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<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <title>Origami Simulator</title>

    <link href="dependencies/bootstrap.min.css" rel="stylesheet" type="text/css"/>
    <link rel="stylesheet" type="text/css" href="dependencies/flat-ui.min.css"/>
    <link rel="stylesheet" type="text/css" href="dependencies/jquery-ui.min.css"/>
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    <link rel="stylesheet" type="text/css" href="css/nav.css"/>
    <link rel="stylesheet" type="text/css" href="css/main.css"/>
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    <script>
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      (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
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      })(window,document,'script','https://www.google-analytics.com/analytics.js','ga');

      ga('create', 'UA-86531114-8', 'auto');
      ga('send', 'pageview');

    </script>
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    <script id="vertexShader" type="x-shader/x-vertex">
        attribute vec2 a_position;
        void main() {
           gl_Position = vec4(a_position, 0, 1);
        }
    </script>

    <script id="packToBytesShader" type="x-shader/x-fragment">
        precision mediump float;
        uniform vec2 u_floatTextureDim;
        uniform sampler2D u_floatTexture;
        uniform float u_vectorLength;
        float shift_right (float v, float amt) {
            v = floor(v) + 0.5;
            return floor(v / exp2(amt));
        }
        float shift_left (float v, float amt) {
            return floor(v * exp2(amt) + 0.5);
        }
        float mask_last (float v, float bits) {
            return mod(v, shift_left(1.0, bits));
        }
        float extract_bits (float num, float from, float to) {
            from = floor(from + 0.5); to = floor(to + 0.5);
            return mask_last(shift_right(num, from), to - from);
        }
        vec4 encode_float (float val) {
            if (val == 0.0) return vec4(0, 0, 0, 0);
            float sign = val > 0.0 ? 0.0 : 1.0;
            val = abs(val);
            float exponent = floor(log2(val));
            float biased_exponent = exponent + 127.0;
            float fraction = ((val / exp2(exponent)) - 1.0) * 8388608.0;
            float t = biased_exponent / 2.0;
            float last_bit_of_biased_exponent = fract(t) * 2.0;
            float remaining_bits_of_biased_exponent = floor(t);
            float byte4 = extract_bits(fraction, 0.0, 8.0) / 255.0;
            float byte3 = extract_bits(fraction, 8.0, 16.0) / 255.0;
            float byte2 = (last_bit_of_biased_exponent * 128.0 + extract_bits(fraction, 16.0, 23.0)) / 255.0;
            float byte1 = (sign * 128.0 + remaining_bits_of_biased_exponent) / 255.0;
            return vec4(byte4, byte3, byte2, byte1);
        }
        void main(){
            vec2 fragCoord = gl_FragCoord.xy;
            float textureXcoord = floor((fragCoord.x - 0.5)/u_vectorLength+0.0001) + 0.5;
            vec4 data = texture2D(u_floatTexture, vec2(textureXcoord, fragCoord.y)/u_floatTextureDim);
            int textureIndex = int(floor(mod(fragCoord.x-0.5+0.0001, u_vectorLength)));
            if (textureIndex == 0) gl_FragColor = encode_float(data[0]);
            else if (textureIndex == 1) gl_FragColor = encode_float(data[1]);
            else if (textureIndex == 2) gl_FragColor = encode_float(data[2]);
            else if (textureIndex == 3) gl_FragColor = encode_float(data[3]);
        }
    </script>

    <script id="zeroTexture" type="x-shader/x-fragment">
        void main(){
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            gl_FragColor = vec4(0.0);
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        }
    </script>

    <script id="positionCalcShader" type="x-shader/x-fragment">
        precision mediump float;
        uniform vec2 u_textureDim;
        uniform float u_dt;
        uniform sampler2D u_lastPosition;
        uniform sampler2D u_velocity;
        uniform sampler2D u_mass;

        void main(){
            vec2 fragCoord = gl_FragCoord.xy;
            vec2 scaledFragCoord = fragCoord/u_textureDim;
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            vec3 lastPosition = texture2D(u_lastPosition, scaledFragCoord).xyz;
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            float isFixed = texture2D(u_mass, scaledFragCoord).y;
            if (isFixed == 1.0){
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                gl_FragColor = vec4(lastPosition, 0.0);
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                return;
            }
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            vec4 velocityData = texture2D(u_velocity, scaledFragCoord);
            vec3 position = velocityData.xyz*u_dt + lastPosition;
            gl_FragColor = vec4(position, velocityData.a);//velocity.a has error info
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        }
    </script>

