ss-component-new 1.3.658 → 1.3.660

package/dist/URDFLoader-PUxvYFDe.js

@@ -1,2304 +0,0 @@
-import { S as Ln } from "./MTLLoader-DI0avKtj.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-CG9X8aa2.js";
-class wt extends vn {
-  /**
-   * Constructs a new TGA loader.
-   *
-   * @param {LoadingManager} [manager] - The loading manager.
-   */
-  constructor(O) {
-    super(O);
-  }
-  /**
-   * Parses the given TGA texture data.
-   *
-   * @param {ArrayBuffer} buffer - The raw texture data.
-   * @return {DataTextureLoader~TexData} An object representing the parsed texture data.
-   */
-  parse(O) {
-    function Q(f) {
-      switch (f.image_type) {
-        // check indexed type
-        case Ae:
-        case ee:
-          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 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 Ne:
-          throw new Error("THREE.TGALoader: No data.");
-        // Invalid type ?
-        default:
-          throw new Error("THREE.TGALoader: Invalid type " + f.image_type);
-      }
-      if (f.width <= 0 || f.height <= 0)
-        throw new Error("THREE.TGALoader: Invalid image size.");
-      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 (h *= v, T = 0; T < h; ++T)
-              j[J + T] = X[H++];
-            J += h;
-          }
-      } else
-        j = X.subarray(
-          H,
-          H += K ? V.width * V.height : _
-        );
-      return {
-        pixel_data: j,
-        palettes: B
-      };
-    }
-    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 D:
-          j = 0, v = 1, A = K, B = 0, _ = 1, h = V;
-          break;
-        case U:
-          j = 0, v = 1, A = K, B = V - 1, _ = -1, h = -1;
-          break;
-        case S:
-          j = K - 1, v = -1, A = -1, B = 0, _ = 1, h = V;
-          break;
-        case b:
-          j = K - 1, v = -1, A = -1, B = V - 1, _ = -1, h = -1;
-          break;
-      }
-      if (q)
-        switch (L.pixel_size) {
-          case 8:
-            Y(f, B, _, h, j, v, A, H);
-            break;
-          case 16:
-            ne(f, B, _, h, j, v, A, H);
-            break;
-          default:
-            throw new Error("THREE.TGALoader: Format not supported.");
-        }
-      else
-        switch (L.pixel_size) {
-          case 8:
-            se(f, B, _, h, j, v, A, H, X);
-            break;
-          case 16:
-            C(f, B, _, h, j, v, A, H);
-            break;
-          case 24:
-            oe(f, B, _, h, j, v, A, H);
-            break;
-          case 32:
-            I(f, B, _, h, j, v, A, H);
-            break;
-          default:
-            throw new Error("THREE.TGALoader: Format not supported.");
-        }
-      return f;
-    }
-    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 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: [
-        d[p++] | d[p++] << 8,
-        d[p++] | d[p++] << 8
-      ],
-      width: d[p++] | d[p++] << 8,
-      height: d[p++] | d[p++] << 8,
-      pixel_size: d[p++],
-      flags: d[p++]
-    };
-    if (Q(L), L.id_length + p > O.length)
-      throw new Error("THREE.TGALoader: No data.");
-    p += L.id_length;
-    let x = !1, k = !1, q = !1;
-    switch (L.image_type) {
-      case ee:
-        x = !0, k = !0;
-        break;
-      case Ae:
-        k = !0;
-        break;
-      case be:
-        x = !0;
-        break;
-      case $:
-        break;
-      case ye:
-        x = !0, q = !0;
-        break;
-      case ie:
-        q = !0;
-        break;
-    }
-    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: L.width,
-      height: L.height,
-      flipY: !0,
-      generateMipmaps: !0,
-      minFilter: Rn
-    };
-  }
-}
-class oi extends lt {
-  /**
-   * Starts loading from the given URL and passes the loaded Collada asset
-   * to the `onLoad()` callback.
-   *
-   * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
-   * @param {function({scene:Group,animations:Array<AnimationClip>,kinematics:Object})} onLoad - Executed when the loading process has been finished.
-   * @param {onProgressCallback} onProgress - Executed while the loading is in progress.
-   * @param {onErrorCallback} onError - Executed when errors occur.
-   */
-  load(O, Q, R, se) {
-    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(C.parse(Y, oe));
-      } catch (ne) {
-        se ? se(ne) : console.error(ne), C.manager.itemError(O);
-      }
-    }, R, se);
-  }
-  /**
-   * Parses the given Collada data and returns a result oject holding the parsed scene,
-   * an array of animation clips and kinematics.
-   *
-   * @param {string} text - The raw Collada data as a string.
-   * @param {string} path - The asset path.
-   * @return {{scene:Group,animations:Array<AnimationClip>,kinematics:Object}} An object representing the parsed asset.
