ss-component-new 1.3.645 → 1.3.646

package/dist/{URDFLoader-Cpc_aT68.js → URDFLoader-5yxKptss.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-CzUQTGKY.js";
-import { b7 as vn, az as Rn, R as lt, an as At, U as In, V as pe, n as he, aJ as dt, S as Mn, aw as Tt, C as ut, o as Le, aQ as ft, b8 as Sn, k as ve, aZ as Se, c as me, ap as On, l as Gn, a4 as Pn, P as ht, aO as qn, i as jn, ar as Fn, j as Un, D as Hn, s as pt, at as Et, aW as mt, aY as Bn, u as zn, Y as ye, aR as Dn, a2 as bt, aL as Vn, h as Ce, w as Jn, aM as Wn, aP as Kn, aF as Oe, aH as gt, b9 as Yn, ba as Xn, bb as yt, bc as $n, bd as Zn, be as Qn, bf as ei, a0 as ti, bg as ni, bh as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-BEPFL4uU.js";
+import { S as Ln } from "./MTLLoader-CZqN7Zrs.js";
+import { b7 as vn, az as Rn, R as lt, an as At, U as In, V as pe, n as he, aJ as dt, S as Mn, aw as Tt, C as ut, p as Le, aQ as ft, b8 as Sn, k as ve, aZ as Se, c as me, ap as On, l as Gn, a4 as Fn, P as ht, aO as Pn, i as qn, ar as jn, j as Un, D as zn, s as pt, at as Et, aW as mt, aY as Hn, u as Bn, Y as we, aR as Dn, a2 as bt, aL as Vn, h as Ce, w as Jn, aM as Wn, aP as Kn, aF as Oe, aH as gt, b9 as Yn, ba as Xn, bb as yt, bc as $n, bd as Zn, be as Qn, bf as ei, a0 as ti, bg as ni, bh as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-DdTK-nti.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -16,206 +16,206 @@ class wt extends vn {
    * @return {DataTextureLoader~TexData} An object representing the parsed texture data.
    */
   parse(O) {
-    function Q(u) {
-      switch (u.image_type) {
+    function Q(f) {
+      switch (f.image_type) {
         // check indexed type
-        case Ne:
+        case Ae:
         case ee:
-          if (u.colormap_length > 256 || u.colormap_size !== 24 || u.colormap_type !== 1)
+          if (f.colormap_length > 256 || f.colormap_size !== 24 || f.colormap_type !== 1)
             throw new Error("THREE.TGALoader: Invalid type colormap data for indexed type.");
           break;
         // check colormap type
         case $:
         case ie:
         case be:
-        case ge:
-          if (u.colormap_type)
+        case ye:
+          if (f.colormap_type)
             throw new Error("THREE.TGALoader: Invalid type colormap data for colormap type.");
           break;
         // What the need of a file without data ?
-        case ke:
+        case Ne:
           throw new Error("THREE.TGALoader: No data.");
         // Invalid type ?
         default:
-          throw new Error("THREE.TGALoader: Invalid type " + u.image_type);
+          throw new Error("THREE.TGALoader: Invalid type " + f.image_type);
       }
-      if (u.width <= 0 || u.height <= 0)
+      if (f.width <= 0 || f.height <= 0)
         throw new Error("THREE.TGALoader: Invalid image size.");
-      if (u.pixel_size !== 8 && u.pixel_size !== 16 && u.pixel_size !== 24 && u.pixel_size !== 32)
-        throw new Error("THREE.TGALoader: Invalid pixel size " + u.pixel_size);
-    }
-    function R(u, K, D, B, X) {
-      let F, z;
-      const _ = D.pixel_size >> 3, x = D.width * D.height * _;
-      if (K && (z = X.subarray(B, B += D.colormap_length * (D.colormap_size >> 3))), u) {
-        F = new Uint8Array(x);
-        let N, f, A, V = 0;
-        const le = new Uint8Array(_);
-        for (; V < x; )
-          if (N = X[B++], f = (N & 127) + 1, N & 128) {
-            for (A = 0; A < _; ++A)
-              le[A] = X[B++];
-            for (A = 0; A < f; ++A)
-              F.set(le, V + A * _);
-            V += _ * f;
+      if (f.pixel_size !== 8 && f.pixel_size !== 16 && f.pixel_size !== 24 && f.pixel_size !== 32)
+        throw new Error("THREE.TGALoader: Invalid pixel size " + f.pixel_size);
+    }
+    function R(f, K, V, H, X) {
+      let j, B;
+      const v = V.pixel_size >> 3, _ = V.width * V.height * v;
+      if (K && (B = X.subarray(H, H += V.colormap_length * (V.colormap_size >> 3))), f) {
+        j = new Uint8Array(_);
+        let A, h, T, J = 0;
+        const le = new Uint8Array(v);
+        for (; J < _; )
+          if (A = X[H++], h = (A & 127) + 1, A & 128) {
+            for (T = 0; T < v; ++T)
+              le[T] = X[H++];
+            for (T = 0; T < h; ++T)
+              j.set(le, J + T * v);
+            J += v * h;
           } else {
-            for (f *= _, A = 0; A < f; ++A)
-              F[V + A] = X[B++];
-            V += f;
+            for (h *= v, T = 0; T < h; ++T)
+              j[J + T] = X[H++];
+            J += h;
           }
       } else
-        F = X.subarray(
-          B,
-          B += K ? D.width * D.height : x
+        j = X.subarray(
+          H,
+          H += K ? V.width * V.height : _
         );
       return {
-        pixel_data: F,
-        palettes: z
+        pixel_data: j,
+        palettes: B
       };
     }
-    function se(u, K, D, B, X, F, z, _, x) {
-      const N = x;
-      let f, A = 0, V, le;
-      const Ae = C.width;
-      for (le = K; le !== B; le += D)
-        for (V = X; V !== z; V += F, A++)
-          f = _[A], u[(V + Ae * le) * 4 + 3] = 255, u[(V + Ae * le) * 4 + 2] = N[f * 3 + 0], u[(V + Ae * le) * 4 + 1] = N[f * 3 + 1], u[(V + Ae * le) * 4 + 0] = N[f * 3 + 2];
-      return u;
-    }
-    function v(u, K, D, B, X, F, z, _) {
-      let x, N = 0, f, A;
-      const V = C.width;
-      for (A = K; A !== B; A += D)
-        for (f = X; f !== z; f += F, N += 2)
-          x = _[N + 0] + (_[N + 1] << 8), u[(f + V * A) * 4 + 0] = (x & 31744) >> 7, u[(f + V * A) * 4 + 1] = (x & 992) >> 2, u[(f + V * A) * 4 + 2] = (x & 31) << 3, u[(f + V * A) * 4 + 3] = x & 32768 ? 0 : 255;
-      return u;
-    }
-    function oe(u, K, D, B, X, F, z, _) {
-      let x = 0, N, f;
-      const A = C.width;
-      for (f = K; f !== B; f += D)
-        for (N = X; N !== z; N += F, x += 3)
-          u[(N + A * f) * 4 + 3] = 255, u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 1], u[(N + A * f) * 4 + 0] = _[x + 2];
-      return u;
-    }
-    function I(u, K, D, B, X, F, z, _) {
-      let x = 0, N, f;
-      const A = C.width;
-      for (f = K; f !== B; f += D)
-        for (N = X; N !== z; N += F, x += 4)
-          u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 1], u[(N + A * f) * 4 + 0] = _[x + 2], u[(N + A * f) * 4 + 3] = _[x + 3];
-      return u;
-    }
-    function Y(u, K, D, B, X, F, z, _) {
-      let x, N = 0, f, A;
-      const V = C.width;
-      for (A = K; A !== B; A += D)
-        for (f = X; f !== z; f += F, N++)
-          x = _[N], u[(f + V * A) * 4 + 0] = x, u[(f + V * A) * 4 + 1] = x, u[(f + V * A) * 4 + 2] = x, u[(f + V * A) * 4 + 3] = 255;
-      return u;
-    }
-    function ne(u, K, D, B, X, F, z, _) {
-      let x = 0, N, f;
-      const A = C.width;
-      for (f = K; f !== B; f += D)
-        for (N = X; N !== z; N += F, x += 2)
-          u[(N + A * f) * 4 + 0] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 0], u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 3] = _[x + 1];
-      return u;
-    }
-    function we(u, K, D, B, X) {
-      let F, z, _, x, N, f;
-      switch ((C.flags & M) >> q) {
+    function se(f, K, V, H, X, j, B, v, _) {
+      const A = _;
+      let h, T = 0, J, le;
+      const Te = L.width;
+      for (le = K; le !== H; le += V)
+        for (J = X; J !== B; J += j, T++)
+          h = v[T], f[(J + Te * le) * 4 + 3] = 255, f[(J + Te * le) * 4 + 2] = A[h * 3 + 0], f[(J + Te * le) * 4 + 1] = A[h * 3 + 1], f[(J + Te * le) * 4 + 0] = A[h * 3 + 2];
+      return f;
+    }
+    function C(f, K, V, H, X, j, B, v) {
+      let _, A = 0, h, T;
+      const J = L.width;
+      for (T = K; T !== H; T += V)
+        for (h = X; h !== B; h += j, A += 2)
+          _ = v[A + 0] + (v[A + 1] << 8), f[(h + J * T) * 4 + 0] = (_ & 31744) >> 7, f[(h + J * T) * 4 + 1] = (_ & 992) >> 2, f[(h + J * T) * 4 + 2] = (_ & 31) << 3, f[(h + J * T) * 4 + 3] = _ & 32768 ? 0 : 255;
+      return f;
+    }
+    function oe(f, K, V, H, X, j, B, v) {
+      let _ = 0, A, h;
+      const T = L.width;
+      for (h = K; h !== H; h += V)
+        for (A = X; A !== B; A += j, _ += 3)
+          f[(A + T * h) * 4 + 3] = 255, f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 1], f[(A + T * h) * 4 + 0] = v[_ + 2];
+      return f;
+    }
+    function I(f, K, V, H, X, j, B, v) {
+      let _ = 0, A, h;
+      const T = L.width;
+      for (h = K; h !== H; h += V)
+        for (A = X; A !== B; A += j, _ += 4)
+          f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 1], f[(A + T * h) * 4 + 0] = v[_ + 2], f[(A + T * h) * 4 + 3] = v[_ + 3];
+      return f;
+    }
+    function Y(f, K, V, H, X, j, B, v) {
+      let _, A = 0, h, T;
+      const J = L.width;
+      for (T = K; T !== H; T += V)
+        for (h = X; h !== B; h += j, A++)
+          _ = v[A], f[(h + J * T) * 4 + 0] = _, f[(h + J * T) * 4 + 1] = _, f[(h + J * T) * 4 + 2] = _, f[(h + J * T) * 4 + 3] = 255;
+      return f;
+    }
+    function ne(f, K, V, H, X, j, B, v) {
+      let _ = 0, A, h;
+      const T = L.width;
+      for (h = K; h !== H; h += V)
+        for (A = X; A !== B; A += j, _ += 2)
+          f[(A + T * h) * 4 + 0] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 0], f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 3] = v[_ + 1];
+      return f;
+    }
+    function ke(f, K, V, H, X) {
+      let j, B, v, _, A, h;
+      switch ((L.flags & M) >> P) {
         default:
-        case J:
-          F = 0, _ = 1, N = K, z = 0, x = 1, f = D;
+        case D:
+          j = 0, v = 1, A = K, B = 0, _ = 1, h = V;
           break;
         case U:
-          F = 0, _ = 1, N = K, z = D - 1, x = -1, f = -1;
+          j = 0, v = 1, A = K, B = V - 1, _ = -1, h = -1;
           break;
         case S:
-          F = K - 1, _ = -1, N = -1, z = 0, x = 1, f = D;
+          j = K - 1, v = -1, A = -1, B = 0, _ = 1, h = V;
           break;
-        case E:
-          F = K - 1, _ = -1, N = -1, z = D - 1, x = -1, f = -1;
+        case b:
+          j = K - 1, v = -1, A = -1, B = V - 1, _ = -1, h = -1;
           break;
       }
-      if (j)
-        switch (C.pixel_size) {
+      if (q)
+        switch (L.pixel_size) {
           case 8:
-            Y(u, z, x, f, F, _, N, B);
+            Y(f, B, _, h, j, v, A, H);
             break;
           case 16:
-            ne(u, z, x, f, F, _, N, B);
+            ne(f, B, _, h, j, v, A, H);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
         }
       else
-        switch (C.pixel_size) {
+        switch (L.pixel_size) {
           case 8:
-            se(u, z, x, f, F, _, N, B, X);
+            se(f, B, _, h, j, v, A, H, X);
             break;
           case 16:
-            v(u, z, x, f, F, _, N, B);
+            C(f, B, _, h, j, v, A, H);
             break;
           case 24:
-            oe(u, z, x, f, F, _, N, B);
+            oe(f, B, _, h, j, v, A, H);
             break;
           case 32:
