@needle-tools/three 0.146.10 → 0.153.0

package/examples/js/animation/MMDPhysics.js

@@ -1,1174 +0,0 @@
-( function () {
-
-	/**
- * Dependencies
- *  - Ammo.js https://github.com/kripken/ammo.js
- *
- * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)
- * for MMD model loaded by MMDLoader.
- *
- * TODO
- *  - Physics in Worker
- */
-
-	/* global Ammo */
-
-	class MMDPhysics {
-
-		/**
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Array<Object>} rigidBodyParams
-   * @param {Array<Object>} (optional) constraintParams
-   * @param {Object} params - (optional)
-   * @param {Number} params.unitStep - Default is 1 / 65.
-   * @param {Integer} params.maxStepNum - Default is 3.
-   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )
-   */
-		constructor( mesh, rigidBodyParams, constraintParams = [], params = {} ) {
-
-			if ( typeof Ammo === 'undefined' ) {
-
-				throw new Error( 'THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js' );
-
-			}
-
-			this.manager = new ResourceManager();
-			this.mesh = mesh;
-
-			/*
-     * I don't know why but 1/60 unitStep easily breaks models
-     * so I set it 1/65 so far.
-     * Don't set too small unitStep because
-     * the smaller unitStep can make the performance worse.
-     */
-			this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65;
-			this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3;
-			this.gravity = new THREE.Vector3( 0, - 9.8 * 10, 0 );
-			if ( params.gravity !== undefined ) this.gravity.copy( params.gravity );
-			this.world = params.world !== undefined ? params.world : null; // experimental
-
-			this.bodies = [];
-			this.constraints = [];
-			this._init( mesh, rigidBodyParams, constraintParams );
-
-		}
-
-		/**
-   * Advances Physics calculation and updates bones.
-   *
-   * @param {Number} delta - time in second
-   * @return {MMDPhysics}
-   */
-		update( delta ) {
-
-			const manager = this.manager;
-			const mesh = this.mesh;
-
-			// rigid bodies and constrains are for
-			// mesh's world scale (1, 1, 1).
-			// Convert to (1, 1, 1) if it isn't.
-
-			let isNonDefaultScale = false;
-			const position = manager.allocThreeVector3();
-			const quaternion = manager.allocThreeQuaternion();
-			const scale = manager.allocThreeVector3();
-			mesh.matrixWorld.decompose( position, quaternion, scale );
-			if ( scale.x !== 1 || scale.y !== 1 || scale.z !== 1 ) {
-
-				isNonDefaultScale = true;
-
-			}
-
-			let parent;
-			if ( isNonDefaultScale ) {
-
-				parent = mesh.parent;
-				if ( parent !== null ) mesh.parent = null;
-				scale.copy( this.mesh.scale );
-				mesh.scale.set( 1, 1, 1 );
-				mesh.updateMatrixWorld( true );
-
-			}
-
-			// calculate physics and update bones
-
-			this._updateRigidBodies();
-			this._stepSimulation( delta );
-			this._updateBones();
-
-			// restore mesh if converted above
-
-			if ( isNonDefaultScale ) {
-
-				if ( parent !== null ) mesh.parent = parent;
-				mesh.scale.copy( scale );
-
-			}
-
-			manager.freeThreeVector3( scale );
-			manager.freeThreeQuaternion( quaternion );
-			manager.freeThreeVector3( position );
-			return this;
-
-		}
-
-		/**
-   * Resets rigid bodies transorm to current bone's.
-   *
-   * @return {MMDPhysics}
-   */
-		reset() {
-
-			for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
-
-				this.bodies[ i ].reset();
-
-			}
-
-			return this;
-
-		}
-
-		/**
-   * Warm ups Rigid bodies. Calculates cycles steps.
-   *
-   * @param {Integer} cycles
-   * @return {MMDPhysics}
-   */
-		warmup( cycles ) {
-
-			for ( let i = 0; i < cycles; i ++ ) {
-
-				this.update( 1 / 60 );
-
-			}
-
-			return this;
-
-		}
-
-		/**
-   * Sets gravity.
