s over the main viewport
- fakeError(...args) {
- if (args.length > 0 && args[0]) { this.display(JSON.stringify(args[0])); }
- window.realConsoleError.apply(console, arguments);
- }
-
- display(text) {
- //if (this.mobile) {
- let errorNode = window.document.getElementById("error");
- errorNode.innerHTML += "\n\n"+text.fontcolor("red");
- //window.document.getElementById("info").appendChild(errorNode);
- //}
- }
-
-}
-
-export { Debug };
-let debug = new Debug();
\ No newline at end of file
diff --git a/examples/utils/DragStateManager.js b/examples/utils/DragStateManager.js
deleted file mode 100644
index 8467503..0000000
--- a/examples/utils/DragStateManager.js
+++ /dev/null
@@ -1,135 +0,0 @@
-import * as THREE from 'three';
-import { Vector3 } from 'three';
-
-export class DragStateManager {
- constructor(scene, renderer, camera, container, controls) {
- this.scene = scene;
- this.renderer = renderer;
- this.camera = camera;
- this.mousePos = new THREE.Vector2();
- this.raycaster = new THREE.Raycaster();
- //this.raycaster.layers.set(1);
- // this.raycaster.params.Mesh.threshold = 3;
- this.raycaster.params.Line.threshold = 0.1;
- this.grabDistance = 0.0;
- this.active = false;
- this.physicsObject = null;
- this.controls = controls;
-
- this.arrow = new THREE.ArrowHelper(new THREE.Vector3(0, 1, 0), new THREE.Vector3(0, 0, 0), 15, 0x666666);
- this.arrow.setLength(15, 3, 1);
- this.scene.add(this.arrow);
- //this.residuals.push(arrow);
- this.arrow.line.material.transparent = true;
- this.arrow.cone.material.transparent = true;
- this.arrow.line.material.opacity = 0.5;
- this.arrow.cone.material.opacity = 0.5;
- this.arrow.visible = false;
-
- this.previouslySelected = null;
- this.higlightColor = 0xff0000; // 0x777777
-
- this.localHit = new Vector3();
- this.worldHit = new Vector3();
- this.currentWorld = new Vector3();
-
- container.addEventListener( 'pointerdown', this.onPointer.bind(this), true );
- document.addEventListener( 'pointermove', this.onPointer.bind(this), true );
- document.addEventListener( 'pointerup' , this.onPointer.bind(this), true );
- document.addEventListener( 'pointerout' , this.onPointer.bind(this), true );
- container.addEventListener( 'dblclick', this.onPointer.bind(this), false );
- }
- updateRaycaster(x, y) {
- var rect = this.renderer.domElement.getBoundingClientRect();
- this.mousePos.x = ((x - rect.left) / rect.width) * 2 - 1;
- this.mousePos.y = -((y - rect.top) / rect.height) * 2 + 1;
- this.raycaster.setFromCamera(this.mousePos, this.camera);
- }
- start(x, y) {
- this.physicsObject = null;
- this.updateRaycaster(x, y);
- let intersects = this.raycaster.intersectObjects(this.scene.children);
- for (let i = 0; i < intersects.length; i++) {
- let obj = intersects[i].object;
- if (obj.bodyID && obj.bodyID > 0) {
- this.physicsObject = obj;
- this.grabDistance = intersects[0].distance;
- let hit = this.raycaster.ray.origin.clone();
- hit.addScaledVector(this.raycaster.ray.direction, this.grabDistance);
- this.arrow.position.copy(hit);
- //this.physicsObject.startGrab(hit);
- this.active = true;
- this.controls.enabled = false;
- this.localHit = obj.worldToLocal(hit.clone());
- this.worldHit.copy(hit);
- this.currentWorld.copy(hit);
- this.arrow.visible = true;
- break;
- }
- }
- }
- move(x, y) {
- if (this.active) {
- this.updateRaycaster(x, y);
- let hit = this.raycaster.ray.origin.clone();
- hit.addScaledVector(this.raycaster.ray.direction, this.grabDistance);
- this.currentWorld.copy(hit);
-
- this.update();
-
- if (this.physicsObject != null) {
- //this.physicsObject.moveGrabbed(hit);
- }
- }
- }
- update() {
- if (this.worldHit && this.localHit && this.currentWorld && this.arrow && this.physicsObject) {
- this.worldHit.copy(this.localHit);
- this.physicsObject.localToWorld(this.worldHit);
- this.arrow.position.copy(this.worldHit);
- this.arrow.setDirection(this.currentWorld.clone().sub(this.worldHit).normalize());
- this.arrow.setLength(this.currentWorld.clone().sub(this.worldHit).length());
- }
- }
- end(evt) {
- //this.physicsObject.endGrab();
- this.physicsObject = null;
-
- this.active = false;
- this.controls.enabled = true;
- //this.controls.onPointerUp(evt);
- this.arrow.visible = false;
- this.mouseDown = false;
- }
- onPointer(evt) {
- if (evt.type == "pointerdown") {
- this.start(evt.clientX, evt.clientY);
- this.mouseDown = true;
- } else if (evt.type == "pointermove" && this.mouseDown) {
- if (this.active) { this.move(evt.clientX, evt.clientY); }
- } else if (evt.type == "pointerup" /*|| evt.type == "pointerout"*/) {
- this.end(evt);
- }
- if (evt.type == "dblclick") {
- this.start(evt.clientX, evt.clientY);
- this.doubleClick = true;
- if (this.physicsObject) {
- if (this.physicsObject == this.previouslySelected) {
- this.physicsObject.material.emissive.setHex(0x000000);
- this.previouslySelected = null;
- } else {
- if (this.previouslySelected) {
- this.previouslySelected.material.emissive.setHex(0x000000);
- }
- this.physicsObject.material.emissive.setHex(this.higlightColor);
- this.previouslySelected = this.physicsObject;
- }
- } else {
- if (this.previouslySelected) {
- this.previouslySelected.material.emissive.setHex(0x000000);
- this.previouslySelected = null;
- }
- }
- }
- }
-}
diff --git a/examples/utils/Reflector.js b/examples/utils/Reflector.js
deleted file mode 100644
index 4a4a7ba..0000000
--- a/examples/utils/Reflector.js
+++ /dev/null
@@ -1,226 +0,0 @@
-import {
- Color,
- Matrix4,
- Mesh,
- PerspectiveCamera,
- Plane,
- ShaderMaterial,
- UniformsUtils,
- Vector3,
- Vector4,
- WebGLRenderTarget,
- HalfFloatType,
- NoToneMapping,
- LinearEncoding,
- MeshPhysicalMaterial
-} from 'three';
-
-class Reflector extends Mesh {
-
- constructor( geometry, options = {} ) {
-
- super( geometry );
-
- this.isReflector = true;
-
- this.type = 'Reflector';
- this.camera = new PerspectiveCamera();
-
- const scope = this;
-
- const color = ( options.color !== undefined ) ? new Color( options.color ) : new Color( 0x7F7F7F );
- const textureWidth = options.textureWidth || 512;
- const textureHeight = options.textureHeight || 512;
- const clipBias = options.clipBias || 0;
- const shader = options.shader || Reflector.ReflectorShader;
- const multisample = ( options.multisample !== undefined ) ? options.multisample : 4;
- const blendTexture = options.texture || undefined;
-
- //
-
- const reflectorPlane = new Plane();
- const normal = new Vector3();
- const reflectorWorldPosition = new Vector3();
- const cameraWorldPosition = new Vector3();
- const rotationMatrix = new Matrix4();
- const lookAtPosition = new Vector3( 0, 0, - 1 );
- const clipPlane = new Vector4();
-
- const view = new Vector3();
- const target = new Vector3();
- const q = new Vector4();
-
- const textureMatrix = new Matrix4();
- const virtualCamera = this.camera;
-
- const renderTarget = new WebGLRenderTarget( textureWidth, textureHeight, { samples: multisample, type: HalfFloatType } );
-
- this.material = new MeshPhysicalMaterial( { map: blendTexture });
- this.material.uniforms = { tDiffuse : { value: renderTarget.texture },
- textureMatrix: { value: textureMatrix }};
- this.material.onBeforeCompile = ( shader ) => {
-
- // Vertex Shader: Set Vertex Positions to the Unwrapped UV Positions
- let bodyStart = shader.vertexShader.indexOf( 'void main() {' );
- shader.vertexShader =
- shader.vertexShader.slice(0, bodyStart) +
- '\nuniform mat4 textureMatrix;\nvarying vec4 vUv3;\n' +
- shader.vertexShader.slice( bodyStart - 1, - 1 ) +
- ' vUv3 = textureMatrix * vec4( position, 1.0 ); }';
-
- // Fragment Shader: Set Pixels to 9-tap box blur the current frame's Shadows
- bodyStart = shader.fragmentShader.indexOf( 'void main() {' );
- shader.fragmentShader =
- //'#define USE_UV\n' +
- '\nuniform sampler2D tDiffuse; \n varying vec4 vUv3;\n' +
- shader.fragmentShader.slice( 0, bodyStart ) +
- shader.fragmentShader.slice( bodyStart - 1, - 1 ) +
- ` gl_FragColor = vec4( mix( texture2DProj( tDiffuse, vUv3 ).rgb, gl_FragColor.rgb , 0.5), 1.0 );
- }`;
-
- // Set the LightMap Accumulation Buffer
- shader.uniforms.tDiffuse = { value: renderTarget.texture };
- shader.uniforms.textureMatrix = { value: textureMatrix };
- this.material.uniforms = shader.uniforms;
-
- // Set the new Shader to this
- this.material.userData.shader = shader;
- };
- this.receiveShadow = true;
-
-
- this.onBeforeRender = function ( renderer, scene, camera ) {
-
- reflectorWorldPosition.setFromMatrixPosition( scope.matrixWorld );
- cameraWorldPosition.setFromMatrixPosition( camera.matrixWorld );
-
- rotationMatrix.extractRotation( scope.matrixWorld );
-
- normal.set( 0, 0, 1 );
- normal.applyMatrix4( rotationMatrix );
-
- view.subVectors( reflectorWorldPosition, cameraWorldPosition );
-
- // Avoid rendering when reflector is facing away
-