-            I(u, z, x, f, F, _, N, B);
+            I(f, B, _, h, j, v, A, H);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
         }
-      return u;
+      return f;
     }
-    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, q = 4, U = 0, E = 1, J = 2, S = 3;
+    const Ne = 0, Ae = 1, $ = 2, ie = 3, ee = 9, be = 10, ye = 11, M = 48, P = 4, U = 0, b = 1, D = 2, S = 3;
     if (O.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
-    let m = 0;
-    const h = new Uint8Array(O), C = {
-      id_length: h[m++],
-      colormap_type: h[m++],
-      image_type: h[m++],
-      colormap_index: h[m++] | h[m++] << 8,
-      colormap_length: h[m++] | h[m++] << 8,
-      colormap_size: h[m++],
+    let p = 0;
+    const d = new Uint8Array(O), L = {
+      id_length: d[p++],
+      colormap_type: d[p++],
+      image_type: d[p++],
+      colormap_index: d[p++] | d[p++] << 8,
+      colormap_length: d[p++] | d[p++] << 8,
+      colormap_size: d[p++],
       origin: [
-        h[m++] | h[m++] << 8,
-        h[m++] | h[m++] << 8
+        d[p++] | d[p++] << 8,
+        d[p++] | d[p++] << 8
       ],
-      width: h[m++] | h[m++] << 8,
-      height: h[m++] | h[m++] << 8,
-      pixel_size: h[m++],
-      flags: h[m++]
+      width: d[p++] | d[p++] << 8,
+      height: d[p++] | d[p++] << 8,
+      pixel_size: d[p++],
+      flags: d[p++]
     };
-    if (Q(C), C.id_length + m > O.length)
+    if (Q(L), L.id_length + p > O.length)
       throw new Error("THREE.TGALoader: No data.");
-    m += C.id_length;
-    let L = !1, k = !1, j = !1;
-    switch (C.image_type) {
+    p += L.id_length;
+    let x = !1, k = !1, q = !1;
+    switch (L.image_type) {
       case ee:
-        L = !0, k = !0;
+        x = !0, k = !0;
         break;
-      case Ne:
+      case Ae:
         k = !0;
         break;
       case be:
-        L = !0;
+        x = !0;
         break;
       case $:
         break;
-      case ge:
-        L = !0, j = !0;
+      case ye:
+        x = !0, q = !0;
         break;
       case ie:
-        j = !0;
+        q = !0;
         break;
     }
-    const ae = new Uint8Array(C.width * C.height * 4), te = R(L, k, C, m, h);
-    return we(ae, C.width, C.height, te.pixel_data, te.palettes), {
+    const ae = new Uint8Array(L.width * L.height * 4), te = R(x, k, L, p, d);
+    return ke(ae, L.width, L.height, te.pixel_data, te.palettes), {
       data: ae,
-      width: C.width,
-      height: C.height,
+      width: L.width,
+      height: L.height,
       flipY: !0,
       generateMipmaps: !0,
       minFilter: Rn
@@ -233,12 +233,12 @@ class oi extends lt {
    * @param {onErrorCallback} onError - Executed when errors occur.
    */
   load(O, Q, R, se) {
-    const v = this, oe = v.path === "" ? At.extractUrlBase(O) : v.path, I = new In(v.manager);
-    I.setPath(v.path), I.setRequestHeader(v.requestHeader), I.setWithCredentials(v.withCredentials), I.load(O, function(Y) {
+    const C = this, oe = C.path === "" ? At.extractUrlBase(O) : C.path, I = new In(C.manager);
+    I.setPath(C.path), I.setRequestHeader(C.requestHeader), I.setWithCredentials(C.withCredentials), I.load(O, function(Y) {
       try {
-        Q(v.parse(Y, oe));
+        Q(C.parse(Y, oe));
       } catch (ne) {
-        se ? se(ne) : console.error(ne), v.manager.itemError(O);
+        se ? se(ne) : console.error(ne), C.manager.itemError(O);
       }
     }, R, se);
   }
@@ -266,7 +266,7 @@ class oi extends lt {
         i[n] = e[n];
       return i;
     }
-    function v(t) {
+    function C(t) {
       if (t.length === 0) return [];
       const e = t.trim().split(/\s+/), i = new Array(e.length);
       for (let n = 0, s = e.length; n < s; n++)
@@ -289,16 +289,16 @@ class oi extends lt {
     function ne(t) {
       return Object.keys(t).length === 0;
     }
-    function we(t) {
+    function ke(t) {
       return {
-        unit: ke(R(t, "unit")[0]),
-        upAxis: Ne(R(t, "up_axis")[0])
+        unit: Ne(R(t, "unit")[0]),
+        upAxis: Ae(R(t, "up_axis")[0])
       };
     }
-    function ke(t) {
+    function Ne(t) {
       return t !== void 0 && t.hasAttribute("meter") === !0 ? parseFloat(t.getAttribute("meter")) : 1;
     }
-    function Ne(t) {
+    function Ae(t) {
       return t !== void 0 ? t.textContent : "Y_UP";
     }
     function $(t, e, i, n) {
@@ -334,7 +334,7 @@ class oi extends lt {
             r = o.getAttribute("id"), e.sources[r] = Ge(o);
             break;
           case "sampler":
-            r = o.getAttribute("id"), e.samplers[r] = ge(o);
+            r = o.getAttribute("id"), e.samplers[r] = ye(o);
             break;
           case "channel":
             r = o.getAttribute("target"), e.channels[r] = M(o);
@@ -346,9 +346,9 @@ class oi extends lt {
             console.log(o);
         }
       }
-      i === !1 && (T.animations[t.getAttribute("id") || Le.generateUUID()] = e);
+      i === !1 && (E.animations[t.getAttribute("id") || Le.generateUUID()] = e);
     }
-    function ge(t) {
+    function ye(t) {
       const e = {
         inputs: {}
       };
@@ -369,8 +369,8 @@ class oi extends lt {
       let n = t.getAttribute("target").split("/");
       const s = n.shift();
       let o = n.shift();
-      const r = o.indexOf("(") !== -1, d = o.indexOf(".") !== -1;
-      if (d)
+      const r = o.indexOf("(") !== -1, u = o.indexOf(".") !== -1;
+      if (u)
         n = o.split("."), o = n.shift(), e.member = n.shift();
       else if (r) {
         const c = o.split("(");
@@ -379,33 +379,33 @@ class oi extends lt {
           c[l] = parseInt(c[l].replace(/\)/, ""));
         e.indices = c;
       }
-      return e.id = s, e.sid = o, e.arraySyntax = r, e.memberSyntax = d, e.sampler = I(t.getAttribute("source")), e;
+      return e.id = s, e.sid = o, e.arraySyntax = r, e.memberSyntax = u, e.sampler = I(t.getAttribute("source")), e;
     }
-    function q(t) {
+    function P(t) {
       const e = [], i = t.channels, n = t.samplers, s = t.sources;
       for (const o in i)
         if (i.hasOwnProperty(o)) {
-          const r = i[o], d = n[r.sampler], c = d.inputs.INPUT, l = d.inputs.OUTPUT, g = s[c], a = s[l], b = E(r, g, a);
-          C(b, e);
+          const r = i[o], u = n[r.sampler], c = u.inputs.INPUT, l = u.inputs.OUTPUT, y = s[c], a = s[l], g = b(r, y, a);
+          L(g, e);
         }
       return e;
     }
     function U(t) {
-      return ee(T.animations[t], q);
+      return ee(E.animations[t], P);
     }
-    function E(t, e, i) {
-      const n = T.nodes[t.id], s = Ee(n.id), o = n.transforms[t.sid], r = n.matrix.clone().transpose();
-      let d, c, l, g, a, b;
-      const p = {};
+    function b(t, e, i) {
+      const n = E.nodes[t.id], s = xe(n.id), o = n.transforms[t.sid], r = n.matrix.clone().transpose();
+      let u, c, l, y, a, g;
+      const m = {};
       switch (o) {
         case "matrix":
-          for (l = 0, g = e.array.length; l < g; l++)
-            if (d = e.array[l], c = l * i.stride, p[d] === void 0 && (p[d] = {}), t.arraySyntax === !0) {
-              const W = i.array[c], H = t.indices[0] + 4 * t.indices[1];
-              p[d][H] = W;
+          for (l = 0, y = e.array.length; l < y; l++)
+            if (u = e.array[l], c = l * i.stride, m[u] === void 0 && (m[u] = {}), t.arraySyntax === !0) {
+              const W = i.array[c], z = t.indices[0] + 4 * t.indices[1];
+              m[u][z] = W;
             } else
-              for (a = 0, b = i.stride; a < b; a++)
-                p[d][a] = i.array[c + a];
+              for (a = 0, g = i.stride; a < g; a++)
+                m[u][a] = i.array[c + a];
           break;
         case "translate":
           console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', o);
@@ -417,34 +417,34 @@ class oi extends lt {
           console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', o);
           break;
       }
-      const w = J(p, r);
+      const N = D(m, r);
       return {
         name: s.uuid,
-        keyframes: w
+        keyframes: N
       };
     }
-    function J(t, e) {
+    function D(t, e) {
       const i = [];
       for (const s in t)
         i.push({ time: parseFloat(s), value: t[s] });
       i.sort(n);
       for (let s = 0; s < 16; s++)
-        L(i, s, e.elements[s]);
+        x(i, s, e.elements[s]);
       return i;
       function n(s, o) {
         return s.time - o.time;
       }
     }
-    const S = new pe(), m = new pe(), h = new Et();
-    function C(t, e) {
-      const i = t.keyframes, n = t.name, s = [], o = [], r = [], d = [];
+    const S = new pe(), p = new pe(), d = new Et();
+    function L(t, e) {
+      const i = t.keyframes, n = t.name, s = [], o = [], r = [], u = [];
       for (let c = 0, l = i.length; c < l; c++) {
-        const g = i[c], a = g.time, b = g.value;
-        ce.fromArray(b).transpose(), ce.decompose(S, h, m), s.push(a), o.push(S.x, S.y, S.z), r.push(h.x, h.y, h.z, h.w), d.push(m.x, m.y, m.z);
+        const y = i[c], a = y.time, g = y.value;
+        ce.fromArray(g).transpose(), ce.decompose(S, d, p), s.push(a), o.push(S.x, S.y, S.z), r.push(d.x, d.y, d.z, d.w), u.push(p.x, p.y, p.z);
       }
-      return o.length > 0 && e.push(new mt(n + ".position", s, o)), r.length > 0 && e.push(new Bn(n + ".quaternion", s, r)), d.length > 0 && e.push(new mt(n + ".scale", s, d)), e;
+      return o.length > 0 && e.push(new mt(n + ".position", s, o)), r.length > 0 && e.push(new Hn(n + ".quaternion", s, r)), u.length > 0 && e.push(new mt(n + ".scale", s, u)), e;
     }
-    function L(t, e, i) {
+    function x(t, e, i) {
       let n, s = !0, o, r;
       for (o = 0, r = t.length; o < r; o++)
         n = t[o], n.value[e] === void 0 ? n.value[e] = null : s = !1;
@@ -459,7 +459,7 @@ class oi extends lt {
       for (let s = 0, o = t.length; s < o; s++) {
         const r = t[s];
         if (r.value[e] === null) {
-          if (i = j(t, s, e), n = ae(t, s, e), i === null) {
+          if (i = q(t, s, e), n = ae(t, s, e), i === null) {
             r.value[e] = n.value[e];
             continue;
           }
@@ -471,7 +471,7 @@ class oi extends lt {
         }
       }
     }
-    function j(t, e, i) {
+    function q(t, e, i) {
       for (; e >= 0; ) {
         const n = t[e];
         if (n.value[i] !== null) return n;
@@ -494,7 +494,7 @@ class oi extends lt {
       }
       t.value[n] = (t.time - e.time) * (i.value[n] - e.value[n]) / (i.time - e.time) + e.value[n];
     }
-    function u(t) {
+    function f(t) {
       const e = {
         name: t.getAttribute("id") || "default",
         start: parseFloat(t.getAttribute("start") || 0),
@@ -510,21 +510,21 @@ class oi extends lt {
               break;
           }
       }
-      T.clips[t.getAttribute("id")] = e;
+      E.clips[t.getAttribute("id")] = e;
     }
     function K(t) {
       const e = [], i = t.name, n = t.end - t.start || -1, s = t.animations;
       for (let o = 0, r = s.length; o < r; o++) {
-        const d = U(s[o]);
