three-stdlib 2.22.7 → 2.22.8

package/dist/animation/MMDPhysics.mjs

@@ -0,0 +1,819 @@
+import { Vector3, Matrix4, Quaternion, Euler, Bone, Object3D, MeshBasicMaterial, Color, BoxGeometry, SphereGeometry, CylinderGeometry, Mesh } from "three";
+const MMDPhysics = (() => {
+  function MMDPhysics2(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;
+    this.unitStep = params.unitStep !== void 0 ? params.unitStep : 1 / 65;
+    this.maxStepNum = params.maxStepNum !== void 0 ? params.maxStepNum : 3;
+    this.gravity = new Vector3(0, -9.8 * 10, 0);
+    if (params.gravity !== void 0)
+      this.gravity.copy(params.gravity);
+    this.world = params.world !== void 0 ? params.world : null;
+    this.bodies = [];
+    this.constraints = [];
+    this._init(mesh, rigidBodyParams, constraintParams);
+  }
+  MMDPhysics2.prototype = {
+    constructor: MMDPhysics2,
+    /**
+     * 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;
+      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);
+      }
+      this._updateRigidBodies();
+      this._stepSimulation(delta);
+      this._updateBones();
+      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;
+      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();
+      }
+    }
+  };
+  function ResourceManager() {
+    this.threeVector3s = [];
+    this.threeMatrix4s = [];
+    this.threeQuaternions = [];
+    this.threeEulers = [];
+    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) * 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 + 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 + 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 + 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;
+    }
+  };
+  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: MMDPhysics2.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);
+        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();
+      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);
+      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);
+      thQ3.setFromRotationMatrix(this.bone.matrix);
+      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);
+    }
+  };
+  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]);
+        }
+      }
+      if (constraint.setParam !== void 0) {
+        for (let i = 0; i < 6; i++) {
+          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);
+    }
+  };
+  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(16746632),
+        wireframe: true,
+        depthTest: false,
+        depthWrite: false,
+        opacity: 0.25,
+        transparent: true
+      })
+    );
+    this.materials.push(
+      new MeshBasicMaterial({
+        color: new Color(8978312),
+        wireframe: true,
+        depthTest: false,
+        depthWrite: false,
+        opacity: 0.25,
+        transparent: true
+      })
+    );
+    this.materials.push(
+      new MeshBasicMaterial({
+        color: new Color(8947967),
+        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;
+        }
+      }
+      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 MMDPhysics2;
+})();
+export {
+  MMDPhysics
+};