    <script id="velocityCalcShader" type="x-shader/x-fragment">
        precision mediump float;
        uniform vec2 u_textureDim;
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        uniform vec2 u_textureDimEdges;
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        uniform vec2 u_textureDimFaces;
        uniform vec2 u_textureDimCreases;
        uniform vec2 u_textureDimNodeCreases;
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        uniform float u_creasePercent;
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        uniform float u_dt;
        uniform sampler2D u_lastPosition;
        uniform sampler2D u_lastVelocity;
        uniform sampler2D u_originalPosition;
        uniform sampler2D u_externalForces;
        uniform sampler2D u_mass;
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        uniform sampler2D u_meta;//[beamsIndex, numBeam, creaseMeta2Index, numCreases]
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        uniform sampler2D u_beamMeta;//[k, d, length, otherNodeIndex]
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        uniform sampler2D u_creaseMeta;//[k, d, targetTheta]
        uniform sampler2D u_creaseMeta2;//[creaseIndex, momentArmLength, nodeIndex]
        uniform sampler2D u_normals;
        uniform sampler2D u_theta;//[theta, z, normal1Index, normal2Index]
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        void main(){
            vec2 fragCoord = gl_FragCoord.xy;
            vec2 scaledFragCoord = fragCoord/u_textureDim;

            vec2 mass = texture2D(u_mass, scaledFragCoord).xy;
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            if (mass[1] == 1.0){//fixed
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                gl_FragColor = vec4(0.0);
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                return;
            }
            vec3 force = texture2D(u_externalForces, scaledFragCoord).xyz;
            vec3 lastPosition = texture2D(u_lastPosition, scaledFragCoord).xyz;
            vec3 lastVelocity = texture2D(u_lastVelocity, scaledFragCoord).xyz;
            vec3 originalPosition = texture2D(u_originalPosition, scaledFragCoord).xyz;

            vec4 neighborIndices = texture2D(u_meta, scaledFragCoord);
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            vec4 meta = texture2D(u_meta, scaledFragCoord);
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            float nodeError = 0.0;
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            for (int j=0;j<100;j++){//for all beams (up to 100, had to put a const int in here)
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                if (j >= int(meta[1])) break;

                float beamIndex1D = meta[0]+float(j);
                vec2 beamIndex = vec2(mod(beamIndex1D, u_textureDimEdges.x)+0.5, floor(beamIndex1D/u_textureDimEdges.x)+0.5);
                vec2 scaledBeamIndex = beamIndex/u_textureDimEdges;
                vec4 beamMeta = texture2D(u_beamMeta, scaledBeamIndex);

                float neighborIndex1D = beamMeta[3];
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                vec2 neighborIndex = vec2(mod(neighborIndex1D, u_textureDim.x)+0.5, floor(neighborIndex1D/u_textureDim.x)+0.5);
                vec2 scaledNeighborIndex = neighborIndex/u_textureDim;
                vec3 neighborLastPosition = texture2D(u_lastPosition, scaledNeighborIndex).xyz;
                vec3 neighborLastVelocity = texture2D(u_lastVelocity, scaledNeighborIndex).xyz;
                vec3 neighborOriginalPosition = texture2D(u_originalPosition, scaledNeighborIndex).xyz;

                vec3 nominalDist = neighborOriginalPosition-originalPosition;
                vec3 deltaP = neighborLastPosition-lastPosition+nominalDist;
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                deltaP -= normalize(deltaP)*beamMeta[2];
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                nodeError += length(deltaP)/length(nominalDist);
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                vec3 deltaV = neighborLastVelocity-lastVelocity;
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                vec3 _force = deltaP*beamMeta[0] + deltaV*beamMeta[1];
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                force += _force;
            }
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            nodeError /= meta[1];
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            for (int j=0;j<100;j++){//for all creases (up to 100, had to put a const int in here)
                if (j >= int(meta[3])) break;

                float nodeCreaseIndex1D = meta[2]+float(j);
                vec2 nodeCreaseIndex = vec2(mod(nodeCreaseIndex1D, u_textureDimNodeCreases.x)+0.5, floor(nodeCreaseIndex1D/u_textureDimNodeCreases.x)+0.5);
                vec2 scaledNodeCreaseIndex = nodeCreaseIndex/u_textureDimNodeCreases;
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                vec4 creaseMeta2 = texture2D(u_creaseMeta2, scaledNodeCreaseIndex);//[creaseIndex, length to node, nodeType (1 or 2), isReaction]
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                float creaseIndex1D = creaseMeta2[0];
                vec2 creaseIndex = vec2(mod(creaseIndex1D, u_textureDimCreases.x)+0.5, floor(creaseIndex1D/u_textureDimCreases.x)+0.5);
                vec2 scaledCreaseIndex = creaseIndex/u_textureDimCreases;

