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web3d / node_modules /three /examples /js /loaders /ColladaLoader.js
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/**
 * @author mrdoob / http://mrdoob.com/
 * @author Mugen87 / https://github.com/Mugen87
 */
THREE.ColladaLoader = function ( manager ) {
this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;
};
THREE.ColladaLoader.prototype = {
constructor: THREE.ColladaLoader,
crossOrigin: 'anonymous',
load: function ( url, onLoad, onProgress, onError ) {
var scope = this;
var path = ( scope.path === undefined ) ? THREE.LoaderUtils.extractUrlBase( url ) : scope.path;
var loader = new THREE.FileLoader( scope.manager );
 loader.setPath( scope.path );
 loader.load( url, function ( text ) {
onLoad( scope.parse( text, path ) );
}, onProgress, onError );
},
setPath: function ( value ) {
this.path = value;
 return this;
},
setResourcePath: function ( value ) {
this.resourcePath = value;
 return this;
},
options: {
set convertUpAxis( value ) {
console.warn( 'THREE.ColladaLoader: options.convertUpAxis() has been removed. Up axis is converted automatically.' );
}
},
setCrossOrigin: function ( value ) {
this.crossOrigin = value;
 return this;
},
parse: function ( text, path ) {
function getElementsByTagName( xml, name ) {
// Non recursive xml.getElementsByTagName() ...
var array = [];
 var childNodes = xml.childNodes;
for ( var i = 0, l = childNodes.length; i < l; i ++ ) {
var child = childNodes[ i ];
if ( child.nodeName === name ) {
array.push( child );
}
}
return array;
}
function parseStrings( text ) {
if ( text.length === 0 ) return [];
var parts = text.trim().split( /\s+/ );
 var array = new Array( parts.length );
for ( var i = 0, l = parts.length; i < l; i ++ ) {
array[ i ] = parts[ i ];
}
return array;
}
function parseFloats( text ) {
if ( text.length === 0 ) return [];
var parts = text.trim().split( /\s+/ );
 var array = new Array( parts.length );
for ( var i = 0, l = parts.length; i < l; i ++ ) {
array[ i ] = parseFloat( parts[ i ] );
}
return array;
}
function parseInts( text ) {
if ( text.length === 0 ) return [];
var parts = text.trim().split( /\s+/ );
 var array = new Array( parts.length );
for ( var i = 0, l = parts.length; i < l; i ++ ) {
array[ i ] = parseInt( parts[ i ] );
}
return array;
}
function parseId( text ) {
return text.substring( 1 );
}
function generateId() {
return 'three_default_' + ( count ++ );
}
function isEmpty( object ) {
return Object.keys( object ).length === 0;
}
// asset
function parseAsset( xml ) {
return {
 unit: parseAssetUnit( getElementsByTagName( xml, 'unit' )[ 0 ] ),
 upAxis: parseAssetUpAxis( getElementsByTagName( xml, 'up_axis' )[ 0 ] )
 };
}
function parseAssetUnit( xml ) {
if ( ( xml !== undefined ) && ( xml.hasAttribute( 'meter' ) === true ) ) {
return parseFloat( xml.getAttribute( 'meter' ) );
} else {
return 1; // default 1 meter
}
}
function parseAssetUpAxis( xml ) {
return xml !== undefined ? xml.textContent : 'Y_UP';
}
// library
function parseLibrary( xml, libraryName, nodeName, parser ) {
var library = getElementsByTagName( xml, libraryName )[ 0 ];
if ( library !== undefined ) {
var elements = getElementsByTagName( library, nodeName );
for ( var i = 0; i < elements.length; i ++ ) {
parser( elements[ i ] );
}
}
}
function buildLibrary( data, builder ) {
for ( var name in data ) {
var object = data[ name ];
 object.build = builder( data[ name ] );
}
}
// get
function getBuild( data, builder ) {
if ( data.build !== undefined ) return data.build;
data.build = builder( data );
return data.build;
}
// animation
function parseAnimation( xml ) {
var data = {
 sources: {},
 samplers: {},
 channels: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
var id;
switch ( child.nodeName ) {
case 'source':
 id = child.getAttribute( 'id' );
 data.sources[ id ] = parseSource( child );
 break;
case 'sampler':
 id = child.getAttribute( 'id' );
 data.samplers[ id ] = parseAnimationSampler( child );
 break;
case 'channel':
 id = child.getAttribute( 'target' );
 data.channels[ id ] = parseAnimationChannel( child );
 break;
default:
 console.log( child );
}
}
library.animations[ xml.getAttribute( 'id' ) ] = data;
}
function parseAnimationSampler( xml ) {
var data = {
 inputs: {},
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'input':
 var id = parseId( child.getAttribute( 'source' ) );
 var semantic = child.getAttribute( 'semantic' );
 data.inputs[ semantic ] = id;
 break;
}
}
return data;
}
function parseAnimationChannel( xml ) {
var data = {};
var target = xml.getAttribute( 'target' );
// parsing SID Addressing Syntax
var parts = target.split( '/' );
var id = parts.shift();
 var sid = parts.shift();
// check selection syntax
var arraySyntax = ( sid.indexOf( '(' ) !== - 1 );
 var memberSyntax = ( sid.indexOf( '.' ) !== - 1 );
if ( memberSyntax ) {
// member selection access
parts = sid.split( '.' );
 sid = parts.shift();
 data.member = parts.shift();
} else if ( arraySyntax ) {
// array-access syntax. can be used to express fields in one-dimensional vectors or two-dimensional matrices.
var indices = sid.split( '(' );
 sid = indices.shift();
for ( var i = 0; i < indices.length; i ++ ) {
indices[ i ] = parseInt( indices[ i ].replace( /\)/, '' ) );
}
data.indices = indices;
}
data.id = id;
 data.sid = sid;
data.arraySyntax = arraySyntax;
 data.memberSyntax = memberSyntax;
data.sampler = parseId( xml.getAttribute( 'source' ) );
return data;
}
function buildAnimation( data ) {
var tracks = [];
var channels = data.channels;
 var samplers = data.samplers;
 var sources = data.sources;
for ( var target in channels ) {
if ( channels.hasOwnProperty( target ) ) {
var channel = channels[ target ];
 var sampler = samplers[ channel.sampler ];
var inputId = sampler.inputs.INPUT;
 var outputId = sampler.inputs.OUTPUT;
var inputSource = sources[ inputId ];
 var outputSource = sources[ outputId ];
var animation = buildAnimationChannel( channel, inputSource, outputSource );
createKeyframeTracks( animation, tracks );
}
}
return tracks;
}
function getAnimation( id ) {
return getBuild( library.animations[ id ], buildAnimation );
}
function buildAnimationChannel( channel, inputSource, outputSource ) {
var node = library.nodes[ channel.id ];
 var object3D = getNode( node.id );
var transform = node.transforms[ channel.sid ];
 var defaultMatrix = node.matrix.clone().transpose();
var time, stride;
 var i, il, j, jl;
var data = {};
// the collada spec allows the animation of data in various ways.
