@plastic-software/three 0.181.3 → 0.183.0

package/examples/jsm/loaders/collada/ColladaComposer.js

@@ -0,0 +1,2950 @@
+import {
+	AmbientLight,
+	AnimationClip,
+	Bone,
+	BufferGeometry,
+	ClampToEdgeWrapping,
+	Color,
+	ColorManagement,
+	DirectionalLight,
+	DoubleSide,
+	Float32BufferAttribute,
+	FrontSide,
+	Group,
+	InterpolateBezier,
+	InterpolateDiscrete,
+	Line,
+	LineBasicMaterial,
+	LineSegments,
+	Loader,
+	MathUtils,
+	Matrix4,
+	Mesh,
+	MeshBasicMaterial,
+	MeshLambertMaterial,
+	MeshPhongMaterial,
+	OrthographicCamera,
+	PerspectiveCamera,
+	PointLight,
+	Quaternion,
+	QuaternionKeyframeTrack,
+	RepeatWrapping,
+	Skeleton,
+	SkinnedMesh,
+	SpotLight,
+	Vector2,
+	Vector3,
+	VectorKeyframeTrack,
+	SRGBColorSpace
+} from 'three';
+
+import { getElementsByTagName, parseFloats } from './ColladaParser.js';
+
+/**
+ * ColladaComposer converts parsed library data into Three.js objects.
+ */
+class ColladaComposer {
+
+	constructor( library, collada, textureLoader, tgaLoader ) {
+
+		this.library = library;
+		this.collada = collada;
+		this.textureLoader = textureLoader;
+		this.tgaLoader = tgaLoader;
+
+		this.tempColor = new Color();
+		this.animations = [];
+		this.kinematics = {};
+
+		// Reusable objects for animation
+		this.position = new Vector3();
+		this.scale = new Vector3();
+		this.quaternion = new Quaternion();
+		this.matrix = new Matrix4();
+
+		// Storage for deferred pivot animation data
+		// Nodes with pivot transforms need all their animation channels collected
+		// before building tracks, as channels may be split across animation elements
+		this.deferredPivotAnimations = {};
+
+		// Storage for transform node hierarchy
+		// Maps nodeId -> transformSid -> Object3D for animation targeting
+		this.transformNodes = {};
+
+	}
+
+	compose() {
+
+		const library = this.library;
+
+		this.buildLibrary( library.animations, this.buildAnimation.bind( this ) );
+		this.buildLibrary( library.clips, this.buildAnimationClip.bind( this ) );
+		this.buildLibrary( library.controllers, this.buildController.bind( this ) );
+		this.buildLibrary( library.images, this.buildImage.bind( this ) );
+		this.buildLibrary( library.effects, this.buildEffect.bind( this ) );
+		this.buildLibrary( library.materials, this.buildMaterial.bind( this ) );
+		this.buildLibrary( library.cameras, this.buildCamera.bind( this ) );
+		this.buildLibrary( library.lights, this.buildLight.bind( this ) );
+		this.buildLibrary( library.geometries, this.buildGeometry.bind( this ) );
+		this.buildLibrary( library.visualScenes, this.buildVisualScene.bind( this ) );
+
+		this.setupAnimations();
+		this.setupKinematics();
+
+		const scene = this.parseScene( getElementsByTagName( this.collada, 'scene' )[ 0 ] );
+		scene.animations = this.animations;
+
+		return {
+			scene: scene,
+			animations: this.animations,
+			kinematics: this.kinematics
+		};
+
+	}
+
+	buildLibrary( data, builder ) {
+
+		for ( const name in data ) {
+
+			const object = data[ name ];
+			object.build = builder( data[ name ] );
+
+		}
+
+	}
+
+	getBuild( data, builder ) {
+
+		if ( data.build !== undefined ) return data.build;
+
+		data.build = builder( data );
+
+		return data.build;
+
+	}
+
+	isEmpty( object ) {
+
+		return Object.keys( object ).length === 0;
+
+	}
+
+	buildAnimation( data ) {
+
+		const tracks = [];
+
+		const channels = data.channels;
+		const samplers = data.samplers;
+		const sources = data.sources;
+
+		const aggregated = this.aggregateAnimationChannels( channels, samplers, sources );
+
+		for ( const nodeId in aggregated ) {
+
+			const nodeData = this.library.nodes[ nodeId ];
+			if ( ! nodeData ) continue;
+
+			const nodeChannels = aggregated[ nodeId ];
+
+			if ( this.hasPivotTransforms( nodeData ) ) {
+
+				// Defer - nodes haven't been built yet
+				this.collectDeferredPivotAnimation( nodeId, nodeChannels );
+
+			} else {
+
+				const object3D = this.getNode( nodeId );
+				let rotationTrackBuilt = false;
+
+				for ( const sid in nodeChannels ) {
+
+					const transformType = nodeData.transforms[ sid ];
+					const transformInfo = nodeData.transformData[ sid ];
+					const channelData = nodeChannels[ sid ];
+
+					switch ( transformType ) {
+
+						case 'matrix':
+							this.buildMatrixTracks( object3D, channelData, nodeData, tracks );
+							break;
+
+						case 'translate':
+							this.buildTranslateTrack( object3D, channelData, transformInfo, tracks );
+							break;
+
+						case 'rotate':
+							if ( ! rotationTrackBuilt ) {
+
+								this.buildRotateTrack( object3D, sid, channelData, transformInfo, nodeData, tracks );
+								rotationTrackBuilt = true;
+
+							}
+
+							break;
+
+						case 'scale':
+							this.buildScaleTrack( object3D, channelData, transformInfo, tracks );
+							break;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		return tracks;
+
+	}
+
+	collectDeferredPivotAnimation( nodeId, nodeChannels ) {
+
+		if ( ! this.deferredPivotAnimations[ nodeId ] ) {
+
+			this.deferredPivotAnimations[ nodeId ] = {};
+
+		}
+
+		const deferred = this.deferredPivotAnimations[ nodeId ];
+
+		for ( const sid in nodeChannels ) {
+
+			if ( ! deferred[ sid ] ) {
+
+				deferred[ sid ] = {};
+
+			}
+
+			for ( const member in nodeChannels[ sid ] ) {
+
+				deferred[ sid ][ member ] = nodeChannels[ sid ][ member ];
+
+			}
+
+		}
+
+	}
+
+	hasPivotTransforms( nodeData ) {
+
+		const pivotSids = [
+			'rotatePivot', 'rotatePivotInverse', 'rotatePivotTranslation',
+			'scalePivot', 'scalePivotInverse', 'scalePivotTranslation'
+		];
+
+		for ( const sid of pivotSids ) {
+
+			if ( nodeData.transforms[ sid ] !== undefined ) {
+
+				return true;
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	getAnimation( id ) {
+
+		return this.getBuild( this.library.animations[ id ], this.buildAnimation.bind( this ) );
+
+	}
+
+	aggregateAnimationChannels( channels, samplers, sources ) {
+
+		const aggregated = {};
+
+		for ( const target in channels ) {
+
+			if ( ! channels.hasOwnProperty( target ) ) continue;
+
+			const channel = channels[ target ];
+			const sampler = samplers[ channel.sampler ];
+
+			const inputId = sampler.inputs.INPUT;
+			const outputId = sampler.inputs.OUTPUT;
+
+			const inputSource = sources[ inputId ];
+			const outputSource = sources[ outputId ];
+
+			const interpolationId = sampler.inputs.INTERPOLATION;
+			const inTangentId = sampler.inputs.IN_TANGENT;
+			const outTangentId = sampler.inputs.OUT_TANGENT;
+
+			const interpolationSource = interpolationId ? sources[ interpolationId ] : null;
+			const inTangentSource = inTangentId ? sources[ inTangentId ] : null;
+			const outTangentSource = outTangentId ? sources[ outTangentId ] : null;
+
+			const nodeId = channel.id;
+			const sid = channel.sid;
+			const member = channel.member || 'default';
+
+			if ( ! aggregated[ nodeId ] ) aggregated[ nodeId ] = {};
+			if ( ! aggregated[ nodeId ][ sid ] ) aggregated[ nodeId ][ sid ] = {};
+
+			aggregated[ nodeId ][ sid ][ member ] = {
+				times: inputSource.array,
+				values: outputSource.array,
+				stride: outputSource.stride,
+				arraySyntax: channel.arraySyntax,
+				indices: channel.indices,