                vec4 thetas = texture2D(u_theta, scaledCreaseIndex);
                vec3 creaseMeta = texture2D(u_creaseMeta, scaledCreaseIndex).xyz;//[k, d, targetTheta]
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                float targetTheta = creaseMeta[2] * u_creasePercent;
                float angForce = creaseMeta[0]*(targetTheta-thetas[0]);// + creaseMeta[1]*thetas[1];
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                if (creaseMeta2[3] < 0.0){//crease reaction
                    float nodeNum = creaseMeta2[2];
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                    //node #1
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                    float normalIndex1D = thetas[2];
                    vec2 normalsIndex = vec2(mod(normalIndex1D, u_textureDimFaces.x)+0.5, floor(normalIndex1D/u_textureDimFaces.x)+0.5);
                    vec2 scaledNormalsIndex = normalsIndex/u_textureDimFaces;
                    vec3 normal1 = texture2D(u_normals, scaledNormalsIndex).xyz;

                    //node #2
                    normalIndex1D = thetas[3];
                    normalsIndex = vec2(mod(normalIndex1D, u_textureDimFaces.x)+0.5, floor(normalIndex1D/u_textureDimFaces.x)+0.5);
                    scaledNormalsIndex = normalsIndex/u_textureDimFaces;
                    vec3 normal2 = texture2D(u_normals, scaledNormalsIndex).xyz;
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                    float momentArm1 = creaseMeta2[1];
                    float momentArm2 = creaseMeta2[2];
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                    vec3 _force = -0.5*(angForce/momentArm1*normal1 + angForce/momentArm2*normal2);
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                    force += _force;
                } else {
                    float nodeNum = creaseMeta2[2];
                    float normalIndex1D = thetas[2];//node #1
                    if (nodeNum > 1.1) {
                        normalIndex1D = thetas[3];//node #2
                    }
                    vec2 normalsIndex = vec2(mod(normalIndex1D, u_textureDimFaces.x)+0.5, floor(normalIndex1D/u_textureDimFaces.x)+0.5);
                    vec2 scaledNormalsIndex = normalsIndex/u_textureDimFaces;
                    vec3 normal = texture2D(u_normals, scaledNormalsIndex).xyz;

                    float momentArm = creaseMeta2[1];

                    vec3 _force = angForce/momentArm*normal;
                    force += _force;
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                }
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            }
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            vec3 velocity = force*u_dt/mass[0] + lastVelocity;
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            gl_FragColor = vec4(velocity,nodeError);
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        }
    </script>
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    <script id="thetaCalcShader" type="x-shader/x-fragment">
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        #define TWO_PI 6.283185307179586476925286766559
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        precision mediump float;
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        uniform vec2 u_textureDim;
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        uniform vec2 u_textureDimFaces;
        uniform vec2 u_textureDimCreases;
        uniform sampler2D u_normals;
        uniform sampler2D u_lastTheta;
        uniform sampler2D u_creaseVectors;
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        uniform sampler2D u_lastPosition;
        uniform sampler2D u_originalPosition;
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        uniform float u_dt;
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        void main(){

            vec2 fragCoord = gl_FragCoord.xy;
            vec2 scaledFragCoord = fragCoord/u_textureDimCreases;

            vec4 lastTheta = texture2D(u_lastTheta, scaledFragCoord);

            if (lastTheta[2]<0.0){
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                gl_FragColor = vec4(lastTheta[0], 0.0, -1.0, -1.0);
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                return;
            }

            vec2 normal1Index = vec2(mod(lastTheta[2], u_textureDimFaces.x)+0.5, floor(lastTheta[2]/u_textureDimFaces.x)+0.5);
            normal1Index /= u_textureDimFaces;
            vec2 normal2Index = vec2(mod(lastTheta[3], u_textureDimFaces.x)+0.5, floor(lastTheta[3]/u_textureDimFaces.x)+0.5);
            normal2Index /= u_textureDimFaces;