-        for (let c = 0, l = d.length; c < l; c++)
-          e.push(d[c]);
+        const u = U(s[o]);
+        for (let c = 0, l = u.length; c < l; c++)
+          e.push(u[c]);
       }
       return new ft(i, n, e);
     }
-    function D(t) {
-      return ee(T.clips[t], K);
+    function V(t) {
+      return ee(E.clips[t], K);
     }
-    function B(t) {
+    function H(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -538,7 +538,7 @@ class oi extends lt {
               break;
           }
       }
-      T.controllers[t.getAttribute("id")] = e;
+      E.controllers[t.getAttribute("id")] = e;
     }
     function X(t) {
       const e = {
@@ -549,23 +549,23 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "bind_shape_matrix":
-              e.bindShapeMatrix = v(s.textContent);
+              e.bindShapeMatrix = C(s.textContent);
               break;
             case "source":
               const o = s.getAttribute("id");
               e.sources[o] = Ge(s);
               break;
             case "joints":
-              e.joints = F(s);
+              e.joints = j(s);
               break;
             case "vertex_weights":
-              e.vertexWeights = z(s);
+              e.vertexWeights = B(s);
               break;
           }
       }
       return e;
     }
-    function F(t) {
+    function j(t) {
       const e = {
         inputs: {}
       };
@@ -581,7 +581,7 @@ class oi extends lt {
       }
       return e;
     }
-    function z(t) {
+    function B(t) {
       const e = {
         inputs: {}
       };
@@ -590,8 +590,8 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "input":
-              const o = s.getAttribute("semantic"), r = I(s.getAttribute("source")), d = parseInt(s.getAttribute("offset"));
-              e.inputs[o] = { id: r, offset: d };
+              const o = s.getAttribute("semantic"), r = I(s.getAttribute("source")), u = parseInt(s.getAttribute("offset"));
+              e.inputs[o] = { id: r, offset: u };
               break;
             case "vcount":
               e.vcount = oe(s.textContent);
@@ -603,13 +603,13 @@ class oi extends lt {
       }
       return e;
     }
-    function _(t) {
+    function v(t) {
       const e = {
         id: t.id
-      }, i = T.geometries[e.id];
-      return t.skin !== void 0 && (e.skin = x(t.skin), i.sources.skinIndices = e.skin.indices, i.sources.skinWeights = e.skin.weights), e;
+      }, i = E.geometries[e.id];
+      return t.skin !== void 0 && (e.skin = _(t.skin), i.sources.skinIndices = e.skin.indices, i.sources.skinWeights = e.skin.weights), e;
     }
-    function x(t) {
+    function _(t) {
       const i = {
         joints: [],
         // this must be an array to preserve the joint order
@@ -621,43 +621,43 @@ class oi extends lt {
           array: [],
           stride: 4
         }
-      }, n = t.sources, s = t.vertexWeights, o = s.vcount, r = s.v, d = s.inputs.JOINT.offset, c = s.inputs.WEIGHT.offset, l = t.sources[t.joints.inputs.JOINT], g = t.sources[t.joints.inputs.INV_BIND_MATRIX], a = n[s.inputs.WEIGHT.id].array;
-      let b = 0, p, w, y;
-      for (p = 0, y = o.length; p < y; p++) {
-        const H = o[p], G = [];
-        for (w = 0; w < H; w++) {
-          const P = r[b + d], fe = r[b + c], re = a[fe];
-          G.push({ index: P, weight: re }), b += 2;
+      }, n = t.sources, s = t.vertexWeights, o = s.vcount, r = s.v, u = s.inputs.JOINT.offset, c = s.inputs.WEIGHT.offset, l = t.sources[t.joints.inputs.JOINT], y = t.sources[t.joints.inputs.INV_BIND_MATRIX], a = n[s.inputs.WEIGHT.id].array;
+      let g = 0, m, N, w;
+      for (m = 0, w = o.length; m < w; m++) {
+        const z = o[m], G = [];
+        for (N = 0; N < z; N++) {
+          const F = r[g + u], fe = r[g + c], re = a[fe];
+          G.push({ index: F, weight: re }), g += 2;
         }
-        for (G.sort(W), w = 0; w < 4; w++) {
-          const P = G[w];
-          P !== void 0 ? (i.indices.array.push(P.index), i.weights.array.push(P.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
+        for (G.sort(W), N = 0; N < 4; N++) {
+          const F = G[N];
+          F !== void 0 ? (i.indices.array.push(F.index), i.weights.array.push(F.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
         }
       }
-      for (t.bindShapeMatrix ? i.bindMatrix = new he().fromArray(t.bindShapeMatrix).transpose() : i.bindMatrix = new he().identity(), p = 0, y = l.array.length; p < y; p++) {
-        const H = l.array[p], G = new he().fromArray(g.array, p * g.stride).transpose();
-        i.joints.push({ name: H, boneInverse: G });
+      for (t.bindShapeMatrix ? i.bindMatrix = new he().fromArray(t.bindShapeMatrix).transpose() : i.bindMatrix = new he().identity(), m = 0, w = l.array.length; m < w; m++) {
+        const z = l.array[m], G = new he().fromArray(y.array, m * y.stride).transpose();
+        i.joints.push({ name: z, boneInverse: G });
       }
       return i;
-      function W(H, G) {
-        return G.weight - H.weight;
+      function W(z, G) {
+        return G.weight - z.weight;
       }
     }
-    function N(t) {
-      return ee(T.controllers[t], _);
+    function A(t) {
+      return ee(E.controllers[t], v);
     }
-    function f(t) {
+    function h(t) {
       const e = {
         init_from: R(t, "init_from")[0].textContent
       };
-      T.images[t.getAttribute("id")] = e;
+      E.images[t.getAttribute("id")] = e;
     }
-    function A(t) {
+    function T(t) {
       return t.build !== void 0 ? t.build : t.init_from;
     }
-    function V(t) {
-      const e = T.images[t];
-      return e !== void 0 ? ee(e, A) : (console.warn("THREE.ColladaLoader: Couldn't find image with ID:", t), null);
+    function J(t) {
+      const e = E.images[t];
+      return e !== void 0 ? ee(e, T) : (console.warn("THREE.ColladaLoader: Couldn't find image with ID:", t), null);
     }
     function le(t) {
       const e = {};
@@ -666,13 +666,13 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "profile_COMMON":
-              e.profile = Ae(s);
+              e.profile = Te(s);
               break;
           }
       }
-      T.effects[t.getAttribute("id")] = e;
+      E.effects[t.getAttribute("id")] = e;
     }
-    function Ae(t) {
+    function Te(t) {
       const e = {
         surfaces: {},
         samplers: {}
@@ -688,7 +688,7 @@ class oi extends lt {
               e.technique = Lt(s);
               break;
             case "extra":
-              e.extra = Be(s);
+              e.extra = He(s);
               break;
           }
       }
@@ -748,7 +748,7 @@ class oi extends lt {
               e.type = s.nodeName, e.parameters = vt(s);
               break;
             case "extra":
-              e.extra = Be(s);
+              e.extra = He(s);
               break;
           }
       }
@@ -786,19 +786,19 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "color":
-              e[s.nodeName] = v(s.textContent);
+              e[s.nodeName] = C(s.textContent);
               break;
             case "float":
               e[s.nodeName] = parseFloat(s.textContent);
               break;
             case "texture":
-              e[s.nodeName] = { id: s.getAttribute("texture"), extra: He(s) };
+              e[s.nodeName] = { id: s.getAttribute("texture"), extra: ze(s) };
               break;
           }
       }
       return e;
     }
-    function He(t) {
+    function ze(t) {
       const e = {
         technique: {}
       };
@@ -840,12 +840,12 @@ class oi extends lt {
               s.textContent.toUpperCase() === "TRUE" ? e.technique[s.nodeName] = 1 : s.textContent.toUpperCase() === "FALSE" ? e.technique[s.nodeName] = 0 : e.technique[s.nodeName] = parseInt(s.textContent);
               break;
             case "bump":
-              e[s.nodeName] = ze(s);
+              e[s.nodeName] = Be(s);
               break;
           }
       }
     }
-    function Be(t) {
+    function He(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -868,20 +868,20 @@ class oi extends lt {
               e[s.nodeName] = parseInt(s.textContent);
               break;
             case "bump":
-              e[s.nodeName] = ze(s);
+              e[s.nodeName] = Be(s);
               break;
           }
       }
       return e;
     }
-    function ze(t) {
+    function Be(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "texture":
-              e[s.nodeName] = { id: s.getAttribute("texture"), texcoord: s.getAttribute("texcoord"), extra: He(s) };
+              e[s.nodeName] = { id: s.getAttribute("texture"), texcoord: s.getAttribute("texcoord"), extra: ze(s) };
               break;
           }
       }
@@ -891,7 +891,7 @@ class oi extends lt {
       return t;
     }
     function St(t) {
-      return ee(T.effects[t], De);
+      return ee(E.effects[t], De);
     }
     function Ot(t) {
       const e = {
@@ -906,13 +906,13 @@ class oi extends lt {
               break;
           }
       }
-      T.materials[t.getAttribute("id")] = e;
+      E.materials[t.getAttribute("id")] = e;
     }
     function Gt(t) {
       let e, i = t.slice((t.lastIndexOf(".") - 1 >>> 0) + 2);
       switch (i = i.toLowerCase(), i) {
         case "tga":
-          e = je;
+          e = qe;
           break;
         default:
           e = rt;
@@ -936,23 +936,23 @@ class oi extends lt {
       }
       n.name = t.name || "";
       function s(c, l = null) {
-        const g = e.profile.samplers[c.id];
+        const y = e.profile.samplers[c.id];
         let a = null;
-        if (g !== void 0) {
-          const b = e.profile.surfaces[g.source];
-          a = V(b.init_from);
+        if (y !== void 0) {
+          const g = e.profile.surfaces[y.source];
+          a = J(g.init_from);
         } else
-          console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530)."), a = V(c.id);
+          console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530)."), a = J(c.id);
         if (a !== null) {
-          const b = Gt(a);
-          if (b !== void 0) {
-            const p = b.load(a), w = c.extra;
-            if (w !== void 0 && w.technique !== void 0 && ne(w.technique) === !1) {
-              const y = w.technique;
-              p.wrapS = y.wrapU ? Oe : gt, p.wrapT = y.wrapV ? Oe : gt, p.offset.set(y.offsetU || 0, y.offsetV || 0), p.repeat.set(y.repeatU || 1, y.repeatV || 1);
+          const g = Gt(a);
+          if (g !== void 0) {
+            const m = g.load(a), N = c.extra;
+            if (N !== void 0 && N.technique !== void 0 && ne(N.technique) === !1) {
+              const w = N.technique;
+              m.wrapS = w.wrapU ? Oe : gt, m.wrapT = w.wrapV ? Oe : gt, m.offset.set(w.offsetU || 0, w.offsetV || 0), m.repeat.set(w.repeatU || 1, w.repeatV || 1);
             } else
-              p.wrapS = Oe, p.wrapT = Oe;
-            return l !== null && (p.colorSpace = l), p;
+              m.wrapS = Oe, m.wrapT = Oe;