+				interpolation: interpolationSource ? interpolationSource.array : null,
+				inTangent: inTangentSource ? inTangentSource.array : null,
+				outTangent: outTangentSource ? outTangentSource.array : null,
+				inTangentStride: inTangentSource ? inTangentSource.stride : 0,
+				outTangentStride: outTangentSource ? outTangentSource.stride : 0
+			};
+
+		}
+
+		return aggregated;
+
+	}
+
+	buildMatrixTracks( object3D, channelData, nodeData, tracks ) {
+
+		const defaultMatrix = nodeData.matrix.clone().transpose();
+		const data = {};
+
+		for ( const member in channelData ) {
+
+			const component = channelData[ member ];
+			const times = component.times;
+			const values = component.values;
+			const stride = component.stride;
+
+			for ( let i = 0, il = times.length; i < il; i ++ ) {
+
+				const time = times[ i ];
+				const valueOffset = i * stride;
+
+				if ( data[ time ] === undefined ) data[ time ] = {};
+
+				if ( component.arraySyntax === true ) {
+
+					const value = values[ valueOffset ];
+					const index = component.indices[ 0 ] + 4 * component.indices[ 1 ];
+					data[ time ][ index ] = value;
+
+				} else {
+
+					for ( let j = 0; j < stride; j ++ ) {
+
+						data[ time ][ j ] = values[ valueOffset + j ];
+
+					}
+
+				}
+
+			}
+
+		}
+
+		const keyframes = this.prepareAnimationData( data, defaultMatrix );
+		const animation = { name: object3D.uuid, keyframes: keyframes };
+		this.createKeyframeTracks( animation, tracks );
+
+	}
+
+	buildTranslateTrack( object3D, channelData, transformInfo, tracks ) {
+
+		if ( channelData.default && channelData.default.stride === 3 ) {
+
+			const data = channelData.default;
+			const times = Array.from( data.times );
+			const values = Array.from( data.values );
+
+			const track = new VectorKeyframeTrack(
+				object3D.uuid + '.position',
+				times,
+				values
+			);
+
+			const interpolationInfo = this.getInterpolationInfo( channelData );
+			this.applyInterpolation( track, interpolationInfo, channelData );
+			tracks.push( track );
+			return;
+
+		}
+
+		const times = this.getTimesForAllAxes( channelData );
+		if ( times.length === 0 ) return;
+
+		const values = [];
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+
+			const x = this.getValueAtTime( channelData.X, time, transformInfo.x );
+			const y = this.getValueAtTime( channelData.Y, time, transformInfo.y );
+			const z = this.getValueAtTime( channelData.Z, time, transformInfo.z );
+
+			values.push( x, y, z );
+
+		}
+
+		const track = new VectorKeyframeTrack(
+			object3D.uuid + '.position',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+	buildRotateTrack( object3D, sid, channelData, transformInfo, nodeData, tracks ) {
+
+		const angleData = channelData.ANGLE || channelData.default;
+		if ( ! angleData ) return;
+
+		const times = Array.from( angleData.times );
+		if ( times.length === 0 ) return;
+
+		// Collect all rotations to compose them in order
+		const rotations = [];
+
+		for ( const transformSid of nodeData.transformOrder ) {
+
+			const transformType = nodeData.transforms[ transformSid ];
+
+			if ( transformType === 'rotate' ) {
+
+				const info = nodeData.transformData[ transformSid ];
+				rotations.push( {
+					sid: transformSid,
+					axis: new Vector3( info.axis[ 0 ], info.axis[ 1 ], info.axis[ 2 ] ),
+					defaultAngle: info.angle
+				} );
+
+			}
+
+		}
+
+		const quaternion = new Quaternion();
+		const prevQuaternion = new Quaternion();
+		const tempQuat = new Quaternion();
+		const values = [];
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+			quaternion.identity();
+
+			for ( const rotation of rotations ) {
+
+				let angleDegrees;
+
+				if ( rotation.sid === sid ) {
+
+					angleDegrees = this.getValueAtTime( angleData, time, rotation.defaultAngle );
+
+				} else {
+
+					angleDegrees = rotation.defaultAngle;
+
+				}
+
+				const angleRadians = MathUtils.degToRad( angleDegrees );
+				tempQuat.setFromAxisAngle( rotation.axis, angleRadians );
+				quaternion.multiply( tempQuat );
+
+			}
+
+			// Ensure quaternion continuity
+			if ( i > 0 && prevQuaternion.dot( quaternion ) < 0 ) {
+
+				quaternion.x = - quaternion.x;
+				quaternion.y = - quaternion.y;
+				quaternion.z = - quaternion.z;
+				quaternion.w = - quaternion.w;
+
+			}
+
+			prevQuaternion.copy( quaternion );
+
+			values.push( quaternion.x, quaternion.y, quaternion.z, quaternion.w );
+
+		}
+
+		const track = new QuaternionKeyframeTrack(
+			object3D.uuid + '.quaternion',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+	buildScaleTrack( object3D, channelData, transformInfo, tracks ) {
+
+		if ( channelData.default && channelData.default.stride === 3 ) {
+
+			const data = channelData.default;
+			const times = Array.from( data.times );
+			const values = Array.from( data.values );
+
+			const track = new VectorKeyframeTrack(
+				object3D.uuid + '.scale',
+				times,
+				values
+			);
+
+			const interpolationInfo = this.getInterpolationInfo( channelData );
+			this.applyInterpolation( track, interpolationInfo, channelData );
+			tracks.push( track );
+			return;
+
+		}
+
+		const times = this.getTimesForAllAxes( channelData );
+		if ( times.length === 0 ) return;
+
+		const values = [];
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+
+			const x = this.getValueAtTime( channelData.X, time, transformInfo.x );
+			const y = this.getValueAtTime( channelData.Y, time, transformInfo.y );
+			const z = this.getValueAtTime( channelData.Z, time, transformInfo.z );
+
+			values.push( x, y, z );
+
+		}
+
+		const track = new VectorKeyframeTrack(
+			object3D.uuid + '.scale',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+	getTimesForAllAxes( channelData ) {
+
+		let times = [];
+
+		if ( channelData.X ) times = times.concat( Array.from( channelData.X.times ) );
+		if ( channelData.Y ) times = times.concat( Array.from( channelData.Y.times ) );
+		if ( channelData.Z ) times = times.concat( Array.from( channelData.Z.times ) );
+		if ( channelData.ANGLE ) times = times.concat( Array.from( channelData.ANGLE.times ) );
+		if ( channelData.default ) times = times.concat( Array.from( channelData.default.times ) );
+
+		times = [ ...new Set( times ) ].sort( ( a, b ) => a - b );
+
+		return times;
+
+	}
+
+	getValueAtTime( componentData, time, defaultValue ) {
+
+		if ( ! componentData ) return defaultValue;
+
+		const times = componentData.times;
+		const values = componentData.values;
+		const interpolation = componentData.interpolation;
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			if ( times[ i ] === time ) {
+
+				return values[ i ];
+
+			}
+
+			if ( times[ i ] > time ) {
+
+				if ( i === 0 ) {
+
+					return values[ 0 ];
+
+				}
+
+				const i0 = i - 1;
+				const i1 = i;
+				const t0 = times[ i0 ];
+				const t1 = times[ i1 ];
+				const v0 = values[ i0 ];
+				const v1 = values[ i1 ];
+
+				const interp = interpolation ? interpolation[ i0 ] : 'LINEAR';
+
+				if ( interp === 'STEP' ) {
+
+					return v0;
+
+				} else if ( interp === 'BEZIER' && componentData.inTangent && componentData.outTangent ) {
+
+					return this.evaluateBezierComponent( componentData, i0, i1, t0, t1, time );