-   */
-  parse(O, Q) {
-    function R(t, e) {
-      const i = [], n = t.childNodes;
-      for (let s = 0, o = n.length; s < o; s++) {
-        const r = n[s];
-        r.nodeName === e && i.push(r);
-      }
-      return i;
-    }
-    function se(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++)
-        i[n] = e[n];
-      return i;
-    }
-    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++)
-        i[n] = parseFloat(e[n]);
-      return i;
-    }
-    function oe(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++)
-        i[n] = parseInt(e[n]);
-      return i;
-    }
-    function I(t) {
-      return t.substring(1);
-    }
-    function Y() {
-      return "three_default_" + _n++;
-    }
-    function ne(t) {
-      return Object.keys(t).length === 0;
-    }
-    function ke(t) {
-      return {
-        unit: Ne(R(t, "unit")[0]),
-        upAxis: Ae(R(t, "up_axis")[0])
-      };
-    }
-    function Ne(t) {
-      return t !== void 0 && t.hasAttribute("meter") === !0 ? parseFloat(t.getAttribute("meter")) : 1;
-    }
-    function Ae(t) {
-      return t !== void 0 ? t.textContent : "Y_UP";
-    }
-    function $(t, e, i, n) {
-      const s = R(t, e)[0];
-      if (s !== void 0) {
-        const o = R(s, i);
-        for (let r = 0; r < o.length; r++)
-          n(o[r]);
-      }
-    }
-    function ie(t, e) {
-      for (const i in t) {
-        const n = t[i];
-        n.build = e(t[i]);
-      }
-    }
-    function ee(t, e) {
-      return t.build !== void 0 || (t.build = e(t)), t.build;
-    }
-    function be(t) {
-      const e = {
-        sources: {},
-        samplers: {},
-        channels: {}
-      };
-      let i = !1;
-      for (let n = 0, s = t.childNodes.length; n < s; n++) {
-        const o = t.childNodes[n];
-        if (o.nodeType !== 1) continue;
-        let r;
-        switch (o.nodeName) {
-          case "source":
-            r = o.getAttribute("id"), e.sources[r] = Ge(o);
-            break;
-          case "sampler":
-            r = o.getAttribute("id"), e.samplers[r] = ye(o);
-            break;
-          case "channel":
-            r = o.getAttribute("target"), e.channels[r] = M(o);
-            break;
-          case "animation":
-            be(o), i = !0;
-            break;
-          default:
-            console.log(o);
-        }
-      }
-      i === !1 && (E.animations[t.getAttribute("id") || Le.generateUUID()] = e);
-    }
-    function ye(t) {
-      const e = {
-        inputs: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "input":
-              const o = I(s.getAttribute("source")), r = s.getAttribute("semantic");
-              e.inputs[r] = o;
-              break;
-          }
-      }
-      return e;
-    }
-    function M(t) {
-      const e = {};
-      let n = t.getAttribute("target").split("/");
-      const s = n.shift();
-      let o = n.shift();
-      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("(");
-        o = c.shift();
-        for (let l = 0; l < c.length; l++)
-          c[l] = parseInt(c[l].replace(/\)/, ""));
-        e.indices = c;
-      }
-      return e.id = s, e.sid = o, e.arraySyntax = r, e.memberSyntax = u, e.sampler = I(t.getAttribute("source")), e;
-    }
-    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], 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(E.animations[t], 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, 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, 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);
-          break;
-        case "rotate":
-          console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', o);
-          break;
-        case "scale":
-          console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', o);
-          break;
-      }
-      const N = D(m, r);
-      return {
-        name: s.uuid,
-        keyframes: N
-      };
-    }
-    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++)
-        x(i, s, e.elements[s]);
-      return i;
-      function n(s, o) {
-        return s.time - o.time;
-      }
-    }
-    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 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 Hn(n + ".quaternion", s, r)), u.length > 0 && e.push(new mt(n + ".scale", s, u)), e;
-    }
-    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;
-      if (s === !0)
-        for (o = 0, r = t.length; o < r; o++)
-          n = t[o], n.value[e] = i;
-      else
-        k(t, e);
-    }
-    function k(t, e) {
-      let i, n;
-      for (let s = 0, o = t.length; s < o; s++) {
-        const r = t[s];
-        if (r.value[e] === null) {
-          if (i = q(t, s, e), n = ae(t, s, e), i === null) {
-            r.value[e] = n.value[e];
-            continue;
-          }
-          if (n === null) {
-            r.value[e] = i.value[e];
-            continue;
-          }
-          te(r, i, n, e);
-        }
-      }
-    }
-    function q(t, e, i) {
-      for (; e >= 0; ) {
-        const n = t[e];
-        if (n.value[i] !== null) return n;
-        e--;
-      }
-      return null;
-    }
-    function ae(t, e, i) {
-      for (; e < t.length; ) {
-        const n = t[e];
-        if (n.value[i] !== null) return n;
-        e++;
-      }
-      return null;
-    }
-    function te(t, e, i, n) {
-      if (i.time - e.time === 0) {
-        t.value[n] = e.value[n];
-        return;
-      }
-      t.value[n] = (t.time - e.time) * (i.value[n] - e.value[n]) / (i.time - e.time) + e.value[n];
-    }
-    function f(t) {
-      const e = {
-        name: t.getAttribute("id") || "default",
-        start: parseFloat(t.getAttribute("start") || 0),
-        end: parseFloat(t.getAttribute("end") || 0),
-        animations: []
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "instance_animation":
-              e.animations.push(I(s.getAttribute("url")));
-              break;
-          }
-      }
-      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 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 V(t) {
-      return ee(E.clips[t], K);
-    }
-    function H(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 "skin":
-              e.id = I(s.getAttribute("source")), e.skin = X(s);
-              break;
-            case "morph":
-              e.id = I(s.getAttribute("source")), console.warn("THREE.ColladaLoader: Morph target animation not supported yet.");
-              break;
-          }
-      }
-      E.controllers[t.getAttribute("id")] = e;
-    }
-    function X(t) {
-      const e = {
-        sources: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "bind_shape_matrix":
-              e.bindShapeMatrix = C(s.textContent);
-              break;
-            case "source":
