three-stdlib 2.16.0 → 2.16.1

package/loaders/ColladaLoader.js

@@ -1,211 +1,255 @@
-"use strict";
-Object.defineProperties(exports, { __esModule: { value: true }, [Symbol.toStringTag]: { value: "Module" } });
-const THREE = require("three");
-const TGALoader = require("./TGALoader.js");
-class ColladaLoader extends THREE.Loader {
+import { Loader, LoaderUtils, FileLoader, Vector3, Quaternion, Matrix4, MeshBasicMaterial, Scene, TextureLoader, Euler, MathUtils, AnimationClip, VectorKeyframeTrack, QuaternionKeyframeTrack, MeshLambertMaterial, MeshPhongMaterial, Vector2, DoubleSide, FrontSide, PerspectiveCamera, OrthographicCamera, Color, AmbientLight, SpotLight, PointLight, DirectionalLight, BufferGeometry, Float32BufferAttribute, Skeleton, Bone, Group, LineBasicMaterial, SkinnedMesh, Mesh, Line, LineSegments, RepeatWrapping, ClampToEdgeWrapping } from 'three';
+import { TGALoader } from './TGALoader.js';
+
+class ColladaLoader extends Loader {
   constructor(manager) {
     super(manager);
   }
+
   load(url, onLoad, onProgress, onError) {
     const scope = this;
-    const path = scope.path === "" ? THREE.LoaderUtils.extractUrlBase(url) : scope.path;
-    const loader = new THREE.FileLoader(scope.manager);
+    const path = scope.path === '' ? LoaderUtils.extractUrlBase(url) : scope.path;
+    const loader = new FileLoader(scope.manager);
     loader.setPath(scope.path);
     loader.setRequestHeader(scope.requestHeader);
     loader.setWithCredentials(scope.withCredentials);
-    loader.load(
-      url,
-      function(text) {
-        try {
-          onLoad(scope.parse(text, path));
-        } catch (e) {
-          if (onError) {
-            onError(e);
-          } else {
-            console.error(e);
-          }
-          scope.manager.itemError(url);
+    loader.load(url, function (text) {
+      try {
+        onLoad(scope.parse(text, path));
+      } catch (e) {
+        if (onError) {
+          onError(e);
+        } else {
+          console.error(e);
         }
-      },
-      onProgress,
-      onError
-    );
+
+        scope.manager.itemError(url);
+      }
+    }, onProgress, onError);
   }
+
   parse(text, path) {
-    function getElementsByTagName(xml2, name) {
+    function getElementsByTagName(xml, name) {
+      // Non recursive xml.getElementsByTagName() ...
       const array = [];
-      const childNodes = xml2.childNodes;
+      const childNodes = xml.childNodes;
+
       for (let i = 0, l = childNodes.length; i < l; i++) {
         const child = childNodes[i];
+
         if (child.nodeName === name) {
           array.push(child);
         }
       }
+
       return array;
     }
-    function parseStrings(text2) {
-      if (text2.length === 0)
-        return [];
-      const parts = text2.trim().split(/\s+/);
+
+    function parseStrings(text) {
+      if (text.length === 0) return [];
+      const parts = text.trim().split(/\s+/);
       const array = new Array(parts.length);
+
       for (let i = 0, l = parts.length; i < l; i++) {
         array[i] = parts[i];
       }
+
       return array;
     }
-    function parseFloats(text2) {
-      if (text2.length === 0)
-        return [];
-      const parts = text2.trim().split(/\s+/);
+
+    function parseFloats(text) {
+      if (text.length === 0) return [];
+      const parts = text.trim().split(/\s+/);
       const array = new Array(parts.length);
+
       for (let i = 0, l = parts.length; i < l; i++) {
         array[i] = parseFloat(parts[i]);
       }
+
       return array;
     }
-    function parseInts(text2) {
-      if (text2.length === 0)
-        return [];
-      const parts = text2.trim().split(/\s+/);
+
+    function parseInts(text) {
+      if (text.length === 0) return [];
+      const parts = text.trim().split(/\s+/);
       const array = new Array(parts.length);
+
       for (let i = 0, l = parts.length; i < l; i++) {
         array[i] = parseInt(parts[i]);
       }
+
       return array;
     }
-    function parseId(text2) {
-      return text2.substring(1);
+
+    function parseId(text) {
+      return text.substring(1);
     }
+
     function generateId() {
-      return "three_default_" + count++;
+      return 'three_default_' + count++;
     }
+
     function isEmpty(object) {
       return Object.keys(object).length === 0;
-    }
-    function parseAsset(xml2) {
+    } // asset
+
+
+    function parseAsset(xml) {
       return {
-        unit: parseAssetUnit(getElementsByTagName(xml2, "unit")[0]),
-        upAxis: parseAssetUpAxis(getElementsByTagName(xml2, "up_axis")[0])
+        unit: parseAssetUnit(getElementsByTagName(xml, 'unit')[0]),
+        upAxis: parseAssetUpAxis(getElementsByTagName(xml, 'up_axis')[0])
       };
     }
-    function parseAssetUnit(xml2) {
-      if (xml2 !== void 0 && xml2.hasAttribute("meter") === true) {
-        return parseFloat(xml2.getAttribute("meter"));
+
+    function parseAssetUnit(xml) {
+      if (xml !== undefined && xml.hasAttribute('meter') === true) {
+        return parseFloat(xml.getAttribute('meter'));
       } else {
-        return 1;
-      }
-    }
-    function parseAssetUpAxis(xml2) {
-      return xml2 !== void 0 ? xml2.textContent : "Y_UP";
-    }
-    function parseLibrary(xml2, libraryName, nodeName, parser) {
-      const library2 = getElementsByTagName(xml2, libraryName)[0];
-      if (library2 !== void 0) {
-        const elements = getElementsByTagName(library2, nodeName);
+        return 1; // default 1 meter
+      }
+    }
+
+    function parseAssetUpAxis(xml) {
+      return xml !== undefined ? xml.textContent : 'Y_UP';
+    } // library
+
+
+    function parseLibrary(xml, libraryName, nodeName, parser) {
+      const library = getElementsByTagName(xml, libraryName)[0];
+
+      if (library !== undefined) {
+        const elements = getElementsByTagName(library, nodeName);
+
         for (let i = 0; i < elements.length; i++) {
           parser(elements[i]);
         }
       }
     }
+
     function buildLibrary(data, builder) {
       for (const name in data) {
         const object = data[name];
         object.build = builder(data[name]);
       }
-    }
+    } // get
+
+
     function getBuild(data, builder) {
-      if (data.build !== void 0)
-        return data.build;
+      if (data.build !== undefined) return data.build;
       data.build = builder(data);
       return data.build;
-    }
-    function parseAnimation(xml2) {
+    } // animation
+
+
+    function parseAnimation(xml) {
       const data = {
         sources: {},
         samplers: {},
         channels: {}
       };
       let hasChildren = false;
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
         let id;
+
         switch (child.nodeName) {
-          case "source":
-            id = child.getAttribute("id");
+          case 'source':
+            id = child.getAttribute('id');
             data.sources[id] = parseSource(child);
             break;
-          case "sampler":
-            id = child.getAttribute("id");
+
+          case 'sampler':
+            id = child.getAttribute('id');
             data.samplers[id] = parseAnimationSampler(child);
             break;
-          case "channel":
-            id = child.getAttribute("target");
+
+          case 'channel':
+            id = child.getAttribute('target');
             data.channels[id] = parseAnimationChannel(child);
             break;
-          case "animation":
+
+          case 'animation':
+            // hierarchy of related animations
             parseAnimation(child);
             hasChildren = true;
             break;
+
           default:
             console.log(child);
         }
       }
+
       if (hasChildren === false) {
-        library.animations[xml2.getAttribute("id") || THREE.MathUtils.generateUUID()] = data;
+        // since 'id' attributes can be optional, it's necessary to generate a UUID for unqiue assignment
+        library.animations[xml.getAttribute('id') || MathUtils.generateUUID()] = data;
       }
     }
-    function parseAnimationSampler(xml2) {
+
+    function parseAnimationSampler(xml) {
       const data = {
         inputs: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "input":
-            const id = parseId(child.getAttribute("source"));
-            const semantic = child.getAttribute("semantic");
+          case 'input':
+            const id = parseId(child.getAttribute('source'));
+            const semantic = child.getAttribute('semantic');
             data.inputs[semantic] = id;
             break;
         }
       }
+
       return data;
     }
-    function parseAnimationChannel(xml2) {
+
+    function parseAnimationChannel(xml) {
       const data = {};
-      const target = xml2.getAttribute("target");
-      let parts = target.split("/");
+      const target = xml.getAttribute('target'); // parsing SID Addressing Syntax
+
+      let parts = target.split('/');
       const id = parts.shift();
-      let sid = parts.shift();
-      const arraySyntax = sid.indexOf("(") !== -1;
-      const memberSyntax = sid.indexOf(".") !== -1;
+      let sid = parts.shift(); // check selection syntax
+
+      const arraySyntax = sid.indexOf('(') !== -1;
+      const memberSyntax = sid.indexOf('.') !== -1;
+
       if (memberSyntax) {
-        parts = sid.split(".");
+        //  member selection access
+        parts = sid.split('.');
         sid = parts.shift();
         data.member = parts.shift();
       } else if (arraySyntax) {
-        const indices = sid.split("(");
+        // array-access syntax. can be used to express fields in one-dimensional vectors or two-dimensional matrices.
+        const indices = sid.split('(');
         sid = indices.shift();
+
         for (let i = 0; i < indices.length; i++) {
-          indices[i] = parseInt(indices[i].replace(/\)/, ""));
+          indices[i] = parseInt(indices[i].replace(/\)/, ''));
         }
+
         data.indices = indices;
       }
+
       data.id = id;
       data.sid = sid;
       data.arraySyntax = arraySyntax;
       data.memberSyntax = memberSyntax;
-      data.sampler = parseId(xml2.getAttribute("source"));
+      data.sampler = parseId(xml.getAttribute('source'));
       return data;
     }
+
     function buildAnimation(data) {
       const tracks = [];
       const channels = data.channels;
       const samplers = data.samplers;
       const sources = data.sources;
+
       for (const target in channels) {
         if (channels.hasOwnProperty(target)) {
           const channel = channels[target];
@@ -218,11 +262,14 @@ class ColladaLoader extends THREE.Loader {
           createKeyframeTracks(animation, tracks);
         }
       }
+
       return tracks;
     }
+
     function getAnimation(id) {
       return getBuild(library.animations[id], buildAnimation);
     }
+
     function buildAnimationChannel(channel, inputSource, outputSource) {
       const node = library.nodes[channel.id];
       const object3D = getNode(node.id);
@@ -230,14 +277,16 @@ class ColladaLoader extends THREE.Loader {
       const defaultMatrix = node.matrix.clone().transpose();
       let time, stride;
       let i, il, j, jl;
-      const data = {};
+      const data = {}; // the collada spec allows the animation of data in various ways.