+
+				} else {
+
+					const t = ( time - t0 ) / ( t1 - t0 );
+					return v0 + t * ( v1 - v0 );
+
+				}
+
+			}
+
+		}
+
+		return values[ values.length - 1 ];
+
+	}
+
+	evaluateBezierComponent( componentData, i0, i1, t0, t1, time ) {
+
+		const values = componentData.values;
+		const inTangent = componentData.inTangent;
+		const outTangent = componentData.outTangent;
+		const tangentStride = componentData.inTangentStride || 1;
+
+		const v0 = values[ i0 ];
+		const v1 = values[ i1 ];
+
+		let c0x, c0y, c1x, c1y;
+
+		if ( tangentStride === 2 ) {
+
+			c0x = outTangent[ i0 * 2 ];
+			c0y = outTangent[ i0 * 2 + 1 ];
+			c1x = inTangent[ i1 * 2 ];
+			c1y = inTangent[ i1 * 2 + 1 ];
+
+		} else {
+
+			c0x = t0 + ( t1 - t0 ) / 3;
+			c0y = outTangent[ i0 ];
+			c1x = t1 - ( t1 - t0 ) / 3;
+			c1y = inTangent[ i1 ];
+
+		}
+
+		// Newton-Raphson to solve Bx(s) = time
+		let s = ( time - t0 ) / ( t1 - t0 );
+
+		for ( let iter = 0; iter < 8; iter ++ ) {
+
+			const s2 = s * s;
+			const s3 = s2 * s;
+			const oneMinusS = 1 - s;
+			const oneMinusS2 = oneMinusS * oneMinusS;
+			const oneMinusS3 = oneMinusS2 * oneMinusS;
+
+			const bx = oneMinusS3 * t0 + 3 * oneMinusS2 * s * c0x + 3 * oneMinusS * s2 * c1x + s3 * t1;
+			const dbx = 3 * oneMinusS2 * ( c0x - t0 ) + 6 * oneMinusS * s * ( c1x - c0x ) + 3 * s2 * ( t1 - c1x );
+
+			if ( Math.abs( dbx ) < 1e-10 ) break;
+
+			const error = bx - time;
+			if ( Math.abs( error ) < 1e-10 ) break;
+
+			s = s - error / dbx;
+			s = Math.max( 0, Math.min( 1, s ) );
+
+		}
+
+		const s2 = s * s;
+		const s3 = s2 * s;
+		const oneMinusS = 1 - s;
+		const oneMinusS2 = oneMinusS * oneMinusS;
+		const oneMinusS3 = oneMinusS2 * oneMinusS;
+
+		return oneMinusS3 * v0 + 3 * oneMinusS2 * s * c0y + 3 * oneMinusS * s2 * c1y + s3 * v1;
+
+	}
+
+	getInterpolationInfo( channelData ) {
+
+		const components = [ 'X', 'Y', 'Z', 'ANGLE', 'default' ];
+		let interpolationType = null;
+		let isUniform = true;
+
+		for ( const comp of components ) {
+
+			const data = channelData[ comp ];
+			if ( ! data || ! data.interpolation ) continue;
+
+			const interpArray = data.interpolation;
+
+			for ( let i = 0; i < interpArray.length; i ++ ) {
+
+				const interp = interpArray[ i ];
+
+				if ( interpolationType === null ) {
+
+					interpolationType = interp;
+
+				} else if ( interp !== interpolationType ) {
+
+					isUniform = false;
+
+				}
+
+			}
+
+		}
+
+		return {
+			type: interpolationType || 'LINEAR',
+			uniform: isUniform
+		};
+
+	}
+
+	applyInterpolation( track, interpolationInfo, channelData = null ) {
+
+		if ( interpolationInfo.type === 'STEP' && interpolationInfo.uniform ) {
+
+			track.setInterpolation( InterpolateDiscrete );
+
+		} else if ( interpolationInfo.type === 'BEZIER' && interpolationInfo.uniform && channelData ) {
+
+			const data = channelData.default;
+
+			if ( data && data.inTangent && data.outTangent ) {
+
+				track.setInterpolation( InterpolateBezier );
+				track.settings = {
+					inTangents: new Float32Array( data.inTangent ),
+					outTangents: new Float32Array( data.outTangent )
+				};
+
+			}
+
+		}
+
+	}
+
+	prepareAnimationData( data, defaultMatrix ) {
+
+		const keyframes = [];
+
+		for ( const time in data ) {
+
+			keyframes.push( { time: parseFloat( time ), value: data[ time ] } );
+
+		}
+
+		keyframes.sort( ( a, b ) => a.time - b.time );
+
+		for ( let i = 0; i < 16; i ++ ) {
+
+			this.transformAnimationData( keyframes, i, defaultMatrix.elements[ i ] );
+
+		}
+
+		return keyframes;
+
+	}
+
+	createKeyframeTracks( animation, tracks ) {
+
+		const keyframes = animation.keyframes;
+		const name = animation.name;
+
+		const times = [];
+		const positionData = [];
+		const quaternionData = [];
+		const scaleData = [];
+
+		const position = this.position;
+		const quaternion = this.quaternion;
+		const scale = this.scale;
+		const matrix = this.matrix;
+
+		for ( let i = 0, l = keyframes.length; i < l; i ++ ) {
+
+			const keyframe = keyframes[ i ];
+
+			const time = keyframe.time;
+			const 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 VectorKeyframeTrack( name + '.position', times, positionData ) );
+		if ( quaternionData.length > 0 ) tracks.push( new QuaternionKeyframeTrack( name + '.quaternion', times, quaternionData ) );
+		if ( scaleData.length > 0 ) tracks.push( new VectorKeyframeTrack( name + '.scale', times, scaleData ) );
+
+		return tracks;
+
+	}
+
+	transformAnimationData( keyframes, property, defaultValue ) {
+
+		let keyframe;
+
+		let empty = true;
+		let 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
+
+			this.createMissingKeyframes( keyframes, property );
+
+		}
+
+	}
+
+	createMissingKeyframes( keyframes, property ) {
+
+		let prev, next;
+
+		for ( let i = 0, l = keyframes.length; i < l; i ++ ) {
+
+			const keyframe = keyframes[ i ];
+
+			if ( keyframe.value[ property ] === null ) {
+
+				prev = this.getPrev( keyframes, i, property );
+				next = this.getNext( keyframes, i, property );
+
+				if ( prev === null ) {
+
+					keyframe.value[ property ] = next.value[ property ];
+					continue;
+
+				}
+
+				if ( next === null ) {
+
+					keyframe.value[ property ] = prev.value[ property ];
+					continue;
+
+				}
+
+				this.interpolate( keyframe, prev, next, property );
+
+			}
+
+		}
+
+	}
+
+	getPrev( keyframes, i, property ) {
+
+		while ( i >= 0 ) {
+
+			const keyframe = keyframes[ i ];
+
+			if ( keyframe.value[ property ] !== null ) return keyframe;
+
+			i --;
+
+		}
+
+		return null;
+
+	}
+
+	getNext( keyframes, i, property ) {
+
+		while ( i < keyframes.length ) {
+
+			const keyframe = keyframes[ i ];
+
+			if ( keyframe.value[ property ] !== null ) return keyframe;
+
+			i ++;
+
+		}
+
+		return null;
+
+	}
+
+	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 ];
+
+	}
+
+
+	buildAnimationClip( data ) {
+
+		const tracks = [];
+
+		const name = data.name;
+		const duration = ( data.end - data.start ) || - 1;
+		const animations = data.animations;
+
+		for ( let i = 0, il = animations.length; i < il; i ++ ) {
+
+			const animationTracks = this.getAnimation( animations[ i ] );
+
+			for ( let j = 0, jl = animationTracks.length; j < jl; j ++ ) {
+
+				tracks.push( animationTracks[ j ] );
+
+			}
+
+		}
+
+		return new AnimationClip( name, duration, tracks );
+
+	}
+
+	getAnimationClip( id ) {
+
+		return this.getBuild( this.library.clips[ id ], this.buildAnimationClip.bind( this ) );
+
+	}
+
+
+	buildController( data ) {
+
+		const build = {
+			id: data.id
+		};
+
+		const geometry = this.library.geometries[ build.id ];
+
+		if ( data.skin !== undefined ) {
+
+			build.skin = this.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;
+
+	}
+
+	buildSkin( data ) {
+
+		const BONE_LIMIT = 4;
+
+		const build = {
+			joints: [], // this must be an array to preserve the joint order
+			indices: {
+				array: [],
+				stride: BONE_LIMIT
+			},
+			weights: {
+				array: [],
+				stride: BONE_LIMIT
+			}
+		};
+
+		const sources = data.sources;
+		const vertexWeights = data.vertexWeights;
+
+		const vcount = vertexWeights.vcount;
+		const v = vertexWeights.v;