-              const o = s.getAttribute("id");
-              e.sources[o] = Ge(s);
-              break;
-            case "joints":
-              e.joints = j(s);
-              break;
-            case "vertex_weights":
-              e.vertexWeights = B(s);
-              break;
-          }
-      }
-      return e;
-    }
-    function j(t) {
-      const e = {
-        inputs: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "input":
-              const o = s.getAttribute("semantic"), r = I(s.getAttribute("source"));
-              e.inputs[o] = r;
-              break;
-          }
-      }
-      return e;
-    }
-    function B(t) {
-      const e = {
-        inputs: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "input":
-              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);
-              break;
-            case "v":
-              e.v = oe(s.textContent);
-              break;
-          }
-      }
-      return e;
-    }
-    function v(t) {
-      const e = {
-        id: t.id
-      }, 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 _(t) {
-      const i = {
-        joints: [],
-        // this must be an array to preserve the joint order
-        indices: {
-          array: [],
-          stride: 4
-        },
-        weights: {
-          array: [],
-          stride: 4
-        }
-      }, 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), 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(), 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(z, G) {
-        return G.weight - z.weight;
-      }
-    }
-    function A(t) {
-      return ee(E.controllers[t], v);
-    }
-    function h(t) {
-      const e = {
-        init_from: R(t, "init_from")[0].textContent
-      };
-      E.images[t.getAttribute("id")] = e;
-    }
-    function T(t) {
-      return t.build !== void 0 ? t.build : t.init_from;
-    }
-    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 = {};
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "profile_COMMON":
-              e.profile = Te(s);
-              break;
-          }
-      }
-      E.effects[t.getAttribute("id")] = e;
-    }
-    function Te(t) {
-      const e = {
-        surfaces: {},
-        samplers: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "newparam":
-              xt(s, e);
-              break;
-            case "technique":
-              e.technique = Lt(s);
-              break;
-            case "extra":
-              e.extra = He(s);
-              break;
-          }
-      }
-      return e;
-    }
-    function xt(t, e) {
-      const i = t.getAttribute("sid");
-      for (let n = 0, s = t.childNodes.length; n < s; n++) {
-        const o = t.childNodes[n];
-        if (o.nodeType === 1)
-          switch (o.nodeName) {
-            case "surface":
-              e.surfaces[i] = _t(o);
-              break;
-            case "sampler2D":
-              e.samplers[i] = Ct(o);
-              break;
-          }
-      }
-    }
-    function _t(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 "init_from":
-              e.init_from = s.textContent;
-              break;
-          }
-      }
-      return e;
-    }
-    function Ct(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 "source":
-              e.source = s.textContent;
-              break;
-          }
-      }
-      return e;
-    }
-    function Lt(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 "constant":
-            case "lambert":
-            case "blinn":
-            case "phong":
-              e.type = s.nodeName, e.parameters = vt(s);
-              break;
-            case "extra":
-              e.extra = He(s);
-              break;
-          }
-      }
-      return e;
-    }
-    function vt(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 "emission":
-            case "diffuse":
-            case "specular":
-            case "bump":
-            case "ambient":
-            case "shininess":
-            case "transparency":
-              e[s.nodeName] = Ue(s);
-              break;
-            case "transparent":
-              e[s.nodeName] = {
-                opaque: s.hasAttribute("opaque") ? s.getAttribute("opaque") : "A_ONE",
-                data: Ue(s)
-              };
-              break;
-          }
-      }
-      return e;
-    }
-    function Ue(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 "color":
-              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: ze(s) };
-              break;
-          }
-      }
-      return e;
-    }
-    function ze(t) {
-      const e = {
-        technique: {}
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "extra":
-              Rt(s, e);
-              break;
-          }
-      }
-      return e;
-    }
-    function Rt(t, 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":
-              It(s, e);
-              break;
-          }
-      }
-    }
-    function It(t, 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 "repeatU":
-            case "repeatV":
-            case "offsetU":
-            case "offsetV":
-              e.technique[s.nodeName] = parseFloat(s.textContent);
-              break;
-            case "wrapU":
-            case "wrapV":
-              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] = Be(s);
-              break;
-          }
-      }
-    }
-    function He(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 "technique":
-              e.technique = Mt(s);
-              break;
-          }
-      }
-      return e;
-    }
-    function Mt(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 "double_sided":
-              e[s.nodeName] = parseInt(s.textContent);
-              break;
-            case "bump":
-              e[s.nodeName] = Be(s);
-              break;
-          }
-      }
-      return e;
-    }
-    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: ze(s) };
-              break;
-          }
-      }
-      return e;
-    }
-    function De(t) {
-      return t;
-    }
-    function St(t) {
-      return ee(E.effects[t], De);
-    }
-    function Ot(t) {
-      const e = {
-        name: t.getAttribute("name")
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "instance_effect":
-              e.url = I(s.getAttribute("url"));
-              break;
-          }
-      }
-      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 = qe;
-          break;
-        default:
-          e = rt;
-      }
-      return e;
-    }
-    function Ve(t) {
-      const e = St(t.url), i = e.profile.technique;
-      let n;
-      switch (i.type) {
-        case "phong":
-        case "blinn":
-          n = new ve();
-          break;
