ss-component-new 1.2.11 → 1.2.13

package/dist/{index.vue_vue_type_style_index_1_lang-DOjFqzi3.cjs → index.vue_vue_type_style_index_1_lang-NCxR30Hn.cjs}

@@ -1,16 +1,16 @@
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34:r.opts.Date1904=A.WBProps.date1904=D;break;case 134:r.opts.WriteProtect=!0;break;case 47:if(H.enc||(e.l=0),H.enc=D,!t.password)throw new Error("File is password-protected");if(D.valid==null)throw new Error("Encryption scheme unsupported");if(!D.valid)throw new Error("Password is incorrect");break;case 92:H.lastuser=D;break;case 66:var We=Number(D);switch(We){case 21010:We=1200;break;case 32768:We=1e4;break;case 32769:We=1252;break}Tt(H.codepage=We),W=!0;break;case 317:H.rrtabid=D;break;case 25:H.winlocked=D;break;case 439:r.opts.RefreshAll=D;break;case 12:r.opts.CalcCount=D;break;case 16:r.opts.CalcDelta=D;break;case 17:r.opts.CalcIter=D;break;case 13:r.opts.CalcMode=D;break;case 14:r.opts.CalcPrecision=D;break;case 95:r.opts.CalcSaveRecalc=D;break;case 15:H.CalcRefMode=D;break;case 2211:r.opts.FullCalc=D;break;case 129:D.fDialog&&(n["!type"]="dialog"),D.fBelow||((n["!outline"]||(n["!outline"]={})).above=!0),D.fRight||((n["!outline"]||(n["!outline"]={})).left=!0);break;case 224:O.push(D);break;case 430:j.push([D]),j[j.length-1].XTI=[];break;case 35:case 547:j[j.length-1].push(D);break;case 24:case 536:U={Name:D.Name,Ref:Hr(D.rgce,s,null,j,H)},D.itab>0&&(U.Sheet=D.itab-1),j.names.push(U),j[0]||(j[0]=[],j[0].XTI=[]),j[j.length-1].push(D),D.Name=="_xlnm._FilterDatabase"&&D.itab>0&&D.rgce&&D.rgce[0]&&D.rgce[0][0]&&D.rgce[0][0][0]=="PtgArea3d"&&(P[D.itab-1]={ref:Ge(D.rgce[0][0][1][2])});break;case 22:H.ExternCount=D;break;case 23:j.length==0&&(j[0]=[],j[0].XTI=[]),j[j.length-1].XTI=j[j.length-1].XTI.concat(D),j.XTI=j.XTI.concat(D);break;case 2196:if(H.biff<8)break;U!=null&&(U.Comment=D[1]);break;case 18:n["!protect"]=D;break;case 19:D!==0&&H.WTF&&console.error("Password verifier: "+D);break;case 133:i[D.pos]=D,H.snames.push(D.name);break;case 10:{if(--_e)break;if(s.e){if(s.e.r>0&&s.e.c>0){if(s.e.r--,s.e.c--,n["!ref"]=Ge(s),t.sheetRows&&t.sheetRows<=s.e.r){var be=s.e.r;s.e.r=t.sheetRows-1,n["!fullref"]=n["!ref"],n["!ref"]=Ge(s),s.e.r=be}s.e.r++,s.e.c++}ve.length>0&&(n["!merges"]=ve),he.length>0&&(n["!objects"]=he),ne.length>0&&(n["!cols"]=ne),le.length>0&&(n["!rows"]=le),A.Sheets.push(B)}f===""?l=n:a[f]=n,n=t.dense?[]:{}}break;case 9:case 521:case 1033:case 2057:{if(H.biff===8&&(H.biff={9:2,521:3,1033:4}[oe]||{512:2,768:3,1024:4,1280:5,1536:8,2:2,7:2}[D.BIFFVer]||8),H.biffguess=D.BIFFVer==0,D.BIFFVer==0&&D.dt==4096&&(H.biff=5,W=!0,Tt(H.codepage=28591)),H.biff==8&&D.BIFFVer==0&&D.dt==16&&(H.biff=2),_e++)break;if(n=t.dense?[]:{},H.biff<8&&!W&&(W=!0,Tt(H.codepage=t.codepage||1252)),H.biff<5||D.BIFFVer==0&&D.dt==4096){f===""&&(f="Sheet1"),s={s:{r:0,c:0},e:{r:0,c:0}};var He={pos:e.l-K,name:f};i[He.pos]=He,H.snames.push(f)}else f=(i[ee]||{name:""}).name;D.dt==32&&(n["!type"]="chart"),D.dt==64&&(n["!type"]="macro"),ve=[],he=[],H.arrayf=E=[],ne=[],le=[],Ne=!1,B={Hidden:(i[ee]||{hs:0}).hs,name:f}}break;case 515:case 3:case 2:n["!type"]=="chart"&&(t.dense?(n[D.r]||[])[D.c]:n[Ue({c:D.c,r:D.r})])&&++D.c,_={ixfe:D.ixfe,XF:O[D.ixfe]||{},v:D.val,t:"n"},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t);break;case 5:case 517:_={ixfe:D.ixfe,XF:O[D.ixfe],v:D.val,t:D.t},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t);break;case 638:_={ixfe:D.ixfe,XF:O[D.ixfe],v:D.rknum,t:"n"},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t);break;case 189:for(var Re=D.c;Re<=D.C;++Re){var de=D.rkrec[Re-D.c][0];_={ixfe:de,XF:O[de],v:D.rkrec[Re-D.c][1],t:"n"},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:Re,r:D.r},_,t)}break;case 6:case 518:case 1030:{if(D.val=="String"){c=D;break}if(_=ja(D.val,D.cell.ixfe,D.tt),_.XF=O[_.ixfe],t.cellFormula){var Xe=D.formula;if(Xe&&Xe[0]&&Xe[0][0]&&Xe[0][0][0]=="PtgExp"){var Qe=Xe[0][0][1][0],Ye=Xe[0][0][1][1],kr=Ue({r:Qe,c:Ye});k[kr]?_.f=""+Hr(D.formula,s,D.cell,j,H):_.F=((t.dense?(n[Qe]||[])[Ye]:n[kr])||{}).F}else _.f=""+Hr(D.formula,s,D.cell,j,H)}N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G(D.cell,_,t),c=D}break;case 7:case 519:if(c)c.val=D,_=ja(D,c.cell.ixfe,"s"),_.XF=O[_.ixfe],t.cellFormula&&(_.f=""+Hr(c.formula,s,c.cell,j,H)),N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G(c.cell,_,t),c=null;else throw new Error("String record expects Formula");break;case 33:case 545:{E.push(D);var At=Ue(D[0].s);if(u=t.dense?(n[D[0].s.r]||[])[D[0].s.c]:n[At],t.cellFormula&&u){if(!c||!At||!u)break;u.f=""+Hr(D[1],s,D[0],j,H),u.F=Ge(D[0])}}break;case 1212:{if(!t.cellFormula)break;if(p){if(!c)break;k[Ue(c.cell)]=D[0],u=t.dense?(n[c.cell.r]||[])[c.cell.c]:n[Ue(c.cell)],(u||{}).f=""+Hr(D[0],s,x,j,H)}}break;case 253:_=ja(o[D.isst].t,D.ixfe,"s"),o[D.isst].h&&(_.h=o[D.isst].h),_.XF=O[_.ixfe],N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t);break;case 513:t.sheetStubs&&(_={ixfe:D.ixfe,XF:O[D.ixfe],t:"z"},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t));break;case 190:if(t.sheetStubs)for(var gt=D.c;gt<=D.C;++gt){var $r=D.ixfe[gt-D.c];_={ixfe:$r,XF:O[$r],t:"z"},N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:gt,r:D.r},_,t)}break;case 214:case 516:case 4:_=ja(D.val,D.ixfe,"s"),_.XF=O[_.ixfe],N>0&&(_.z=V[_.ixfe>>8&63]),Nt(_,t,r.opts.Date1904),G({c:D.c,r:D.r},_,t);break;case 0:case 512:_e===1&&(s=D);break;case 252:o=D;break;case 1054:if(H.biff==4){V[N++]=D[1];for(var _t=0;_t<N+163&&Be[_t]!=D[1];++_t);_t>=163&&Ht(D[1],N+163)}else Ht(D[1],D[0]);break;case 30:{V[N++]=D;for(var Ft=0;Ft<N+163&&Be[Ft]!=D;++Ft);Ft>=163&&Ht(D,N+163)}break;case 229:ve=ve.concat(D);break;case 93:he[D.cmo[0]]=H.lastobj=D;break;case 438:H.lastobj.TxO=D;break;case 127:H.lastobj.ImData=D;break;case 440:for(m=D[0].s.r;m<=D[0].e.r;++m)for(d=D[0].s.c;d<=D[0].e.c;++d)u=t.dense?(n[m]||[])[d]:n[Ue({c:d,r:m})],u&&(u.l=D[1]);break;case 2048:for(m=D[0].s.r;m<=D[0].e.r;++m)for(d=D[0].s.c;d<=D[0].e.c;++d)u=t.dense?(n[m]||[])[d]:n[Ue({c:d,r:m})],u&&u.l&&(u.l.Tooltip=D[1]);break;case 28:{if(H.biff<=5&&H.biff>=2)break;u=t.dense?(n[D[0].r]||[])[D[0].c]:n[Ue(D[0])];var $t=he[D[2]];u||(t.dense?(n[D[0].r]||(n[D[0].r]=[]),u=n[D[0].r][D[0].c]={t:"z"}):u=n[Ue(D[0])]={t:"z"},s.e.r=Math.max(s.e.r,D[0].r),s.s.r=Math.min(s.s.r,D[0].r),s.e.c=Math.max(s.e.c,D[0].c),s.s.c=Math.min(s.s.c,D[0].c)),u.c||(u.c=[]),h={a:D[1],t:$t.TxO.t},u.c.push(h)}break;case 2173:hh(O[D.ixfe],D.ext);break;case 125:{if(!H.cellStyles)break;for(;D.e>=D.s;)ne[D.e--]={width:D.w/256,level:D.level||0,hidden:!!(D.flags&1)},Ne||(Ne=!0,Ri(D.w/256)),e0(ne[D.e+1])}break;case 520:{var Rr={};D.level!=null&&(le[D.r]=Rr,Rr.level=D.level),D.hidden&&(le[D.r]=Rr,Rr.hidden=!0),D.hpt&&(le[D.r]=Rr,Rr.hpt=D.hpt,Rr.hpx=z0(D.hpt))}break;case 38:case 39:case 40:case 41:n["!margins"]||d0(n["!margins"]={}),n["!margins"][{38:"left",39:"right",40:"top",41:"bottom"}[oe]]=D;break;case 161:n["!margins"]||d0(n["!margins"]={}),n["!margins"].header=D.header,n["!margins"].footer=D.footer;break;case 574:D.RTL&&(A.Views[0].RTL=!0);break;case 146:z=D;break;case 2198:ae=D;break;case 140:L=D;break;case 442:f?B.CodeName=D||B.name:A.WBProps.CodeName=D||"ThisWorkbook";break}}else te||console.error("Missing Info for XLS Record 0x"+oe.toString(16)),e.l+=K}return r.SheetNames=wr(i).sort(function(ot,$e){return Number(ot)-Number($e)}).map(function(ot){return i[ot].name}),t.bookSheets||(r.Sheets=a),!r.SheetNames.length&&l["!ref"]?(r.SheetNames.push("Sheet1"),r.Sheets&&(r.Sheets.Sheet1=l)):r.Preamble=l,r.Sheets&&P.forEach(function(ot,$e){r.Sheets[r.SheetNames[$e]]["!autofilter"]=ot}),r.Strings=o,r.SSF=ur(Be),H.enc&&(r.Encryption=H.enc),ae&&(r.Themes=ae),r.Metadata={},L!==void 0&&(r.Metadata.Country=L),j.names.length>0&&(A.Names=j.names),r.Workbook=A,r}var sa={SI:"e0859ff2f94f6810ab9108002b27b3d9",DSI:"02d5cdd59c2e1b10939708002b2cf9ae",UDI:"05d5cdd59c2e1b10939708002b2cf9ae"};function S5(e,t,r){var a=Le.find(e,"/!DocumentSummaryInformation");if(a&&a.size>0)try{var n=Bs(a,Qn,sa.DSI);for(var i in n)t[i]=n[i]}catch(f){if(r.WTF)throw f}var s=Le.find(e,"/!SummaryInformation");if(s&&s.size>0)try{var c=Bs(s,ei,sa.SI);for(var o in c)t[o]==null&&(t[o]=c[o])}catch(f){if(r.WTF)throw f}t.HeadingPairs&&t.TitlesOfParts&&(uc(t.HeadingPairs,t.TitlesOfParts,t,r),delete t.HeadingPairs,delete t.TitlesOfParts)}function A5(e,t){var r=[],a=[],n=[],i=0,s,c=ds(Qn,"n"),o=ds(ei,"n");if(e.Props)for(s=wr(e.Props),i=0;i<s.length;++i)(Object.prototype.hasOwnProperty.call(c,s[i])?r:Object.prototype.hasOwnProperty.call(o,s[i])?a:n).push([s[i],e.Props[s[i]]]);if(e.Custprops)for(s=wr(e.Custprops),i=0;i<s.length;++i)Object.prototype.hasOwnProperty.call(e.Props||{},s[i])||(Object.prototype.hasOwnProperty.call(c,s[i])?r:Object.prototype.hasOwnProperty.call(o,s[i])?a:n).push([s[i],e.Custprops[s[i]]]);var 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513:t.sheetStubs&&(g={ixfe:L.ixfe,XF:O[L.ixfe],t:"z"},N>0&&(g.z=V[g.ixfe>>8&63]),Nt(g,t,r.opts.Date1904),G({c:L.c,r:L.r},g,t));break;case 190:if(t.sheetStubs)for(var gt=L.c;gt<=L.C;++gt){var $r=L.ixfe[gt-L.c];g={ixfe:$r,XF:O[$r],t:"z"},N>0&&(g.z=V[g.ixfe>>8&63]),Nt(g,t,r.opts.Date1904),G({c:gt,r:L.r},g,t)}break;case 214:case 516:case 4:g=ja(L.val,L.ixfe,"s"),g.XF=O[g.ixfe],N>0&&(g.z=V[g.ixfe>>8&63]),Nt(g,t,r.opts.Date1904),G({c:L.c,r:L.r},g,t);break;case 0:case 512:_e===1&&(s=L);break;case 252:o=L;break;case 1054:if(H.biff==4){V[N++]=L[1];for(var _t=0;_t<N+163&&Be[_t]!=L[1];++_t);_t>=163&&Ht(L[1],N+163)}else Ht(L[1],L[0]);break;case 30:{V[N++]=L;for(var Ft=0;Ft<N+163&&Be[Ft]!=L;++Ft);Ft>=163&&Ht(L,N+163)}break;case 229:ve=ve.concat(L);break;case 93:he[L.cmo[0]]=H.lastobj=L;break;case 438:H.lastobj.TxO=L;break;case 127:H.lastobj.ImData=L;break;case 440:for(m=L[0].s.r;m<=L[0].e.r;++m)for(h=L[0].s.c;h<=L[0].e.c;++h)p=t.dense?(n[m]||[])[h]:n[Ue({c:h,r:m})],p&&(p.l=L[1]);break;case 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i=Or(a);t.push(nr(i.length)),t.push(i),n.forEach(function(s){return t.push(s)})}),t0(t)}function ax(e,t){if(e!=0)throw new Error("Unexpected Snappy chunk type ".concat(e));for(var r=[0],a=ga(t,r),n=[];r[0]<t.length;){var i=t[r[0]]&3;if(i==0){var s=t[r[0]++]>>2;if(s<60)++s;else{var c=s-59;s=t[r[0]],c>1&&(s|=t[r[0]+1]<<8),c>2&&(s|=t[r[0]+2]<<16),c>3&&(s|=t[r[0]+3]<<24),s>>>=0,s++,r[0]+=c}n.push(t.slice(r[0],r[0]+s)),r[0]+=s;continue}else{var o=0,f=0;if(i==1?(f=(t[r[0]]>>2&7)+4,o=(t[r[0]++]&224)<<3,o|=t[r[0]++]):(f=(t[r[0]++]>>2)+1,i==2?(o=t[r[0]]|t[r[0]+1]<<8,r[0]+=2):(o=(t[r[0]]|t[r[0]+1]<<8|t[r[0]+2]<<16|t[r[0]+3]<<24)>>>0,r[0]+=4)),n=[t0(n)],o==0)throw new Error("Invalid offset 0");if(o>n[0].length)throw new Error("Invalid offset beyond length");if(f>=o)for(n.push(n[0].slice(-o)),f-=o;f>=n[n.length-1].length;)n.push(n[n.length-1]),f-=n[n.length-1].length;n.push(n[0].slice(-o,-o+f))}}var l=t0(n);if(l.length!=a)throw new Error("Unexpected length: ".concat(l.length," != 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3:x={t:"s",v:t[c]};break;case 5:x={t:"d",v:l};break;case 6:x={t:"b",v:f>0};break;case 7:x={t:"n",v:f/86400};break;case 8:x={t:"e",v:0};break;case 9:if(s>-1)x={t:"s",v:r[s]};else throw new Error("Unsupported cell type ".concat(e[1]," : ").concat(n&31," : ").concat(e.slice(0,4)));break;case 10:x={t:"n",v:o};break;default:throw new Error("Unsupported cell type ".concat(e[1]," : ").concat(n&31," : ").concat(e.slice(0,4)))}return x}function jn(e,t){var r=new Uint8Array(32),a=_0(r),n=12,i=0;switch(r[0]=5,e.t){case"n":r[1]=2,tx(r,n,e.v),i|=1,n+=16;break;case"b":r[1]=6,a.setFloat64(n,e.v?1:0,!0),i|=2,n+=8;break;case"s":if(t.indexOf(e.v)==-1)throw new Error("Value ".concat(e.v," missing from SST!"));r[1]=3,a.setUint32(n,t.indexOf(e.v),!0),i|=8,n+=4;break;default:throw"unsupported cell type "+e.t}return a.setUint32(8,i,!0),r.slice(0,n)}function Xn(e,t){var r=new Uint8Array(32),a=_0(r),n=12,i=0;switch(r[0]=3,e.t){case"n":r[2]=2,a.setFloat64(n,e.v,!0),i|=32,n+=8;break;case"b":r[2]=6,a.setFloat64(n,e.v?1:0,!0),i|=32,n+=8;break;case"s":if(t.indexOf(e.v)==-1)throw new Error("Value ".concat(e.v," missing from SST!"));r[2]=3,a.setUint32(n,t.indexOf(e.v),!0),i|=16,n+=4;break;default:throw"unsupported cell type "+e.t}return a.setUint32(4,i,!0),r.slice(0,n)}function sx(e,t,r){switch(e[0]){case 0:case 1:case 2:case 3:return nx(e,t,r,e[0]);case 5:return ix(e,t,r);default:throw new Error("Unsupported payload version ".concat(e[0]))}}function zr(e){var t=tr(e);return ga(t[1][0].data)}function l1(e,t){var r=tr(t.data),a=_r(r[1][0].data),n=r[3],i=[];return(n||[]).forEach(function(s){var c=tr(s.data),o=_r(c[1][0].data)>>>0;switch(a){case 1:i[o]=ci(c[3][0].data);break;case 8:{var f=e[zr(c[9][0].data)][0],l=tr(f.data),x=e[zr(l[1][0].data)][0],p=_r(x.meta[1][0].data);if(p!=2001)throw new Error("2000 unexpected reference to ".concat(p));var u=tr(x.data);i[o]=u[3].map(function(h){return ci(h.data)}).join("")}break}}),i}function cx(e,t){var r,a,n,i,s,c,o,f,l,x,p,u,h,d,m=tr(e),k=_r(m[1][0].data)>>>0,E=_r(m[2][0].data)>>>0,_=((a=(r=m[8])==null?void 0:r[0])==null?void 0:a.data)&&_r(m[8][0].data)>0||!1,L,O;if((i=(n=m[7])==null?void 0:n[0])!=null&&i.data&&t!=0)L=(c=(s=m[7])==null?void 0:s[0])==null?void 0:c.data,O=(f=(o=m[6])==null?void 0:o[0])==null?void 0:f.data;else if((x=(l=m[4])==null?void 0:l[0])!=null&&x.data&&t!=1)L=(u=(p=m[4])==null?void 0:p[0])==null?void 0:u.data,O=(d=(h=m[3])==null?void 0:h[0])==null?void 0:d.data;else throw"NUMBERS Tile missing ".concat(t," cell storage");for(var z=_?4:1,A=_0(L),B=[],C=0;C<L.length/2;++C){var X=A.getUint16(C*2,!0);X<65535&&B.push([C,X])}if(B.length!=E)throw"Expected ".concat(E," cells, found ").concat(B.length);var G=[];for(C=0;C<B.length-1;++C)G[B[C][0]]=O.subarray(B[C][1]*z,B[C+1][1]*z);return B.length>=1&&(G[B[B.length-1][0]]=O.subarray(B[B.length-1][1]*z)),{R:k,cells:G}}function ox(e,t){var r,a=tr(t.data),n=(r=a==null?void 0:a[7])!=null&&r[0]?_r(a[7][0].data)>>>0>0?1:0:-1,i=Wi(a[5],function(s){return cx(s,n)});return{nrows:_r(a[4][0].data)>>>0,data:i.reduce(function(s,c){return s[c.R]||(s[c.R]=[]),c.cells.forEach(function(o,f){if(s[c.R][f])throw new Error("Duplicate cell r=".concat(c.R," c=").concat(f));s[c.R][f]=o}),s},[])}}function fx(e,t,r){var a,n=tr(t.data),i={s:{r:0,c:0},e:{r:0,c:0}};if(i.e.r=(_r(n[6][0].data)>>>0)-1,i.e.r<0)throw new Error("Invalid row varint ".concat(n[6][0].data));if(i.e.c=(_r(n[7][0].data)>>>0)-1,i.e.c<0)throw new Error("Invalid col varint ".concat(n[7][0].data));r["!ref"]=Ge(i);var s=tr(n[4][0].data),c=l1(e,e[zr(s[4][0].data)][0]),o=(a=s[17])!=null&&a[0]?l1(e,e[zr(s[17][0].data)][0]):[],f=tr(s[3][0].data),l=0;f[1].forEach(function(x){var p=tr(x.data),u=e[zr(p[2][0].data)][0],h=_r(u.meta[1][0].data);if(h!