+      // depending on the transform type (matrix, translate, rotate, scale), we execute different logic
+
       switch (transform) {
-        case "matrix":
+        case 'matrix':
           for (i = 0, il = inputSource.array.length; i < il; i++) {
             time = inputSource.array[i];
             stride = i * outputSource.stride;
-            if (data[time] === void 0)
-              data[time] = {};
+            if (data[time] === undefined) data[time] = {};
+
             if (channel.arraySyntax === true) {
               const value = outputSource.array[stride];
               const index = channel.indices[0] + 4 * channel.indices[1];
@@ -248,41 +297,58 @@ class ColladaLoader extends THREE.Loader {
               }
             }
           }
+
           break;
-        case "translate":
+
+        case 'translate':
           console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform);
           break;
-        case "rotate":
+
+        case 'rotate':
           console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform);
           break;
-        case "scale":
+
+        case 'scale':
           console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform);
           break;
       }
+
       const keyframes = prepareAnimationData(data, defaultMatrix);
       const animation = {
         name: object3D.uuid,
-        keyframes
+        keyframes: keyframes
       };
       return animation;
     }
+
     function prepareAnimationData(data, defaultMatrix) {
-      const keyframes = [];
+      const keyframes = []; // transfer data into a sortable array
+
       for (const time in data) {
-        keyframes.push({ time: parseFloat(time), value: data[time] });
-      }
-      keyframes.sort(ascending);
+        keyframes.push({
+          time: parseFloat(time),
+          value: data[time]
+        });
+      } // ensure keyframes are sorted by time
+
+
+      keyframes.sort(ascending); // now we clean up all animation data, so we can use them for keyframe tracks
+
       for (let i = 0; i < 16; i++) {
         transformAnimationData(keyframes, i, defaultMatrix.elements[i]);
       }
-      return keyframes;
+
+      return keyframes; // array sort function
+
       function ascending(a, b) {
         return a.time - b.time;
       }
     }
-    const position = new THREE.Vector3();
-    const scale = new THREE.Vector3();
-    const quaternion = new THREE.Quaternion();
+
+    const position = new Vector3();
+    const scale = new Vector3();
+    const quaternion = new Quaternion();
+
     function createKeyframeTracks(animation, tracks) {
       const keyframes = animation.keyframes;
       const name = animation.name;
@@ -290,6 +356,7 @@ class ColladaLoader extends THREE.Loader {
       const positionData = [];
       const quaternionData = [];
       const scaleData = [];
+
       for (let i = 0, l = keyframes.length; i < l; i++) {
         const keyframe = keyframes[i];
         const time = keyframe.time;
@@ -301,219 +368,274 @@ class ColladaLoader extends THREE.Loader {
         quaternionData.push(quaternion.x, quaternion.y, quaternion.z, quaternion.w);
         scaleData.push(scale.x, scale.y, scale.z);
       }
-      if (positionData.length > 0)
-        tracks.push(new THREE.VectorKeyframeTrack(name + ".position", times, positionData));
+
+      if (positionData.length > 0) tracks.push(new VectorKeyframeTrack(name + '.position', times, positionData));
+
       if (quaternionData.length > 0) {
-        tracks.push(new THREE.QuaternionKeyframeTrack(name + ".quaternion", times, quaternionData));
+        tracks.push(new QuaternionKeyframeTrack(name + '.quaternion', times, quaternionData));
       }
-      if (scaleData.length > 0)
-        tracks.push(new THREE.VectorKeyframeTrack(name + ".scale", times, scaleData));
+
+      if (scaleData.length > 0) tracks.push(new VectorKeyframeTrack(name + '.scale', times, scaleData));
       return tracks;
     }
+
     function transformAnimationData(keyframes, property, defaultValue) {
       let keyframe;
       let empty = true;
-      let i, l;
+      let i, l; // check, if values of a property are missing in our keyframes
+
       for (i = 0, l = keyframes.length; i < l; i++) {
         keyframe = keyframes[i];
-        if (keyframe.value[property] === void 0) {
-          keyframe.value[property] = null;
+
+        if (keyframe.value[property] === undefined) {
+          keyframe.value[property] = null; // mark as missing
         } else {
           empty = false;
         }
       }
+
       if (empty === true) {
+        // no values at all, so we set a default value
         for (i = 0, l = keyframes.length; i < l; i++) {
           keyframe = keyframes[i];
           keyframe.value[property] = defaultValue;
         }
       } else {
+        // filling gaps
         createMissingKeyframes(keyframes, property);
       }
     }
+
     function createMissingKeyframes(keyframes, property) {
       let prev, next;
+
       for (let i = 0, l = keyframes.length; i < l; i++) {
         const keyframe = keyframes[i];
+
         if (keyframe.value[property] === null) {
           prev = getPrev(keyframes, i, property);
           next = getNext(keyframes, i, property);
+
           if (prev === null) {
             keyframe.value[property] = next.value[property];
             continue;
           }
+
           if (next === null) {
             keyframe.value[property] = prev.value[property];
             continue;
           }
+
           interpolate(keyframe, prev, next, property);
         }
       }
     }
+
     function getPrev(keyframes, i, property) {
       while (i >= 0) {
         const keyframe = keyframes[i];
-        if (keyframe.value[property] !== null)
-          return keyframe;
+        if (keyframe.value[property] !== null) return keyframe;
         i--;
       }
+
       return null;
     }
+
     function getNext(keyframes, i, property) {
       while (i < keyframes.length) {
         const keyframe = keyframes[i];
-        if (keyframe.value[property] !== null)
-          return keyframe;
+        if (keyframe.value[property] !== null) return keyframe;
         i++;
       }
+
       return null;
     }
+
     function interpolate(key, prev, next, property) {
       if (next.time - prev.time === 0) {
         key.value[property] = prev.value[property];
         return;
       }
+
       key.value[property] = (key.time - prev.time) * (next.value[property] - prev.value[property]) / (next.time - prev.time) + prev.value[property];
-    }
-    function parseAnimationClip(xml2) {
+    } // animation clips
+
+
+    function parseAnimationClip(xml) {
       const data = {
-        name: xml2.getAttribute("id") || "default",
-        start: parseFloat(xml2.getAttribute("start") || 0),
-        end: parseFloat(xml2.getAttribute("end") || 0),
+        name: xml.getAttribute('id') || 'default',
+        start: parseFloat(xml.getAttribute('start') || 0),
+        end: parseFloat(xml.getAttribute('end') || 0),
         animations: []
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "instance_animation":
-            data.animations.push(parseId(child.getAttribute("url")));
+          case 'instance_animation':
+            data.animations.push(parseId(child.getAttribute('url')));
             break;
         }
       }
-      library.clips[xml2.getAttribute("id")] = data;
+
+      library.clips[xml.getAttribute('id')] = data;
     }
+
     function buildAnimationClip(data) {
       const tracks = [];
       const name = data.name;
       const duration = data.end - data.start || -1;
-      const animations2 = data.animations;
-      for (let i = 0, il = animations2.length; i < il; i++) {
-        const animationTracks = getAnimation(animations2[i]);
+      const animations = data.animations;
+
+      for (let i = 0, il = animations.length; i < il; i++) {
+        const animationTracks = getAnimation(animations[i]);
+
         for (let j = 0, jl = animationTracks.length; j < jl; j++) {
           tracks.push(animationTracks[j]);
         }
       }
-      return new THREE.AnimationClip(name, duration, tracks);
+
+      return new AnimationClip(name, duration, tracks);
     }
+
     function getAnimationClip(id) {
       return getBuild(library.clips[id], buildAnimationClip);
-    }
-    function parseController(xml2) {
+    } // controller
+
+
+    function parseController(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "skin":
-            data.id = parseId(child.getAttribute("source"));
+          case 'skin':
+            // there is exactly one skin per controller
+            data.id = parseId(child.getAttribute('source'));
             data.skin = parseSkin(child);
             break;
-          case "morph":
-            data.id = parseId(child.getAttribute("source"));
-            console.warn("THREE.ColladaLoader: Morph target animation not supported yet.");
+
+          case 'morph':
+            data.id = parseId(child.getAttribute('source'));
+            console.warn('THREE.ColladaLoader: Morph target animation not supported yet.');
             break;
         }
       }
-      library.controllers[xml2.getAttribute("id")] = data;
+
+      library.controllers[xml.getAttribute('id')] = data;
     }
-    function parseSkin(xml2) {
+
+    function parseSkin(xml) {
       const data = {
         sources: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "bind_shape_matrix":
+          case 'bind_shape_matrix':
             data.bindShapeMatrix = parseFloats(child.textContent);
             break;
-          case "source":
-            const id = child.getAttribute("id");
+
+          case 'source':
+            const id = child.getAttribute('id');
             data.sources[id] = parseSource(child);
             break;
-          case "joints":
+
+          case 'joints':
             data.joints = parseJoints(child);
             break;
-          case "vertex_weights":
+
+          case 'vertex_weights':
             data.vertexWeights = parseVertexWeights(child);
             break;
         }
       }
+
       return data;
     }
-    function parseJoints(xml2) {
+
+    function parseJoints(xml) {
       const data = {
         inputs: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "input":
-            const semantic = child.getAttribute("semantic");
-            const id = parseId(child.getAttribute("source"));
+          case 'input':
+            const semantic = child.getAttribute('semantic');
+            const id = parseId(child.getAttribute('source'));
             data.inputs[semantic] = id;
             break;
         }
       }
+
       return data;
     }
-    function parseVertexWeights(xml2) {
+
+    function parseVertexWeights(xml) {
       const data = {
         inputs: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "input":
-            const semantic = child.getAttribute("semantic");
-            const id = parseId(child.getAttribute("source"));
-            const offset = parseInt(child.getAttribute("offset"));
-            data.inputs[semantic] = { id, offset };
+          case 'input':
+            const semantic = child.getAttribute('semantic');
+            const id = parseId(child.getAttribute('source'));
+            const offset = parseInt(child.getAttribute('offset'));
+            data.inputs[semantic] = {
+              id: id,
+              offset: offset
+            };
             break;
-          case "vcount":
+
+          case 'vcount':
             data.vcount = parseInts(child.textContent);
             break;
-          case "v":
+
+          case 'v':
             data.v = parseInts(child.textContent);
             break;
         }
       }
+
       return data;
     }
+
     function buildController(data) {
       const build = {
         id: data.id
       };
       const geometry = library.geometries[build.id];
-      if (data.skin !== void 0) {
-        build.skin = buildSkin(data.skin);
+
+      if (data.skin !== undefined) {
+        build.skin = buildSkin(data.skin); // we enhance the 'sources' property of the corresponding geometry with our skin data
+
         geometry.sources.skinIndices = build.skin.indices;
         geometry.sources.skinWeights = build.skin.weights;
       }
+
       return build;
     }
+
     function buildSkin(data) {
       const BONE_LIMIT = 4;
       const build = {
         joints: [],
+        // this must be an array to preserve the joint order
         indices: {
           array: [],
           stride: BONE_LIMIT
@@ -533,21 +655,33 @@ class ColladaLoader extends THREE.Loader {
       const inverseSource = data.sources[data.joints.inputs.INV_BIND_MATRIX];
       const weights = sources[vertexWeights.inputs.WEIGHT.id].array;
       let stride = 0;
-      let i, j, l;
+      let i, j, l; // procces skin data for each vertex
+
       for (i = 0, l = vcount.length; i < l; i++) {
-        const jointCount = vcount[i];
+        const jointCount = vcount[i]; // this is the amount of joints that affect a single vertex
+
         const vertexSkinData = [];
+
         for (j = 0; j < jointCount; j++) {
           const skinIndex = v[stride + jointOffset];
           const weightId = v[stride + weightOffset];
           const skinWeight = weights[weightId];
-          vertexSkinData.push({ index: skinIndex, weight: skinWeight });
+          vertexSkinData.push({
+            index: skinIndex,
+            weight: skinWeight
+          });
           stride += 2;
-        }
-        vertexSkinData.sort(descending);
+        } // we sort the joints in descending order based on the weights.
+        // this ensures, we only procced the most important joints of the vertex
+
+
+        vertexSkinData.sort(descending); // now we provide for each vertex a set of four index and weight values.