- if ( view.dot( normal ) > 0 ) return;
-
- view.reflect( normal ).negate();
- view.add( reflectorWorldPosition );
-
- rotationMatrix.extractRotation( camera.matrixWorld );
-
- lookAtPosition.set( 0, 0, - 1 );
- lookAtPosition.applyMatrix4( rotationMatrix );
- lookAtPosition.add( cameraWorldPosition );
-
- target.subVectors( reflectorWorldPosition, lookAtPosition );
- target.reflect( normal ).negate();
- target.add( reflectorWorldPosition );
-
- virtualCamera.position.copy( view );
- virtualCamera.up.set( 0, 1, 0 );
- virtualCamera.up.applyMatrix4( rotationMatrix );
- virtualCamera.up.reflect( normal );
- virtualCamera.lookAt( target );
-
- virtualCamera.far = camera.far; // Used in WebGLBackground
-
- virtualCamera.updateMatrixWorld();
- virtualCamera.projectionMatrix.copy( camera.projectionMatrix );
-
- // Update the texture matrix
- textureMatrix.set(
- 0.5, 0.0, 0.0, 0.5,
- 0.0, 0.5, 0.0, 0.5,
- 0.0, 0.0, 0.5, 0.5,
- 0.0, 0.0, 0.0, 1.0
- );
- textureMatrix.multiply( virtualCamera.projectionMatrix );
- textureMatrix.multiply( virtualCamera.matrixWorldInverse );
- textureMatrix.multiply( scope.matrixWorld );
-
- // Now update projection matrix with new clip plane, implementing code from: http://www.terathon.com/code/oblique.html
- // Paper explaining this technique: http://www.terathon.com/lengyel/Lengyel-Oblique.pdf
- reflectorPlane.setFromNormalAndCoplanarPoint( normal, reflectorWorldPosition );
- reflectorPlane.applyMatrix4( virtualCamera.matrixWorldInverse );
-
- clipPlane.set( reflectorPlane.normal.x, reflectorPlane.normal.y, reflectorPlane.normal.z, reflectorPlane.constant );
-
- const projectionMatrix = virtualCamera.projectionMatrix;
-
- q.x = ( Math.sign( clipPlane.x ) + projectionMatrix.elements[ 8 ] ) / projectionMatrix.elements[ 0 ];
- q.y = ( Math.sign( clipPlane.y ) + projectionMatrix.elements[ 9 ] ) / projectionMatrix.elements[ 5 ];
- q.z = - 1.0;
- q.w = ( 1.0 + projectionMatrix.elements[ 10 ] ) / projectionMatrix.elements[ 14 ];
-
- // Calculate the scaled plane vector
- clipPlane.multiplyScalar( 2.0 / clipPlane.dot( q ) );
-
- // Replacing the third row of the projection matrix
- projectionMatrix.elements[ 2 ] = clipPlane.x;
- projectionMatrix.elements[ 6 ] = clipPlane.y;
- projectionMatrix.elements[ 10 ] = clipPlane.z + 1.0 - clipBias;
- projectionMatrix.elements[ 14 ] = clipPlane.w;
-
- // Render
- scope.visible = false;
-
- const currentRenderTarget = renderer.getRenderTarget();
-
- const currentXrEnabled = renderer.xr.enabled;
- const currentShadowAutoUpdate = renderer.shadowMap.autoUpdate;
- const currentOutputEncoding = renderer.outputEncoding;
- const currentToneMapping = renderer.toneMapping;
-
- renderer.xr.enabled = false; // Avoid camera modification
- renderer.shadowMap.autoUpdate = false; // Avoid re-computing shadows
- renderer.outputEncoding = LinearEncoding;
- renderer.toneMapping = NoToneMapping;
-
- renderer.setRenderTarget( renderTarget );
-
- renderer.state.buffers.depth.setMask( true ); // make sure the depth buffer is writable so it can be properly cleared, see #18897
-
- if ( renderer.autoClear === false ) renderer.clear();
- renderer.render( scene, virtualCamera );
-
- renderer.xr.enabled = currentXrEnabled;
- renderer.shadowMap.autoUpdate = currentShadowAutoUpdate;
- renderer.outputEncoding = currentOutputEncoding;
- renderer.toneMapping = currentToneMapping;
-
- renderer.setRenderTarget( currentRenderTarget );
-
- // Restore viewport
-
- const viewport = camera.viewport;
-
- if ( viewport !== undefined ) {
-
- renderer.state.viewport( viewport );
-
- }
-
- scope.visible = true;
-
- };
-
- this.getRenderTarget = function () {
-
- return renderTarget;
-
- };
-
- this.dispose = function () {
-
- renderTarget.dispose();
- scope.material.dispose();
-
- };
-
- }
-
-}
-
-export { Reflector };
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
deleted file mode 100644
index e966a55..0000000
--- a/include/mujoco/mjdata.h
+++ /dev/null
@@ -1,370 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJDATA_H_
-#define MUJOCO_MJDATA_H_
-
-#include
-#include
-
-#include
-#include
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtWarning_ { // warning types
- mjWARN_INERTIA = 0, // (near) singular inertia matrix
- mjWARN_CONTACTFULL, // too many contacts in contact list
- mjWARN_CNSTRFULL, // too many constraints
- mjWARN_VGEOMFULL, // too many visual geoms
- mjWARN_BADQPOS, // bad number in qpos
- mjWARN_BADQVEL, // bad number in qvel
- mjWARN_BADQACC, // bad number in qacc
- mjWARN_BADCTRL, // bad number in ctrl
-
- mjNWARNING // number of warnings
-} mjtWarning;
-
-
-typedef enum mjtTimer_ {
- // main api
- mjTIMER_STEP = 0, // step
- mjTIMER_FORWARD, // forward
- mjTIMER_INVERSE, // inverse
-
- // breakdown of step/forward
- mjTIMER_POSITION, // fwdPosition
- mjTIMER_VELOCITY, // fwdVelocity
- mjTIMER_ACTUATION, // fwdActuation
- mjTIMER_ACCELERATION, // fwdAcceleration
- mjTIMER_CONSTRAINT, // fwdConstraint
-
- // breakdown of fwdPosition
- mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
- mjTIMER_POS_INERTIA, // inertia computations
- mjTIMER_POS_COLLISION, // collision detection
- mjTIMER_POS_MAKE, // make constraints
- mjTIMER_POS_PROJECT, // project constraints
-
- mjNTIMER // number of timers
-} mjtTimer;
-
-
-//---------------------------------- mjContact -----------------------------------------------------
-
-struct mjContact_ { // result of collision detection functions
- // contact parameters set by geom-specific collision detector
- mjtNum dist; // distance between nearest points; neg: penetration
- mjtNum pos[3]; // position of contact point: midpoint between geoms
- mjtNum frame[9]; // normal is in [0-2]
-
- // contact parameters set by mj_collideGeoms
- mjtNum includemargin; // include if distplugin, required for deletion (nplugin x 1)
- uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
-
- //-------------------------------- POSITION dependent
-
- // computed by mj_fwdPosition/mj_kinematics
- mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
- mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
- mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
- mjtNum* xipos; // Cartesian position of body com (nbody x 3)
- mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
- mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
- mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
- mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
- mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
- mjtNum* site_xpos; // Cartesian site position (nsite x 3)
- mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
- mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
- mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
- mjtNum* light_xpos; // Cartesian light position (nlight x 3)
- mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
-
- // computed by mj_fwdPosition/mj_comPos
- mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
- mjtNum* cdof; // com-based motion axis of each dof (nv x 6)
- mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
-
- // computed by mj_fwdPosition/mj_tendon
- int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
- int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
- int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
- int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
- int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
- mjtNum* ten_length; // tendon lengths (ntendon x 1)
- mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
- int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
- mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
-
- // computed by mj_fwdPosition/mj_transmission
- mjtNum* actuator_length; // actuator lengths (nu x 1)
- mjtNum* actuator_moment; // actuator moments (nu x nv)
-
- // computed by mj_fwdPosition/mj_crb
- mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
- mjtNum* qM; // total inertia (sparse) (nM x 1)
-
- // computed by mj_fwdPosition/mj_factorM
- mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
- mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
- mjtNum* qLDiagSqrtInv; // 1/sqrt(diag(D)) (nv x 1)
-
- //-------------------------------- POSITION, VELOCITY dependent
-
- // computed by mj_fwdVelocity
- mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
- mjtNum* actuator_velocity; // actuator velocities (nu x 1)
-
- // computed by mj_fwdVelocity/mj_comVel
- mjtNum* cvel; // com-based velocity [3D rot; 3D tran] (nbody x 6)
- mjtNum* cdof_dot; // time-derivative of cdof (nv x 6)
-
- // computed by mj_fwdVelocity/mj_rne (without acceleration)
- mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
-
- // computed by mj_fwdVelocity/mj_passive
- mjtNum* qfrc_passive; // passive force (nv x 1)
-
