three-stdlib 2.22.9 → 2.22.10

package/dist/animation/MMDPhysics.mjs

@@ -1,11 +1,18 @@
-import { Vector3, Matrix4, Quaternion, Euler, Bone, Object3D, MeshBasicMaterial, Color, BoxGeometry, SphereGeometry, CylinderGeometry, Mesh } from "three";
-const MMDPhysics = (() => {
-  function MMDPhysics2(mesh, rigidBodyParams, constraintParams, params) {
+import { Vector3, Matrix4, Quaternion, Euler, Bone, Object3D, MeshBasicMaterial, Color, CapsuleGeometry, BoxGeometry, SphereGeometry, Mesh } from "three";
+class 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 )
+   */
+  constructor(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;
@@ -18,168 +25,167 @@ const MMDPhysics = (() => {
     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;
+  /**
+   * Advances Physics calculation and updates bones.
+   *
+   * @param {Number} delta - time in second
+   * @return {MMDPhysics}
+   */
+  update(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)
-        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.parent = null;
+      scale.copy(this.mesh.scale);
       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);
+    }
+    this._updateRigidBodies();
+    this._stepSimulation(delta);
+    this._updateBones();
+    if (isNonDefaultScale) {
       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();
-      }
+      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() {
+    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(cycles) {
+    for (let i = 0; i < cycles; i++) {
+      this.update(1 / 60);
+    }
+    return this;
+  }
+  /**
+   * Sets gravity.
+   *
+   * @param {Vector3} gravity
+   * @return {MMDPhysicsHelper}
+   */
+  setGravity(gravity) {
+    this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z));
+    this.gravity.copy(gravity);
+    return this;
+  }
+  /**
+   * Creates MMDPhysicsHelper
+   *
+   * @return {MMDPhysicsHelper}
+   */
+  createHelper() {
+    return new MMDPhysicsHelper(this.mesh, this);
+  }
+  // private methods
+  _init(mesh, rigidBodyParams, constraintParams) {
+    const manager = this.manager;
+    const parent = mesh.parent;
+    if (parent !== null)
+      mesh.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() {
+    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(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(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(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() {
+    for (let i = 0, il = this.bodies.length; i < il; i++) {
+      this.bodies[i].updateFromBone();
     }
-  };
-  function ResourceManager() {
+  }
+  _updateBones() {
+    for (let i = 0, il = this.bodies.length; i < il; i++) {
+      this.bodies[i].updateBone();
+    }
+  }
+}
+class ResourceManager {
+  constructor() {
     this.threeVector3s = [];
     this.threeMatrix4s = [];
     this.threeQuaternions = [];
@@ -188,272 +194,271 @@ const MMDPhysics = (() => {
     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;
+  allocThreeVector3() {
+    return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3();
+  }
+  freeThreeVector3(v) {
+    this.threeVector3s.push(v);
+  }
+  allocThreeMatrix4() {
+    return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4();
+  }
+  freeThreeMatrix4(m) {
+    this.threeMatrix4s.push(m);
+  }
+  allocThreeQuaternion() {
+    return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion();
+  }
+  freeThreeQuaternion(q) {
+    this.threeQuaternions.push(q);
+  }
+  allocThreeEuler() {
+    return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler();
+  }
+  freeThreeEuler(e) {
+    this.threeEulers.push(e);
+  }
+  allocTransform() {
+    return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform();
+  }
+  freeTransform(t) {
+    this.transforms.push(t);
+  }
+  allocQuaternion() {
+    return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion();
+  }
+  freeQuaternion(q) {
+    this.quaternions.push(q);
+  }
+  allocVector3() {
+    return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3();
+  }
+  freeVector3(v) {
+    this.vector3s.push(v);
+  }
+  setIdentity(t) {
+    t.setIdentity();
+  }
+  getBasis(t) {
+    var q = this.allocQuaternion();
+    t.getBasis().getRotation(q);
+    return q;
+  }
+  getBasisAsMatrix3(t) {
+    var q = this.getBasis(t);
+    var m = this.quaternionToMatrix3(q);
+    this.freeQuaternion(q);
+    return m;
+  }
+  getOrigin(t) {
+    return t.getOrigin();
