现有组件功能与Amesim组件比较对齐，补全功能；仿真服务启动环境检测，旧版json工程文件适配读取

native/components/modules/mechanics.c

@@ -1,6 +1,15 @@
 #include "kernels.h"
 #include <math.h>
 
+double native_dry_friction(double velocity, double static_share, double coulomb,
+                           double stiction, double stribeck_velocity, int stribeck,
+                           double mode) {
+    if (fabs(mode)<.5) return -static_share;
+    double resistance=coulomb;
+    if (stribeck) resistance+=(stiction-coulomb)*exp(-3*fabs(velocity)/stribeck_velocity);
+    return mode>0 ? -resistance : resistance;
+}
+
 double native_contact(double penetration, double velocity, double stiffness,
                       double damping, double pdis, int signed_force) {
     if (penetration <= 0) return 0;
@@ -21,7 +30,5 @@ void native_stop_motion(double x, double v, double lower, double upper,
 
 double native_limit_force(double penetration, double velocity, double stiffness,
                           double damping, double depth, int signed_force) {
-    if(penetration<=0) return 0;
-    double force=stiffness*penetration+(depth>0?fmin(penetration/depth,1):1)*damping*velocity;
-    return signed_force==1?force:fmax(force,0);
+    return native_contact(penetration, velocity, stiffness, damping, depth, signed_force);
 }