=6002)throw new Error("6001 unexpected reference to ".concat(h));var 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n=!1;a.e.c>9&&(n=!0,a.e.c=9),a.e.r>49&&(n=!0,a.e.r=49),n&&console.error("The Numbers writer is currently limited to ".concat(Ge(a)));var i=hn(r,{range:a,header:1}),s=["~Sh33tJ5~"];i.forEach(function(V){return V.forEach(function(P){typeof P=="string"&&s.push(P)})});var c={},o=[],f=Le.read(t.numbers,{type:"base64"});f.FileIndex.map(function(V,P){return[V,f.FullPaths[P]]}).forEach(function(V){var P=V[0],U=V[1];if(P.type==2&&P.name.match(/\.iwa/)){var W=P.content,ee=ut(W),oe=ht(ee);oe.forEach(function(K){o.push(K.id),c[K.id]={deps:[],location:U,type:_r(K.messages[0].meta[1][0].data)}})}}),o.sort(function(V,P){return V-P});var l=o.filter(function(V){return V>1}).map(function(V){return[V,nr(V)]});f.FileIndex.map(function(V,P){return[V,f.FullPaths[P]]}).forEach(function(V){var P=V[0];if(V[1],!!P.name.match(/\.iwa/)){var U=ht(ut(P.content));U.forEach(function(W){W.messages.forEach(function(ee){l.forEach(function(oe){W.messages.some(function(K){return 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k=n.fields.indexOf("normal_x"),E=n.fields.indexOf("normal_y"),_=n.fields.indexOf("normal_z");s.push(this._getDataView(u,m+h.normal_x,n.type[k],n.size[k])),s.push(this._getDataView(u,m+h.normal_y,n.type[E],n.size[E])),s.push(this._getDataView(u,m+h.normal_z,n.type[_],n.size[_]))}if(h.intensity!==void 0){const k=n.fields.indexOf("intensity");o.push(this._getDataView(u,m+h.intensity,n.type[k],n.size[k]))}h.label!==void 0&&f.push(u.getInt32(m+h.label,this.littleEndian))}}const x=new q.BufferGeometry;i.length>0&&x.setAttribute("position",new q.Float32BufferAttribute(i,3)),s.length>0&&x.setAttribute("normal",new q.Float32BufferAttribute(s,3)),c.length>0&&x.setAttribute("color",new q.Float32BufferAttribute(c,3)),o.length>0&&x.setAttribute("intensity",new q.Float32BufferAttribute(o,1)),f.length>0&&x.setAttribute("label",new q.Int32BufferAttribute(f,1)),x.computeBoundingSphere();const p=new q.PointsMaterial({size:.005});return c.length>0&&(p.vertexColors=!0),new q.Points(x,p)}}class u1 extends q.DataTextureLoader{constructor(t){super(t)}parse(t){function r(ne){switch(ne.image_type){case p:case d:if(ne.colormap_length>256||ne.colormap_size!==24||ne.colormap_type!==1)throw new Error("THREE.TGALoader: Invalid type colormap data for indexed type.");break;case u:case h:case m:case k:if(ne.colormap_type)throw new Error("THREE.TGALoader: Invalid type colormap data for colormap type.");break;case x:throw new Error("THREE.TGALoader: No data.");default:throw new Error("THREE.TGALoader: Invalid type "+ne.image_type)}if(ne.width<=0||ne.height<=0)throw new Error("THREE.TGALoader: Invalid image size.");if(ne.pixel_size!==8&&ne.pixel_size!==16&&ne.pixel_size!==24&&ne.pixel_size!==32)throw new Error("THREE.TGALoader: Invalid pixel size "+ne.pixel_size)}function a(ne,le,Ne,j,Ee){let _e,N;const V=Ne.pixel_size>>3,P=Ne.width*Ne.height*V;if(le&&(N=Ee.subarray(j,j+=Ne.colormap_length*(Ne.colormap_size>>3))),ne){_e=new Uint8Array(P);let U,W,ee,oe=0;const K=new Uint8Array(V);for(;oe<P;)if(U=Ee[j++],W=(U&127)+1,U&128){for(ee=0;ee<V;++ee)K[ee]=Ee[j++];for(ee=0;ee<W;++ee)_e.set(K,oe+ee*V);oe+=V*W}else{for(W*=V,ee=0;ee<W;++ee)_e[oe+ee]=Ee[j++];oe+=W}}else _e=Ee.subarray(j,j+=le?Ne.width*Ne.height:P);return{pixel_data:_e,palettes:N}}function n(ne,le,Ne,j,Ee,_e,N,V,P){const U=P;let W,ee=0,oe,K;const te=X.width;for(K=le;K!==j;K+=Ne)for(oe=Ee;oe!==N;oe+=_e,ee++)W=V[ee],ne[(oe+te*K)*4+3]=255,ne[(oe+te*K)*4+2]=U[W*3+0],ne[(oe+te*K)*4+1]=U[W*3+1],ne[(oe+te*K)*4+0]=U[W*3+2];return ne}function i(ne,le,Ne,j,Ee,_e,N,V){let P,U=0,W,ee;const oe=X.width;for(ee=le;ee!==j;ee+=Ne)for(W=Ee;W!==N;W+=_e,U+=2)P=V[U+0]+(V[U+1]<<8),ne[(W+oe*ee)*4+0]=(P&31744)>>7,ne[(W+oe*ee)*4+1]=(P&992)>>2,ne[(W+oe*ee)*4+2]=(P&31)<<3,ne[(W+oe*ee)*4+3]=P&32768?0:255;return ne}function s(ne,le,Ne,j,Ee,_e,N,V){let P=0,U,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(U=Ee;U!==N;U+=_e,P+=3)ne[(U+ee*W)*4+3]=255,ne[(U+ee*W)*4+2]=V[P+0],ne[(U+ee*W)*4+1]=V[P+1],ne[(U+ee*W)*4+0]=V[P+2];return ne}function c(ne,le,Ne,j,Ee,_e,N,V){let P=0,U,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(U=Ee;U!==N;U+=_e,P+=4)ne[(U+ee*W)*4+2]=V[P+0],ne[(U+ee*W)*4+1]=V[P+1],ne[(U+ee*W)*4+0]=V[P+2],ne[(U+ee*W)*4+3]=V[P+3];return ne}function o(ne,le,Ne,j,Ee,_e,N,V){let P,U=0,W,ee;const oe=X.width;for(ee=le;ee!==j;ee+=Ne)for(W=Ee;W!==N;W+=_e,U++)P=V[U],ne[(W+oe*ee)*4+0]=P,ne[(W+oe*ee)*4+1]=P,ne[(W+oe*ee)*4+2]=P,ne[(W+oe*ee)*4+3]=255;return ne}function f(ne,le,Ne,j,Ee,_e,N,V){let P=0,U,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(U=Ee;U!==N;U+=_e,P+=2)ne[(U+ee*W)*4+0]=V[P+0],ne[(U+ee*W)*4+1]=V[P+0],ne[(U+ee*W)*4+2]=V[P+0],ne[(U+ee*W)*4+3]=V[P+1];return ne}function l(ne,le,Ne,j,Ee){let _e,N,V,P,U,W;switch((X.flags&E)>>_){default:case z:_e=0,V=1,U=le,N=0,P=1,W=Ne;break;case L:_e=0,V=1,U=le,N=Ne-1,P=-1,W=-1;break;case A:_e=le-1,V=-1,U=-1,N=0,P=1,W=Ne;break;case O:_e=le-1,V=-1,U=-1,N=Ne-1,P=-1,W=-1;break}if(ae)switch(X.pixel_size){case 8:o(ne,N,P,W,_e,V,U,j);break;case 16:f(ne,N,P,W,_e,V,U,j);break;default:throw new Error("THREE.TGALoader: Format not supported.")}else switch(X.pixel_size){case 8:n(ne,N,P,W,_e,V,U,j,Ee);break;case 16:i(ne,N,P,W,_e,V,U,j);break;case 24:s(ne,N,P,W,_e,V,U,j);break;case 32:c(ne,N,P,W,_e,V,U,j);break;default:throw new Error("THREE.TGALoader: Format not supported.")}return ne}const x=0,p=1,u=2,h=3,d=9,m=10,k=11,E=48,_=4,L=0,O=1,z=2,A=3;if(t.length<19)throw new Error("THREE.TGALoader: Not enough data to contain header.");let B=0;const C=new Uint8Array(t),X={id_length:C[B++],colormap_type:C[B++],image_type:C[B++],colormap_index:C[B++]|C[B++]<<8,colormap_length:C[B++]|C[B++]<<8,colormap_size:C[B++],origin:[C[B++]|C[B++]<<8,C[B++]|C[B++]<<8],width:C[B++]|C[B++]<<8,height:C[B++]|C[B++]<<8,pixel_size:C[B++],flags:C[B++]};if(r(X),X.id_length+B>t.length)throw new Error("THREE.TGALoader: No data.");B+=X.id_length;let G=!1,H=!1,ae=!1;switch(X.image_type){case d:G=!0,H=!0;break;case p:H=!0;break;case m:G=!0;break;case u:break;case k:G=!0,ae=!0;break;case h:ae=!0;break}const ve=new Uint8Array(X.width*X.height*4),he=a(G,H,X,B,C);return l(ve,X.width,X.height,he.pixel_data,he.palettes),{data:ve,width:X.width,height:X.height,flipY:!0,generateMipmaps:!0,minFilter:q.LinearMipmapLinearFilter}}}class Xx extends q.Loader{load(t,r,a,n){const i=this,s=i.path===""?q.LoaderUtils.extractUrlBase(t):i.path,c=new q.FileLoader(i.manager);c.setPath(i.path),c.setRequestHeader(i.requestHeader),c.setWithCredentials(i.withCredentials),c.load(t,function(o){try{r(i.parse(o,s))}catch(f){n?n(f):console.error(f),i.manager.itemError(t)}},a,n)}parse(t,r){function a(g,v){const y=[],T=g.childNodes;for(let S=0,re=T.length;S<re;S++){const ce=T[S];ce.nodeName===v&&y.push(ce)}return y}function n(g){if(g.length===0)return[];const v=g.trim().split(/\s+/),y=new Array(v.length);for(let T=0,S=v.length;T<S;T++)y[T]=v[T];return y}function i(g){if(g.length===0)return[];const v=g.trim().split(/\s+/),y=new Array(v.length);for(let 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ce;switch(re.nodeName){case"source":ce=re.getAttribute("id"),v.sources[ce]=X0(re);break;case"sampler":ce=re.getAttribute("id"),v.samplers[ce]=k(re);break;case"channel":ce=re.getAttribute("target"),v.channels[ce]=E(re);break;case"animation":m(re),y=!0;break;default:console.log(re)}}y===!1&&(Pe.animations[g.getAttribute("id")||q.MathUtils.generateUUID()]=v)}function k(g){const v={inputs:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"input":const re=c(S.getAttribute("source")),ce=S.getAttribute("semantic");v.inputs[ce]=re;break}}return v}function E(g){const v={};let T=g.getAttribute("target").split("/");const S=T.shift();let re=T.shift();const ce=re.indexOf("(")!==-1,Fe=re.indexOf(".")!==-1;if(Fe)T=re.split("."),re=T.shift(),v.member=T.shift();else if(ce){const Te=re.split("(");re=Te.shift();for(let Ae=0;Ae<Te.length;Ae++)Te[Ae]=parseInt(Te[Ae].replace(/\)/,""));v.indices=Te}return 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T,S=!0,re,ce;for(re=0,ce=g.length;re<ce;re++)T=g[re],T.value[v]===void 0?T.value[v]=null:S=!1;if(S===!0)for(re=0,ce=g.length;re<ce;re++)T=g[re],T.value[v]=y;else H(g,v)}function H(g,v){let y,T;for(let S=0,re=g.length;S<re;S++){const ce=g[S];if(ce.value[v]===null){if(y=ae(g,S,v),T=ve(g,S,v),y===null){ce.value[v]=T.value[v];continue}if(T===null){ce.value[v]=y.value[v];continue}he(ce,y,T,v)}}}function ae(g,v,y){for(;v>=0;){const T=g[v];if(T.value[y]!==null)return T;v--}return null}function ve(g,v,y){for(;v<g.length;){const T=g[v];if(T.value[y]!==null)return T;v++}return null}function he(g,v,y,T){if(y.time-v.time===0){g.value[T]=v.value[T];return}g.value[T]=(g.time-v.time)*(y.value[T]-v.value[T])/(y.time-v.time)+v.value[T]}function ne(g){const v={name:g.getAttribute("id")||"default",start:parseFloat(g.getAttribute("start")||0),end:parseFloat(g.getAttribute("end")||0),animations:[]};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"instance_animation":v.animations.push(c(S.getAttribute("url")));break}}Pe.clips[g.getAttribute("id")]=v}function le(g){const v=[],y=g.name,T=g.end-g.start||-1,S=g.animations;for(let re=0,ce=S.length;re<ce;re++){const Fe=L(S[re]);for(let Te=0,Ae=Fe.length;Te<Ae;Te++)v.push(Fe[Te])}return new q.AnimationClip(y,T,v)}function Ne(g){return d(Pe.clips[g],le)}function j(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"skin":v.id=c(S.getAttribute("source")),v.skin=Ee(S);break;case"morph":v.id=c(S.getAttribute("source")),console.warn("THREE.ColladaLoader: Morph target animation not supported yet.");break}}Pe.controllers[g.getAttribute("id")]=v}function Ee(g){const v={sources:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"bind_shape_matrix":v.bindShapeMatrix=i(S.textContent);break;case"source":const re=S.getAttribute("id");v.sources[re]=X0(S);break;case"joints":v.joints=_e(S);break;case"vertex_weights":v.vertexWeights=N(S);break}}return v}function _e(g){const v={inputs:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"input":const re=S.getAttribute("semantic"),ce=c(S.getAttribute("source"));v.inputs[re]=ce;break}}return v}function N(g){const v={inputs:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"input":const re=S.getAttribute("semantic"),ce=c(S.getAttribute("source")),Fe=parseInt(S.getAttribute("offset"));v.inputs[re]={id:ce,offset:Fe};break;case"vcount":v.vcount=s(S.textContent);break;case"v":v.v=s(S.textContent);break}}return v}function V(g){const v={id:g.id},y=Pe.geometries[v.id];return g.skin!==void 0&&(v.skin=P(g.skin),y.sources.skinIndices=v.skin.indices,y.sources.skinWeights=v.skin.weights),v}function P(g){const y={joints:[],indices:{array:[],stride:4},weights:{array:[],stride:4}},T=g.sources,S=g.vertexWeights,re=S.vcount,ce=S.v,Fe=S.inputs.JOINT.offset,Te=S.inputs.WEIGHT.offset,Ae=g.sources[g.joints.inputs.JOINT],De=g.sources[g.joints.inputs.INV_BIND_MATRIX],ue=T[S.inputs.WEIGHT.id].array;let Me=0,Ce,Oe,Ie;for(Ce=0,Ie=re.length;Ce<Ie;Ce++){const ar=re[Ce],er=[];for(Oe=0;Oe<ar;Oe++){const rr=ce[Me+Fe],Pt=ce[Me+Te],Zr=ue[Pt];er.push({index:rr,weight:Zr}),Me+=2}for(er.sort(xr),Oe=0;Oe<4;Oe++){const rr=er[Oe];rr!==void 0?(y.indices.array.push(rr.index),y.weights.array.push(rr.weight)):(y.indices.array.push(0),y.weights.array.push(0))}}for(g.bindShapeMatrix?y.bindMatrix=new q.Matrix4().fromArray(g.bindShapeMatrix).transpose():y.bindMatrix=new q.Matrix4().identity(),Ce=0,Ie=Ae.array.length;Ce<Ie;Ce++){const ar=Ae.array[Ce],er=new q.Matrix4().fromArray(De.array,Ce*De.stride).transpose();y.joints.push({name:ar,boneInverse:er})}return y;function xr(ar,er){return er.weight-ar.weight}}function U(g){return d(Pe.controllers[g],V)}function W(g){const v={init_from:a(g,"init_from")[0].textContent};Pe.images[g.getAttribute("id")]=v}function ee(g){return g.build!==void 0?g.build:g.init_from}function oe(g){const v=Pe.images[g];return v!==void 0?d(v,ee):(console.warn("THREE.ColladaLoader: Couldn't find image with ID:",g),null)}function K(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"profile_COMMON":v.profile=te(S);break}}Pe.effects[g.getAttribute("id")]=v}function te(g){const v={surfaces:{},samplers:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"newparam":Se(S,v);break;case"technique":v.technique=be(S);break;case"extra":v.extra=Ye(S);break}}return v}function Se(g,v){const y=g.getAttribute("sid");for(let T=0,S=g.childNodes.length;T<S;T++){const re=g.childNodes[T];if(re.nodeType===1)switch(re.nodeName){case"surface":v.surfaces[y]=D(re);break;case"sampler2D":v.samplers[y]=We(re);break}}}function D(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"init_from":v.init_from=S.textContent;break}}return v}function We(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"source":v.source=S.textContent;break}}return v}function be(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"constant":case"lambert":case"blinn":case"phong":v.type=S.nodeName,v.parameters=He(S);break;case"extra":v.extra=Ye(S);break}}return v}function He(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"emission":case"diffuse":case"specular":case"bump":case"ambient":case"shininess":case"transparency":v[S.nodeName]=Re(S);break;case"transparent":v[S.nodeName]={opaque:S.hasAttribute("opaque")?S.getAttribute("opaque"):"A_ONE",data:Re(S)};break}}return v}function Re(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"color":v[S.nodeName]=i(S.textContent);break;case"float":v[S.nodeName]=parseFloat(S.textContent);break;case"texture":v[S.nodeName]={id:S.getAttribute("texture"),extra:de(S)};break}}return v}function de(g){const v={technique:{}};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"extra":Xe(S,v);break}}return v}function Xe(g,v){for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"technique":Qe(S,v);break}}}function Qe(g,v){for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"repeatU":case"repeatV":case"offsetU":case"offsetV":v.technique[S.nodeName]=parseFloat(S.textContent);break;case"wrapU":case"wrapV":S.textContent.toUpperCase()==="TRUE"?v.technique[S.nodeName]=1:S.textContent.toUpperCase()==="FALSE"?v.technique[S.nodeName]=0:v.technique[S.nodeName]=parseInt(S.textContent);break;case"bump":v[S.nodeName]=At(S);break}}}function Ye(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"technique":v.technique=kr(S);break}}return v}function kr(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"double_sided":v[S.nodeName]=parseInt(S.textContent);break;case"bump":v[S.nodeName]=At(S);break}}return v}function At(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"texture":v[S.nodeName]={id:S.getAttribute("texture"),texcoord:S.getAttribute("texcoord"),extra:de(S)};break}}return v}function gt(g){return g}function $r(g){return d(Pe.effects[g],gt)}function _t(g){const v={name:g.getAttribute("name")};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"instance_effect":v.url=c(S.getAttribute("url"));break}}Pe.materials[g.getAttribute("id")]=v}function Ft(g){let v,y=g.slice((g.lastIndexOf(".")-1>>>0)+2);switch(y=y.toLowerCase(),y){case"tga":v=Ln;break;default:v=es}return v}function $t(g){const v=$r(g.url),y=v.profile.technique;let T;switch(y.type){case"phong":case"blinn":T=new q.MeshPhongMaterial;break;case"lambert":T=new q.MeshLambertMaterial;break;default:T=new q.MeshBasicMaterial;break}T.name=g.name||"";function S(Te,Ae=null){const De=v.profile.samplers[Te.id];let ue=null;if(De!