+        // the order of the skin data matches the order of vertices
+
         for (j = 0; j < BONE_LIMIT; j++) {
           const d = vertexSkinData[j];
-          if (d !== void 0) {
+
+          if (d !== undefined) {
             build.indices.array.push(d.index);
             build.weights.array.push(d.weight);
           } else {
@@ -555,377 +689,468 @@ class ColladaLoader extends THREE.Loader {
             build.weights.array.push(0);
           }
         }
-      }
+      } // setup bind matrix
+
+
       if (data.bindShapeMatrix) {
-        build.bindMatrix = new THREE.Matrix4().fromArray(data.bindShapeMatrix).transpose();
+        build.bindMatrix = new Matrix4().fromArray(data.bindShapeMatrix).transpose();
       } else {
-        build.bindMatrix = new THREE.Matrix4().identity();
-      }
+        build.bindMatrix = new Matrix4().identity();
+      } // process bones and inverse bind matrix data
+
+
       for (i = 0, l = jointSource.array.length; i < l; i++) {
         const name = jointSource.array[i];
-        const boneInverse = new THREE.Matrix4().fromArray(inverseSource.array, i * inverseSource.stride).transpose();
-        build.joints.push({ name, boneInverse });
+        const boneInverse = new Matrix4().fromArray(inverseSource.array, i * inverseSource.stride).transpose();
+        build.joints.push({
+          name: name,
+          boneInverse: boneInverse
+        });
       }
-      return build;
+
+      return build; // array sort function
+
       function descending(a, b) {
         return b.weight - a.weight;
       }
     }
+
     function getController(id) {
       return getBuild(library.controllers[id], buildController);
-    }
-    function parseImage(xml2) {
+    } // image
+
+
+    function parseImage(xml) {
       const data = {
-        init_from: getElementsByTagName(xml2, "init_from")[0].textContent
+        init_from: getElementsByTagName(xml, 'init_from')[0].textContent
       };
-      library.images[xml2.getAttribute("id")] = data;
+      library.images[xml.getAttribute('id')] = data;
     }
+
     function buildImage(data) {
-      if (data.build !== void 0)
-        return data.build;
+      if (data.build !== undefined) return data.build;
       return data.init_from;
     }
+
     function getImage(id) {
       const data = library.images[id];
-      if (data !== void 0) {
+
+      if (data !== undefined) {
         return getBuild(data, buildImage);
       }
+
       console.warn("THREE.ColladaLoader: Couldn't find image with ID:", id);
       return null;
-    }
-    function parseEffect(xml2) {
+    } // effect
+
+
+    function parseEffect(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "profile_COMMON":
+          case 'profile_COMMON':
             data.profile = parseEffectProfileCOMMON(child);
             break;
         }
       }
-      library.effects[xml2.getAttribute("id")] = data;
+
+      library.effects[xml.getAttribute('id')] = data;
     }
-    function parseEffectProfileCOMMON(xml2) {
+
+    function parseEffectProfileCOMMON(xml) {
       const data = {
         surfaces: {},
         samplers: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "newparam":
+          case 'newparam':
             parseEffectNewparam(child, data);
             break;
-          case "technique":
+
+          case 'technique':
             data.technique = parseEffectTechnique(child);
             break;
-          case "extra":
+
+          case 'extra':
             data.extra = parseEffectExtra(child);
             break;
         }
       }
+
       return data;
     }
-    function parseEffectNewparam(xml2, data) {
-      const sid = xml2.getAttribute("sid");
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parseEffectNewparam(xml, data) {
+      const sid = xml.getAttribute('sid');
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "surface":
+          case 'surface':
             data.surfaces[sid] = parseEffectSurface(child);
             break;
-          case "sampler2D":
+
+          case 'sampler2D':
             data.samplers[sid] = parseEffectSampler(child);
             break;
         }
       }
     }
-    function parseEffectSurface(xml2) {
+
+    function parseEffectSurface(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "init_from":
+          case 'init_from':
             data.init_from = child.textContent;
             break;
         }
       }
+
       return data;
     }
-    function parseEffectSampler(xml2) {
+
+    function parseEffectSampler(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "source":
+          case 'source':
             data.source = child.textContent;
             break;
         }
       }
+
       return data;
     }
-    function parseEffectTechnique(xml2) {
+
+    function parseEffectTechnique(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "constant":
-          case "lambert":
-          case "blinn":
-          case "phong":
+          case 'constant':
+          case 'lambert':
+          case 'blinn':
+          case 'phong':
             data.type = child.nodeName;
             data.parameters = parseEffectParameters(child);
             break;
-          case "extra":
+
+          case 'extra':
             data.extra = parseEffectExtra(child);
             break;
         }
       }
+
       return data;
     }
-    function parseEffectParameters(xml2) {
+
+    function parseEffectParameters(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "emission":
-          case "diffuse":
-          case "specular":
-          case "bump":
-          case "ambient":
-          case "shininess":
-          case "transparency":
+          case 'emission':
+          case 'diffuse':
+          case 'specular':
+          case 'bump':
+          case 'ambient':
+          case 'shininess':
+          case 'transparency':
             data[child.nodeName] = parseEffectParameter(child);
             break;
-          case "transparent":
+
+          case 'transparent':
             data[child.nodeName] = {
-              opaque: child.hasAttribute("opaque") ? child.getAttribute("opaque") : "A_ONE",
+              opaque: child.hasAttribute('opaque') ? child.getAttribute('opaque') : 'A_ONE',
               data: parseEffectParameter(child)
             };
             break;
         }
       }
+
       return data;
     }
-    function parseEffectParameter(xml2) {
+
+    function parseEffectParameter(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "color":
+          case 'color':
             data[child.nodeName] = parseFloats(child.textContent);
             break;
-          case "float":
+
+          case 'float':
             data[child.nodeName] = parseFloat(child.textContent);
             break;
-          case "texture":
-            data[child.nodeName] = { id: child.getAttribute("texture"), extra: parseEffectParameterTexture(child) };
+
+          case 'texture':
+            data[child.nodeName] = {
+              id: child.getAttribute('texture'),
+              extra: parseEffectParameterTexture(child)
+            };
             break;
         }
       }
+
       return data;
     }
-    function parseEffectParameterTexture(xml2) {
+
+    function parseEffectParameterTexture(xml) {
       const data = {
         technique: {}
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "extra":
+          case 'extra':
             parseEffectParameterTextureExtra(child, data);
             break;
         }
       }
+
       return data;
     }
-    function parseEffectParameterTextureExtra(xml2, data) {
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parseEffectParameterTextureExtra(xml, data) {
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "technique":
+          case 'technique':
             parseEffectParameterTextureExtraTechnique(child, data);
             break;
         }
       }
     }
-    function parseEffectParameterTextureExtraTechnique(xml2, data) {
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parseEffectParameterTextureExtraTechnique(xml, data) {
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "repeatU":
-          case "repeatV":
-          case "offsetU":
-          case "offsetV":
+          case 'repeatU':
+          case 'repeatV':
+          case 'offsetU':
+          case 'offsetV':
             data.technique[child.nodeName] = parseFloat(child.textContent);
             break;
-          case "wrapU":
-          case "wrapV":
-            if (child.textContent.toUpperCase() === "TRUE") {
+
+          case 'wrapU':
+          case 'wrapV':
+            // some files have values for wrapU/wrapV which become NaN via parseInt
+            if (child.textContent.toUpperCase() === 'TRUE') {
               data.technique[child.nodeName] = 1;
-            } else if (child.textContent.toUpperCase() === "FALSE") {
+            } else if (child.textContent.toUpperCase() === 'FALSE') {
               data.technique[child.nodeName] = 0;
             } else {
               data.technique[child.nodeName] = parseInt(child.textContent);
             }
+
             break;
-          case "bump":
+
+          case 'bump':
             data[child.nodeName] = parseEffectExtraTechniqueBump(child);
             break;
         }
       }
     }
-    function parseEffectExtra(xml2) {
+
+    function parseEffectExtra(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "technique":
+          case 'technique':
             data.technique = parseEffectExtraTechnique(child);
             break;
         }
       }
+
       return data;
     }
-    function parseEffectExtraTechnique(xml2) {
+
+    function parseEffectExtraTechnique(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "double_sided":
+          case 'double_sided':
             data[child.nodeName] = parseInt(child.textContent);
             break;
-          case "bump":
+
+          case 'bump':
             data[child.nodeName] = parseEffectExtraTechniqueBump(child);
             break;
         }
       }
+
       return data;
     }
-    function parseEffectExtraTechniqueBump(xml2) {
+
+    function parseEffectExtraTechniqueBump(xml) {
       var data = {};
-      for (var i = 0, l = xml2.childNodes.length; i < l; i++) {
-        var child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (var i = 0, l = xml.childNodes.length; i < l; i++) {
+        var child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "texture":
+          case 'texture':
             data[child.nodeName] = {
-              id: child.getAttribute("texture"),
-              texcoord: child.getAttribute("texcoord"),
+              id: child.getAttribute('texture'),
+              texcoord: child.getAttribute('texcoord'),
               extra: parseEffectParameterTexture(child)
             };
             break;
         }
       }
+
       return data;
     }
+
     function buildEffect(data) {
       return data;
     }
+
     function getEffect(id) {
       return getBuild(library.effects[id], buildEffect);
-    }
-    function parseMaterial(xml2) {
+    } // material
+
+
+    function parseMaterial(xml) {
       const data = {
-        name: xml2.getAttribute("name")
+        name: xml.getAttribute('name')
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "instance_effect":
-            data.url = parseId(child.getAttribute("url"));
+          case 'instance_effect':
+            data.url = parseId(child.getAttribute('url'));
             break;
         }
       }
-      library.materials[xml2.getAttribute("id")] = data;
+
+      library.materials[xml.getAttribute('id')] = data;
     }
+
     function getTextureLoader(image) {
       let loader;
-      let extension = image.slice((image.lastIndexOf(".") - 1 >>> 0) + 2);
+      let extension = image.slice((image.lastIndexOf('.') - 1 >>> 0) + 2); // http://www.jstips.co/en/javascript/get-file-extension/
+
       extension = extension.toLowerCase();
+
       switch (extension) {
-        case "tga":
+        case 'tga':
           loader = tgaLoader;
           break;
+
         default:
           loader = textureLoader;
       }
+
       return loader;
     }
+
     function buildMaterial(data) {
       const effect = getEffect(data.url);
       const technique = effect.profile.technique;
       let material;
+
       switch (technique.type) {
-        case "phong":
-        case "blinn":
-          material = new THREE.MeshPhongMaterial();
+        case 'phong':
+        case 'blinn':
+          material = new MeshPhongMaterial();
           break;
-        case "lambert":
-          material = new THREE.MeshLambertMaterial();
+
+        case 'lambert':
+          material = new MeshLambertMaterial();
           break;
+
         default:
-          material = new THREE.MeshBasicMaterial();
+          material = new MeshBasicMaterial();
           break;
       }
-      material.name = data.name || "";
+
+      material.name = data.name || '';
+
       function getTexture(textureObject) {
         const sampler = effect.profile.samplers[textureObject.id];
-        let image = null;
-        if (sampler !== void 0) {
+        let image = null; // get image
+
+        if (sampler !== undefined) {
           const surface = effect.profile.surfaces[sampler.source];
           image = getImage(surface.init_from);
         } else {
-          console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).");
+          console.warn('THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).');
           image = getImage(textureObject.id);
-        }
+        } // create texture if image is avaiable
+
+
         if (image !== null) {
           const loader = getTextureLoader(image);
-          if (loader !== void 0) {
+
+          if (loader !== undefined) {
             const texture = loader.load(image);
             const extra = textureObject.extra;
-            if (extra !== void 0 && extra.technique !== void 0 && isEmpty(extra.technique) === false) {
-              const technique2 = extra.technique;
-              texture.wrapS = technique2.wrapU ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
-              texture.wrapT = technique2.wrapV ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
-              texture.offset.set(technique2.offsetU || 0, technique2.offsetV || 0);
-              texture.repeat.set(technique2.repeatU || 1, technique2.repeatV || 1);
+
+            if (extra !== undefined && extra.technique !== undefined && isEmpty(extra.technique) === false) {
+              const technique = extra.technique;
+              texture.wrapS = technique.wrapU ? RepeatWrapping : ClampToEdgeWrapping;
+              texture.wrapT = technique.wrapV ? RepeatWrapping : ClampToEdgeWrapping;
+              texture.offset.set(technique.offsetU || 0, technique.offsetV || 0);
+              texture.repeat.set(technique.repeatU || 1, technique.repeatV || 1);
