three-stdlib 2.22.5 → 2.22.7

package/animation/MMDPhysics.js

@@ -1,976 +0,0 @@
-import { Object3D, Vector3, Quaternion, Matrix4, Mesh, Euler, Bone, MeshBasicMaterial, Color, BoxGeometry, SphereGeometry, CylinderGeometry } from 'three';
-
-/**
- * Dependencies
- *  - Ammo.js https://github.com/kripken/ammo.js
- *
- * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)
- * for MMD model loaded by MMDLoader.
- *
- * TODO
- *  - Physics in Worker
- */
-
-/* global Ammo */
-
-const MMDPhysics = (() => {
-  /**
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Array<Object>} rigidBodyParams
-   * @param {Array<Object>} (optional) constraintParams
-   * @param {Object} params - (optional)
-   * @param {Number} params.unitStep - Default is 1 / 65.
-   * @param {Integer} params.maxStepNum - Default is 3.
-   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )
-   */
-  function MMDPhysics(mesh, rigidBodyParams, constraintParams, params) {
-    if (typeof Ammo === 'undefined') {
-      throw new Error('THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js');
-    }
-
-    constraintParams = constraintParams || [];
-    params = params || {};
-    this.manager = new ResourceManager();
-    this.mesh = mesh;
-    /*
-     * I don't know why but 1/60 unitStep easily breaks models
-     * so I set it 1/65 so far.
-     * Don't set too small unitStep because
-     * the smaller unitStep can make the performance worse.
-     */
-
-    this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65;
-    this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3;
-    this.gravity = new Vector3(0, -9.8 * 10, 0);
-    if (params.gravity !== undefined) this.gravity.copy(params.gravity);
-    this.world = params.world !== undefined ? params.world : null; // experimental
-
-    this.bodies = [];
-    this.constraints = [];
-
-    this._init(mesh, rigidBodyParams, constraintParams);
-  }
-
-  MMDPhysics.prototype = {
-    constructor: MMDPhysics,
-
-    /**
-     * Advances Physics calculation and updates bones.
-     *
-     * @param {Number} delta - time in second
-     * @return {MMDPhysics}
-     */
-    update: function (delta) {
-      const manager = this.manager;
-      const mesh = this.mesh; // rigid bodies and constrains are for
-      // mesh's world scale (1, 1, 1).
-      // Convert to (1, 1, 1) if it isn't.
-
-      let isNonDefaultScale = false;
-      const position = manager.allocThreeVector3();
-      const quaternion = manager.allocThreeQuaternion();
-      const scale = manager.allocThreeVector3();
-      mesh.matrixWorld.decompose(position, quaternion, scale);
-
-      if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {
-        isNonDefaultScale = true;
-      }
-
-      let parent;
-
-      if (isNonDefaultScale) {
-        parent = mesh.parent;
-        if (parent !== null) mesh.parent = null;
-        scale.copy(this.mesh.scale);
-        mesh.scale.set(1, 1, 1);
-        mesh.updateMatrixWorld(true);
-      } // calculate physics and update bones
-
-
-      this._updateRigidBodies();
-
-      this._stepSimulation(delta);
-
-      this._updateBones(); // restore mesh if converted above
-
-
-      if (isNonDefaultScale) {
-        if (parent !== null) mesh.parent = parent;
-        mesh.scale.copy(scale);
-      }
-
-      manager.freeThreeVector3(scale);
-      manager.freeThreeQuaternion(quaternion);
-      manager.freeThreeVector3(position);
-      return this;
-    },
-
-    /**
-     * Resets rigid bodies transorm to current bone's.
-     *
-     * @return {MMDPhysics}
-     */
-    reset: function () {
-      for (let i = 0, il = this.bodies.length; i < il; i++) {
-        this.bodies[i].reset();
-      }
-
-      return this;
-    },
-
-    /**
-     * Warm ups Rigid bodies. Calculates cycles steps.
-     *
-     * @param {Integer} cycles
-     * @return {MMDPhysics}
-     */
-    warmup: function (cycles) {
-      for (let i = 0; i < cycles; i++) {
-        this.update(1 / 60);
-      }
-
-      return this;
-    },
-
-    /**
-     * Sets gravity.