==void 0){const Me=v.profile.surfaces[De.source];ue=oe(Me.init_from)}else console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530)."),ue=oe(Te.id);if(ue!==null){const Me=Ft(ue);if(Me!==void 0){const Ce=Me.load(ue),Oe=Te.extra;if(Oe!==void 0&&Oe.technique!==void 0&&f(Oe.technique)===!1){const Ie=Oe.technique;Ce.wrapS=Ie.wrapU?q.RepeatWrapping:q.ClampToEdgeWrapping,Ce.wrapT=Ie.wrapV?q.RepeatWrapping:q.ClampToEdgeWrapping,Ce.offset.set(Ie.offsetU||0,Ie.offsetV||0),Ce.repeat.set(Ie.repeatU||1,Ie.repeatV||1)}else Ce.wrapS=q.RepeatWrapping,Ce.wrapT=q.RepeatWrapping;return Ae!==null&&(Ce.colorSpace=Ae),Ce}else return console.warn("THREE.ColladaLoader: Loader for texture %s not found.",ue),null}else return console.warn("THREE.ColladaLoader: Couldn't create texture with ID:",Te.id),null}const re=y.parameters;for(const Te in re){const Ae=re[Te];switch(Te){case"diffuse":Ae.color&&T.color.fromArray(Ae.color),Ae.texture&&(T.map=S(Ae.texture,q.SRGBColorSpace));break;case"specular":Ae.color&&T.specular&&T.specular.fromArray(Ae.color),Ae.texture&&(T.specularMap=S(Ae.texture));break;case"bump":Ae.texture&&(T.normalMap=S(Ae.texture));break;case"ambient":Ae.texture&&(T.lightMap=S(Ae.texture,q.SRGBColorSpace));break;case"shininess":Ae.float&&T.shininess&&(T.shininess=Ae.float);break;case"emission":Ae.color&&T.emissive&&T.emissive.fromArray(Ae.color),Ae.texture&&(T.emissiveMap=S(Ae.texture,q.SRGBColorSpace));break}}q.ColorManagement.colorSpaceToWorking(T.color,q.SRGBColorSpace),T.specular&&q.ColorManagement.colorSpaceToWorking(T.specular,q.SRGBColorSpace),T.emissive&&q.ColorManagement.colorSpaceToWorking(T.emissive,q.SRGBColorSpace);let ce=re.transparent,Fe=re.transparency;if(Fe===void 0&&ce&&(Fe={float:1}),ce===void 0&&Fe&&(ce={opaque:"A_ONE",data:{color:[1,1,1,1]}}),ce&&Fe)if(ce.data.texture)T.transparent=!0;else{const Te=ce.data.color;switch(ce.opaque){case"A_ONE":T.opacity=Te[3]*Fe.float;break;case"RGB_ZERO":T.opacity=1-Te[0]*Fe.float;break;case"A_ZERO":T.opacity=1-Te[3]*Fe.float;break;case"RGB_ONE":T.opacity=Te[0]*Fe.float;break;default:console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.',ce.opaque)}T.opacity<1&&(T.transparent=!0)}if(y.extra!==void 0&&y.extra.technique!==void 0){const Te=y.extra.technique;for(const Ae in Te){const De=Te[Ae];switch(Ae){case"double_sided":T.side=De===1?q.DoubleSide:q.FrontSide;break;case"bump":T.normalMap=S(De.texture),T.normalScale=new q.Vector2(1,1);break}}}return T}function Rr(g){return d(Pe.materials[g],$t)}function ot(g){const v={name:g.getAttribute("name")};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"optics":v.optics=$e(S);break}}Pe.cameras[g.getAttribute("id")]=v}function $e(g){for(let v=0;v<g.childNodes.length;v++){const y=g.childNodes[v];switch(y.nodeName){case"technique_common":return dr(y)}}return{}}function dr(g){const v={};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];switch(T.nodeName){case"perspective":case"orthographic":v.technique=T.nodeName,v.parameters=Jr(T);break}}return v}function Jr(g){const v={};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];switch(T.nodeName){case"xfov":case"yfov":case"xmag":case"ymag":case"znear":case"zfar":case"aspect_ratio":v[T.nodeName]=parseFloat(T.textContent);break}}return v}function vr(g){let v;switch(g.optics.technique){case"perspective":v=new q.PerspectiveCamera(g.optics.parameters.yfov,g.optics.parameters.aspect_ratio,g.optics.parameters.znear,g.optics.parameters.zfar);break;case"orthographic":let y=g.optics.parameters.ymag,T=g.optics.parameters.xmag;const S=g.optics.parameters.aspect_ratio;T=T===void 0?y*S:T,y=y===void 0?T/S:y,T*=.5,y*=.5,v=new q.OrthographicCamera(-T,T,y,-y,g.optics.parameters.znear,g.optics.parameters.zfar);break;default:v=new q.PerspectiveCamera;break}return v.name=g.name||"",v}function Bt(g){const v=Pe.cameras[g];return v!==void 0?d(v,vr):(console.warn("THREE.ColladaLoader: Couldn't find camera with ID:",g),null)}function ba(g){let v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"technique_common":v=Tn(S);break}}Pe.lights[g.getAttribute("id")]=v}function Tn(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"directional":case"point":case"spot":case"ambient":v.technique=S.nodeName,v.parameters=En(S)}}return v}function En(g){const v={};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"color":const re=i(S.textContent);v.color=new q.Color().fromArray(re),q.ColorManagement.colorSpaceToWorking(v.color,q.SRGBColorSpace);break;case"falloff_angle":v.falloffAngle=parseFloat(S.textContent);break;case"quadratic_attenuation":const ce=parseFloat(S.textContent);v.distance=ce?Math.sqrt(1/ce):0;break}}return v}function j0(g){let v;switch(g.technique){case"directional":v=new q.DirectionalLight;break;case"point":v=new q.PointLight;break;case"spot":v=new q.SpotLight;break;case"ambient":v=new q.AmbientLight;break}return g.parameters.color&&v.color.copy(g.parameters.color),g.parameters.distance&&(v.distance=g.parameters.distance),v}function Ca(g){const v=Pe.lights[g];return v!==void 0?d(v,j0):(console.warn("THREE.ColladaLoader: Couldn't find light with ID:",g),null)}function Na(g){const v={name:g.getAttribute("name"),sources:{},vertices:{},primitives:[]},y=a(g,"mesh")[0];if(y!==void 0){for(let T=0;T<y.childNodes.length;T++){const S=y.childNodes[T];if(S.nodeType!==1)continue;const re=S.getAttribute("id");switch(S.nodeName){case"source":v.sources[re]=X0(S);break;case"vertices":v.vertices=yn(S);break;case"polygons":console.warn("THREE.ColladaLoader: Unsupported primitive type: ",S.nodeName);break;case"lines":case"linestrips":case"polylist":case"triangles":v.primitives.push(A0(S));break;default:console.log(S)}}Pe.geometries[g.getAttribute("id")]=v}}function X0(g){const v={array:[],stride:3};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"float_array":v.array=i(T.textContent);break;case"Name_array":v.array=n(T.textContent);break;case"technique_common":const S=a(T,"accessor")[0];S!==void 0&&(v.stride=parseInt(S.getAttribute("stride")));break}}return v}function yn(g){const v={};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];T.nodeType===1&&(v[T.getAttribute("semantic")]=c(T.getAttribute("source")))}return v}function A0(g){const v={type:g.nodeName,material:g.getAttribute("material"),count:parseInt(g.getAttribute("count")),inputs:{},stride:0,hasUV:!1};for(let y=0,T=g.childNodes.length;y<T;y++){const S=g.childNodes[y];if(S.nodeType===1)switch(S.nodeName){case"input":const re=c(S.getAttribute("source")),ce=S.getAttribute("semantic"),Fe=parseInt(S.getAttribute("offset")),Te=parseInt(S.getAttribute("set")),Ae=Te>0?ce+Te:ce;v.inputs[Ae]={id:re,offset:Fe},v.stride=Math.max(v.stride,Fe+1),ce==="TEXCOORD"&&(v.hasUV=!0);break;case"vcount":v.vcount=s(S.textContent);break;case"p":v.p=s(S.textContent);break}}return v}function Sn(g){const v={};for(let y=0;y<g.length;y++){const T=g[y];v[T.type]===void 0&&(v[T.type]=[]),v[T.type].push(T)}return v}function An(g){let v=0;for(let y=0,T=g.length;y<T;y++)g[y].hasUV===!0&&v++;v>0&&v<g.length&&(g.uvsNeedsFix=!0)}function Ma(g){const v={},y=g.sources,T=g.vertices,S=g.primitives;if(S.length===0)return{};const re=Sn(S);for(const ce in re){const Fe=re[ce];An(Fe),v[ce]=Fn(Fe,y,T)}return v}function Fn(g,v,y){const T={},S={array:[],stride:0},re={array:[],stride:0},ce={array:[],stride:0},Fe={array:[],stride:0},Te={array:[],stride:0},Ae={array:[],stride:4},De={array:[],stride:4},ue=new q.BufferGeometry,Me=[];let Ce=0;for(let Oe=0;Oe<g.length;Oe++){const Ie=g[Oe],xr=Ie.inputs;let ar=0;switch(Ie.type){case"lines":case"linestrips":ar=Ie.count*2;break;case"triangles":ar=Ie.count*3;break;case"polylist":for(let er=0;er<Ie.count;er++){const rr=Ie.vcount[er];switch(rr){case 3:ar+=3;break;case 4:ar+=6;break;default:ar+=(rr-2)*3;break}}break;default:console.warn("THREE.ColladaLoader: Unknown primitive type:",Ie.type)}ue.addGroup(Ce,ar,Oe),Ce+=ar,Ie.material&&Me.push(Ie.material);for(const er in xr){const rr=xr[er];switch(er){case"VERTEX":for(const Pt in y){const Zr=y[Pt];switch(Pt){case"POSITION":const F0=S.array.length;if(tt(Ie,v[Zr],rr.offset,S.array),S.stride=v[Zr].stride,v.skinWeights&&v.skinIndices&&(tt(Ie,v.skinIndices,rr.offset,Ae.array),tt(Ie,v.skinWeights,rr.offset,De.array)),Ie.hasUV===!1&&g.uvsNeedsFix===!0){const Po=(S.array.length-F0)/S.stride;for(let ts=0;ts<Po;ts++)ce.array.push(0,0)}break;case"NORMAL":tt(Ie,v[Zr],rr.offset,re.array),re.stride=v[Zr].stride;break;case"COLOR":tt(Ie,v[Zr],rr.offset,Te.array),Te.stride=v[Zr].stride;break;case"TEXCOORD":tt(Ie,v[Zr],rr.offset,ce.array),ce.stride=v[Zr].stride;break;case"TEXCOORD1":tt(Ie,v[Zr],rr.offset,Fe.array),ce.stride=v[Zr].stride;break;default:console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.',Pt)}}break;case"NORMAL":tt(Ie,v[rr.id],rr.offset,re.array),re.stride=v[rr.id].stride;break;case"COLOR":tt(Ie,v[rr.id],rr.offset,Te.array,!0),Te.stride=v[rr.id].stride;break;case"TEXCOORD":tt(Ie,v[rr.id],rr.offset,ce.array),ce.stride=v[rr.id].stride;break;case"TEXCOORD1":tt(Ie,v[rr.id],rr.offset,Fe.array),Fe.stride=v[rr.id].stride;break}}}return S.array.length>0&&ue.setAttribute("position",new q.Float32BufferAttribute(S.array,S.stride)),re.array.length>0&&ue.setAttribute("normal",new q.Float32BufferAttribute(re.array,re.stride)),Te.array.length>0&&ue.setAttribute("color",new q.Float32BufferAttribute(Te.array,Te.stride)),ce.array.length>0&&ue.setAttribute("uv",new q.Float32BufferAttribute(ce.array,ce.stride)),Fe.array.length>0&&ue.setAttribute("uv1",new q.Float32BufferAttribute(Fe.array,Fe.stride)),Ae.array.length>0&&ue.setAttribute("skinIndex",new q.Float32BufferAttribute(Ae.array,Ae.stride)),De.array.length>0&&ue.setAttribute("skinWeight",new q.Float32BufferAttribute(De.array,De.stride)),T.data=ue,T.type=g[0].type,T.materialKeys=Me,T}function tt(g,v,y,T,S=!1){const re=g.p,ce=g.stride,Fe=g.vcount;function Te(ue){let Me=re[ue+y]*De;const Ce=Me+De;for(;Me<Ce;Me++)T.push(Ae[Me]);if(S){const Oe=T.length-De-1;Ia.setRGB(T[Oe+0],T[Oe+1],T[Oe+2],q.SRGBColorSpace),T[Oe+0]=Ia.r,T[Oe+1]=Ia.g,T[Oe+2]=Ia.b}}const Ae=v.array,De=v.stride;if(g.vcount!==void 0){let ue=0;for(let Me=0,Ce=Fe.length;Me<Ce;Me++){const Oe=Fe[Me];if(Oe===4){const Ie=ue+ce*0,xr=ue+ce*1,ar=ue+ce*2,er=ue+ce*3;Te(Ie),Te(xr),Te(er),Te(xr),Te(ar),Te(er)}else if(Oe===3){const Ie=ue+ce*0,xr=ue+ce*1,ar=ue+ce*2;Te(Ie),Te(xr),Te(ar)}else if(Oe>4)for(let Ie=1,xr=Oe-2;Ie<=xr;Ie++){const ar=ue+ce*0,er=ue+ce*Ie,rr=ue+ce*(Ie+1);Te(ar),Te(er),Te(rr)}ue+=ce*Oe}}else for(let ue=0,Me=re.length;ue<Me;ue+=ce)Te(ue)}function Da(g){return d(Pe.geometries[g],Ma)}function bn(g){const v={name:g.getAttribute("name")||"",joints:{},links:[]};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"technique_common":Nn(T,v);break}}Pe.kinematicsModels[g.getAttribute("id")]=v}function Cn(g){return g.build!==void 0?g.build:g}function $0(g){return d(Pe.kinematicsModels[g],Cn)}function Nn(g,v){for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"joint":v.joints[T.getAttribute("sid")]=Mn(T);break;case"link":v.links.push(w(T));break}}}function Mn(g){let v;for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"prismatic":case"revolute":v=Dn(T);break}}return v}function Dn(g){const v={sid:g.getAttribute("sid"),name:g.getAttribute("name")||"",axis:new q.Vector3,limits:{min:0,max:0},type:g.nodeName,static:!1,zeroPosition:0,middlePosition:0};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"axis":const S=i(T.textContent);v.axis.fromArray(S);break;case"limits":const re=T.getElementsByTagName("max")[0],ce=T.getElementsByTagName("min")[0];v.limits.max=parseFloat(re.textContent),v.limits.min=parseFloat(ce.textContent);break}}return v.limits.min>=v.limits.max&&(v.static=!0),v.middlePosition=(v.limits.min+v.limits.max)/2,v}function w(g){const v={sid:g.getAttribute("sid"),name:g.getAttribute("name")||"",attachments:[],transforms:[]};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"attachment_full":v.attachments.push(M(T));break;case"matrix":case"translate":case"rotate":v.transforms.push(F(T));break}}return v}function M(g){const v={joint:g.getAttribute("joint").split("/").pop(),transforms:[],links:[]};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"link":v.links.push(w(T));break;case"matrix":case"translate":case"rotate":v.transforms.push(F(T));break}}return v}function F(g){const v={type:g.nodeName},y=i(g.textContent);switch(v.type){case"matrix":v.obj=new q.Matrix4,v.obj.fromArray(y).transpose();break;case"translate":v.obj=new q.Vector3,v.obj.fromArray(y);break;case"rotate":v.obj=new q.Vector3,v.obj.fromArray(y),v.angle=q.MathUtils.degToRad(y[3]);break}return v}function b(g){const v={name:g.getAttribute("name")||"",rigidBodies:{}};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"rigid_body":v.rigidBodies[T.getAttribute("name")]={},I(T,v.rigidBodies[T.getAttribute("name")]);break}}Pe.physicsModels[g.getAttribute("id")]=v}function I(g,v){for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"technique_common":R(T,v);break}}}function R(g,v){for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"inertia":v.inertia=i(T.textContent);break;case"mass":v.mass=i(T.textContent)[0];break}}}function J(g){const v={bindJointAxis:[]};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"bind_joint_axis":v.bindJointAxis.push(se(T));break}}Pe.kinematicsScenes[c(g.getAttribute("url"))]=v}function se(g){const v={target:g.getAttribute("target").split("/").pop()};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType===1)switch(T.nodeName){case"axis":const S=T.getElementsByTagName("param")[0];v.axis=S.textContent;const re=v.axis.split("inst_").pop().split("axis")[0];v.jointIndex=re.substring(0,re.length-1);break}}return v}function Y(g){return g.build!==void 0?g.build:g}function Z(g){return d(Pe.kinematicsScenes[g],Y)}function Q(){const g=Object.keys(Pe.kinematicsModels)[0],v=Object.keys(Pe.kinematicsScenes)[0],y=Object.keys(Pe.visualScenes)[0];if(g===void 0||v===void 0)return;const T=$0(g),S=Z(v),re=Ji(y),ce=S.bindJointAxis,Fe={};for(let De=0,ue=ce.length;De<ue;De++){const Me=ce[De],Ce=br.querySelector('[sid="'+Me.target+'"]');if(Ce){const Oe=Ce.parentElement;Te(Me.jointIndex,Oe)}}function Te(De,ue){const Me=ue.getAttribute("name"),Ce=T.joints[De];re.traverse(function(Oe){Oe.name===Me&&(Fe[De]={object:Oe,transforms:xe(ue),joint:Ce,position:Ce.zeroPosition})})}const Ae=new q.Matrix4;rs={joints:T&&T.joints,getJointValue:function(De){const ue=Fe[De];if(ue)return ue.position;console.warn("THREE.ColladaLoader: Joint "+De+" doesn't exist.")},setJointValue:function(De,ue){const Me=Fe[De];if(Me){const Ce=Me.joint;if(ue>Ce.limits.max||ue<Ce.limits.min)console.warn("THREE.ColladaLoader: Joint "+De+" value "+ue+" outside of limits (min: "+Ce.limits.min+", max: "+Ce.limits.max+").");else if(Ce.static)console.warn("THREE.ColladaLoader: Joint "+De+" is static.");else{const Oe=Me.object,Ie=Ce.axis,xr=Me.transforms;we.identity();for(let ar=0;ar<xr.length;ar++){const er=xr[ar];if(er.sid&&er.sid.indexOf(De)!