+		const jointOffset = vertexWeights.inputs.JOINT.offset;
+		const weightOffset = vertexWeights.inputs.WEIGHT.offset;
+
+		const jointSource = data.sources[ data.joints.inputs.JOINT ];
+		const inverseSource = data.sources[ data.joints.inputs.INV_BIND_MATRIX ];
+
+		const weights = sources[ vertexWeights.inputs.WEIGHT.id ].array;
+		let stride = 0;
+
+		let i, j, l;
+
+		// process skin data for each vertex
+
+		for ( i = 0, l = vcount.length; i < l; i ++ ) {
+
+			const jointCount = vcount[ i ]; // this is the amount of joints that affect a single vertex
+			const vertexSkinData = [];
+
+			for ( j = 0; j < jointCount; j ++ ) {
+
+				const skinIndex = v[ stride + jointOffset ];
+				const weightId = v[ stride + weightOffset ];
+				const 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 proceed 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 ++ ) {
+
+				const 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 Matrix4().fromArray( data.bindShapeMatrix ).transpose();
+
+		} else {
+
+			build.bindMatrix = new Matrix4().identity();
+
+		}
+
+		// process bones and inverse bind matrix data
+
+		for ( i = 0, l = jointSource.array.length; i < l; i ++ ) {
+
+			const name = jointSource.array[ i ];
+			const boneInverse = new 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;
+
+		}
+
+	}
+
+	getController( id ) {
+
+		return this.getBuild( this.library.controllers[ id ], this.buildController.bind( this ) );
+
+	}
+
+
+	buildImage( data ) {
+
+		if ( data.build !== undefined ) return data.build;
+
+		return data.init_from;
+
+	}
+
+	getImage( id ) {
+
+		const data = this.library.images[ id ];
+
+		if ( data !== undefined ) {
+
+			return this.getBuild( data, this.buildImage.bind( this ) );
+
+		}
+
+		console.warn( 'THREE.ColladaLoader: Couldn\'t find image with ID:', id );
+
+		return null;
+
+	}
+
+
+	buildEffect( data ) {
+
+		return data;
+
+	}
+
+	getEffect( id ) {
+
+		return this.getBuild( this.library.effects[ id ], this.buildEffect.bind( this ) );
+
+	}
+
+
+	getTextureLoader( image ) {
+
+		let loader;
+
+		let 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 = this.tgaLoader;
+				break;
+
+			default:
+				loader = this.textureLoader;
+
+		}
+
+		return loader;
+
+	}
+
+	buildMaterial( data ) {
+
+		const effect = this.getEffect( data.url );
+		const technique = effect.profile.technique;
+
+		let material;
+
+		switch ( technique.type ) {
+
+			case 'phong':
+			case 'blinn':
+				material = new MeshPhongMaterial();
+				break;
+
+			case 'lambert':
+				material = new MeshLambertMaterial();
+				break;
+
+			default:
+				material = new MeshBasicMaterial();
+				break;
+
+		}
+
+		material.name = data.name || '';
+
+		const self = this;
+
+		function getTexture( textureObject, colorSpace = null ) {
+
+			const sampler = effect.profile.samplers[ textureObject.id ];
+			let image = null;
+
+			// get image
+
+			if ( sampler !== undefined ) {
+
+				const surface = effect.profile.surfaces[ sampler.source ];
+				image = self.getImage( surface.init_from );
+
+			} else {
+
+				console.warn( 'THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).' );
+				image = self.getImage( textureObject.id );
+
+			}
+
+			// create texture if image is available
+
+			if ( image !== null ) {
+
+				const loader = self.getTextureLoader( image );
+
+				if ( loader !== undefined ) {
+
+					const texture = loader.load( image );
+
+					const extra = textureObject.extra;
+
+					if ( extra !== undefined && extra.technique !== undefined && self.isEmpty( extra.technique ) === false ) {
+
+						const technique = extra.technique;
+
+						texture.wrapS = technique.wrapU ? RepeatWrapping : ClampToEdgeWrapping;
+						texture.wrapT = technique.wrapV ? RepeatWrapping : ClampToEdgeWrapping;
+
+						texture.offset.set( technique.offsetU || 0, technique.offsetV || 0 );
+						texture.repeat.set( technique.repeatU || 1, technique.repeatV || 1 );
+
+					} else {
+
+						texture.wrapS = RepeatWrapping;
+						texture.wrapT = RepeatWrapping;
+
+					}
+
+					if ( colorSpace !== null ) {
+
+						texture.colorSpace = colorSpace;
+
+					}
+
+					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;
+
+			}
+
+		}
+
+		const parameters = technique.parameters;
+
+		for ( const key in parameters ) {
+
+			const parameter = parameters[ key ];
+
+			switch ( key ) {
+
+				case 'diffuse':
+					if ( parameter.color ) material.color.fromArray( parameter.color );
+					if ( parameter.texture ) material.map = getTexture( parameter.texture, SRGBColorSpace );
+					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, SRGBColorSpace );
+					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, SRGBColorSpace );
+					break;
+
+			}
+
+		}
+
+		ColorManagement.colorSpaceToWorking( material.color, SRGBColorSpace );
+		if ( material.specular ) ColorManagement.colorSpaceToWorking( material.specular, SRGBColorSpace );
+		if ( material.emissive ) ColorManagement.colorSpaceToWorking( material.emissive, SRGBColorSpace );
+
+		//
+
+		let transparent = parameters[ 'transparent' ];
+		let 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 {
+
+				const 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 ( technique.extra !== undefined && technique.extra.technique !== undefined ) {
+
+			const techniques = technique.extra.technique;
+
+			for ( const k in techniques ) {
+
+				const v = techniques[ k ];
+
+				switch ( k ) {
+
+					case 'double_sided':
+						material.side = ( v === 1 ? DoubleSide : FrontSide );
+						break;
+
+					case 'bump':
+						material.normalMap = getTexture( v.texture );
+						material.normalScale = new Vector2( 1, 1 );
+						break;
+
+				}
+
+			}
+
+		}
+
+		return material;
+
+	}
+
+	getMaterial( id ) {
+
+		return this.getBuild( this.library.materials[ id ], this.buildMaterial.bind( this ) );
+
+	}
+
+
+	buildCamera( data ) {
+
+		let camera;
+
+		switch ( data.optics.technique ) {
+
+			case 'perspective':
+				camera = new PerspectiveCamera(
+					data.optics.parameters.yfov,
+					data.optics.parameters.aspect_ratio,
+					data.optics.parameters.znear,
+					data.optics.parameters.zfar
+				);
+				break;
+
+			case 'orthographic':
+				let ymag = data.optics.parameters.ymag;
+				let xmag = data.optics.parameters.xmag;
+				const 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 OrthographicCamera(
+					- xmag, xmag, ymag, - ymag, // left, right, top, bottom
+					data.optics.parameters.znear,
+					data.optics.parameters.zfar
+				);
+				break;
+
+			default:
+				camera = new PerspectiveCamera();
+				break;
+
+		}
+
+		camera.name = data.name || '';
+
+		return camera;
+
+	}
+
+	getCamera( id ) {
+
+		const data = this.library.cameras[ id ];
+
+		if ( data !== undefined ) {
+
+			return this.getBuild( data, this.buildCamera.bind( this ) );
+
+		}
+
+		console.warn( 'THREE.ColladaLoader: Couldn\'t find camera with ID:', id );
+
+		return null;
+
+	}
+
+
+	buildLight( data ) {
+
+		let light;
+
+		switch ( data.technique ) {
+
+			case 'directional':
+				light = new DirectionalLight();
+				break;
+
+			case 'point':
+				light = new PointLight();
+				break;
+