-     *
-     * @param {Vector3} gravity
-     * @return {MMDPhysicsHelper}
-     */
-    setGravity: function (gravity) {
-      this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z));
-      this.gravity.copy(gravity);
-      return this;
-    },
-
-    /**
-     * Creates MMDPhysicsHelper
-     *
-     * @return {MMDPhysicsHelper}
-     */
-    createHelper: function () {
-      return new MMDPhysicsHelper(this.mesh, this);
-    },
-    // private methods
-    _init: function (mesh, rigidBodyParams, constraintParams) {
-      const manager = this.manager; // rigid body/constraint parameters are for
-      // mesh's default world transform as position(0, 0, 0),
-      // quaternion(0, 0, 0, 1) and scale(0, 0, 0)
-
-      let parent = mesh.parent;
-      if (parent !== null) parent = null;
-      const currentPosition = manager.allocThreeVector3();
-      const currentQuaternion = manager.allocThreeQuaternion();
-      const currentScale = manager.allocThreeVector3();
-      currentPosition.copy(mesh.position);
-      currentQuaternion.copy(mesh.quaternion);
-      currentScale.copy(mesh.scale);
-      mesh.position.set(0, 0, 0);
-      mesh.quaternion.set(0, 0, 0, 1);
-      mesh.scale.set(1, 1, 1);
-      mesh.updateMatrixWorld(true);
-
-      if (this.world === null) {
-        this.world = this._createWorld();
-        this.setGravity(this.gravity);
-      }
-
-      this._initRigidBodies(rigidBodyParams);
-
-      this._initConstraints(constraintParams);
-
-      if (parent !== null) mesh.parent = parent;
-      mesh.position.copy(currentPosition);
-      mesh.quaternion.copy(currentQuaternion);
-      mesh.scale.copy(currentScale);
-      mesh.updateMatrixWorld(true);
-      this.reset();
-      manager.freeThreeVector3(currentPosition);
-      manager.freeThreeQuaternion(currentQuaternion);
-      manager.freeThreeVector3(currentScale);
-    },
-    _createWorld: function () {
-      const config = new Ammo.btDefaultCollisionConfiguration();
-      const dispatcher = new Ammo.btCollisionDispatcher(config);
-      const cache = new Ammo.btDbvtBroadphase();
-      const solver = new Ammo.btSequentialImpulseConstraintSolver();
-      const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config);
-      return world;
-    },
-    _initRigidBodies: function (rigidBodies) {
-      for (let i = 0, il = rigidBodies.length; i < il; i++) {
-        this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager));
-      }
-    },
-    _initConstraints: function (constraints) {
-      for (let i = 0, il = constraints.length; i < il; i++) {
-        const params = constraints[i];
-        const bodyA = this.bodies[params.rigidBodyIndex1];
-        const bodyB = this.bodies[params.rigidBodyIndex2];
-        this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager));
-      }
-    },
-    _stepSimulation: function (delta) {
-      const unitStep = this.unitStep;
-      let stepTime = delta;
-      let maxStepNum = (delta / unitStep | 0) + 1;
-
-      if (stepTime < unitStep) {
-        stepTime = unitStep;
-        maxStepNum = 1;
-      }
-
-      if (maxStepNum > this.maxStepNum) {
-        maxStepNum = this.maxStepNum;
-      }
-
-      this.world.stepSimulation(stepTime, maxStepNum, unitStep);
-    },
-    _updateRigidBodies: function () {
-      for (let i = 0, il = this.bodies.length; i < il; i++) {
-        this.bodies[i].updateFromBone();
-      }
-    },
-    _updateBones: function () {
-      for (let i = 0, il = this.bodies.length; i < il; i++) {
-        this.bodies[i].updateBone();
-      }
-    }
-  };
-  /**
-   * This manager's responsibilies are
-   *
-   * 1. manage Ammo.js and Three.js object resources and
-   *    improve the performance and the memory consumption by
-   *    reusing objects.
-   *
-   * 2. provide simple Ammo object operations.