+            return l !== null && (m.colorSpace = l), m;
           } else
             return console.warn("THREE.ColladaLoader: Loader for texture %s not found.", a), null;
         } else
@@ -983,31 +983,31 @@ class oi extends lt {
         }
       }
       Se.colorSpaceToWorking(n.color, me), n.specular && Se.colorSpaceToWorking(n.specular, me), n.emissive && Se.colorSpaceToWorking(n.emissive, me);
-      let r = o.transparent, d = o.transparency;
-      if (d === void 0 && r && (d = {
+      let r = o.transparent, u = o.transparency;
+      if (u === void 0 && r && (u = {
         float: 1
-      }), r === void 0 && d && (r = {
+      }), r === void 0 && u && (r = {
         opaque: "A_ONE",
         data: {
           color: [1, 1, 1, 1]
         }
-      }), r && d)
+      }), r && u)
         if (r.data.texture)
           n.transparent = !0;
         else {
           const c = r.data.color;
           switch (r.opaque) {
             case "A_ONE":
-              n.opacity = c[3] * d.float;
+              n.opacity = c[3] * u.float;
               break;
             case "RGB_ZERO":
-              n.opacity = 1 - c[0] * d.float;
+              n.opacity = 1 - c[0] * u.float;
               break;
             case "A_ZERO":
-              n.opacity = 1 - c[3] * d.float;
+              n.opacity = 1 - c[3] * u.float;
               break;
             case "RGB_ONE":
-              n.opacity = c[0] * d.float;
+              n.opacity = c[0] * u.float;
               break;
             default:
               console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', r.opaque);
@@ -1017,23 +1017,23 @@ class oi extends lt {
       if (i.extra !== void 0 && i.extra.technique !== void 0) {
         const c = i.extra.technique;
         for (const l in c) {
-          const g = c[l];
+          const y = c[l];
           switch (l) {
             case "double_sided":
-              n.side = g === 1 ? Gn : Pn;
+              n.side = y === 1 ? Gn : Fn;
               break;
             case "bump":
-              n.normalMap = s(g.texture), n.normalScale = new On(1, 1);
+              n.normalMap = s(y.texture), n.normalScale = new On(1, 1);
               break;
           }
         }
       }
       return n;
     }
-    function Pt(t) {
-      return ee(T.materials[t], Ve);
+    function Ft(t) {
+      return ee(E.materials[t], Ve);
     }
-    function qt(t) {
+    function Pt(t) {
       const e = {
         name: t.getAttribute("name")
       };
@@ -1042,23 +1042,23 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = jt(s);
+              e.optics = qt(s);
               break;
           }
       }
-      T.cameras[t.getAttribute("id")] = e;
+      E.cameras[t.getAttribute("id")] = e;
     }
-    function jt(t) {
+    function qt(t) {
       for (let e = 0; e < t.childNodes.length; e++) {
         const i = t.childNodes[e];
         switch (i.nodeName) {
           case "technique_common":
-            return Ft(i);
+            return jt(i);
         }
       }
       return {};
     }
-    function Ft(t) {
+    function jt(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1103,7 +1103,7 @@ class oi extends lt {
         case "orthographic":
           let i = t.optics.parameters.ymag, n = t.optics.parameters.xmag;
           const s = t.optics.parameters.aspect_ratio;
-          n = n === void 0 ? i * s : n, i = i === void 0 ? n / s : i, n *= 0.5, i *= 0.5, e = new qn(
+          n = n === void 0 ? i * s : n, i = i === void 0 ? n / s : i, n *= 0.5, i *= 0.5, e = new Pn(
             -n,
             n,
             i,
@@ -1119,24 +1119,24 @@ class oi extends lt {
       }
       return e.name = t.name || "", e;
     }
-    function Ht(t) {
-      const e = T.cameras[t];
+    function zt(t) {
+      const e = E.cameras[t];
       return e !== void 0 ? ee(e, Je) : (console.warn("THREE.ColladaLoader: Couldn't find camera with ID:", t), null);
     }
-    function Bt(t) {
+    function Ht(t) {
       let e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "technique_common":
-              e = zt(s);
+              e = Bt(s);
               break;
           }
       }
-      T.lights[t.getAttribute("id")] = e;
+      E.lights[t.getAttribute("id")] = e;
     }
-    function zt(t) {
+    function Bt(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -1158,7 +1158,7 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "color":
-              const o = v(s.textContent);
+              const o = C(s.textContent);
               e.color = new ut().fromArray(o), Se.colorSpaceToWorking(e.color, me);
               break;
             case "falloff_angle":
@@ -1176,22 +1176,22 @@ class oi extends lt {
       let e;
       switch (t.technique) {
         case "directional":
-          e = new Hn();
+          e = new zn();
           break;
         case "point":
           e = new Un();
           break;
         case "spot":
-          e = new Fn();
+          e = new jn();
           break;
         case "ambient":
-          e = new jn();
+          e = new qn();
           break;
       }
       return t.parameters.color && e.color.copy(t.parameters.color), t.parameters.distance && (e.distance = t.parameters.distance), e;
     }
     function Vt(t) {
-      const e = T.lights[t];
+      const e = E.lights[t];
       return e !== void 0 ? ee(e, We) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
     }
     function Jt(t) {
@@ -1226,7 +1226,7 @@ class oi extends lt {
               console.log(s);
           }
         }
-        T.geometries[t.getAttribute("id")] = e;
+        E.geometries[t.getAttribute("id")] = e;
       }
     }
     function Ge(t) {
@@ -1239,7 +1239,7 @@ class oi extends lt {
         if (n.nodeType === 1)
           switch (n.nodeName) {
             case "float_array":
-              e.array = v(n.textContent);
+              e.array = C(n.textContent);
               break;
             case "Name_array":
               e.array = se(n.textContent);
@@ -1274,8 +1274,8 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "input":
-              const o = I(s.getAttribute("source")), r = s.getAttribute("semantic"), d = parseInt(s.getAttribute("offset")), c = parseInt(s.getAttribute("set")), l = c > 0 ? r + c : r;
-              e.inputs[l] = { id: o, offset: d }, e.stride = Math.max(e.stride, d + 1), r === "TEXCOORD" && (e.hasUV = !0);
+              const o = I(s.getAttribute("source")), r = s.getAttribute("semantic"), u = parseInt(s.getAttribute("offset")), c = parseInt(s.getAttribute("set")), l = c > 0 ? r + c : r;
+              e.inputs[l] = { id: o, offset: u }, e.stride = Math.max(e.stride, u + 1), r === "TEXCOORD" && (e.hasUV = !0);
               break;
             case "vcount":
               e.vcount = oe(s.textContent);
@@ -1306,71 +1306,71 @@ class oi extends lt {
       if (s.length === 0) return {};
       const o = Yt(s);
       for (const r in o) {
-        const d = o[r];
-        Xt(d), e[r] = $t(d, i, n);
+        const u = o[r];
+        Xt(u), e[r] = $t(u, i, n);
       }
       return e;
     }
     function $t(t, e, i) {
-      const n = {}, s = { array: [], stride: 0 }, o = { array: [], stride: 0 }, r = { array: [], stride: 0 }, d = { array: [], stride: 0 }, c = { array: [], stride: 0 }, l = { array: [], stride: 4 }, g = { array: [], stride: 4 }, a = new zn(), b = [];
-      let p = 0;
-      for (let w = 0; w < t.length; w++) {
-        const y = t[w], W = y.inputs;
-        let H = 0;
-        switch (y.type) {
+      const n = {}, s = { array: [], stride: 0 }, o = { array: [], stride: 0 }, r = { array: [], stride: 0 }, u = { array: [], stride: 0 }, c = { array: [], stride: 0 }, l = { array: [], stride: 4 }, y = { array: [], stride: 4 }, a = new Bn(), g = [];
+      let m = 0;
+      for (let N = 0; N < t.length; N++) {
+        const w = t[N], W = w.inputs;
+        let z = 0;
+        switch (w.type) {
           case "lines":
           case "linestrips":
-            H = y.count * 2;
+            z = w.count * 2;
             break;
           case "triangles":
-            H = y.count * 3;
+            z = w.count * 3;
             break;
           case "polylist":
-            for (let G = 0; G < y.count; G++) {
-              const P = y.vcount[G];
-              switch (P) {
+            for (let G = 0; G < w.count; G++) {
+              const F = w.vcount[G];
+              switch (F) {
                 case 3:
-                  H += 3;
+                  z += 3;
                   break;
                 case 4:
-                  H += 6;
+                  z += 6;
                   break;
                 default:
-                  H += (P - 2) * 3;
+                  z += (F - 2) * 3;
                   break;
               }
             }
             break;
           default:
-            console.warn("THREE.ColladaLoader: Unknown primitive type:", y.type);
+            console.warn("THREE.ColladaLoader: Unknown primitive type:", w.type);
         }
-        a.addGroup(p, H, w), p += H, y.material && b.push(y.material);
+        a.addGroup(m, z, N), m += z, w.material && g.push(w.material);
         for (const G in W) {
-          const P = W[G];
+          const F = W[G];
           switch (G) {
             case "VERTEX":
               for (const fe in i) {
                 const re = i[fe];
                 switch (fe) {
                   case "POSITION":
-                    const xe = s.array.length;
-                    if (de(y, e[re], P.offset, s.array), s.stride = e[re].stride, e.skinWeights && e.skinIndices && (de(y, e.skinIndices, P.offset, l.array), de(y, e.skinWeights, P.offset, g.array)), y.hasUV === !1 && t.uvsNeedsFix === !0) {
-                      const Cn = (s.array.length - xe) / s.stride;
+                    const _e = s.array.length;
+                    if (de(w, e[re], F.offset, s.array), s.stride = e[re].stride, e.skinWeights && e.skinIndices && (de(w, e.skinIndices, F.offset, l.array), de(w, e.skinWeights, F.offset, y.array)), w.hasUV === !1 && t.uvsNeedsFix === !0) {
+                      const Cn = (s.array.length - _e) / s.stride;
                       for (let ct = 0; ct < Cn; ct++)
                         r.array.push(0, 0);
                     }
                     break;
                   case "NORMAL":
-                    de(y, e[re], P.offset, o.array), o.stride = e[re].stride;
+                    de(w, e[re], F.offset, o.array), o.stride = e[re].stride;
                     break;
                   case "COLOR":
-                    de(y, e[re], P.offset, c.array), c.stride = e[re].stride;
+                    de(w, e[re], F.offset, c.array), c.stride = e[re].stride;
                     break;
                   case "TEXCOORD":
-                    de(y, e[re], P.offset, r.array), r.stride = e[re].stride;
+                    de(w, e[re], F.offset, r.array), r.stride = e[re].stride;