-   *
-   * @param {Vector3} gravity
-   * @return {MMDPhysicsHelper}
-   */
-		setGravity( gravity ) {
-
-			this.world.setGravity( new Ammo.btVector3( gravity.x, gravity.y, gravity.z ) );
-			this.gravity.copy( gravity );
-			return this;
-
-		}
-
-		/**
-   * Creates MMDPhysicsHelper
-   *
-   * @return {MMDPhysicsHelper}
-   */
-		createHelper() {
-
-			return new MMDPhysicsHelper( this.mesh, this );
-
-		}
-
-		// private methods
-
-		_init( mesh, rigidBodyParams, constraintParams ) {
-
-			const manager = this.manager;
-
-			// rigid body/constraint parameters are for
-			// mesh's default world transform as position(0, 0, 0),
-			// quaternion(0, 0, 0, 1) and scale(0, 0, 0)
-
-			const parent = mesh.parent;
-			if ( parent !== null ) mesh.parent = null;
-			const currentPosition = manager.allocThreeVector3();
-			const currentQuaternion = manager.allocThreeQuaternion();
-			const currentScale = manager.allocThreeVector3();
-			currentPosition.copy( mesh.position );
-			currentQuaternion.copy( mesh.quaternion );
-			currentScale.copy( mesh.scale );
-			mesh.position.set( 0, 0, 0 );
-			mesh.quaternion.set( 0, 0, 0, 1 );
-			mesh.scale.set( 1, 1, 1 );
-			mesh.updateMatrixWorld( true );
-			if ( this.world === null ) {
-
-				this.world = this._createWorld();
-				this.setGravity( this.gravity );
-
-			}
-
-			this._initRigidBodies( rigidBodyParams );
-			this._initConstraints( constraintParams );
-			if ( parent !== null ) mesh.parent = parent;
-			mesh.position.copy( currentPosition );
-			mesh.quaternion.copy( currentQuaternion );
-			mesh.scale.copy( currentScale );
-			mesh.updateMatrixWorld( true );
-			this.reset();
-			manager.freeThreeVector3( currentPosition );
-			manager.freeThreeQuaternion( currentQuaternion );
-			manager.freeThreeVector3( currentScale );
-
-		}
-		_createWorld() {
-
-			const config = new Ammo.btDefaultCollisionConfiguration();
-			const dispatcher = new Ammo.btCollisionDispatcher( config );
-			const cache = new Ammo.btDbvtBroadphase();
-			const solver = new Ammo.btSequentialImpulseConstraintSolver();
-			const world = new Ammo.btDiscreteDynamicsWorld( dispatcher, cache, solver, config );
-			return world;
-
-		}
-		_initRigidBodies( rigidBodies ) {
-
-			for ( let i = 0, il = rigidBodies.length; i < il; i ++ ) {
-
-				this.bodies.push( new RigidBody( this.mesh, this.world, rigidBodies[ i ], this.manager ) );
-
-			}
-
-		}
-		_initConstraints( constraints ) {
-
-			for ( let i = 0, il = constraints.length; i < il; i ++ ) {
-
-				const params = constraints[ i ];
-				const bodyA = this.bodies[ params.rigidBodyIndex1 ];
-				const bodyB = this.bodies[ params.rigidBodyIndex2 ];
-				this.constraints.push( new Constraint( this.mesh, this.world, bodyA, bodyB, params, this.manager ) );
-
-			}
-
-		}
-		_stepSimulation( delta ) {
-
-			const unitStep = this.unitStep;
-			let stepTime = delta;
-			let maxStepNum = ( delta / unitStep | 0 ) + 1;
-			if ( stepTime < unitStep ) {
-
-				stepTime = unitStep;
-				maxStepNum = 1;
-
-			}
-
-			if ( maxStepNum > this.maxStepNum ) {
-
-				maxStepNum = this.maxStepNum;
-
-			}
-
-			this.world.stepSimulation( stepTime, maxStepNum, unitStep );
-
-		}
-		_updateRigidBodies() {
-
-			for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
-
-				this.bodies[ i ].updateFromBone();
-
-			}
-
-		}
-		_updateBones() {
-
-			for ( let i = 0, il = this.bodies.length; i < il; i ++ ) {
-
-				this.bodies[ i ].updateBone();
-
-			}
-
-		}
-
-	}
-
-	/**
- * This manager's responsibilies are
- *
- * 1. manage Ammo.js and Three.js object resources and
- *    improve the performance and the memory consumption by
- *    reusing objects.
- *
- * 2. provide simple Ammo object operations.