-   */
-
-  function ResourceManager() {
-    // for Three.js
-    this.threeVector3s = [];
-    this.threeMatrix4s = [];
-    this.threeQuaternions = [];
-    this.threeEulers = []; // for Ammo.js
-
-    this.transforms = [];
-    this.quaternions = [];
-    this.vector3s = [];
-  }
-
-  ResourceManager.prototype = {
-    constructor: ResourceManager,
-    allocThreeVector3: function () {
-      return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3();
-    },
-    freeThreeVector3: function (v) {
-      this.threeVector3s.push(v);
-    },
-    allocThreeMatrix4: function () {
-      return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4();
-    },
-    freeThreeMatrix4: function (m) {
-      this.threeMatrix4s.push(m);
-    },
-    allocThreeQuaternion: function () {
-      return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion();
-    },
-    freeThreeQuaternion: function (q) {
-      this.threeQuaternions.push(q);
-    },
-    allocThreeEuler: function () {
-      return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler();
-    },
-    freeThreeEuler: function (e) {
-      this.threeEulers.push(e);
-    },
-    allocTransform: function () {
-      return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform();
-    },
-    freeTransform: function (t) {
-      this.transforms.push(t);
-    },
-    allocQuaternion: function () {
-      return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion();
-    },
-    freeQuaternion: function (q) {
-      this.quaternions.push(q);
-    },
-    allocVector3: function () {
-      return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3();
-    },
-    freeVector3: function (v) {
-      this.vector3s.push(v);
-    },
-    setIdentity: function (t) {
-      t.setIdentity();
-    },
-    getBasis: function (t) {
-      const q = this.allocQuaternion();
-      t.getBasis().getRotation(q);
-      return q;
-    },
-    getBasisAsMatrix3: function (t) {
-      const q = this.getBasis(t);
-      const m = this.quaternionToMatrix3(q);
-      this.freeQuaternion(q);
-      return m;
-    },
-    getOrigin: function (t) {
-      return t.getOrigin();
-    },
-    setOrigin: function (t, v) {
-      t.getOrigin().setValue(v.x(), v.y(), v.z());
-    },
-    copyOrigin: function (t1, t2) {
-      const o = t2.getOrigin();
-      this.setOrigin(t1, o);
-    },
-    setBasis: function (t, q) {
-      t.setRotation(q);
-    },
-    setBasisFromMatrix3: function (t, m) {
-      const q = this.matrix3ToQuaternion(m);
-      this.setBasis(t, q);
-      this.freeQuaternion(q);
-    },
-    setOriginFromArray3: function (t, a) {
-      t.getOrigin().setValue(a[0], a[1], a[2]);
-    },
-    setOriginFromThreeVector3: function (t, v) {
-      t.getOrigin().setValue(v.x, v.y, v.z);
-    },
-    setBasisFromArray3: function (t, a) {
-      const thQ = this.allocThreeQuaternion();
-      const thE = this.allocThreeEuler();
-      thE.set(a[0], a[1], a[2]);
-      this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE));
-      this.freeThreeEuler(thE);
-      this.freeThreeQuaternion(thQ);
-    },
-    setBasisFromThreeQuaternion: function (t, a) {
-      const q = this.allocQuaternion();
-      q.setX(a.x);
-      q.setY(a.y);
-      q.setZ(a.z);
-      q.setW(a.w);
-      this.setBasis(t, q);
-      this.freeQuaternion(q);
-    },
-    multiplyTransforms: function (t1, t2) {
-      const t = this.allocTransform();
-      this.setIdentity(t);
-      const m1 = this.getBasisAsMatrix3(t1);
-      const m2 = this.getBasisAsMatrix3(t2);
-      const o1 = this.getOrigin(t1);
-      const o2 = this.getOrigin(t2);
-      const v1 = this.multiplyMatrix3ByVector3(m1, o2);
-      const v2 = this.addVector3(v1, o1);
-      this.setOrigin(t, v2);
-      const m3 = this.multiplyMatrices3(m1, m2);
-      this.setBasisFromMatrix3(t, m3);
-      this.freeVector3(v1);
-      this.freeVector3(v2);
-      return t;
-    },
-    inverseTransform: function (t) {
-      const t2 = this.allocTransform();
-      const m1 = this.getBasisAsMatrix3(t);
-      const o = this.getOrigin(t);