 // depending on the transform type (matrix, translate, rotate, scale), we execute different logic
switch ( transform ) {
case 'matrix':
for ( i = 0, il = inputSource.array.length; i < il; i ++ ) {
time = inputSource.array[ i ];
 stride = i * outputSource.stride;
if ( data[ time ] === undefined ) data[ time ] = {};
if ( channel.arraySyntax === true ) {
var value = outputSource.array[ stride ];
 var index = channel.indices[ 0 ] + 4 * channel.indices[ 1 ];
data[ time ][ index ] = value;
} else {
for ( j = 0, jl = outputSource.stride; j < jl; j ++ ) {
data[ time ][ j ] = outputSource.array[ stride + j ];
}
}
}
break;
case 'translate':
 console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
 break;
case 'rotate':
 console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
 break;
case 'scale':
 console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
 break;
}
var keyframes = prepareAnimationData( data, defaultMatrix );
var animation = {
 name: object3D.uuid,
 keyframes: keyframes
 };
return animation;
}
function prepareAnimationData( data, defaultMatrix ) {
var keyframes = [];
// transfer data into a sortable array
for ( var time in data ) {
keyframes.push( { time: parseFloat( time ), value: data[ time ] } );
}
// ensure keyframes are sorted by time
keyframes.sort( ascending );
// now we clean up all animation data, so we can use them for keyframe tracks
for ( var i = 0; i < 16; i ++ ) {
transformAnimationData( keyframes, i, defaultMatrix.elements[ i ] );
}
return keyframes;
// array sort function
function ascending( a, b ) {
return a.time - b.time;
}
}
var position = new THREE.Vector3();
 var scale = new THREE.Vector3();
 var quaternion = new THREE.Quaternion();
function createKeyframeTracks( animation, tracks ) {
var keyframes = animation.keyframes;
 var name = animation.name;
var times = [];
 var positionData = [];
 var quaternionData = [];
 var scaleData = [];
for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
var keyframe = keyframes[ i ];
var time = keyframe.time;
 var value = keyframe.value;
matrix.fromArray( value ).transpose();
 matrix.decompose( position, quaternion, scale );
times.push( time );
 positionData.push( position.x, position.y, position.z );
 quaternionData.push( quaternion.x, quaternion.y, quaternion.z, quaternion.w );
 scaleData.push( scale.x, scale.y, scale.z );
}
if ( positionData.length > 0 ) tracks.push( new THREE.VectorKeyframeTrack( name + '.position', times, positionData ) );
 if ( quaternionData.length > 0 ) tracks.push( new THREE.QuaternionKeyframeTrack( name + '.quaternion', times, quaternionData ) );
 if ( scaleData.length > 0 ) tracks.push( new THREE.VectorKeyframeTrack( name + '.scale', times, scaleData ) );
return tracks;
}
function transformAnimationData( keyframes, property, defaultValue ) {
var keyframe;
var empty = true;
 var i, l;
// check, if values of a property are missing in our keyframes
for ( i = 0, l = keyframes.length; i < l; i ++ ) {
keyframe = keyframes[ i ];
if ( keyframe.value[ property ] === undefined ) {
keyframe.value[ property ] = null; // mark as missing
} else {
empty = false;
}
}
if ( empty === true ) {
// no values at all, so we set a default value
for ( i = 0, l = keyframes.length; i < l; i ++ ) {
keyframe = keyframes[ i ];
keyframe.value[ property ] = defaultValue;
}
} else {
// filling gaps
createMissingKeyframes( keyframes, property );
}
}
function createMissingKeyframes( keyframes, property ) {
var prev, next;
for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
var keyframe = keyframes[ i ];
if ( keyframe.value[ property ] === null ) {
prev = getPrev( keyframes, i, property );
 next = getNext( keyframes, i, property );
if ( prev === null ) {
keyframe.value[ property ] = next.value[ property ];
 continue;
}
if ( next === null ) {
keyframe.value[ property ] = prev.value[ property ];
 continue;
}
interpolate( keyframe, prev, next, property );
}
}
}
function getPrev( keyframes, i, property ) {
while ( i >= 0 ) {
var keyframe = keyframes[ i ];
if ( keyframe.value[ property ] !== null ) return keyframe;
i --;
}
return null;
}
function getNext( keyframes, i, property ) {
while ( i < keyframes.length ) {
var keyframe = keyframes[ i ];
if ( keyframe.value[ property ] !== null ) return keyframe;
i ++;
}
return null;
}
function interpolate( key, prev, next, property ) {
if ( ( next.time - prev.time ) === 0 ) {
key.value[ property ] = prev.value[ property ];
 return;
}
key.value[ property ] = ( ( key.time - prev.time ) * ( next.value[ property ] - prev.value[ property ] ) / ( next.time - prev.time ) ) + prev.value[ property ];
}
// animation clips
function parseAnimationClip( xml ) {
var data = {
 name: xml.getAttribute( 'id' ) || 'default',
 start: parseFloat( xml.getAttribute( 'start' ) || 0 ),
 end: parseFloat( xml.getAttribute( 'end' ) || 0 ),
 animations: []
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'instance_animation':
 data.animations.push( parseId( child.getAttribute( 'url' ) ) );
 break;
}
}
library.clips[ xml.getAttribute( 'id' ) ] = data;
}
function buildAnimationClip( data ) {
var tracks = [];
var name = data.name;
 var duration = ( data.end - data.start ) || - 1;
 var animations = data.animations;
for ( var i = 0, il = animations.length; i < il; i ++ ) {
var animationTracks = getAnimation( animations[ i ] );
for ( var j = 0, jl = animationTracks.length; j < jl; j ++ ) {
tracks.push( animationTracks[ j ] );
}
}
return new THREE.AnimationClip( name, duration, tracks );
}
function getAnimationClip( id ) {
return getBuild( library.clips[ id ], buildAnimationClip );
}
// controller
function parseController( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'skin':
 // there is exactly one skin per controller
 data.id = parseId( child.getAttribute( 'source' ) );
 data.skin = parseSkin( child );
 break;
case 'morph':
 data.id = parseId( child.getAttribute( 'source' ) );
 console.warn( 'THREE.ColladaLoader: Morph target animation not supported yet.' );
 break;
}
}
library.controllers[ xml.getAttribute( 'id' ) ] = data;
}
function parseSkin( xml ) {
var data = {
 sources: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'bind_shape_matrix':
 data.bindShapeMatrix = parseFloats( child.textContent );
 break;
case 'source':
 var id = child.getAttribute( 'id' );
 data.sources[ id ] = parseSource( child );
 break;
case 'joints':
 data.joints = parseJoints( child );
 break;
case 'vertex_weights':
 data.vertexWeights = parseVertexWeights( child );
 break;
}
}
return data;
}
function parseJoints( xml ) {
var data = {
 inputs: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'input':
 var semantic = child.getAttribute( 'semantic' );
 var id = parseId( child.getAttribute( 'source' ) );
 data.inputs[ semantic ] = id;
 break;
}
}
return data;
}
function parseVertexWeights( xml ) {
var data = {
 inputs: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'input':
 var semantic = child.getAttribute( 'semantic' );
 var id = parseId( child.getAttribute( 'source' ) );
 var offset = parseInt( child.getAttribute( 'offset' ) );
 data.inputs[ semantic ] = { id: id, offset: offset };
 break;
case 'vcount':
 data.vcount = parseInts( child.textContent );
 break;
case 'v':
 data.v = parseInts( child.textContent );
 break;
}
}
return data;
}
function buildController( data ) {
var build = {
 id: data.id
 };
var geometry = library.geometries[ build.id ];
if ( data.skin !== undefined ) {
build.skin = buildSkin( data.skin );
// we enhance the 'sources' property of the corresponding geometry with our skin data
geometry.sources.skinIndices = build.skin.indices;
 geometry.sources.skinWeights = build.skin.weights;
}
return build;
}
function buildSkin( data ) {
var BONE_LIMIT = 4;
var build = {
 joints: [], // this must be an array to preserve the joint order
 indices: {
 array: [],
 stride: BONE_LIMIT
 },
 weights: {
 array: [],
 stride: BONE_LIMIT
 }
 };
var sources = data.sources;
 var vertexWeights = data.vertexWeights;
var vcount = vertexWeights.vcount;
 var v = vertexWeights.v;
 var jointOffset = vertexWeights.inputs.JOINT.offset;
 var weightOffset = vertexWeights.inputs.WEIGHT.offset;
var jointSource = data.sources[ data.joints.inputs.JOINT ];
 var inverseSource = data.sources[ data.joints.inputs.INV_BIND_MATRIX ];
var weights = sources[ vertexWeights.inputs.WEIGHT.id ].array;
 var stride = 0;
var i, j, l;
// procces skin data for each vertex
for ( i = 0, l = vcount.length; i < l; i ++ ) {
var jointCount = vcount[ i ]; // this is the amount of joints that affect a single vertex
 var vertexSkinData = [];
for ( j = 0; j < jointCount; j ++ ) {
var skinIndex = v[ stride + jointOffset ];
 var weightId = v[ stride + weightOffset ];
 var skinWeight = weights[ weightId ];
vertexSkinData.push( { index: skinIndex, weight: skinWeight } );
stride += 2;
}
// we sort the joints in descending order based on the weights.
 // this ensures, we only procced the most important joints of the vertex
vertexSkinData.sort( descending );
// now we provide for each vertex a set of four index and weight values.