                     break;
                   case "TEXCOORD1":
-                    de(y, e[re], P.offset, d.array), r.stride = e[re].stride;
+                    de(w, e[re], F.offset, u.array), r.stride = e[re].stride;
                     break;
                   default:
                     console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', fe);
@@ -1378,63 +1378,63 @@ class oi extends lt {
               }
               break;
             case "NORMAL":
-              de(y, e[P.id], P.offset, o.array), o.stride = e[P.id].stride;
+              de(w, e[F.id], F.offset, o.array), o.stride = e[F.id].stride;
               break;
             case "COLOR":
-              de(y, e[P.id], P.offset, c.array, !0), c.stride = e[P.id].stride;
+              de(w, e[F.id], F.offset, c.array, !0), c.stride = e[F.id].stride;
               break;
             case "TEXCOORD":
-              de(y, e[P.id], P.offset, r.array), r.stride = e[P.id].stride;
+              de(w, e[F.id], F.offset, r.array), r.stride = e[F.id].stride;
               break;
             case "TEXCOORD1":
-              de(y, e[P.id], P.offset, d.array), d.stride = e[P.id].stride;
+              de(w, e[F.id], F.offset, u.array), u.stride = e[F.id].stride;
               break;
           }
         }
       }
-      return s.array.length > 0 && a.setAttribute("position", new ye(s.array, s.stride)), o.array.length > 0 && a.setAttribute("normal", new ye(o.array, o.stride)), c.array.length > 0 && a.setAttribute("color", new ye(c.array, c.stride)), r.array.length > 0 && a.setAttribute("uv", new ye(r.array, r.stride)), d.array.length > 0 && a.setAttribute("uv1", new ye(d.array, d.stride)), l.array.length > 0 && a.setAttribute("skinIndex", new ye(l.array, l.stride)), g.array.length > 0 && a.setAttribute("skinWeight", new ye(g.array, g.stride)), n.data = a, n.type = t[0].type, n.materialKeys = b, n;
+      return s.array.length > 0 && a.setAttribute("position", new we(s.array, s.stride)), o.array.length > 0 && a.setAttribute("normal", new we(o.array, o.stride)), c.array.length > 0 && a.setAttribute("color", new we(c.array, c.stride)), r.array.length > 0 && a.setAttribute("uv", new we(r.array, r.stride)), u.array.length > 0 && a.setAttribute("uv1", new we(u.array, u.stride)), l.array.length > 0 && a.setAttribute("skinIndex", new we(l.array, l.stride)), y.array.length > 0 && a.setAttribute("skinWeight", new we(y.array, y.stride)), n.data = a, n.type = t[0].type, n.materialKeys = g, n;
     }
     function de(t, e, i, n, s = !1) {
-      const o = t.p, r = t.stride, d = t.vcount;
+      const o = t.p, r = t.stride, u = t.vcount;
       function c(a) {
-        let b = o[a + i] * g;
-        const p = b + g;
-        for (; b < p; b++)
-          n.push(l[b]);
+        let g = o[a + i] * y;
+        const m = g + y;
+        for (; g < m; g++)
+          n.push(l[g]);
         if (s) {
-          const w = n.length - g - 1;
+          const N = n.length - y - 1;
           Re.setRGB(
-            n[w + 0],
-            n[w + 1],
-            n[w + 2],
+            n[N + 0],
+            n[N + 1],
+            n[N + 2],
             me
-          ), n[w + 0] = Re.r, n[w + 1] = Re.g, n[w + 2] = Re.b;
+          ), n[N + 0] = Re.r, n[N + 1] = Re.g, n[N + 2] = Re.b;
         }
       }
-      const l = e.array, g = e.stride;
+      const l = e.array, y = e.stride;
       if (t.vcount !== void 0) {
         let a = 0;
-        for (let b = 0, p = d.length; b < p; b++) {
-          const w = d[b];
-          if (w === 4) {
-            const y = a + r * 0, W = a + r * 1, H = a + r * 2, G = a + r * 3;
-            c(y), c(W), c(G), c(W), c(H), c(G);
-          } else if (w === 3) {
-            const y = a + r * 0, W = a + r * 1, H = a + r * 2;
-            c(y), c(W), c(H);
-          } else if (w > 4)
-            for (let y = 1, W = w - 2; y <= W; y++) {
-              const H = a + r * 0, G = a + r * y, P = a + r * (y + 1);
-              c(H), c(G), c(P);
+        for (let g = 0, m = u.length; g < m; g++) {
+          const N = u[g];
+          if (N === 4) {
+            const w = a + r * 0, W = a + r * 1, z = a + r * 2, G = a + r * 3;
+            c(w), c(W), c(G), c(W), c(z), c(G);
+          } else if (N === 3) {
+            const w = a + r * 0, W = a + r * 1, z = a + r * 2;
+            c(w), c(W), c(z);
+          } else if (N > 4)
+            for (let w = 1, W = N - 2; w <= W; w++) {
+              const z = a + r * 0, G = a + r * w, F = a + r * (w + 1);
+              c(z), c(G), c(F);
             }
-          a += r * w;
+          a += r * N;
         }
       } else
-        for (let a = 0, b = o.length; a < b; a += r)
+        for (let a = 0, g = o.length; a < g; a += r)
           c(a);
     }
     function Ye(t) {
-      return ee(T.geometries[t], Ke);
+      return ee(E.geometries[t], Ke);
     }
     function Zt(t) {
       const e = {
@@ -1451,13 +1451,13 @@ class oi extends lt {
               break;
           }
       }
-      T.kinematicsModels[t.getAttribute("id")] = e;
+      E.kinematicsModels[t.getAttribute("id")] = e;
     }
     function Qt(t) {
       return t.build !== void 0 ? t.build : t;
     }
     function en(t) {
-      return ee(T.kinematicsModels[t], Qt);
+      return ee(E.kinematicsModels[t], Qt);
     }
     function tn(t, e) {
       for (let i = 0; i < t.childNodes.length; i++) {
@@ -1506,7 +1506,7 @@ class oi extends lt {
         if (n.nodeType === 1)
           switch (n.nodeName) {
             case "axis":
-              const s = v(n.textContent);
+              const s = C(n.textContent);
               e.axis.fromArray(s);
               break;
             case "limits":
@@ -1565,7 +1565,7 @@ class oi extends lt {
     function $e(t) {
       const e = {
         type: t.nodeName
-      }, i = v(t.textContent);
+      }, i = C(t.textContent);
       switch (e.type) {
         case "matrix":
           e.obj = new he(), e.obj.fromArray(i).transpose();
@@ -1593,7 +1593,7 @@ class oi extends lt {
               break;
           }
       }
-      T.physicsModels[t.getAttribute("id")] = e;
+      E.physicsModels[t.getAttribute("id")] = e;
     }
     function an(t, e) {
       for (let i = 0; i < t.childNodes.length; i++) {
@@ -1612,10 +1612,10 @@ class oi extends lt {
         if (n.nodeType === 1)
           switch (n.nodeName) {
             case "inertia":
-              e.inertia = v(n.textContent);
+              e.inertia = C(n.textContent);
               break;
             case "mass":
-              e.mass = v(n.textContent)[0];
+              e.mass = C(n.textContent)[0];
               break;
           }
       }
@@ -1633,7 +1633,7 @@ class oi extends lt {
               break;
           }
       }
-      T.kinematicsScenes[I(t.getAttribute("url"))] = e;
+      E.kinematicsScenes[I(t.getAttribute("url"))] = e;
     }
     function dn(t) {
       const e = {
@@ -1657,62 +1657,62 @@ class oi extends lt {
       return t.build !== void 0 ? t.build : t;
     }
     function fn(t) {
-      return ee(T.kinematicsScenes[t], un);
+      return ee(E.kinematicsScenes[t], un);
     }
     function hn() {
-      const t = Object.keys(T.kinematicsModels)[0], e = Object.keys(T.kinematicsScenes)[0], i = Object.keys(T.visualScenes)[0];
+      const t = Object.keys(E.kinematicsModels)[0], e = Object.keys(E.kinematicsScenes)[0], i = Object.keys(E.visualScenes)[0];
       if (t === void 0 || e === void 0) return;
-      const n = en(t), s = fn(e), o = it(i), r = s.bindJointAxis, d = {};
-      for (let g = 0, a = r.length; g < a; g++) {
-        const b = r[g], p = Z.querySelector('[sid="' + b.target + '"]');
-        if (p) {
-          const w = p.parentElement;
-          c(b.jointIndex, w);
+      const n = en(t), s = fn(e), o = it(i), r = s.bindJointAxis, u = {};
+      for (let y = 0, a = r.length; y < a; y++) {
+        const g = r[y], m = Z.querySelector('[sid="' + g.target + '"]');
+        if (m) {
+          const N = m.parentElement;
+          c(g.jointIndex, N);
         }
       }
-      function c(g, a) {
-        const b = a.getAttribute("name"), p = n.joints[g];
-        o.traverse(function(w) {
-          w.name === b && (d[g] = {
-            object: w,
+      function c(y, a) {
+        const g = a.getAttribute("name"), m = n.joints[y];
+        o.traverse(function(N) {
+          N.name === g && (u[y] = {
+            object: N,
             transforms: pn(a),
-            joint: p,
-            position: p.zeroPosition
+            joint: m,
+            position: m.zeroPosition
           });
         });
       }
       const l = new he();
       at = {
         joints: n && n.joints,
-        getJointValue: function(g) {
-          const a = d[g];
+        getJointValue: function(y) {
+          const a = u[y];
           if (a)
             return a.position;
-          console.warn("THREE.ColladaLoader: Joint " + g + " doesn't exist.");
+          console.warn("THREE.ColladaLoader: Joint " + y + " doesn't exist.");
         },
-        setJointValue: function(g, a) {
-          const b = d[g];
-          if (b) {
-            const p = b.joint;
-            if (a > p.limits.max || a < p.limits.min)
-              console.warn("THREE.ColladaLoader: Joint " + g + " value " + a + " outside of limits (min: " + p.limits.min + ", max: " + p.limits.max + ").");
-            else if (p.static)
-              console.warn("THREE.ColladaLoader: Joint " + g + " is static.");
+        setJointValue: function(y, a) {
+          const g = u[y];
+          if (g) {
+            const m = g.joint;
+            if (a > m.limits.max || a < m.limits.min)
+              console.warn("THREE.ColladaLoader: Joint " + y + " value " + a + " outside of limits (min: " + m.limits.min + ", max: " + m.limits.max + ").");
+            else if (m.static)
+              console.warn("THREE.ColladaLoader: Joint " + y + " is static.");
             else {
-              const w = b.object, y = p.axis, W = b.transforms;
+              const N = g.object, w = m.axis, W = g.transforms;
               ce.identity();
-              for (let H = 0; H < W.length; H++) {
-                const G = W[H];
-                if (G.sid && G.sid.indexOf(g) !== -1)
-                  switch (p.type) {
+              for (let z = 0; z < W.length; z++) {
+                const G = W[z];
+                if (G.sid && G.sid.indexOf(y) !== -1)
+                  switch (m.type) {
                     case "revolute":
-                      ce.multiply(l.makeRotationAxis(y, Le.degToRad(a)));
+                      ce.multiply(l.makeRotationAxis(w, Le.degToRad(a)));
                       break;
                     case "prismatic":
-                      ce.multiply(l.makeTranslation(y.x * a, y.y * a, y.z * a));
+                      ce.multiply(l.makeTranslation(w.x * a, w.y * a, w.z * a));
                       break;
                     default:
-                      console.warn("THREE.ColladaLoader: Unknown joint type: " + p.type);
+                      console.warn("THREE.ColladaLoader: Unknown joint type: " + m.type);
                       break;
                   }
                 else
@@ -1731,10 +1731,10 @@ class oi extends lt {
                       break;
                   }
               }
-              w.matrix.copy(ce), w.matrix.decompose(w.position, w.quaternion, w.scale), d[g].position = a;
+              N.matrix.copy(ce), N.matrix.decompose(N.position, N.quaternion, N.scale), u[y].position = a;
             }
           } else
-            console.log("THREE.ColladaLoader: " + g + " does not exist.");
+            console.log("THREE.ColladaLoader: " + y + " does not exist.");
         }
       };
     }
@@ -1746,24 +1746,24 @@ class oi extends lt {
         let o, r;
         switch (s.nodeName) {
           case "matrix":
-            o = v(s.textContent);
-            const d = new he().fromArray(o).transpose();
+            o = C(s.textContent);
+            const u = new he().fromArray(o).transpose();
             e.push({
               sid: s.getAttribute("sid"),
               type: s.nodeName,
-              obj: d
+              obj: u
             });
             break;
           case "translate":
           case "scale":
-            o = v(s.textContent), r = new pe().fromArray(o), e.push({
+            o = C(s.textContent), r = new pe().fromArray(o), e.push({
               sid: s.getAttribute("sid"),
               type: s.nodeName,
               obj: r
             });
             break;
           case "rotate":
-            o = v(s.textContent), r = new pe().fromArray(o);
+            o = C(s.textContent), r = new pe().fromArray(o);
             const c = Le.degToRad(o[3]);
             e.push({
               sid: s.getAttribute("sid"),
@@ -1783,8 +1783,8 @@ class oi extends lt {
         n.hasAttribute("id") === !1 && n.setAttribute("id", Y());
       }
     }
-    const ce = new he(), Te = new pe();
-    function Pe(t) {
+    const ce = new he(), Ee = new pe();
+    function Fe(t) {
       const e = {
         name: t.getAttribute("name") || "",
         type: t.getAttribute("type"),
@@ -1805,7 +1805,7 @@ class oi extends lt {
         let s;
         switch (n.nodeName) {
           case "node":
-            e.nodes.push(n.getAttribute("id")), Pe(n);
+            e.nodes.push(n.getAttribute("id")), Fe(n);
             break;
           case "instance_camera":
             e.instanceCameras.push(I(n.getAttribute("url")));
@@ -1823,18 +1823,18 @@ class oi extends lt {
             e.instanceNodes.push(I(n.getAttribute("url")));
             break;
           case "matrix":
-            s = v(n.textContent), e.matrix.multiply(ce.fromArray(s).transpose()), e.transforms[n.getAttribute("sid")] = n.nodeName;
+            s = C(n.textContent), e.matrix.multiply(ce.fromArray(s).transpose()), e.transforms[n.getAttribute("sid")] = n.nodeName;
             break;
           case "translate":
-            s = v(n.textContent), Te.fromArray(s), e.matrix.multiply(ce.makeTranslation(Te.x, Te.y, Te.z)), e.transforms[n.getAttribute("sid")] = n.nodeName;
+            s = C(n.textContent), Ee.fromArray(s), e.matrix.multiply(ce.makeTranslation(Ee.x, Ee.y, Ee.z)), e.transforms[n.getAttribute("sid")] = n.nodeName;
             break;
           case "rotate":
-            s = v(n.textContent);
+            s = C(n.textContent);
             const o = Le.degToRad(s[3]);
-            e.matrix.multiply(ce.makeRotationAxis(Te.fromArray(s), o)), e.transforms[n.getAttribute("sid")] = n.nodeName;
+            e.matrix.multiply(ce.makeRotationAxis(Ee.fromArray(s), o)), e.transforms[n.getAttribute("sid")] = n.nodeName;
             break;
           case "scale":
-            s = v(n.textContent), e.matrix.scale(Te.fromArray(s)), e.transforms[n.getAttribute("sid")] = n.nodeName;
+            s = C(n.textContent), e.matrix.scale(Ee.fromArray(s)), e.transforms[n.getAttribute("sid")] = n.nodeName;
             break;
           case "extra":
             break;
@@ -1842,7 +1842,7 @@ class oi extends lt {
             console.log(n);
         }
       }
-      return tt(e.id) ? console.warn("THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.", e.id) : T.nodes[e.id] = e, e;
+      return tt(e.id) ? console.warn("THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.", e.id) : E.nodes[e.id] = e, e;
     }
     function Ze(t) {
       const e = {
@@ -1856,8 +1856,8 @@ class oi extends lt {
           case "bind_material":
             const s = n.getElementsByTagName("instance_material");
             for (let o = 0; o < s.length; o++) {
-              const r = s[o], d = r.getAttribute("symbol"), c = r.getAttribute("target");
-              e.materials[d] = I(c);
+              const r = s[o], u = r.getAttribute("symbol"), c = r.getAttribute("target");
+              e.materials[u] = I(c);
             }
             break;
           case "skeleton":
@@ -1872,16 +1872,16 @@ class oi extends lt {
       let s, o, r;
       for (s = 0; s < t.length; s++) {
         const l = t[s];
-        let g;
+        let y;
         if (tt(l))
-          g = Ee(l), Qe(g, e, i);
+          y = xe(l), Qe(y, e, i);
         else if (Nn(l)) {
-          const b = T.visualScenes[l].children;
-          for (let p = 0; p < b.length; p++) {
-            const w = b[p];
-            if (w.type === "JOINT") {
-              const y = Ee(w.id);
-              Qe(y, e, i);
+          const g = E.visualScenes[l].children;
+          for (let m = 0; m < g.length; m++) {
+            const N = g[m];
+            if (N.type === "JOINT") {
+              const w = xe(N.id);
+              Qe(w, e, i);
             }
           }
         } else
@@ -1895,10 +1895,10 @@ class oi extends lt {
           }
       for (s = 0; s < i.length; s++)
         r = i[s], r.processed === !1 && (n.push(r), r.processed = !0);
-      const d = [], c = [];
+      const u = [], c = [];
       for (s = 0; s < n.length; s++)
-        r = n[s], d.push(r.bone), c.push(r.boneInverse);
-      return new Kn(d, c);
+        r = n[s], u.push(r.bone), c.push(r.boneInverse);
+      return new Kn(u, c);
     }
     function Qe(t, e, i) {
       t.traverse(function(n) {
@@ -1916,40 +1916,40 @@ class oi extends lt {
       });
     }
     function gn(t) {
-      const e = [], i = t.matrix, n = t.nodes, s = t.type, o = t.instanceCameras, r = t.instanceControllers, d = t.instanceLights, c = t.instanceGeometries, l = t.instanceNodes;
-      for (let a = 0, b = n.length; a < b; a++)
-        e.push(Ee(n[a]));
-      for (let a = 0, b = o.length; a < b; a++) {
-        const p = Ht(o[a]);
-        p !== null && e.push(p.clone());
-      }
-      for (let a = 0, b = r.length; a < b; a++) {
-        const p = r[a], w = N(p.id), y = Ye(w.id), W = et(y, p.materials), H = p.skeletons, G = w.skin.joints, P = bn(H, G);
+      const e = [], i = t.matrix, n = t.nodes, s = t.type, o = t.instanceCameras, r = t.instanceControllers, u = t.instanceLights, c = t.instanceGeometries, l = t.instanceNodes;
+      for (let a = 0, g = n.length; a < g; a++)
+        e.push(xe(n[a]));
+      for (let a = 0, g = o.length; a < g; a++) {
+        const m = zt(o[a]);
+        m !== null && e.push(m.clone());
+      }
+      for (let a = 0, g = r.length; a < g; a++) {
+        const m = r[a], N = A(m.id), w = Ye(N.id), W = et(w, m.materials), z = m.skeletons, G = N.skin.joints, F = bn(z, G);
         for (let fe = 0, re = W.length; fe < re; fe++) {
-          const xe = W[fe];
-          xe.isSkinnedMesh && (xe.bind(P, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
+          const _e = W[fe];
+          _e.isSkinnedMesh && (_e.bind(F, N.skin.bindMatrix), _e.normalizeSkinWeights()), e.push(_e);
         }
       }
-      for (let a = 0, b = d.length; a < b; a++) {
-        const p = Vt(d[a]);
-        p !== null && e.push(p.clone());
+      for (let a = 0, g = u.length; a < g; a++) {
+        const m = Vt(u[a]);
+        m !== null && e.push(m.clone());
       }
-      for (let a = 0, b = c.length; a < b; a++) {
-        const p = c[a], w = Ye(p.id), y = et(w, p.materials);
-        for (let W = 0, H = y.length; W < H; W++)
-          e.push(y[W]);
+      for (let a = 0, g = c.length; a < g; a++) {
+        const m = c[a], N = Ye(m.id), w = et(N, m.materials);
+        for (let W = 0, z = w.length; W < z; W++)
+          e.push(w[W]);
       }
-      for (let a = 0, b = l.length; a < b; a++)
-        e.push(Ee(l[a]).clone());
-      let g;
+      for (let a = 0, g = l.length; a < g; a++)
+        e.push(xe(l[a]).clone());
+      let y;
       if (n.length === 0 && e.length === 1)
-        g = e[0];
+        y = e[0];
       else {
-        g = s === "JOINT" ? new Dn() : new pt();
+        y = s === "JOINT" ? new Dn() : new pt();
         for (let a = 0; a < e.length; a++)
-          g.add(e[a]);
+          y.add(e[a]);
       }
-      return g.name = s === "JOINT" ? t.sid : t.name, g.matrix.copy(i), g.matrix.decompose(g.position, g.quaternion, g.scale), g;
+      return y.name = s === "JOINT" ? t.sid : t.name, y.matrix.copy(i), y.matrix.decompose(y.position, y.quaternion, y.scale), y;
     }
     const yn = new dt({
       name: lt.DEFAULT_MATERIAL_NAME,
@@ -1959,7 +1959,7 @@ class oi extends lt {
       const i = [];
       for (let n = 0, s = t.length; n < s; n++) {
         const o = e[t[n]];
-        o === void 0 ? (console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.", t[n]), i.push(yn)) : i.push(Pt(o));
+        o === void 0 ? (console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.", t[n]), i.push(yn)) : i.push(Ft(o));
       }
       return i;
     }
@@ -1968,25 +1968,25 @@ class oi extends lt {
       for (const n in t) {
         const s = t[n], o = wn(s.materialKeys, e);
         if (o.length === 0 && (n === "lines" || n === "linestrips" ? o.push(new bt()) : o.push(new ve())), n === "lines" || n === "linestrips")
-          for (let l = 0, g = o.length; l < g; l++) {
+          for (let l = 0, y = o.length; l < y; l++) {
             const a = o[l];
             if (a.isMeshPhongMaterial === !0 || a.isMeshLambertMaterial === !0) {
-              const b = new bt();
-              b.color.copy(a.color), b.opacity = a.opacity, b.transparent = a.transparent, o[l] = b;
+              const g = new bt();
+              g.color.copy(a.color), g.opacity = a.opacity, g.transparent = a.transparent, o[l] = g;
             }
           }
-        const r = s.data.attributes.skinIndex !== void 0, d = o.length === 1 ? o[0] : o;
+        const r = s.data.attributes.skinIndex !== void 0, u = o.length === 1 ? o[0] : o;
         let c;
         switch (n) {
           case "lines":
-            c = new Wn(s.data, d);
+            c = new Wn(s.data, u);
             break;
           case "linestrips":
-            c = new Jn(s.data, d);