==-1)switch(Ce.type){case"revolute":we.multiply(Ae.makeRotationAxis(Ie,q.MathUtils.degToRad(ue)));break;case"prismatic":we.multiply(Ae.makeTranslation(Ie.x*ue,Ie.y*ue,Ie.z*ue));break;default:console.warn("THREE.ColladaLoader: Unknown joint type: "+Ce.type);break}else switch(er.type){case"matrix":we.multiply(er.obj);break;case"translate":we.multiply(Ae.makeTranslation(er.obj.x,er.obj.y,er.obj.z));break;case"scale":we.scale(er.obj);break;case"rotate":we.multiply(Ae.makeRotationAxis(er.obj,er.angle));break}}Oe.matrix.copy(we),Oe.matrix.decompose(Oe.position,Oe.quaternion,Oe.scale),Fe[De].position=ue}}else console.log("THREE.ColladaLoader: "+De+" does not exist.")}}}function xe(g){const v=[],y=br.querySelector('[id="'+g.id+'"]');for(let T=0;T<y.childNodes.length;T++){const S=y.childNodes[T];if(S.nodeType!==1)continue;let re,ce;switch(S.nodeName){case"matrix":re=i(S.textContent);const Fe=new q.Matrix4().fromArray(re).transpose();v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:Fe});break;case"translate":case"scale":re=i(S.textContent),ce=new q.Vector3().fromArray(re),v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:ce});break;case"rotate":re=i(S.textContent),ce=new q.Vector3().fromArray(re);const Te=q.MathUtils.degToRad(re[3]);v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:ce,angle:Te});break}}return v}function ke(g){const v=g.getElementsByTagName("node");for(let y=0;y<v.length;y++){const T=v[y];T.hasAttribute("id")===!1&&T.setAttribute("id",o())}}const we=new q.Matrix4,pe=new q.Vector3;function ye(g){const v={name:g.getAttribute("name")||"",type:g.getAttribute("type"),id:g.getAttribute("id"),sid:g.getAttribute("sid"),matrix:new q.Matrix4,nodes:[],instanceCameras:[],instanceControllers:[],instanceLights:[],instanceGeometries:[],instanceNodes:[],transforms:{}};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];if(T.nodeType!==1)continue;let S;switch(T.nodeName){case"node":v.nodes.push(T.getAttribute("id")),ye(T);break;case"instance_camera":v.instanceCameras.push(c(T.getAttribute("url")));break;case"instance_controller":v.instanceControllers.push(Ve(T));break;case"instance_light":v.instanceLights.push(c(T.getAttribute("url")));break;case"instance_geometry":v.instanceGeometries.push(Ve(T));break;case"instance_node":v.instanceNodes.push(c(T.getAttribute("url")));break;case"matrix":S=i(T.textContent),v.matrix.multiply(we.fromArray(S).transpose()),v.transforms[T.getAttribute("sid")]=T.nodeName;break;case"translate":S=i(T.textContent),pe.fromArray(S),v.matrix.multiply(we.makeTranslation(pe.x,pe.y,pe.z)),v.transforms[T.getAttribute("sid")]=T.nodeName;break;case"rotate":S=i(T.textContent);const re=q.MathUtils.degToRad(S[3]);v.matrix.multiply(we.makeRotationAxis(pe.fromArray(S),re)),v.transforms[T.getAttribute("sid")]=T.nodeName;break;case"scale":S=i(T.textContent),v.matrix.scale(pe.fromArray(S)),v.transforms[T.getAttribute("sid")]=T.nodeName;break;case"extra":break;default:console.log(T)}}return bt(v.id)?console.warn("THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.",v.id):Pe.nodes[v.id]=v,v}function Ve(g){const v={id:c(g.getAttribute("url")),materials:{},skeletons:[]};for(let y=0;y<g.childNodes.length;y++){const T=g.childNodes[y];switch(T.nodeName){case"bind_material":const S=T.getElementsByTagName("instance_material");for(let re=0;re<S.length;re++){const ce=S[re],Fe=ce.getAttribute("symbol"),Te=ce.getAttribute("target");v.materials[Fe]=c(Te)}break;case"skeleton":v.skeletons.push(c(T.textContent));break}}return v}function fr(g,v){const y=[],T=[];let S,re,ce;for(S=0;S<g.length;S++){const Ae=g[S];let De;if(bt(Ae))De=Ct(Ae),or(De,v,y);else if(Do(Ae)){const Me=Pe.visualScenes[Ae].children;for(let Ce=0;Ce<Me.length;Ce++){const Oe=Me[Ce];if(Oe.type==="JOINT"){const Ie=Ct(Oe.id);or(Ie,v,y)}}}else console.error("THREE.ColladaLoader: Unable to find root bone of skeleton with ID:",Ae)}for(S=0;S<v.length;S++)for(re=0;re<y.length;re++)if(ce=y[re],ce.bone.name===v[S].name){T[S]=ce,ce.processed=!0;break}for(S=0;S<y.length;S++)ce=y[S],ce.processed===!1&&(T.push(ce),ce.processed=!0);const Fe=[],Te=[];for(S=0;S<T.length;S++)ce=T[S],Fe.push(ce.bone),Te.push(ce.boneInverse);return new q.Skeleton(Fe,Te)}function or(g,v,y){g.traverse(function(T){if(T.isBone===!0){let S;for(let re=0;re<v.length;re++){const ce=v[re];if(ce.name===T.name){S=ce.boneInverse;break}}S===void 0&&(S=new q.Matrix4),y.push({bone:T,boneInverse:S,processed:!1})}})}function Mr(g){const v=[],y=g.matrix,T=g.nodes,S=g.type,re=g.instanceCameras,ce=g.instanceControllers,Fe=g.instanceLights,Te=g.instanceGeometries,Ae=g.instanceNodes;for(let ue=0,Me=T.length;ue<Me;ue++)v.push(Ct(T[ue]));for(let ue=0,Me=re.length;ue<Me;ue++){const Ce=Bt(re[ue]);Ce!==null&&v.push(Ce.clone())}for(let ue=0,Me=ce.length;ue<Me;ue++){const Ce=ce[ue],Oe=U(Ce.id),Ie=Da(Oe.id),xr=qt(Ie,Ce.materials),ar=Ce.skeletons,er=Oe.skin.joints,rr=fr(ar,er);for(let Pt=0,Zr=xr.length;Pt<Zr;Pt++){const F0=xr[Pt];F0.isSkinnedMesh&&(F0.bind(rr,Oe.skin.bindMatrix),F0.normalizeSkinWeights()),v.push(F0)}}for(let ue=0,Me=Fe.length;ue<Me;ue++){const Ce=Ca(Fe[ue]);Ce!==null&&v.push(Ce.clone())}for(let ue=0,Me=Te.length;ue<Me;ue++){const Ce=Te[ue],Oe=Da(Ce.id),Ie=qt(Oe,Ce.materials);for(let xr=0,ar=Ie.length;xr<ar;xr++)v.push(Ie[xr])}for(let ue=0,Me=Ae.length;ue<Me;ue++)v.push(Ct(Ae[ue]).clone());let De;if(T.length===0&&v.length===1)De=v[0];else{De=S==="JOINT"?new q.Bone:new q.Group;for(let ue=0;ue<v.length;ue++)De.add(v[ue])}return De.name=S==="JOINT"?g.sid:g.name,De.matrix.copy(y),De.matrix.decompose(De.position,De.quaternion,De.scale),De}const s0=new q.MeshBasicMaterial({name:q.Loader.DEFAULT_MATERIAL_NAME,color:16711935});function c0(g,v){const y=[];for(let T=0,S=g.length;T<S;T++){const re=v[g[T]];re===void 0?(console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.",g[T]),y.push(s0)):y.push(Rr(re))}return y}function qt(g,v){const y=[];for(const T in g){const S=g[T],re=c0(S.materialKeys,v);if(re.length===0&&(T==="lines"||T==="linestrips"?re.push(new q.LineBasicMaterial):re.push(new q.MeshPhongMaterial)),T==="lines"||T==="linestrips")for(let Ae=0,De=re.length;Ae<De;Ae++){const ue=re[Ae];if(ue.isMeshPhongMaterial===!0||ue.isMeshLambertMaterial===!0){const Me=new q.LineBasicMaterial;Me.color.copy(ue.color),Me.opacity=ue.opacity,Me.transparent=ue.transparent,re[Ae]=Me}}const ce=S.data.attributes.skinIndex!==void 0,Fe=re.length===1?re[0]:re;let Te;switch(T){case"lines":Te=new q.LineSegments(S.data,Fe);break;case"linestrips":Te=new q.Line(S.data,Fe);break;case"triangles":case"polylist":ce?Te=new q.SkinnedMesh(S.data,Fe):Te=new q.Mesh(S.data,Fe);break}y.push(Te)}return y}function bt(g){return Pe.nodes[g]!==void 0}function Ct(g){return d(Pe.nodes[g],Mr)}function wt(g){const v={name:g.getAttribute("name"),children:[]};ke(g);const y=a(g,"node");for(let T=0;T<y.length;T++)v.children.push(ye(y[T]));Pe.visualScenes[g.getAttribute("id")]=v}function Yi(g){const v=new q.Group;v.name=g.name;const y=g.children;for(let T=0;T<y.length;T++){const S=y[T];v.add(Ct(S.id))}return v}function Do(g){return Pe.visualScenes[g]!==void 0}function Ji(g){return d(Pe.visualScenes[g],Yi)}function Io(g){const v=a(g,"instance_visual_scene")[0];return Ji(c(v.getAttribute("url")))}function Lo(){const g=Pe.clips;if(f(g)===!0){if(f(Pe.animations)===!1){const v=[];for(const y in Pe.animations){const T=L(y);for(let S=0,re=T.length;S<re;S++)v.push(T[S])}La.push(new q.AnimationClip("default",-1,v))}}else for(const v in g)La.push(Ne(v))}function Ro(g){let v="";const y=[g];for(;y.length;){const T=y.shift();T.nodeType===Node.TEXT_NODE?v+=T.textContent:(v+=`
-`,y.push(...T.childNodes))}return v.trim()}if(t.length===0)return{scene:new q.Scene};const Zi=new DOMParser().parseFromString(t,"application/xml"),br=a(Zi,"COLLADA")[0],In=Zi.getElementsByTagName("parsererror")[0];if(In!==void 0){const g=a(In,"div")[0];let v;return g?v=g.textContent:v=Ro(In),console.error(`THREE.ColladaLoader: Failed to parse collada file.
-`,v),null}const Oo=br.getAttribute("version");console.debug("THREE.ColladaLoader: File version",Oo);const Qi=l(a(br,"asset")[0]),es=new q.TextureLoader(this.manager);es.setPath(this.resourcePath||r).setCrossOrigin(this.crossOrigin);let Ln;u1&&(Ln=new u1(this.manager),Ln.setPath(this.resourcePath||r));const Ia=new q.Color,La=[];let rs={},Bo=0;const Pe={animations:{},clips:{},controllers:{},images:{},effects:{},materials:{},cameras:{},lights:{},geometries:{},nodes:{},visualScenes:{},kinematicsModels:{},physicsModels:{},kinematicsScenes:{}};u(br,"library_animations","animation",m),u(br,"library_animation_clips","animation_clip",ne),u(br,"library_controllers","controller",j),u(br,"library_images","image",W),u(br,"library_effects","effect",K),u(br,"library_materials","material",_t),u(br,"library_cameras","camera",ot),u(br,"library_lights","light",ba),u(br,"library_geometries","geometry",Na),u(br,"library_nodes","node",ye),u(br,"library_visual_scenes","visual_scene",wt),u(br,"library_kinematics_models","kinematics_model",bn),u(br,"library_physics_models","physics_model",b),u(br,"scene","instance_kinematics_scene",J),h(Pe.animations,_),h(Pe.clips,le),h(Pe.controllers,V),h(Pe.images,ee),h(Pe.effects,gt),h(Pe.materials,$t),h(Pe.cameras,vr),h(Pe.lights,j0),h(Pe.geometries,Ma),h(Pe.visualScenes,Yi),Lo(),Q();const Ra=Io(a(br,"scene")[0]);return Ra.animations=La,Qi.upAxis==="Z_UP"&&(console.warn("THREE.ColladaLoader: You are loading an asset with a Z-UP coordinate system. The loader just rotates the asset to transform it into Y-UP. The vertex data are not converted, see #24289."),Ra.rotation.set(-Math.PI/2,0,0)),Ra.scale.multiplyScalar(Qi.unit),{get animations(){return console.warn("THREE.ColladaLoader: Please access animations over scene.animations now."),La},kinematics:rs,library:Pe,scene:Ra}}}const d1=new q.Vector3,$x=new q.Euler,$a=new q.Matrix4,Yt=new q.Matrix4,qa=new q.Quaternion,Ka=new q.Vector3(1,1,1),Ya=new q.Vector3;class kn extends q.Object3D{constructor(...t){super(...t),this.urdfNode=null,this.urdfName=""}copy(t,r){return super.copy(t,r),this.urdfNode=t.urdfNode,this.urdfName=t.urdfName,this}}class qx extends kn{constructor(...t){super(...t),this.isURDFCollider=!0,this.type="URDFCollider"}}class Kx extends kn{constructor(...t){super(...t),this.isURDFVisual=!0,this.type="URDFVisual"}}class Co extends kn{constructor(...t){super(...t),this.isURDFLink=!0,this.type="URDFLink"}}class No extends kn{get jointType(){return this._jointType}set jointType(t){if(this.jointType!==t)switch(this._jointType=t,this.matrixWorldNeedsUpdate=!0,t){case"fixed":this.jointValue=[];break;case"continuous":case"revolute":case"prismatic":this.jointValue=new Array(1).fill(0);break;case"planar":this.jointValue=new Array(3).fill(0),this.axis=new q.Vector3(0,0,1);break;case"floating":this.jointValue=new Array(6).fill(0);break}}get angle(){return this.jointValue[0]}constructor(...t){super(...t),this.isURDFJoint=!0,this.type="URDFJoint",this.jointValue=null,this.jointType="fixed",this.axis=new q.Vector3(1,0,0),this.limit={lower:0,upper:0},this.ignoreLimits=!1,this.origPosition=null,this.origQuaternion=null,this.mimicJoints=[]}copy(t,r){return super.copy(t,r),this.jointType=t.jointType,this.axis=t.axis.clone(),this.limit.lower=t.limit.lower,this.limit.upper=t.limit.upper,this.ignoreLimits=!1,this.jointValue=[...t.jointValue],this.origPosition=t.origPosition?t.origPosition.clone():null,this.origQuaternion=t.origQuaternion?t.origQuaternion.clone():null,this.mimicJoints=[...t.mimicJoints],this}setJointValue(...t){t=t.map(a=>a===null?null:parseFloat(a)),(!this.origPosition||!this.origQuaternion)&&(this.origPosition=this.position.clone(),this.origQuaternion=this.quaternion.clone());let r=!1;switch(this.mimicJoints.forEach(a=>{r=a.updateFromMimickedJoint(...t)||r}),this.jointType){case"fixed":return r;case"continuous":case"revolute":{let a=t[0];return a==null||a===this.jointValue[0]?r:(!this.ignoreLimits&&this.jointType==="revolute"&&(a=Math.min(this.limit.upper,a),a=Math.max(this.limit.lower,a)),this.quaternion.setFromAxisAngle(this.axis,a).premultiply(this.origQuaternion),this.jointValue[0]!==a?(this.jointValue[0]=a,this.matrixWorldNeedsUpdate=!0,!0):r)}case"prismatic":{let a=t[0];return a==null||a===this.jointValue[0]?r:(this.ignoreLimits||(a=Math.min(this.limit.upper,a),a=Math.max(this.limit.lower,a)),this.position.copy(this.origPosition),d1.copy(this.axis).applyEuler(this.rotation),this.position.addScaledVector(d1,a),this.jointValue[0]!==a?(this.jointValue[0]=a,this.matrixWorldNeedsUpdate=!0,!0):r)}case"floating":return this.jointValue.every((a,n)=>t[n]===a||t[n]===null)?r:(this.jointValue[0]=t[0]!==null?t[0]:this.jointValue[0],this.jointValue[1]=t[1]!==null?t[1]:this.jointValue[1],this.jointValue[2]=t[2]!==null?t[2]:this.jointValue[2],this.jointValue[3]=t[3]!==null?t[3]:this.jointValue[3],this.jointValue[4]=t[4]!==null?t[4]:this.jointValue[4],this.jointValue[5]=t[5]!==null?t[5]:this.jointValue[5],Yt.compose(this.origPosition,this.origQuaternion,Ka),qa.setFromEuler($x.set(this.jointValue[3],this.jointValue[4],this.jointValue[5],"XYZ")),Ya.set(this.jointValue[0],this.jointValue[1],this.jointValue[2]),$a.compose(Ya,qa,Ka),Yt.premultiply($a),this.position.setFromMatrixPosition(Yt),this.rotation.setFromRotationMatrix(Yt),this.matrixWorldNeedsUpdate=!0,!0);case"planar":return this.jointValue.every((a,n)=>t[n]===a||t[n]===null)?r:(this.jointValue[0]=t[0]!==null?t[0]:this.jointValue[0],this.jointValue[1]=t[1]!==null?t[1]:this.jointValue[1],this.jointValue[2]=t[2]!==null?t[2]:this.jointValue[2],Yt.compose(this.origPosition,this.origQuaternion,Ka),qa.setFromAxisAngle(this.axis,this.jointValue[2]),Ya.set(this.jointValue[0],this.jointValue[1],0),$a.compose(Ya,qa,Ka),Yt.premultiply($a),this.position.setFromMatrixPosition(Yt),this.rotation.setFromRotationMatrix(Yt),this.matrixWorldNeedsUpdate=!0,!0)}return r}}class x1 extends No{constructor(...t){super(...t),this.type="URDFMimicJoint",this.mimicJoint=null,this.offset=0,this.multiplier=1}updateFromMimickedJoint(...t){const r=t.map(a=>a*this.multiplier+this.offset);return super.setJointValue(...r)}copy(t,r){return super.copy(t,r),this.mimicJoint=t.mimicJoint,this.offset=t.offset,this.multiplier=t.multiplier,this}}class Yx extends Co{constructor(...t){super(...t),this.isURDFRobot=!0,this.urdfNode=null,this.urdfRobotNode=null,this.robotName=null,this.links=null,this.joints=null,this.colliders=null,this.visual=null,this.frames=null}copy(t,r){super.copy(t,r),this.urdfRobotNode=t.urdfRobotNode,this.robotName=t.robotName,this.links={},this.joints={},this.colliders={},this.visual={},this.traverse(a=>{a.isURDFJoint&&a.urdfName in t.joints&&(this.joints[a.urdfName]=a),a.isURDFLink&&a.urdfName in t.links&&(this.links[a.urdfName]=a),a.isURDFCollider&&a.urdfName in t.colliders&&(this.colliders[a.urdfName]=a),a.isURDFVisual&&a.urdfName in t.visual&&(this.visual[a.urdfName]=a)});for(const a in this.joints)this.joints[a].mimicJoints=this.joints[a].mimicJoints.map(n=>this.joints[n.name]);return this.frames={...this.colliders,...this.visual,...this.links,...this.joints},this}getFrame(t){return this.frames[t]}setJointValue(t,...r){const a=this.joints[t];return a?a.setJointValue(...r):!1}setJointValues(t){let r=!1;for(const a in t){const n=t[a];Array.isArray(n)?r=this.setJointValue(a,...n)||r:r=this.setJointValue(a,n)||r}return r}}const Kn=new q.Quaternion,p1=new q.Euler;function M0(e){return e?e.trim().split(/\s+/g).map(t=>parseFloat(t)):[0,0,0]}function m1(e,t,r=!1){r||e.rotation.set(0,0,0),p1.set(t[0],t[1],t[2],"ZYX"),Kn.setFromEuler(p1),Kn.multiply(e.quaternion),e.quaternion.copy(Kn)}class Mo{constructor(t){this.manager=t||q.DefaultLoadingManager,this.loadMeshCb=this.defaultMeshLoader.bind(this),this.parseVisual=!0,this.parseCollision=!1,this.packages="",this.workingPath="",this.fetchOptions={}}loadAsync(t){return new Promise((r,a)=>{this.load(t,r,null,a)})}load(t,r,a,n){const i=this.manager,s=q.LoaderUtils.extractUrlBase(t),c=this.manager.resolveURL(t);i.itemStart(c),fetch(c,this.fetchOptions).then(o=>{if(o.ok)return a&&a(null),o.text();throw new Error(`URDFLoader: Failed to load url '${c}' with error code ${o.status} : ${o.statusText}.