 // the order of the skin data matches the order of vertices
for ( j = 0; j < BONE_LIMIT; j ++ ) {
var d = vertexSkinData[ j ];
if ( d !== undefined ) {
build.indices.array.push( d.index );
 build.weights.array.push( d.weight );
} else {
build.indices.array.push( 0 );
 build.weights.array.push( 0 );
}
}
}
// setup bind matrix
if ( data.bindShapeMatrix ) {
build.bindMatrix = new THREE.Matrix4().fromArray( data.bindShapeMatrix ).transpose();
} else {
build.bindMatrix = new THREE.Matrix4().identity();
}
// process bones and inverse bind matrix data
for ( i = 0, l = jointSource.array.length; i < l; i ++ ) {
var name = jointSource.array[ i ];
 var boneInverse = new THREE.Matrix4().fromArray( inverseSource.array, i * inverseSource.stride ).transpose();
build.joints.push( { name: name, boneInverse: boneInverse } );
}
return build;
// array sort function
function descending( a, b ) {
return b.weight - a.weight;
}
}
function getController( id ) {
return getBuild( library.controllers[ id ], buildController );
}
// image
function parseImage( xml ) {
var data = {
 init_from: getElementsByTagName( xml, 'init_from' )[ 0 ].textContent
 };
library.images[ xml.getAttribute( 'id' ) ] = data;
}
function buildImage( data ) {
if ( data.build !== undefined ) return data.build;
return data.init_from;
}
function getImage( id ) {
var data = library.images[ id ];
if ( data !== undefined ) {
return getBuild( data, buildImage );
}
console.warn( 'THREE.ColladaLoader: Couldn\'t find image with ID:', id );
return null;
}
// effect
function parseEffect( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'profile_COMMON':
 data.profile = parseEffectProfileCOMMON( child );
 break;
}
}
library.effects[ xml.getAttribute( 'id' ) ] = data;
}
function parseEffectProfileCOMMON( xml ) {
var data = {
 surfaces: {},
 samplers: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'newparam':
 parseEffectNewparam( child, data );
 break;
case 'technique':
 data.technique = parseEffectTechnique( child );
 break;
case 'extra':
 data.extra = parseEffectExtra( child );
 break;
}
}
return data;
}
function parseEffectNewparam( xml, data ) {
var sid = xml.getAttribute( 'sid' );
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'surface':
 data.surfaces[ sid ] = parseEffectSurface( child );
 break;
case 'sampler2D':
 data.samplers[ sid ] = parseEffectSampler( child );
 break;
}
}
}
function parseEffectSurface( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'init_from':
 data.init_from = child.textContent;
 break;
}
}
return data;
}
function parseEffectSampler( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'source':
 data.source = child.textContent;
 break;
}
}
return data;
}
function parseEffectTechnique( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'constant':
 case 'lambert':
 case 'blinn':
 case 'phong':
 data.type = child.nodeName;
 data.parameters = parseEffectParameters( child );
 break;
}
}
return data;
}
function parseEffectParameters( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'emission':
 case 'diffuse':
 case 'specular':
 case 'bump':
 case 'ambient':
 case 'shininess':
 case 'transparency':
 data[ child.nodeName ] = parseEffectParameter( child );
 break;
 case 'transparent':
 data[ child.nodeName ] = {
 opaque: child.getAttribute( 'opaque' ),
 data: parseEffectParameter( child )
 };
 break;
}
}
return data;
}
function parseEffectParameter( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'color':
 data[ child.nodeName ] = parseFloats( child.textContent );
 break;
case 'float':
 data[ child.nodeName ] = parseFloat( child.textContent );
 break;
case 'texture':
 data[ child.nodeName ] = { id: child.getAttribute( 'texture' ), extra: parseEffectParameterTexture( child ) };
 break;
}
}
return data;
}
function parseEffectParameterTexture( xml ) {
var data = {
 technique: {}
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'extra':
 parseEffectParameterTextureExtra( child, data );
 break;
}
}
return data;
}
function parseEffectParameterTextureExtra( xml, data ) {
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'technique':
 parseEffectParameterTextureExtraTechnique( child, data );
 break;
}
}
}
function parseEffectParameterTextureExtraTechnique( xml, data ) {
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'repeatU':
 case 'repeatV':
 case 'offsetU':
 case 'offsetV':
 data.technique[ child.nodeName ] = parseFloat( child.textContent );
 break;
case 'wrapU':
 case 'wrapV':
// some files have values for wrapU/wrapV which become NaN via parseInt
if ( child.textContent.toUpperCase() === 'TRUE' ) {
data.technique[ child.nodeName ] = 1;
} else if ( child.textContent.toUpperCase() === 'FALSE' ) {
data.technique[ child.nodeName ] = 0;
} else {
data.technique[ child.nodeName ] = parseInt( child.textContent );
}
break;
}
}
}
function parseEffectExtra( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'technique':
 data.technique = parseEffectExtraTechnique( child );
 break;
}
}
return data;
}
function parseEffectExtraTechnique( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'double_sided':
 data[ child.nodeName ] = parseInt( child.textContent );
 break;
}
}
return data;
}
function buildEffect( data ) {
return data;
}
function getEffect( id ) {
return getBuild( library.effects[ id ], buildEffect );
}
// material
function parseMaterial( xml ) {
var data = {
 name: xml.getAttribute( 'name' )
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'instance_effect':
 data.url = parseId( child.getAttribute( 'url' ) );
 break;
}
}
library.materials[ xml.getAttribute( 'id' ) ] = data;
}
function getTextureLoader( image ) {
var loader;
var extension = image.slice( ( image.lastIndexOf( '.' ) - 1 >>> 0 ) + 2 ); // http://www.jstips.co/en/javascript/get-file-extension/
 extension = extension.toLowerCase();
switch ( extension ) {
case 'tga':
 loader = tgaLoader;
 break;
default:
 loader = textureLoader;
}
return loader;
}
function buildMaterial( data ) {
var effect = getEffect( data.url );
 var technique = effect.profile.technique;
 var extra = effect.profile.extra;
var material;
switch ( technique.type ) {
case 'phong':
 case 'blinn':
 material = new THREE.MeshPhongMaterial();
 break;
case 'lambert':
 material = new THREE.MeshLambertMaterial();
 break;
default:
 material = new THREE.MeshBasicMaterial();
 break;
}
material.name = data.name || '';
function getTexture( textureObject ) {
var sampler = effect.profile.samplers[ textureObject.id ];
 var image = null;
// get image
if ( sampler !== undefined ) {
var surface = effect.profile.surfaces[ sampler.source ];
 image = getImage( surface.init_from );
} else {
console.warn( 'THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).' );
 image = getImage( textureObject.id );
}
// create texture if image is avaiable
if ( image !== null ) {
var loader = getTextureLoader( image );
if ( loader !== undefined ) {
var texture = loader.load( image );
var extra = textureObject.extra;
if ( extra !== undefined && extra.technique !== undefined && isEmpty( extra.technique ) === false ) {
var technique = extra.technique;
texture.wrapS = technique.wrapU ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
 texture.wrapT = technique.wrapV ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
texture.offset.set( technique.offsetU || 0, technique.offsetV || 0 );
 texture.repeat.set( technique.repeatU || 1, technique.repeatV || 1 );
} else {
texture.wrapS = THREE.RepeatWrapping;
 texture.wrapT = THREE.RepeatWrapping;
}
return texture;
} else {
console.warn( 'THREE.ColladaLoader: Loader for texture %s not found.', image );
return null;
}
} else {
console.warn( 'THREE.ColladaLoader: Couldn\'t create texture with ID:', textureObject.id );
return null;
}
}
var parameters = technique.parameters;
for ( var key in parameters ) {
var parameter = parameters[ key ];
switch ( key ) {
case 'diffuse':
 if ( parameter.color ) material.color.fromArray( parameter.color );
 if ( parameter.texture ) material.map = getTexture( parameter.texture );
 break;
 case 'specular':
 if ( parameter.color && material.specular ) material.specular.fromArray( parameter.color );
 if ( parameter.texture ) material.specularMap = getTexture( parameter.texture );