+  }
+  setOrigin(t, v) {
+    t.getOrigin().setValue(v.x(), v.y(), v.z());
+  }
+  copyOrigin(t1, t2) {
+    var o = t2.getOrigin();
+    this.setOrigin(t1, o);
+  }
+  setBasis(t, q) {
+    t.setRotation(q);
+  }
+  setBasisFromMatrix3(t, m) {
+    var q = this.matrix3ToQuaternion(m);
+    this.setBasis(t, q);
+    this.freeQuaternion(q);
+  }
+  setOriginFromArray3(t, a) {
+    t.getOrigin().setValue(a[0], a[1], a[2]);
+  }
+  setOriginFromThreeVector3(t, v) {
+    t.getOrigin().setValue(v.x, v.y, v.z);
+  }
+  setBasisFromArray3(t, a) {
+    var thQ = this.allocThreeQuaternion();
+    var thE = this.allocThreeEuler();
+    thE.set(a[0], a[1], a[2]);
+    this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE));
+    this.freeThreeEuler(thE);
+    this.freeThreeQuaternion(thQ);
+  }
+  setBasisFromThreeQuaternion(t, a) {
+    var 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(t1, t2) {
+    var t = this.allocTransform();
+    this.setIdentity(t);
+    var m1 = this.getBasisAsMatrix3(t1);
+    var m2 = this.getBasisAsMatrix3(t2);
+    var o1 = this.getOrigin(t1);
+    var o2 = this.getOrigin(t2);
+    var v1 = this.multiplyMatrix3ByVector3(m1, o2);
+    var v2 = this.addVector3(v1, o1);
+    this.setOrigin(t, v2);
+    var m3 = this.multiplyMatrices3(m1, m2);
+    this.setBasisFromMatrix3(t, m3);
+    this.freeVector3(v1);
+    this.freeVector3(v2);
+    return t;
+  }
+  inverseTransform(t) {
+    var t2 = this.allocTransform();
+    var m1 = this.getBasisAsMatrix3(t);
+    var o = this.getOrigin(t);
+    var m2 = this.transposeMatrix3(m1);
+    var v1 = this.negativeVector3(o);
+    var v2 = this.multiplyMatrix3ByVector3(m2, v1);
+    this.setOrigin(t2, v2);
+    this.setBasisFromMatrix3(t2, m2);
+    this.freeVector3(v1);
+    this.freeVector3(v2);
+    return t2;
+  }
+  multiplyMatrices3(m1, m2) {
+    var m3 = [];
+    var v10 = this.rowOfMatrix3(m1, 0);
+    var v11 = this.rowOfMatrix3(m1, 1);
+    var v12 = this.rowOfMatrix3(m1, 2);
+    var v20 = this.columnOfMatrix3(m2, 0);
+    var v21 = this.columnOfMatrix3(m2, 1);
+    var 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(v1, v2) {
+    var v = this.allocVector3();
+    v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
+    return v;
+  }
+  dotVectors3(v1, v2) {
+    return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z();
+  }
+  rowOfMatrix3(m, i) {
+    var v = this.allocVector3();
+    v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2]);
+    return v;
+  }
+  columnOfMatrix3(m, i) {
+    var v = this.allocVector3();
+    v.setValue(m[i + 0], m[i + 3], m[i + 6]);
+    return v;
+  }
+  negativeVector3(v) {
+    var v2 = this.allocVector3();
+    v2.setValue(-v.x(), -v.y(), -v.z());
+    return v2;
+  }
+  multiplyMatrix3ByVector3(m, v) {
+    var v4 = this.allocVector3();
+    var v0 = this.rowOfMatrix3(m, 0);
+    var v1 = this.rowOfMatrix3(m, 1);
+    var v2 = this.rowOfMatrix3(m, 2);
+    var x = this.dotVectors3(v0, v);
+    var y = this.dotVectors3(v1, v);
+    var z = this.dotVectors3(v2, v);
+    v4.setValue(x, y, z);
+    this.freeVector3(v0);
+    this.freeVector3(v1);
+    this.freeVector3(v2);
+    return v4;
+  }
+  transposeMatrix3(m) {
+    var 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(q) {
+    var m = [];
+    var x = q.x();
+    var y = q.y();
+    var z = q.z();
+    var w = q.w();
+    var xx = x * x;
+    var yy = y * y;
+    var zz = z * z;
+    var xy = x * y;
+    var yz = y * z;
+    var zx = z * x;
+    var xw = x * w;
+    var yw = y * w;
+    var 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(m) {
+    var t = m[0] + m[4] + m[8];
+    var 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;
     }
-  };
-  function RigidBody(mesh, world, params, manager) {
+    var q = this.allocQuaternion();
+    q.setX(x);
+    q.setY(y);
+    q.setZ(z);
+    q.setW(w);
+    return q;
+  }
+}
+class RigidBody {
+  constructor(mesh, world, params, manager) {
     this.mesh = mesh;
     this.world = world;
     this.params = params;
@@ -464,175 +469,182 @@ const MMDPhysics = (() => {
     this.boneOffsetFormInverse = null;
     this._init();
   }
-  RigidBody.prototype = {
-    constructor: MMDPhysics2.RigidBody,
-    /**
-     * Resets rigid body transform to the current bone's.
-     *
-     * @return {RigidBody}
-     */
-    reset: function() {
+  /**
+   * Resets rigid body transform to the current bone's.