-      const m2 = this.transposeMatrix3(m1);
-      const v1 = this.negativeVector3(o);
-      const v2 = this.multiplyMatrix3ByVector3(m2, v1);
-      this.setOrigin(t2, v2);
-      this.setBasisFromMatrix3(t2, m2);
-      this.freeVector3(v1);
-      this.freeVector3(v2);
-      return t2;
-    },
-    multiplyMatrices3: function (m1, m2) {
-      const m3 = [];
-      const v10 = this.rowOfMatrix3(m1, 0);
-      const v11 = this.rowOfMatrix3(m1, 1);
-      const v12 = this.rowOfMatrix3(m1, 2);
-      const v20 = this.columnOfMatrix3(m2, 0);
-      const v21 = this.columnOfMatrix3(m2, 1);
-      const v22 = this.columnOfMatrix3(m2, 2);
-      m3[0] = this.dotVectors3(v10, v20);
-      m3[1] = this.dotVectors3(v10, v21);
-      m3[2] = this.dotVectors3(v10, v22);
-      m3[3] = this.dotVectors3(v11, v20);
-      m3[4] = this.dotVectors3(v11, v21);
-      m3[5] = this.dotVectors3(v11, v22);
-      m3[6] = this.dotVectors3(v12, v20);
-      m3[7] = this.dotVectors3(v12, v21);
-      m3[8] = this.dotVectors3(v12, v22);
-      this.freeVector3(v10);
-      this.freeVector3(v11);
-      this.freeVector3(v12);
-      this.freeVector3(v20);
-      this.freeVector3(v21);
-      this.freeVector3(v22);
-      return m3;
-    },
-    addVector3: function (v1, v2) {
-      const v = this.allocVector3();
-      v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
-      return v;
-    },
-    dotVectors3: function (v1, v2) {
-      return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
-    },
-    rowOfMatrix3: function (m, i) {
-      const v = this.allocVector3();
-      v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2]);
-      return v;
-    },
-    columnOfMatrix3: function (m, i) {
-      const v = this.allocVector3();
-      v.setValue(m[i + 0], m[i + 3], m[i + 6]);
-      return v;
-    },
-    negativeVector3: function (v) {
-      const v2 = this.allocVector3();
-      v2.setValue(-v.x(), -v.y(), -v.z());
-      return v2;
-    },
-    multiplyMatrix3ByVector3: function (m, v) {
-      const v4 = this.allocVector3();
-      const v0 = this.rowOfMatrix3(m, 0);
-      const v1 = this.rowOfMatrix3(m, 1);
-      const v2 = this.rowOfMatrix3(m, 2);
-      const x = this.dotVectors3(v0, v);
-      const y = this.dotVectors3(v1, v);
-      const z = this.dotVectors3(v2, v);
-      v4.setValue(x, y, z);
-      this.freeVector3(v0);
-      this.freeVector3(v1);
-      this.freeVector3(v2);
-      return v4;
-    },
-    transposeMatrix3: function (m) {
-      const m2 = [];
-      m2[0] = m[0];
-      m2[1] = m[3];
-      m2[2] = m[6];
-      m2[3] = m[1];
-      m2[4] = m[4];
-      m2[5] = m[7];
-      m2[6] = m[2];
-      m2[7] = m[5];
-      m2[8] = m[8];
-      return m2;
-    },
-    quaternionToMatrix3: function (q) {
-      const m = [];
-      const x = q.x();
-      const y = q.y();
-      const z = q.z();
-      const w = q.w();
-      const xx = x * x;
-      const yy = y * y;
-      const zz = z * z;
-      const xy = x * y;
-      const yz = y * z;
-      const zx = z * x;
-      const xw = x * w;
-      const yw = y * w;
-      const zw = z * w;
-      m[0] = 1 - 2 * (yy + zz);
-      m[1] = 2 * (xy - zw);
-      m[2] = 2 * (zx + yw);
-      m[3] = 2 * (xy + zw);
-      m[4] = 1 - 2 * (zz + xx);
-      m[5] = 2 * (yz - xw);
-      m[6] = 2 * (zx - yw);
-      m[7] = 2 * (yz + xw);
-      m[8] = 1 - 2 * (xx + yy);
-      return m;
-    },
-    matrix3ToQuaternion: function (m) {
-      const t = m[0] + m[4] + m[8];
-      let s, x, y, z, w;
-
-      if (t > 0) {
-        s = Math.sqrt(t + 1.0) * 2;
-        w = 0.25 * s;
-        x = (m[7] - m[5]) / s;
-        y = (m[2] - m[6]) / s;
-        z = (m[3] - m[1]) / s;
-      } else if (m[0] > m[4] && m[0] > m[8]) {
-        s = Math.sqrt(1.0 + m[0] - m[4] - m[8]) * 2;
-        w = (m[7] - m[5]) / s;
-        x = 0.25 * s;
-        y = (m[1] + m[3]) / s;
-        z = (m[2] + m[6]) / s;
-      } else if (m[4] > m[8]) {
-        s = Math.sqrt(1.0 + m[4] - m[0] - m[8]) * 2;
-        w = (m[2] - m[6]) / s;
-        x = (m[1] + m[3]) / s;
-        y = 0.25 * s;
