three-stdlib 2.25.0 → 2.25.1

package/animation/MMDPhysics.js

@@ -1,830 +0,0 @@
-import { Vector3, Matrix4, Quaternion, Euler, Bone, Object3D, MeshBasicMaterial, Color, BoxGeometry, SphereGeometry, Mesh } from "three";
-import { CapsuleGeometry } from "../_polyfill/CapsuleGeometry.js";
-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");
-    }
-    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);
-  }
-  /**
-   * 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)
-        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() {
-    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();
-    }
-  }
-  _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 = [];
-    this.threeEulers = [];
-    this.transforms = [];
-    this.quaternions = [];
-    this.vector3s = [];
-  }
-  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;
-    }
-    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;
-    this.manager = manager;
-    this.body = null;
-    this.bone = null;
-    this.boneOffsetForm = null;
-    this.boneOffsetFormInverse = null;
-    this._init();
-  }
-  /**
-   * 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;
-    }
-    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);
-      }
-    }
-    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;
-    this.bodyB = bodyB;
-    this.params = params;
-    this.manager = manager;
-    this.constraint = null;
-    this._init();
-  }
-  // 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]);
-      }
-    }
-    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);
-  }
-}
-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);
-    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();
-  }
-  /**
-   * 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()));
-      }
-    }
-    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;
-      }
-    }
-    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
-};