- // computed by mj_fwdVelocity/mj_referenceConstraint
- mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
- mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
-
- // computed by mj_sensorVel/mj_subtreeVel if needed
- mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
- mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
-
- // computed by mj_Euler
- mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
- mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
-
- // computed by mj_implicit
- int* D_rownnz; // non-zeros in each row (nv x 1)
- int* D_rowadr; // address of each row in D_colind (nv x 1)
- int* D_colind; // column indices of non-zeros (nD x 1)
-
- // computed by mj_implicit/mj_derivative
- mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
-
- // computed by mj_implicit/mju_factorLUSparse
- mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
-
- //-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
-
- // computed by mj_fwdActuation
- mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
- mjtNum* qfrc_actuator; // actuator force (nv x 1)
-
- // computed by mj_fwdAcceleration
- mjtNum* qfrc_smooth; // net unconstrained force (nv x 1)
- mjtNum* qacc_smooth; // unconstrained acceleration (nv x 1)
-
- // computed by mj_fwdConstraint/mj_inverse
- mjtNum* qfrc_constraint; // constraint force (nv x 1)
-
- // computed by mj_inverse
- mjtNum* qfrc_inverse; // net external force; should equal: (nv x 1)
- // qfrc_applied + J'*xfrc_applied + qfrc_actuator
-
- // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
- mjtNum* cacc; // com-based acceleration (nbody x 6)
- mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
- mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
-
- //-------------------------------- ARENA-ALLOCATED ARRAYS
-
- // computed by mj_collision
- mjContact* contact; // list of all detected contacts (ncon x 1)
-
- // computed by mj_makeConstraint
- int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
- int* efc_id; // id of object of specified type (nefc x 1)
- int* efc_J_rownnz; // number of non-zeros in Jacobian row (nefc x 1)
- int* efc_J_rowadr; // row start address in colind array (nefc x 1)
- int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
- int* efc_J_colind; // column indices in Jacobian (nefc x nv)
- int* efc_JT_rownnz; // number of non-zeros in Jacobian row T (nv x 1)
- int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
- int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
- int* efc_JT_colind; // column indices in Jacobian T (nv x nefc)
- mjtNum* efc_J; // constraint Jacobian (nefc x nv)
- mjtNum* efc_JT; // constraint Jacobian transposed (nv x nefc)
- mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
- mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
- mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
- mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
- mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
- mjtNum* efc_D; // constraint mass (nefc x 1)
- mjtNum* efc_R; // inverse constraint mass (nefc x 1)
-
- // computed by mj_fwdConstraint/mj_inverse
- mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
- mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
- int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
-
- // computed by mj_projectConstraint
- int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
- int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
- int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
- mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
-};
-typedef struct mjData_ mjData;
-
-
-//---------------------------------- callback function types ---------------------------------------
-
-// generic MuJoCo function
-typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
-
-// contact filter: 1- discard, 0- collide
-typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
-
-// sensor simulation
-typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
-
-// timer
-typedef mjtNum (*mjfTime)(void);
-
-// actuator dynamics, gain, bias
-typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
-
-// collision detection
-typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
- mjContact* con, int g1, int g2, mjtNum margin);
-
-#endif // MUJOCO_MJDATA_H_
diff --git a/include/mujoco/mjexport.h b/include/mujoco/mjexport.h
deleted file mode 100644
index 27f8628..0000000
--- a/include/mujoco/mjexport.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJEXPORT_H_
-#define MUJOCO_MJEXPORT_H_
-
-#if defined _WIN32 || defined __CYGWIN__
- #define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
- #define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
- #define MUJOCO_HELPER_DLL_LOCAL
-#else
- #if __GNUC__ >= 4
- #define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
- #define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
- #define MUJOCO_HELPER_DLL_LOCAL __attribute__ ((visibility ("hidden")))
- #else
- #define MUJOCO_HELPER_DLL_IMPORT
- #define MUJOCO_HELPER_DLL_EXPORT
- #define MUJOCO_HELPER_DLL_LOCAL
- #endif
-#endif
-
-#ifdef MJ_STATIC
- // static library
- #define MJAPI
- #define MJLOCAL
-#else
- #ifdef MUJOCO_DLL_EXPORTS
- #define MJAPI MUJOCO_HELPER_DLL_EXPORT
- #else
- #define MJAPI MUJOCO_HELPER_DLL_IMPORT
- #endif
- #define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
-#endif
-
-#endif // MUJOCO_MJEXPORT_H_
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
deleted file mode 100644
index 3d1becd..0000000
--- a/include/mujoco/mjmodel.h
+++ /dev/null
@@ -1,948 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJMODEL_H_
-#define MUJOCO_MJMODEL_H_
-
-#include
-
-// global constants
-#define mjPI 3.14159265358979323846
-#define mjMAXVAL 1E+10 // maximum value in qpos, qvel, qacc
-#define mjMINMU 1E-5 // minimum friction coefficient
-#define mjMINIMP 0.0001 // minimum constraint impedance
-#define mjMAXIMP 0.9999 // maximum constraint impedance
-#define mjMAXCONPAIR 50 // maximum number of contacts per geom pair
-#define mjMAXVFS 2000 // maximum number of files in virtual file system
-#define mjMAXVFSNAME 1000 // maximum filename size in virtual file system
-
-
-//---------------------------------- sizes ---------------------------------------------------------
-
-#define mjNEQDATA 11 // number of eq_data fields
-#define mjNDYN 10 // number of actuator dynamics parameters
-#define mjNGAIN 10 // number of actuator gain parameters
-#define mjNBIAS 10 // number of actuator bias parameters
-#define mjNFLUID 12 // number of fluid interaction parameters
-#define mjNREF 2 // number of solver reference parameters
-#define mjNIMP 5 // number of solver impedance parameters
-#define mjNSOLVER 1000 // size of mjData.solver_XXX arrays
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef unsigned char mjtByte; // used for true/false
-
-
-typedef enum mjtDisableBit_ { // disable default feature bitflags
- mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
- mjDSBL_EQUALITY = 1<<1, // equality constraints
- mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
- mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
- mjDSBL_CONTACT = 1<<4, // contact constraints
- mjDSBL_PASSIVE = 1<<5, // passive forces
- mjDSBL_GRAVITY = 1<<6, // gravitational forces
- mjDSBL_CLAMPCTRL = 1<<7, // clamp control to specified range
- mjDSBL_WARMSTART = 1<<8, // warmstart constraint solver
- mjDSBL_FILTERPARENT = 1<<9, // remove collisions with parent body
- mjDSBL_ACTUATION = 1<<10, // apply actuation forces
- mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep
- mjDSBL_SENSOR = 1<<12, // sensors
-
- mjNDISABLE = 13 // number of disable flags
-} mjtDisableBit;
-
-
-typedef enum mjtEnableBit_ { // enable optional feature bitflags
- mjENBL_OVERRIDE = 1<<0, // override contact parameters
- mjENBL_ENERGY = 1<<1, // energy computation
- mjENBL_FWDINV = 1<<2, // record solver statistics
- mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
- // experimental features:
- mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
-
- mjNENABLE = 5 // number of enable flags
-} mjtEnableBit;
-
-
-typedef enum mjtJoint_ { // type of degree of freedom
- mjJNT_FREE = 0, // global position and orientation (quat) (7)
- mjJNT_BALL, // orientation (quat) relative to parent (4)
- mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
- mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
-} mjtJoint;
-
-
-typedef enum mjtGeom_ { // type of geometric shape
- // regular geom types
- mjGEOM_PLANE = 0, // plane
- mjGEOM_HFIELD, // height field
- mjGEOM_SPHERE, // sphere
- mjGEOM_CAPSULE, // capsule
- mjGEOM_ELLIPSOID, // ellipsoid
- mjGEOM_CYLINDER, // cylinder
- mjGEOM_BOX, // box
- mjGEOM_MESH, // mesh
-
- mjNGEOMTYPES, // number of regular geom types
-
- // rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
