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/runtime/common.c

@@ -98,12 +98,32 @@ static double locate(int idx, double bound, int lower, double left, double right
     return right;
 }
 
+#if NFRICTIONS
+static int friction_drives(NativeRun *r,double t,const double *state,double *drives) {
+    r->nfev++;
+    return model_friction_drives(t,state,drives);
+}
+
+static double locate_breakaway(NativeRun *r,int index,double left,double right,
+                               NativeDense dense,void *context) {
+    double state[NSTATES],drives[NFRICTIONS];
+    for(int i=0;i<60;i++) {
+        double mid=left+.5*(right-left);
+        if(mid<=left || mid>=right) break;
+        if(!dense(context,mid,state) || !friction_drives(r,mid,state,drives)) return NAN;
+        if(fabs(drives[index])>model_frictions[index].breakaway_force) right=mid;
+        else left=mid;
+    }
+    return right;
+}
+#endif
+
 int native_accept(NativeRun *r, double t, double next, const double *old,
                   const double *trial, NativeDense dense, void *context,
                   double *accepted_time, double *accepted_state) {
-    double when[2*(NSTOPS+1)], bounds[2*(NSTOPS+1)];
-    double restitution[2*(NSTOPS+1)], thresholds[2*(NSTOPS+1)];
-    int indices[2*(NSTOPS+1)], count=0;
+    double when[2*(NSTOPS+NFRICTIONS+1)], bounds[2*(NSTOPS+NFRICTIONS+1)];
+    double restitution[2*(NSTOPS+NFRICTIONS+1)], thresholds[2*(NSTOPS+NFRICTIONS+1)];
+    int indices[2*(NSTOPS+NFRICTIONS+1)], friction[2*(NSTOPS+NFRICTIONS+1)], count=0;
     for (int j=0;j<NSTOPS;j++) {
         NativeStop s=model_stops[j]; int v=s.velocity_index, x=v+1;
         double vt0=1e-12*fmax(fabs(old[v]),1), vt1=1e-12*fmax(fabs(trial[v]),1);
@@ -120,12 +140,38 @@ int native_accept(NativeRun *r, double t, double next, const double *old,
             }
             if (isfinite(at)) {
                 when[count]=at; bounds[count]=bound; indices[count]=v;
+                friction[count]=-1;
                 restitution[count]=lower?s.lower_restitution:s.upper_restitution;
                 thresholds[count]=lower?s.lower_threshold:s.upper_threshold;
                 count++;
             }
         }
     }
+#if NFRICTIONS
+    double before[NFRICTIONS],after[NFRICTIONS];
+    if(!friction_drives(r,t,old,before) || !friction_drives(r,next,trial,after)) return -1;
+    for(int j=0;j<NFRICTIONS;j++) {
+        NativeFriction f=model_frictions[j];
+        double mode=old[f.mode_index],at=INFINITY;
+        if(fabs(mode)<.5) {
+            if(fabs(before[j])>f.breakaway_force) at=t;
+            else if(fabs(after[j])>f.breakaway_force)
+                at=locate_breakaway(r,j,t,next,dense,context);
+        } else {
+            double direction=mode>0?1:-1;
+            if(direction*old[f.velocity_index]>f.velocity_threshold &&
+               direction*trial[f.velocity_index]<=f.velocity_threshold)
+                at=locate(f.velocity_index,direction*f.velocity_threshold,mode>0,t,next,dense,context);
+            else if(direction*old[f.velocity_index]>=0 && direction*trial[f.velocity_index]<0)
+                at=locate(f.velocity_index,0,mode>0,t,next,dense,context);
+        }
+        if(isnan(at)) return -1;
+        if(isfinite(at)) {
+            when[count]=at;indices[count]=f.velocity_index;friction[count]=j;
+            bounds[count]=restitution[count]=thresholds[count]=0;count++;
+        }
+    }
+#endif
     double stop=next;
     for (int i=0;i<count;i++) stop=fmin(stop,when[i]);
     if (r->options.record_samples) {
@@ -139,10 +185,28 @@ int native_accept(NativeRun *r, double t, double next, const double *old,
     if (count) {
         if (!dense(context,stop,accepted_state)) return -1;
         for (int i=0;i<count;i++) if (fabs(when[i]-stop)<=1e-12*fmax(fabs(stop),1)) {
+            if(friction[i]>=0) continue;
             double incoming=accepted_state[indices[i]];
             accepted_state[indices[i]]=fabs(incoming)<=thresholds[i]?0:-restitution[i]*incoming;
             accepted_state[indices[i]+1]=bounds[i];
         }
+#if NFRICTIONS
+        /* Stop/reverse only at an accepted event. The discrete mode travels
+         * with saved states so replayed results and Jacobian trials are pure. */
+        double drives[NFRICTIONS];
+        for(int i=0;i<count;i++) if(friction[i]<0 && fabs(when[i]-stop)<=1e-12*fmax(fabs(stop),1)) {
+            for(int j=0;j<NFRICTIONS;j++) if(model_frictions[j].velocity_index==indices[i]) {
+                double velocity=accepted_state[indices[i]];
+                accepted_state[model_frictions[j].mode_index]=velocity>0?1:(velocity<0?-1:0);
+            }
+        }
+        if(!friction_drives(r,stop,accepted_state,drives)) return -1;
+        for(int i=0;i<count;i++) if(friction[i]>=0 && fabs(when[i]-stop)<=1e-12*fmax(fabs(stop),1)) {
+            int j=friction[i];NativeFriction f=model_frictions[j];
+            accepted_state[f.velocity_index]=0;
+            accepted_state[f.mode_index]=fabs(drives[j])>f.breakaway_force ? (drives[j]>0?1:-1) : 0;
+        }
+#endif
         if (!native_append(r,stop,accepted_state)) return -1;
         while (r->options.start+r->sample_index*r->options.sample_step<=stop) r->sample_index++;
         r->events++;
@@ -155,6 +219,15 @@ int native_accept(NativeRun *r, double t, double next, const double *old,
 int native_solve(NativeRun *r) {
     double y[NSTATES];
     if (!model_init(y)) { r->status=2; r->message="Native model initialization failed."; return 0; }
+#if NFRICTIONS
+    double drives[NFRICTIONS];
+    if(!friction_drives(r,r->options.start,y,drives)) {r->status=2;r->message="Cannot initialize friction.";return 0;}
+    for(int j=0;j<NFRICTIONS;j++) {
+        NativeFriction f=model_frictions[j];
+        if(fabs(y[f.mode_index])<.5 && fabs(drives[j])>f.breakaway_force)
+            y[f.mode_index]=drives[j]>0?1:-1;
+    }
+#endif
     r->sample_index=1;
     if (!native_append(r,r->options.start,y)) { r->status=2; r->message="Cannot allocate samples."; return 0; }
     r->wall_start=native_wall_time(); r->cpu_start=native_cpu_time();