+   *
+   * @return {RigidBody}
+   */
+  reset() {
+    this._setTransformFromBone();
+    return this;
+  }
+  /**
+   * Updates rigid body's transform from the current bone.
+   *
+   * @return {RidigBody}
+   */
+  updateFromBone() {
+    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() {
+    if (this.params.type === 0 || this.params.boneIndex === -1) {
       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._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 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 new Error("unknown shape type " + p.shapeType);
       }
-      this.bone.position.copy(thV);
-      manager.freeThreeVector3(thV);
-      manager.freeTransform(tr);
     }
-  };
-  function Constraint(mesh, world, bodyA, bodyB, params, manager) {
+    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() {
+    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() {
+    const manager = this.manager;
+    const tr = this.body.getCenterOfMassTransform();
+    return manager.multiplyTransforms(tr, this.boneOffsetFormInverse);
+  }
+  _setTransformFromBone() {
+    const manager = this.manager;
+    const form = this._getBoneTransform();
+    this.body.setCenterOfMassTransform(form);
+    this.body.getMotionState().setWorldTransform(form);
+    manager.freeTransform(form);
+  }
+  _setPositionFromBone() {
+    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() {
+    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() {
+    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);
+  }
+}
+class Constraint {
+  /**
+   * @param {THREE.SkinnedMesh} mesh
+   * @param {Ammo.btDiscreteDynamicsWorld} world
+   * @param {RigidBody} bodyA
+   * @param {RigidBody} bodyB
+   * @param {Object} params
+   * @param {ResourceManager} manager
+   */
+  constructor(mesh, world, bodyA, bodyB, params, manager) {
     this.mesh = mesh;
     this.world = world;
     this.bodyA = bodyA;
@@ -642,73 +654,82 @@ const MMDPhysics = (() => {
     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]);
-        }
+  // private method
+  _init() {
+    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]);
-        }
+    }
+    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);
-        }
+    }
+    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.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);
+  }
+}
+const _position = /* @__PURE__ */ new Vector3();
+const _quaternion = /* @__PURE__ */ new Quaternion();
+const _scale = /* @__PURE__ */ new Vector3();
+const _matrixWorldInv = /* @__PURE__ */ new Matrix4();
+class MMDPhysicsHelper extends Object3D {
+  /**
+   * Visualize Rigid bodies
+   *
+   * @param {THREE.SkinnedMesh} mesh
+   * @param {Physics} physics
+   */
+  constructor(mesh, physics) {
+    super();
     this.root = mesh;
     this.physics = physics;
     this.matrix.copy(mesh.matrixWorld);
@@ -746,74 +767,63 @@ const MMDPhysics = (() => {
     );
     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;
+  /**
+   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.
+   */
+  dispose() {
+    const materials = this.materials;
+    const children = this.children;
+    for (let i = 0; i < materials.length; i++) {
+      materials[i].dispose();
+    }
+    for (let i = 0; i < children.length; i++) {
+      const child = children[i];
+      if (child.isMesh)
+        child.geometry.dispose();
+    }
+  }
+  /**
+   * Updates Rigid Bodies visualization.
+   */
+  updateMatrixWorld(force) {
+    var mesh = this.root;
+    if (this.visible) {
+      var bodies = this.physics.bodies;
+      _matrixWorldInv.copy(mesh.matrixWorld).decompose(_position, _quaternion, _scale).compose(_position, _quaternion, _scale.set(1, 1, 1)).invert();
+      for (var i = 0, il = bodies.length; i < il; i++) {
+        var body = bodies[i].body;
+        var child = this.children[i];
+        var tr = body.getCenterOfMassTransform();
+        var origin = tr.getOrigin();
+        var 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()));
       }
-      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]));
+    }
+    this.matrix.copy(mesh.matrixWorld).decompose(_position, _quaternion, _scale).compose(_position, _quaternion, _scale.set(1, 1, 1));
+    super.updateMatrixWorld(force);
+  }
+  // private method
+  _init() {
+    var bodies = this.physics.bodies;
+    function createGeometry(param2) {
+      switch (param2.shapeType) {
+        case 0:
+          return new SphereGeometry(param2.width, 16, 8);
+        case 1:
+          return new BoxGeometry(param2.width * 2, param2.height * 2, param2.depth * 2, 8, 8, 8);
+        case 2:
+          return new CapsuleGeometry(param2.width, param2.height, 8, 16);
+        default:
+          return null;
       }
     }
-  });
-  return MMDPhysics2;
-})();
+    for (var i = 0, il = bodies.length; i < il; i++) {
+      var param = bodies[i].params;
+      this.add(new Mesh(createGeometry(param), this.materials[param.type]));
+    }
+  }
+}
 export {
   MMDPhysics
 };