+            c = new Jn(s.data, u);
             break;
           case "triangles":
           case "polylist":
-            r ? c = new Vn(s.data, d) : c = new Ce(s.data, d);
+            r ? c = new Vn(s.data, u) : c = new Ce(s.data, u);
             break;
         }
         i.push(c);
@@ -1994,10 +1994,10 @@ class oi extends lt {
       return i;
     }
     function tt(t) {
-      return T.nodes[t] !== void 0;
+      return E.nodes[t] !== void 0;
     }
-    function Ee(t) {
-      return ee(T.nodes[t], gn);
+    function xe(t) {
+      return ee(E.nodes[t], gn);
     }
     function kn(t) {
       const e = {
@@ -2007,8 +2007,8 @@ class oi extends lt {
       mn(t);
       const i = R(t, "node");
       for (let n = 0; n < i.length; n++)
-        e.children.push(Pe(i[n]));
-      T.visualScenes[t.getAttribute("id")] = e;
+        e.children.push(Fe(i[n]));
+      E.visualScenes[t.getAttribute("id")] = e;
     }
     function nt(t) {
       const e = new pt();
@@ -2016,26 +2016,26 @@ class oi extends lt {
       const i = t.children;
       for (let n = 0; n < i.length; n++) {
         const s = i[n];
-        e.add(Ee(s.id));
+        e.add(xe(s.id));
       }
       return e;
     }
     function Nn(t) {
-      return T.visualScenes[t] !== void 0;
+      return E.visualScenes[t] !== void 0;
     }
     function it(t) {
-      return ee(T.visualScenes[t], nt);
+      return ee(E.visualScenes[t], nt);
     }
     function An(t) {
       const e = R(t, "instance_visual_scene")[0];
       return it(I(e.getAttribute("url")));
     }
     function Tn() {
-      const t = T.clips;
+      const t = E.clips;
       if (ne(t) === !0) {
-        if (ne(T.animations) === !1) {
+        if (ne(E.animations) === !1) {
           const e = [];
-          for (const i in T.animations) {
+          for (const i in E.animations) {
             const n = U(i);
             for (let s = 0, o = n.length; s < o; s++)
               e.push(n[s]);
@@ -2044,7 +2044,7 @@ class oi extends lt {
         }
       } else
         for (const e in t)
-          Ie.push(D(e));
+          Ie.push(V(e));
     }
     function En(t) {
       let e = "";
@@ -2058,22 +2058,22 @@ class oi extends lt {
     }
     if (O.length === 0)
       return { scene: new Mn() };
-    const st = new DOMParser().parseFromString(O, "application/xml"), Z = R(st, "COLLADA")[0], qe = st.getElementsByTagName("parsererror")[0];
-    if (qe !== void 0) {
-      const t = R(qe, "div")[0];
+    const st = new DOMParser().parseFromString(O, "application/xml"), Z = R(st, "COLLADA")[0], Pe = st.getElementsByTagName("parsererror")[0];
+    if (Pe !== void 0) {
+      const t = R(Pe, "div")[0];
       let e;
-      return t ? e = t.textContent : e = En(qe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
+      return t ? e = t.textContent : e = En(Pe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
 `, e), null;
     }
     const xn = Z.getAttribute("version");
     console.debug("THREE.ColladaLoader: File version", xn);
-    const ot = we(R(Z, "asset")[0]), rt = new Tt(this.manager);
+    const ot = ke(R(Z, "asset")[0]), rt = new Tt(this.manager);
     rt.setPath(this.resourcePath || Q).setCrossOrigin(this.crossOrigin);
-    let je;
-    wt && (je = new wt(this.manager), je.setPath(this.resourcePath || Q));
+    let qe;
+    wt && (qe = new wt(this.manager), qe.setPath(this.resourcePath || Q));
     const Re = new ut(), Ie = [];
     let at = {}, _n = 0;
-    const T = {
+    const E = {
       animations: {},
       clips: {},
       controllers: {},
@@ -2089,24 +2089,24 @@ class oi extends lt {
       physicsModels: {},
       kinematicsScenes: {}
     };
-    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", u), $(Z, "library_controllers", "controller", B), $(Z, "library_images", "image", f), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Ot), $(Z, "library_cameras", "camera", qt), $(Z, "library_lights", "light", Bt), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", Pe), $(Z, "library_visual_scenes", "visual_scene", kn), $(Z, "library_kinematics_models", "kinematics_model", Zt), $(Z, "library_physics_models", "physics_model", rn), $(Z, "scene", "instance_kinematics_scene", ln), ie(T.animations, q), ie(T.clips, K), ie(T.controllers, _), ie(T.images, A), ie(T.effects, De), ie(T.materials, Ve), ie(T.cameras, Je), ie(T.lights, We), ie(T.geometries, Ke), ie(T.visualScenes, nt), Tn(), hn();
+    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", f), $(Z, "library_controllers", "controller", H), $(Z, "library_images", "image", h), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Ot), $(Z, "library_cameras", "camera", Pt), $(Z, "library_lights", "light", Ht), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", Fe), $(Z, "library_visual_scenes", "visual_scene", kn), $(Z, "library_kinematics_models", "kinematics_model", Zt), $(Z, "library_physics_models", "physics_model", rn), $(Z, "scene", "instance_kinematics_scene", ln), ie(E.animations, P), ie(E.clips, K), ie(E.controllers, v), ie(E.images, T), ie(E.effects, De), ie(E.materials, Ve), ie(E.cameras, Je), ie(E.lights, We), ie(E.geometries, Ke), ie(E.visualScenes, nt), Tn(), hn();
     const Me = An(R(Z, "scene")[0]);
     return Me.animations = Ie, ot.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."), Me.rotation.set(-Math.PI / 2, 0, 0)), Me.scale.multiplyScalar(ot.unit), {
       get animations() {
         return console.warn("THREE.ColladaLoader: Please access animations over scene.animations now."), Ie;
       },
       kinematics: at,
-      library: T,
+      library: E,
       scene: Me
     };
   }
 }
-const Fe = new Et(), kt = new si();
-function _e(ue) {
+const je = new Et(), kt = new si();
+function ge(ue) {
   return ue ? ue.trim().split(/\s+/g).map((O) => parseFloat(O)) : [0, 0, 0];
 }
 function Nt(ue, O, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(O[0], O[1], O[2], "ZYX"), Fe.setFromEuler(kt), Fe.multiply(ue.quaternion), ue.quaternion.copy(Fe);
+  Q || ue.rotation.set(0, 0, 0), kt.set(O[0], O[1], O[2], "ZYX"), je.setFromEuler(kt), je.multiply(ue.quaternion), ue.quaternion.copy(je);
 }
 class ci {
   constructor(O) {
@@ -2121,176 +2121,181 @@ class ci {
   // urdf:    The path to the URDF within the package OR absolute
   // onComplete:      Callback that is passed the model once loaded
   load(O, Q, R, se) {
-    const v = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
-    v.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
+    const C = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
+    C.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
       if (Y.ok)
         return R && R(null), Y.text();
       throw new Error(`URDFLoader: Failed to load url '${I}' with error code ${Y.status} : ${Y.statusText}.`);
     }).then((Y) => {
       const ne = this.parse(Y, this.workingPath || oe);
-      Q(ne), v.itemEnd(I);
+      Q(ne), C.itemEnd(I);
     }).catch((Y) => {
-      se ? se(Y) : console.error("URDFLoader: Error loading file.", Y), v.itemError(I), v.itemEnd(I);
+      se ? se(Y) : console.error("URDFLoader: Error loading file.", Y), C.itemError(I), C.itemEnd(I);
     });
   }
   parse(O, Q = this.workingPath) {
-    const R = this.packages, se = this.loadMeshCb, v = this.parseVisual, oe = this.parseCollision, I = this.manager, Y = {}, ne = {}, we = {};
-    function ke(M) {
+    const R = this.packages, se = this.loadMeshCb, C = this.parseVisual, oe = this.parseCollision, I = this.manager, Y = {}, ne = {}, ke = {};
+    function Ne(M) {
       if (!/^package:\/\//.test(M))
         return Q ? Q + M : M;
-      const [q, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [P, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(q) ? R + "/" + U : R + "/" + q + "/" + U;
-      if (R instanceof Function)
-        return R(q) + "/" + U;
+        return R.endsWith(P) ? R + "/" + U : R + "/" + P + "/" + U;
+      if (typeof R == "function")
+        return R(P) + "/" + U;
       if (typeof R == "object")
-        return q in R ? R[q] + "/" + U : (console.error(`URDFLoader : ${q} not found in provided package list.`), null);
+        return P in R ? R[P] + "/" + U : (console.error(`URDFLoader : ${P} not found in provided package list.`), null);
     }
-    function Ne(M) {
-      let q;
-      M instanceof Document ? q = [...M.children] : M instanceof Element ? q = [M] : q = [...new DOMParser().parseFromString(M, "text/xml").children];
-      const U = q.filter((E) => E.nodeName === "robot").pop();
+    function Ae(M) {
+      let P;
+      M instanceof Document ? P = [...M.children] : M instanceof Element ? P = [M] : P = [...new DOMParser().parseFromString(M, "text/xml").children];
+      const U = P.filter((b) => b.nodeName === "robot").pop();
       return $(U);
     }
     function $(M) {
-      const q = [...M.children], U = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
-      S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
-        const k = L.getAttribute("name");
-        we[k] = be(L);
+      const P = [...M.children], U = P.filter((x) => x.nodeName.toLowerCase() === "link"), b = P.filter((x) => x.nodeName.toLowerCase() === "joint"), D = P.filter((x) => x.nodeName.toLowerCase() === "material"), S = new Xn();
+      S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, D.forEach((x) => {
+        const k = x.getAttribute("name");
+        ke[k] = be(x);
       });
-      const m = {}, h = {};
-      U.forEach((L) => {
-        const k = L.getAttribute("name"), j = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(L, m, h, j ? S : null);
-      }), E.forEach((L) => {
-        const k = L.getAttribute("name");
-        ne[k] = ie(L);
-      }), S.joints = ne, S.links = Y, S.colliders = h, S.visual = m;
-      const C = Object.values(ne);
-      return C.forEach((L) => {
-        L instanceof yt && ne[L.mimicJoint].mimicJoints.push(L);
-      }), C.forEach((L) => {
-        const k = /* @__PURE__ */ new Set(), j = (ae) => {
+      const p = {}, d = {};
+      U.forEach((x) => {
+        const k = x.getAttribute("name"), q = M.querySelector(`child[link="${k}"]`) === null;
+        Y[k] = ee(x, p, d, q ? S : null);
+      }), b.forEach((x) => {
+        const k = x.getAttribute("name");
+        ne[k] = ie(x);
+      }), S.joints = ne, S.links = Y, S.colliders = d, S.visual = p;
+      const L = Object.values(ne);
+      return L.forEach((x) => {
+        x instanceof yt && ne[x.mimicJoint].mimicJoints.push(x);
+      }), L.forEach((x) => {
+        const k = /* @__PURE__ */ new Set(), q = (ae) => {
           if (k.has(ae))
             throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");
           k.add(ae), ae.mimicJoints.forEach((te) => {
-            j(te);
+            q(te);
           });
         };
-        j(L);
+        q(x);
       }), S.frames = {
-        ...h,
-        ...m,
+        ...d,
+        ...p,
         ...Y,
         ...ne
       }, S;