-        z = (m[5] + m[7]) / s;
-      } else {
-        s = Math.sqrt(1.0 + m[8] - m[0] - m[4]) * 2;
-        w = (m[3] - m[1]) / s;
-        x = (m[2] + m[6]) / s;
-        y = (m[5] + m[7]) / s;
-        z = 0.25 * s;
-      }
-
-      const q = this.allocQuaternion();
-      q.setX(x);
-      q.setY(y);
-      q.setZ(z);
-      q.setW(w);
-      return q;
-    }
-  };
-  /**
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Ammo.btDiscreteDynamicsWorld} world
-   * @param {Object} params
-   * @param {ResourceManager} manager
-   */
-
-  function RigidBody(mesh, world, params, manager) {
-    this.mesh = mesh;
-    this.world = world;
-    this.params = params;
-    this.manager = manager;
-    this.body = null;
-    this.bone = null;
-    this.boneOffsetForm = null;
-    this.boneOffsetFormInverse = null;
-
-    this._init();
-  }
-
-  RigidBody.prototype = {
-    constructor: MMDPhysics.RigidBody,
-
-    /**
-     * Resets rigid body transform to the current bone's.
-     *
-     * @return {RigidBody}
-     */
-    reset: function () {
-      this._setTransformFromBone();
-
-      return this;
-    },
-
-    /**
-     * Updates rigid body's transform from the current bone.
-     *
-     * @return {RidigBody}
-     */
-    updateFromBone: function () {
-      if (this.params.boneIndex !== -1 && this.params.type === 0) {
-        this._setTransformFromBone();
-      }
-
-      return this;
-    },
-
-    /**
-     * Updates bone from the current ridid body's transform.
-     *
-     * @return {RidigBody}
-     */
-    updateBone: function () {
-      if (this.params.type === 0 || this.params.boneIndex === -1) {
-        return this;
-      }
-
-      this._updateBoneRotation();
-
-      if (this.params.type === 1) {
-        this._updateBonePosition();
-      }
-
-      this.bone.updateMatrixWorld(true);
-
-      if (this.params.type === 2) {
-        this._setPositionFromBone();
-      }
-
-      return this;
-    },
-    // private methods
-    _init: function () {
-      function generateShape(p) {
-        switch (p.shapeType) {
-          case 0:
-            return new Ammo.btSphereShape(p.width);
-
-          case 1:
-            return new Ammo.btBoxShape(new Ammo.btVector3(p.width, p.height, p.depth));
-
-          case 2:
-            return new Ammo.btCapsuleShape(p.width, p.height);
-
-          default:
-            throw `unknown shape type ${p.shapeType}`;
-        }
-      }
-
-      const manager = this.manager;
-      const params = this.params;
-      const bones = this.mesh.skeleton.bones;
-      const bone = params.boneIndex === -1 ? new Bone() : bones[params.boneIndex];
-      const shape = generateShape(params);
-      const weight = params.type === 0 ? 0 : params.weight;
-      const localInertia = manager.allocVector3();
-      localInertia.setValue(0, 0, 0);
-
-      if (weight !== 0) {
-        shape.calculateLocalInertia(weight, localInertia);
-      }
-
-      const boneOffsetForm = manager.allocTransform();
-      manager.setIdentity(boneOffsetForm);
-      manager.setOriginFromArray3(boneOffsetForm, params.position);
-      manager.setBasisFromArray3(boneOffsetForm, params.rotation);
-      const vector = manager.allocThreeVector3();
-      const boneForm = manager.allocTransform();
-      manager.setIdentity(boneForm);
-      manager.setOriginFromThreeVector3(boneForm, bone.getWorldPosition(vector));
-      const form = manager.multiplyTransforms(boneForm, boneOffsetForm);
-      const state = new Ammo.btDefaultMotionState(form);
-      const info = new Ammo.btRigidBodyConstructionInfo(weight, state, shape, localInertia);
-      info.set_m_friction(params.friction);
-      info.set_m_restitution(params.restitution);
-      const body = new Ammo.btRigidBody(info);
-
-      if (params.type === 0) {
-        body.setCollisionFlags(body.getCollisionFlags() | 2);
-        /*
-         * It'd be better to comment out this line though in general I should call this method
-         * because I'm not sure why but physics will be more like MMD's
-         * if I comment out.