- mjGEOM_ARROW = 100, // arrow
- mjGEOM_ARROW1, // arrow without wedges
- mjGEOM_ARROW2, // arrow in both directions
- mjGEOM_LINE, // line
- mjGEOM_SKIN, // skin
- mjGEOM_LABEL, // text label
-
- mjGEOM_NONE = 1001 // missing geom type
-} mjtGeom;
-
-
-typedef enum mjtCamLight_ { // tracking mode for camera and light
- mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
- mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
- mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
- mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
- mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
-} mjtCamLight;
-
-
-typedef enum mjtTexture_ { // type of texture
- mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
- mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
- mjTEXTURE_SKYBOX // cube texture used as skybox
-} mjtTexture;
-
-
-typedef enum mjtIntegrator_ { // integrator mode
- mjINT_EULER = 0, // semi-implicit Euler
- mjINT_RK4, // 4th-order Runge Kutta
- mjINT_IMPLICIT // implicit in velocity
-} mjtIntegrator;
-
-
-typedef enum mjtCollision_ { // collision mode for selecting geom pairs
- mjCOL_ALL = 0, // test precomputed and dynamic pairs
- mjCOL_PAIR, // test predefined pairs only
- mjCOL_DYNAMIC // test dynamic pairs only
-} mjtCollision;
-
-
-typedef enum mjtCone_ { // type of friction cone
- mjCONE_PYRAMIDAL = 0, // pyramidal
- mjCONE_ELLIPTIC // elliptic
-} mjtCone;
-
-
-typedef enum mjtJacobian_ { // type of constraint Jacobian
- mjJAC_DENSE = 0, // dense
- mjJAC_SPARSE, // sparse
- mjJAC_AUTO // dense if nv<60, sparse otherwise
-} mjtJacobian;
-
-
-typedef enum mjtSolver_ { // constraint solver algorithm
- mjSOL_PGS = 0, // PGS (dual)
- mjSOL_CG, // CG (primal)
- mjSOL_NEWTON // Newton (primal)
-} mjtSolver;
-
-
-typedef enum mjtEq_ { // type of equality constraint
- mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
- mjEQ_WELD, // fix relative position and orientation of two bodies
- mjEQ_JOINT, // couple the values of two scalar joints with cubic
- mjEQ_TENDON, // couple the lengths of two tendons with cubic
- mjEQ_DISTANCE // unsupported, will cause an error if used
-} mjtEq;
-
-
-typedef enum mjtWrap_ { // type of tendon wrap object
- mjWRAP_NONE = 0, // null object
- mjWRAP_JOINT, // constant moment arm
- mjWRAP_PULLEY, // pulley used to split tendon
- mjWRAP_SITE, // pass through site
- mjWRAP_SPHERE, // wrap around sphere
- mjWRAP_CYLINDER // wrap around (infinite) cylinder
-} mjtWrap;
-
-
-typedef enum mjtTrn_ { // type of actuator transmission
- mjTRN_JOINT = 0, // force on joint
- mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
- mjTRN_SLIDERCRANK, // force via slider-crank linkage
- mjTRN_TENDON, // force on tendon
- mjTRN_SITE, // force on site
- mjTRN_BODY, // adhesion force on a body's geoms
-
- mjTRN_UNDEFINED = 1000 // undefined transmission type
-} mjtTrn;
-
-
-typedef enum mjtDyn_ { // type of actuator dynamics
- mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
- mjDYN_INTEGRATOR, // integrator: da/dt = u
- mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
- mjDYN_MUSCLE, // piece-wise linear filter with two time constants
- mjDYN_USER // user-defined dynamics type
-} mjtDyn;
-
-
-typedef enum mjtGain_ { // type of actuator gain
- mjGAIN_FIXED = 0, // fixed gain
- mjGAIN_AFFINE, // const + kp*length + kv*velocity
- mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
- mjGAIN_USER // user-defined gain type
-} mjtGain;
-
-
-typedef enum mjtBias_ { // type of actuator bias
- mjBIAS_NONE = 0, // no bias
- mjBIAS_AFFINE, // const + kp*length + kv*velocity
- mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
- mjBIAS_USER // user-defined bias type
-} mjtBias;
-
-
-typedef enum mjtObj_ { // type of MujoCo object
- mjOBJ_UNKNOWN = 0, // unknown object type
- mjOBJ_BODY, // body
- mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
- mjOBJ_JOINT, // joint
- mjOBJ_DOF, // dof
- mjOBJ_GEOM, // geom
- mjOBJ_SITE, // site
- mjOBJ_CAMERA, // camera
- mjOBJ_LIGHT, // light
- mjOBJ_MESH, // mesh
- mjOBJ_SKIN, // skin
- mjOBJ_HFIELD, // heightfield
- mjOBJ_TEXTURE, // texture
- mjOBJ_MATERIAL, // material for rendering
- mjOBJ_PAIR, // geom pair to include
- mjOBJ_EXCLUDE, // body pair to exclude
- mjOBJ_EQUALITY, // equality constraint
- mjOBJ_TENDON, // tendon
- mjOBJ_ACTUATOR, // actuator
- mjOBJ_SENSOR, // sensor
- mjOBJ_NUMERIC, // numeric
- mjOBJ_TEXT, // text
- mjOBJ_TUPLE, // tuple
- mjOBJ_KEY, // keyframe
- mjOBJ_PLUGIN // plugin instance
-} mjtObj;
-
-
-typedef enum mjtConstraint_ { // type of constraint
- mjCNSTR_EQUALITY = 0, // equality constraint
- mjCNSTR_FRICTION_DOF, // dof friction
- mjCNSTR_FRICTION_TENDON, // tendon friction
- mjCNSTR_LIMIT_JOINT, // joint limit
- mjCNSTR_LIMIT_TENDON, // tendon limit
- mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
- mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
- mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
-} mjtConstraint;
-
-
-typedef enum mjtConstraintState_ { // constraint state
- mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
- mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
- mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
- mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
- mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
-
-
-typedef enum mjtSensor_ { // type of sensor
- // common robotic sensors, attached to a site
- mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
- mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame
- mjSENS_VELOCIMETER, // 3D linear velocity, in local frame
- mjSENS_GYRO, // 3D angular velocity, in local frame
- mjSENS_FORCE, // 3D force between site's body and its parent body
- mjSENS_TORQUE, // 3D torque between site's body and its parent body
- mjSENS_MAGNETOMETER, // 3D magnetometer
- mjSENS_RANGEFINDER, // scalar distance to nearest geom or site along z-axis
-
- // sensors related to scalar joints, tendons, actuators
- mjSENS_JOINTPOS, // scalar joint position (hinge and slide only)
- mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only)
- mjSENS_TENDONPOS, // scalar tendon position
- mjSENS_TENDONVEL, // scalar tendon velocity
- mjSENS_ACTUATORPOS, // scalar actuator position
- mjSENS_ACTUATORVEL, // scalar actuator velocity
- mjSENS_ACTUATORFRC, // scalar actuator force
-
- // sensors related to ball joints
- mjSENS_BALLQUAT, // 4D ball joint quaternion
- mjSENS_BALLANGVEL, // 3D ball joint angular velocity
-
- // joint and tendon limit sensors, in constraint space
- mjSENS_JOINTLIMITPOS, // joint limit distance-margin
- mjSENS_JOINTLIMITVEL, // joint limit velocity
- mjSENS_JOINTLIMITFRC, // joint limit force
- mjSENS_TENDONLIMITPOS, // tendon limit distance-margin
- mjSENS_TENDONLIMITVEL, // tendon limit velocity
- mjSENS_TENDONLIMITFRC, // tendon limit force
-
- // sensors attached to an object with spatial frame: (x)body, geom, site, camera
- mjSENS_FRAMEPOS, // 3D position
- mjSENS_FRAMEQUAT, // 4D unit quaternion orientation
- mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame
- mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame
- mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame
- mjSENS_FRAMELINVEL, // 3D linear velocity
- mjSENS_FRAMEANGVEL, // 3D angular velocity
- mjSENS_FRAMELINACC, // 3D linear acceleration
- mjSENS_FRAMEANGACC, // 3D angular acceleration
-
- // sensors related to kinematic subtrees; attached to a body (which is the subtree root)
- mjSENS_SUBTREECOM, // 3D center of mass of subtree
- mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
- mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
-
- // global sensors
- mjSENS_CLOCK, // simulation time
-
- // plugin-controlled sensors
- mjSENS_PLUGIN, // plugin-controlled
-
- // user-defined sensor
- mjSENS_USER // sensor data provided by mjcb_sensor callback
-} mjtSensor;
-
-
-typedef enum mjtStage_ { // computation stage
- mjSTAGE_NONE = 0, // no computations
- mjSTAGE_POS, // position-dependent computations
- mjSTAGE_VEL, // velocity-dependent computations
- mjSTAGE_ACC // acceleration/force-dependent computations
-} mjtStage;
-
-
-typedef enum mjtDataType_ { // data type for sensors
- mjDATATYPE_REAL = 0, // real values, no constraints
- mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive
- mjDATATYPE_AXIS, // 3D unit vector
- mjDATATYPE_QUATERNION // unit quaternion
-} mjtDataType;
-
-
-typedef enum mjtLRMode_ { // mode for actuator length range computation
- mjLRMODE_NONE = 0, // do not process any actuators
- mjLRMODE_MUSCLE, // process muscle actuators
- mjLRMODE_MUSCLEUSER, // process muscle and user actuators
- mjLRMODE_ALL // process all actuators
-} mjtLRMode;
-
-
-//---------------------------------- mjLROpt -------------------------------------------------------