- */
-	class ResourceManager {
-
-		constructor() {
-
-			// for Three.js
-			this.threeVector3s = [];
-			this.threeMatrix4s = [];
-			this.threeQuaternions = [];
-			this.threeEulers = [];
-
-			// for Ammo.js
-			this.transforms = [];
-			this.quaternions = [];
-			this.vector3s = [];
-
-		}
-		allocThreeVector3() {
-
-			return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new THREE.Vector3();
-
-		}
-		freeThreeVector3( v ) {
-
-			this.threeVector3s.push( v );
-
-		}
-		allocThreeMatrix4() {
-
-			return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new THREE.Matrix4();
-
-		}
-		freeThreeMatrix4( m ) {
-
-			this.threeMatrix4s.push( m );
-
-		}
-		allocThreeQuaternion() {
-
-			return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new THREE.Quaternion();
-
-		}
-		freeThreeQuaternion( q ) {
-
-			this.threeQuaternions.push( q );
-
-		}
-		allocThreeEuler() {
-
-			return this.threeEulers.length > 0 ? this.threeEulers.pop() : new THREE.Euler();
-
-		}
-		freeThreeEuler( e ) {
-
-			this.threeEulers.push( e );
-
-		}
-		allocTransform() {
-
-			return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform();
-
-		}
-		freeTransform( t ) {
-
-			this.transforms.push( t );
-
-		}
-		allocQuaternion() {
-
-			return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion();
-
-		}
-		freeQuaternion( q ) {
-
-			this.quaternions.push( q );
-
-		}
-		allocVector3() {
-
-			return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3();
-
-		}
-		freeVector3( v ) {
-
-			this.vector3s.push( v );
-
-		}
-		setIdentity( t ) {
-
-			t.setIdentity();
-
-		}
-		getBasis( t ) {
-
-			var q = this.allocQuaternion();
-			t.getBasis().getRotation( q );
-			return q;
-
-		}
-		getBasisAsMatrix3( t ) {
-
-			var q = this.getBasis( t );
-			var m = this.quaternionToMatrix3( q );
-			this.freeQuaternion( q );
-			return m;
-
-		}
-		getOrigin( t ) {
-
-			return t.getOrigin();
-
-		}
-		setOrigin( t, v ) {
-
-			t.getOrigin().setValue( v.x(), v.y(), v.z() );
-
-		}
-		copyOrigin( t1, t2 ) {
-
-			var o = t2.getOrigin();
-			this.setOrigin( t1, o );
-
-		}
-		setBasis( t, q ) {
-
-			t.setRotation( q );
-
-		}
-		setBasisFromMatrix3( t, m ) {
-
-			var q = this.matrix3ToQuaternion( m );
-			this.setBasis( t, q );
-			this.freeQuaternion( q );
-
-		}
-		setOriginFromArray3( t, a ) {
-
-			t.getOrigin().setValue( a[ 0 ], a[ 1 ], a[ 2 ] );
-
-		}
-		setOriginFromThreeVector3( t, v ) {
-
-			t.getOrigin().setValue( v.x, v.y, v.z );
-
-		}
-		setBasisFromArray3( t, a ) {
-
-			var thQ = this.allocThreeQuaternion();
-			var thE = this.allocThreeEuler();
-			thE.set( a[ 0 ], a[ 1 ], a[ 2 ] );
-			this.setBasisFromThreeQuaternion( t, thQ.setFromEuler( thE ) );
-			this.freeThreeEuler( thE );
-			this.freeThreeQuaternion( thQ );
-
-		}
-		setBasisFromThreeQuaternion( t, a ) {
-
-			var q = this.allocQuaternion();
-			q.setX( a.x );
-			q.setY( a.y );
-			q.setZ( a.z );
-			q.setW( a.w );
-			this.setBasis( t, q );
-			this.freeQuaternion( q );
-
-		}
-		multiplyTransforms( t1, t2 ) {
-
-			var t = this.allocTransform();
-			this.setIdentity( t );
-			var m1 = this.getBasisAsMatrix3( t1 );
-			var m2 = this.getBasisAsMatrix3( t2 );
-			var o1 = this.getOrigin( t1 );
-			var o2 = this.getOrigin( t2 );
-			var v1 = this.multiplyMatrix3ByVector3( m1, o2 );
-			var v2 = this.addVector3( v1, o1 );
-			this.setOrigin( t, v2 );
-			var m3 = this.multiplyMatrices3( m1, m2 );
-			this.setBasisFromMatrix3( t, m3 );
-			this.freeVector3( v1 );
-			this.freeVector3( v2 );
-			return t;
-
-		}
-		inverseTransform( t ) {
-
-			var t2 = this.allocTransform();
-			var m1 = this.getBasisAsMatrix3( t );
-			var o = this.getOrigin( t );
-			var m2 = this.transposeMatrix3( m1 );
-			var v1 = this.negativeVector3( o );
-			var v2 = this.multiplyMatrix3ByVector3( m2, v1 );