 break;
 case 'bump':
 if ( parameter.texture ) material.normalMap = getTexture( parameter.texture );
 break;
 case 'ambient':
 if ( parameter.texture ) material.lightMap = getTexture( parameter.texture );
 break;
 case 'shininess':
 if ( parameter.float && material.shininess ) material.shininess = parameter.float;
 break;
 case 'emission':
 if ( parameter.color && material.emissive ) material.emissive.fromArray( parameter.color );
 if ( parameter.texture ) material.emissiveMap = getTexture( parameter.texture );
 break;
}
}
//
var transparent = parameters[ 'transparent' ];
 var transparency = parameters[ 'transparency' ];
// <transparency> does not exist but <transparent>
if ( transparency === undefined && transparent ) {
transparency = {
 float: 1
 };
}
// <transparent> does not exist but <transparency>
if ( transparent === undefined && transparency ) {
transparent = {
 opaque: 'A_ONE',
 data: {
 color: [ 1, 1, 1, 1 ]
 } };
}
if ( transparent && transparency ) {
// handle case if a texture exists but no color
if ( transparent.data.texture ) {
// we do not set an alpha map (see #13792)
material.transparent = true;
} else {
var color = transparent.data.color;
switch ( transparent.opaque ) {
case 'A_ONE':
 material.opacity = color[ 3 ] * transparency.float;
 break;
 case 'RGB_ZERO':
 material.opacity = 1 - ( color[ 0 ] * transparency.float );
 break;
 case 'A_ZERO':
 material.opacity = 1 - ( color[ 3 ] * transparency.float );
 break;
 case 'RGB_ONE':
 material.opacity = color[ 0 ] * transparency.float;
 break;
 default:
 console.warn( 'THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', transparent.opaque );
}
if ( material.opacity < 1 ) material.transparent = true;
}
}
//
if ( extra !== undefined && extra.technique !== undefined && extra.technique.double_sided === 1 ) {
material.side = THREE.DoubleSide;
}
return material;
}
function getMaterial( id ) {
return getBuild( library.materials[ id ], buildMaterial );
}
// camera
function parseCamera( xml ) {
var data = {
 name: xml.getAttribute( 'name' )
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'optics':
 data.optics = parseCameraOptics( child );
 break;
}
}
library.cameras[ xml.getAttribute( 'id' ) ] = data;
}
function parseCameraOptics( xml ) {
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
switch ( child.nodeName ) {
case 'technique_common':
 return parseCameraTechnique( child );
}
}
return {};
}
function parseCameraTechnique( xml ) {
var data = {};
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
switch ( child.nodeName ) {
case 'perspective':
 case 'orthographic':
data.technique = child.nodeName;
 data.parameters = parseCameraParameters( child );
break;
}
}
return data;
}
function parseCameraParameters( xml ) {
var data = {};
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
switch ( child.nodeName ) {
case 'xfov':
 case 'yfov':
 case 'xmag':
 case 'ymag':
 case 'znear':
 case 'zfar':
 case 'aspect_ratio':
 data[ child.nodeName ] = parseFloat( child.textContent );
 break;
}
}
return data;
}
function buildCamera( data ) {
var camera;
switch ( data.optics.technique ) {
case 'perspective':
 camera = new THREE.PerspectiveCamera(
 data.optics.parameters.yfov,
 data.optics.parameters.aspect_ratio,
 data.optics.parameters.znear,
 data.optics.parameters.zfar
 );
 break;
case 'orthographic':
 var ymag = data.optics.parameters.ymag;
 var xmag = data.optics.parameters.xmag;
 var aspectRatio = data.optics.parameters.aspect_ratio;
xmag = ( xmag === undefined ) ? ( ymag * aspectRatio ) : xmag;
 ymag = ( ymag === undefined ) ? ( xmag / aspectRatio ) : ymag;
xmag *= 0.5;
 ymag *= 0.5;
camera = new THREE.OrthographicCamera(
 - xmag, xmag, ymag, - ymag, // left, right, top, bottom
 data.optics.parameters.znear,
 data.optics.parameters.zfar
 );
 break;
default:
 camera = new THREE.PerspectiveCamera();
 break;
}
camera.name = data.name || '';
return camera;
}
function getCamera( id ) {
var data = library.cameras[ id ];
if ( data !== undefined ) {
return getBuild( data, buildCamera );
}
console.warn( 'THREE.ColladaLoader: Couldn\'t find camera with ID:', id );
return null;
}
// light
function parseLight( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'technique_common':
 data = parseLightTechnique( child );
 break;
}
}
library.lights[ xml.getAttribute( 'id' ) ] = data;
}
function parseLightTechnique( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'directional':
 case 'point':
 case 'spot':
 case 'ambient':
data.technique = child.nodeName;
 data.parameters = parseLightParameters( child );
}
}
return data;
}
function parseLightParameters( xml ) {
var data = {};
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'color':
 var array = parseFloats( child.textContent );
 data.color = new THREE.Color().fromArray( array );
 break;
case 'falloff_angle':
 data.falloffAngle = parseFloat( child.textContent );
 break;
case 'quadratic_attenuation':
 var f = parseFloat( child.textContent );
 data.distance = f ? Math.sqrt( 1 / f ) : 0;
 break;
}
}
return data;
}
function buildLight( data ) {
var light;
switch ( data.technique ) {
case 'directional':
 light = new THREE.DirectionalLight();
 break;
case 'point':
 light = new THREE.PointLight();
 break;
case 'spot':
 light = new THREE.SpotLight();
 break;
case 'ambient':
 light = new THREE.AmbientLight();
 break;
}
if ( data.parameters.color ) light.color.copy( data.parameters.color );
 if ( data.parameters.distance ) light.distance = data.parameters.distance;
return light;
}
function getLight( id ) {
var data = library.lights[ id ];
if ( data !== undefined ) {
return getBuild( data, buildLight );
}
console.warn( 'THREE.ColladaLoader: Couldn\'t find light with ID:', id );
return null;
}
// geometry
function parseGeometry( xml ) {
var data = {
 name: xml.getAttribute( 'name' ),
 sources: {},
 vertices: {},
 primitives: []
 };
var mesh = getElementsByTagName( xml, 'mesh' )[ 0 ];
// the following tags inside geometry are not supported yet (see https://github.com/mrdoob/three.js/pull/12606): convex_mesh, spline, brep
 if ( mesh === undefined ) return;
for ( var i = 0; i < mesh.childNodes.length; i ++ ) {
var child = mesh.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
var id = child.getAttribute( 'id' );
switch ( child.nodeName ) {
case 'source':
 data.sources[ id ] = parseSource( child );
 break;
case 'vertices':
 // data.sources[ id ] = data.sources[ parseId( getElementsByTagName( child, 'input' )[ 0 ].getAttribute( 'source' ) ) ];
 data.vertices = parseGeometryVertices( child );
 break;
case 'polygons':
 console.warn( 'THREE.ColladaLoader: Unsupported primitive type: ', child.nodeName );
 break;
case 'lines':
 case 'linestrips':
 case 'polylist':
 case 'triangles':
 data.primitives.push( parseGeometryPrimitive( child ) );
 break;
default:
 console.log( child );
}
}
library.geometries[ xml.getAttribute( 'id' ) ] = data;
}
function parseSource( xml ) {
var data = {
 array: [],
 stride: 3
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'float_array':
 data.array = parseFloats( child.textContent );
 break;
case 'Name_array':
 data.array = parseStrings( child.textContent );
 break;
case 'technique_common':
 var accessor = getElementsByTagName( child, 'accessor' )[ 0 ];
if ( accessor !== undefined ) {
data.stride = parseInt( accessor.getAttribute( 'stride' ) );
}
 break;
}
}
return data;
}
function parseGeometryVertices( xml ) {
var data = {};
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
data[ child.getAttribute( 'semantic' ) ] = parseId( child.getAttribute( 'source' ) );
}
return data;
}
function parseGeometryPrimitive( xml ) {
var primitive = {
 type: xml.nodeName,
 material: xml.getAttribute( 'material' ),
 count: parseInt( xml.getAttribute( 'count' ) ),
 inputs: {},
 stride: 0,
 hasUV: false
 };
for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'input':
 var id = parseId( child.getAttribute( 'source' ) );
 var semantic = child.getAttribute( 'semantic' );
 var offset = parseInt( child.getAttribute( 'offset' ) );
 var set = parseInt( child.getAttribute( 'set' ) );
 var inputname = ( set > 0 ? semantic + set : semantic );
 primitive.inputs[ inputname ] = { id: id, offset: offset };