-
-struct mjLROpt_ { // options for mj_setLengthRange()
- // flags
- int mode; // which actuators to process (mjtLRMode)
- int useexisting; // use existing length range if available
- int uselimit; // use joint and tendon limits if available
-
- // algorithm parameters
- mjtNum accel; // target acceleration used to compute force
- mjtNum maxforce; // maximum force; 0: no limit
- mjtNum timeconst; // time constant for velocity reduction; min 0.01
- mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
- mjtNum inttotal; // total simulation time interval
- mjtNum inteval; // evaluation time interval (at the end)
- mjtNum tolrange; // convergence tolerance (relative to range)
-};
-typedef struct mjLROpt_ mjLROpt;
-
-
-//---------------------------------- mjVFS ---------------------------------------------------------
-
-struct mjVFS_ { // virtual file system for loading from memory
- int nfile; // number of files present
- char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
- int filesize[mjMAXVFS]; // file size in bytes
- void* filedata[mjMAXVFS]; // buffer with file data
-};
-typedef struct mjVFS_ mjVFS;
-
-
-//---------------------------------- mjOption ------------------------------------------------------
-
-struct mjOption_ { // physics options
- // timing parameters
- mjtNum timestep; // timestep
- mjtNum apirate; // update rate for remote API (Hz)
-
- // solver parameters
- mjtNum impratio; // ratio of friction-to-normal contact impedance
- mjtNum tolerance; // main solver tolerance
- mjtNum noslip_tolerance; // noslip solver tolerance
- mjtNum mpr_tolerance; // MPR solver tolerance
-
- // physical constants
- mjtNum gravity[3]; // gravitational acceleration
- mjtNum wind[3]; // wind (for lift, drag and viscosity)
- mjtNum magnetic[3]; // global magnetic flux
- mjtNum density; // density of medium
- mjtNum viscosity; // viscosity of medium
-
- // override contact solver parameters (if enabled)
- mjtNum o_margin; // margin
- mjtNum o_solref[mjNREF]; // solref
- mjtNum o_solimp[mjNIMP]; // solimp
-
- // discrete settings
- int integrator; // integration mode (mjtIntegrator)
- int collision; // collision mode (mjtCollision)
- int cone; // type of friction cone (mjtCone)
- int jacobian; // type of Jacobian (mjtJacobian)
- int solver; // solver algorithm (mjtSolver)
- int iterations; // maximum number of main solver iterations
- int noslip_iterations; // maximum number of noslip solver iterations
- int mpr_iterations; // maximum number of MPR solver iterations
- int disableflags; // bit flags for disabling standard features
- int enableflags; // bit flags for enabling optional features
-};
-typedef struct mjOption_ mjOption;
-
-
-//---------------------------------- mjVisual ------------------------------------------------------
-
-struct mjVisual_ { // visualization options
- struct { // global parameters
- float fovy; // y-field of view for free camera (degrees)
- float ipd; // inter-pupilary distance for free camera
- float azimuth; // initial azimuth of free camera (degrees)
- float elevation; // initial elevation of free camera (degrees)
- float linewidth; // line width for wireframe and ray rendering
- float glow; // glow coefficient for selected body
- float realtime; // initial real-time factor (1: real time)
- int offwidth; // width of offscreen buffer
- int offheight; // height of offscreen buffer
- } global;
-
- struct { // rendering quality
- int shadowsize; // size of shadowmap texture
- int offsamples; // number of multisamples for offscreen rendering
- int numslices; // number of slices for builtin geom drawing
- int numstacks; // number of stacks for builtin geom drawing
- int numquads; // number of quads for box rendering
- } quality;
-
- struct { // head light
- float ambient[3]; // ambient rgb (alpha=1)
- float diffuse[3]; // diffuse rgb (alpha=1)
- float specular[3]; // specular rgb (alpha=1)
- int active; // is headlight active
- } headlight;
-
- struct { // mapping
- float stiffness; // mouse perturbation stiffness (space->force)
- float stiffnessrot; // mouse perturbation stiffness (space->torque)
- float force; // from force units to space units
- float torque; // from torque units to space units
- float alpha; // scale geom alphas when transparency is enabled
- float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
- float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
- float znear; // near clipping plane = znear * mjModel.stat.extent
- float zfar; // far clipping plane = zfar * mjModel.stat.extent
- float haze; // haze ratio
- float shadowclip; // directional light: shadowclip * mjModel.stat.extent
- float shadowscale; // spot light: shadowscale * light.cutoff
- float actuatortendon; // scale tendon width
- } map;
-
- struct { // scale of decor elements relative to mean body size
- float forcewidth; // width of force arrow
- float contactwidth; // contact width
- float contactheight; // contact height
- float connect; // autoconnect capsule width
- float com; // com radius
- float camera; // camera object
- float light; // light object
- float selectpoint; // selection point
- float jointlength; // joint length
- float jointwidth; // joint width
- float actuatorlength; // actuator length
- float actuatorwidth; // actuator width
- float framelength; // bodyframe axis length
- float framewidth; // bodyframe axis width
- float constraint; // constraint width
- float slidercrank; // slidercrank width
- } scale;
-
- struct { // color of decor elements
- float fog[4]; // fog
- float haze[4]; // haze
- float force[4]; // external force
- float inertia[4]; // inertia box
- float joint[4]; // joint
- float actuator[4]; // actuator, neutral
- float actuatornegative[4]; // actuator, negative limit
- float actuatorpositive[4]; // actuator, positive limit
- float com[4]; // center of mass
- float camera[4]; // camera object
- float light[4]; // light object
- float selectpoint[4]; // selection point
- float connect[4]; // auto connect
- float contactpoint[4]; // contact point
- float contactforce[4]; // contact force
- float contactfriction[4]; // contact friction force
- float contacttorque[4]; // contact torque
- float contactgap[4]; // contact point in gap
- float rangefinder[4]; // rangefinder ray
- float constraint[4]; // constraint
- float slidercrank[4]; // slidercrank
- float crankbroken[4]; // used when crank must be stretched/broken
- } rgba;
-};
-typedef struct mjVisual_ mjVisual;
-
-
-//---------------------------------- mjStatistic ---------------------------------------------------
-
-struct mjStatistic_ { // model statistics (in qpos0)
- mjtNum meaninertia; // mean diagonal inertia
- mjtNum meanmass; // mean body mass
- mjtNum meansize; // mean body size
- mjtNum extent; // spatial extent
- mjtNum center[3]; // center of model
-};
-typedef struct mjStatistic_ mjStatistic;
-
-
-//---------------------------------- mjModel -------------------------------------------------------
-
-struct mjModel_ {
- // ------------------------------- sizes
-
- // sizes needed at mjModel construction
- int nq; // number of generalized coordinates = dim(qpos)
- int nv; // number of degrees of freedom = dim(qvel)
- int nu; // number of actuators/controls = dim(ctrl)
- int na; // number of activation states = dim(act)
- int nbody; // number of bodies
- int njnt; // number of joints
- int ngeom; // number of geoms
- int nsite; // number of sites
- int ncam; // number of cameras
- int nlight; // number of lights
- int nmesh; // number of meshes
- int nmeshvert; // number of vertices in all meshes
- int nmeshtexvert; // number of vertices with texcoords in all meshes
- int nmeshface; // number of triangular faces in all meshes
- int nmeshgraph; // number of ints in mesh auxiliary data
- int nskin; // number of skins
- int nskinvert; // number of vertices in all skins
- int nskintexvert; // number of vertiex with texcoords in all skins
- int nskinface; // number of triangular faces in all skins
- int nskinbone; // number of bones in all skins
- int nskinbonevert; // number of vertices in all skin bones
- int nhfield; // number of heightfields
- int nhfielddata; // number of data points in all heightfields
- int ntex; // number of textures
- int ntexdata; // number of bytes in texture rgb data
- int nmat; // number of materials
- int npair; // number of predefined geom pairs
- int nexclude; // number of excluded geom pairs
- int neq; // number of equality constraints
- int ntendon; // number of tendons
- int nwrap; // number of wrap objects in all tendon paths
- int nsensor; // number of sensors
- int nnumeric; // number of numeric custom fields
- int nnumericdata; // number of mjtNums in all numeric fields
- int ntext; // number of text custom fields