-			this.setOrigin( t2, v2 );
-			this.setBasisFromMatrix3( t2, m2 );
-			this.freeVector3( v1 );
-			this.freeVector3( v2 );
-			return t2;
-
-		}
-		multiplyMatrices3( m1, m2 ) {
-
-			var m3 = [];
-			var v10 = this.rowOfMatrix3( m1, 0 );
-			var v11 = this.rowOfMatrix3( m1, 1 );
-			var v12 = this.rowOfMatrix3( m1, 2 );
-			var v20 = this.columnOfMatrix3( m2, 0 );
-			var v21 = this.columnOfMatrix3( m2, 1 );
-			var v22 = this.columnOfMatrix3( m2, 2 );
-			m3[ 0 ] = this.dotVectors3( v10, v20 );
-			m3[ 1 ] = this.dotVectors3( v10, v21 );
-			m3[ 2 ] = this.dotVectors3( v10, v22 );
-			m3[ 3 ] = this.dotVectors3( v11, v20 );
-			m3[ 4 ] = this.dotVectors3( v11, v21 );
-			m3[ 5 ] = this.dotVectors3( v11, v22 );
-			m3[ 6 ] = this.dotVectors3( v12, v20 );
-			m3[ 7 ] = this.dotVectors3( v12, v21 );
-			m3[ 8 ] = this.dotVectors3( v12, v22 );
-			this.freeVector3( v10 );
-			this.freeVector3( v11 );
-			this.freeVector3( v12 );
-			this.freeVector3( v20 );
-			this.freeVector3( v21 );
-			this.freeVector3( v22 );
-			return m3;
-
-		}
-		addVector3( v1, v2 ) {
-
-			var v = this.allocVector3();
-			v.setValue( v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z() );
-			return v;
-
-		}
-		dotVectors3( v1, v2 ) {
-
-			return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
-
-		}
-		rowOfMatrix3( m, i ) {
-
-			var v = this.allocVector3();
-			v.setValue( m[ i * 3 + 0 ], m[ i * 3 + 1 ], m[ i * 3 + 2 ] );
-			return v;
-
-		}
-		columnOfMatrix3( m, i ) {
-
-			var v = this.allocVector3();
-			v.setValue( m[ i + 0 ], m[ i + 3 ], m[ i + 6 ] );
-			return v;
-
-		}
-		negativeVector3( v ) {
-
-			var v2 = this.allocVector3();
-			v2.setValue( - v.x(), - v.y(), - v.z() );
-			return v2;
-
-		}
-		multiplyMatrix3ByVector3( m, v ) {
-
-			var v4 = this.allocVector3();
-			var v0 = this.rowOfMatrix3( m, 0 );
-			var v1 = this.rowOfMatrix3( m, 1 );
-			var v2 = this.rowOfMatrix3( m, 2 );
-			var x = this.dotVectors3( v0, v );
-			var y = this.dotVectors3( v1, v );
-			var z = this.dotVectors3( v2, v );
-			v4.setValue( x, y, z );
-			this.freeVector3( v0 );
-			this.freeVector3( v1 );
-			this.freeVector3( v2 );
-			return v4;
-
-		}
-		transposeMatrix3( m ) {
-
-			var m2 = [];
-			m2[ 0 ] = m[ 0 ];
-			m2[ 1 ] = m[ 3 ];
-			m2[ 2 ] = m[ 6 ];
-			m2[ 3 ] = m[ 1 ];
-			m2[ 4 ] = m[ 4 ];
-			m2[ 5 ] = m[ 7 ];
-			m2[ 6 ] = m[ 2 ];
-			m2[ 7 ] = m[ 5 ];
-			m2[ 8 ] = m[ 8 ];
-			return m2;
-
-		}
-		quaternionToMatrix3( q ) {
-
-			var m = [];
-			var x = q.x();
-			var y = q.y();
-			var z = q.z();
-			var w = q.w();
-			var xx = x * x;
-			var yy = y * y;
-			var zz = z * z;
-			var xy = x * y;
-			var yz = y * z;
-			var zx = z * x;
-			var xw = x * w;
-			var yw = y * w;
-			var zw = z * w;
-			m[ 0 ] = 1 - 2 * ( yy + zz );
-			m[ 1 ] = 2 * ( xy - zw );
-			m[ 2 ] = 2 * ( zx + yw );
-			m[ 3 ] = 2 * ( xy + zw );
-			m[ 4 ] = 1 - 2 * ( zz + xx );
-			m[ 5 ] = 2 * ( yz - xw );
-			m[ 6 ] = 2 * ( zx - yw );
-			m[ 7 ] = 2 * ( yz + xw );
-			m[ 8 ] = 1 - 2 * ( xx + yy );
-			return m;
-
-		}
-		matrix3ToQuaternion( m ) {
-
-			var t = m[ 0 ] + m[ 4 ] + m[ 8 ];
-			var s, x, y, z, w;
-			if ( t > 0 ) {
-
-				s = Math.sqrt( t + 1.0 ) * 2;
-				w = 0.25 * s;
-				x = ( m[ 7 ] - m[ 5 ] ) / s;
-				y = ( m[ 2 ] - m[ 6 ] ) / s;
-				z = ( m[ 3 ] - m[ 1 ] ) / s;
-
-			} else if ( m[ 0 ] > m[ 4 ] && m[ 0 ] > m[ 8 ] ) {
-
-				s = Math.sqrt( 1.0 + m[ 0 ] - m[ 4 ] - m[ 8 ] ) * 2;
-				w = ( m[ 7 ] - m[ 5 ] ) / s;
-				x = 0.25 * s;
-				y = ( m[ 1 ] + m[ 3 ] ) / s;
-				z = ( m[ 2 ] + m[ 6 ] ) / s;
-
-			} else if ( m[ 4 ] > m[ 8 ] ) {
-
-				s = Math.sqrt( 1.0 + m[ 4 ] - m[ 0 ] - m[ 8 ] ) * 2;
-				w = ( m[ 2 ] - m[ 6 ] ) / s;
-				x = ( m[ 1 ] + m[ 3 ] ) / s;
-				y = 0.25 * s;
-				z = ( m[ 5 ] + m[ 7 ] ) / s;