-        case "lambert":
-          n = new Sn();
-          break;
-        default:
-          n = new dt();
-          break;
-      }
-      n.name = t.name || "";
-      function s(c, l = null) {
-        const y = e.profile.samplers[c.id];
-        let a = null;
-        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 = J(c.id);
-        if (a !== null) {
-          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
-              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
-          return console.warn("THREE.ColladaLoader: Couldn't create texture with ID:", c.id), null;
-      }
-      const o = i.parameters;
-      for (const c in o) {
-        const l = o[c];
-        switch (c) {
-          case "diffuse":
-            l.color && n.color.fromArray(l.color), l.texture && (n.map = s(l.texture, me));
-            break;
-          case "specular":
-            l.color && n.specular && n.specular.fromArray(l.color), l.texture && (n.specularMap = s(l.texture));
-            break;
-          case "bump":
-            l.texture && (n.normalMap = s(l.texture));
-            break;
-          case "ambient":
-            l.texture && (n.lightMap = s(l.texture, me));
-            break;
-          case "shininess":
-            l.float && n.shininess && (n.shininess = l.float);
-            break;
-          case "emission":
-            l.color && n.emissive && n.emissive.fromArray(l.color), l.texture && (n.emissiveMap = s(l.texture, me));
-            break;
-        }
-      }
-      Se.colorSpaceToWorking(n.color, me), n.specular && Se.colorSpaceToWorking(n.specular, me), n.emissive && Se.colorSpaceToWorking(n.emissive, me);
-      let r = o.transparent, u = o.transparency;
-      if (u === void 0 && r && (u = {
-        float: 1
-      }), r === void 0 && u && (r = {
-        opaque: "A_ONE",
-        data: {
-          color: [1, 1, 1, 1]
-        }
-      }), 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] * u.float;
-              break;
-            case "RGB_ZERO":
-              n.opacity = 1 - c[0] * u.float;
-              break;
-            case "A_ZERO":
-              n.opacity = 1 - c[3] * u.float;
-              break;
-            case "RGB_ONE":
-              n.opacity = c[0] * u.float;
-              break;
-            default:
-              console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', r.opaque);
-          }
-          n.opacity < 1 && (n.transparent = !0);
-        }
-      if (i.extra !== void 0 && i.extra.technique !== void 0) {
-        const c = i.extra.technique;
-        for (const l in c) {
-          const y = c[l];
-          switch (l) {
-            case "double_sided":
-              n.side = y === 1 ? Gn : Fn;
-              break;
-            case "bump":
-              n.normalMap = s(y.texture), n.normalScale = new On(1, 1);
-              break;
-          }
-        }
-      }
-      return n;
-    }
-    function Ft(t) {
-      return ee(E.materials[t], Ve);
-    }
-    function Pt(t) {
-      const e = {
-        name: t.getAttribute("name")
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "optics":
-              e.optics = qt(s);
-              break;
-          }
-      }
-      E.cameras[t.getAttribute("id")] = e;
-    }
-    function qt(t) {
-      for (let e = 0; e < t.childNodes.length; e++) {
-        const i = t.childNodes[e];
-        switch (i.nodeName) {
-          case "technique_common":
-            return jt(i);
-        }
-      }
-      return {};
-    }
-    function jt(t) {
-      const e = {};
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        switch (n.nodeName) {
-          case "perspective":
-          case "orthographic":
-            e.technique = n.nodeName, e.parameters = Ut(n);
-            break;
-        }
-      }
-      return e;
-    }
-    function Ut(t) {
-      const e = {};
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        switch (n.nodeName) {
-          case "xfov":
-          case "yfov":
-          case "xmag":
-          case "ymag":
-          case "znear":
-          case "zfar":
-          case "aspect_ratio":
-            e[n.nodeName] = parseFloat(n.textContent);
-            break;
-        }
-      }
-      return e;
-    }
-    function Je(t) {
-      let e;
-      switch (t.optics.technique) {
-        case "perspective":
-          e = new ht(
-            t.optics.parameters.yfov,
-            t.optics.parameters.aspect_ratio,
-            t.optics.parameters.znear,
-            t.optics.parameters.zfar
-          );
-          break;
-        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 Pn(
-            -n,
-            n,
-            i,
-            -i,
-            // left, right, top, bottom
-            t.optics.parameters.znear,
-            t.optics.parameters.zfar
-          );
-          break;
-        default:
-          e = new ht();
-          break;
-      }
-      return e.name = t.name || "", e;
-    }
-    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 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 = Bt(s);
-              break;
-          }
-      }
-      E.lights[t.getAttribute("id")] = e;
-    }
-    function Bt(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 "directional":
-            case "point":
-            case "spot":
-            case "ambient":
-              e.technique = s.nodeName, e.parameters = Dt(s);
-          }
-      }
-      return e;
-    }
-    function Dt(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 "color":
-              const o = C(s.textContent);
-              e.color = new ut().fromArray(o), Se.colorSpaceToWorking(e.color, me);
-              break;
-            case "falloff_angle":
-              e.falloffAngle = parseFloat(s.textContent);
-              break;
-            case "quadratic_attenuation":
-              const r = parseFloat(s.textContent);
-              e.distance = r ? Math.sqrt(1 / r) : 0;
-              break;
-          }
-      }
-      return e;
-    }
-    function We(t) {
-      let e;
-      switch (t.technique) {
-        case "directional":
-          e = new zn();
-          break;
-        case "point":
-          e = new Un();
-          break;
-        case "spot":
-          e = new jn();
-          break;
-        case "ambient":
-          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 = 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) {
-      const e = {
-        name: t.getAttribute("name"),
-        sources: {},
-        vertices: {},
-        primitives: []
-      }, i = R(t, "mesh")[0];
-      if (i !== void 0) {
-        for (let n = 0; n < i.childNodes.length; n++) {
-          const s = i.childNodes[n];