+			case 'spot':
+				light = new SpotLight();
+				break;
+
+			case 'ambient':
+				light = new AmbientLight();
+				break;
+
+		}
+
+		if ( data.parameters.color ) light.color.copy( data.parameters.color );
+		if ( data.parameters.distance ) light.distance = data.parameters.distance;
+		if ( data.parameters.falloffAngle ) light.angle = MathUtils.degToRad( data.parameters.falloffAngle );
+
+		return light;
+
+	}
+
+	getLight( id ) {
+
+		const data = this.library.lights[ id ];
+
+		if ( data !== undefined ) {
+
+			return this.getBuild( data, this.buildLight.bind( this ) );
+
+		}
+
+		console.warn( 'THREE.ColladaLoader: Couldn\'t find light with ID:', id );
+
+		return null;
+
+	}
+
+
+	groupPrimitives( primitives ) {
+
+		const build = {};
+
+		for ( let i = 0; i < primitives.length; i ++ ) {
+
+			const primitive = primitives[ i ];
+
+			if ( build[ primitive.type ] === undefined ) build[ primitive.type ] = [];
+
+			build[ primitive.type ].push( primitive );
+
+		}
+
+		return build;
+
+	}
+
+	checkUVCoordinates( primitives ) {
+
+		let count = 0;
+
+		for ( let i = 0, l = primitives.length; i < l; i ++ ) {
+
+			const primitive = primitives[ i ];
+
+			if ( primitive.hasUV === true ) {
+
+				count ++;
+
+			}
+
+		}
+
+		if ( count > 0 && count < primitives.length ) {
+
+			primitives.uvsNeedsFix = true;
+
+		}
+
+	}
+
+	buildGeometry( data ) {
+
+		const build = {};
+
+		const sources = data.sources;
+		const vertices = data.vertices;
+		const 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
+
+		const groupedPrimitives = this.groupPrimitives( primitives );
+
+		for ( const type in groupedPrimitives ) {
+
+			const primitiveType = groupedPrimitives[ type ];
+
+			// second, ensure consistent uv coordinates for each type of primitives (polylist,triangles or lines)
+
+			this.checkUVCoordinates( primitiveType );
+
+			// third, create a buffer geometry for each type of primitives
+
+			build[ type ] = this.buildGeometryType( primitiveType, sources, vertices );
+
+		}
+
+		return build;
+
+	}
+
+	buildGeometryType( primitives, sources, vertices ) {
+
+		const build = {};
+
+		const position = { array: [], stride: 0 };
+		const normal = { array: [], stride: 0 };
+		const uv = { array: [], stride: 0 };
+		const uv1 = { array: [], stride: 0 };
+		const color = { array: [], stride: 0 };
+
+		const skinIndex = { array: [], stride: 4 };
+		const skinWeight = { array: [], stride: 4 };
+
+		const geometry = new BufferGeometry();
+
+		const materialKeys = [];
+
+		let start = 0;
+
+		for ( let p = 0; p < primitives.length; p ++ ) {
+
+			const primitive = primitives[ p ];
+			const inputs = primitive.inputs;
+
+			// groups
+
+			let count = 0;
+
+			switch ( primitive.type ) {
+
+				case 'lines':
+				case 'linestrips':
+					count = primitive.count * 2;
+					break;
+
+				case 'triangles':
+					count = primitive.count * 3;
+					break;
+
+				case 'polylist':
+
+					for ( let g = 0; g < primitive.count; g ++ ) {
+
+						const 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: Unknown primitive type:', primitive.type );
+
+			}
+
+			geometry.addGroup( start, count, p );
+			start += count;
+
+			// material
+
+			if ( primitive.material ) {
+
+				materialKeys.push( primitive.material );
+
+			}
+
+			// geometry data
+
+			for ( const name in inputs ) {
+
+				const input = inputs[ name ];
+
+				switch ( name )	{
+
+					case 'VERTEX':
+						for ( const key in vertices ) {
+
+							const id = vertices[ key ];
+
+							switch ( key ) {
+
+								case 'POSITION':
+									const prevLength = position.array.length;
+									this.buildGeometryData( primitive, sources[ id ], input.offset, position.array );
+									position.stride = sources[ id ].stride;
+
+									if ( sources.skinWeights && sources.skinIndices ) {
+
+										this.buildGeometryData( primitive, sources.skinIndices, input.offset, skinIndex.array );
+										this.buildGeometryData( primitive, sources.skinWeights, input.offset, skinWeight.array );
+
+									}
+
+									// see #3803
+
+									if ( primitive.hasUV === false && primitives.uvsNeedsFix === true ) {
+
+										const count = ( position.array.length - prevLength ) / position.stride;
+
+										for ( let i = 0; i < count; i ++ ) {
+
+											// fill missing uv coordinates
+
+											uv.array.push( 0, 0 );
+
+										}
+
+									}
+
+									break;
+
+								case 'NORMAL':
+									this.buildGeometryData( primitive, sources[ id ], input.offset, normal.array );
+									normal.stride = sources[ id ].stride;
+									break;
+
+								case 'COLOR':
+									this.buildGeometryData( primitive, sources[ id ], input.offset, color.array );
+									color.stride = sources[ id ].stride;
+									break;
+
+								case 'TEXCOORD':
+									this.buildGeometryData( primitive, sources[ id ], input.offset, uv.array );
+									uv.stride = sources[ id ].stride;
+									break;
+
+								case 'TEXCOORD1':
+									this.buildGeometryData( primitive, sources[ id ], input.offset, uv1.array );
+									uv.stride = sources[ id ].stride;
+									break;
+
+								default:
+									console.warn( 'THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key );
+
+							}
+
+						}
+
+						break;
+
+					case 'NORMAL':
+						this.buildGeometryData( primitive, sources[ input.id ], input.offset, normal.array );
+						normal.stride = sources[ input.id ].stride;
+						break;
+
+					case 'COLOR':
+						this.buildGeometryData( primitive, sources[ input.id ], input.offset, color.array, true );
+						color.stride = sources[ input.id ].stride;
+						break;
+
+					case 'TEXCOORD':
+						this.buildGeometryData( primitive, sources[ input.id ], input.offset, uv.array );
+						uv.stride = sources[ input.id ].stride;
+						break;
+
+					case 'TEXCOORD1':
+						this.buildGeometryData( primitive, sources[ input.id ], input.offset, uv1.array );
+						uv1.stride = sources[ input.id ].stride;
+						break;
+
+				}
+
+			}
+
+		}
+
+		// build geometry
+
+		if ( position.array.length > 0 ) geometry.setAttribute( 'position', new Float32BufferAttribute( position.array, position.stride ) );
+		if ( normal.array.length > 0 ) geometry.setAttribute( 'normal', new Float32BufferAttribute( normal.array, normal.stride ) );
+		if ( color.array.length > 0 ) geometry.setAttribute( 'color', new Float32BufferAttribute( color.array, color.stride ) );
+		if ( uv.array.length > 0 ) geometry.setAttribute( 'uv', new Float32BufferAttribute( uv.array, uv.stride ) );
+		if ( uv1.array.length > 0 ) geometry.setAttribute( 'uv1', new Float32BufferAttribute( uv1.array, uv1.stride ) );
+
+		if ( skinIndex.array.length > 0 ) geometry.setAttribute( 'skinIndex', new Float32BufferAttribute( skinIndex.array, skinIndex.stride ) );
+		if ( skinWeight.array.length > 0 ) geometry.setAttribute( 'skinWeight', new Float32BufferAttribute( skinWeight.array, skinWeight.stride ) );
+
+		build.data = geometry;
+		build.type = primitives[ 0 ].type;
+		build.materialKeys = materialKeys;
+
+		return build;
+
+	}
+
+	buildGeometryData( primitive, source, offset, array, isColor = false ) {
+
+		const indices = primitive.p;