-
-			} else {
-
-				s = Math.sqrt( 1.0 + m[ 8 ] - m[ 0 ] - m[ 4 ] ) * 2;
-				w = ( m[ 3 ] - m[ 1 ] ) / s;
-				x = ( m[ 2 ] + m[ 6 ] ) / s;
-				y = ( m[ 5 ] + m[ 7 ] ) / s;
-				z = 0.25 * s;
-
-			}
-
-			var q = this.allocQuaternion();
-			q.setX( x );
-			q.setY( y );
-			q.setZ( z );
-			q.setW( w );
-			return q;
-
-		}
-
-	}
-
-	/**
- * @param {THREE.SkinnedMesh} mesh
- * @param {Ammo.btDiscreteDynamicsWorld} world
- * @param {Object} params
- * @param {ResourceManager} manager
- */
-	class RigidBody {
-
-		constructor( mesh, world, params, manager ) {
-
-			this.mesh = mesh;
-			this.world = world;
-			this.params = params;
-			this.manager = manager;
-			this.body = null;
-			this.bone = null;
-			this.boneOffsetForm = null;
-			this.boneOffsetFormInverse = null;
-			this._init();
-
-		}
-
-		/**
-   * Resets rigid body transform to the current bone's.
-   *
-   * @return {RigidBody}
-   */
-		reset() {
-
-			this._setTransformFromBone();
-			return this;
-
-		}
-
-		/**
-   * Updates rigid body's transform from the current bone.
-   *
-   * @return {RidigBody}
-   */
-		updateFromBone() {
-
-			if ( this.params.boneIndex !== - 1 && this.params.type === 0 ) {
-
-				this._setTransformFromBone();
-
-			}
-
-			return this;
-
-		}
-
-		/**
-   * Updates bone from the current ridid body's transform.
-   *
-   * @return {RidigBody}
-   */
-		updateBone() {
-
-			if ( this.params.type === 0 || this.params.boneIndex === - 1 ) {
-
-				return this;
-
-			}
-
-			this._updateBoneRotation();
-			if ( this.params.type === 1 ) {
-
-				this._updateBonePosition();
-
-			}
-
-			this.bone.updateMatrixWorld( true );
-			if ( this.params.type === 2 ) {
-
-				this._setPositionFromBone();
-
-			}
-
-			return this;
-
-		}
-
-		// private methods
-
-		_init() {
-
-			function generateShape( p ) {
-
-				switch ( p.shapeType ) {
-
-					case 0:
-						return new Ammo.btSphereShape( p.width );
-					case 1:
-						return new Ammo.btBoxShape( new Ammo.btVector3( p.width, p.height, p.depth ) );
-					case 2:
-						return new Ammo.btCapsuleShape( p.width, p.height );
-					default:
-						throw new Error( 'unknown shape type ' + p.shapeType );
-
-				}
-
-			}
-
-			const manager = this.manager;
-			const params = this.params;
-			const bones = this.mesh.skeleton.bones;
-			const bone = params.boneIndex === - 1 ? new THREE.Bone() : bones[ params.boneIndex ];
-			const shape = generateShape( params );
-			const weight = params.type === 0 ? 0 : params.weight;
-			const localInertia = manager.allocVector3();
-			localInertia.setValue( 0, 0, 0 );
-			if ( weight !== 0 ) {
-
-				shape.calculateLocalInertia( weight, localInertia );
-
-			}
-
-			const boneOffsetForm = manager.allocTransform();
-			manager.setIdentity( boneOffsetForm );
-			manager.setOriginFromArray3( boneOffsetForm, params.position );
-			manager.setBasisFromArray3( boneOffsetForm, params.rotation );
-			const vector = manager.allocThreeVector3();
-			const boneForm = manager.allocTransform();
-			manager.setIdentity( boneForm );
-			manager.setOriginFromThreeVector3( boneForm, bone.getWorldPosition( vector ) );
-			const form = manager.multiplyTransforms( boneForm, boneOffsetForm );
-			const state = new Ammo.btDefaultMotionState( form );
-			const info = new Ammo.btRigidBodyConstructionInfo( weight, state, shape, localInertia );
-			info.set_m_friction( params.friction );
-			info.set_m_restitution( params.restitution );
-			const body = new Ammo.btRigidBody( info );
-			if ( params.type === 0 ) {
-
-				body.setCollisionFlags( body.getCollisionFlags() | 2 );
-
-				/*
-       * It'd be better to comment out this line though in general I should call this method
-       * because I'm not sure why but physics will be more like MMD's
-       * if I comment out.