-          if (s.nodeType !== 1) continue;
-          const o = s.getAttribute("id");
-          switch (s.nodeName) {
-            case "source":
-              e.sources[o] = Ge(s);
-              break;
-            case "vertices":
-              e.vertices = Wt(s);
-              break;
-            case "polygons":
-              console.warn("THREE.ColladaLoader: Unsupported primitive type: ", s.nodeName);
-              break;
-            case "lines":
-            case "linestrips":
-            case "polylist":
-            case "triangles":
-              e.primitives.push(Kt(s));
-              break;
-            default:
-              console.log(s);
-          }
-        }
-        E.geometries[t.getAttribute("id")] = e;
-      }
-    }
-    function Ge(t) {
-      const e = {
-        array: [],
-        stride: 3
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "float_array":
-              e.array = C(n.textContent);
-              break;
-            case "Name_array":
-              e.array = se(n.textContent);
-              break;
-            case "technique_common":
-              const s = R(n, "accessor")[0];
-              s !== void 0 && (e.stride = parseInt(s.getAttribute("stride")));
-              break;
-          }
-      }
-      return e;
-    }
-    function Wt(t) {
-      const e = {};
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        n.nodeType === 1 && (e[n.getAttribute("semantic")] = I(n.getAttribute("source")));
-      }
-      return e;
-    }
-    function Kt(t) {
-      const e = {
-        type: t.nodeName,
-        material: t.getAttribute("material"),
-        count: parseInt(t.getAttribute("count")),
-        inputs: {},
-        stride: 0,
-        hasUV: !1
-      };
-      for (let i = 0, n = t.childNodes.length; i < n; i++) {
-        const s = t.childNodes[i];
-        if (s.nodeType === 1)
-          switch (s.nodeName) {
-            case "input":
-              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);
-              break;
-            case "p":
-              e.p = oe(s.textContent);
-              break;
-          }
-      }
-      return e;
-    }
-    function Yt(t) {
-      const e = {};
-      for (let i = 0; i < t.length; i++) {
-        const n = t[i];
-        e[n.type] === void 0 && (e[n.type] = []), e[n.type].push(n);
-      }
-      return e;
-    }
-    function Xt(t) {
-      let e = 0;
-      for (let i = 0, n = t.length; i < n; i++)
-        t[i].hasUV === !0 && e++;
-      e > 0 && e < t.length && (t.uvsNeedsFix = !0);
-    }
-    function Ke(t) {
-      const e = {}, i = t.sources, n = t.vertices, s = t.primitives;
-      if (s.length === 0) return {};
-      const o = Yt(s);
-      for (const r in o) {
-        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 }, 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":
-            z = w.count * 2;
-            break;
-          case "triangles":
-            z = w.count * 3;
-            break;
-          case "polylist":
-            for (let G = 0; G < w.count; G++) {
-              const F = w.vcount[G];
-              switch (F) {
-                case 3:
-                  z += 3;
-                  break;
-                case 4:
-                  z += 6;
-                  break;
-                default:
-                  z += (F - 2) * 3;
-                  break;
-              }
-            }
-            break;
-          default:
-            console.warn("THREE.ColladaLoader: Unknown primitive type:", w.type);
-        }
-        a.addGroup(m, z, N), m += z, w.material && g.push(w.material);
-        for (const G in W) {
-          const F = W[G];
-          switch (G) {
-            case "VERTEX":
-              for (const fe in i) {
-                const re = i[fe];
-                switch (fe) {
-                  case "POSITION":
-                    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(w, e[re], F.offset, o.array), o.stride = e[re].stride;
-                    break;
-                  case "COLOR":
-                    de(w, e[re], F.offset, c.array), c.stride = e[re].stride;
-                    break;
-                  case "TEXCOORD":
-                    de(w, e[re], F.offset, r.array), r.stride = e[re].stride;
-                    break;
-                  case "TEXCOORD1":
-                    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);
-                }
-              }
-              break;
-            case "NORMAL":
-              de(w, e[F.id], F.offset, o.array), o.stride = e[F.id].stride;
-              break;
-            case "COLOR":
-              de(w, e[F.id], F.offset, c.array, !0), c.stride = e[F.id].stride;
-              break;
-            case "TEXCOORD":
-              de(w, e[F.id], F.offset, r.array), r.stride = e[F.id].stride;
-              break;
-            case "TEXCOORD1":
-              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 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, u = t.vcount;
-      function c(a) {
-        let g = o[a + i] * y;
-        const m = g + y;
-        for (; g < m; g++)
-          n.push(l[g]);
-        if (s) {
-          const N = n.length - y - 1;
-          Re.setRGB(
-            n[N + 0],
-            n[N + 1],
-            n[N + 2],
-            me
-          ), n[N + 0] = Re.r, n[N + 1] = Re.g, n[N + 2] = Re.b;
-        }
-      }
-      const l = e.array, y = e.stride;
-      if (t.vcount !== void 0) {
-        let a = 0;
-        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 * N;
-        }
-      } else
-        for (let a = 0, g = o.length; a < g; a += r)
-          c(a);
-    }
-    function Ye(t) {
-      return ee(E.geometries[t], Ke);
-    }
-    function Zt(t) {
-      const e = {
-        name: t.getAttribute("name") || "",
-        joints: {},
-        links: []
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "technique_common":
-              tn(n, e);
-              break;
-          }
-      }
-      E.kinematicsModels[t.getAttribute("id")] = e;
-    }
-    function Qt(t) {
-      return t.build !== void 0 ? t.build : t;
-    }
-    function en(t) {
-      return ee(E.kinematicsModels[t], Qt);
-    }
-    function tn(t, e) {
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "joint":
-              e.joints[n.getAttribute("sid")] = nn(n);
-              break;
-            case "link":
-              e.links.push(Xe(n));
-              break;
-          }
-      }
-    }
-    function nn(t) {
-      let e;
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "prismatic":
-            case "revolute":
-              e = sn(n);
-              break;
-          }
-      }
-      return e;
-    }
-    function sn(t) {