            vec3 normal1 = texture2D(u_normals, normal1Index).xyz;
            vec3 normal2 = texture2D(u_normals, normal2Index).xyz;
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            float dotNormals = dot(normal1, normal2);//normals are already normalized, no need to divide by length
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            if (dotNormals < -1.0) dotNormals = -1.0;
            else if (dotNormals > 1.0) dotNormals = 1.0;
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            //float theta = acos(dotNormals);
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            vec2 creaseVectorIndices = texture2D(u_creaseVectors, scaledFragCoord).xy;
            vec2 creaseNodeIndex = vec2(mod(creaseVectorIndices[0], u_textureDim.x)+0.5, floor(creaseVectorIndices[0]/u_textureDim.x)+0.5);
            vec2 scaledNodeIndex = creaseNodeIndex/u_textureDim;
            vec3 node0 = texture2D(u_lastPosition, scaledNodeIndex).xyz + texture2D(u_originalPosition, scaledNodeIndex).xyz;
            creaseNodeIndex = vec2(mod(creaseVectorIndices[1], u_textureDim.x)+0.5, floor(creaseVectorIndices[1]/u_textureDim.x)+0.5);
            scaledNodeIndex = creaseNodeIndex/u_textureDim;
            vec3 node1 = texture2D(u_lastPosition, scaledNodeIndex).xyz + texture2D(u_originalPosition, scaledNodeIndex).xyz;
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            //https://math.stackexchange.com/questions/47059/how-do-i-calculate-a-dihedral-angle-given-cartesian-coordinates
            vec3 creaseVector = normalize(node1-node0);
            float x = dotNormals;
            float y = dot(cross(normal1, creaseVector), normal2);
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            float theta = atan(y, x);

            //float sign = dot(cross(normal1, normal2), creaseVector);
            //if (sign < 0.0) theta *= -1.0;
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            float diff = theta-lastTheta[0];
            float projectedTheta = lastTheta[0] + lastTheta[1]*u_dt;
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            if (diff < -5.0) {
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                diff += TWO_PI;
                theta = lastTheta[0] + diff;
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            } else if (diff > 5.0) {
                diff  -= TWO_PI;
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                theta = lastTheta[0] + diff;
            }
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            gl_FragColor = vec4(theta, creaseVectorIndices[1], lastTheta[2], lastTheta[3]);//[theta, w, normal1Index, normal2Index]
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        }
    </script>
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    <script id="normalCalc" type="x-shader/x-fragment">
        precision mediump float;
        uniform vec2 u_textureDim;
        uniform vec2 u_textureDimFaces;
        uniform sampler2D u_faceVertexIndices;
        uniform sampler2D u_lastPosition;
        uniform sampler2D u_originalPosition;

        void main(){
            vec2 fragCoord = gl_FragCoord.xy;
            vec2 scaledFragCoord = fragCoord/u_textureDimFaces;

            vec3 indices = texture2D(u_faceVertexIndices, scaledFragCoord).xyz;

            float nodeIndex1D = indices[0];
            vec2 nodeIndex = vec2(mod(nodeIndex1D, u_textureDim.x)+0.5, floor(nodeIndex1D/u_textureDim.x)+0.5);
            vec2 scaledNodeIndex = nodeIndex/u_textureDim;
            vec3 a = texture2D(u_lastPosition, scaledNodeIndex).xyz + texture2D(u_originalPosition, scaledNodeIndex).xyz;

            nodeIndex1D = indices[1];
            nodeIndex = vec2(mod(nodeIndex1D, u_textureDim.x)+0.5, floor(nodeIndex1D/u_textureDim.x)+0.5);
            scaledNodeIndex = nodeIndex/u_textureDim;
            vec3 b = texture2D(u_lastPosition, scaledNodeIndex).xyz + texture2D(u_originalPosition, scaledNodeIndex).xyz;

            nodeIndex1D = indices[2];
            nodeIndex = vec2(mod(nodeIndex1D, u_textureDim.x)+0.5, floor(nodeIndex1D/u_textureDim.x)+0.5);
            scaledNodeIndex = nodeIndex/u_textureDim;
            vec3 c = texture2D(u_lastPosition, scaledNodeIndex).xyz + texture2D(u_originalPosition, scaledNodeIndex).xyz;