-       */
-				body.setActivationState( 4 );
-
-			}
-
-			body.setDamping( params.positionDamping, params.rotationDamping );
-			body.setSleepingThresholds( 0, 0 );
-			this.world.addRigidBody( body, 1 << params.groupIndex, params.groupTarget );
-			this.body = body;
-			this.bone = bone;
-			this.boneOffsetForm = boneOffsetForm;
-			this.boneOffsetFormInverse = manager.inverseTransform( boneOffsetForm );
-			manager.freeVector3( localInertia );
-			manager.freeTransform( form );
-			manager.freeTransform( boneForm );
-			manager.freeThreeVector3( vector );
-
-		}
-		_getBoneTransform() {
-
-			const manager = this.manager;
-			const p = manager.allocThreeVector3();
-			const q = manager.allocThreeQuaternion();
-			const s = manager.allocThreeVector3();
-			this.bone.matrixWorld.decompose( p, q, s );
-			const tr = manager.allocTransform();
-			manager.setOriginFromThreeVector3( tr, p );
-			manager.setBasisFromThreeQuaternion( tr, q );
-			const form = manager.multiplyTransforms( tr, this.boneOffsetForm );
-			manager.freeTransform( tr );
-			manager.freeThreeVector3( s );
-			manager.freeThreeQuaternion( q );
-			manager.freeThreeVector3( p );
-			return form;
-
-		}
-		_getWorldTransformForBone() {
-
-			const manager = this.manager;
-			const tr = this.body.getCenterOfMassTransform();
-			return manager.multiplyTransforms( tr, this.boneOffsetFormInverse );
-
-		}
-		_setTransformFromBone() {
-
-			const manager = this.manager;
-			const form = this._getBoneTransform();
-
-			// TODO: check the most appropriate way to set
-			//this.body.setWorldTransform( form );
-			this.body.setCenterOfMassTransform( form );
-			this.body.getMotionState().setWorldTransform( form );
-			manager.freeTransform( form );
-
-		}
-		_setPositionFromBone() {
-
-			const manager = this.manager;
-			const form = this._getBoneTransform();
-			const tr = manager.allocTransform();
-			this.body.getMotionState().getWorldTransform( tr );
-			manager.copyOrigin( tr, form );
-
-			// TODO: check the most appropriate way to set
-			//this.body.setWorldTransform( tr );
-			this.body.setCenterOfMassTransform( tr );
-			this.body.getMotionState().setWorldTransform( tr );
-			manager.freeTransform( tr );
-			manager.freeTransform( form );
-
-		}
-		_updateBoneRotation() {
-
-			const manager = this.manager;
-			const tr = this._getWorldTransformForBone();
-			const q = manager.getBasis( tr );
-			const thQ = manager.allocThreeQuaternion();
-			const thQ2 = manager.allocThreeQuaternion();
-			const thQ3 = manager.allocThreeQuaternion();
-			thQ.set( q.x(), q.y(), q.z(), q.w() );
-			thQ2.setFromRotationMatrix( this.bone.matrixWorld );
-			thQ2.conjugate();
-			thQ2.multiply( thQ );
-
-			//this.bone.quaternion.multiply( thQ2 );
-
-			thQ3.setFromRotationMatrix( this.bone.matrix );
-
-			// Renormalizing quaternion here because repeatedly transforming
-			// quaternion continuously accumulates floating point error and
-			// can end up being overflow. See #15335
-			this.bone.quaternion.copy( thQ2.multiply( thQ3 ).normalize() );
-			manager.freeThreeQuaternion( thQ );
-			manager.freeThreeQuaternion( thQ2 );
-			manager.freeThreeQuaternion( thQ3 );
-			manager.freeQuaternion( q );
-			manager.freeTransform( tr );
-
-		}
-		_updateBonePosition() {
-
-			const manager = this.manager;