+		const stride = primitive.stride;
+		const vcount = primitive.vcount;
+
+		const tempColor = this.tempColor;
+
+		function pushVector( i ) {
+
+			let index = indices[ i + offset ] * sourceStride;
+			const length = index + sourceStride;
+
+			for ( ; index < length; index ++ ) {
+
+				array.push( sourceArray[ index ] );
+
+			}
+
+			if ( isColor ) {
+
+				// convert the vertex colors from srgb to linear if present
+				const startIndex = array.length - sourceStride - 1;
+				tempColor.setRGB(
+					array[ startIndex + 0 ],
+					array[ startIndex + 1 ],
+					array[ startIndex + 2 ],
+					SRGBColorSpace
+				);
+
+				array[ startIndex + 0 ] = tempColor.r;
+				array[ startIndex + 1 ] = tempColor.g;
+				array[ startIndex + 2 ] = tempColor.b;
+
+			}
+
+		}
+
+		const sourceArray = source.array;
+		const sourceStride = source.stride;
+
+		if ( primitive.vcount !== undefined ) {
+
+			let index = 0;
+
+			for ( let i = 0, l = vcount.length; i < l; i ++ ) {
+
+				const count = vcount[ i ];
+
+				if ( count === 4 ) {
+
+					const a = index + stride * 0;
+					const b = index + stride * 1;
+					const c = index + stride * 2;
+					const d = index + stride * 3;
+
+					pushVector( a ); pushVector( b ); pushVector( d );
+					pushVector( b ); pushVector( c ); pushVector( d );
+
+				} else if ( count === 3 ) {
+
+					const a = index + stride * 0;
+					const b = index + stride * 1;
+					const c = index + stride * 2;
+
+					pushVector( a ); pushVector( b ); pushVector( c );
+
+				} else if ( count > 4 ) {
+
+					for ( let k = 1, kl = ( count - 2 ); k <= kl; k ++ ) {
+
+						const a = index + stride * 0;
+						const b = index + stride * k;
+						const c = index + stride * ( k + 1 );
+
+						pushVector( a ); pushVector( b ); pushVector( c );
+
+					}
+
+				}
+
+				index += stride * count;
+
+			}
+
+		} else {
+
+			for ( let i = 0, l = indices.length; i < l; i += stride ) {
+
+				pushVector( i );
+
+			}
+
+		}
+
+	}
+
+	getGeometry( id ) {
+
+		return this.getBuild( this.library.geometries[ id ], this.buildGeometry.bind( this ) );
+
+	}
+
+
+	buildKinematicsModel( data ) {
+
+		if ( data.build !== undefined ) return data.build;
+
+		return data;
+
+	}
+
+	getKinematicsModel( id ) {
+
+		return this.getBuild( this.library.kinematicsModels[ id ], this.buildKinematicsModel.bind( this ) );
+
+	}
+
+	buildKinematicsScene( data ) {
+
+		if ( data.build !== undefined ) return data.build;
+
+		return data;
+
+	}
+
+	getKinematicsScene( id ) {
+
+		return this.getBuild( this.library.kinematicsScenes[ id ], this.buildKinematicsScene.bind( this ) );
+
+	}
+
+	setupKinematics() {
+
+		const kinematicsModelId = Object.keys( this.library.kinematicsModels )[ 0 ];
+		const kinematicsSceneId = Object.keys( this.library.kinematicsScenes )[ 0 ];
+		const visualSceneId = Object.keys( this.library.visualScenes )[ 0 ];
+
+		if ( kinematicsModelId === undefined || kinematicsSceneId === undefined ) return;
+
+		const kinematicsModel = this.getKinematicsModel( kinematicsModelId );
+		const kinematicsScene = this.getKinematicsScene( kinematicsSceneId );
+		const visualScene = this.getVisualScene( visualSceneId );
+
+		const bindJointAxis = kinematicsScene.bindJointAxis;
+		const jointMap = {};
+
+		const collada = this.collada;
+		const self = this;
+
+		for ( let i = 0, l = bindJointAxis.length; i < l; i ++ ) {
+
+			const axis = bindJointAxis[ i ];
+
+			// the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'
+
+			const targetElement = collada.querySelector( '[sid="' + axis.target + '"]' );
+
+			if ( targetElement ) {
+
+				// get the parent of the transform element
+
+				const 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 ) {
+
+			const visualElementName = visualElement.getAttribute( 'name' );
+			const joint = kinematicsModel.joints[ jointIndex ];
+			const transforms = self.buildTransformList( visualElement );
+
+			visualScene.traverse( function ( object ) {
+
+				if ( object.name === visualElementName ) {
+
+					jointMap[ jointIndex ] = {
+						object: object,
+						transforms: transforms,
+						joint: joint,
+						position: joint.zeroPosition
+					};
+
+				}
+
+			} );
+
+		}
+
+		const m0 = new Matrix4();
+		const matrix = this.matrix;
+
+		this.kinematics = {
+
+			joints: kinematicsModel && kinematicsModel.joints,
+
+			getJointValue: function ( jointIndex ) {
+
+				const jointData = jointMap[ jointIndex ];
+
+				if ( jointData ) {
+
+					return jointData.position;
+
+				} else {
+
+					console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' doesn\'t exist.' );
+
+				}
+
+			},
+
+			setJointValue: function ( jointIndex, value ) {
+
+				const jointData = jointMap[ jointIndex ];
+
+				if ( jointData ) {
+
+					const 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 {
+
+						const object = jointData.object;
+						const axis = joint.axis;
+						const transforms = jointData.transforms;
+
+						matrix.identity();
+
+						// each update, we have to apply all transforms in the correct order
+
+						for ( let i = 0; i < transforms.length; i ++ ) {
+
+							const 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, MathUtils.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.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' does not exist.' );
+
+				}
+
+			}
+
+		};
+
+	}
+
+	buildTransformList( node ) {
+
+		const transforms = [];
+
+		const xml = this.collada.querySelector( '[id="' + node.id + '"]' );
+
+		for ( let i = 0; i < xml.childNodes.length; i ++ ) {
+
+			const child = xml.childNodes[ i ];
+
+			if ( child.nodeType !== 1 ) continue;
+
+			let array, vector;
+
+			switch ( child.nodeName ) {
+
+				case 'matrix':
+					array = parseFloats( child.textContent );
+					const matrix = new Matrix4().fromArray( array ).transpose();
+					transforms.push( {
+						sid: child.getAttribute( 'sid' ),
+						type: child.nodeName,
+						obj: matrix
+					} );
+					break;
+
+				case 'translate':
+				case 'scale':
+					array = parseFloats( child.textContent );
+					vector = new Vector3().fromArray( array );
+					transforms.push( {
+						sid: child.getAttribute( 'sid' ),
+						type: child.nodeName,
+						obj: vector
+					} );
+					break;
+
+				case 'rotate':
+					array = parseFloats( child.textContent );
+					vector = new Vector3().fromArray( array );
+					const angle = MathUtils.degToRad( array[ 3 ] );
+					transforms.push( {
+						sid: child.getAttribute( 'sid' ),
+						type: child.nodeName,
+						obj: vector,
+						angle: angle
+					} );
+					break;
+
+			}
+
+		}
+
+		return transforms;
+
+	}
+
+
+	buildSkeleton( skeletons, joints ) {
+
+		const boneData = [];
+		const sortedBoneData = [];
+
+		let i, j, data;
+
+		// a skeleton can have multiple root bones. collada expresses this
+		// situation with multiple "skeleton" tags per controller instance
+
+		for ( i = 0; i < skeletons.length; i ++ ) {
+
+			const skeleton = skeletons[ i ];
+
+			let root;
+
+			if ( this.hasNode( skeleton ) ) {
+
+				root = this.getNode( skeleton );
+				this.buildBoneHierarchy( root, joints, boneData );
+
+			} else if ( this.hasVisualScene( skeleton ) ) {