-      const e = {
-        sid: t.getAttribute("sid"),
-        name: t.getAttribute("name") || "",
-        axis: new pe(),
-        limits: {
-          min: 0,
-          max: 0
-        },
-        type: t.nodeName,
-        static: !1,
-        zeroPosition: 0,
-        middlePosition: 0
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "axis":
-              const s = C(n.textContent);
-              e.axis.fromArray(s);
-              break;
-            case "limits":
-              const o = n.getElementsByTagName("max")[0], r = n.getElementsByTagName("min")[0];
-              e.limits.max = parseFloat(o.textContent), e.limits.min = parseFloat(r.textContent);
-              break;
-          }
-      }
-      return e.limits.min >= e.limits.max && (e.static = !0), e.middlePosition = (e.limits.min + e.limits.max) / 2, e;
-    }
-    function Xe(t) {
-      const e = {
-        sid: t.getAttribute("sid"),
-        name: t.getAttribute("name") || "",
-        attachments: [],
-        transforms: []
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "attachment_full":
-              e.attachments.push(on(n));
-              break;
-            case "matrix":
-            case "translate":
-            case "rotate":
-              e.transforms.push($e(n));
-              break;
-          }
-      }
-      return e;
-    }
-    function on(t) {
-      const e = {
-        joint: t.getAttribute("joint").split("/").pop(),
-        transforms: [],
-        links: []
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "link":
-              e.links.push(Xe(n));
-              break;
-            case "matrix":
-            case "translate":
-            case "rotate":
-              e.transforms.push($e(n));
-              break;
-          }
-      }
-      return e;
-    }
-    function $e(t) {
-      const e = {
-        type: t.nodeName
-      }, i = C(t.textContent);
-      switch (e.type) {
-        case "matrix":
-          e.obj = new he(), e.obj.fromArray(i).transpose();
-          break;
-        case "translate":
-          e.obj = new pe(), e.obj.fromArray(i);
-          break;
-        case "rotate":
-          e.obj = new pe(), e.obj.fromArray(i), e.angle = Le.degToRad(i[3]);
-          break;
-      }
-      return e;
-    }
-    function rn(t) {
-      const e = {
-        name: t.getAttribute("name") || "",
-        rigidBodies: {}
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "rigid_body":
-              e.rigidBodies[n.getAttribute("name")] = {}, an(n, e.rigidBodies[n.getAttribute("name")]);
-              break;
-          }
-      }
-      E.physicsModels[t.getAttribute("id")] = e;
-    }
-    function an(t, e) {
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "technique_common":
-              cn(n, e);
-              break;
-          }
-      }
-    }
-    function cn(t, e) {
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "inertia":
-              e.inertia = C(n.textContent);
-              break;
-            case "mass":
-              e.mass = C(n.textContent)[0];
-              break;
-          }
-      }
-    }
-    function ln(t) {
-      const e = {
-        bindJointAxis: []
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "bind_joint_axis":
-              e.bindJointAxis.push(dn(n));
-              break;
-          }
-      }
-      E.kinematicsScenes[I(t.getAttribute("url"))] = e;
-    }
-    function dn(t) {
-      const e = {
-        target: t.getAttribute("target").split("/").pop()
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType === 1)
-          switch (n.nodeName) {
-            case "axis":
-              const s = n.getElementsByTagName("param")[0];
-              e.axis = s.textContent;
-              const o = e.axis.split("inst_").pop().split("axis")[0];
-              e.jointIndex = o.substring(0, o.length - 1);
-              break;
-          }
-      }
-      return e;
-    }
-    function un(t) {
-      return t.build !== void 0 ? t.build : t;
-    }
-    function fn(t) {
-      return ee(E.kinematicsScenes[t], un);
-    }
-    function hn() {
-      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, 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(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: m,
-            position: m.zeroPosition
-          });
-        });
-      }
-      const l = new he();
-      at = {
-        joints: n && n.joints,
-        getJointValue: function(y) {
-          const a = u[y];
-          if (a)
-            return a.position;
-          console.warn("THREE.ColladaLoader: Joint " + y + " doesn't exist.");
-        },
-        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 N = g.object, w = m.axis, W = g.transforms;
-              ce.identity();
-              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(w, Le.degToRad(a)));
-                      break;
-                    case "prismatic":
-                      ce.multiply(l.makeTranslation(w.x * a, w.y * a, w.z * a));
-                      break;
-                    default:
-                      console.warn("THREE.ColladaLoader: Unknown joint type: " + m.type);
-                      break;
-                  }
-                else
-                  switch (G.type) {
-                    case "matrix":
-                      ce.multiply(G.obj);
-                      break;
-                    case "translate":
-                      ce.multiply(l.makeTranslation(G.obj.x, G.obj.y, G.obj.z));
-                      break;
-                    case "scale":
-                      ce.scale(G.obj);
-                      break;
-                    case "rotate":
-                      ce.multiply(l.makeRotationAxis(G.obj, G.angle));
-                      break;
-                  }
-              }
-              N.matrix.copy(ce), N.matrix.decompose(N.position, N.quaternion, N.scale), u[y].position = a;
-            }
-          } else
-            console.log("THREE.ColladaLoader: " + y + " does not exist.");
-        }
-      };
-    }
-    function pn(t) {
-      const e = [], i = Z.querySelector('[id="' + t.id + '"]');
-      for (let n = 0; n < i.childNodes.length; n++) {
-        const s = i.childNodes[n];
-        if (s.nodeType !== 1) continue;
-        let o, r;
-        switch (s.nodeName) {
-          case "matrix":
-            o = C(s.textContent);
-            const u = new he().fromArray(o).transpose();
-            e.push({
-              sid: s.getAttribute("sid"),
-              type: s.nodeName,
-              obj: u
-            });
-            break;
-          case "translate":
-          case "scale":
-            o = C(s.textContent), r = new pe().fromArray(o), e.push({