-			const tr = this._getWorldTransformForBone();
-			const thV = manager.allocThreeVector3();
-			const o = manager.getOrigin( tr );
-			thV.set( o.x(), o.y(), o.z() );
-			if ( this.bone.parent ) {
-
-				this.bone.parent.worldToLocal( thV );
-
-			}
-
-			this.bone.position.copy( thV );
-			manager.freeThreeVector3( thV );
-			manager.freeTransform( tr );
-
-		}
-
-	}
-
-	//
-
-	class Constraint {
-
-		/**
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Ammo.btDiscreteDynamicsWorld} world
-   * @param {RigidBody} bodyA
-   * @param {RigidBody} bodyB
-   * @param {Object} params
-   * @param {ResourceManager} manager
-   */
-		constructor( mesh, world, bodyA, bodyB, params, manager ) {
-
-			this.mesh = mesh;
-			this.world = world;
-			this.bodyA = bodyA;
-			this.bodyB = bodyB;
-			this.params = params;
-			this.manager = manager;
-			this.constraint = null;
-			this._init();
-
-		}
-
-		// private method
-
-		_init() {
-
-			const manager = this.manager;
-			const params = this.params;
-			const bodyA = this.bodyA;
-			const bodyB = this.bodyB;
-			const form = manager.allocTransform();
-			manager.setIdentity( form );
-			manager.setOriginFromArray3( form, params.position );
-			manager.setBasisFromArray3( form, params.rotation );
-			const formA = manager.allocTransform();
-			const formB = manager.allocTransform();
-			bodyA.body.getMotionState().getWorldTransform( formA );
-			bodyB.body.getMotionState().getWorldTransform( formB );
-			const formInverseA = manager.inverseTransform( formA );
-			const formInverseB = manager.inverseTransform( formB );
-			const formA2 = manager.multiplyTransforms( formInverseA, form );
-			const formB2 = manager.multiplyTransforms( formInverseB, form );
-			const constraint = new Ammo.btGeneric6DofSpringConstraint( bodyA.body, bodyB.body, formA2, formB2, true );
-			const lll = manager.allocVector3();
-			const lul = manager.allocVector3();
-			const all = manager.allocVector3();
-			const aul = manager.allocVector3();
-			lll.setValue( params.translationLimitation1[ 0 ], params.translationLimitation1[ 1 ], params.translationLimitation1[ 2 ] );
-			lul.setValue( params.translationLimitation2[ 0 ], params.translationLimitation2[ 1 ], params.translationLimitation2[ 2 ] );
-			all.setValue( params.rotationLimitation1[ 0 ], params.rotationLimitation1[ 1 ], params.rotationLimitation1[ 2 ] );
-			aul.setValue( params.rotationLimitation2[ 0 ], params.rotationLimitation2[ 1 ], params.rotationLimitation2[ 2 ] );
-			constraint.setLinearLowerLimit( lll );
-			constraint.setLinearUpperLimit( lul );
-			constraint.setAngularLowerLimit( all );
-			constraint.setAngularUpperLimit( aul );
-			for ( let i = 0; i < 3; i ++ ) {
-
-				if ( params.springPosition[ i ] !== 0 ) {
-
-					constraint.enableSpring( i, true );
-					constraint.setStiffness( i, params.springPosition[ i ] );
-
-				}
-
-			}
-
-			for ( let i = 0; i < 3; i ++ ) {
-
-				if ( params.springRotation[ i ] !== 0 ) {
-
-					constraint.enableSpring( i + 3, true );
-					constraint.setStiffness( i + 3, params.springRotation[ i ] );
-
-				}
-
-			}
-
-			/*
-     * Currently(10/31/2016) official ammo.js doesn't support
-     * btGeneric6DofSpringConstraint.setParam method.
-     * You need custom ammo.js (add the method into idl) if you wanna use.