- int ntextdata; // number of mjtBytes in all text fields
- int ntuple; // number of tuple custom fields
- int ntupledata; // number of objects in all tuple fields
- int nkey; // number of keyframes
- int nmocap; // number of mocap bodies
- int nplugin; // number of plugin instances
- int npluginattr; // number of chars in all plugin config attributes
- int nuser_body; // number of mjtNums in body_user
- int nuser_jnt; // number of mjtNums in jnt_user
- int nuser_geom; // number of mjtNums in geom_user
- int nuser_site; // number of mjtNums in site_user
- int nuser_cam; // number of mjtNums in cam_user
- int nuser_tendon; // number of mjtNums in tendon_user
- int nuser_actuator; // number of mjtNums in actuator_user
- int nuser_sensor; // number of mjtNums in sensor_user
- int nnames; // number of chars in all names
-
- // sizes set after mjModel construction (only affect mjData)
- int nM; // number of non-zeros in sparse inertia matrix
- int nD; // number of non-zeros in sparse derivative matrix
- int nemax; // number of potential equality-constraint rows
- int njmax; // number of available rows in constraint Jacobian
- int nconmax; // number of potential contacts in contact list
- int nstack; // number of fields in mjData stack
- int nuserdata; // number of extra fields in mjData
- int nsensordata; // number of fields in sensor data vector
- int npluginstate; // number of fields in the plugin state vector
-
- int nbuffer; // number of bytes in buffer
-
- // ------------------------------- options and statistics
-
- mjOption opt; // physics options
- mjVisual vis; // visualization options
- mjStatistic stat; // model statistics
-
- // ------------------------------- buffers
-
- // main buffer
- void* buffer; // main buffer; all pointers point in it (nbuffer)
-
- // default generalized coordinates
- mjtNum* qpos0; // qpos values at default pose (nq x 1)
- mjtNum* qpos_spring; // reference pose for springs (nq x 1)
-
- // bodies
- int* body_parentid; // id of body's parent (nbody x 1)
- int* body_rootid; // id of root above body (nbody x 1)
- int* body_weldid; // id of body that this body is welded to (nbody x 1)
- int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
- int* body_jntnum; // number of joints for this body (nbody x 1)
- int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
- int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
- int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
- int* body_geomnum; // number of geoms (nbody x 1)
- int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
- mjtByte* body_simple; // body is simple (has diagonal M) (nbody x 1)
- mjtByte* body_sameframe; // inertial frame is same as body frame (nbody x 1)
- mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
- mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
- mjtNum* body_ipos; // local position of center of mass (nbody x 3)
- mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
- mjtNum* body_mass; // mass (nbody x 1)
- mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
- mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
- mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
- mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
- mjtNum* body_user; // user data (nbody x nuser_body)
- int* body_plugin; // plugin instance id (-1 if not in use) (nbody x 1)
-
- // joints
- int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
- int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
- int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
- int* jnt_bodyid; // id of joint's body (njnt x 1)
- int* jnt_group; // group for visibility (njnt x 1)
- mjtByte* jnt_limited; // does joint have limits (njnt x 1)
- mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
- mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
- mjtNum* jnt_pos; // local anchor position (njnt x 3)
- mjtNum* jnt_axis; // local joint axis (njnt x 3)
- mjtNum* jnt_stiffness; // stiffness coefficient (njnt x 1)
- mjtNum* jnt_range; // joint limits (njnt x 2)
- mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
- mjtNum* jnt_user; // user data (njnt x nuser_jnt)
-
- // dofs
- int* dof_bodyid; // id of dof's body (nv x 1)
- int* dof_jntid; // id of dof's joint (nv x 1)
- int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
- int* dof_Madr; // dof address in M-diagonal (nv x 1)
- int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
- mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
- mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
- mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
- mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
- mjtNum* dof_damping; // damping coefficient (nv x 1)
- mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
- mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
-
- // geoms
- int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
- int* geom_contype; // geom contact type (ngeom x 1)
- int* geom_conaffinity; // geom contact affinity (ngeom x 1)
- int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
- int* geom_bodyid; // id of geom's body (ngeom x 1)
- int* geom_dataid; // id of geom's mesh/hfield (-1: none) (ngeom x 1)
- int* geom_matid; // material id for rendering (ngeom x 1)
- int* geom_group; // group for visibility (ngeom x 1)
- int* geom_priority; // geom contact priority (ngeom x 1)
- mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
- mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
- mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
- mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
- mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
- mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
- mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
- mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
- mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
- mjtNum* geom_margin; // detect contact if dist
-#include
-#include
-
-
-typedef enum mjtPluginTypeBit_ {
- mjPLUGIN_ACTUATOR = 1<<0,
- mjPLUGIN_SENSOR = 1<<1,
- mjPLUGIN_PASSIVE = 1<<2,
-} mjtPluginTypeBit;
-
-struct mjpPlugin_ {
- const char* name; // globally unique name identifying the plugin
-
- int nattribute; // number of configuration attributes
- const char* const* attributes; // name of configuration attributes
-
- int type; // bitfield of mjtPluginTypeBits specifying the plugin type
- int needstage; // an mjtStage enum value specifying the sensor computation stage
-
- // number of mjtNums needed to store the state of a plugin instance (required)
- int (*nstate)(const mjModel* m, int instance);
-
- // dimension of the specified sensor's output (required only for sensor plugins)
- int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
-
- // called when a new mjData is being created (required), returns 0 on success or -1 on failure
- int (*init)(const mjModel* m, mjData* d, int instance);
-
- // called when an mjData is being freed (optional)
- void (*destroy)(mjData* d, int instance);
-
- // called when an mjData is being copied (optional)
- void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
-
- // called when an mjData is being reset (required)
- void (*reset)(const mjModel* m, mjData* d, int instance);
-
- // called when the plugin needs to update its outputs (required)
- void (*compute)(const mjModel* m, mjData* d, int instance, int type);
-
- // called when time integration occurs (optional)
- void (*advance)(const mjModel* m, mjData* d, int instance);
-
- // called by mjv_updateScene (optional)
- void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
-};
-typedef struct mjpPlugin_ mjpPlugin;
-
-#if defined(__has_attribute)
-
-#if __has_attribute(constructor)
-#define mjPLUGIN_DYNAMIC_LIBRARY_INIT \
- __attribute__((constructor)) static void _mjplugin_init(void)
-#endif
-
-#elif defined(_MSC_VER)
-
-#ifndef mjDLLMAIN
-#define mjDLLMAIN DllMain
-#endif
-
-#if !defined(mjEXTERNC)
-#if defined(__cplusplus)
-#define mjEXTERNC extern "C"
-#else
-#define mjEXTERNC
-#endif // defined(__cplusplus)
-#endif // !defined(mjEXTERNC)
-
-// NOLINTBEGIN(runtime/int)
-#define mjPLUGIN_DYNAMIC_LIBRARY_INIT \
- static void _mjplugin_dllmain(void); \
- mjEXTERNC int __stdcall mjDLLMAIN(void* hinst, unsigned long reason, void* reserved) { \
- if (reason == 1) { \
- _mjplugin_dllmain(); \
- } \
- return 1; \
- } \
- static void _mjplugin_dllmain(void)
-// NOLINTEND(runtime/int)
-
-#endif // defined(_MSC_VER)
-
-// function pointer type for mj_loadAllPluginLibraries callback
-typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
-
-#endif // MUJOCO_INCLUDE_MJPLUGIN_H_
diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h
deleted file mode 100644
index efa5008..0000000
--- a/include/mujoco/mjrender.h
+++ /dev/null