 primitive.stride = Math.max( primitive.stride, offset + 1 );
 if ( semantic === 'TEXCOORD' ) primitive.hasUV = true;
 break;
case 'vcount':
 primitive.vcount = parseInts( child.textContent );
 break;
case 'p':
 primitive.p = parseInts( child.textContent );
 break;
}
}
return primitive;
}
function groupPrimitives( primitives ) {
var build = {};
for ( var i = 0; i < primitives.length; i ++ ) {
var primitive = primitives[ i ];
if ( build[ primitive.type ] === undefined ) build[ primitive.type ] = [];
build[ primitive.type ].push( primitive );
}
return build;
}
function checkUVCoordinates( primitives ) {
var count = 0;
for ( var i = 0, l = primitives.length; i < l; i ++ ) {
var primitive = primitives[ i ];
if ( primitive.hasUV === true ) {
count ++;
}
}
if ( count > 0 && count < primitives.length ) {
primitives.uvsNeedsFix = true;
}
}
function buildGeometry( data ) {
var build = {};
var sources = data.sources;
 var vertices = data.vertices;
 var primitives = data.primitives;
if ( primitives.length === 0 ) return {};
// our goal is to create one buffer geometry for a single type of primitives
 // first, we group all primitives by their type
var groupedPrimitives = groupPrimitives( primitives );
for ( var type in groupedPrimitives ) {
var primitiveType = groupedPrimitives[ type ];
// second, ensure consistent uv coordinates for each type of primitives (polylist,triangles or lines)
checkUVCoordinates( primitiveType );
// third, create a buffer geometry for each type of primitives
build[ type ] = buildGeometryType( primitiveType, sources, vertices );
}
return build;
}
function buildGeometryType( primitives, sources, vertices ) {
var build = {};
var position = { array: [], stride: 0 };
 var normal = { array: [], stride: 0 };
 var uv = { array: [], stride: 0 };
 var uv2 = { array: [], stride: 0 };
 var color = { array: [], stride: 0 };
var skinIndex = { array: [], stride: 4 };
 var skinWeight = { array: [], stride: 4 };
var geometry = new THREE.BufferGeometry();
var materialKeys = [];
var start = 0;
for ( var p = 0; p < primitives.length; p ++ ) {
var primitive = primitives[ p ];
 var inputs = primitive.inputs;
// groups
var count = 0;
switch ( primitive.type ) {
case 'lines':
 case 'linestrips':
 count = primitive.count * 2;
 break;
case 'triangles':
 count = primitive.count * 3;
 break;
case 'polylist':
for ( var g = 0; g < primitive.count; g ++ ) {
var vc = primitive.vcount[ g ];
switch ( vc ) {
case 3:
 count += 3; // single triangle
 break;
case 4:
 count += 6; // quad, subdivided into two triangles
 break;
default:
 count += ( vc - 2 ) * 3; // polylist with more than four vertices
 break;
}
}
break;
default:
 console.warn( 'THREE.ColladaLoader: Unknow primitive type:', primitive.type );
}
geometry.addGroup( start, count, p );
 start += count;
// material
if ( primitive.material ) {
materialKeys.push( primitive.material );
}
// geometry data
for ( var name in inputs ) {
var input = inputs[ name ];
switch ( name ) {
case 'VERTEX':
 for ( var key in vertices ) {
var id = vertices[ key ];
switch ( key ) {
case 'POSITION':
 var prevLength = position.array.length;
 buildGeometryData( primitive, sources[ id ], input.offset, position.array );
 position.stride = sources[ id ].stride;
if ( sources.skinWeights && sources.skinIndices ) {
buildGeometryData( primitive, sources.skinIndices, input.offset, skinIndex.array );
 buildGeometryData( primitive, sources.skinWeights, input.offset, skinWeight.array );
}
// see #3803
if ( primitive.hasUV === false && primitives.uvsNeedsFix === true ) {
var count = ( position.array.length - prevLength ) / position.stride;
for ( var i = 0; i < count; i ++ ) {
// fill missing uv coordinates
uv.array.push( 0, 0 );
}
}
 break;
case 'NORMAL':
 buildGeometryData( primitive, sources[ id ], input.offset, normal.array );
 normal.stride = sources[ id ].stride;
 break;
case 'COLOR':
 buildGeometryData( primitive, sources[ id ], input.offset, color.array );
 color.stride = sources[ id ].stride;
 break;
case 'TEXCOORD':
 buildGeometryData( primitive, sources[ id ], input.offset, uv.array );
 uv.stride = sources[ id ].stride;
 break;
case 'TEXCOORD1':
 buildGeometryData( primitive, sources[ id ], input.offset, uv2.array );
 uv.stride = sources[ id ].stride;
 break;
default:
 console.warn( 'THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key );
}
}
 break;
case 'NORMAL':
 buildGeometryData( primitive, sources[ input.id ], input.offset, normal.array );
 normal.stride = sources[ input.id ].stride;
 break;
case 'COLOR':
 buildGeometryData( primitive, sources[ input.id ], input.offset, color.array );
 color.stride = sources[ input.id ].stride;
 break;
case 'TEXCOORD':
 buildGeometryData( primitive, sources[ input.id ], input.offset, uv.array );
 uv.stride = sources[ input.id ].stride;
 break;
case 'TEXCOORD1':
 buildGeometryData( primitive, sources[ input.id ], input.offset, uv2.array );
 uv2.stride = sources[ input.id ].stride;
 break;
}
}
}
// build geometry
if ( position.array.length > 0 ) geometry.addAttribute( 'position', new THREE.Float32BufferAttribute( position.array, position.stride ) );
 if ( normal.array.length > 0 ) geometry.addAttribute( 'normal', new THREE.Float32BufferAttribute( normal.array, normal.stride ) );
 if ( color.array.length > 0 ) geometry.addAttribute( 'color', new THREE.Float32BufferAttribute( color.array, color.stride ) );
 if ( uv.array.length > 0 ) geometry.addAttribute( 'uv', new THREE.Float32BufferAttribute( uv.array, uv.stride ) );
 if ( uv2.array.length > 0 ) geometry.addAttribute( 'uv2', new THREE.Float32BufferAttribute( uv2.array, uv2.stride ) );
if ( skinIndex.array.length > 0 ) geometry.addAttribute( 'skinIndex', new THREE.Float32BufferAttribute( skinIndex.array, skinIndex.stride ) );
 if ( skinWeight.array.length > 0 ) geometry.addAttribute( 'skinWeight', new THREE.Float32BufferAttribute( skinWeight.array, skinWeight.stride ) );
build.data = geometry;
 build.type = primitives[ 0 ].type;
 build.materialKeys = materialKeys;
return build;
}
function buildGeometryData( primitive, source, offset, array ) {
var indices = primitive.p;
 var stride = primitive.stride;
 var vcount = primitive.vcount;
function pushVector( i ) {
var index = indices[ i + offset ] * sourceStride;
 var length = index + sourceStride;
for ( ; index < length; index ++ ) {
array.push( sourceArray[ index ] );
}
}
var sourceArray = source.array;
 var sourceStride = source.stride;
if ( primitive.vcount !== undefined ) {
var index = 0;
for ( var i = 0, l = vcount.length; i < l; i ++ ) {
var count = vcount[ i ];
if ( count === 4 ) {
var a = index + stride * 0;
 var b = index + stride * 1;
 var c = index + stride * 2;
 var d = index + stride * 3;
pushVector( a ); pushVector( b ); pushVector( d );
 pushVector( b ); pushVector( c ); pushVector( d );
} else if ( count === 3 ) {
var a = index + stride * 0;
 var b = index + stride * 1;
 var c = index + stride * 2;
pushVector( a ); pushVector( b ); pushVector( c );
} else if ( count > 4 ) {
for ( var k = 1, kl = ( count - 2 ); k <= kl; k ++ ) {
var a = index + stride * 0;
 var b = index + stride * k;
 var c = index + stride * ( k + 1 );
pushVector( a ); pushVector( b ); pushVector( c );
}
}
index += stride * count;
}
} else {
for ( var i = 0, l = indices.length; i < l; i += stride ) {
pushVector( i );
}
}
}
function getGeometry( id ) {
return getBuild( library.geometries[ id ], buildGeometry );
}
// kinematics
function parseKinematicsModel( xml ) {
var data = {
 name: xml.getAttribute( 'name' ) || '',
 joints: {},
 links: []
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'technique_common':
 parseKinematicsTechniqueCommon( child, data );
 break;
}
}
library.kinematicsModels[ xml.getAttribute( 'id' ) ] = data;
}
function buildKinematicsModel( data ) {
if ( data.build !== undefined ) return data.build;
return data;
}
function getKinematicsModel( id ) {
return getBuild( library.kinematicsModels[ id ], buildKinematicsModel );
}
function parseKinematicsTechniqueCommon( xml, data ) {
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'joint':
 data.joints[ child.getAttribute( 'sid' ) ] = parseKinematicsJoint( child );
 break;
case 'link':