+
+				// handle case where the skeleton refers to the visual scene (#13335)
+
+				const visualScene = this.library.visualScenes[ skeleton ];
+				const children = visualScene.children;
+
+				for ( let j = 0; j < children.length; j ++ ) {
+
+					const child = children[ j ];
+
+					if ( child.type === 'JOINT' ) {
+
+						const root = this.getNode( child.id );
+						this.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
+
+		const bones = [];
+		const boneInverses = [];
+
+		for ( i = 0; i < sortedBoneData.length; i ++ ) {
+
+			data = sortedBoneData[ i ];
+
+			bones.push( data.bone );
+			boneInverses.push( data.boneInverse );
+
+		}
+
+		return new Skeleton( bones, boneInverses );
+
+	}
+
+	buildBoneHierarchy( root, joints, boneData ) {
+
+		// setup bone data from visual scene
+
+		root.traverse( function ( object ) {
+
+			if ( object.isBone === true ) {
+
+				let boneInverse;
+
+				// retrieve the boneInverse from the controller data
+
+				for ( let i = 0; i < joints.length; i ++ ) {
+
+					const 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 Matrix4();
+
+				}
+
+				boneData.push( { bone: object, boneInverse: boneInverse, processed: false } );
+
+			}
+
+		} );
+
+	}
+
+	buildNode( data ) {
+
+		const objects = [];
+
+		const matrix = data.matrix;
+		const nodes = data.nodes;
+		const type = data.type;
+		const instanceCameras = data.instanceCameras;
+		const instanceControllers = data.instanceControllers;
+		const instanceLights = data.instanceLights;
+		const instanceGeometries = data.instanceGeometries;
+		const instanceNodes = data.instanceNodes;
+
+		// nodes
+
+		for ( let i = 0, l = nodes.length; i < l; i ++ ) {
+
+			objects.push( this.getNode( nodes[ i ] ) );
+
+		}
+
+		// instance cameras
+
+		for ( let i = 0, l = instanceCameras.length; i < l; i ++ ) {
+
+			const instanceCamera = this.getCamera( instanceCameras[ i ] );
+
+			if ( instanceCamera !== null ) {
+
+				objects.push( instanceCamera.clone() );
+
+			}
+
+		}
+
+		// instance controllers
+
+		for ( let i = 0, l = instanceControllers.length; i < l; i ++ ) {
+
+			const instance = instanceControllers[ i ];
+			const controller = this.getController( instance.id );
+			const geometries = this.getGeometry( controller.id );
+			const newObjects = this.buildObjects( geometries, instance.materials );
+
+			const skeletons = instance.skeletons;
+			const joints = controller.skin.joints;
+
+			const skeleton = this.buildSkeleton( skeletons, joints );
+
+			for ( let j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+				const object = newObjects[ j ];
+
+				if ( object.isSkinnedMesh ) {
+
+					object.bind( skeleton, controller.skin.bindMatrix );
+					object.normalizeSkinWeights();
+
+				}
+
+				objects.push( object );
+
+			}
+
+		}
+
+		// instance lights
+
+		for ( let i = 0, l = instanceLights.length; i < l; i ++ ) {
+
+			const instanceLight = this.getLight( instanceLights[ i ] );
+
+			if ( instanceLight !== null ) {
+
+				objects.push( instanceLight.clone() );
+
+			}
+
+		}
+
+		// instance geometries
+
+		for ( let i = 0, l = instanceGeometries.length; i < l; i ++ ) {
+
+			const 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
+
+			const geometries = this.getGeometry( instance.id );
+			const newObjects = this.buildObjects( geometries, instance.materials );
+
+			for ( let j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+				objects.push( newObjects[ j ] );
+
+			}
+
+		}
+
+		// instance nodes
+
+		for ( let i = 0, l = instanceNodes.length; i < l; i ++ ) {
+
+			objects.push( this.getNode( instanceNodes[ i ] ).clone() );
+
+		}
+
+		let object;
+
+		if ( nodes.length === 0 && objects.length === 1 ) {
+
+			object = objects[ 0 ];
+
+		} else {
+
+			object = ( type === 'JOINT' ) ? new Bone() : new Group();
+
+			for ( let i = 0; i < objects.length; i ++ ) {
+
+				object.add( objects[ i ] );
+
+			}
+
+		}
+
+		object.name = ( type === 'JOINT' ) ? data.sid : data.name;
+
+		if ( type !== 'JOINT' && this.hasPivotTransforms( data ) ) {
+
+			return this.wrapWithTransformHierarchy( object, data );
+
+		}
+
+		object.matrix.copy( matrix );
+		object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+		return object;
+
+	}
+
+	wrapWithTransformHierarchy( contentObject, nodeData ) {
+
+		const nodeId = nodeData.id;
+		this.transformNodes[ nodeId ] = {};
+
+		const transformOrder = nodeData.transformOrder;
+		const transformData = nodeData.transformData;
+
+		const rootNode = new Group();
+		rootNode.name = nodeData.name;
+
+		let currentParent = rootNode;
+
+		for ( let i = 0; i < transformOrder.length; i ++ ) {
+
+			const sid = transformOrder[ i ];
+			const info = transformData[ sid ];
+
+			const transformNode = new Group();
+			transformNode.name = nodeData.name + '_' + sid;
+
+			switch ( info.type ) {
+
+				case 'translate':
+					transformNode.position.set( info.x, info.y, info.z );
+					break;
+
+				case 'rotate': {
+
+					const axis = new Vector3( info.axis[ 0 ], info.axis[ 1 ], info.axis[ 2 ] );
+					const angle = MathUtils.degToRad( info.angle );
+					transformNode.quaternion.setFromAxisAngle( axis, angle );
+					transformNode.userData.rotationAxis = axis;
+					break;
+
+				}
+
+				case 'scale':
+					transformNode.scale.set( info.x, info.y, info.z );
+					break;
+
+				case 'matrix': {
+
+					const matrix = new Matrix4().fromArray( info.array ).transpose();
+					matrix.decompose( transformNode.position, transformNode.quaternion, transformNode.scale );
+					break;
+
+				}
+
+			}
+
+			this.transformNodes[ nodeId ][ sid ] = transformNode;
+
+			currentParent.add( transformNode );
+			currentParent = transformNode;
+
+		}
+
+		currentParent.add( contentObject );
+
+		return rootNode;
+
+	}
+
+	resolveMaterialBinding( keys, instanceMaterials ) {
+
+		const materials = [];
+
+		for ( let i = 0, l = keys.length; i < l; i ++ ) {
+
+			const id = instanceMaterials[ keys[ i ] ];
+
+			if ( id === undefined ) {
+
+				console.warn( 'THREE.ColladaLoader: Material with key %s not found. Apply fallback material.', keys[ i ] );
+				materials.push( this.fallbackMaterial );
+
+			} else {
+
+				materials.push( this.getMaterial( id ) );
+
+			}
+
+		}
+
+		return materials;
+
+	}
+
+	get fallbackMaterial() {
+
+		if ( this._fallbackMaterial === undefined ) {
+
+			this._fallbackMaterial = new MeshBasicMaterial( {
+				name: Loader.DEFAULT_MATERIAL_NAME,
+				color: 0xff00ff
+			} );
+
+		}
+
+		return this._fallbackMaterial;
+
+	}
+
+	buildObjects( geometries, instanceMaterials ) {
+
+		const objects = [];
+
+		for ( const type in geometries ) {
+
+			const geometry = geometries[ type ];
+
+			const materials = this.resolveMaterialBinding( geometry.materialKeys, instanceMaterials );
+
+			// handle case if no materials are defined
+
+			if ( materials.length === 0 ) {
+
+				if ( type === 'lines' || type === 'linestrips' ) {
+
+					materials.push( new LineBasicMaterial() );
+
+				} else {
+
+					materials.push( new MeshPhongMaterial() );
+
+				}
+
+			}
+
+			// Collada allows to use phong and lambert materials with lines. Replacing these cases with LineBasicMaterial.