@@ -1,158 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJRENDER_H_
-#define MUJOCO_MJRENDER_H_
-
-#include
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-#define mjNAUX 10 // number of auxiliary buffers
-#define mjMAXTEXTURE 1000 // maximum number of textures
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtGridPos_ { // grid position for overlay
- mjGRID_TOPLEFT = 0, // top left
- mjGRID_TOPRIGHT, // top right
- mjGRID_BOTTOMLEFT, // bottom left
- mjGRID_BOTTOMRIGHT // bottom right
-} mjtGridPos;
-
-
-typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
- mjFB_WINDOW = 0, // default/window buffer
- mjFB_OFFSCREEN // offscreen buffer
-} mjtFramebuffer;
-
-
-typedef enum mjtFontScale_ { // font scale, used at context creation
- mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
- mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
- mjFONTSCALE_150 = 150, // 150% scale
- mjFONTSCALE_200 = 200, // 200% scale
- mjFONTSCALE_250 = 250, // 250% scale
- mjFONTSCALE_300 = 300 // 300% scale
-} mjtFontScale;
-
-
-typedef enum mjtFont_ { // font type, used at each text operation
- mjFONT_NORMAL = 0, // normal font
- mjFONT_SHADOW, // normal font with shadow (for higher contrast)
- mjFONT_BIG // big font (for user alerts)
-} mjtFont;
-
-
-struct mjrRect_ { // OpenGL rectangle
- int left; // left (usually 0)
- int bottom; // bottom (usually 0)
- int width; // width (usually buffer width)
- int height; // height (usually buffer height)
-};
-typedef struct mjrRect_ mjrRect;
-
-
-//---------------------------------- mjrContext ----------------------------------------------------
-
-struct mjrContext_ { // custom OpenGL context
- // parameters copied from mjVisual
- float lineWidth; // line width for wireframe rendering
- float shadowClip; // clipping radius for directional lights
- float shadowScale; // fraction of light cutoff for spot lights
- float fogStart; // fog start = stat.extent * vis.map.fogstart
- float fogEnd; // fog end = stat.extent * vis.map.fogend
- float fogRGBA[4]; // fog rgba
- int shadowSize; // size of shadow map texture
- int offWidth; // width of offscreen buffer
- int offHeight; // height of offscreen buffer
- int offSamples; // number of offscreen buffer multisamples
-
- // parameters specified at creation
- int fontScale; // font scale
- int auxWidth[mjNAUX]; // auxiliary buffer width
- int auxHeight[mjNAUX]; // auxiliary buffer height
- int auxSamples[mjNAUX]; // auxiliary buffer multisamples
-
- // offscreen rendering objects
- unsigned int offFBO; // offscreen framebuffer object
- unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
- unsigned int offColor; // offscreen color buffer
- unsigned int offColor_r; // offscreen color buffer for resolving multisamples
- unsigned int offDepthStencil; // offscreen depth and stencil buffer
- unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
-
- // shadow rendering objects
- unsigned int shadowFBO; // shadow map framebuffer object
- unsigned int shadowTex; // shadow map texture
-
- // auxiliary buffers
- unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
- unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
- unsigned int auxColor[mjNAUX]; // auxiliary color buffer
- unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
-
- // texture objects and info
- int ntexture; // number of allocated textures
- int textureType[100]; // type of texture (mjtTexture) (ntexture)
- unsigned int texture[100]; // texture names
-
- // displaylist starting positions
- unsigned int basePlane; // all planes from model
- unsigned int baseMesh; // all meshes from model
- unsigned int baseHField; // all hfields from model
- unsigned int baseBuiltin; // all buildin geoms, with quality from model
- unsigned int baseFontNormal; // normal font
- unsigned int baseFontShadow; // shadow font
- unsigned int baseFontBig; // big font
-
- // displaylist ranges
- int rangePlane; // all planes from model
- int rangeMesh; // all meshes from model
- int rangeHField; // all hfields from model
- int rangeBuiltin; // all builtin geoms, with quality from model
- int rangeFont; // all characters in font
-
- // skin VBOs
- int nskin; // number of skins
- unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
- unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
- unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
- unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
-
- // character info
- int charWidth[127]; // character widths: normal and shadow
- int charWidthBig[127]; // chacarter widths: big
- int charHeight; // character heights: normal and shadow
- int charHeightBig; // character heights: big
-
- // capabilities
- int glInitialized; // is OpenGL initialized
- int windowAvailable; // is default/window framebuffer available
- int windowSamples; // number of samples for default/window framebuffer
- int windowStereo; // is stereo available for default/window framebuffer
- int windowDoublebuffer; // is default/window framebuffer double buffered
-
- // framebuffer
- int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
-};
-typedef struct mjrContext_ mjrContext;
-
-#if defined(__cplusplus)
-}
-#endif
-#endif // MUJOCO_MJRENDER_H_
diff --git a/include/mujoco/mjtnum.h b/include/mujoco/mjtnum.h
deleted file mode 100644
index 744aebc..0000000
--- a/include/mujoco/mjtnum.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_INCLUDE_MJTNUM_H_
-#define MUJOCO_INCLUDE_MJTNUM_H_
-
-//---------------------------------- floating-point definitions ------------------------------------
-
-// compile-time configuration options
-#define mjUSEDOUBLE // single or double precision for mjtNum
-
-
-// floating point data type and minval
-#ifdef mjUSEDOUBLE
- typedef double mjtNum;
- #define mjMINVAL 1E-15 // minimum value in any denominator
-#else
- typedef float mjtNum;
- #define mjMINVAL 1E-15f
-#endif
-
-
-#endif // MUJOCO_INCLUDE_MJTNUM_H_
diff --git a/include/mujoco/mjui.h b/include/mujoco/mjui.h
deleted file mode 100644
index 29fddef..0000000
--- a/include/mujoco/mjui.h
+++ /dev/null
@@ -1,312 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJUI_H_
-#define MUJOCO_MJUI_H_
-
-#include
-
-#define mjMAXUISECT 10 // maximum number of sections
-#define mjMAXUIITEM 80 // maximum number of items per section
-#define mjMAXUITEXT 300 // maximum number of chars in edittext and other
-#define mjMAXUINAME 40 // maximum number of chars in name
-#define mjMAXUIMULTI 35 // maximum number of radio/select items in group
-#define mjMAXUIEDIT 7 // maximum number of elements in edit list
-#define mjMAXUIRECT 25 // maximum number of rectangles
-
-#define mjSEPCLOSED 1000 // closed state of adjustable separator
-
-
-// key codes matching GLFW (user must remap for other frameworks)
-#define mjKEY_ESCAPE 256
-#define mjKEY_ENTER 257
-#define mjKEY_TAB 258
-#define mjKEY_BACKSPACE 259
-#define mjKEY_INSERT 260
-#define mjKEY_DELETE 261
-#define mjKEY_RIGHT 262
-#define mjKEY_LEFT 263
-#define mjKEY_DOWN 264
-#define mjKEY_UP 265
-#define mjKEY_PAGE_UP 266
-#define mjKEY_PAGE_DOWN 267
-#define mjKEY_HOME 268
-#define mjKEY_END 269
-#define mjKEY_F1 290
-#define mjKEY_F2 291
-#define mjKEY_F3 292
-#define mjKEY_F4 293
-#define mjKEY_F5 294
-#define mjKEY_F6 295
-#define mjKEY_F7 296
-#define mjKEY_F8 297
-#define mjKEY_F9 298
-#define mjKEY_F10 299
-#define mjKEY_F11 300
-#define mjKEY_F12 301
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtButton_ { // mouse button
- mjBUTTON_NONE = 0, // no button
- mjBUTTON_LEFT, // left button
- mjBUTTON_RIGHT, // right button
- mjBUTTON_MIDDLE // middle button
-} mjtButton;
-
-
-typedef enum mjtEvent_ { // mouse and keyboard event type
- mjEVENT_NONE = 0, // no event
- mjEVENT_MOVE, // mouse move
- mjEVENT_PRESS, // mouse button press
- mjEVENT_RELEASE, // mouse button release
- mjEVENT_SCROLL, // scroll
- mjEVENT_KEY, // key press
- mjEVENT_RESIZE // resize
-} mjtEvent;
-
-
-typedef enum mjtItem_ { // UI item type
- mjITEM_END = -2, // end of definition list (not an item)
- mjITEM_SECTION = -1, // section (not an item)
- mjITEM_SEPARATOR = 0, // separator
- mjITEM_STATIC, // static text
- mjITEM_BUTTON, // button
-
- // the rest have data pointer
- mjITEM_CHECKINT, // check box, int value
- mjITEM_CHECKBYTE, // check box, mjtByte value
- mjITEM_RADIO, // radio group
- mjITEM_RADIOLINE, // radio group, single line
- mjITEM_SELECT, // selection box
- mjITEM_SLIDERINT, // slider, int value
- mjITEM_SLIDERNUM, // slider, mjtNum value
- mjITEM_EDITINT, // editable array, int values
- mjITEM_EDITNUM, // editable array, mjtNum values
- mjITEM_EDITTXT, // editable text
-
- mjNITEM // number of item types
-} mjtItem;
-
-
-// predicate function: set enable/disable based on item category
-typedef int (*mjfItemEnable)(int category, void* data);
-
-