 data.links.push( parseKinematicsLink( child ) );
 break;
}
}
}
function parseKinematicsJoint( xml ) {
var data;
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'prismatic':
 case 'revolute':
 data = parseKinematicsJointParameter( child );
 break;
}
}
return data;
}
function parseKinematicsJointParameter( xml, data ) {
var data = {
 sid: xml.getAttribute( 'sid' ),
 name: xml.getAttribute( 'name' ) || '',
 axis: new THREE.Vector3(),
 limits: {
 min: 0,
 max: 0
 },
 type: xml.nodeName,
 static: false,
 zeroPosition: 0,
 middlePosition: 0
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'axis':
 var array = parseFloats( child.textContent );
 data.axis.fromArray( array );
 break;
 case 'limits':
 var max = child.getElementsByTagName( 'max' )[ 0 ];
 var min = child.getElementsByTagName( 'min' )[ 0 ];
data.limits.max = parseFloat( max.textContent );
 data.limits.min = parseFloat( min.textContent );
 break;
}
}
// if min is equal to or greater than max, consider the joint static
if ( data.limits.min >= data.limits.max ) {
data.static = true;
}
// calculate middle position
data.middlePosition = ( data.limits.min + data.limits.max ) / 2.0;
return data;
}
function parseKinematicsLink( xml ) {
var data = {
 sid: xml.getAttribute( 'sid' ),
 name: xml.getAttribute( 'name' ) || '',
 attachments: [],
 transforms: []
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'attachment_full':
 data.attachments.push( parseKinematicsAttachment( child ) );
 break;
case 'matrix':
 case 'translate':
 case 'rotate':
 data.transforms.push( parseKinematicsTransform( child ) );
 break;
}
}
return data;
}
function parseKinematicsAttachment( xml ) {
var data = {
 joint: xml.getAttribute( 'joint' ).split( '/' ).pop(),
 transforms: [],
 links: []
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'link':
 data.links.push( parseKinematicsLink( child ) );
 break;
case 'matrix':
 case 'translate':
 case 'rotate':
 data.transforms.push( parseKinematicsTransform( child ) );
 break;
}
}
return data;
}
function parseKinematicsTransform( xml ) {
var data = {
 type: xml.nodeName
 };
var array = parseFloats( xml.textContent );
switch ( data.type ) {
case 'matrix':
 data.obj = new THREE.Matrix4();
 data.obj.fromArray( array ).transpose();
 break;
case 'translate':
 data.obj = new THREE.Vector3();
 data.obj.fromArray( array );
 break;
case 'rotate':
 data.obj = new THREE.Vector3();
 data.obj.fromArray( array );
 data.angle = THREE.Math.degToRad( array[ 3 ] );
 break;
}
return data;
}
// physics
function parsePhysicsModel( xml ) {
var data = {
 name: xml.getAttribute( 'name' ) || '',
 rigidBodies: {}
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'rigid_body':
 data.rigidBodies[ child.getAttribute( 'name' ) ] = {};
 parsePhysicsRigidBody( child, data.rigidBodies[ child.getAttribute( 'name' ) ] );
 break;
}
}
library.physicsModels[ xml.getAttribute( 'id' ) ] = data;
}
function parsePhysicsRigidBody( xml, data ) {
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'technique_common':
 parsePhysicsTechniqueCommon( child, data );
 break;
}
}
}
function parsePhysicsTechniqueCommon( xml, data ) {
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'inertia':
 data.inertia = parseFloats( child.textContent );
 break;
case 'mass':
 data.mass = parseFloats( child.textContent )[ 0 ];
 break;
}
}
}
// scene
function parseKinematicsScene( xml ) {
var data = {
 bindJointAxis: []
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'bind_joint_axis':
 data.bindJointAxis.push( parseKinematicsBindJointAxis( child ) );
 break;
}
}
library.kinematicsScenes[ parseId( xml.getAttribute( 'url' ) ) ] = data;
}
function parseKinematicsBindJointAxis( xml ) {
var data = {
 target: xml.getAttribute( 'target' ).split( '/' ).pop()
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'axis':
 var param = child.getElementsByTagName( 'param' )[ 0 ];
 data.axis = param.textContent;
 var tmpJointIndex = data.axis.split( 'inst_' ).pop().split( 'axis' )[ 0 ];
 data.jointIndex = tmpJointIndex.substr( 0, tmpJointIndex.length - 1 );
 break;
}
}
return data;
}
function buildKinematicsScene( data ) {
if ( data.build !== undefined ) return data.build;
return data;
}
function getKinematicsScene( id ) {
return getBuild( library.kinematicsScenes[ id ], buildKinematicsScene );
}
function setupKinematics() {
var kinematicsModelId = Object.keys( library.kinematicsModels )[ 0 ];
 var kinematicsSceneId = Object.keys( library.kinematicsScenes )[ 0 ];
 var visualSceneId = Object.keys( library.visualScenes )[ 0 ];
if ( kinematicsModelId === undefined || kinematicsSceneId === undefined ) return;
var kinematicsModel = getKinematicsModel( kinematicsModelId );
 var kinematicsScene = getKinematicsScene( kinematicsSceneId );
 var visualScene = getVisualScene( visualSceneId );
var bindJointAxis = kinematicsScene.bindJointAxis;
 var jointMap = {};
for ( var i = 0, l = bindJointAxis.length; i < l; i ++ ) {
var axis = bindJointAxis[ i ];
// the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'
var targetElement = collada.querySelector( '[sid="' + axis.target + '"]' );
if ( targetElement ) {
// get the parent of the transfrom element
var parentVisualElement = targetElement.parentElement;
// connect the joint of the kinematics model with the element in the visual scene
connect( axis.jointIndex, parentVisualElement );
}
}
function connect( jointIndex, visualElement ) {
var visualElementName = visualElement.getAttribute( 'name' );
 var joint = kinematicsModel.joints[ jointIndex ];
visualScene.traverse( function ( object ) {
if ( object.name === visualElementName ) {
jointMap[ jointIndex ] = {
 object: object,
 transforms: buildTransformList( visualElement ),
 joint: joint,
 position: joint.zeroPosition
 };
}
} );
}
var m0 = new THREE.Matrix4();
kinematics = {
joints: kinematicsModel && kinematicsModel.joints,
getJointValue: function ( jointIndex ) {
var jointData = jointMap[ jointIndex ];
if ( jointData ) {
return jointData.position;
} else {
console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' doesn\'t exist.' );
}
},
setJointValue: function ( jointIndex, value ) {
var jointData = jointMap[ jointIndex ];
if ( jointData ) {
var joint = jointData.joint;
if ( value > joint.limits.max || value < joint.limits.min ) {
console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ').' );
} else if ( joint.static ) {
console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' is static.' );
} else {
var object = jointData.object;
 var axis = joint.axis;
 var transforms = jointData.transforms;
matrix.identity();
// each update, we have to apply all transforms in the correct order
for ( var i = 0; i < transforms.length; i ++ ) {
var transform = transforms[ i ];
// if there is a connection of the transform node with a joint, apply the joint value
if ( transform.sid && transform.sid.indexOf( jointIndex ) !== - 1 ) {
switch ( joint.type ) {
case 'revolute':
 matrix.multiply( m0.makeRotationAxis( axis, THREE.Math.degToRad( value ) ) );
 break;
case 'prismatic':
 matrix.multiply( m0.makeTranslation( axis.x * value, axis.y * value, axis.z * value ) );
 break;
default:
 console.warn( 'THREE.ColladaLoader: Unknown joint type: ' + joint.type );
 break;
}
} else {
switch ( transform.type ) {
case 'matrix':
 matrix.multiply( transform.obj );
 break;
case 'translate':
 matrix.multiply( m0.makeTranslation( transform.obj.x, transform.obj.y, transform.obj.z ) );
 break;
case 'scale':
 matrix.scale( transform.obj );
 break;
case 'rotate':
 matrix.multiply( m0.makeRotationAxis( transform.obj, transform.angle ) );
 break;
}
}
}
object.matrix.copy( matrix );
 object.matrix.decompose( object.position, object.quaternion, object.scale );
jointMap[ jointIndex ].position = value;
}
} else {
console.log( 'THREE.ColladaLoader: ' + jointIndex + ' does not exist.' );
}
}
};
}
function buildTransformList( node ) {
var transforms = [];
var xml = collada.querySelector( '[id="' + node.id + '"]' );
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'matrix':
 var array = parseFloats( child.textContent );
 var matrix = new THREE.Matrix4().fromArray( array ).transpose();
 transforms.push( {
 sid: child.getAttribute( 'sid' ),
 type: child.nodeName,
 obj: matrix