`)}).then(o=>{const f=this.parse(o,this.workingPath||s);r(f),i.itemEnd(c)}).catch(o=>{n?n(o):console.error("URDFLoader: Error loading file.",o),i.itemError(c),i.itemEnd(c)})}parse(t,r=this.workingPath){const a=this.packages,n=this.loadMeshCb,i=this.parseVisual,s=this.parseCollision,c=this.manager,o={},f={},l={};function x(E){if(!/^package:\/\//.test(E))return r?r+E:E;const[_,L]=E.replace(/^package:\/\//,"").split(/\/(.+)/);if(typeof a=="string")return a.endsWith(_)?a+"/"+L:a+"/"+_+"/"+L;if(a instanceof Function)return a(_)+"/"+L;if(typeof a=="object")return _ in a?a[_]+"/"+L:(console.error(`URDFLoader : ${_} not found in provided package list.`),null)}function p(E){let _;E instanceof Document?_=[...E.children]:E instanceof Element?_=[E]:_=[...new DOMParser().parseFromString(E,"text/xml").children];const L=_.filter(O=>O.nodeName==="robot").pop();return u(L)}function u(E){const _=[...E.children],L=_.filter(G=>G.nodeName.toLowerCase()==="link"),O=_.filter(G=>G.nodeName.toLowerCase()==="joint"),z=_.filter(G=>G.nodeName.toLowerCase()==="material"),A=new Yx;A.robotName=E.getAttribute("name"),A.urdfRobotNode=E,z.forEach(G=>{const H=G.getAttribute("name");l[H]=m(G)});const B={},C={};L.forEach(G=>{const H=G.getAttribute("name"),ae=E.querySelector(`child[link="${H}"]`)===null;o[H]=d(G,B,C,ae?A:null)}),O.forEach(G=>{const H=G.getAttribute("name");f[H]=h(G)}),A.joints=f,A.links=o,A.colliders=C,A.visual=B;const X=Object.values(f);return X.forEach(G=>{G instanceof x1&&f[G.mimicJoint].mimicJoints.push(G)}),X.forEach(G=>{const H=new Set,ae=ve=>{if(H.has(ve))throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");H.add(ve),ve.mimicJoints.forEach(he=>{ae(he)})};ae(G)}),A.frames={...C,...B,...o,...f},A}function h(E){const _=[...E.children],L=E.getAttribute("type");let O;const z=_.find(H=>H.nodeName.toLowerCase()==="mimic");z?(O=new x1,O.mimicJoint=z.getAttribute("joint"),O.multiplier=parseFloat(z.getAttribute("multiplier")||1),O.offset=parseFloat(z.getAttribute("offset")||0)):O=new No,O.urdfNode=E,O.name=E.getAttribute("name"),O.urdfName=O.name,O.jointType=L;let A=null,B=null,C=[0,0,0],X=[0,0,0];_.forEach(H=>{const ae=H.nodeName.toLowerCase();ae==="origin"?(C=M0(H.getAttribute("xyz")),X=M0(H.getAttribute("rpy"))):ae==="child"?B=o[H.getAttribute("link")]:ae==="parent"?A=o[H.getAttribute("link")]:ae==="limit"&&(O.limit.lower=parseFloat(H.getAttribute("lower")||O.limit.lower),O.limit.upper=parseFloat(H.getAttribute("upper")||O.limit.upper))}),A.add(O),O.add(B),m1(O,X),O.position.set(C[0],C[1],C[2]);const G=_.filter(H=>H.nodeName.toLowerCase()==="axis")[0];if(G){const H=G.getAttribute("xyz").split(/\s+/g).map(ae=>parseFloat(ae));O.axis=new q.Vector3(H[0],H[1],H[2]),O.axis.normalize()}return O}function d(E,_,L,O=null){O===null&&(O=new Co);const z=[...E.children];return O.name=E.getAttribute("name"),O.urdfName=O.name,O.urdfNode=E,i&&z.filter(B=>B.nodeName.toLowerCase()==="visual").forEach(B=>{const C=k(B,l);if(O.add(C),B.hasAttribute("name")){const X=B.getAttribute("name");C.name=X,C.urdfName=X,_[X]=C}}),s&&z.filter(B=>B.nodeName.toLowerCase()==="collision").forEach(B=>{const C=k(B);if(O.add(C),B.hasAttribute("name")){const X=B.getAttribute("name");C.name=X,C.urdfName=X,L[X]=C}}),O}function m(E){const _=[...E.children],L=new q.MeshPhongMaterial;return L.name=E.getAttribute("name")||"",_.forEach(O=>{const z=O.nodeName.toLowerCase();if(z==="color"){const A=O.getAttribute("rgba").split(/\s/g).map(B=>parseFloat(B));L.color.setRGB(A[0],A[1],A[2]),L.opacity=A[3],L.transparent=A[3]<1,L.depthWrite=!L.transparent}else if(z==="texture"){const A=O.getAttribute("filename");if(A){const B=new q.TextureLoader(c),C=x(A);L.map=B.load(C),L.map.colorSpace=q.SRGBColorSpace}}}),L}function k(E,_={}){const L=E.nodeName.toLowerCase()==="collision",O=[...E.children];let z=null;const A=O.filter(C=>C.nodeName.toLowerCase()==="material")[0];if(A){const C=A.getAttribute("name");C&&C in _?z=_[C]:z=m(A)}else z=new q.MeshPhongMaterial;const B=L?new qx:new Kx;return B.urdfNode=E,O.forEach(C=>{const X=C.nodeName.toLowerCase();if(X==="geometry"){const G=C.children[0].nodeName.toLowerCase();if(G==="mesh"){const H=C.children[0].getAttribute("filename"),ae=x(H);if(ae!==null){const ve=C.children[0].getAttribute("scale");if(ve){const he=M0(ve);B.scale.set(he[0],he[1],he[2])}n(ae,c,(he,ne)=>{ne?console.error("URDFLoader: Error loading mesh.",ne):he&&(he instanceof q.Mesh&&(he.material=z),he.position.set(0,0,0),he.quaternion.identity(),B.add(he))})}}else if(G==="box"){const H=new q.Mesh;H.geometry=new q.BoxGeometry(1,1,1),H.material=z;const ae=M0(C.children[0].getAttribute("size"));H.scale.set(ae[0],ae[1],ae[2]),B.add(H)}else if(G==="sphere"){const H=new q.Mesh;H.geometry=new q.SphereGeometry(1,30,30),H.material=z;const 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K.BufferGeometry;s.length>0&&d.setAttribute("position",new K.Float32BufferAttribute(s,3)),c.length>0&&d.setAttribute("normal",new K.Float32BufferAttribute(c,3)),o.length>0&&d.setAttribute("color",new K.Float32BufferAttribute(o,3)),f.length>0&&d.setAttribute("intensity",new K.Float32BufferAttribute(f,1)),l.length>0&&d.setAttribute("label",new K.Int32BufferAttribute(l,1)),d.computeBoundingSphere();const p=new K.PointsMaterial({size:.005});return o.length>0&&(p.vertexColors=!0),new K.Points(d,p)}}class u1 extends K.DataTextureLoader{constructor(t){super(t)}parse(t){function r(ne){switch(ne.image_type){case d:case h:if(ne.colormap_length>256||ne.colormap_size!==24||ne.colormap_type!==1)throw new Error("THREE.TGALoader: Invalid type colormap data for indexed type.");break;case p:case x:case m:case T:if(ne.colormap_type)throw new Error("THREE.TGALoader: Invalid type colormap data for colormap type.");break;case u:throw new Error("THREE.TGALoader: No data.");default:throw new Error("THREE.TGALoader: Invalid type "+ne.image_type)}if(ne.width<=0||ne.height<=0)throw new Error("THREE.TGALoader: Invalid image size.");if(ne.pixel_size!==8&&ne.pixel_size!==16&&ne.pixel_size!==24&&ne.pixel_size!==32)throw new Error("THREE.TGALoader: Invalid pixel size "+ne.pixel_size)}function a(ne,le,Ne,j,Ee){let _e,N;const V=Ne.pixel_size>>3,B=Ne.width*Ne.height*V;if(le&&(N=Ee.subarray(j,j+=Ne.colormap_length*(Ne.colormap_size>>3))),ne){_e=new Uint8Array(B);let P,W,ee,oe=0;const q=new Uint8Array(V);for(;oe<B;)if(P=Ee[j++],W=(P&127)+1,P&128){for(ee=0;ee<V;++ee)q[ee]=Ee[j++];for(ee=0;ee<W;++ee)_e.set(q,oe+ee*V);oe+=V*W}else{for(W*=V,ee=0;ee<W;++ee)_e[oe+ee]=Ee[j++];oe+=W}}else _e=Ee.subarray(j,j+=le?Ne.width*Ne.height:B);return{pixel_data:_e,palettes:N}}function n(ne,le,Ne,j,Ee,_e,N,V,B){const P=B;let W,ee=0,oe,q;const te=X.width;for(q=le;q!==j;q+=Ne)for(oe=Ee;oe!==N;oe+=_e,ee++)W=V[ee],ne[(oe+te*q)*4+3]=255,ne[(oe+te*q)*4+2]=P[W*3+0],ne[(oe+te*q)*4+1]=P[W*3+1],ne[(oe+te*q)*4+0]=P[W*3+2];return ne}function i(ne,le,Ne,j,Ee,_e,N,V){let B,P=0,W,ee;const oe=X.width;for(ee=le;ee!==j;ee+=Ne)for(W=Ee;W!==N;W+=_e,P+=2)B=V[P+0]+(V[P+1]<<8),ne[(W+oe*ee)*4+0]=(B&31744)>>7,ne[(W+oe*ee)*4+1]=(B&992)>>2,ne[(W+oe*ee)*4+2]=(B&31)<<3,ne[(W+oe*ee)*4+3]=B&32768?0:255;return ne}function s(ne,le,Ne,j,Ee,_e,N,V){let B=0,P,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(P=Ee;P!==N;P+=_e,B+=3)ne[(P+ee*W)*4+3]=255,ne[(P+ee*W)*4+2]=V[B+0],ne[(P+ee*W)*4+1]=V[B+1],ne[(P+ee*W)*4+0]=V[B+2];return ne}function c(ne,le,Ne,j,Ee,_e,N,V){let B=0,P,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(P=Ee;P!==N;P+=_e,B+=4)ne[(P+ee*W)*4+2]=V[B+0],ne[(P+ee*W)*4+1]=V[B+1],ne[(P+ee*W)*4+0]=V[B+2],ne[(P+ee*W)*4+3]=V[B+3];return ne}function o(ne,le,Ne,j,Ee,_e,N,V){let B,P=0,W,ee;const oe=X.width;for(ee=le;ee!==j;ee+=Ne)for(W=Ee;W!==N;W+=_e,P++)B=V[P],ne[(W+oe*ee)*4+0]=B,ne[(W+oe*ee)*4+1]=B,ne[(W+oe*ee)*4+2]=B,ne[(W+oe*ee)*4+3]=255;return ne}function f(ne,le,Ne,j,Ee,_e,N,V){let B=0,P,W;const ee=X.width;for(W=le;W!==j;W+=Ne)for(P=Ee;P!==N;P+=_e,B+=2)ne[(P+ee*W)*4+0]=V[B+0],ne[(P+ee*W)*4+1]=V[B+0],ne[(P+ee*W)*4+2]=V[B+0],ne[(P+ee*W)*4+3]=V[B+1];return ne}function l(ne,le,Ne,j,Ee){let _e,N,V,B,P,W;switch((X.flags&y)>>g){default:case U:_e=0,V=1,P=le,N=0,B=1,W=Ne;break;case D:_e=0,V=1,P=le,N=Ne-1,B=-1,W=-1;break;case A:_e=le-1,V=-1,P=-1,N=0,B=1,W=Ne;break;case O:_e=le-1,V=-1,P=-1,N=Ne-1,B=-1,W=-1;break}if(ae)switch(X.pixel_size){case 8:o(ne,N,B,W,_e,V,P,j);break;case 16:f(ne,N,B,W,_e,V,P,j);break;default:throw new Error("THREE.TGALoader: Format not supported.")}else switch(X.pixel_size){case 8:n(ne,N,B,W,_e,V,P,j,Ee);break;case 16:i(ne,N,B,W,_e,V,P,j);break;case 24:s(ne,N,B,W,_e,V,P,j);break;case 32:c(ne,N,B,W,_e,V,P,j);break;default:throw new Error("THREE.TGALoader: Format not supported.")}return ne}const u=0,d=1,p=2,x=3,h=9,m=10,T=11,y=48,g=4,D=0,O=1,U=2,A=3;if(t.length<19)throw new Error("THREE.TGALoader: Not enough data to contain header.");let z=0;const C=new Uint8Array(t),X={id_length:C[z++],colormap_type:C[z++],image_type:C[z++],colormap_index:C[z++]|C[z++]<<8,colormap_length:C[z++]|C[z++]<<8,colormap_size:C[z++],origin:[C[z++]|C[z++]<<8,C[z++]|C[z++]<<8],width:C[z++]|C[z++]<<8,height:C[z++]|C[z++]<<8,pixel_size:C[z++],flags:C[z++]};if(r(X),X.id_length+z>t.length)throw new Error("THREE.TGALoader: No data.");z+=X.id_length;let G=!1,H=!1,ae=!1;switch(X.image_type){case h:G=!0,H=!0;break;case d:H=!0;break;case m:G=!0;break;case p:break;case T:G=!0,ae=!0;break;case x:ae=!0;break}const ve=new Uint8Array(X.width*X.height*4),he=a(G,H,X,z,C);return l(ve,X.width,X.height,he.pixel_data,he.palettes),{data:ve,width:X.width,height:X.height,flipY:!0,generateMipmaps:!0,minFilter:K.LinearMipmapLinearFilter}}}class Xx extends K.Loader{load(t,r,a,n){const i=this,s=i.path===""?K.LoaderUtils.extractUrlBase(t):i.path,c=new K.FileLoader(i.manager);c.setPath(i.path),c.setRequestHeader(i.requestHeader),c.setWithCredentials(i.withCredentials),c.load(t,function(o){try{r(i.parse(o,s))}catch(f){n?n(f):console.error(f),i.manager.itemError(t)}},a,n)}parse(t,r){function a(_,v){const E=[],k=_.childNodes;for(let S=0,re=k.length;S<re;S++){const ce=k[S];ce.nodeName===v&&E.push(ce)}return E}function n(_){if(_.length===0)return[];const v=_.trim().split(/\s+/),E=new Array(v.length);for(let k=0,S=v.length;k<S;k++)E[k]=v[k];return E}function i(_){if(_.length===0)return[];const v=_.trim().split(/\s+/),E=new Array(v.length);for(let k=0,S=v.length;k<S;k++)E[k]=parseFloat(v[k]);return E}function s(_){if(_.length===0)return[];const v=_.trim().split(/\s+/),E=new Array(v.length);for(let k=0,S=v.length;k<S;k++)E[k]=parseInt(v[k]);return E}function c(_){return _.substring(1)}function o(){return"three_default_"+Bo++}function f(_){return Object.keys(_).length===0}function l(_){return{unit:u(a(_,"unit")[0]),upAxis:d(a(_,"up_axis")[0])}}function u(_){return _!==void 0&&_.hasAttribute("meter")===!0?parseFloat(_.getAttribute("meter")):1}function d(_){return _!==void 0?_.textContent:"Y_UP"}function p(_,v,E,k){const S=a(_,v)[0];if(S!==void 0){const re=a(S,E);for(let ce=0;ce<re.length;ce++)k(re[ce])}}function x(_,v){for(const E in _){const k=_[E];k.build=v(_[E])}}function h(_,v){return _.build!==void 0||(_.build=v(_)),_.build}function m(_){const v={sources:{},samplers:{},channels:{}};let E=!1;for(let k=0,S=_.childNodes.length;k<S;k++){const re=_.childNodes[k];if(re.nodeType!==1)continue;let ce;switch(re.nodeName){case"source":ce=re.getAttribute("id"),v.sources[ce]=X0(re);break;case"sampler":ce=re.getAttribute("id"),v.samplers[ce]=T(re);break;case"channel":ce=re.getAttribute("target"),v.channels[ce]=y(re);break;case"animation":m(re),E=!0;break;default:console.log(re)}}E===!1&&(Pe.animations[_.getAttribute("id")||K.MathUtils.generateUUID()]=v)}function T(_){const v={inputs:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"input":const re=c(S.getAttribute("source")),ce=S.getAttribute("semantic");v.inputs[ce]=re;break}}return v}function y(_){const v={};let k=_.getAttribute("target").split("/");const S=k.shift();let re=k.shift();const ce=re.indexOf("(")!==-1,Fe=re.indexOf(".")!==-1;if(Fe)k=re.split("."),re=k.shift(),v.member=k.shift();else if(ce){const Te=re.split("(");re=Te.shift();for(let Ae=0;Ae<Te.length;Ae++)Te[Ae]=parseInt(Te[Ae].replace(/\)/,""));v.indices=Te}return v.id=S,v.sid=re,v.arraySyntax=ce,v.memberSyntax=Fe,v.sampler=c(_.getAttribute("source")),v}function g(_){const v=[],E=_.channels,k=_.samplers,S=_.sources;for(const re in E)if(E.hasOwnProperty(re)){const ce=E[re],Fe=k[ce.sampler],Te=Fe.inputs.INPUT,Ae=Fe.inputs.OUTPUT,De=S[Te],ue=S[Ae],Me=O(ce,De,ue);X(Me,v)}return v}function D(_){return h(Pe.animations[_],g)}function O(_,v,E){const k=Pe.nodes[_.id],S=Ct(k.id),re=k.transforms[_.sid],ce=k.matrix.clone().transpose();let Fe,Te,Ae,De,ue,Me;const Ce={};switch(re){case"matrix":for(Ae=0,De=v.array.length;Ae<De;Ae++)if(Fe=v.array[Ae],Te=Ae*E.stride,Ce[Fe]===void 0&&(Ce[Fe]={}),_.arraySyntax===!0){const xr=E.array[Te],ar=_.indices[0]+4*_.indices[1];Ce[Fe][ar]=xr}else for(ue=0,Me=E.stride;ue<Me;ue++)Ce[Fe][ue]=E.array[Te+ue];break;case"translate":console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.',re);break;case"rotate":console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.',re);break;case"scale":console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.',re);break}const Oe=U(Ce,ce);return{name:S.uuid,keyframes:Oe}}function U(_,v){const E=[];for(const S in _)E.push({time:parseFloat(S),value:_[S]});E.sort(k);for(let S=0;S<16;S++)G(E,S,v.elements[S]);return E;function k(S,re){return S.time-re.time}}const A=new K.Vector3,z=new K.Vector3,C=new K.Quaternion;function X(_,v){const E=_.keyframes,k=_.name,S=[],re=[],ce=[],Fe=[];for(let Te=0,Ae=E.length;Te<Ae;Te++){const De=E[Te],ue=De.time,Me=De.value;we.fromArray(Me).transpose(),we.decompose(A,C,z),S.push(ue),re.push(A.x,A.y,A.z),ce.push(C.x,C.y,C.z,C.w),Fe.push(z.x,z.y,z.z)}return re.length>0&&v.push(new K.VectorKeyframeTrack(k+".position",S,re)),ce.length>0&&v.push(new K.QuaternionKeyframeTrack(k+".quaternion",S,ce)),Fe.length>0&&v.push(new K.VectorKeyframeTrack(k+".scale",S,Fe)),v}function G(_,v,E){let k,S=!0,re,ce;for(re=0,ce=_.length;re<ce;re++)k=_[re],k.value[v]===void 0?k.value[v]=null:S=!1;if(S===!0)for(re=0,ce=_.length;re<ce;re++)k=_[re],k.value[v]=E;else H(_,v)}function H(_,v){let E,k;for(let S=0,re=_.length;S<re;S++){const ce=_[S];if(ce.value[v]===null){if(E=ae(_,S,v),k=ve(_,S,v),E===null){ce.value[v]=k.value[v];continue}if(k===null){ce.value[v]=E.value[v];continue}he(ce,E,k,v)}}}function ae(_,v,E){for(;v>=0;){const k=_[v];if(k.value[E]!