             } else {
-              texture.wrapS = THREE.RepeatWrapping;
-              texture.wrapT = THREE.RepeatWrapping;
+              texture.wrapS = RepeatWrapping;
+              texture.wrapT = RepeatWrapping;
             }
+
             return texture;
           } else {
-            console.warn("THREE.ColladaLoader: Loader for texture %s not found.", image);
+            console.warn('THREE.ColladaLoader: Loader for texture %s not found.', image);
             return null;
           }
         } else {
@@ -933,582 +1158,737 @@ class ColladaLoader extends THREE.Loader {
           return null;
         }
       }
+
       const parameters = technique.parameters;
+
       for (const key in parameters) {
         const parameter = parameters[key];
+
         switch (key) {
-          case "diffuse":
-            if (parameter.color)
-              material.color.fromArray(parameter.color);
-            if (parameter.texture)
-              material.map = getTexture(parameter.texture);
-            break;
-          case "specular":
-            if (parameter.color && material.specular)
-              material.specular.fromArray(parameter.color);
-            if (parameter.texture)
-              material.specularMap = getTexture(parameter.texture);
-            break;
-          case "bump":
-            if (parameter.texture)
-              material.normalMap = getTexture(parameter.texture);
-            break;
-          case "ambient":
-            if (parameter.texture)
-              material.lightMap = getTexture(parameter.texture);
-            break;
-          case "shininess":
-            if (parameter.float && material.shininess)
-              material.shininess = parameter.float;
-            break;
-          case "emission":
-            if (parameter.color && material.emissive)
-              material.emissive.fromArray(parameter.color);
-            if (parameter.texture)
-              material.emissiveMap = getTexture(parameter.texture);
-            break;
-        }
-      }
-      let transparent = parameters["transparent"];
-      let transparency = parameters["transparency"];
-      if (transparency === void 0 && transparent) {
+          case 'diffuse':
+            if (parameter.color) material.color.fromArray(parameter.color);
+            if (parameter.texture) material.map = getTexture(parameter.texture);
+            break;
+
+          case 'specular':
+            if (parameter.color && material.specular) material.specular.fromArray(parameter.color);
+            if (parameter.texture) material.specularMap = getTexture(parameter.texture);
+            break;
+
+          case 'bump':
+            if (parameter.texture) material.normalMap = getTexture(parameter.texture);
+            break;
+
+          case 'ambient':
+            if (parameter.texture) material.lightMap = getTexture(parameter.texture);
+            break;
+
+          case 'shininess':
+            if (parameter.float && material.shininess) material.shininess = parameter.float;
+            break;
+
+          case 'emission':
+            if (parameter.color && material.emissive) material.emissive.fromArray(parameter.color);
+            if (parameter.texture) material.emissiveMap = getTexture(parameter.texture);
+            break;
+        }
+      } //
+
+
+      let transparent = parameters['transparent'];
+      let transparency = parameters['transparency']; // <transparency> does not exist but <transparent>
+
+      if (transparency === undefined && transparent) {
         transparency = {
           float: 1
         };
-      }
-      if (transparent === void 0 && transparency) {
+      } // <transparent> does not exist but <transparency>
+
+
+      if (transparent === undefined && transparency) {
         transparent = {
-          opaque: "A_ONE",
+          opaque: 'A_ONE',
           data: {
             color: [1, 1, 1, 1]
           }
         };
       }
+
       if (transparent && transparency) {
+        // handle case if a texture exists but no color
         if (transparent.data.texture) {
+          // we do not set an alpha map (see #13792)
           material.transparent = true;
         } else {
           const color = transparent.data.color;
+
           switch (transparent.opaque) {
-            case "A_ONE":
+            case 'A_ONE':
               material.opacity = color[3] * transparency.float;
               break;
-            case "RGB_ZERO":
+
+            case 'RGB_ZERO':
               material.opacity = 1 - color[0] * transparency.float;
               break;
-            case "A_ZERO":
+
+            case 'A_ZERO':
               material.opacity = 1 - color[3] * transparency.float;
               break;
-            case "RGB_ONE":
+
+            case 'RGB_ONE':
               material.opacity = color[0] * transparency.float;
               break;
+
             default:
               console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', transparent.opaque);
           }
-          if (material.opacity < 1)
-            material.transparent = true;
+
+          if (material.opacity < 1) material.transparent = true;
         }
-      }
-      if (technique.extra !== void 0 && technique.extra.technique !== void 0) {
+      } //
+
+
+      if (technique.extra !== undefined && technique.extra.technique !== undefined) {
         const techniques = technique.extra.technique;
+
         for (const k in techniques) {
           const v = techniques[k];
+
           switch (k) {
-            case "double_sided":
-              material.side = v === 1 ? THREE.DoubleSide : THREE.FrontSide;
+            case 'double_sided':
+              material.side = v === 1 ? DoubleSide : FrontSide;
               break;
-            case "bump":
+
+            case 'bump':
               material.normalMap = getTexture(v.texture);
-              material.normalScale = new THREE.Vector2(1, 1);
+              material.normalScale = new Vector2(1, 1);
               break;
           }
         }
       }
+
       return material;
     }
+
     function getMaterial(id) {
       return getBuild(library.materials[id], buildMaterial);
-    }
-    function parseCamera(xml2) {
+    } // camera
+
+
+    function parseCamera(xml) {
       const data = {
-        name: xml2.getAttribute("name")
+        name: xml.getAttribute('name')
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "optics":
+          case 'optics':
             data.optics = parseCameraOptics(child);
             break;
         }
       }
-      library.cameras[xml2.getAttribute("id")] = data;
+
+      library.cameras[xml.getAttribute('id')] = data;
     }
-    function parseCameraOptics(xml2) {
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
+
+    function parseCameraOptics(xml) {
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+
         switch (child.nodeName) {
-          case "technique_common":
+          case 'technique_common':
             return parseCameraTechnique(child);
         }
       }
+
       return {};
     }
-    function parseCameraTechnique(xml2) {
+
+    function parseCameraTechnique(xml) {
       const data = {};
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+
         switch (child.nodeName) {
-          case "perspective":
-          case "orthographic":
+          case 'perspective':
+          case 'orthographic':
             data.technique = child.nodeName;
             data.parameters = parseCameraParameters(child);
             break;
         }
       }
+
       return data;
     }
-    function parseCameraParameters(xml2) {
+
+    function parseCameraParameters(xml) {
       const data = {};
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+
         switch (child.nodeName) {
-          case "xfov":
-          case "yfov":
-          case "xmag":
-          case "ymag":
-          case "znear":
-          case "zfar":
-          case "aspect_ratio":
+          case 'xfov':
+          case 'yfov':
+          case 'xmag':
+          case 'ymag':
+          case 'znear':
+          case 'zfar':
+          case 'aspect_ratio':
             data[child.nodeName] = parseFloat(child.textContent);
             break;
         }
       }
+
       return data;
     }
+
     function buildCamera(data) {
       let camera;
+
       switch (data.optics.technique) {
-        case "perspective":
-          camera = new THREE.PerspectiveCamera(
-            data.optics.parameters.yfov,
-            data.optics.parameters.aspect_ratio,
-            data.optics.parameters.znear,
-            data.optics.parameters.zfar
-          );
+        case 'perspective':
+          camera = new PerspectiveCamera(data.optics.parameters.yfov, data.optics.parameters.aspect_ratio, data.optics.parameters.znear, data.optics.parameters.zfar);
           break;
-        case "orthographic":
+
+        case 'orthographic':
           let ymag = data.optics.parameters.ymag;
           let xmag = data.optics.parameters.xmag;
           const aspectRatio = data.optics.parameters.aspect_ratio;
-          xmag = xmag === void 0 ? ymag * aspectRatio : xmag;
-          ymag = ymag === void 0 ? xmag / aspectRatio : ymag;
+          xmag = xmag === undefined ? ymag * aspectRatio : xmag;
+          ymag = ymag === undefined ? xmag / aspectRatio : ymag;
           xmag *= 0.5;
           ymag *= 0.5;
-          camera = new THREE.OrthographicCamera(
-            -xmag,
-            xmag,
-            ymag,
-            -ymag,
-            data.optics.parameters.znear,
-            data.optics.parameters.zfar
-          );
+          camera = new OrthographicCamera(-xmag, xmag, ymag, -ymag, // left, right, top, bottom
+          data.optics.parameters.znear, data.optics.parameters.zfar);
           break;
+
         default:
-          camera = new THREE.PerspectiveCamera();
+          camera = new PerspectiveCamera();
           break;
       }
-      camera.name = data.name || "";
+
+      camera.name = data.name || '';
       return camera;
     }
+
     function getCamera(id) {
       const data = library.cameras[id];
-      if (data !== void 0) {
+
+      if (data !== undefined) {
         return getBuild(data, buildCamera);
       }
+
       console.warn("THREE.ColladaLoader: Couldn't find camera with ID:", id);
       return null;
-    }
-    function parseLight(xml2) {
+    } // light
+
+
+    function parseLight(xml) {
       let data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "technique_common":
+          case 'technique_common':
             data = parseLightTechnique(child);
             break;
         }
       }
-      library.lights[xml2.getAttribute("id")] = data;
+
+      library.lights[xml.getAttribute('id')] = data;
     }
-    function parseLightTechnique(xml2) {
+
+    function parseLightTechnique(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "directional":
-          case "point":
-          case "spot":
-          case "ambient":
+          case 'directional':
+          case 'point':
+          case 'spot':
+          case 'ambient':
             data.technique = child.nodeName;
             data.parameters = parseLightParameters(child);
         }
       }
+
       return data;
     }
-    function parseLightParameters(xml2) {
+
+    function parseLightParameters(xml) {
       const data = {};
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "color":
+          case 'color':
             const array = parseFloats(child.textContent);
-            data.color = new THREE.Color().fromArray(array);
+            data.color = new Color().fromArray(array);
             break;
-          case "falloff_angle":
+
+          case 'falloff_angle':
             data.falloffAngle = parseFloat(child.textContent);
             break;
-          case "quadratic_attenuation":
+
+          case 'quadratic_attenuation':
             const f = parseFloat(child.textContent);
             data.distance = f ? Math.sqrt(1 / f) : 0;
             break;
         }
       }
+
       return data;
     }
+
     function buildLight(data) {
       let light;
+
       switch (data.technique) {
-        case "directional":
-          light = new THREE.DirectionalLight();
+        case 'directional':
+          light = new DirectionalLight();
           break;
-        case "point":
-          light = new THREE.PointLight();
+
+        case 'point':
+          light = new PointLight();
           break;
-        case "spot":
-          light = new THREE.SpotLight();
+
+        case 'spot':
+          light = new SpotLight();
           break;
-        case "ambient":
-          light = new THREE.AmbientLight();
+
+        case 'ambient':
+          light = new AmbientLight();
           break;
       }
-      if (data.parameters.color)
-        light.color.copy(data.parameters.color);
-      if (data.parameters.distance)
-        light.distance = data.parameters.distance;
+
+      if (data.parameters.color) light.color.copy(data.parameters.color);
+      if (data.parameters.distance) light.distance = data.parameters.distance;
       return light;
     }
+
     function getLight(id) {
       const data = library.lights[id];
-      if (data !== void 0) {
+
+      if (data !== undefined) {
         return getBuild(data, buildLight);
       }
+
       console.warn("THREE.ColladaLoader: Couldn't find light with ID:", id);
       return null;
-    }
-    function parseGeometry(xml2) {
+    } // geometry
+
+
+    function parseGeometry(xml) {
       const data = {
-        name: xml2.getAttribute("name"),
+        name: xml.getAttribute('name'),
         sources: {},
         vertices: {},
         primitives: []
       };
-      const mesh = getElementsByTagName(xml2, "mesh")[0];
-      if (mesh === void 0)
-        return;
+      const mesh = getElementsByTagName(xml, 'mesh')[0]; // the following tags inside geometry are not supported yet (see https://github.com/mrdoob/three.js/pull/12606): convex_mesh, spline, brep
+
+      if (mesh === undefined) return;
+
       for (let i = 0; i < mesh.childNodes.length; i++) {
         const child = mesh.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
-        const id = child.getAttribute("id");
+        if (child.nodeType !== 1) continue;
+        const id = child.getAttribute('id');
+
         switch (child.nodeName) {
-          case "source":
+          case 'source':
             data.sources[id] = parseSource(child);
             break;
-          case "vertices":
+
+          case 'vertices':
+            // data.sources[ id ] = data.sources[ parseId( getElementsByTagName( child, 'input' )[ 0 ].getAttribute( 'source' ) ) ];
             data.vertices = parseGeometryVertices(child);
             break;
-          case "polygons":
-            console.warn("THREE.ColladaLoader: Unsupported primitive type: ", child.nodeName);
