\n\n// Center align embedded-in-text images\np .reference img\n vertical-align: middle\n","p.rubric\n line-height: 1.25\n font-weight: bold\n font-size: 1.125em\n\n // For Numpy-style documentation that's got rubrics within it.\n // https://github.com/pradyunsg/furo/discussions/505\n dd &\n line-height: inherit\n font-weight: inherit\n\n font-size: var(--font-size--small)\n text-transform: uppercase\n","article .sidebar\n float: right\n clear: right\n width: 30%\n\n margin-left: 1rem\n margin-right: 0\n\n border-radius: 0.2rem\n background-color: var(--color-background-secondary)\n border: var(--color-background-border) 1px solid\n\n > *\n padding-left: 1rem\n padding-right: 1rem\n\n > ul, > ol // lists need additional padding, because bullets.\n padding-left: 2.2rem\n\n .sidebar-title\n margin: 0\n padding: 0.5rem 1rem\n border-bottom: var(--color-background-border) 1px solid\n\n font-weight: 500\n\n// TODO: subtitle\n// TODO: dedicated variables?\n","[role=main] .table-wrapper.container\n width: 100%\n overflow-x: auto\n margin-top: 1rem\n margin-bottom: 0.5rem\n padding: 0.2rem 0.2rem 0.75rem\n\ntable.docutils\n border-radius: 0.2rem\n border-spacing: 0\n border-collapse: collapse\n\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n th\n background: var(--color-table-header-background)\n\n td,\n th\n // Space things out properly\n padding: 0 0.25rem\n\n // Get the borders looking just-right.\n border-left: 1px solid var(--color-table-border)\n border-right: 1px solid var(--color-table-border)\n border-bottom: 1px solid var(--color-table-border)\n\n p\n margin: 0.25rem\n\n &:first-child\n border-left: none\n &:last-child\n border-right: none\n\n // MyST-parser tables set these classes for control of column alignment\n &.text-left\n text-align: left\n &.text-right\n text-align: right\n &.text-center\n text-align: center\n","@use \"../variables\" as *\n\n:target\n scroll-margin-top: 2.5rem\n\n@media (max-width: $full-width - $sidebar-width)\n :target\n scroll-margin-top: calc(2.5rem + var(--header-height))\n\n // When a heading is selected\n section > span:target\n scroll-margin-top: calc(2.8rem + var(--header-height))\n\n// Permalinks\n.headerlink\n font-weight: 100\n user-select: none\n\nh1,\nh2,\nh3,\nh4,\nh5,\nh6,\ndl dt,\np.caption,\nfigcaption p,\ntable > caption,\n.code-block-caption\n > .headerlink\n margin-left: 0.5rem\n visibility: hidden\n &:hover > .headerlink\n visibility: visible\n\n // Don't change to link-like, if someone adds the contents directive.\n > .toc-backref\n color: inherit\n text-decoration-line: none\n\n// Figure and table captions are special.\nfigure:hover > figcaption > p > .headerlink,\ntable:hover > caption > .headerlink\n visibility: visible\n\n:target >, // Regular section[id] style anchors\nspan:target ~ // Non-regular span[id] style \"extra\" anchors\n h1,\n h2,\n h3,\n h4,\n h5,\n h6\n &:nth-of-type(1)\n background-color: var(--color-highlight-on-target)\n // .headerlink\n // visibility: visible\n code.literal\n background-color: transparent\n\ntable:target > caption,\nfigure:target\n background-color: var(--color-highlight-on-target)\n\n// Inline page contents\n.this-will-duplicate-information-and-it-is-still-useful-here li :target\n background-color: var(--color-highlight-on-target)\n\n// Code block permalinks\n.literal-block-wrapper:target .code-block-caption\n background-color: var(--color-highlight-on-target)\n\n// When a definition list item is selected\n//\n// There isn't really an alternative to !important here, due to the\n// high-specificity of API documentation's selector.\ndt:target\n background-color: var(--color-highlight-on-target) !important\n\n// When a footnote reference is selected\n.footnote > dt:target + dd,\n.footnote-reference:target\n background-color: var(--color-highlight-on-target)\n",".guilabel\n background-color: var(--color-guilabel-background)\n border: 1px solid var(--color-guilabel-border)\n color: var(--color-guilabel-text)\n\n padding: 0 0.3em\n border-radius: 0.5em\n font-size: 0.9em\n","// This file contains the styles used for stylizing the footer that's shown\n// below the content.\n@use \"../variables\" as *\n\nfooter\n font-size: var(--font-size--small)\n display: flex\n flex-direction: column\n\n margin-top: 2rem\n\n// Bottom of page information\n.bottom-of-page\n display: flex\n align-items: center\n justify-content: space-between\n\n margin-top: 1rem\n padding-top: 1rem\n padding-bottom: 1rem\n\n color: var(--color-foreground-secondary)\n border-top: 1px solid var(--color-background-border)\n\n line-height: 1.5\n\n @media (max-width: $content-width)\n text-align: center\n flex-direction: column-reverse\n gap: 0.25rem\n\n .left-details\n font-size: var(--font-size--small)\n\n .right-details\n display: flex\n flex-direction: column\n gap: 0.25rem\n text-align: right\n\n .icons\n display: flex\n justify-content: flex-end\n gap: 0.25rem\n font-size: 1rem\n\n a\n text-decoration: none\n\n svg,\n img\n font-size: 1.125rem\n height: 1em\n width: 1em\n\n// Next/Prev page information\n.related-pages\n a\n display: flex\n align-items: center\n\n text-decoration: none\n &:hover .page-info .title\n text-decoration: underline\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n svg.furo-related-icon,\n svg.furo-related-icon > use\n flex-shrink: 0\n\n color: var(--color-foreground-border)\n\n width: 0.75rem\n height: 0.75rem\n margin: 0 0.5rem\n\n &.next-page\n max-width: 50%\n\n float: right\n clear: right\n text-align: right\n\n &.prev-page\n max-width: 50%\n\n float: left\n clear: left\n\n svg\n transform: rotate(180deg)\n\n.page-info\n display: flex\n flex-direction: column\n overflow-wrap: anywhere\n\n .next-page &\n align-items: flex-end\n\n .context\n display: flex\n align-items: center\n\n padding-bottom: 0.1rem\n\n color: var(--color-foreground-muted)\n font-size: var(--font-size--small)\n text-decoration: none\n","// This file contains the styles for the contents of the left sidebar, which\n// contains the navigation tree, logo, search etc.\n\n////////////////////////////////////////////////////////////////////////////////\n// Brand on top of the scrollable tree.\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-brand\n display: flex\n flex-direction: column\n flex-shrink: 0\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n text-decoration: none\n\n.sidebar-brand-text\n color: var(--color-sidebar-brand-text)\n overflow-wrap: break-word\n margin: var(--sidebar-item-spacing-vertical) 0\n font-size: 1.5rem\n\n.sidebar-logo-container\n margin: var(--sidebar-item-spacing-vertical) 0\n\n.sidebar-logo\n margin: 0 auto\n display: block\n max-width: 100%\n\n////////////////////////////////////////////////////////////////////////////////\n// Search\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-search-container\n display: flex\n align-items: center\n margin-top: var(--sidebar-search-space-above)\n\n position: relative\n\n background: var(--color-sidebar-search-background)\n &:hover,\n &:focus-within\n background: var(--color-sidebar-search-background--focus)\n\n &::before\n content: \"\"\n position: absolute\n left: var(--sidebar-item-spacing-horizontal)\n width: var(--sidebar-search-icon-size)\n height: var(--sidebar-search-icon-size)\n\n background-color: var(--color-sidebar-search-icon)\n mask-image: var(--icon-search)\n\n.sidebar-search\n box-sizing: border-box\n\n border: none\n border-top: 1px solid var(--color-sidebar-search-border)\n border-bottom: 1px solid var(--color-sidebar-search-border)\n\n padding-top: var(--sidebar-search-input-spacing-vertical)\n padding-bottom: var(--sidebar-search-input-spacing-vertical)\n padding-right: var(--sidebar-search-input-spacing-horizontal)\n padding-left: calc(var(--sidebar-item-spacing-horizontal) + var(--sidebar-search-input-spacing-horizontal) + var(--sidebar-search-icon-size))\n\n width: 100%\n\n color: var(--color-sidebar-search-foreground)\n background: transparent\n z-index: 10\n\n &:focus\n outline: none\n\n &::placeholder\n font-size: var(--sidebar-search-input-font-size)\n\n//\n// Hide Search Matches link\n//\n#searchbox .highlight-link\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal) 0\n margin: 0\n text-align: center\n\n a\n color: var(--color-sidebar-search-icon)\n font-size: var(--font-size--small--2)\n\n////////////////////////////////////////////////////////////////////////////////\n// Structure/Skeleton of the navigation tree (left)\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-tree\n font-size: var(--sidebar-item-font-size)\n margin-top: var(--sidebar-tree-space-above)\n margin-bottom: var(--sidebar-item-spacing-vertical)\n\n ul\n padding: 0\n margin-top: 0\n margin-bottom: 0\n\n display: flex\n flex-direction: column\n\n list-style: none\n\n li\n position: relative\n margin: 0\n\n > ul\n margin-left: var(--sidebar-item-spacing-horizontal)\n\n .icon\n color: var(--color-sidebar-link-text)\n\n .reference\n box-sizing: border-box\n color: var(--color-sidebar-link-text)\n\n // Fill the parent.\n display: inline-block\n line-height: var(--sidebar-item-line-height)\n text-decoration: none\n\n // Don't allow long words to cause wrapping.\n overflow-wrap: anywhere\n\n height: 100%\n width: 100%\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n &:hover\n color: var(--color-sidebar-link-text)\n background: var(--color-sidebar-item-background--hover)\n\n // Add a nice little \"external-link\" arrow here.\n &.external::after\n content: url('data:image/svg+xml,')\n margin: 0 0.25rem\n vertical-align: middle\n color: var(--color-sidebar-link-text)\n\n // Make the current page reference bold.\n .current-page > .reference\n font-weight: bold\n\n label\n position: absolute\n top: 0\n right: 0\n height: var(--sidebar-item-height)\n width: var(--sidebar-expander-width)\n\n cursor: pointer\n user-select: none\n\n display: flex\n justify-content: center\n align-items: center\n\n .caption, :not(.caption) > .caption-text\n font-size: var(--sidebar-caption-font-size)\n color: var(--color-sidebar-caption-text)\n\n font-weight: bold\n text-transform: uppercase\n\n margin: var(--sidebar-caption-space-above) 0 0 0\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n // If it has children, add a bit more padding to wrap the content to avoid\n // overlapping with the