==null)return k;v--}return null}function ve(_,v,E){for(;v<_.length;){const k=_[v];if(k.value[E]!==null)return k;v++}return null}function he(_,v,E,k){if(E.time-v.time===0){_.value[k]=v.value[k];return}_.value[k]=(_.time-v.time)*(E.value[k]-v.value[k])/(E.time-v.time)+v.value[k]}function ne(_){const v={name:_.getAttribute("id")||"default",start:parseFloat(_.getAttribute("start")||0),end:parseFloat(_.getAttribute("end")||0),animations:[]};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"instance_animation":v.animations.push(c(S.getAttribute("url")));break}}Pe.clips[_.getAttribute("id")]=v}function le(_){const v=[],E=_.name,k=_.end-_.start||-1,S=_.animations;for(let re=0,ce=S.length;re<ce;re++){const Fe=D(S[re]);for(let Te=0,Ae=Fe.length;Te<Ae;Te++)v.push(Fe[Te])}return new K.AnimationClip(E,k,v)}function Ne(_){return h(Pe.clips[_],le)}function j(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"skin":v.id=c(S.getAttribute("source")),v.skin=Ee(S);break;case"morph":v.id=c(S.getAttribute("source")),console.warn("THREE.ColladaLoader: Morph target animation not supported yet.");break}}Pe.controllers[_.getAttribute("id")]=v}function Ee(_){const v={sources:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"bind_shape_matrix":v.bindShapeMatrix=i(S.textContent);break;case"source":const re=S.getAttribute("id");v.sources[re]=X0(S);break;case"joints":v.joints=_e(S);break;case"vertex_weights":v.vertexWeights=N(S);break}}return v}function _e(_){const v={inputs:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"input":const re=S.getAttribute("semantic"),ce=c(S.getAttribute("source"));v.inputs[re]=ce;break}}return v}function N(_){const v={inputs:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"input":const re=S.getAttribute("semantic"),ce=c(S.getAttribute("source")),Fe=parseInt(S.getAttribute("offset"));v.inputs[re]={id:ce,offset:Fe};break;case"vcount":v.vcount=s(S.textContent);break;case"v":v.v=s(S.textContent);break}}return v}function V(_){const v={id:_.id},E=Pe.geometries[v.id];return _.skin!==void 0&&(v.skin=B(_.skin),E.sources.skinIndices=v.skin.indices,E.sources.skinWeights=v.skin.weights),v}function B(_){const E={joints:[],indices:{array:[],stride:4},weights:{array:[],stride:4}},k=_.sources,S=_.vertexWeights,re=S.vcount,ce=S.v,Fe=S.inputs.JOINT.offset,Te=S.inputs.WEIGHT.offset,Ae=_.sources[_.joints.inputs.JOINT],De=_.sources[_.joints.inputs.INV_BIND_MATRIX],ue=k[S.inputs.WEIGHT.id].array;let Me=0,Ce,Oe,Le;for(Ce=0,Le=re.length;Ce<Le;Ce++){const ar=re[Ce],er=[];for(Oe=0;Oe<ar;Oe++){const rr=ce[Me+Fe],Pt=ce[Me+Te],Zr=ue[Pt];er.push({index:rr,weight:Zr}),Me+=2}for(er.sort(xr),Oe=0;Oe<4;Oe++){const rr=er[Oe];rr!==void 0?(E.indices.array.push(rr.index),E.weights.array.push(rr.weight)):(E.indices.array.push(0),E.weights.array.push(0))}}for(_.bindShapeMatrix?E.bindMatrix=new K.Matrix4().fromArray(_.bindShapeMatrix).transpose():E.bindMatrix=new K.Matrix4().identity(),Ce=0,Le=Ae.array.length;Ce<Le;Ce++){const ar=Ae.array[Ce],er=new K.Matrix4().fromArray(De.array,Ce*De.stride).transpose();E.joints.push({name:ar,boneInverse:er})}return E;function xr(ar,er){return er.weight-ar.weight}}function P(_){return h(Pe.controllers[_],V)}function W(_){const v={init_from:a(_,"init_from")[0].textContent};Pe.images[_.getAttribute("id")]=v}function ee(_){return _.build!==void 0?_.build:_.init_from}function oe(_){const v=Pe.images[_];return v!==void 0?h(v,ee):(console.warn("THREE.ColladaLoader: Couldn't find image with ID:",_),null)}function q(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"profile_COMMON":v.profile=te(S);break}}Pe.effects[_.getAttribute("id")]=v}function te(_){const v={surfaces:{},samplers:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"newparam":Se(S,v);break;case"technique":v.technique=be(S);break;case"extra":v.extra=Ye(S);break}}return v}function Se(_,v){const E=_.getAttribute("sid");for(let k=0,S=_.childNodes.length;k<S;k++){const re=_.childNodes[k];if(re.nodeType===1)switch(re.nodeName){case"surface":v.surfaces[E]=L(re);break;case"sampler2D":v.samplers[E]=We(re);break}}}function L(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"init_from":v.init_from=S.textContent;break}}return v}function We(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"source":v.source=S.textContent;break}}return v}function be(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"constant":case"lambert":case"blinn":case"phong":v.type=S.nodeName,v.parameters=He(S);break;case"extra":v.extra=Ye(S);break}}return v}function He(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"emission":case"diffuse":case"specular":case"bump":case"ambient":case"shininess":case"transparency":v[S.nodeName]=Ie(S);break;case"transparent":v[S.nodeName]={opaque:S.hasAttribute("opaque")?S.getAttribute("opaque"):"A_ONE",data:Ie(S)};break}}return v}function Ie(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"color":v[S.nodeName]=i(S.textContent);break;case"float":v[S.nodeName]=parseFloat(S.textContent);break;case"texture":v[S.nodeName]={id:S.getAttribute("texture"),extra:de(S)};break}}return v}function de(_){const v={technique:{}};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"extra":Xe(S,v);break}}return v}function Xe(_,v){for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"technique":Qe(S,v);break}}}function Qe(_,v){for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"repeatU":case"repeatV":case"offsetU":case"offsetV":v.technique[S.nodeName]=parseFloat(S.textContent);break;case"wrapU":case"wrapV":S.textContent.toUpperCase()==="TRUE"?v.technique[S.nodeName]=1:S.textContent.toUpperCase()==="FALSE"?v.technique[S.nodeName]=0:v.technique[S.nodeName]=parseInt(S.textContent);break;case"bump":v[S.nodeName]=At(S);break}}}function Ye(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"technique":v.technique=kr(S);break}}return v}function kr(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"double_sided":v[S.nodeName]=parseInt(S.textContent);break;case"bump":v[S.nodeName]=At(S);break}}return v}function At(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"texture":v[S.nodeName]={id:S.getAttribute("texture"),texcoord:S.getAttribute("texcoord"),extra:de(S)};break}}return v}function gt(_){return _}function $r(_){return h(Pe.effects[_],gt)}function _t(_){const v={name:_.getAttribute("name")};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"instance_effect":v.url=c(S.getAttribute("url"));break}}Pe.materials[_.getAttribute("id")]=v}function Ft(_){let v,E=_.slice((_.lastIndexOf(".")-1>>>0)+2);switch(E=E.toLowerCase(),E){case"tga":v=Rn;break;default:v=es}return v}function $t(_){const v=$r(_.url),E=v.profile.technique;let k;switch(E.type){case"phong":case"blinn":k=new K.MeshPhongMaterial;break;case"lambert":k=new K.MeshLambertMaterial;break;default:k=new K.MeshBasicMaterial;break}k.name=_.name||"";function S(Te,Ae=null){const De=v.profile.samplers[Te.id];let ue=null;if(De!==void 0){const Me=v.profile.surfaces[De.source];ue=oe(Me.init_from)}else console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530)."),ue=oe(Te.id);if(ue!==null){const Me=Ft(ue);if(Me!==void 0){const Ce=Me.load(ue),Oe=Te.extra;if(Oe!==void 0&&Oe.technique!==void 0&&f(Oe.technique)===!1){const Le=Oe.technique;Ce.wrapS=Le.wrapU?K.RepeatWrapping:K.ClampToEdgeWrapping,Ce.wrapT=Le.wrapV?K.RepeatWrapping:K.ClampToEdgeWrapping,Ce.offset.set(Le.offsetU||0,Le.offsetV||0),Ce.repeat.set(Le.repeatU||1,Le.repeatV||1)}else Ce.wrapS=K.RepeatWrapping,Ce.wrapT=K.RepeatWrapping;return Ae!==null&&(Ce.colorSpace=Ae),Ce}else return console.warn("THREE.ColladaLoader: Loader for texture %s not found.",ue),null}else return console.warn("THREE.ColladaLoader: Couldn't create texture with ID:",Te.id),null}const re=E.parameters;for(const Te in re){const Ae=re[Te];switch(Te){case"diffuse":Ae.color&&k.color.fromArray(Ae.color),Ae.texture&&(k.map=S(Ae.texture,K.SRGBColorSpace));break;case"specular":Ae.color&&k.specular&&k.specular.fromArray(Ae.color),Ae.texture&&(k.specularMap=S(Ae.texture));break;case"bump":Ae.texture&&(k.normalMap=S(Ae.texture));break;case"ambient":Ae.texture&&(k.lightMap=S(Ae.texture,K.SRGBColorSpace));break;case"shininess":Ae.float&&k.shininess&&(k.shininess=Ae.float);break;case"emission":Ae.color&&k.emissive&&k.emissive.fromArray(Ae.color),Ae.texture&&(k.emissiveMap=S(Ae.texture,K.SRGBColorSpace));break}}k.color.convertSRGBToLinear(),k.specular&&k.specular.convertSRGBToLinear(),k.emissive&&k.emissive.convertSRGBToLinear();let ce=re.transparent,Fe=re.transparency;if(Fe===void 0&&ce&&(Fe={float:1}),ce===void 0&&Fe&&(ce={opaque:"A_ONE",data:{color:[1,1,1,1]}}),ce&&Fe)if(ce.data.texture)k.transparent=!0;else{const Te=ce.data.color;switch(ce.opaque){case"A_ONE":k.opacity=Te[3]*Fe.float;break;case"RGB_ZERO":k.opacity=1-Te[0]*Fe.float;break;case"A_ZERO":k.opacity=1-Te[3]*Fe.float;break;case"RGB_ONE":k.opacity=Te[0]*Fe.float;break;default:console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.',ce.opaque)}k.opacity<1&&(k.transparent=!0)}if(E.extra!==void 0&&E.extra.technique!==void 0){const Te=E.extra.technique;for(const Ae in Te){const De=Te[Ae];switch(Ae){case"double_sided":k.side=De===1?K.DoubleSide:K.FrontSide;break;case"bump":k.normalMap=S(De.texture),k.normalScale=new K.Vector2(1,1);break}}}return k}function Ir(_){return h(Pe.materials[_],$t)}function ot(_){const v={name:_.getAttribute("name")};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"optics":v.optics=$e(S);break}}Pe.cameras[_.getAttribute("id")]=v}function $e(_){for(let v=0;v<_.childNodes.length;v++){const E=_.childNodes[v];switch(E.nodeName){case"technique_common":return dr(E)}}return{}}function dr(_){const v={};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];switch(k.nodeName){case"perspective":case"orthographic":v.technique=k.nodeName,v.parameters=Jr(k);break}}return v}function Jr(_){const v={};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];switch(k.nodeName){case"xfov":case"yfov":case"xmag":case"ymag":case"znear":case"zfar":case"aspect_ratio":v[k.nodeName]=parseFloat(k.textContent);break}}return v}function vr(_){let v;switch(_.optics.technique){case"perspective":v=new K.PerspectiveCamera(_.optics.parameters.yfov,_.optics.parameters.aspect_ratio,_.optics.parameters.znear,_.optics.parameters.zfar);break;case"orthographic":let E=_.optics.parameters.ymag,k=_.optics.parameters.xmag;const S=_.optics.parameters.aspect_ratio;k=k===void 0?E*S:k,E=E===void 0?k/S:E,k*=.5,E*=.5,v=new K.OrthographicCamera(-k,k,E,-E,_.optics.parameters.znear,_.optics.parameters.zfar);break;default:v=new K.PerspectiveCamera;break}return v.name=_.name||"",v}function Bt(_){const v=Pe.cameras[_];return v!==void 0?h(v,vr):(console.warn("THREE.ColladaLoader: Couldn't find camera with ID:",_),null)}function ba(_){let v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"technique_common":v=Tn(S);break}}Pe.lights[_.getAttribute("id")]=v}function Tn(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"directional":case"point":case"spot":case"ambient":v.technique=S.nodeName,v.parameters=En(S)}}return v}function En(_){const v={};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"color":const re=i(S.textContent);v.color=new K.Color().fromArray(re).convertSRGBToLinear();break;case"falloff_angle":v.falloffAngle=parseFloat(S.textContent);break;case"quadratic_attenuation":const ce=parseFloat(S.textContent);v.distance=ce?Math.sqrt(1/ce):0;break}}return v}function j0(_){let v;switch(_.technique){case"directional":v=new K.DirectionalLight;break;case"point":v=new K.PointLight;break;case"spot":v=new K.SpotLight;break;case"ambient":v=new K.AmbientLight;break}return _.parameters.color&&v.color.copy(_.parameters.color),_.parameters.distance&&(v.distance=_.parameters.distance),v}function Ca(_){const v=Pe.lights[_];return v!==void 0?h(v,j0):(console.warn("THREE.ColladaLoader: Couldn't find light with ID:",_),null)}function Na(_){const v={name:_.getAttribute("name"),sources:{},vertices:{},primitives:[]},E=a(_,"mesh")[0];if(E!==void 0){for(let k=0;k<E.childNodes.length;k++){const S=E.childNodes[k];if(S.nodeType!==1)continue;const re=S.getAttribute("id");switch(S.nodeName){case"source":v.sources[re]=X0(S);break;case"vertices":v.vertices=yn(S);break;case"polygons":console.warn("THREE.ColladaLoader: Unsupported primitive type: ",S.nodeName);break;case"lines":case"linestrips":case"polylist":case"triangles":v.primitives.push(A0(S));break;default:console.log(S)}}Pe.geometries[_.getAttribute("id")]=v}}function X0(_){const v={array:[],stride:3};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"float_array":v.array=i(k.textContent);break;case"Name_array":v.array=n(k.textContent);break;case"technique_common":const S=a(k,"accessor")[0];S!