+
+          case 'polygons':
+            console.warn('THREE.ColladaLoader: Unsupported primitive type: ', child.nodeName);
             break;
-          case "lines":
-          case "linestrips":
-          case "polylist":
-          case "triangles":
+
+          case 'lines':
+          case 'linestrips':
+          case 'polylist':
+          case 'triangles':
             data.primitives.push(parseGeometryPrimitive(child));
             break;
+
           default:
             console.log(child);
         }
       }
-      library.geometries[xml2.getAttribute("id")] = data;
+
+      library.geometries[xml.getAttribute('id')] = data;
     }
-    function parseSource(xml2) {
+
+    function parseSource(xml) {
       const data = {
         array: [],
         stride: 3
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "float_array":
+          case 'float_array':
             data.array = parseFloats(child.textContent);
             break;
-          case "Name_array":
+
+          case 'Name_array':
             data.array = parseStrings(child.textContent);
             break;
-          case "technique_common":
-            const accessor = getElementsByTagName(child, "accessor")[0];
-            if (accessor !== void 0) {
-              data.stride = parseInt(accessor.getAttribute("stride"));
+
+          case 'technique_common':
+            const accessor = getElementsByTagName(child, 'accessor')[0];
+
+            if (accessor !== undefined) {
+              data.stride = parseInt(accessor.getAttribute('stride'));
             }
+
             break;
         }
       }
+
       return data;
     }
-    function parseGeometryVertices(xml2) {
+
+    function parseGeometryVertices(xml) {
       const data = {};
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
-        data[child.getAttribute("semantic")] = parseId(child.getAttribute("source"));
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+        data[child.getAttribute('semantic')] = parseId(child.getAttribute('source'));
       }
+
       return data;
     }
-    function parseGeometryPrimitive(xml2) {
+
+    function parseGeometryPrimitive(xml) {
       const primitive = {
-        type: xml2.nodeName,
-        material: xml2.getAttribute("material"),
-        count: parseInt(xml2.getAttribute("count")),
+        type: xml.nodeName,
+        material: xml.getAttribute('material'),
+        count: parseInt(xml.getAttribute('count')),
         inputs: {},
         stride: 0,
         hasUV: false
       };
-      for (let i = 0, l = xml2.childNodes.length; i < l; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0, l = xml.childNodes.length; i < l; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "input":
-            const id = parseId(child.getAttribute("source"));
-            const semantic = child.getAttribute("semantic");
-            const offset = parseInt(child.getAttribute("offset"));
-            const set = parseInt(child.getAttribute("set"));
+          case 'input':
+            const id = parseId(child.getAttribute('source'));
+            const semantic = child.getAttribute('semantic');
+            const offset = parseInt(child.getAttribute('offset'));
+            const set = parseInt(child.getAttribute('set'));
             const inputname = set > 0 ? semantic + set : semantic;
-            primitive.inputs[inputname] = { id, offset };
+            primitive.inputs[inputname] = {
+              id: id,
+              offset: offset
+            };
             primitive.stride = Math.max(primitive.stride, offset + 1);
-            if (semantic === "TEXCOORD")
-              primitive.hasUV = true;
+            if (semantic === 'TEXCOORD') primitive.hasUV = true;
             break;
-          case "vcount":
+
+          case 'vcount':
             primitive.vcount = parseInts(child.textContent);
             break;
-          case "p":
+
+          case 'p':
             primitive.p = parseInts(child.textContent);
             break;
         }
       }
+
       return primitive;
     }
+
     function groupPrimitives(primitives) {
       const build = {};
+
       for (let i = 0; i < primitives.length; i++) {
         const primitive = primitives[i];
-        if (build[primitive.type] === void 0)
-          build[primitive.type] = [];
+        if (build[primitive.type] === undefined) build[primitive.type] = [];
         build[primitive.type].push(primitive);
       }
+
       return build;
     }
+
     function checkUVCoordinates(primitives) {
-      let count2 = 0;
+      let count = 0;
+
       for (let i = 0, l = primitives.length; i < l; i++) {
         const primitive = primitives[i];
+
         if (primitive.hasUV === true) {
-          count2++;
+          count++;
         }
       }
-      if (count2 > 0 && count2 < primitives.length) {
+
+      if (count > 0 && count < primitives.length) {
         primitives.uvsNeedsFix = true;
       }
     }
+
     function buildGeometry(data) {
       const build = {};
       const sources = data.sources;
       const vertices = data.vertices;
       const primitives = data.primitives;
-      if (primitives.length === 0)
-        return {};
+      if (primitives.length === 0) return {}; // our goal is to create one buffer geometry for a single type of primitives
+      // first, we group all primitives by their type
+
       const groupedPrimitives = groupPrimitives(primitives);
+
       for (const type in groupedPrimitives) {
-        const primitiveType = groupedPrimitives[type];
-        checkUVCoordinates(primitiveType);
+        const primitiveType = groupedPrimitives[type]; // second, ensure consistent uv coordinates for each type of primitives (polylist,triangles or lines)
+
+        checkUVCoordinates(primitiveType); // third, create a buffer geometry for each type of primitives
+
         build[type] = buildGeometryType(primitiveType, sources, vertices);
       }
+
       return build;
     }
+
     function buildGeometryType(primitives, sources, vertices) {
       const build = {};
-      const position2 = { array: [], stride: 0 };
-      const normal = { array: [], stride: 0 };
-      const uv = { array: [], stride: 0 };
-      const uv2 = { array: [], stride: 0 };
-      const color = { array: [], stride: 0 };
-      const skinIndex = { array: [], stride: 4 };
-      const skinWeight = { array: [], stride: 4 };
-      const geometry = new THREE.BufferGeometry();
+      const position = {
+        array: [],
+        stride: 0
+      };
+      const normal = {
+        array: [],
+        stride: 0
+      };
+      const uv = {
+        array: [],
+        stride: 0
+      };
+      const uv2 = {
+        array: [],
+        stride: 0
+      };
+      const color = {
+        array: [],
+        stride: 0
+      };
+      const skinIndex = {
+        array: [],
+        stride: 4
+      };
+      const skinWeight = {
+        array: [],
+        stride: 4
+      };
+      const geometry = new BufferGeometry();
       const materialKeys = [];
       let start = 0;
+
       for (let p = 0; p < primitives.length; p++) {
         const primitive = primitives[p];
-        const inputs = primitive.inputs;
-        let count2 = 0;
+        const inputs = primitive.inputs; // groups
+
+        let count = 0;
+
         switch (primitive.type) {
-          case "lines":
-          case "linestrips":
-            count2 = primitive.count * 2;
+          case 'lines':
+          case 'linestrips':
+            count = primitive.count * 2;
             break;
-          case "triangles":
-            count2 = primitive.count * 3;
+
+          case 'triangles':
+            count = primitive.count * 3;
             break;
-          case "polylist":
+
+          case 'polylist':
             for (let g = 0; g < primitive.count; g++) {
               const vc = primitive.vcount[g];
+
               switch (vc) {
                 case 3:
-                  count2 += 3;
+                  count += 3; // single triangle
+
                   break;
+
                 case 4:
-                  count2 += 6;
+                  count += 6; // quad, subdivided into two triangles
+
                   break;
+
                 default:
-                  count2 += (vc - 2) * 3;
+                  count += (vc - 2) * 3; // polylist with more than four vertices
+
                   break;
               }
             }
+
             break;
+
           default:
-            console.warn("THREE.ColladaLoader: Unknow primitive type:", primitive.type);
+            console.warn('THREE.ColladaLoader: Unknow primitive type:', primitive.type);
         }
-        geometry.addGroup(start, count2, p);
-        start += count2;
+
+        geometry.addGroup(start, count, p);
+        start += count; // material
+
         if (primitive.material) {
           materialKeys.push(primitive.material);
-        }
+        } // geometry data
+
+
         for (const name in inputs) {
           const input = inputs[name];
+
           switch (name) {
-            case "VERTEX":
+            case 'VERTEX':
               for (const key in vertices) {
                 const id = vertices[key];
+
                 switch (key) {
-                  case "POSITION":
-                    const prevLength = position2.array.length;
-                    buildGeometryData(primitive, sources[id], input.offset, position2.array);
-                    position2.stride = sources[id].stride;
+                  case 'POSITION':
+                    const prevLength = position.array.length;
+                    buildGeometryData(primitive, sources[id], input.offset, position.array);
+                    position.stride = sources[id].stride;
+
                     if (sources.skinWeights && sources.skinIndices) {
                       buildGeometryData(primitive, sources.skinIndices, input.offset, skinIndex.array);
                       buildGeometryData(primitive, sources.skinWeights, input.offset, skinWeight.array);
-                    }
+                    } // see #3803
+
+
                     if (primitive.hasUV === false && primitives.uvsNeedsFix === true) {
-                      const count3 = (position2.array.length - prevLength) / position2.stride;
-                      for (let i = 0; i < count3; i++) {
+                      const count = (position.array.length - prevLength) / position.stride;
+
+                      for (let i = 0; i < count; i++) {
+                        // fill missing uv coordinates
                         uv.array.push(0, 0);
                       }
                     }
+
                     break;
-                  case "NORMAL":
+
+                  case 'NORMAL':
                     buildGeometryData(primitive, sources[id], input.offset, normal.array);
                     normal.stride = sources[id].stride;
                     break;
-                  case "COLOR":
+
+                  case 'COLOR':
                     buildGeometryData(primitive, sources[id], input.offset, color.array);
                     color.stride = sources[id].stride;
                     break;
-                  case "TEXCOORD":
+
+                  case 'TEXCOORD':
                     buildGeometryData(primitive, sources[id], input.offset, uv.array);
                     uv.stride = sources[id].stride;
                     break;
-                  case "TEXCOORD1":
+
+                  case 'TEXCOORD1':
                     buildGeometryData(primitive, sources[id], input.offset, uv2.array);
                     uv.stride = sources[id].stride;
                     break;
+
                   default:
                     console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key);
                 }
               }
+
               break;
-            case "NORMAL":
+
+            case 'NORMAL':
               buildGeometryData(primitive, sources[input.id], input.offset, normal.array);
               normal.stride = sources[input.id].stride;
               break;
-            case "COLOR":
+
+            case 'COLOR':
               buildGeometryData(primitive, sources[input.id], input.offset, color.array);
               color.stride = sources[input.id].stride;
               break;
-            case "TEXCOORD":
+
+            case 'TEXCOORD':
               buildGeometryData(primitive, sources[input.id], input.offset, uv.array);
               uv.stride = sources[input.id].stride;
               break;
-            case "TEXCOORD1":
+
+            case 'TEXCOORD1':
               buildGeometryData(primitive, sources[input.id], input.offset, uv2.array);
               uv2.stride = sources[input.id].stride;
               break;
           }
         }
+      } // build geometry
+
+
+      if (position.array.length > 0) {
+        geometry.setAttribute('position', new Float32BufferAttribute(position.array, position.stride));
       }
-      if (position2.array.length > 0) {
-        geometry.setAttribute("position", new THREE.Float32BufferAttribute(position2.array, position2.stride));
-      }
+
       if (normal.array.length > 0) {
-        geometry.setAttribute("normal", new THREE.Float32BufferAttribute(normal.array, normal.stride));
-      }
-      if (color.array.length > 0)
-        geometry.setAttribute("color", new THREE.Float32BufferAttribute(color.array, color.stride));
-      if (uv.array.length > 0)
-        geometry.setAttribute("uv", new THREE.Float32BufferAttribute(uv.array, uv.stride));
-      if (uv2.array.length > 0)
-        geometry.setAttribute("uv2", new THREE.Float32BufferAttribute(uv2.array, uv2.stride));
+        geometry.setAttribute('normal', new Float32BufferAttribute(normal.array, normal.stride));
+      }
+
+      if (color.array.length > 0) geometry.setAttribute('color', new Float32BufferAttribute(color.array, color.stride));
+      if (uv.array.length > 0) geometry.setAttribute('uv', new Float32BufferAttribute(uv.array, uv.stride));
+      if (uv2.array.length > 0) geometry.setAttribute('uv2', new Float32BufferAttribute(uv2.array, uv2.stride));
+
       if (skinIndex.array.length > 0) {
-        geometry.setAttribute("skinIndex", new THREE.Float32BufferAttribute(skinIndex.array, skinIndex.stride));
+        geometry.setAttribute('skinIndex', new Float32BufferAttribute(skinIndex.array, skinIndex.stride));
       }
+
       if (skinWeight.array.length > 0) {
-        geometry.setAttribute("skinWeight", new THREE.Float32BufferAttribute(skinWeight.array, skinWeight.stride));
+        geometry.setAttribute('skinWeight', new Float32BufferAttribute(skinWeight.array, skinWeight.stride));
       }
+
       build.data = geometry;
       build.type = primitives[0].type;
       build.materialKeys = materialKeys;
       return build;
     }
+
     function buildGeometryData(primitive, source, offset, array) {