-              sid: s.getAttribute("sid"),
-              type: s.nodeName,
-              obj: r
-            });
-            break;
-          case "rotate":
-            o = C(s.textContent), r = new pe().fromArray(o);
-            const c = Le.degToRad(o[3]);
-            e.push({
-              sid: s.getAttribute("sid"),
-              type: s.nodeName,
-              obj: r,
-              angle: c
-            });
-            break;
-        }
-      }
-      return e;
-    }
-    function mn(t) {
-      const e = t.getElementsByTagName("node");
-      for (let i = 0; i < e.length; i++) {
-        const n = e[i];
-        n.hasAttribute("id") === !1 && n.setAttribute("id", Y());
-      }
-    }
-    const ce = new he(), Ee = new pe();
-    function Fe(t) {
-      const e = {
-        name: t.getAttribute("name") || "",
-        type: t.getAttribute("type"),
-        id: t.getAttribute("id"),
-        sid: t.getAttribute("sid"),
-        matrix: new he(),
-        nodes: [],
-        instanceCameras: [],
-        instanceControllers: [],
-        instanceLights: [],
-        instanceGeometries: [],
-        instanceNodes: [],
-        transforms: {}
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        if (n.nodeType !== 1) continue;
-        let s;
-        switch (n.nodeName) {
-          case "node":
-            e.nodes.push(n.getAttribute("id")), Fe(n);
-            break;
-          case "instance_camera":
-            e.instanceCameras.push(I(n.getAttribute("url")));
-            break;
-          case "instance_controller":
-            e.instanceControllers.push(Ze(n));
-            break;
-          case "instance_light":
-            e.instanceLights.push(I(n.getAttribute("url")));
-            break;
-          case "instance_geometry":
-            e.instanceGeometries.push(Ze(n));
-            break;
-          case "instance_node":
-            e.instanceNodes.push(I(n.getAttribute("url")));
-            break;
-          case "matrix":
-            s = C(n.textContent), e.matrix.multiply(ce.fromArray(s).transpose()), e.transforms[n.getAttribute("sid")] = n.nodeName;
-            break;
-          case "translate":
-            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 = C(n.textContent);
-            const o = Le.degToRad(s[3]);
-            e.matrix.multiply(ce.makeRotationAxis(Ee.fromArray(s), o)), e.transforms[n.getAttribute("sid")] = n.nodeName;
-            break;
-          case "scale":
-            s = C(n.textContent), e.matrix.scale(Ee.fromArray(s)), e.transforms[n.getAttribute("sid")] = n.nodeName;
-            break;
-          case "extra":
-            break;
-          default:
-            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) : E.nodes[e.id] = e, e;
-    }
-    function Ze(t) {
-      const e = {
-        id: I(t.getAttribute("url")),
-        materials: {},
-        skeletons: []
-      };
-      for (let i = 0; i < t.childNodes.length; i++) {
-        const n = t.childNodes[i];
-        switch (n.nodeName) {
-          case "bind_material":
-            const s = n.getElementsByTagName("instance_material");
-            for (let o = 0; o < s.length; o++) {
-              const r = s[o], u = r.getAttribute("symbol"), c = r.getAttribute("target");
-              e.materials[u] = I(c);
-            }
-            break;
-          case "skeleton":
-            e.skeletons.push(I(n.textContent));
-            break;
-        }
-      }
-      return e;
-    }
-    function bn(t, e) {
-      const i = [], n = [];
-      let s, o, r;
-      for (s = 0; s < t.length; s++) {
-        const l = t[s];
-        let y;
-        if (tt(l))
-          y = xe(l), Qe(y, e, i);
-        else if (Nn(l)) {
-          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
-          console.error("THREE.ColladaLoader: Unable to find root bone of skeleton with ID:", l);
-      }
-      for (s = 0; s < e.length; s++)
-        for (o = 0; o < i.length; o++)
-          if (r = i[o], r.bone.name === e[s].name) {
-            n[s] = r, r.processed = !0;
-            break;
-          }
-      for (s = 0; s < i.length; s++)
-        r = i[s], r.processed === !1 && (n.push(r), r.processed = !0);
-      const u = [], c = [];
-      for (s = 0; s < n.length; s++)
-        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) {
-        if (n.isBone === !0) {
-          let s;
-          for (let o = 0; o < e.length; o++) {
-            const r = e[o];
-            if (r.name === n.name) {
-              s = r.boneInverse;
-              break;
-            }
-          }
-          s === void 0 && (s = new he()), i.push({ bone: n, boneInverse: s, processed: !1 });
-        }
-      });
-    }
-    function gn(t) {
-      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 _e = W[fe];
-          _e.isSkinnedMesh && (_e.bind(F, N.skin.bindMatrix), _e.normalizeSkinWeights()), e.push(_e);
-        }
-      }
-      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, 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, g = l.length; a < g; a++)
-        e.push(xe(l[a]).clone());
-      let y;
-      if (n.length === 0 && e.length === 1)
-        y = e[0];
-      else {
-        y = s === "JOINT" ? new Dn() : new pt();
-        for (let a = 0; a < e.length; a++)
-          y.add(e[a]);
-      }
-      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,
-      color: 16711935
-    });
-    function wn(t, e) {
-      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(Ft(o));
-      }
-      return i;
-    }
-    function et(t, e) {
-      const i = [];
-      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, y = o.length; l < y; l++) {
-            const a = o[l];
-            if (a.isMeshPhongMaterial === !0 || a.isMeshLambertMaterial === !0) {
-              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, u = o.length === 1 ? o[0] : o;
-        let c;
-        switch (n) {
-          case "lines":
-            c = new Wn(s.data, u);
-            break;
-          case "linestrips":
-            c = new Jn(s.data, u);
-            break;
-          case "triangles":
-          case "polylist":
-            r ? c = new Vn(s.data, u) : c = new Ce(s.data, u);
-            break;
-        }
-        i.push(c);
-      }
-      return i;
-    }
-    function tt(t) {
-      return E.nodes[t] !== void 0;
-    }
-    function xe(t) {
-      return ee(E.nodes[t], gn);
-    }
-    function kn(t) {
-      const e = {
-        name: t.getAttribute("name"),
-        children: []
-      };
-      mn(t);
-      const i = R(t, "node");
-      for (let n = 0; n < i.length; n++)
-        e.children.push(Fe(i[n]));
-      E.visualScenes[t.getAttribute("id")] = e;
-    }
-    function nt(t) {