-         */
-
-        body.setActivationState(4);
-      }
-
-      body.setDamping(params.positionDamping, params.rotationDamping);
-      body.setSleepingThresholds(0, 0);
-      this.world.addRigidBody(body, 1 << params.groupIndex, params.groupTarget);
-      this.body = body;
-      this.bone = bone;
-      this.boneOffsetForm = boneOffsetForm;
-      this.boneOffsetFormInverse = manager.inverseTransform(boneOffsetForm);
-      manager.freeVector3(localInertia);
-      manager.freeTransform(form);
-      manager.freeTransform(boneForm);
-      manager.freeThreeVector3(vector);
-    },
-    _getBoneTransform: function () {
-      const manager = this.manager;
-      const p = manager.allocThreeVector3();
-      const q = manager.allocThreeQuaternion();
-      const s = manager.allocThreeVector3();
-      this.bone.matrixWorld.decompose(p, q, s);
-      const tr = manager.allocTransform();
-      manager.setOriginFromThreeVector3(tr, p);
-      manager.setBasisFromThreeQuaternion(tr, q);
-      const form = manager.multiplyTransforms(tr, this.boneOffsetForm);
-      manager.freeTransform(tr);
-      manager.freeThreeVector3(s);
-      manager.freeThreeQuaternion(q);
-      manager.freeThreeVector3(p);
-      return form;
-    },
-    _getWorldTransformForBone: function () {
-      const manager = this.manager;
-      const tr = this.body.getCenterOfMassTransform();
-      return manager.multiplyTransforms(tr, this.boneOffsetFormInverse);
-    },
-    _setTransformFromBone: function () {
-      const manager = this.manager;
-
-      const form = this._getBoneTransform(); // TODO: check the most appropriate way to set
-      //this.body.setWorldTransform( form );
-
-
-      this.body.setCenterOfMassTransform(form);
-      this.body.getMotionState().setWorldTransform(form);
-      manager.freeTransform(form);
-    },
-    _setPositionFromBone: function () {
-      const manager = this.manager;
-
-      const form = this._getBoneTransform();
-
-      const tr = manager.allocTransform();
-      this.body.getMotionState().getWorldTransform(tr);
-      manager.copyOrigin(tr, form); // TODO: check the most appropriate way to set
-      //this.body.setWorldTransform( tr );
-
-      this.body.setCenterOfMassTransform(tr);
-      this.body.getMotionState().setWorldTransform(tr);
-      manager.freeTransform(tr);
-      manager.freeTransform(form);
-    },
-    _updateBoneRotation: function () {
-      const manager = this.manager;
-
-      const tr = this._getWorldTransformForBone();
-
-      const q = manager.getBasis(tr);
-      const thQ = manager.allocThreeQuaternion();
-      const thQ2 = manager.allocThreeQuaternion();
-      const thQ3 = manager.allocThreeQuaternion();
-      thQ.set(q.x(), q.y(), q.z(), q.w());
-      thQ2.setFromRotationMatrix(this.bone.matrixWorld);
-      thQ2.conjugate();
-      thQ2.multiply(thQ); //this.bone.quaternion.multiply( thQ2 );
-
-      thQ3.setFromRotationMatrix(this.bone.matrix); // Renormalizing quaternion here because repeatedly transforming
-      // quaternion continuously accumulates floating point error and
-      // can end up being overflow. See #15335
-
-      this.bone.quaternion.copy(thQ2.multiply(thQ3).normalize());
-      manager.freeThreeQuaternion(thQ);
-      manager.freeThreeQuaternion(thQ2);
-      manager.freeThreeQuaternion(thQ3);
-      manager.freeQuaternion(q);
-      manager.freeTransform(tr);
-    },
-    _updateBonePosition: function () {
-      const manager = this.manager;
-
-      const tr = this._getWorldTransformForBone();
-
-      const thV = manager.allocThreeVector3();
-      const o = manager.getOrigin(tr);
-      thV.set(o.x(), o.y(), o.z());
-
-      if (this.bone.parent) {
-        this.bone.parent.worldToLocal(thV);
-      }
-
-      this.bone.position.copy(thV);
-      manager.freeThreeVector3(thV);
-      manager.freeTransform(tr);
-    }
-  };
-  /**
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Ammo.btDiscreteDynamicsWorld} world
-   * @param {RigidBody} bodyA
-   * @param {RigidBody} bodyB
-   * @param {Object} params
-   * @param {ResourceManager} manager
-   */
-
-  function Constraint(mesh, world, bodyA, bodyB, params, manager) {
-    this.mesh = mesh;
-    this.world = world;
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-    this.params = params;
-    this.manager = manager;
-    this.constraint = null;
-
-    this._init();
-  }
-
-  Constraint.prototype = {
-    constructor: Constraint,
-    // private method