       const indices = primitive.p;
       const stride = primitive.stride;
       const vcount = primitive.vcount;
+
       function pushVector(i) {
         let index = indices[i + offset] * sourceStride;
         const length = index + sourceStride;
+
         for (; index < length; index++) {
           array.push(sourceArray[index]);
         }
       }
+
       const sourceArray = source.array;
       const sourceStride = source.stride;
-      if (primitive.vcount !== void 0) {
+
+      if (primitive.vcount !== undefined) {
         let index = 0;
+
         for (let i = 0, l = vcount.length; i < l; i++) {
-          const count2 = vcount[i];
-          if (count2 === 4) {
+          const count = vcount[i];
+
+          if (count === 4) {
             const a = index + stride * 0;
             const b = index + stride * 1;
             const c = index + stride * 2;
@@ -1519,15 +1899,15 @@ class ColladaLoader extends THREE.Loader {
             pushVector(b);
             pushVector(c);
             pushVector(d);
-          } else if (count2 === 3) {
+          } else if (count === 3) {
             const a = index + stride * 0;
             const b = index + stride * 1;
             const c = index + stride * 2;
             pushVector(a);
             pushVector(b);
             pushVector(c);
-          } else if (count2 > 4) {
-            for (let k = 1, kl = count2 - 2; k <= kl; k++) {
+          } else if (count > 4) {
+            for (let k = 1, kl = count - 2; k <= kl; k++) {
               const a = index + stride * 0;
               const b = index + stride * k;
               const c = index + stride * (k + 1);
@@ -1536,7 +1916,8 @@ class ColladaLoader extends THREE.Loader {
               pushVector(c);
             }
           }
-          index += stride * count2;
+
+          index += stride * count;
         }
       } else {
         for (let i = 0, l = indices.length; i < l; i += stride) {
@@ -1544,420 +1925,493 @@ class ColladaLoader extends THREE.Loader {
         }
       }
     }
+
     function getGeometry(id) {
       return getBuild(library.geometries[id], buildGeometry);
-    }
-    function parseKinematicsModel(xml2) {
+    } // kinematics
+
+
+    function parseKinematicsModel(xml) {
       const data = {
-        name: xml2.getAttribute("name") || "",
+        name: xml.getAttribute('name') || '',
         joints: {},
         links: []
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "technique_common":
+          case 'technique_common':
             parseKinematicsTechniqueCommon(child, data);
             break;
         }
       }
-      library.kinematicsModels[xml2.getAttribute("id")] = data;
+
+      library.kinematicsModels[xml.getAttribute('id')] = data;
     }
+
     function buildKinematicsModel(data) {
-      if (data.build !== void 0)
-        return data.build;
+      if (data.build !== undefined) return data.build;
       return data;
     }
+
     function getKinematicsModel(id) {
       return getBuild(library.kinematicsModels[id], buildKinematicsModel);
     }
-    function parseKinematicsTechniqueCommon(xml2, data) {
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parseKinematicsTechniqueCommon(xml, data) {
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "joint":
-            data.joints[child.getAttribute("sid")] = parseKinematicsJoint(child);
+          case 'joint':
+            data.joints[child.getAttribute('sid')] = parseKinematicsJoint(child);
             break;
-          case "link":
+
+          case 'link':
             data.links.push(parseKinematicsLink(child));
             break;
         }
       }
     }
-    function parseKinematicsJoint(xml2) {
+
+    function parseKinematicsJoint(xml) {
       let data;
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "prismatic":
-          case "revolute":
+          case 'prismatic':
+          case 'revolute':
             data = parseKinematicsJointParameter(child);
             break;
         }
       }
+
       return data;
     }
-    function parseKinematicsJointParameter(xml2) {
+
+    function parseKinematicsJointParameter(xml) {
       const data = {
-        sid: xml2.getAttribute("sid"),
-        name: xml2.getAttribute("name") || "",
-        axis: new THREE.Vector3(),
+        sid: xml.getAttribute('sid'),
+        name: xml.getAttribute('name') || '',
+        axis: new Vector3(),
         limits: {
           min: 0,
           max: 0
         },
-        type: xml2.nodeName,
+        type: xml.nodeName,
         static: false,
         zeroPosition: 0,
         middlePosition: 0
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "axis":
+          case 'axis':
             const array = parseFloats(child.textContent);
             data.axis.fromArray(array);
             break;
-          case "limits":
-            const max = child.getElementsByTagName("max")[0];
-            const min = child.getElementsByTagName("min")[0];
+
+          case 'limits':
+            const max = child.getElementsByTagName('max')[0];
+            const min = child.getElementsByTagName('min')[0];
             data.limits.max = parseFloat(max.textContent);
             data.limits.min = parseFloat(min.textContent);
             break;
         }
-      }
+      } // if min is equal to or greater than max, consider the joint static
+
+
       if (data.limits.min >= data.limits.max) {
         data.static = true;
-      }
-      data.middlePosition = (data.limits.min + data.limits.max) / 2;
+      } // calculate middle position
+
+
+      data.middlePosition = (data.limits.min + data.limits.max) / 2.0;
       return data;
     }
-    function parseKinematicsLink(xml2) {
+
+    function parseKinematicsLink(xml) {
       const data = {
-        sid: xml2.getAttribute("sid"),
-        name: xml2.getAttribute("name") || "",
+        sid: xml.getAttribute('sid'),
+        name: xml.getAttribute('name') || '',
         attachments: [],
         transforms: []
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "attachment_full":
+          case 'attachment_full':
             data.attachments.push(parseKinematicsAttachment(child));
             break;
-          case "matrix":
-          case "translate":
-          case "rotate":
+
+          case 'matrix':
+          case 'translate':
+          case 'rotate':
             data.transforms.push(parseKinematicsTransform(child));
             break;
         }
       }
+
       return data;
     }
-    function parseKinematicsAttachment(xml2) {
+
+    function parseKinematicsAttachment(xml) {
       const data = {
-        joint: xml2.getAttribute("joint").split("/").pop(),
+        joint: xml.getAttribute('joint').split('/').pop(),
         transforms: [],
         links: []
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "link":
+          case 'link':
             data.links.push(parseKinematicsLink(child));
             break;
-          case "matrix":
-          case "translate":
-          case "rotate":
+
+          case 'matrix':
+          case 'translate':
+          case 'rotate':
             data.transforms.push(parseKinematicsTransform(child));
             break;
         }
       }
+
       return data;
     }
-    function parseKinematicsTransform(xml2) {
+
+    function parseKinematicsTransform(xml) {
       const data = {
-        type: xml2.nodeName
+        type: xml.nodeName
       };
-      const array = parseFloats(xml2.textContent);
+      const array = parseFloats(xml.textContent);
+
       switch (data.type) {
-        case "matrix":
-          data.obj = new THREE.Matrix4();
+        case 'matrix':
+          data.obj = new Matrix4();
           data.obj.fromArray(array).transpose();
           break;
-        case "translate":
-          data.obj = new THREE.Vector3();
+
+        case 'translate':
+          data.obj = new Vector3();
           data.obj.fromArray(array);
           break;
-        case "rotate":
-          data.obj = new THREE.Vector3();
+
+        case 'rotate':
+          data.obj = new Vector3();
           data.obj.fromArray(array);
-          data.angle = THREE.MathUtils.degToRad(array[3]);
+          data.angle = MathUtils.degToRad(array[3]);
           break;
       }
+
       return data;
-    }
-    function parsePhysicsModel(xml2) {
+    } // physics
+
+
+    function parsePhysicsModel(xml) {
       const data = {
-        name: xml2.getAttribute("name") || "",
+        name: xml.getAttribute('name') || '',
         rigidBodies: {}
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "rigid_body":
-            data.rigidBodies[child.getAttribute("name")] = {};
-            parsePhysicsRigidBody(child, data.rigidBodies[child.getAttribute("name")]);
+          case 'rigid_body':
+            data.rigidBodies[child.getAttribute('name')] = {};
+            parsePhysicsRigidBody(child, data.rigidBodies[child.getAttribute('name')]);
             break;
         }
       }
-      library.physicsModels[xml2.getAttribute("id")] = data;
+
+      library.physicsModels[xml.getAttribute('id')] = data;
     }
-    function parsePhysicsRigidBody(xml2, data) {
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parsePhysicsRigidBody(xml, data) {
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "technique_common":
+          case 'technique_common':
             parsePhysicsTechniqueCommon(child, data);
             break;
         }
       }
     }
-    function parsePhysicsTechniqueCommon(xml2, data) {
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+    function parsePhysicsTechniqueCommon(xml, data) {
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "inertia":
+          case 'inertia':
             data.inertia = parseFloats(child.textContent);
             break;
-          case "mass":
+
+          case 'mass':
             data.mass = parseFloats(child.textContent)[0];
             break;
         }
       }
-    }
-    function parseKinematicsScene(xml2) {
+    } // scene
+
+
+    function parseKinematicsScene(xml) {
       const data = {
         bindJointAxis: []
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "bind_joint_axis":
+          case 'bind_joint_axis':
             data.bindJointAxis.push(parseKinematicsBindJointAxis(child));
             break;
         }
       }
-      library.kinematicsScenes[parseId(xml2.getAttribute("url"))] = data;
+
+      library.kinematicsScenes[parseId(xml.getAttribute('url'))] = data;
     }
-    function parseKinematicsBindJointAxis(xml2) {
+
+    function parseKinematicsBindJointAxis(xml) {
       const data = {
-        target: xml2.getAttribute("target").split("/").pop()
+        target: xml.getAttribute('target').split('/').pop()
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+
         switch (child.nodeName) {
-          case "axis":
-            const param = child.getElementsByTagName("param")[0];
+          case 'axis':
+            const param = child.getElementsByTagName('param')[0];
             data.axis = param.textContent;
-            const tmpJointIndex = data.axis.split("inst_").pop().split("axis")[0];
+            const tmpJointIndex = data.axis.split('inst_').pop().split('axis')[0];
             data.jointIndex = tmpJointIndex.substr(0, tmpJointIndex.length - 1);
             break;
         }
       }
+
       return data;
     }
+
     function buildKinematicsScene(data) {
-      if (data.build !== void 0)
-        return data.build;
+      if (data.build !== undefined) return data.build;
       return data;
     }
+
     function getKinematicsScene(id) {
       return getBuild(library.kinematicsScenes[id], buildKinematicsScene);
     }
+
     function setupKinematics() {
       const kinematicsModelId = Object.keys(library.kinematicsModels)[0];
       const kinematicsSceneId = Object.keys(library.kinematicsScenes)[0];
       const visualSceneId = Object.keys(library.visualScenes)[0];
-      if (kinematicsModelId === void 0 || kinematicsSceneId === void 0)
-        return;
+      if (kinematicsModelId === undefined || kinematicsSceneId === undefined) return;
       const kinematicsModel = getKinematicsModel(kinematicsModelId);
       const kinematicsScene = getKinematicsScene(kinematicsSceneId);
       const visualScene = getVisualScene(visualSceneId);
       const bindJointAxis = kinematicsScene.bindJointAxis;
       const jointMap = {};
+
       for (let i = 0, l = bindJointAxis.length; i < l; i++) {
-        const axis = bindJointAxis[i];
+        const axis = bindJointAxis[i]; // the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'
+
         const targetElement = collada.querySelector('[sid="' + axis.target + '"]');
+
         if (targetElement) {
-          const parentVisualElement = targetElement.parentElement;
+          // get the parent of the transform element
+          const parentVisualElement = targetElement.parentElement; // connect the joint of the kinematics model with the element in the visual scene
+
           connect(axis.jointIndex, parentVisualElement);
         }
       }
+
       function connect(jointIndex, visualElement) {
-        const visualElementName = visualElement.getAttribute("name");
+        const visualElementName = visualElement.getAttribute('name');
         const joint = kinematicsModel.joints[jointIndex];
-        visualScene.traverse(function(object) {
+        visualScene.traverse(function (object) {
           if (object.name === visualElementName) {
             jointMap[jointIndex] = {
-              object,
+              object: object,
               transforms: buildTransformList(visualElement),
-              joint,
+              joint: joint,
               position: joint.zeroPosition
             };
           }
         });
       }
-      const m0 = new THREE.Matrix4();
+
+      const m0 = new Matrix4();
       kinematics = {
         joints: kinematicsModel && kinematicsModel.joints,
-        getJointValue: function(jointIndex) {
+        getJointValue: function (jointIndex) {
           const jointData = jointMap[jointIndex];
+
           if (jointData) {
             return jointData.position;
           } else {
-            console.warn("THREE.ColladaLoader: Joint " + jointIndex + " doesn't exist.");
+            console.warn('THREE.ColladaLoader: Joint ' + jointIndex + " doesn't exist.");
           }
         },
-        setJointValue: function(jointIndex, value) {
+        setJointValue: function (jointIndex, value) {
           const jointData = jointMap[jointIndex];
+
           if (jointData) {
             const joint = jointData.joint;
+
             if (value > joint.limits.max || value < joint.limits.min) {
-              console.warn(
-                "THREE.ColladaLoader: Joint " + jointIndex + " value " + value + " outside of limits (min: " + joint.limits.min + ", max: " + joint.limits.max + ")."