-      const e = new pt();
-      e.name = t.name;
-      const i = t.children;
-      for (let n = 0; n < i.length; n++) {
-        const s = i[n];
-        e.add(xe(s.id));
-      }
-      return e;
-    }
-    function Nn(t) {
-      return E.visualScenes[t] !== void 0;
-    }
-    function it(t) {
-      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 = E.clips;
-      if (ne(t) === !0) {
-        if (ne(E.animations) === !1) {
-          const e = [];
-          for (const i in E.animations) {
-            const n = U(i);
-            for (let s = 0, o = n.length; s < o; s++)
-              e.push(n[s]);
-          }
-          Ie.push(new ft("default", -1, e));
-        }
-      } else
-        for (const e in t)
-          Ie.push(V(e));
-    }
-    function En(t) {
-      let e = "";
-      const i = [t];
-      for (; i.length; ) {
-        const n = i.shift();
-        n.nodeType === Node.TEXT_NODE ? e += n.textContent : (e += `
-`, i.push(...n.childNodes));
-      }
-      return e.trim();
-    }
-    if (O.length === 0)
-      return { scene: new Mn() };
-    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(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 = ke(R(Z, "asset")[0]), rt = new Tt(this.manager);
-    rt.setPath(this.resourcePath || Q).setCrossOrigin(this.crossOrigin);
-    let qe;
-    wt && (qe = new wt(this.manager), qe.setPath(this.resourcePath || Q));
-    const Re = new ut(), Ie = [];
-    let at = {}, _n = 0;
-    const E = {
-      animations: {},
-      clips: {},
-      controllers: {},
-      images: {},
-      effects: {},
-      materials: {},
-      cameras: {},
-      lights: {},
-      geometries: {},
-      nodes: {},
-      visualScenes: {},
-      kinematicsModels: {},
-      physicsModels: {},
-      kinematicsScenes: {}
-    };
-    $(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), $(Z, "scene", "instance_kinematics_scene", ln), ie(E.animations, P), ie(E.clips, K), ie(E.controllers, v), ie(E.images, T), ie(E.effects, De), ie(E.materials, Ve), ie(E.cameras, Je), ie(E.lights, We), ie(E.geometries, Ke), ie(E.visualScenes, nt), Tn(), hn();
-    const Me = An(R(Z, "scene")[0]);
-    return Me.animations = Ie, ot.upAxis === "Z_UP" && (console.warn("THREE.ColladaLoader: You are loading an asset with a Z-UP coordinate system. The loader just rotates the asset to transform it into Y-UP. The vertex data are not converted, see #24289."), Me.rotation.set(-Math.PI / 2, 0, 0)), Me.scale.multiplyScalar(ot.unit), {
-      get animations() {
-        return console.warn("THREE.ColladaLoader: Please access animations over scene.animations now."), Ie;
-      },
-      kinematics: at,
-      library: E,
-      scene: Me
-    };
-  }
-}
-const je = new Et(), kt = new si();
-function ge(ue) {
-  return ue ? ue.trim().split(/\s+/g).map((O) => parseFloat(O)) : [0, 0, 0];
-}
-function Nt(ue, O, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(O[0], O[1], O[2], "ZYX"), je.setFromEuler(kt), je.multiply(ue.quaternion), ue.quaternion.copy(je);
-}
-class ci {
-  constructor(O) {
-    this.manager = O || Yn, this.loadMeshCb = this.defaultMeshLoader.bind(this), this.parseVisual = !0, this.parseCollision = !1, this.packages = "", this.workingPath = "", this.fetchOptions = {};
-  }
-  /* Public API */
-  loadAsync(O) {
-    return new Promise((Q, R) => {
-      this.load(O, Q, null, R);
-    });
-  }
-  // urdf:    The path to the URDF within the package OR absolute
-  // onComplete:      Callback that is passed the model once loaded
-  load(O, Q, R, se) {
-    const C = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
-    C.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
-      if (Y.ok)
-        return R && R(null), Y.text();
-      throw new Error(`URDFLoader: Failed to load url '${I}' with error code ${Y.status} : ${Y.statusText}.`);
-    }).then((Y) => {
-      const ne = this.parse(Y, this.workingPath || oe);
-      Q(ne), C.itemEnd(I);
-    }).catch((Y) => {
-      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, 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 [P, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
-      if (typeof R == "string")
-        return R.endsWith(P) ? R + "/" + U : R + "/" + P + "/" + U;
-      if (typeof R == "function")
-        return R(P) + "/" + U;
-      if (typeof R == "object")
-        return P in R ? R[P] + "/" + U : (console.error(`URDFLoader : ${P} not found in provided package list.`), null);
-    }
-    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 $(M) {
-      const P = [...M.children], U = P.filter((x) => x.nodeName.toLowerCase() === "link"), b = P.filter((x) => x.nodeName.toLowerCase() === "joint"), D = P.filter((x) => x.nodeName.toLowerCase() === "material"), S = new Xn();
-      S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, D.forEach((x) => {
-        const k = x.getAttribute("name");
-        ke[k] = be(x);
-      });
-      const p = {}, d = {};
-      U.forEach((x) => {
-        const k = x.getAttribute("name"), q = M.querySelector(`child[link="${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) => {
-            q(te);
-          });
-        };
-        q(x);
-      }), S.frames = {
-        ...d,
-        ...p,
-        ...Y,
-        ...ne
-      }, S;
-    }
-    function ie(M) {
-      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 && 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;
-        }
-      }), b;
-    }
-    function be(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 (D === "texture") {
-          const S = b.getAttribute("filename");
-          if (S) {
-            const p = new Tt(I), d = Ne(S);
-            U.map = p.load(d), U.map.colorSpace = me;
-          }
-        }
-      }), U;
-    }
-    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 d = S.getAttribute("name");
-        d && d in P ? D = P[d] : D = be(S);
-      } else
-        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 = ge(ae);
-                p.scale.set(te[0], te[1], te[2]);
-              }
-              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 (x === "box") {
-            const k = new Ce();
-            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 = 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 = 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 (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);
-        }
-      }), p;
-    }
-    return Ae(O);
-  }
-  // Default mesh loading function
-  defaultMeshLoader(O, Q, R) {
-    /\.stl$/i.test(O) ? new Ln(Q).load(O, (C) => {
-      const oe = new Ce(C, new ve());
-      R(oe);
-    }, 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`);
-  }
-}
-export {
-  ci as U
-};