-    _init: function () {
-      const manager = this.manager;
-      const params = this.params;
-      const bodyA = this.bodyA;
-      const bodyB = this.bodyB;
-      const form = manager.allocTransform();
-      manager.setIdentity(form);
-      manager.setOriginFromArray3(form, params.position);
-      manager.setBasisFromArray3(form, params.rotation);
-      const formA = manager.allocTransform();
-      const formB = manager.allocTransform();
-      bodyA.body.getMotionState().getWorldTransform(formA);
-      bodyB.body.getMotionState().getWorldTransform(formB);
-      const formInverseA = manager.inverseTransform(formA);
-      const formInverseB = manager.inverseTransform(formB);
-      const formA2 = manager.multiplyTransforms(formInverseA, form);
-      const formB2 = manager.multiplyTransforms(formInverseB, form);
-      const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA.body, bodyB.body, formA2, formB2, true);
-      const lll = manager.allocVector3();
-      const lul = manager.allocVector3();
-      const all = manager.allocVector3();
-      const aul = manager.allocVector3();
-      lll.setValue(params.translationLimitation1[0], params.translationLimitation1[1], params.translationLimitation1[2]);
-      lul.setValue(params.translationLimitation2[0], params.translationLimitation2[1], params.translationLimitation2[2]);
-      all.setValue(params.rotationLimitation1[0], params.rotationLimitation1[1], params.rotationLimitation1[2]);
-      aul.setValue(params.rotationLimitation2[0], params.rotationLimitation2[1], params.rotationLimitation2[2]);
-      constraint.setLinearLowerLimit(lll);
-      constraint.setLinearUpperLimit(lul);
-      constraint.setAngularLowerLimit(all);
-      constraint.setAngularUpperLimit(aul);
-
-      for (let i = 0; i < 3; i++) {
-        if (params.springPosition[i] !== 0) {
-          constraint.enableSpring(i, true);
-          constraint.setStiffness(i, params.springPosition[i]);
-        }
-      }
-
-      for (let i = 0; i < 3; i++) {
-        if (params.springRotation[i] !== 0) {
-          constraint.enableSpring(i + 3, true);
-          constraint.setStiffness(i + 3, params.springRotation[i]);
-        }
-      }
-      /*
-       * Currently(10/31/2016) official ammo.js doesn't support
-       * btGeneric6DofSpringConstraint.setParam method.
-       * You need custom ammo.js (add the method into idl) if you wanna use.
-       * By setting this parameter, physics will be more like MMD's
-       */
-
-
-      if (constraint.setParam !== undefined) {
-        for (let i = 0; i < 6; i++) {
-          // this parameter is from http://www20.atpages.jp/katwat/three.js_r58/examples/mytest37/mmd.three.js
-          constraint.setParam(2, 0.475, i);
-        }
-      }
-
-      this.world.addConstraint(constraint, true);
-      this.constraint = constraint;
-      manager.freeTransform(form);
-      manager.freeTransform(formA);
-      manager.freeTransform(formB);
-      manager.freeTransform(formInverseA);
-      manager.freeTransform(formInverseB);
-      manager.freeTransform(formA2);
-      manager.freeTransform(formB2);
-      manager.freeVector3(lll);
-      manager.freeVector3(lul);
-      manager.freeVector3(all);
-      manager.freeVector3(aul);
-    }
-  };
-  /**
-   * Visualize Rigid bodies
-   *
-   * @param {THREE.SkinnedMesh} mesh
-   * @param {Physics} physics
-   */
-
-  function MMDPhysicsHelper(mesh, physics) {
-    Object3D.call(this);
-    this.root = mesh;
-    this.physics = physics;
-    this.matrix.copy(mesh.matrixWorld);
-    this.matrixAutoUpdate = false;
-    this.materials = [];
-    this.materials.push(new MeshBasicMaterial({
-      color: new Color(0xff8888),
-      wireframe: true,
-      depthTest: false,
-      depthWrite: false,
-      opacity: 0.25,
-      transparent: true
-    }));
-    this.materials.push(new MeshBasicMaterial({
-      color: new Color(0x88ff88),
-      wireframe: true,
-      depthTest: false,
-      depthWrite: false,
-      opacity: 0.25,
-      transparent: true
-    }));
-    this.materials.push(new MeshBasicMaterial({
-      color: new Color(0x8888ff),
-      wireframe: true,
-      depthTest: false,
-      depthWrite: false,
-      opacity: 0.25,
-      transparent: true
-    }));
-
-    this._init();
-  }
-
-  MMDPhysicsHelper.prototype = Object.assign(Object.create(Object3D.prototype), {
-    constructor: MMDPhysicsHelper,
-
-    /**
-     * Updates Rigid Bodies visualization.