==void 0&&(v.stride=parseInt(S.getAttribute("stride")));break}}return v}function yn(_){const v={};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];k.nodeType===1&&(v[k.getAttribute("semantic")]=c(k.getAttribute("source")))}return v}function A0(_){const v={type:_.nodeName,material:_.getAttribute("material"),count:parseInt(_.getAttribute("count")),inputs:{},stride:0,hasUV:!1};for(let E=0,k=_.childNodes.length;E<k;E++){const S=_.childNodes[E];if(S.nodeType===1)switch(S.nodeName){case"input":const re=c(S.getAttribute("source")),ce=S.getAttribute("semantic"),Fe=parseInt(S.getAttribute("offset")),Te=parseInt(S.getAttribute("set")),Ae=Te>0?ce+Te:ce;v.inputs[Ae]={id:re,offset:Fe},v.stride=Math.max(v.stride,Fe+1),ce==="TEXCOORD"&&(v.hasUV=!0);break;case"vcount":v.vcount=s(S.textContent);break;case"p":v.p=s(S.textContent);break}}return v}function Sn(_){const v={};for(let E=0;E<_.length;E++){const k=_[E];v[k.type]===void 0&&(v[k.type]=[]),v[k.type].push(k)}return v}function An(_){let v=0;for(let E=0,k=_.length;E<k;E++)_[E].hasUV===!0&&v++;v>0&&v<_.length&&(_.uvsNeedsFix=!0)}function Ma(_){const v={},E=_.sources,k=_.vertices,S=_.primitives;if(S.length===0)return{};const re=Sn(S);for(const ce in re){const Fe=re[ce];An(Fe),v[ce]=Fn(Fe,E,k)}return v}function Fn(_,v,E){const k={},S={array:[],stride:0},re={array:[],stride:0},ce={array:[],stride:0},Fe={array:[],stride:0},Te={array:[],stride:0},Ae={array:[],stride:4},De={array:[],stride:4},ue=new K.BufferGeometry,Me=[];let Ce=0;for(let Oe=0;Oe<_.length;Oe++){const Le=_[Oe],xr=Le.inputs;let ar=0;switch(Le.type){case"lines":case"linestrips":ar=Le.count*2;break;case"triangles":ar=Le.count*3;break;case"polylist":for(let er=0;er<Le.count;er++){const rr=Le.vcount[er];switch(rr){case 3:ar+=3;break;case 4:ar+=6;break;default:ar+=(rr-2)*3;break}}break;default:console.warn("THREE.ColladaLoader: Unknow primitive type:",Le.type)}ue.addGroup(Ce,ar,Oe),Ce+=ar,Le.material&&Me.push(Le.material);for(const er in xr){const rr=xr[er];switch(er){case"VERTEX":for(const Pt in E){const Zr=E[Pt];switch(Pt){case"POSITION":const F0=S.array.length;if(tt(Le,v[Zr],rr.offset,S.array),S.stride=v[Zr].stride,v.skinWeights&&v.skinIndices&&(tt(Le,v.skinIndices,rr.offset,Ae.array),tt(Le,v.skinWeights,rr.offset,De.array)),Le.hasUV===!1&&_.uvsNeedsFix===!0){const Po=(S.array.length-F0)/S.stride;for(let ts=0;ts<Po;ts++)ce.array.push(0,0)}break;case"NORMAL":tt(Le,v[Zr],rr.offset,re.array),re.stride=v[Zr].stride;break;case"COLOR":tt(Le,v[Zr],rr.offset,Te.array),Te.stride=v[Zr].stride;break;case"TEXCOORD":tt(Le,v[Zr],rr.offset,ce.array),ce.stride=v[Zr].stride;break;case"TEXCOORD1":tt(Le,v[Zr],rr.offset,Fe.array),ce.stride=v[Zr].stride;break;default:console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.',Pt)}}break;case"NORMAL":tt(Le,v[rr.id],rr.offset,re.array),re.stride=v[rr.id].stride;break;case"COLOR":tt(Le,v[rr.id],rr.offset,Te.array,!0),Te.stride=v[rr.id].stride;break;case"TEXCOORD":tt(Le,v[rr.id],rr.offset,ce.array),ce.stride=v[rr.id].stride;break;case"TEXCOORD1":tt(Le,v[rr.id],rr.offset,Fe.array),Fe.stride=v[rr.id].stride;break}}}return S.array.length>0&&ue.setAttribute("position",new K.Float32BufferAttribute(S.array,S.stride)),re.array.length>0&&ue.setAttribute("normal",new K.Float32BufferAttribute(re.array,re.stride)),Te.array.length>0&&ue.setAttribute("color",new K.Float32BufferAttribute(Te.array,Te.stride)),ce.array.length>0&&ue.setAttribute("uv",new K.Float32BufferAttribute(ce.array,ce.stride)),Fe.array.length>0&&ue.setAttribute("uv1",new K.Float32BufferAttribute(Fe.array,Fe.stride)),Ae.array.length>0&&ue.setAttribute("skinIndex",new K.Float32BufferAttribute(Ae.array,Ae.stride)),De.array.length>0&&ue.setAttribute("skinWeight",new K.Float32BufferAttribute(De.array,De.stride)),k.data=ue,k.type=_[0].type,k.materialKeys=Me,k}function tt(_,v,E,k,S=!1){const re=_.p,ce=_.stride,Fe=_.vcount;function Te(ue){let Me=re[ue+E]*De;const Ce=Me+De;for(;Me<Ce;Me++)k.push(Ae[Me]);if(S){const Oe=k.length-De-1;La.setRGB(k[Oe+0],k[Oe+1],k[Oe+2]).convertSRGBToLinear(),k[Oe+0]=La.r,k[Oe+1]=La.g,k[Oe+2]=La.b}}const Ae=v.array,De=v.stride;if(_.vcount!==void 0){let ue=0;for(let Me=0,Ce=Fe.length;Me<Ce;Me++){const Oe=Fe[Me];if(Oe===4){const Le=ue+ce*0,xr=ue+ce*1,ar=ue+ce*2,er=ue+ce*3;Te(Le),Te(xr),Te(er),Te(xr),Te(ar),Te(er)}else if(Oe===3){const Le=ue+ce*0,xr=ue+ce*1,ar=ue+ce*2;Te(Le),Te(xr),Te(ar)}else if(Oe>4)for(let Le=1,xr=Oe-2;Le<=xr;Le++){const ar=ue+ce*0,er=ue+ce*Le,rr=ue+ce*(Le+1);Te(ar),Te(er),Te(rr)}ue+=ce*Oe}}else for(let ue=0,Me=re.length;ue<Me;ue+=ce)Te(ue)}function Da(_){return h(Pe.geometries[_],Ma)}function bn(_){const v={name:_.getAttribute("name")||"",joints:{},links:[]};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"technique_common":Nn(k,v);break}}Pe.kinematicsModels[_.getAttribute("id")]=v}function Cn(_){return _.build!==void 0?_.build:_}function $0(_){return h(Pe.kinematicsModels[_],Cn)}function Nn(_,v){for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"joint":v.joints[k.getAttribute("sid")]=Mn(k);break;case"link":v.links.push(w(k));break}}}function Mn(_){let v;for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"prismatic":case"revolute":v=Dn(k);break}}return v}function Dn(_){const v={sid:_.getAttribute("sid"),name:_.getAttribute("name")||"",axis:new K.Vector3,limits:{min:0,max:0},type:_.nodeName,static:!1,zeroPosition:0,middlePosition:0};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"axis":const S=i(k.textContent);v.axis.fromArray(S);break;case"limits":const re=k.getElementsByTagName("max")[0],ce=k.getElementsByTagName("min")[0];v.limits.max=parseFloat(re.textContent),v.limits.min=parseFloat(ce.textContent);break}}return v.limits.min>=v.limits.max&&(v.static=!0),v.middlePosition=(v.limits.min+v.limits.max)/2,v}function w(_){const v={sid:_.getAttribute("sid"),name:_.getAttribute("name")||"",attachments:[],transforms:[]};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"attachment_full":v.attachments.push(M(k));break;case"matrix":case"translate":case"rotate":v.transforms.push(F(k));break}}return v}function M(_){const v={joint:_.getAttribute("joint").split("/").pop(),transforms:[],links:[]};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"link":v.links.push(w(k));break;case"matrix":case"translate":case"rotate":v.transforms.push(F(k));break}}return v}function F(_){const v={type:_.nodeName},E=i(_.textContent);switch(v.type){case"matrix":v.obj=new K.Matrix4,v.obj.fromArray(E).transpose();break;case"translate":v.obj=new K.Vector3,v.obj.fromArray(E);break;case"rotate":v.obj=new K.Vector3,v.obj.fromArray(E),v.angle=K.MathUtils.degToRad(E[3]);break}return v}function b(_){const v={name:_.getAttribute("name")||"",rigidBodies:{}};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"rigid_body":v.rigidBodies[k.getAttribute("name")]={},R(k,v.rigidBodies[k.getAttribute("name")]);break}}Pe.physicsModels[_.getAttribute("id")]=v}function R(_,v){for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"technique_common":I(k,v);break}}}function I(_,v){for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"inertia":v.inertia=i(k.textContent);break;case"mass":v.mass=i(k.textContent)[0];break}}}function J(_){const v={bindJointAxis:[]};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"bind_joint_axis":v.bindJointAxis.push(se(k));break}}Pe.kinematicsScenes[c(_.getAttribute("url"))]=v}function se(_){const v={target:_.getAttribute("target").split("/").pop()};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType===1)switch(k.nodeName){case"axis":const S=k.getElementsByTagName("param")[0];v.axis=S.textContent;const re=v.axis.split("inst_").pop().split("axis")[0];v.jointIndex=re.substring(0,re.length-1);break}}return v}function Y(_){return _.build!==void 0?_.build:_}function Z(_){return h(Pe.kinematicsScenes[_],Y)}function Q(){const _=Object.keys(Pe.kinematicsModels)[0],v=Object.keys(Pe.kinematicsScenes)[0],E=Object.keys(Pe.visualScenes)[0];if(_===void 0||v===void 0)return;const k=$0(_),S=Z(v),re=Ji(E),ce=S.bindJointAxis,Fe={};for(let De=0,ue=ce.length;De<ue;De++){const Me=ce[De],Ce=br.querySelector('[sid="'+Me.target+'"]');if(Ce){const Oe=Ce.parentElement;Te(Me.jointIndex,Oe)}}function Te(De,ue){const Me=ue.getAttribute("name"),Ce=k.joints[De];re.traverse(function(Oe){Oe.name===Me&&(Fe[De]={object:Oe,transforms:xe(ue),joint:Ce,position:Ce.zeroPosition})})}const Ae=new K.Matrix4;rs={joints:k&&k.joints,getJointValue:function(De){const ue=Fe[De];if(ue)return ue.position;console.warn("THREE.ColladaLoader: Joint "+De+" doesn't exist.")},setJointValue:function(De,ue){const Me=Fe[De];if(Me){const Ce=Me.joint;if(ue>Ce.limits.max||ue<Ce.limits.min)console.warn("THREE.ColladaLoader: Joint "+De+" value "+ue+" outside of limits (min: "+Ce.limits.min+", max: "+Ce.limits.max+").");else if(Ce.static)console.warn("THREE.ColladaLoader: Joint "+De+" is static.");else{const Oe=Me.object,Le=Ce.axis,xr=Me.transforms;we.identity();for(let ar=0;ar<xr.length;ar++){const er=xr[ar];if(er.sid&&er.sid.indexOf(De)!==-1)switch(Ce.type){case"revolute":we.multiply(Ae.makeRotationAxis(Le,K.MathUtils.degToRad(ue)));break;case"prismatic":we.multiply(Ae.makeTranslation(Le.x*ue,Le.y*ue,Le.z*ue));break;default:console.warn("THREE.ColladaLoader: Unknown joint type: "+Ce.type);break}else switch(er.type){case"matrix":we.multiply(er.obj);break;case"translate":we.multiply(Ae.makeTranslation(er.obj.x,er.obj.y,er.obj.z));break;case"scale":we.scale(er.obj);break;case"rotate":we.multiply(Ae.makeRotationAxis(er.obj,er.angle));break}}Oe.matrix.copy(we),Oe.matrix.decompose(Oe.position,Oe.quaternion,Oe.scale),Fe[De].position=ue}}else console.log("THREE.ColladaLoader: "+De+" does not exist.")}}}function xe(_){const v=[],E=br.querySelector('[id="'+_.id+'"]');for(let k=0;k<E.childNodes.length;k++){const S=E.childNodes[k];if(S.nodeType!==1)continue;let re,ce;switch(S.nodeName){case"matrix":re=i(S.textContent);const Fe=new K.Matrix4().fromArray(re).transpose();v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:Fe});break;case"translate":case"scale":re=i(S.textContent),ce=new K.Vector3().fromArray(re),v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:ce});break;case"rotate":re=i(S.textContent),ce=new K.Vector3().fromArray(re);const Te=K.MathUtils.degToRad(re[3]);v.push({sid:S.getAttribute("sid"),type:S.nodeName,obj:ce,angle:Te});break}}return v}function ke(_){const v=_.getElementsByTagName("node");for(let E=0;E<v.length;E++){const k=v[E];k.hasAttribute("id")===!1&&k.setAttribute("id",o())}}const we=new K.Matrix4,pe=new K.Vector3;function ye(_){const v={name:_.getAttribute("name")||"",type:_.getAttribute("type"),id:_.getAttribute("id"),sid:_.getAttribute("sid"),matrix:new K.Matrix4,nodes:[],instanceCameras:[],instanceControllers:[],instanceLights:[],instanceGeometries:[],instanceNodes:[],transforms:{}};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];if(k.nodeType!==1)continue;let S;switch(k.nodeName){case"node":v.nodes.push(k.getAttribute("id")),ye(k);break;case"instance_camera":v.instanceCameras.push(c(k.getAttribute("url")));break;case"instance_controller":v.instanceControllers.push(Ve(k));break;case"instance_light":v.instanceLights.push(c(k.getAttribute("url")));break;case"instance_geometry":v.instanceGeometries.push(Ve(k));break;case"instance_node":v.instanceNodes.push(c(k.getAttribute("url")));break;case"matrix":S=i(k.textContent),v.matrix.multiply(we.fromArray(S).transpose()),v.transforms[k.getAttribute("sid")]=k.nodeName;break;case"translate":S=i(k.textContent),pe.fromArray(S),v.matrix.multiply(we.makeTranslation(pe.x,pe.y,pe.z)),v.transforms[k.getAttribute("sid")]=k.nodeName;break;case"rotate":S=i(k.textContent);const re=K.MathUtils.degToRad(S[3]);v.matrix.multiply(we.makeRotationAxis(pe.fromArray(S),re)),v.transforms[k.getAttribute("sid")]=k.nodeName;break;case"scale":S=i(k.textContent),v.matrix.scale(pe.fromArray(S)),v.transforms[k.getAttribute("sid")]=k.nodeName;break;case"extra":break;default:console.log(k)}}return bt(v.id)?console.warn("THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.",v.id):Pe.nodes[v.id]=v,v}function Ve(_){const v={id:c(_.getAttribute("url")),materials:{},skeletons:[]};for(let E=0;E<_.childNodes.length;E++){const k=_.childNodes[E];switch(k.nodeName){case"bind_material":const S=k.getElementsByTagName("instance_material");for(let re=0;re<S.length;re++){const ce=S[re],Fe=ce.getAttribute("symbol"),Te=ce.getAttribute("target");v.materials[Fe]=c(Te)}break;case"skeleton":v.skeletons.push(c(k.textContent));break}}return v}function fr(_,v){const E=[],k=[];let S,re,ce;for(S=0;S<_.length;S++){const Ae=_[S];let De;if(bt(Ae))De=Ct(Ae),or(De,v,E);else if(Do(Ae)){const Me=Pe.visualScenes[Ae].children;for(let Ce=0;Ce<Me.length;Ce++){const Oe=Me[Ce];if(Oe.type==="JOINT"){const Le=Ct(Oe.id);or(Le,v,E)}}}else console.error("THREE.ColladaLoader: Unable to find root bone of skeleton with ID:",Ae)}for(S=0;S<v.length;S++)for(re=0;re<E.length;re++)if(ce=E[re],ce.bone.name===v[S].name){k[S]=ce,ce.processed=!0;break}for(S=0;S<E.length;S++)ce=E[S],ce.processed===!1&&(k.push(ce),ce.processed=!0);const Fe=[],Te=[];for(S=0;S<k.length;S++)ce=k[S],Fe.push(ce.bone),Te.push(ce.boneInverse);return new K.Skeleton(Fe,Te)}function or(_,v,E){_.traverse(function(k){if(k.isBone===!0){let S;for(let re=0;re<v.length;re++){const ce=v[re];if(ce.name===k.name){S=ce.boneInverse;break}}S===void 0&&(S=new K.Matrix4),E.push({bone:k,boneInverse:S,processed:!1})}})}function Mr(_){const v=[],E=_.matrix,k=_.nodes,S=_.type,re=_.instanceCameras,ce=_.instanceControllers,Fe=_.instanceLights,Te=_.instanceGeometries,Ae=_.instanceNodes;for(let ue=0,Me=k.length;ue<Me;ue++)v.push(Ct(k[ue]));for(let ue=0,Me=re.length;ue<Me;ue++){const Ce=Bt(re[ue]);Ce!==null&&v.push(Ce.clone())}for(let ue=0,Me=ce.length;ue<Me;ue++){const Ce=ce[ue],Oe=P(Ce.id),Le=Da(Oe.id),xr=qt(Le,Ce.materials),ar=Ce.skeletons,er=Oe.skin.joints,rr=fr(ar,er);for(let Pt=0,Zr=xr.length;Pt<Zr;Pt++){const F0=xr[Pt];F0.isSkinnedMesh&&(F0.bind(rr,Oe.skin.bindMatrix),F0.normalizeSkinWeights()),v.push(F0)}}for(let ue=0,Me=Fe.length;ue<Me;ue++){const Ce=Ca(Fe[ue]);Ce!==null&&v.push(Ce.clone())}for(let ue=0,Me=Te.length;ue<Me;ue++){const Ce=Te[ue],Oe=Da(Ce.id),Le=qt(Oe,Ce.materials);for(let xr=0,ar=Le.length;xr<ar;xr++)v.push(Le[xr])}for(let ue=0,Me=Ae.length;ue<Me;ue++)v.push(Ct(Ae[ue]).clone());let De;if(k.length===0&&v.length===1)De=v[0];else{De=S==="JOINT"?new K.Bone:new K.Group;for(let ue=0;ue<v.length;ue++)De.add(v[ue])}return De.name=S==="JOINT"?_.sid:_.name,De.matrix.copy(E),De.matrix.decompose(De.position,De.quaternion,De.scale),De}const s0=new K.MeshBasicMaterial({name:K.Loader.DEFAULT_MATERIAL_NAME,color:16711935});function c0(_,v){const E=[];for(let k=0,S=_.length;k<S;k++){const re=v[_[k]];re===void 0?(console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.",_[k]),E.push(s0)):E.push(Ir(re))}return E}function qt(_,v){const E=[];for(const k in _){const S=_[k],re=c0(S.materialKeys,v);if(re.length===0&&(k==="lines"||k==="linestrips"?re.push(new K.LineBasicMaterial):re.push(new K.MeshPhongMaterial)),k==="lines"||k==="linestrips")for(let Ae=0,De=re.length;Ae<De;Ae++){const ue=re[Ae];if(ue.isMeshPhongMaterial===!0||ue.isMeshLambertMaterial===!0){const Me=new K.LineBasicMaterial;Me.color.copy(ue.color),Me.opacity=ue.opacity,Me.transparent=ue.transparent,re[Ae]=Me}}const ce=S.data.attributes.skinIndex!==void 0,Fe=re.length===1?re[0]:re;let Te;switch(k){case"lines":Te=new K.LineSegments(S.data,Fe);break;case"linestrips":Te=new K.Line(S.data,Fe);break;case"triangles":case"polylist":ce?Te=new K.SkinnedMesh(S.data,Fe):Te=new K.Mesh(S.data,Fe);break}E.push(Te)}return E}function bt(_){return Pe.nodes[_]!==void 0}function Ct(_){return h(Pe.nodes[_],Mr)}function wt(_){const v={name:_.getAttribute("name"),children:[]};ke(_);const E=a(_,"node");for(let k=0;k<E.length;k++)v.children.push(ye(E[k]));Pe.visualScenes[_.getAttribute("id")]=v}function Yi(_){const v=new K.Group;v.name=_.name;const E=_.children;for(let k=0;k<E.length;k++){const S=E[k];v.add(Ct(S.id))}return v}function Do(_){return Pe.visualScenes[_]!==void 0}function Ji(_){return h(Pe.visualScenes[_],Yi)}function Lo(_){const v=a(_,"instance_visual_scene")[0];return Ji(c(v.getAttribute("url")))}function Ro(){const _=Pe.clips;if(f(_)===!0){if(f(Pe.animations)===!1){const v=[];for(const E in Pe.animations){const k=D(E);for(let S=0,re=k.length;S<re;S++)v.push(k[S])}Ra.push(new K.AnimationClip("default",-1,v))}}else for(const v in _)Ra.push(Ne(v))}function Io(_){let v="";const E=[_];for(;E.length;){const k=E.shift();k.nodeType===Node.TEXT_NODE?v+=k.textContent:(v+=`
+`,E.push.apply(E,k.childNodes))}return v.trim()}if(t.length===0)return{scene:new K.Scene};const Zi=new DOMParser().parseFromString(t,"application/xml"),br=a(Zi,"COLLADA")[0],Ln=Zi.getElementsByTagName("parsererror")[0];if(Ln!==void 0){const _=a(Ln,"div")[0];let v;return _?v=_.textContent:v=Io(Ln),console.error(`THREE.ColladaLoader: Failed to parse collada file.