+
+			if ( type === 'lines' || type === 'linestrips' ) {
+
+				for ( let i = 0, l = materials.length; i < l; i ++ ) {
+
+					const material = materials[ i ];
+
+					if ( material.isMeshPhongMaterial === true || material.isMeshLambertMaterial === true ) {
+
+						const lineMaterial = new LineBasicMaterial();
+
+						// copy compatible properties
+
+						lineMaterial.color.copy( material.color );
+						lineMaterial.opacity = material.opacity;
+						lineMaterial.transparent = material.transparent;
+
+						// replace material
+
+						materials[ i ] = lineMaterial;
+
+					}
+
+				}
+
+			}
+
+			// regard skinning
+
+			const skinning = ( geometry.data.attributes.skinIndex !== undefined );
+
+			// choose between a single or multi materials (material array)
+
+			const material = ( materials.length === 1 ) ? materials[ 0 ] : materials;
+
+			// now create a specific 3D object
+
+			let object;
+
+			switch ( type ) {
+
+				case 'lines':
+					object = new LineSegments( geometry.data, material );
+					break;
+
+				case 'linestrips':
+					object = new Line( geometry.data, material );
+					break;
+
+				case 'triangles':
+				case 'polylist':
+					if ( skinning ) {
+
+						object = new SkinnedMesh( geometry.data, material );
+
+					} else {
+
+						object = new Mesh( geometry.data, material );
+
+					}
+
+					break;
+
+			}
+
+			objects.push( object );
+
+		}
+
+		return objects;
+
+	}
+
+	hasNode( id ) {
+
+		return this.library.nodes[ id ] !== undefined;
+
+	}
+
+	getNode( id ) {
+
+		return this.getBuild( this.library.nodes[ id ], this.buildNode.bind( this ) );
+
+	}
+
+
+	buildVisualScene( data ) {
+
+		const group = new Group();
+		group.name = data.name;
+
+		const children = data.children;
+
+		for ( let i = 0; i < children.length; i ++ ) {
+
+			const child = children[ i ];
+
+			group.add( this.getNode( child.id ) );
+
+		}
+
+		return group;
+
+	}
+
+	hasVisualScene( id ) {
+
+		return this.library.visualScenes[ id ] !== undefined;
+
+	}
+
+	getVisualScene( id ) {
+
+		return this.getBuild( this.library.visualScenes[ id ], this.buildVisualScene.bind( this ) );
+
+	}
+
+
+	parseScene( xml ) {
+
+		const instance = getElementsByTagName( xml, 'instance_visual_scene' )[ 0 ];
+		return this.getVisualScene( this.parseId( instance.getAttribute( 'url' ) ) );
+
+	}
+
+	parseId( text ) {
+
+		return text.substring( 1 );
+
+	}
+
+	setupAnimations() {
+
+		const clips = this.library.clips;
+
+		if ( this.isEmpty( clips ) === true ) {
+
+			if ( this.isEmpty( this.library.animations ) === false ) {
+
+				// if there are animations but no clips, we create a default clip for playback
+
+				const tracks = [];
+
+				for ( const id in this.library.animations ) {
+
+					const animationTracks = this.getAnimation( id );
+
+					for ( let i = 0, l = animationTracks.length; i < l; i ++ ) {
+
+						tracks.push( animationTracks[ i ] );
+
+					}
+
+				}
+
+				this.buildDeferredPivotAnimationTracks( tracks );
+
+				this.animations.push( new AnimationClip( 'default', - 1, tracks ) );
+
+			}
+
+		} else {
+
+			for ( const id in clips ) {
+
+				this.animations.push( this.getAnimationClip( id ) );
+
+			}
+
+		}
+
+	}
+
+	buildDeferredPivotAnimationTracks( tracks ) {
+
+		for ( const nodeId in this.deferredPivotAnimations ) {
+
+			const nodeData = this.library.nodes[ nodeId ];
+			if ( ! nodeData ) continue;
+
+			const mergedChannels = this.deferredPivotAnimations[ nodeId ];
+			this.buildTransformHierarchyTracks( nodeId, mergedChannels, nodeData, tracks );
+
+		}
+
+	}
+
+	buildTransformHierarchyTracks( nodeId, nodeChannels, nodeData, tracks ) {
+
+		const transformNodes = this.transformNodes[ nodeId ];
+
+		if ( ! transformNodes ) {
+
+			console.warn( 'THREE.ColladaLoader: Transform hierarchy not found for node:', nodeId );
+			return;
+
+		}
+
+		for ( const sid in nodeChannels ) {
+
+			const transformNode = transformNodes[ sid ];
+			if ( ! transformNode ) continue;
+
+			const transformType = nodeData.transforms[ sid ];
+			const transformInfo = nodeData.transformData[ sid ];
+			const channelData = nodeChannels[ sid ];
+
+			switch ( transformType ) {
+
+				case 'translate':
+					this.buildHierarchyTranslateTrack( transformNode, channelData, transformInfo, tracks );
+					break;
+
+				case 'rotate':
+					this.buildHierarchyRotateTrack( transformNode, channelData, transformInfo, tracks );
+					break;
+
+				case 'scale':
+					this.buildHierarchyScaleTrack( transformNode, channelData, transformInfo, tracks );
+					break;
+
+			}
+
+		}
+
+	}
+
+	buildHierarchyTranslateTrack( transformNode, channelData, transformInfo, tracks ) {
+
+		if ( channelData.default && channelData.default.stride === 3 ) {
+
+			const data = channelData.default;
+			const track = new VectorKeyframeTrack(
+				transformNode.uuid + '.position',
+				Array.from( data.times ),
+				Array.from( data.values )
+			);
+
+			const interpolationInfo = this.getInterpolationInfo( channelData );
+			this.applyInterpolation( track, interpolationInfo, channelData );
+			tracks.push( track );
+			return;
+
+		}
+
+		const times = this.getTimesForAllAxes( channelData );
+		if ( times.length === 0 ) return;
+
+		const values = [];
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+			const x = this.getValueAtTime( channelData.X, time, transformInfo.x );
+			const y = this.getValueAtTime( channelData.Y, time, transformInfo.y );
+			const z = this.getValueAtTime( channelData.Z, time, transformInfo.z );
+			values.push( x, y, z );
+
+		}
+
+		const track = new VectorKeyframeTrack(
+			transformNode.uuid + '.position',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+	buildHierarchyRotateTrack( transformNode, channelData, transformInfo, tracks ) {
+
+		const angleData = channelData.ANGLE || channelData.default;
+		if ( ! angleData ) return;
+
+		const times = Array.from( angleData.times );
+		if ( times.length === 0 ) return;
+
+		const axis = transformNode.userData.rotationAxis ||
+			new Vector3( transformInfo.axis[ 0 ], transformInfo.axis[ 1 ], transformInfo.axis[ 2 ] );
+
+		const quaternion = new Quaternion();
+		const prevQuaternion = new Quaternion();
+		const values = [];
+
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+			const angleDegrees = this.getValueAtTime( angleData, time, transformInfo.angle );
+			const angleRadians = MathUtils.degToRad( angleDegrees );
+
+			quaternion.setFromAxisAngle( axis, angleRadians );
+
+			// Ensure quaternion continuity
+			if ( i > 0 && prevQuaternion.dot( quaternion ) < 0 ) {
+
+				quaternion.x = - quaternion.x;
+				quaternion.y = - quaternion.y;
+				quaternion.z = - quaternion.z;
+				quaternion.w = - quaternion.w;
+
+			}
+
+			prevQuaternion.copy( quaternion );
+			values.push( quaternion.x, quaternion.y, quaternion.z, quaternion.w );
+
+		}
+
+		const track = new QuaternionKeyframeTrack(
+			transformNode.uuid + '.quaternion',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+	buildHierarchyScaleTrack( transformNode, channelData, transformInfo, tracks ) {
+
+		if ( channelData.default && channelData.default.stride === 3 ) {
+
+			const data = channelData.default;
+			const track = new VectorKeyframeTrack(
+				transformNode.uuid + '.scale',
+				Array.from( data.times ),
+				Array.from( data.values )
+			);
+
+			const interpolationInfo = this.getInterpolationInfo( channelData );
+			this.applyInterpolation( track, interpolationInfo, channelData );
+			tracks.push( track );
+			return;
+
+		}
+
+		const times = this.getTimesForAllAxes( channelData );
+		if ( times.length === 0 ) return;
+
+		const values = [];
+		const interpolationInfo = this.getInterpolationInfo( channelData );
+
+		for ( let i = 0; i < times.length; i ++ ) {
+
+			const time = times[ i ];
+			const x = this.getValueAtTime( channelData.X, time, transformInfo.x );
+			const y = this.getValueAtTime( channelData.Y, time, transformInfo.y );
+			const z = this.getValueAtTime( channelData.Z, time, transformInfo.z );
+			values.push( x, y, z );
+
+		}
+
+		const track = new VectorKeyframeTrack(
+			transformNode.uuid + '.scale',
+			times,
+			values
+		);
+
+		this.applyInterpolation( track, interpolationInfo );
+		tracks.push( track );
+
+	}
+
+}
+
+export { ColladaComposer };