-     */
-    updateMatrixWorld: (() => {
-      const position = new Vector3();
-      const quaternion = new Quaternion();
-      const scale = new Vector3();
-      const matrixWorldInv = new Matrix4();
-      return function updateMatrixWorld(force) {
-        const mesh = this.root;
-
-        if (this.visible) {
-          const bodies = this.physics.bodies;
-          matrixWorldInv.copy(mesh.matrixWorld).decompose(position, quaternion, scale).compose(position, quaternion, scale.set(1, 1, 1)).invert();
-
-          for (let i = 0, il = bodies.length; i < il; i++) {
-            const body = bodies[i].body;
-            const child = this.children[i];
-            const tr = body.getCenterOfMassTransform();
-            const origin = tr.getOrigin();
-            const rotation = tr.getRotation();
-            child.position.set(origin.x(), origin.y(), origin.z()).applyMatrix4(matrixWorldInv);
-            child.quaternion.setFromRotationMatrix(matrixWorldInv).multiply(quaternion.set(rotation.x(), rotation.y(), rotation.z(), rotation.w()));
-          }
-        }
-
-        this.matrix.copy(mesh.matrixWorld).decompose(position, quaternion, scale).compose(position, quaternion, scale.set(1, 1, 1));
-        Object3D.prototype.updateMatrixWorld.call(this, force);
-      };
-    })(),
-    // private method
-    _init: function () {
-      const bodies = this.physics.bodies;
-
-      function createGeometry(param) {
-        switch (param.shapeType) {
-          case 0:
-            return new SphereGeometry(param.width, 16, 8);
-
-          case 1:
-            return new BoxGeometry(param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8);
-
-          case 2:
-            return new createCapsuleGeometry(param.width, param.height, 16, 8);
-
-          default:
-            return null;
-        }
-      } // copy from http://www20.atpages.jp/katwat/three.js_r58/examples/mytest37/mytest37.js?ver=20160815
-
-
-      function createCapsuleGeometry(radius, cylinderHeight, segmentsRadius, segmentsHeight) {
-        const geometry = new CylinderGeometry(radius, radius, cylinderHeight, segmentsRadius, segmentsHeight, true);
-        const upperSphere = new Mesh(new SphereGeometry(radius, segmentsRadius, segmentsHeight, 0, Math.PI * 2, 0, Math.PI / 2));
-        const lowerSphere = new Mesh(new SphereGeometry(radius, segmentsRadius, segmentsHeight, 0, Math.PI * 2, Math.PI / 2, Math.PI / 2));
-        upperSphere.position.set(0, cylinderHeight / 2, 0);
-        lowerSphere.position.set(0, -cylinderHeight / 2, 0);
-        upperSphere.updateMatrix();
-        lowerSphere.updateMatrix();
-        geometry.merge(upperSphere.geometry, upperSphere.matrix);
-        geometry.merge(lowerSphere.geometry, lowerSphere.matrix);
-        return geometry;
-      }
-
-      for (let i = 0, il = bodies.length; i < il; i++) {
-        const param = bodies[i].params;
-        this.add(new Mesh(createGeometry(param), this.materials[param.type]));
-      }
-    }
-  });
-  return MMDPhysics;
-})();
-
-export { MMDPhysics };