+`,v),null}const Oo=br.getAttribute("version");console.debug("THREE.ColladaLoader: File version",Oo);const Qi=l(a(br,"asset")[0]),es=new K.TextureLoader(this.manager);es.setPath(this.resourcePath||r).setCrossOrigin(this.crossOrigin);let Rn;u1&&(Rn=new u1(this.manager),Rn.setPath(this.resourcePath||r));const La=new K.Color,Ra=[];let rs={},Bo=0;const Pe={animations:{},clips:{},controllers:{},images:{},effects:{},materials:{},cameras:{},lights:{},geometries:{},nodes:{},visualScenes:{},kinematicsModels:{},physicsModels:{},kinematicsScenes:{}};p(br,"library_animations","animation",m),p(br,"library_animation_clips","animation_clip",ne),p(br,"library_controllers","controller",j),p(br,"library_images","image",W),p(br,"library_effects","effect",q),p(br,"library_materials","material",_t),p(br,"library_cameras","camera",ot),p(br,"library_lights","light",ba),p(br,"library_geometries","geometry",Na),p(br,"library_nodes","node",ye),p(br,"library_visual_scenes","visual_scene",wt),p(br,"library_kinematics_models","kinematics_model",bn),p(br,"library_physics_models","physics_model",b),p(br,"scene","instance_kinematics_scene",J),x(Pe.animations,g),x(Pe.clips,le),x(Pe.controllers,V),x(Pe.images,ee),x(Pe.effects,gt),x(Pe.materials,$t),x(Pe.cameras,vr),x(Pe.lights,j0),x(Pe.geometries,Ma),x(Pe.visualScenes,Yi),Ro(),Q();const Ia=Lo(a(br,"scene")[0]);return Ia.animations=Ra,Qi.upAxis==="Z_UP"&&(console.warn("THREE.ColladaLoader: You are loading an asset with a Z-UP coordinate system. The loader just rotates the asset to transform it into Y-UP. The vertex data are not converted, see #24289."),Ia.rotation.set(-Math.PI/2,0,0)),Ia.scale.multiplyScalar(Qi.unit),{get animations(){return console.warn("THREE.ColladaLoader: Please access animations over scene.animations now."),Ra},kinematics:rs,library:Pe,scene:Ia}}}const d1=new K.Vector3,$x=new K.Euler,$a=new K.Matrix4,Yt=new K.Matrix4,qa=new K.Quaternion,Ka=new K.Vector3(1,1,1),Ya=new K.Vector3;class kn extends K.Object3D{constructor(...t){super(...t),this.urdfNode=null,this.urdfName=""}copy(t,r){return super.copy(t,r),this.urdfNode=t.urdfNode,this.urdfName=t.urdfName,this}}class qx extends kn{constructor(...t){super(...t),this.isURDFCollider=!0,this.type="URDFCollider"}}class Kx extends kn{constructor(...t){super(...t),this.isURDFVisual=!0,this.type="URDFVisual"}}class Co extends kn{constructor(...t){super(...t),this.isURDFLink=!0,this.type="URDFLink"}}class No extends kn{get jointType(){return this._jointType}set jointType(t){if(this.jointType!==t)switch(this._jointType=t,this.matrixWorldNeedsUpdate=!0,t){case"fixed":this.jointValue=[];break;case"continuous":case"revolute":case"prismatic":this.jointValue=new Array(1).fill(0);break;case"planar":this.jointValue=new Array(3).fill(0),this.axis=new K.Vector3(0,0,1);break;case"floating":this.jointValue=new Array(6).fill(0);break}}get angle(){return this.jointValue[0]}constructor(...t){super(...t),this.isURDFJoint=!0,this.type="URDFJoint",this.jointValue=null,this.jointType="fixed",this.axis=new K.Vector3(1,0,0),this.limit={lower:0,upper:0},this.ignoreLimits=!1,this.origPosition=null,this.origQuaternion=null,this.mimicJoints=[]}copy(t,r){return super.copy(t,r),this.jointType=t.jointType,this.axis=t.axis.clone(),this.limit.lower=t.limit.lower,this.limit.upper=t.limit.upper,this.ignoreLimits=!1,this.jointValue=[...t.jointValue],this.origPosition=t.origPosition?t.origPosition.clone():null,this.origQuaternion=t.origQuaternion?t.origQuaternion.clone():null,this.mimicJoints=[...t.mimicJoints],this}setJointValue(...t){t=t.map(a=>a===null?null:parseFloat(a)),(!this.origPosition||!this.origQuaternion)&&(this.origPosition=this.position.clone(),this.origQuaternion=this.quaternion.clone());let r=!1;switch(this.mimicJoints.forEach(a=>{r=a.updateFromMimickedJoint(...t)||r}),this.jointType){case"fixed":return r;case"continuous":case"revolute":{let a=t[0];return a==null||a===this.jointValue[0]?r:(!this.ignoreLimits&&this.jointType==="revolute"&&(a=Math.min(this.limit.upper,a),a=Math.max(this.limit.lower,a)),this.quaternion.setFromAxisAngle(this.axis,a).premultiply(this.origQuaternion),this.jointValue[0]!==a?(this.jointValue[0]=a,this.matrixWorldNeedsUpdate=!0,!0):r)}case"prismatic":{let a=t[0];return a==null||a===this.jointValue[0]?r:(this.ignoreLimits||(a=Math.min(this.limit.upper,a),a=Math.max(this.limit.lower,a)),this.position.copy(this.origPosition),d1.copy(this.axis).applyEuler(this.rotation),this.position.addScaledVector(d1,a),this.jointValue[0]!==a?(this.jointValue[0]=a,this.matrixWorldNeedsUpdate=!0,!0):r)}case"floating":return this.jointValue.every((a,n)=>t[n]===a||t[n]===null)?r:(this.jointValue[0]=t[0]!==null?t[0]:this.jointValue[0],this.jointValue[1]=t[1]!==null?t[1]:this.jointValue[1],this.jointValue[2]=t[2]!==null?t[2]:this.jointValue[2],this.jointValue[3]=t[3]!==null?t[3]:this.jointValue[3],this.jointValue[4]=t[4]!==null?t[4]:this.jointValue[4],this.jointValue[5]=t[5]!==null?t[5]:this.jointValue[5],Yt.compose(this.origPosition,this.origQuaternion,Ka),qa.setFromEuler($x.set(this.jointValue[3],this.jointValue[4],this.jointValue[5],"XYZ")),Ya.set(this.jointValue[0],this.jointValue[1],this.jointValue[2]),$a.compose(Ya,qa,Ka),Yt.premultiply($a),this.position.setFromMatrixPosition(Yt),this.rotation.setFromRotationMatrix(Yt),this.matrixWorldNeedsUpdate=!0,!0);case"planar":return this.jointValue.every((a,n)=>t[n]===a||t[n]===null)?r:(this.jointValue[0]=t[0]!==null?t[0]:this.jointValue[0],this.jointValue[1]=t[1]!==null?t[1]:this.jointValue[1],this.jointValue[2]=t[2]!==null?t[2]:this.jointValue[2],Yt.compose(this.origPosition,this.origQuaternion,Ka),qa.setFromAxisAngle(this.axis,this.jointValue[2]),Ya.set(this.jointValue[0],this.jointValue[1],0),$a.compose(Ya,qa,Ka),Yt.premultiply($a),this.position.setFromMatrixPosition(Yt),this.rotation.setFromRotationMatrix(Yt),this.matrixWorldNeedsUpdate=!0,!0)}return r}}class x1 extends No{constructor(...t){super(...t),this.type="URDFMimicJoint",this.mimicJoint=null,this.offset=0,this.multiplier=1}updateFromMimickedJoint(...t){const r=t.map(a=>a*this.multiplier+this.offset);return super.setJointValue(...r)}copy(t,r){return super.copy(t,r),this.mimicJoint=t.mimicJoint,this.offset=t.offset,this.multiplier=t.multiplier,this}}class Yx extends Co{constructor(...t){super(...t),this.isURDFRobot=!0,this.urdfNode=null,this.urdfRobotNode=null,this.robotName=null,this.links=null,this.joints=null,this.colliders=null,this.visual=null,this.frames=null}copy(t,r){super.copy(t,r),this.urdfRobotNode=t.urdfRobotNode,this.robotName=t.robotName,this.links={},this.joints={},this.colliders={},this.visual={},this.traverse(a=>{a.isURDFJoint&&a.urdfName in t.joints&&(this.joints[a.urdfName]=a),a.isURDFLink&&a.urdfName in t.links&&(this.links[a.urdfName]=a),a.isURDFCollider&&a.urdfName in t.colliders&&(this.colliders[a.urdfName]=a),a.isURDFVisual&&a.urdfName in t.visual&&(this.visual[a.urdfName]=a)});for(const a in this.joints)this.joints[a].mimicJoints=this.joints[a].mimicJoints.map(n=>this.joints[n.name]);return this.frames={...this.colliders,...this.visual,...this.links,...this.joints},this}getFrame(t){return this.frames[t]}setJointValue(t,...r){const a=this.joints[t];return a?a.setJointValue(...r):!1}setJointValues(t){let r=!1;for(const a in t){const n=t[a];Array.isArray(n)?r=this.setJointValue(a,...n)||r:r=this.setJointValue(a,n)||r}return r}}const Kn=new K.Quaternion,p1=new K.Euler;function M0(e){return e?e.trim().split(/\s+/g).map(t=>parseFloat(t)):[0,0,0]}function m1(e,t,r=!1){r||e.rotation.set(0,0,0),p1.set(t[0],t[1],t[2],"ZYX"),Kn.setFromEuler(p1),Kn.multiply(e.quaternion),e.quaternion.copy(Kn)}class Mo{constructor(t){this.manager=t||K.DefaultLoadingManager,this.loadMeshCb=this.defaultMeshLoader.bind(this),this.parseVisual=!0,this.parseCollision=!1,this.packages="",this.workingPath="",this.fetchOptions={}}loadAsync(t){return new Promise((r,a)=>{this.load(t,r,null,a)})}load(t,r,a,n){const i=this.manager,s=K.LoaderUtils.extractUrlBase(t),c=this.manager.resolveURL(t);i.itemStart(c),fetch(c,this.fetchOptions).then(o=>{if(o.ok)return a&&a(null),o.text();throw new Error(`URDFLoader: Failed to load url '${c}' with error code ${o.status} : ${o.statusText}.`)}).then(o=>{const f=this.parse(o,this.workingPath||s);r(f),i.itemEnd(c)}).catch(o=>{n?n(o):console.error("URDFLoader: Error loading file.",o),i.itemError(c),i.itemEnd(c)})}parse(t,r=this.workingPath){const a=this.packages,n=this.loadMeshCb,i=this.parseVisual,s=this.parseCollision,c=this.manager,o={},f={},l={};function u(y){if(!/^package:\/\//.test(y))return r?r+y:y;const[g,D]=y.replace(/^package:\/\//,"").split(/\/(.+)/);if(typeof a=="string")return a.endsWith(g)?a+"/"+D:a+"/"+g+"/"+D;if(a instanceof Function)return a(g)+"/"+D;if(typeof a=="object")return g in a?a[g]+"/"+D:(console.error(`URDFLoader : ${g} not found in provided package list.`),null)}function d(y){let g;y instanceof Document?g=[...y.children]:y instanceof Element?g=[y]:g=[...new DOMParser().parseFromString(y,"text/xml").children];const D=g.filter(O=>O.nodeName==="robot").pop();return p(D)}function p(y){const g=[...y.children],D=g.filter(G=>G.nodeName.toLowerCase()==="link"),O=g.filter(G=>G.nodeName.toLowerCase()==="joint"),U=g.filter(G=>G.nodeName.toLowerCase()==="material"),A=new Yx;A.robotName=y.getAttribute("name"),A.urdfRobotNode=y,U.forEach(G=>{const H=G.getAttribute("name");l[H]=m(G)});const z={},C={};D.forEach(G=>{const H=G.getAttribute("name"),ae=y.querySelector(`child[link="${H}"]`)===null;o[H]=h(G,z,C,ae?A:null)}),O.forEach(G=>{const H=G.getAttribute("name");f[H]=x(G)}),A.joints=f,A.links=o,A.colliders=C,A.visual=z;const X=Object.values(f);return X.forEach(G=>{G instanceof x1&&f[G.mimicJoint].mimicJoints.push(G)}),X.forEach(G=>{const H=new Set,ae=ve=>{if(H.has(ve))throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");H.add(ve),ve.mimicJoints.forEach(he=>{ae(he)})};ae(G)}),A.frames={...C,...z,...o,...f},A}function x(y){const g=[...y.children],D=y.getAttribute("type");let O;const U=g.find(H=>H.nodeName.toLowerCase()==="mimic");U?(O=new x1,O.mimicJoint=U.getAttribute("joint"),O.multiplier=parseFloat(U.getAttribute("multiplier")||1),O.offset=parseFloat(U.getAttribute("offset")||0)):O=new No,O.urdfNode=y,O.name=y.getAttribute("name"),O.urdfName=O.name,O.jointType=D;let A=null,z=null,C=[0,0,0],X=[0,0,0];g.forEach(H=>{const ae=H.nodeName.toLowerCase();ae==="origin"?(C=M0(H.getAttribute("xyz")),X=M0(H.getAttribute("rpy"))):ae==="child"?z=o[H.getAttribute("link")]:ae==="parent"?A=o[H.getAttribute("link")]:ae==="limit"&&(O.limit.lower=parseFloat(H.getAttribute("lower")||O.limit.lower),O.limit.upper=parseFloat(H.getAttribute("upper")||O.limit.upper))}),A.add(O),O.add(z),m1(O,X),O.position.set(C[0],C[1],C[2]);const G=g.filter(H=>H.nodeName.toLowerCase()==="axis")[0];if(G){const H=G.getAttribute("xyz").split(/\s+/g).map(ae=>parseFloat(ae));O.axis=new K.Vector3(H[0],H[1],H[2]),O.axis.normalize()}return O}function h(y,g,D,O=null){O===null&&(O=new Co);const U=[...y.children];return O.name=y.getAttribute("name"),O.urdfName=O.name,O.urdfNode=y,i&&U.filter(z=>z.nodeName.toLowerCase()==="visual").forEach(z=>{const C=T(z,l);if(O.add(C),z.hasAttribute("name")){const X=z.getAttribute("name");C.name=X,C.urdfName=X,g[X]=C}}),s&&U.filter(z=>z.nodeName.toLowerCase()==="collision").forEach(z=>{const C=T(z);if(O.add(C),z.hasAttribute("name")){const X=z.getAttribute("name");C.name=X,C.urdfName=X,D[X]=C}}),O}function m(y){const g=[...y.children],D=new K.MeshPhongMaterial;return D.name=y.getAttribute("name")||"",g.forEach(O=>{const U=O.nodeName.toLowerCase();if(U==="color"){const A=O.getAttribute("rgba").split(/\s/g).map(z=>parseFloat(z));D.color.setRGB(A[0],A[1],A[2]),D.opacity=A[3],D.transparent=A[3]<1,D.depthWrite=!D.transparent}else if(U==="texture"){const A=O.getAttribute("filename");if(A){const z=new K.TextureLoader(c),C=u(A);D.map=z.load(C),D.map.colorSpace=K.SRGBColorSpace}}}),D}function T(y,g={}){const D=y.nodeName.toLowerCase()==="collision",O=[...y.children];let U=null;const A=O.filter(C=>C.nodeName.toLowerCase()==="material")[0];if(A){const C=A.getAttribute("name");C&&C in g?U=g[C]:U=m(A)}else U=new K.MeshPhongMaterial;const z=D?new qx:new Kx;return z.urdfNode=y,O.forEach(C=>{const X=C.nodeName.toLowerCase();if(X==="geometry"){const G=C.children[0].nodeName.toLowerCase();if(G==="mesh"){const H=C.children[0].getAttribute("filename"),ae=u(H);if(ae!==null){const ve=C.children[0].getAttribute("scale");if(ve){const he=M0(ve);z.scale.set(he[0],he[1],he[2])}n(ae,c,(he,ne)=>{ne?console.error("URDFLoader: Error loading mesh.",ne):he&&(he instanceof K.Mesh&&(he.material=U),he.position.set(0,0,0),he.quaternion.identity(),z.add(he))})}}else if(G==="box"){const H=new K.Mesh;H.geometry=new K.BoxGeometry(1,1,1),H.material=U;const ae=M0(C.children[0].getAttribute("size"));H.scale.set(ae[0],ae[1],ae[2]),z.add(H)}else if(G==="sphere"){const H=new K.Mesh;H.geometry=new K.SphereGeometry(1,30,30),H.material=U;const 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