 } );
 break;
case 'translate':
 case 'scale':
 var array = parseFloats( child.textContent );
 var vector = new THREE.Vector3().fromArray( array );
 transforms.push( {
 sid: child.getAttribute( 'sid' ),
 type: child.nodeName,
 obj: vector
 } );
 break;
case 'rotate':
 var array = parseFloats( child.textContent );
 var vector = new THREE.Vector3().fromArray( array );
 var angle = THREE.Math.degToRad( array[ 3 ] );
 transforms.push( {
 sid: child.getAttribute( 'sid' ),
 type: child.nodeName,
 obj: vector,
 angle: angle
 } );
 break;
}
}
return transforms;
}
// nodes
function prepareNodes( xml ) {
var elements = xml.getElementsByTagName( 'node' );
// ensure all node elements have id attributes
for ( var i = 0; i < elements.length; i ++ ) {
var element = elements[ i ];
if ( element.hasAttribute( 'id' ) === false ) {
element.setAttribute( 'id', generateId() );
}
}
}
var matrix = new THREE.Matrix4();
 var vector = new THREE.Vector3();
function parseNode( xml ) {
var data = {
 name: xml.getAttribute( 'name' ) || '',
 type: xml.getAttribute( 'type' ),
 id: xml.getAttribute( 'id' ),
 sid: xml.getAttribute( 'sid' ),
 matrix: new THREE.Matrix4(),
 nodes: [],
 instanceCameras: [],
 instanceControllers: [],
 instanceLights: [],
 instanceGeometries: [],
 instanceNodes: [],
 transforms: {}
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
if ( child.nodeType !== 1 ) continue;
switch ( child.nodeName ) {
case 'node':
 data.nodes.push( child.getAttribute( 'id' ) );
 parseNode( child );
 break;
case 'instance_camera':
 data.instanceCameras.push( parseId( child.getAttribute( 'url' ) ) );
 break;
case 'instance_controller':
 data.instanceControllers.push( parseNodeInstance( child ) );
 break;
case 'instance_light':
 data.instanceLights.push( parseId( child.getAttribute( 'url' ) ) );
 break;
case 'instance_geometry':
 data.instanceGeometries.push( parseNodeInstance( child ) );
 break;
case 'instance_node':
 data.instanceNodes.push( parseId( child.getAttribute( 'url' ) ) );
 break;
case 'matrix':
 var array = parseFloats( child.textContent );
 data.matrix.multiply( matrix.fromArray( array ).transpose() );
 data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
 break;
case 'translate':
 var array = parseFloats( child.textContent );
 vector.fromArray( array );
 data.matrix.multiply( matrix.makeTranslation( vector.x, vector.y, vector.z ) );
 data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
 break;
case 'rotate':
 var array = parseFloats( child.textContent );
 var angle = THREE.Math.degToRad( array[ 3 ] );
 data.matrix.multiply( matrix.makeRotationAxis( vector.fromArray( array ), angle ) );
 data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
 break;
case 'scale':
 var array = parseFloats( child.textContent );
 data.matrix.scale( vector.fromArray( array ) );
 data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
 break;
case 'extra':
 break;
default:
 console.log( child );
}
}
if ( hasNode( data.id ) ) {
console.warn( 'THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.', data.id );
} else {
library.nodes[ data.id ] = data;
}
return data;
}
function parseNodeInstance( xml ) {
var data = {
 id: parseId( xml.getAttribute( 'url' ) ),
 materials: {},
 skeletons: []
 };
for ( var i = 0; i < xml.childNodes.length; i ++ ) {
var child = xml.childNodes[ i ];
switch ( child.nodeName ) {
case 'bind_material':
 var instances = child.getElementsByTagName( 'instance_material' );
for ( var j = 0; j < instances.length; j ++ ) {
var instance = instances[ j ];
 var symbol = instance.getAttribute( 'symbol' );
 var target = instance.getAttribute( 'target' );
data.materials[ symbol ] = parseId( target );
}
break;
case 'skeleton':
 data.skeletons.push( parseId( child.textContent ) );
 break;
default:
 break;
}
}
return data;
}
function buildSkeleton( skeletons, joints ) {
var boneData = [];
 var sortedBoneData = [];
var i, j, data;
// a skeleton can have multiple root bones. collada expresses this
 // situtation with multiple "skeleton" tags per controller instance
for ( i = 0; i < skeletons.length; i ++ ) {
var skeleton = skeletons[ i ];
var root;
if ( hasNode( skeleton ) ) {
root = getNode( skeleton );
 buildBoneHierarchy( root, joints, boneData );
} else if ( hasVisualScene( skeleton ) ) {
// handle case where the skeleton refers to the visual scene (#13335)
var visualScene = library.visualScenes[ skeleton ];
 var children = visualScene.children;
for ( var j = 0; j < children.length; j ++ ) {
var child = children[ j ];
if ( child.type === 'JOINT' ) {
var root = getNode( child.id );
 buildBoneHierarchy( root, joints, boneData );
}
}
} else {
console.error( 'THREE.ColladaLoader: Unable to find root bone of skeleton with ID:', skeleton );
}
}
// sort bone data (the order is defined in the corresponding controller)
for ( i = 0; i < joints.length; i ++ ) {
for ( j = 0; j < boneData.length; j ++ ) {
data = boneData[ j ];
if ( data.bone.name === joints[ i ].name ) {
sortedBoneData[ i ] = data;
 data.processed = true;
 break;
}
}
}
// add unprocessed bone data at the end of the list
for ( i = 0; i < boneData.length; i ++ ) {
data = boneData[ i ];
if ( data.processed === false ) {
sortedBoneData.push( data );
 data.processed = true;
}
}
// setup arrays for skeleton creation
var bones = [];
 var boneInverses = [];
for ( i = 0; i < sortedBoneData.length; i ++ ) {
data = sortedBoneData[ i ];
bones.push( data.bone );
 boneInverses.push( data.boneInverse );
}
return new THREE.Skeleton( bones, boneInverses );
}
function buildBoneHierarchy( root, joints, boneData ) {
// setup bone data from visual scene
root.traverse( function ( object ) {
if ( object.isBone === true ) {
var boneInverse;
// retrieve the boneInverse from the controller data
for ( var i = 0; i < joints.length; i ++ ) {
var joint = joints[ i ];
if ( joint.name === object.name ) {
boneInverse = joint.boneInverse;
 break;
}
}
if ( boneInverse === undefined ) {
// Unfortunately, there can be joints in the visual scene that are not part of the
 // corresponding controller. In this case, we have to create a dummy boneInverse matrix
 // for the respective bone. This bone won't affect any vertices, because there are no skin indices
 // and weights defined for it. But we still have to add the bone to the sorted bone list in order to
 // ensure a correct animation of the model.
boneInverse = new THREE.Matrix4();
}
boneData.push( { bone: object, boneInverse: boneInverse, processed: false } );
}
} );
}
function buildNode( data ) {
var objects = [];
var matrix = data.matrix;
 var nodes = data.nodes;
 var type = data.type;
 var instanceCameras = data.instanceCameras;
 var instanceControllers = data.instanceControllers;
 var instanceLights = data.instanceLights;
 var instanceGeometries = data.instanceGeometries;
 var instanceNodes = data.instanceNodes;
// nodes
for ( var i = 0, l = nodes.length; i < l; i ++ ) {
objects.push( getNode( nodes[ i ] ) );
}
// instance cameras
for ( var i = 0, l = instanceCameras.length; i < l; i ++ ) {
var instanceCamera = getCamera( instanceCameras[ i ] );
if ( instanceCamera !== null ) {
objects.push( instanceCamera.clone() );
}
}
// instance controllers
for ( var i = 0, l = instanceControllers.length; i < l; i ++ ) {
var instance = instanceControllers[ i ];
 var controller = getController( instance.id );
 var geometries = getGeometry( controller.id );
 var newObjects = buildObjects( geometries, instance.materials );
var skeletons = instance.skeletons;
 var joints = controller.skin.joints;
var skeleton = buildSkeleton( skeletons, joints );
for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
var object = newObjects[ j ];
if ( object.isSkinnedMesh ) {
object.bind( skeleton, controller.skin.bindMatrix );
 object.normalizeSkinWeights();
}
objects.push( object );
}
}
// instance lights
for ( var i = 0, l = instanceLights.length; i < l; i ++ ) {
var instanceLight = getLight( instanceLights[ i ] );
if ( instanceLight !== null ) {
objects.push( instanceLight.clone() );
}
}
// instance geometries
for ( var i = 0, l = instanceGeometries.length; i < l; i ++ ) {
var instance = instanceGeometries[ i ];
// a single geometry instance in collada can lead to multiple object3Ds.