     }
     function ie(M) {
-      const q = [...M.children], U = M.getAttribute("type");
-      let E;
-      const J = q.find((k) => k.nodeName.toLowerCase() === "mimic");
-      J ? (E = new yt(), E.mimicJoint = J.getAttribute("joint"), E.multiplier = parseFloat(J.getAttribute("multiplier") || 1), E.offset = parseFloat(J.getAttribute("offset") || 0)) : E = new $n(), E.urdfNode = M, E.name = M.getAttribute("name"), E.urdfName = E.name, E.jointType = U;
-      let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
-      q.forEach((k) => {
-        const j = k.nodeName.toLowerCase();
-        j === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : j === "child" ? m = Y[k.getAttribute("link")] : j === "parent" ? S = Y[k.getAttribute("link")] : j === "limit" && (E.limit.lower = parseFloat(k.getAttribute("lower") || E.limit.lower), E.limit.upper = parseFloat(k.getAttribute("upper") || E.limit.upper));
-      }), S.add(E), E.add(m), Nt(E, C), E.position.set(h[0], h[1], h[2]);
-      const L = q.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
-      if (L) {
-        const k = L.getAttribute("xyz").split(/\s+/g).map((j) => parseFloat(j));
-        E.axis = new pe(k[0], k[1], k[2]), E.axis.normalize();
-      }
-      return E;
-    }
-    function ee(M, q, U, E = null) {
-      E === null && (E = new Zn());
-      const J = [...M.children];
-      return E.name = M.getAttribute("name"), E.urdfName = E.name, E.urdfNode = M, v && J.filter((m) => m.nodeName.toLowerCase() === "visual").forEach((m) => {
-        const h = ge(m, we);
-        if (E.add(h), m.hasAttribute("name")) {
-          const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, q[C] = h;
+      const P = [...M.children], U = M.getAttribute("type");
+      let b;
+      const D = P.find((k) => k.nodeName.toLowerCase() === "mimic");
+      D ? (b = new yt(), b.mimicJoint = D.getAttribute("joint"), b.multiplier = parseFloat(D.getAttribute("multiplier") || 1), b.offset = parseFloat(D.getAttribute("offset") || 0)) : b = new $n(), b.urdfNode = M, b.name = M.getAttribute("name"), b.urdfName = b.name, b.jointType = U;
+      let S = null, p = null, d = [0, 0, 0], L = [0, 0, 0];
+      P.forEach((k) => {
+        const q = k.nodeName.toLowerCase();
+        q === "origin" ? (d = ge(k.getAttribute("xyz")), L = ge(k.getAttribute("rpy"))) : q === "child" ? p = Y[k.getAttribute("link")] : q === "parent" ? S = Y[k.getAttribute("link")] : q === "limit" && (b.limit.lower = parseFloat(k.getAttribute("lower") || b.limit.lower), b.limit.upper = parseFloat(k.getAttribute("upper") || b.limit.upper), b.limit.effort = parseFloat(k.getAttribute("effort") || b.limit.effort), b.limit.velocity = parseFloat(k.getAttribute("velocity") || b.limit.velocity));
+      }), S.add(b), b.add(p), Nt(b, L), b.position.set(d[0], d[1], d[2]);
+      const x = P.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
+      if (x) {
+        const k = x.getAttribute("xyz").split(/\s+/g).map((q) => parseFloat(q));
+        b.axis = new pe(k[0], k[1], k[2]), b.axis.normalize();
+      }
+      return b;
+    }
+    function ee(M, P, U, b = null) {
+      b === null && (b = new Zn());
+      const D = [...M.children];
+      b.name = M.getAttribute("name"), b.urdfName = b.name, b.urdfNode = M;
+      const S = D.find((p) => p.nodeName.toLowerCase() === "inertial");
+      return S && [...S.children].forEach((p) => {
+        const d = p.nodeName.toLowerCase();
+        d === "origin" ? (b.inertial.origin.xyz = ge(p.getAttribute("xyz")), b.inertial.origin.rpy = ge(p.getAttribute("rpy"))) : d === "mass" ? b.inertial.mass = parseFloat(p.getAttribute("value")) || 0 : d === "inertia" && (b.inertial.inertia.ixx = parseFloat(p.getAttribute("ixx")) || 0, b.inertial.inertia.ixy = parseFloat(p.getAttribute("ixy")) || 0, b.inertial.inertia.ixz = parseFloat(p.getAttribute("ixz")) || 0, b.inertial.inertia.iyy = parseFloat(p.getAttribute("iyy")) || 0, b.inertial.inertia.iyz = parseFloat(p.getAttribute("iyz")) || 0, b.inertial.inertia.izz = parseFloat(p.getAttribute("izz")) || 0);
+      }), C && D.filter((d) => d.nodeName.toLowerCase() === "visual").forEach((d) => {
+        const L = ye(d, ke);
+        if (b.add(L), d.hasAttribute("name")) {
+          const x = d.getAttribute("name");
+          L.name = x, L.urdfName = x, P[x] = L;
         }
-      }), oe && J.filter((m) => m.nodeName.toLowerCase() === "collision").forEach((m) => {
-        const h = ge(m);
-        if (E.add(h), m.hasAttribute("name")) {
-          const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, U[C] = h;
+      }), oe && D.filter((d) => d.nodeName.toLowerCase() === "collision").forEach((d) => {
+        const L = ye(d);
+        if (b.add(L), d.hasAttribute("name")) {
+          const x = d.getAttribute("name");
+          L.name = x, L.urdfName = x, U[x] = L;
         }
-      }), E;
+      }), b;
     }
     function be(M) {
-      const q = [...M.children], U = new ve();
-      return U.name = M.getAttribute("name") || "", q.forEach((E) => {
-        const J = E.nodeName.toLowerCase();
-        if (J === "color") {
-          const S = E.getAttribute("rgba").split(/\s/g).map((m) => parseFloat(m));
+      const P = [...M.children], U = new ve();
+      return U.name = M.getAttribute("name") || "", P.forEach((b) => {
+        const D = b.nodeName.toLowerCase();
+        if (D === "color") {
+          const S = b.getAttribute("rgba").split(/\s/g).map((p) => parseFloat(p));
           U.color.setRGB(S[0], S[1], S[2]), U.opacity = S[3], U.transparent = S[3] < 1, U.depthWrite = !U.transparent;
-        } else if (J === "texture") {
-          const S = E.getAttribute("filename");
+        } else if (D === "texture") {
+          const S = b.getAttribute("filename");
           if (S) {
-            const m = new Tt(I), h = ke(S);
-            U.map = m.load(h), U.map.colorSpace = me;
+            const p = new Tt(I), d = Ne(S);
+            U.map = p.load(d), U.map.colorSpace = me;
           }
         }
       }), U;
     }
-    function ge(M, q = {}) {
-      const U = M.nodeName.toLowerCase() === "collision", E = [...M.children];
-      let J = null;
-      const S = E.filter((h) => h.nodeName.toLowerCase() === "material")[0];
+    function ye(M, P = {}) {
+      const U = M.nodeName.toLowerCase() === "collision", b = [...M.children];
+      let D = null;
+      const S = b.filter((d) => d.nodeName.toLowerCase() === "material")[0];
       if (S) {
-        const h = S.getAttribute("name");
-        h && h in q ? J = q[h] : J = be(S);
+        const d = S.getAttribute("name");
+        d && d in P ? D = P[d] : D = be(S);
       } else
-        J = new ve();
-      const m = U ? new Qn() : new ei();
-      return m.urdfNode = M, E.forEach((h) => {
-        const C = h.nodeName.toLowerCase();
-        if (C === "geometry") {
-          const L = h.children[0].nodeName.toLowerCase();
-          if (L === "mesh") {
-            const k = h.children[0].getAttribute("filename"), j = ke(k);
-            if (j !== null) {
-              const ae = h.children[0].getAttribute("scale");
+        D = new ve();
+      const p = U ? new Qn() : new ei();
+      return p.urdfNode = M, b.forEach((d) => {
+        const L = d.nodeName.toLowerCase();
+        if (L === "geometry") {
+          const x = d.children[0].nodeName.toLowerCase();
+          if (x === "mesh") {
+            const k = d.children[0].getAttribute("filename"), q = Ne(k);
+            if (q !== null) {
+              const ae = d.children[0].getAttribute("scale");
               if (ae) {
-                const te = _e(ae);
-                m.scale.set(te[0], te[1], te[2]);
+                const te = ge(ae);
+                p.scale.set(te[0], te[1], te[2]);
               }
-              se(j, I, (te, u) => {
-                u ? console.error("URDFLoader: Error loading mesh.", u) : te && (te instanceof Ce && (te.material = J), te.position.set(0, 0, 0), te.quaternion.identity(), m.add(te));
+              se(q, I, (te, f) => {
+                f ? console.error("URDFLoader: Error loading mesh.", f) : te && (te instanceof Ce && (te.material = D), te.position.set(0, 0, 0), te.quaternion.identity(), p.add(te));
               });
             }
-          } else if (L === "box") {
+          } else if (x === "box") {
             const k = new Ce();
-            k.geometry = new ti(1, 1, 1), k.material = J;
-            const j = _e(h.children[0].getAttribute("size"));
-            k.scale.set(j[0], j[1], j[2]), m.add(k);
-          } else if (L === "sphere") {
+            k.geometry = new ti(1, 1, 1), k.material = D;
+            const q = ge(d.children[0].getAttribute("size"));
+            k.scale.set(q[0], q[1], q[2]), p.add(k);
+          } else if (x === "sphere") {
             const k = new Ce();
-            k.geometry = new ni(1, 30, 30), k.material = J;
-            const j = parseFloat(h.children[0].getAttribute("radius")) || 0;
-            k.scale.set(j, j, j), m.add(k);
-          } else if (L === "cylinder") {
+            k.geometry = new ni(1, 30, 30), k.material = D;
+            const q = parseFloat(d.children[0].getAttribute("radius")) || 0;
+            k.scale.set(q, q, q), p.add(k);
+          } else if (x === "cylinder") {
             const k = new Ce();
-            k.geometry = new ii(1, 1, 1, 30), k.material = J;
-            const j = parseFloat(h.children[0].getAttribute("radius")) || 0, ae = parseFloat(h.children[0].getAttribute("length")) || 0;
-            k.scale.set(j, ae, j), k.rotation.set(Math.PI / 2, 0, 0), m.add(k);
+            k.geometry = new ii(1, 1, 1, 30), k.material = D;
+            const q = parseFloat(d.children[0].getAttribute("radius")) || 0, ae = parseFloat(d.children[0].getAttribute("length")) || 0;
+            k.scale.set(q, ae, q), k.rotation.set(Math.PI / 2, 0, 0), p.add(k);
           }
-        } else if (C === "origin") {
-          const L = _e(h.getAttribute("xyz")), k = _e(h.getAttribute("rpy"));
-          m.position.set(L[0], L[1], L[2]), m.rotation.set(0, 0, 0), Nt(m, k);
+        } else if (L === "origin") {
+          const x = ge(d.getAttribute("xyz")), k = ge(d.getAttribute("rpy"));
+          p.position.set(x[0], x[1], x[2]), p.rotation.set(0, 0, 0), Nt(p, k);
         }
-      }), m;
+      }), p;
     }
-    return Ne(O);
+    return Ae(O);
   }
   // Default mesh loading function
   defaultMeshLoader(O, Q, R) {
-    /\.stl$/i.test(O) ? new Ln(Q).load(O, (v) => {
-      const oe = new Ce(v, new ve());
+    /\.stl$/i.test(O) ? new Ln(Q).load(O, (C) => {
+      const oe = new Ce(C, new ve());
       R(oe);
-    }) : /\.dae$/i.test(O) ? new oi(Q).load(O, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${O}.
+    }, null, (C) => R(null, C)) : /\.dae$/i.test(O) ? new oi(Q).load(O, (C) => R(C.scene), null, (C) => R(null, C)) : console.warn(`URDFLoader: Could not load model at ${O}.
 No loader available`);
   }
 }