-              );
+              console.warn('THREE.ColladaLoader: Joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ').');
             } else if (joint.static) {
-              console.warn("THREE.ColladaLoader: Joint " + jointIndex + " is static.");
+              console.warn('THREE.ColladaLoader: Joint ' + jointIndex + ' is static.');
             } else {
               const object = jointData.object;
               const axis = joint.axis;
               const transforms = jointData.transforms;
-              matrix.identity();
+              matrix.identity(); // each update, we have to apply all transforms in the correct order
+
               for (let i = 0; i < transforms.length; i++) {
-                const transform = transforms[i];
+                const transform = transforms[i]; // if there is a connection of the transform node with a joint, apply the joint value
+
                 if (transform.sid && transform.sid.indexOf(jointIndex) !== -1) {
                   switch (joint.type) {
-                    case "revolute":
-                      matrix.multiply(m0.makeRotationAxis(axis, THREE.MathUtils.degToRad(value)));
+                    case 'revolute':
+                      matrix.multiply(m0.makeRotationAxis(axis, MathUtils.degToRad(value)));
                       break;
-                    case "prismatic":
+
+                    case 'prismatic':
                       matrix.multiply(m0.makeTranslation(axis.x * value, axis.y * value, axis.z * value));
                       break;
+
                     default:
-                      console.warn("THREE.ColladaLoader: Unknown joint type: " + joint.type);
+                      console.warn('THREE.ColladaLoader: Unknown joint type: ' + joint.type);
                       break;
                   }
                 } else {
                   switch (transform.type) {
-                    case "matrix":
+                    case 'matrix':
                       matrix.multiply(transform.obj);
                       break;
-                    case "translate":
+
+                    case 'translate':
                       matrix.multiply(m0.makeTranslation(transform.obj.x, transform.obj.y, transform.obj.z));
                       break;
-                    case "scale":
+
+                    case 'scale':
                       matrix.scale(transform.obj);
                       break;
-                    case "rotate":
+
+                    case 'rotate':
                       matrix.multiply(m0.makeRotationAxis(transform.obj, transform.angle));
                       break;
                   }
                 }
               }
+
               object.matrix.copy(matrix);
               object.matrix.decompose(object.position, object.quaternion, object.scale);
               jointMap[jointIndex].position = value;
             }
           } else {
-            console.log("THREE.ColladaLoader: " + jointIndex + " does not exist.");
+            console.log('THREE.ColladaLoader: ' + jointIndex + ' does not exist.');
           }
         }
       };
     }
+
     function buildTransformList(node) {
       const transforms = [];
-      const xml2 = collada.querySelector('[id="' + node.id + '"]');
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
-        let array, vector2;
+      const xml = collada.querySelector('[id="' + node.id + '"]');
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
+        let array, vector;
+
         switch (child.nodeName) {
-          case "matrix":
+          case 'matrix':
             array = parseFloats(child.textContent);
-            const matrix2 = new THREE.Matrix4().fromArray(array).transpose();
+            const matrix = new Matrix4().fromArray(array).transpose();
             transforms.push({
-              sid: child.getAttribute("sid"),
+              sid: child.getAttribute('sid'),
               type: child.nodeName,
-              obj: matrix2
+              obj: matrix
             });
             break;
-          case "translate":
-          case "scale":
+
+          case 'translate':
+          case 'scale':
             array = parseFloats(child.textContent);
-            vector2 = new THREE.Vector3().fromArray(array);
+            vector = new Vector3().fromArray(array);
             transforms.push({
-              sid: child.getAttribute("sid"),
+              sid: child.getAttribute('sid'),
               type: child.nodeName,
-              obj: vector2
+              obj: vector
             });
             break;
-          case "rotate":
+
+          case 'rotate':
             array = parseFloats(child.textContent);
-            vector2 = new THREE.Vector3().fromArray(array);
-            const angle = THREE.MathUtils.degToRad(array[3]);
+            vector = new Vector3().fromArray(array);
+            const angle = MathUtils.degToRad(array[3]);
             transforms.push({
-              sid: child.getAttribute("sid"),
+              sid: child.getAttribute('sid'),
               type: child.nodeName,
-              obj: vector2,
-              angle
+              obj: vector,
+              angle: angle
             });
             break;
         }
       }
+
       return transforms;
-    }
-    function prepareNodes(xml2) {
-      const elements = xml2.getElementsByTagName("node");
+    } // nodes
+
+
+    function prepareNodes(xml) {
+      const elements = xml.getElementsByTagName('node'); // ensure all node elements have id attributes
+
       for (let i = 0; i < elements.length; i++) {
         const element = elements[i];
-        if (element.hasAttribute("id") === false) {
-          element.setAttribute("id", generateId());
+
+        if (element.hasAttribute('id') === false) {
+          element.setAttribute('id', generateId());
         }
       }
     }
-    const matrix = new THREE.Matrix4();
-    const vector = new THREE.Vector3();
-    function parseNode(xml2) {
+
+    const matrix = new Matrix4();
+    const vector = new Vector3();
+
+    function parseNode(xml) {
       const data = {
-        name: xml2.getAttribute("name") || "",
-        type: xml2.getAttribute("type"),
-        id: xml2.getAttribute("id"),
-        sid: xml2.getAttribute("sid"),
-        matrix: new THREE.Matrix4(),
+        name: xml.getAttribute('name') || '',
+        type: xml.getAttribute('type'),
+        id: xml.getAttribute('id'),
+        sid: xml.getAttribute('sid'),
+        matrix: new Matrix4(),
         nodes: [],
         instanceCameras: [],
         instanceControllers: [],
@@ -1966,183 +2420,238 @@ class ColladaLoader extends THREE.Loader {
         instanceNodes: [],
         transforms: {}
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
-        if (child.nodeType !== 1)
-          continue;
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+        if (child.nodeType !== 1) continue;
         let array;
+
         switch (child.nodeName) {
-          case "node":
-            data.nodes.push(child.getAttribute("id"));
+          case 'node':
+            data.nodes.push(child.getAttribute('id'));
             parseNode(child);
             break;
-          case "instance_camera":
-            data.instanceCameras.push(parseId(child.getAttribute("url")));
+
+          case 'instance_camera':
+            data.instanceCameras.push(parseId(child.getAttribute('url')));
             break;
-          case "instance_controller":
+
+          case 'instance_controller':
             data.instanceControllers.push(parseNodeInstance(child));
             break;
-          case "instance_light":
-            data.instanceLights.push(parseId(child.getAttribute("url")));
+
+          case 'instance_light':
+            data.instanceLights.push(parseId(child.getAttribute('url')));
             break;
-          case "instance_geometry":
+
+          case 'instance_geometry':
             data.instanceGeometries.push(parseNodeInstance(child));
             break;
-          case "instance_node":
-            data.instanceNodes.push(parseId(child.getAttribute("url")));
+
+          case 'instance_node':
+            data.instanceNodes.push(parseId(child.getAttribute('url')));
             break;
-          case "matrix":
+
+          case 'matrix':
             array = parseFloats(child.textContent);
             data.matrix.multiply(matrix.fromArray(array).transpose());
-            data.transforms[child.getAttribute("sid")] = child.nodeName;
+            data.transforms[child.getAttribute('sid')] = child.nodeName;
             break;
-          case "translate":
+
+          case 'translate':
             array = parseFloats(child.textContent);
             vector.fromArray(array);
             data.matrix.multiply(matrix.makeTranslation(vector.x, vector.y, vector.z));
-            data.transforms[child.getAttribute("sid")] = child.nodeName;
+            data.transforms[child.getAttribute('sid')] = child.nodeName;
             break;
-          case "rotate":
+
+          case 'rotate':
             array = parseFloats(child.textContent);
-            const angle = THREE.MathUtils.degToRad(array[3]);
+            const angle = MathUtils.degToRad(array[3]);
             data.matrix.multiply(matrix.makeRotationAxis(vector.fromArray(array), angle));
-            data.transforms[child.getAttribute("sid")] = child.nodeName;
+            data.transforms[child.getAttribute('sid')] = child.nodeName;
             break;
-          case "scale":
+
+          case 'scale':
             array = parseFloats(child.textContent);
             data.matrix.scale(vector.fromArray(array));
-            data.transforms[child.getAttribute("sid")] = child.nodeName;
+            data.transforms[child.getAttribute('sid')] = child.nodeName;
             break;
-          case "extra":
+
+          case 'extra':
             break;
+
           default:
             console.log(child);
         }
       }
+
       if (hasNode(data.id)) {
-        console.warn(
-          "THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.",
-          data.id
-        );
+        console.warn('THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.', data.id);
       } else {
         library.nodes[data.id] = data;
       }
+
       return data;
     }
-    function parseNodeInstance(xml2) {
+
+    function parseNodeInstance(xml) {
       const data = {
-        id: parseId(xml2.getAttribute("url")),
+        id: parseId(xml.getAttribute('url')),
         materials: {},
         skeletons: []
       };
-      for (let i = 0; i < xml2.childNodes.length; i++) {
-        const child = xml2.childNodes[i];
+
+      for (let i = 0; i < xml.childNodes.length; i++) {
+        const child = xml.childNodes[i];
+
         switch (child.nodeName) {
-          case "bind_material":
-            const instances = child.getElementsByTagName("instance_material");
+          case 'bind_material':
+            const instances = child.getElementsByTagName('instance_material');
+
             for (let j = 0; j < instances.length; j++) {
               const instance = instances[j];
-              const symbol = instance.getAttribute("symbol");
-              const target = instance.getAttribute("target");
+              const symbol = instance.getAttribute('symbol');
+              const target = instance.getAttribute('target');
               data.materials[symbol] = parseId(target);
             }
+
             break;
-          case "skeleton":
+
+          case 'skeleton':
             data.skeletons.push(parseId(child.textContent));
             break;
-          default:
-            break;
         }
       }
+
       return data;
     }
+
     function buildSkeleton(skeletons, joints) {
       const boneData = [];
       const sortedBoneData = [];
-      let i, j, data;
+      let i, j, data; // a skeleton can have multiple root bones. collada expresses this
+      // situtation with multiple "skeleton" tags per controller instance
+
       for (i = 0; i < skeletons.length; i++) {
         const skeleton = skeletons[i];
         let root;
+
         if (hasNode(skeleton)) {
           root = getNode(skeleton);
           buildBoneHierarchy(root, joints, boneData);
         } else if (hasVisualScene(skeleton)) {
+          // handle case where the skeleton refers to the visual scene (#13335)
           const visualScene = library.visualScenes[skeleton];
           const children = visualScene.children;
-          for (let j2 = 0; j2 < children.length; j2++) {
-            const child = children[j2];
-            if (child.type === "JOINT") {
-              const root2 = getNode(child.id);
-              buildBoneHierarchy(root2, joints, boneData);
+
+          for (let j = 0; j < children.length; j++) {
+            const child = children[j];
+
+            if (child.type === 'JOINT') {
+              const root = getNode(child.id);
+              buildBoneHierarchy(root, joints, boneData);
             }
           }
         } else {
-          console.error("THREE.ColladaLoader: Unable to find root bone of skeleton with ID:", skeleton);
+          console.error('THREE.ColladaLoader: Unable to find root bone of skeleton with ID:', skeleton);
         }
-      }
+      } // sort bone data (the order is defined in the corresponding controller)
+
+
       for (i = 0; i < joints.length; i++) {
         for (j = 0; j < boneData.length; j++) {
           data = boneData[j];
+
           if (data.bone.name === joints[i].name) {
             sortedBoneData[i] = data;
             data.processed = true;
             break;
           }
         }
-      }
+      } // add unprocessed bone data at the end of the list
+
+
       for (i = 0; i < boneData.length; i++) {
         data = boneData[i];
+
         if (data.processed === false) {
           sortedBoneData.push(data);
           data.processed = true;
         }
-      }
+      } // setup arrays for skeleton creation
+
+
       const bones = [];
       const boneInverses = [];
+
       for (i = 0; i < sortedBoneData.length; i++) {
         data = sortedBoneData[i];
         bones.push(data.bone);
         boneInverses.push(data.boneInverse);
       }
-      return new THREE.Skeleton(bones, boneInverses);
+
+      return new Skeleton(bones, boneInverses);
     }
+
     function buildBoneHierarchy(root, joints, boneData) {
-      root.traverse(function(object) {
+      // setup bone data from visual scene
+      root.traverse(function (object) {
         if (object.isBone === true) {
-          let boneInverse;
+          let boneInverse; // retrieve the boneInverse from the controller data
+
           for (let i = 0; i < joints.length; i++) {
             const joint = joints[i];
+
             if (joint.name === object.name) {
               boneInverse = joint.boneInverse;
               break;
             }
           }
-          if (boneInverse === void 0) {
-            boneInverse = new THREE.Matrix4();
+
+          if (boneInverse === undefined) {
+            // Unfortunately, there can be joints in the visual scene that are not part of the
+            // corresponding controller. In this case, we have to create a dummy boneInverse matrix
+            // for the respective bone. This bone won't affect any vertices, because there are no skin indices
+            // and weights defined for it. But we still have to add the bone to the sorted bone list in order to
+            // ensure a correct animation of the model.
+            boneInverse = new Matrix4();
           }
-          boneData.push({ bone: object, boneInverse, processed: false });
+
+          boneData.push({
+            bone: object,
+            boneInverse: boneInverse,
+            processed: false
+          });
         }
       });
     }
+
     function buildNode(data) {
       const objects = [];
-      const matrix2 = data.matrix;
+      const matrix = data.matrix;
       const nodes = data.nodes;
       const type = data.type;
       const instanceCameras = data.instanceCameras;
       const instanceControllers = data.instanceControllers;
       const instanceLights = data.instanceLights;
       const instanceGeometries = data.instanceGeometries;
-      const instanceNodes = data.instanceNodes;
+      const instanceNodes = data.instanceNodes; // nodes
+
       for (let i = 0, l = nodes.length; i < l; i++) {
         objects.push(getNode(nodes[i]));
-      }
+      } // instance cameras
+
+
       for (let i = 0, l = instanceCameras.length; i < l; i++) {
         const instanceCamera = getCamera(instanceCameras[i]);
+
         if (instanceCamera !== null) {
           objects.push(instanceCamera.clone());
         }
-      }
+      } // instance controllers
+
+
       for (let i = 0, l = instanceControllers.length; i < l; i++) {
         const instance = instanceControllers[i];
         const controller = getController(instance.id);
@@ -2151,196 +2660,272 @@ class ColladaLoader extends THREE.Loader {
         const skeletons = instance.skeletons;
         const joints = controller.skin.joints;
         const skeleton = buildSkeleton(skeletons, joints);
+
         for (let j = 0, jl = newObjects.length; j < jl; j++) {
-          const object2 = newObjects[j];
-          if (object2.isSkinnedMesh) {
-            object2.bind(skeleton, controller.skin.bindMatrix);
-            object2.normalizeSkinWeights();
+          const object = newObjects[j];
+
+          if (object.isSkinnedMesh) {
+            object.bind(skeleton, controller.skin.bindMatrix);
+            object.normalizeSkinWeights();
           }
-          objects.push(object2);
+
+          objects.push(object);
         }
-      }
+      } // instance lights
+
+
       for (let i = 0, l = instanceLights.length; i < l; i++) {
         const instanceLight = getLight(instanceLights[i]);
+
         if (instanceLight !== null) {
           objects.push(instanceLight.clone());
         }
-      }
+      } // instance geometries
+
+
       for (let i = 0, l = instanceGeometries.length; i < l; i++) {
-        const instance = instanceGeometries[i];
+        const instance = instanceGeometries[i]; // a single geometry instance in collada can lead to multiple object3Ds.