 // this is the case when primitives are combined like triangles and lines
var geometries = getGeometry( instance.id );
 var newObjects = buildObjects( geometries, instance.materials );
for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
objects.push( newObjects[ j ] );
}
}
// instance nodes
for ( var i = 0, l = instanceNodes.length; i < l; i ++ ) {
objects.push( getNode( instanceNodes[ i ] ).clone() );
}
var object;
if ( nodes.length === 0 && objects.length === 1 ) {
object = objects[ 0 ];
} else {
object = ( type === 'JOINT' ) ? new THREE.Bone() : new THREE.Group();
for ( var i = 0; i < objects.length; i ++ ) {
object.add( objects[ i ] );
}
}
if ( object.name === '' ) {
object.name = ( type === 'JOINT' ) ? data.sid : data.name;
}
object.matrix.copy( matrix );
 object.matrix.decompose( object.position, object.quaternion, object.scale );
return object;
}
var fallbackMaterial = new THREE.MeshBasicMaterial( { color: 0xff00ff } );
function resolveMaterialBinding( keys, instanceMaterials ) {
var materials = [];
for ( var i = 0, l = keys.length; i < l; i ++ ) {
var id = instanceMaterials[ keys[ i ] ];
if ( id === undefined ) {
console.warn( 'THREE.ColladaLoader: Material with key %s not found. Apply fallback material.', keys[ i ] );
 materials.push( fallbackMaterial );
} else {
materials.push( getMaterial( id ) );
}
}
return materials;
}
function buildObjects( geometries, instanceMaterials ) {
var objects = [];
for ( var type in geometries ) {
var geometry = geometries[ type ];
var materials = resolveMaterialBinding( geometry.materialKeys, instanceMaterials );
// handle case if no materials are defined
if ( materials.length === 0 ) {
if ( type === 'lines' || type === 'linestrips' ) {
materials.push( new THREE.LineBasicMaterial() );
} else {
materials.push( new THREE.MeshPhongMaterial() );
}
}
// regard skinning
var skinning = ( geometry.data.attributes.skinIndex !== undefined );
if ( skinning ) {
for ( var i = 0, l = materials.length; i < l; i ++ ) {
materials[ i ].skinning = true;
}
}
// choose between a single or multi materials (material array)
var material = ( materials.length === 1 ) ? materials[ 0 ] : materials;
// now create a specific 3D object
var object;
switch ( type ) {
case 'lines':
 object = new THREE.LineSegments( geometry.data, material );
 break;
case 'linestrips':
 object = new THREE.Line( geometry.data, material );
 break;
case 'triangles':
 case 'polylist':
 if ( skinning ) {
object = new THREE.SkinnedMesh( geometry.data, material );
} else {
object = new THREE.Mesh( geometry.data, material );
}
 break;
}
objects.push( object );
}
return objects;
}
function hasNode( id ) {
return library.nodes[ id ] !== undefined;
}
function getNode( id ) {
return getBuild( library.nodes[ id ], buildNode );
}
// visual scenes
function parseVisualScene( xml ) {
var data = {
 name: xml.getAttribute( 'name' ),
 children: []
 };
prepareNodes( xml );
var elements = getElementsByTagName( xml, 'node' );
for ( var i = 0; i < elements.length; i ++ ) {
data.children.push( parseNode( elements[ i ] ) );
}
library.visualScenes[ xml.getAttribute( 'id' ) ] = data;
}
function buildVisualScene( data ) {
var group = new THREE.Group();
 group.name = data.name;
var children = data.children;
for ( var i = 0; i < children.length; i ++ ) {
var child = children[ i ];
group.add( getNode( child.id ) );
}
return group;
}
function hasVisualScene( id ) {
return library.visualScenes[ id ] !== undefined;
}
function getVisualScene( id ) {
return getBuild( library.visualScenes[ id ], buildVisualScene );
}
// scenes
function parseScene( xml ) {
var instance = getElementsByTagName( xml, 'instance_visual_scene' )[ 0 ];
 return getVisualScene( parseId( instance.getAttribute( 'url' ) ) );
}
function setupAnimations() {
var clips = library.clips;
if ( isEmpty( clips ) === true ) {
if ( isEmpty( library.animations ) === false ) {
// if there are animations but no clips, we create a default clip for playback
var tracks = [];
for ( var id in library.animations ) {
var animationTracks = getAnimation( id );
for ( var i = 0, l = animationTracks.length; i < l; i ++ ) {
tracks.push( animationTracks[ i ] );
}
}
animations.push( new THREE.AnimationClip( 'default', - 1, tracks ) );
}
} else {
for ( var id in clips ) {
animations.push( getAnimationClip( id ) );
}
}
}
if ( text.length === 0 ) {
return { scene: new THREE.Scene() };
}
var xml = new DOMParser().parseFromString( text, 'application/xml' );
var collada = getElementsByTagName( xml, 'COLLADA' )[ 0 ];
// metadata
var version = collada.getAttribute( 'version' );
 console.log( 'THREE.ColladaLoader: File version', version );
var asset = parseAsset( getElementsByTagName( collada, 'asset' )[ 0 ] );
 var textureLoader = new THREE.TextureLoader( this.manager );
 textureLoader.setPath( this.resourcePath || path ).setCrossOrigin( this.crossOrigin );
var tgaLoader;
if ( THREE.TGALoader ) {
tgaLoader = new THREE.TGALoader( this.manager );
 tgaLoader.setPath( this.resourcePath || path );
}
//
var animations = [];
 var kinematics = {};
 var count = 0;
//
var library = {
 animations: {},
 clips: {},
 controllers: {},
 images: {},
 effects: {},
 materials: {},
 cameras: {},
 lights: {},
 geometries: {},
 nodes: {},
 visualScenes: {},
 kinematicsModels: {},
 physicsModels: {},
 kinematicsScenes: {}
 };
parseLibrary( collada, 'library_animations', 'animation', parseAnimation );
 parseLibrary( collada, 'library_animation_clips', 'animation_clip', parseAnimationClip );
 parseLibrary( collada, 'library_controllers', 'controller', parseController );
 parseLibrary( collada, 'library_images', 'image', parseImage );
 parseLibrary( collada, 'library_effects', 'effect', parseEffect );
 parseLibrary( collada, 'library_materials', 'material', parseMaterial );
 parseLibrary( collada, 'library_cameras', 'camera', parseCamera );
 parseLibrary( collada, 'library_lights', 'light', parseLight );
 parseLibrary( collada, 'library_geometries', 'geometry', parseGeometry );
 parseLibrary( collada, 'library_nodes', 'node', parseNode );
 parseLibrary( collada, 'library_visual_scenes', 'visual_scene', parseVisualScene );
 parseLibrary( collada, 'library_kinematics_models', 'kinematics_model', parseKinematicsModel );
 parseLibrary( collada, 'library_physics_models', 'physics_model', parsePhysicsModel );
 parseLibrary( collada, 'scene', 'instance_kinematics_scene', parseKinematicsScene );
buildLibrary( library.animations, buildAnimation );
 buildLibrary( library.clips, buildAnimationClip );
 buildLibrary( library.controllers, buildController );
 buildLibrary( library.images, buildImage );
 buildLibrary( library.effects, buildEffect );
 buildLibrary( library.materials, buildMaterial );
 buildLibrary( library.cameras, buildCamera );
 buildLibrary( library.lights, buildLight );
 buildLibrary( library.geometries, buildGeometry );
 buildLibrary( library.visualScenes, buildVisualScene );
setupAnimations();
 setupKinematics();
var scene = parseScene( getElementsByTagName( collada, 'scene' )[ 0 ] );
if ( asset.upAxis === 'Z_UP' ) {
scene.quaternion.setFromEuler( new THREE.Euler( - Math.PI / 2, 0, 0 ) );
}
scene.scale.multiplyScalar( asset.unit );
return {
 animations: animations,
 kinematics: kinematics,
 library: library,
 scene: scene
 };
}
};