            gl_FragColor = vec4(normalize(cross(b-a, c-a)), 0.0);
        }
    </script>
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<body>
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                    <li class="dropdown-submenu">
                        <a tabindex="-1">Demo Files<span class="pull-right fui-arrow-right"></span></a>
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                            <li><a href="#" class="demo" data-url="Tessellations/waterbomb.svg">Waterbomb (six-crease base)</a></li>
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                            <li><a href="#" class="demo" data-url="Tessellations/waterbombTwist.svg">Waterbomb (eight-crease base)</a></li>
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                            <li><a href="#" class="demo" data-url="Tessellations/singlesquaretwist.svg">Square Twist (single)</a></li>
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                            <li><a href="#" class="demo" data-url="Tessellations/squaretwistManyAngles.svg">Square Twist (many angles)</a></li>
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                            <li><a href="#" class="demo" data-url="Tessellations/reschtritessellation.svg">Resch Triangle Tessellation</a></li>
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                            <li><a href="#" class="demo" data-url="Origami/hypar.svg">Hypar (not fully working yet)</a></li>
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                            <li class="divider"></li>
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                        </ul>
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                    <li class="divider"></li>
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                    <li><a class="loadFile" href="#">Import... (SVG / FOLD / txt)</a></li>
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                    <!--<li><a id="saveSVG" href="#">Save Pattern as SVG...</a></li>-->
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                    <li><a id="exportSTL" href="#">Save Simulation as STL...</a></li>
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            <li><a id="navPattern" href="#">Pattern</a></li>
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        </ul>