-     * By setting this parameter, physics will be more like MMD's
-     */
-			if ( constraint.setParam !== undefined ) {
-
-				for ( let i = 0; i < 6; i ++ ) {
-
-					constraint.setParam( 2, 0.475, i );
-
-				}
-
-			}
-
-			this.world.addConstraint( constraint, true );
-			this.constraint = constraint;
-			manager.freeTransform( form );
-			manager.freeTransform( formA );
-			manager.freeTransform( formB );
-			manager.freeTransform( formInverseA );
-			manager.freeTransform( formInverseB );
-			manager.freeTransform( formA2 );
-			manager.freeTransform( formB2 );
-			manager.freeVector3( lll );
-			manager.freeVector3( lul );
-			manager.freeVector3( all );
-			manager.freeVector3( aul );
-
-		}
-
-	}
-
-	//
-
-	const _position = new THREE.Vector3();
-	const _quaternion = new THREE.Quaternion();
-	const _scale = new THREE.Vector3();
-	const _matrixWorldInv = new THREE.Matrix4();
-	class MMDPhysicsHelper extends THREE.Object3D {
-
-		/**
-   * Visualize Rigid bodies
-   *
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Physics} physics
-   */
-		constructor( mesh, physics ) {
-
-			super();
-			this.root = mesh;
-			this.physics = physics;
-			this.matrix.copy( mesh.matrixWorld );
-			this.matrixAutoUpdate = false;
-			this.materials = [];
-			this.materials.push( new THREE.MeshBasicMaterial( {
-				color: new THREE.Color( 0xff8888 ),
-				wireframe: true,
-				depthTest: false,
-				depthWrite: false,
-				opacity: 0.25,
-				transparent: true
-			} ) );
-			this.materials.push( new THREE.MeshBasicMaterial( {
-				color: new THREE.Color( 0x88ff88 ),
-				wireframe: true,
-				depthTest: false,
-				depthWrite: false,
-				opacity: 0.25,
-				transparent: true
-			} ) );
-			this.materials.push( new THREE.MeshBasicMaterial( {
-				color: new THREE.Color( 0x8888ff ),
-				wireframe: true,
-				depthTest: false,
-				depthWrite: false,
-				opacity: 0.25,
-				transparent: true
-			} ) );
-			this._init();
-
-		}
-
-		/**
-   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.
-   */
-		dispose() {
-
-			const materials = this.materials;
-			const children = this.children;
-			for ( let i = 0; i < materials.length; i ++ ) {
-
-				materials[ i ].dispose();
-
-			}
-
-			for ( let i = 0; i < children.length; i ++ ) {
-
-				const child = children[ i ];
-				if ( child.isMesh ) child.geometry.dispose();
-
-			}
-
-		}
-
-		/**
-   * Updates Rigid Bodies visualization.
-   */
-		updateMatrixWorld( force ) {
-
-			var mesh = this.root;
-			if ( this.visible ) {
-
-				var bodies = this.physics.bodies;
-				_matrixWorldInv.copy( mesh.matrixWorld ).decompose( _position, _quaternion, _scale ).compose( _position, _quaternion, _scale.set( 1, 1, 1 ) ).invert();
-				for ( var i = 0, il = bodies.length; i < il; i ++ ) {
-
-					var body = bodies[ i ].body;
-					var child = this.children[ i ];
-					var tr = body.getCenterOfMassTransform();
-					var origin = tr.getOrigin();
-					var rotation = tr.getRotation();
-					child.position.set( origin.x(), origin.y(), origin.z() ).applyMatrix4( _matrixWorldInv );
-					child.quaternion.setFromRotationMatrix( _matrixWorldInv ).multiply( _quaternion.set( rotation.x(), rotation.y(), rotation.z(), rotation.w() ) );
-
-				}
-
-			}
-
-			this.matrix.copy( mesh.matrixWorld ).decompose( _position, _quaternion, _scale ).compose( _position, _quaternion, _scale.set( 1, 1, 1 ) );
-			super.updateMatrixWorld( force );
-
-		}
-
-		// private method
-
-		_init() {
-
-			var bodies = this.physics.bodies;
-			function createGeometry( param ) {
-
-				switch ( param.shapeType ) {
-
-					case 0:
-						return new THREE.SphereGeometry( param.width, 16, 8 );
-					case 1:
-						return new THREE.BoxGeometry( param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8 );
-					case 2:
-						return new THREE.CapsuleGeometry( param.width, param.height, 8, 16 );
-					default:
-						return null;
-
-				}
-
-			}
-
-			for ( var i = 0, il = bodies.length; i < il; i ++ ) {
-
-				var param = bodies[ i ].params;
-				this.add( new THREE.Mesh( createGeometry( param ), this.materials[ param.type ] ) );
-
-			}
-
-		}
-
-	}
-
-	THREE.MMDPhysics = MMDPhysics;
-
-} )();