+        // this is the case when primitives are combined like triangles and lines
+
         const geometries = getGeometry(instance.id);
         const newObjects = buildObjects(geometries, instance.materials);
+
         for (let j = 0, jl = newObjects.length; j < jl; j++) {
           objects.push(newObjects[j]);
         }
-      }
+      } // instance nodes
+
+
       for (let i = 0, l = instanceNodes.length; i < l; i++) {
         objects.push(getNode(instanceNodes[i]).clone());
       }
+
       let object;
+
       if (nodes.length === 0 && objects.length === 1) {
         object = objects[0];
       } else {
-        object = type === "JOINT" ? new THREE.Bone() : new THREE.Group();
+        object = type === 'JOINT' ? new Bone() : new Group();
+
         for (let i = 0; i < objects.length; i++) {
           object.add(objects[i]);
         }
       }
-      object.name = type === "JOINT" ? data.sid : data.name;
-      object.matrix.copy(matrix2);
+
+      object.name = type === 'JOINT' ? data.sid : data.name;
+      object.matrix.copy(matrix);
       object.matrix.decompose(object.position, object.quaternion, object.scale);
       return object;
     }
-    const fallbackMaterial = new THREE.MeshBasicMaterial({ color: 16711935 });
+
+    const fallbackMaterial = new MeshBasicMaterial({
+      color: 0xff00ff
+    });
+
     function resolveMaterialBinding(keys, instanceMaterials) {
       const materials = [];
+
       for (let i = 0, l = keys.length; i < l; i++) {
         const id = instanceMaterials[keys[i]];
-        if (id === void 0) {
-          console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.", keys[i]);
+
+        if (id === undefined) {
+          console.warn('THREE.ColladaLoader: Material with key %s not found. Apply fallback material.', keys[i]);
           materials.push(fallbackMaterial);
         } else {
           materials.push(getMaterial(id));
         }
       }
+
       return materials;
     }
+
     function buildObjects(geometries, instanceMaterials) {
       const objects = [];
+
       for (const type in geometries) {
         const geometry = geometries[type];
-        const materials = resolveMaterialBinding(geometry.materialKeys, instanceMaterials);
+        const materials = resolveMaterialBinding(geometry.materialKeys, instanceMaterials); // handle case if no materials are defined
+
         if (materials.length === 0) {
-          if (type === "lines" || type === "linestrips") {
-            materials.push(new THREE.LineBasicMaterial());
+          if (type === 'lines' || type === 'linestrips') {
+            materials.push(new LineBasicMaterial());
           } else {
-            materials.push(new THREE.MeshPhongMaterial());
+            materials.push(new MeshPhongMaterial());
           }
-        }
-        const skinning = geometry.data.attributes.skinIndex !== void 0;
-        const material = materials.length === 1 ? materials[0] : materials;
+        } // regard skinning
+
+
+        const skinning = geometry.data.attributes.skinIndex !== undefined; // choose between a single or multi materials (material array)
+
+        const material = materials.length === 1 ? materials[0] : materials; // now create a specific 3D object
+
         let object;
+
         switch (type) {
-          case "lines":
-            object = new THREE.LineSegments(geometry.data, material);
+          case 'lines':
+            object = new LineSegments(geometry.data, material);
             break;
-          case "linestrips":
-            object = new THREE.Line(geometry.data, material);
+
+          case 'linestrips':
+            object = new Line(geometry.data, material);
             break;
-          case "triangles":
-          case "polylist":
+
+          case 'triangles':
+          case 'polylist':
             if (skinning) {
-              object = new THREE.SkinnedMesh(geometry.data, material);
+              object = new SkinnedMesh(geometry.data, material);
             } else {
-              object = new THREE.Mesh(geometry.data, material);
+              object = new Mesh(geometry.data, material);
             }
+
             break;
         }
+
         objects.push(object);
       }
+
       return objects;
     }
+
     function hasNode(id) {
-      return library.nodes[id] !== void 0;
+      return library.nodes[id] !== undefined;
     }
+
     function getNode(id) {
       return getBuild(library.nodes[id], buildNode);
-    }
-    function parseVisualScene(xml2) {
+    } // visual scenes
+
+
+    function parseVisualScene(xml) {
       const data = {
-        name: xml2.getAttribute("name"),
+        name: xml.getAttribute('name'),
         children: []
       };
-      prepareNodes(xml2);
-      const elements = getElementsByTagName(xml2, "node");
+      prepareNodes(xml);
+      const elements = getElementsByTagName(xml, 'node');
+
       for (let i = 0; i < elements.length; i++) {
         data.children.push(parseNode(elements[i]));
       }
-      library.visualScenes[xml2.getAttribute("id")] = data;
+
+      library.visualScenes[xml.getAttribute('id')] = data;
     }
+
     function buildVisualScene(data) {
-      const group = new THREE.Group();
+      const group = new Group();
       group.name = data.name;
       const children = data.children;
+
       for (let i = 0; i < children.length; i++) {
         const child = children[i];
         group.add(getNode(child.id));
       }
+
       return group;
     }
+
     function hasVisualScene(id) {
-      return library.visualScenes[id] !== void 0;
+      return library.visualScenes[id] !== undefined;
     }
+
     function getVisualScene(id) {
       return getBuild(library.visualScenes[id], buildVisualScene);
-    }
-    function parseScene(xml2) {
-      const instance = getElementsByTagName(xml2, "instance_visual_scene")[0];
-      return getVisualScene(parseId(instance.getAttribute("url")));
-    }
+    } // scenes
+
+
+    function parseScene(xml) {
+      const instance = getElementsByTagName(xml, 'instance_visual_scene')[0];
+      return getVisualScene(parseId(instance.getAttribute('url')));
+    }
+
     function setupAnimations() {
       const clips = library.clips;
+
       if (isEmpty(clips) === true) {
         if (isEmpty(library.animations) === false) {
+          // if there are animations but no clips, we create a default clip for playback
           const tracks = [];
+
           for (const id in library.animations) {
             const animationTracks = getAnimation(id);
+
             for (let i = 0, l = animationTracks.length; i < l; i++) {
               tracks.push(animationTracks[i]);
             }
           }
-          animations.push(new THREE.AnimationClip("default", -1, tracks));
+
+          animations.push(new AnimationClip('default', -1, tracks));
         }
       } else {
         for (const id in clips) {
           animations.push(getAnimationClip(id));
         }
       }
-    }
-    function parserErrorToText(parserError2) {
-      let result = "";
-      const stack = [parserError2];
+    } // convert the parser error element into text with each child elements text
+    // separated by new lines.
+
+
+    function parserErrorToText(parserError) {
+      let result = '';
+      const stack = [parserError];
+
       while (stack.length) {
         const node = stack.shift();
+
         if (node.nodeType === Node.TEXT_NODE) {
           result += node.textContent;
         } else {
-          result += "\n";
+          result += '\n';
           stack.push.apply(stack, node.childNodes);
         }
       }
+
       return result.trim();
     }
+
     if (text.length === 0) {
-      return { scene: new THREE.Scene() };
+      return {
+        scene: new Scene()
+      };
     }
-    const xml = new DOMParser().parseFromString(text, "application/xml");
-    const collada = getElementsByTagName(xml, "COLLADA")[0];
-    const parserError = xml.getElementsByTagName("parsererror")[0];
-    if (parserError !== void 0) {
-      const errorElement = getElementsByTagName(parserError, "div")[0];
+
+    const xml = new DOMParser().parseFromString(text, 'application/xml');
+    const collada = getElementsByTagName(xml, 'COLLADA')[0];
+    const parserError = xml.getElementsByTagName('parsererror')[0];
+
+    if (parserError !== undefined) {
+      // Chrome will return parser error with a div in it
+      const errorElement = getElementsByTagName(parserError, 'div')[0];
       let errorText;
+
       if (errorElement) {
         errorText = errorElement.textContent;
       } else {
         errorText = parserErrorToText(parserError);
       }
-      console.error("THREE.ColladaLoader: Failed to parse collada file.\n", errorText);
+
+      console.error('THREE.ColladaLoader: Failed to parse collada file.\n', errorText);
       return null;
-    }
-    const version = collada.getAttribute("version");
-    console.log("THREE.ColladaLoader: File version", version);
-    const asset = parseAsset(getElementsByTagName(collada, "asset")[0]);
-    const textureLoader = new THREE.TextureLoader(this.manager);
+    } // metadata
+
+
+    const version = collada.getAttribute('version');
+    console.log('THREE.ColladaLoader: File version', version);
+    const asset = parseAsset(getElementsByTagName(collada, 'asset')[0]);
+    const textureLoader = new TextureLoader(this.manager);
     textureLoader.setPath(this.resourcePath || path).setCrossOrigin(this.crossOrigin);
     let tgaLoader;
-    if (TGALoader.TGALoader) {
-      tgaLoader = new TGALoader.TGALoader(this.manager);
+
+    if (TGALoader) {
+      tgaLoader = new TGALoader(this.manager);
       tgaLoader.setPath(this.resourcePath || path);
-    }
+    } //
+
+
     const animations = [];
     let kinematics = {};
-    let count = 0;
+    let count = 0; //
+
     const library = {
       animations: {},
       clips: {},
@@ -2357,20 +2942,20 @@ class ColladaLoader extends THREE.Loader {
       physicsModels: {},
       kinematicsScenes: {}
     };
-    parseLibrary(collada, "library_animations", "animation", parseAnimation);
-    parseLibrary(collada, "library_animation_clips", "animation_clip", parseAnimationClip);
-    parseLibrary(collada, "library_controllers", "controller", parseController);
-    parseLibrary(collada, "library_images", "image", parseImage);
-    parseLibrary(collada, "library_effects", "effect", parseEffect);
-    parseLibrary(collada, "library_materials", "material", parseMaterial);
-    parseLibrary(collada, "library_cameras", "camera", parseCamera);
-    parseLibrary(collada, "library_lights", "light", parseLight);
-    parseLibrary(collada, "library_geometries", "geometry", parseGeometry);
-    parseLibrary(collada, "library_nodes", "node", parseNode);
-    parseLibrary(collada, "library_visual_scenes", "visual_scene", parseVisualScene);
-    parseLibrary(collada, "library_kinematics_models", "kinematics_model", parseKinematicsModel);
-    parseLibrary(collada, "library_physics_models", "physics_model", parsePhysicsModel);
-    parseLibrary(collada, "scene", "instance_kinematics_scene", parseKinematicsScene);
+    parseLibrary(collada, 'library_animations', 'animation', parseAnimation);
+    parseLibrary(collada, 'library_animation_clips', 'animation_clip', parseAnimationClip);
+    parseLibrary(collada, 'library_controllers', 'controller', parseController);
+    parseLibrary(collada, 'library_images', 'image', parseImage);
+    parseLibrary(collada, 'library_effects', 'effect', parseEffect);
+    parseLibrary(collada, 'library_materials', 'material', parseMaterial);
+    parseLibrary(collada, 'library_cameras', 'camera', parseCamera);
+    parseLibrary(collada, 'library_lights', 'light', parseLight);
+    parseLibrary(collada, 'library_geometries', 'geometry', parseGeometry);
+    parseLibrary(collada, 'library_nodes', 'node', parseNode);
+    parseLibrary(collada, 'library_visual_scenes', 'visual_scene', parseVisualScene);
+    parseLibrary(collada, 'library_kinematics_models', 'kinematics_model', parseKinematicsModel);
+    parseLibrary(collada, 'library_physics_models', 'physics_model', parsePhysicsModel);
+    parseLibrary(collada, 'scene', 'instance_kinematics_scene', parseKinematicsScene);
     buildLibrary(library.animations, buildAnimation);
     buildLibrary(library.clips, buildAnimationClip);
     buildLibrary(library.controllers, buildController);
@@ -2383,21 +2968,26 @@ class ColladaLoader extends THREE.Loader {
     buildLibrary(library.visualScenes, buildVisualScene);
     setupAnimations();
     setupKinematics();
-    const scene = parseScene(getElementsByTagName(collada, "scene")[0]);
+    const scene = parseScene(getElementsByTagName(collada, 'scene')[0]);
     scene.animations = animations;
-    if (asset.upAxis === "Z_UP") {
-      scene.quaternion.setFromEuler(new THREE.Euler(-Math.PI / 2, 0, 0));
+
+    if (asset.upAxis === 'Z_UP') {
+      scene.quaternion.setFromEuler(new Euler(-Math.PI / 2, 0, 0));
     }
+
     scene.scale.multiplyScalar(asset.unit);
     return {
       get animations() {
-        console.warn("THREE.ColladaLoader: Please access animations over scene.animations now.");
+        console.warn('THREE.ColladaLoader: Please access animations over scene.animations now.');
         return animations;
       },
-      kinematics,
-      library,
-      scene
+
+      kinematics: kinematics,
+      library: library,
+      scene: scene
     };
   }
+
 }
-exports.ColladaLoader = ColladaLoader;
+
+export { ColladaLoader };