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</nav>
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<div id="controls">
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    <b>Simulation Type:</b><br/>
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    <div class="indent">
        <label class="radio">
            <input name="simType" value="dynamic" data-toggle="radio" class="custom-radio" type="radio"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
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            Compliant Dynamic Simulation <a class="about floatRight" href="#" id="aboutDynamicSim"><span class="fui-question-circle"></span></a>
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        </label>
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            Compliant Static Simulation (not finished yet) <a class="about floatRight" href="#" id="aboutStaticSim"><span class="fui-question-circle"></span></a>
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        </label>
    </div><br/>
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    <b>Fold Settings:</b><br/><br/>
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    <div class="sliderInput" id="creasePercent">
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        <span class="label-slider">Angle (-1 to 1) : </span><div class="flat-slider ui-slider ui-corner-all ui-slider-horizontal ui-widget ui-widget-content"></div>
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        <input value="" placeholder="" class="form-control" type="text">
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    </div>
    <br/><br/><br/>
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    <b>Stiffness Settings:</b><a class="floatRight about" href="#" id="aboutStiffness"><span class="fui-question-circle"></span></a><br/><br/>
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    <div class="sliderInput" id="axialStiffness">
        <span class="label-slider">Axial Stiffness : </span><div class="flat-slider ui-slider ui-corner-all ui-slider-horizontal ui-widget ui-widget-content"></div>
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        <input value="" placeholder="" class="form-control" type="text">
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    </div>
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        <span class="label-slider">Fold Stiffness : </span><div class="flat-slider ui-slider ui-corner-all ui-slider-horizontal ui-widget ui-widget-content"></div>
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        <input value="" placeholder="" class="form-control" type="text">
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    </div>
    <div class="sliderInput" id="panelStiffness">
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        <span class="label-slider">Facet Stiffness : </span><div class="flat-slider ui-slider ui-corner-all ui-slider-horizontal ui-widget ui-widget-content"></div>
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        <input value="" placeholder="" class="form-control" type="text">
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    </div>
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    <div class="sliderInput" id="percentDamping">
        <span class="label-slider">Damping (0-1): </span><div class="flat-slider ui-slider ui-corner-all ui-slider-horizontal ui-widget ui-widget-content"></div>
        <input value="" placeholder="" class="form-control" type="text">
    </div>
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    <br/><br/>
    <b>Error:</b><br/>
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    <div class="indent">
        <label>Average Error (per node): <span id="globalError"></span></label>
        <a class="about floatRight" href="#" id="aboutError"><span class="fui-question-circle"></span></a>
    </div>
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    <div class="extraSpace"></div>
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</div>
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<div id="svgViewer"></div>
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<div id="controlsLeft" class="flipped">
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        <b>View Settings:</b><br/><br/>
        <div class="indent">
            Mesh Material:
            <div class="indent">
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                <label class="checkbox" for="meshVisible">
                    <input id="meshVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                    Mesh Visible
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                </label>
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                <div id="meshMaterialOptions">
                    <label class="radio">
                        <input name="colorMode" value="color" data-toggle="radio" class="custom-radio" type="radio"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                        Colored Material
                    </label>
                    <div id="coloredMaterialOptions" class="indent">
                        <label>Color 1 (rgb hex): &nbsp;&nbsp;</label><input id="color1" value="" placeholder="" class="hexVal form-control" type="text"><br/>
                        <label>Color 2 (rgb hex): &nbsp;&nbsp;</label><input id="color2" value="" placeholder="" class="hexVal form-control" type="text"><br/>
                    </div>
                    <label class="radio">
                        <input name="colorMode" value="normal" data-toggle="radio" class="custom-radio" type="radio"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                        Face Normals Material
                    </label>
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                    <label class="radio">
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                        <input name="colorMode" value="axialStrain" data-toggle="radio" class="custom-radio" type="radio"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
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                        Axial Strain Material<a class="about floatRight" href="#" id="aboutAxialStrain"><span class="fui-question-circle"></span></a>
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                    </label>
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            Edges:
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                    <input id="edgesVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                    Edges Visible
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                <div id="edgeVisOptions" class="indent">
                    <label class="checkbox" for="mtnsVisible">
                        <input id="mtnsVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                        Mountains
                    </label>
                    <label class="checkbox" for="valleysVisible">
                        <input id="valleysVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                        Valleys
                    </label>
                    <label class="checkbox" for="panelsVisible">
                        <input id="panelsVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
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                        Facet Creases
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                    </label>
                    <label class="checkbox" for="passiveEdgesVisible">
                        <input id="passiveEdgesVisible" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                        Undriven Edges
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                </div>
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            </div><br/>
            Rendering:
            <div class="indent">
                <label class="checkbox" for="ambientOcclusion">
                    <input id="ambientOcclusion" data-toggle="checkbox" class="custom-checkbox layersSelector" type="checkbox"><span class="icons"><span class="icon-unchecked"></span><span class="icon-checked"></span></span>
                    Ambient Occlusion
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            </div>
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        </div>
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</div>
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<div class="modal fade" id="aboutModal" tabindex="-1" role="dialog">
    <div class="modal-dialog modal-lg">
        <div class="modal-content">
            <div class="modal-body">
                <p><b>Origami Simulator</b><br/><br/>
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                    <a target="_blank" href="http://www2.eng.cam.ac.uk/~sdg/preprint/5OSME.pdf">Origami Folding; A Structural Engineering Approach</a><br/>
                    <a target="_blank" href="http://origami.c.u-tokyo.ac.jp/~tachi/cg/SimulationOfRigidOrigami_tachi_4OSME.pdf">Rigid Origami Simulator</a><br/>
                    <a target="_blank" href="https://github.com/mapbox/earcut">Earcut Library</a><br/>
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                <br/><br/>
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                Built by <a href="http://www.amandaghassaei.com/" target="_blank">Amanda Ghassaei</a> as a final project for <a href="http://courses.csail.mit.edu/6.849/spring17/" target="_blank">Geometric Folding Algorithms</a>.
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                Code available on <a href="https://github.com/amandaghassaei/OrigamiSimulator" target="_blank">Github</a>.
                </p>
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                    ....
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<div class="modal fade" id="exportSTLModal" tabindex="-1" role="dialog">
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            <div class="modal-body">
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                </button>
                <p><b>Export STL</b><br/><br/>
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                    settings:<br/>
                    single sided/double sided<br/>
                    scale
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                </p>
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            <div class="modal-footer">
                <button id="doSTLsave" type="button" class="btn btn-success">Save</button>
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</div><!-- /.modal -->
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<div class="modal fade" id="importFoldModal" tabindex="-1" role="dialog">
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        <div class="modal-content">
            <div class="modal-body">
                <button type="button" class="close" data-dismiss="modal" aria-label="Close">
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                </button>
                <p><b>Import FOLD</b><br/><br/>
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                use angles as target thetas
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                <p><b>Simulation Error</b><br/><br/>
                    "Average Error (per node)" gives a sense of how much the distance constraints in the
                    origami pattern are being violated.  The error at each node is evaluated by averaging the
                    percent deviation of all its distance constraints with adjacent nodes.  This error is
                    reported as a percent of the total length of the distance constraint to remove scaling effects.
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                    <br/><br/>
                    This measurement is equivalent to <a href="https://en.wikipedia.org/wiki/Deformation_(mechanics)#Engineering_strain" target="_blank">
                        Cauchy strain or engineering strain</a> of the axial constraints on this system.
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                    Increasing the "Axial Stiffness" of the simulation will tighten these constraints and
                    lower the error in the simulation.<br/>
                    <br/>
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                    To visualize the error of each node graphically, select "Axial Strain Material" under "Mesh Material"
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                     in the left menu.
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