-//---------------------------------- mjuiState -----------------------------------------------------
-
-struct mjuiState_ { // mouse and keyboard state
- // constants set by user
- int nrect; // number of rectangles used
- mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
- void* userdata; // pointer to user data (for callbacks)
-
- // event type
- int type; // (type mjtEvent)
-
- // mouse buttons
- int left; // is left button down
- int right; // is right button down
- int middle; // is middle button down
- int doubleclick; // is last press a double click
- int button; // which button was pressed (mjtButton)
- double buttontime; // time of last button press
-
- // mouse position
- double x; // x position
- double y; // y position
- double dx; // x displacement
- double dy; // y displacement
- double sx; // x scroll
- double sy; // y scroll
-
- // keyboard
- int control; // is control down
- int shift; // is shift down
- int alt; // is alt down
- int key; // which key was pressed
- double keytime; // time of last key press
-
- // rectangle ownership and dragging
- int mouserect; // which rectangle contains mouse
- int dragrect; // which rectangle is dragged with mouse
- int dragbutton; // which button started drag (mjtButton)
-};
-typedef struct mjuiState_ mjuiState;
-
-
-//---------------------------------- mjuiThemeSpacing ----------------------------------------------
-
-struct mjuiThemeSpacing_ { // UI visualization theme spacing
- int total; // total width
- int scroll; // scrollbar width
- int label; // label width
- int section; // section gap
- int itemside; // item side gap
- int itemmid; // item middle gap
- int itemver; // item vertical gap
- int texthor; // text horizontal gap
- int textver; // text vertical gap
- int linescroll; // number of pixels to scroll
- int samples; // number of multisamples
-};
-typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
-
-
-//---------------------------------- mjuiThemeColor ------------------------------------------------
-
-struct mjuiThemeColor_ { // UI visualization theme color
- float master[3]; // master background
- float thumb[3]; // scrollbar thumb
- float secttitle[3]; // section title
- float sectfont[3]; // section font
- float sectsymbol[3]; // section symbol
- float sectpane[3]; // section pane
- float shortcut[3]; // shortcut background
- float fontactive[3]; // font active
- float fontinactive[3]; // font inactive
- float decorinactive[3]; // decor inactive
- float decorinactive2[3]; // inactive slider color 2
- float button[3]; // button
- float check[3]; // check
- float radio[3]; // radio
- float select[3]; // select
- float select2[3]; // select pane
- float slider[3]; // slider
- float slider2[3]; // slider color 2
- float edit[3]; // edit
- float edit2[3]; // edit invalid
- float cursor[3]; // edit cursor
-};
-typedef struct mjuiThemeColor_ mjuiThemeColor;
-
-
-//---------------------------------- mjuiItem ------------------------------------------------------
-
-struct mjuiItemSingle_ { // check and button-related
- int modifier; // 0: none, 1: control, 2: shift; 4: alt
- int shortcut; // shortcut key; 0: undefined
-};
-
-
-struct mjuiItemMulti_ { // static, radio and select-related
- int nelem; // number of elements in group
- char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
-};
-
-
-struct mjuiItemSlider_ { // slider-related
- double range[2]; // slider range
- double divisions; // number of range divisions
-};
-
-
-struct mjuiItemEdit_ { // edit-related
- int nelem; // number of elements in list
- double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
-};
-
-
-struct mjuiItem_ { // UI item
- // common properties
- int type; // type (mjtItem)
- char name[mjMAXUINAME]; // name
- int state; // 0: disable, 1: enable, 2+: use predicate
- void *pdata; // data pointer (type-specific)
- int sectionid; // id of section containing item
- int itemid; // id of item within section
-
- // type-specific properties
- union {
- struct mjuiItemSingle_ single; // check and button
- struct mjuiItemMulti_ multi; // static, radio and select
- struct mjuiItemSlider_ slider; // slider
- struct mjuiItemEdit_ edit; // edit
- };
-
- // internal
- mjrRect rect; // rectangle occupied by item
-};
-typedef struct mjuiItem_ mjuiItem;
-
-
-//---------------------------------- mjuiSection ---------------------------------------------------
-
-struct mjuiSection_ { // UI section
- // properties
- char name[mjMAXUINAME]; // name
- int state; // 0: closed, 1: open
- int modifier; // 0: none, 1: control, 2: shift; 4: alt
- int shortcut; // shortcut key; 0: undefined
- int nitem; // number of items in use
- mjuiItem item[mjMAXUIITEM]; // preallocated array of items
-
- // internal
- mjrRect rtitle; // rectangle occupied by title
- mjrRect rcontent; // rectangle occupied by content
-};
-typedef struct mjuiSection_ mjuiSection;
-
-
-//---------------------------------- mjUI ----------------------------------------------------------
-
-struct mjUI_ { // entire UI
- // constants set by user
- mjuiThemeSpacing spacing; // UI theme spacing
- mjuiThemeColor color; // UI theme color
- mjfItemEnable predicate; // callback to set item state programmatically
- void* userdata; // pointer to user data (passed to predicate)
- int rectid; // index of this ui rectangle in mjuiState
- int auxid; // aux buffer index of this ui
- int radiocol; // number of radio columns (0 defaults to 2)
-
- // UI sizes (framebuffer units)
- int width; // width
- int height; // current heigth
- int maxheight; // height when all sections open
- int scroll; // scroll from top of UI
-
- // mouse focus
- int mousesect; // 0: none, -1: scroll, otherwise 1+section
- int mouseitem; // item within section
- int mousehelp; // help button down: print shortcuts
-
- // keyboard focus and edit
- int editsect; // 0: none, otherwise 1+section
- int edititem; // item within section
- int editcursor; // cursor position
- int editscroll; // horizontal scroll
- char edittext[mjMAXUITEXT]; // current text
- mjuiItem* editchanged; // pointer to changed edit in last mjui_event
-
- // sections
- int nsect; // number of sections in use
- mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
-};
-typedef struct mjUI_ mjUI;
-
-
-//---------------------------------- mjuiDef -------------------------------------------------------
-
-struct mjuiDef_ { // table passed to mjui_add()
- int type; // type (mjtItem); -1: section
- char name[mjMAXUINAME]; // name
- int state; // state
- void* pdata; // pointer to data
- char other[mjMAXUITEXT]; // string with type-specific properties
-};
-typedef struct mjuiDef_ mjuiDef;
-
-#endif // MUJOCO_MJUI_H_
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
deleted file mode 100644
index a4dc4e7..0000000
--- a/include/mujoco/mjvisualize.h
+++ /dev/null
@@ -1,359 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJVISUALIZE_H_
-#define MUJOCO_MJVISUALIZE_H_
-
-#include
-#include
-
-#define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
-#define mjMAXLIGHT 100 // maximum number of lights in a scene
-#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
-#define mjMAXLINE 100 // maximum number of lines per plot
-#define mjMAXLINEPNT 1000 // maximum number points per line
-#define mjMAXPLANEGRID 200 // maximum number of grid divisions for plane
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtCatBit_ { // bitflags for mjvGeom category
- mjCAT_STATIC = 1, // model elements in body 0
- mjCAT_DYNAMIC = 2, // model elements in all other bodies
- mjCAT_DECOR = 4, // decorative geoms
- mjCAT_ALL = 7 // select all categories
-} mjtCatBit;
-
-
-typedef enum mjtMouse_ { // mouse interaction mode
- mjMOUSE_NONE = 0, // no action
- mjMOUSE_ROTATE_V, // rotate, vertical plane
- mjMOUSE_ROTATE_H, // rotate, horizontal plane
- mjMOUSE_MOVE_V, // move, vertical plane
- mjMOUSE_MOVE_H, // move, horizontal plane
- mjMOUSE_ZOOM, // zoom
- mjMOUSE_SELECT // selection
-} mjtMouse;
-
-
-typedef enum mjtPertBit_ { // mouse perturbations
- mjPERT_TRANSLATE = 1, // translation
- mjPERT_ROTATE = 2 // rotation
-} mjtPertBit;
-
-
-typedef enum mjtCamera_ { // abstract camera type
- mjCAMERA_FREE = 0, // free camera
- mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
- mjCAMERA_FIXED, // fixed camera; uses fixedcamid
- mjCAMERA_USER // user is responsible for setting OpenGL camera
-} mjtCamera;
-
-
-typedef enum mjtLabel_ { // object labeling
- mjLABEL_NONE = 0, // nothing
- mjLABEL_BODY, // body labels
- mjLABEL_JOINT, // joint labels
- mjLABEL_GEOM, // geom labels
- mjLABEL_SITE, // site labels
- mjLABEL_CAMERA, // camera labels
- mjLABEL_LIGHT, // light labels
- mjLABEL_TENDON, // tendon labels
- mjLABEL_ACTUATOR, // actuator labels
- mjLABEL_CONSTRAINT, // constraint labels
- mjLABEL_SKIN, // skin labels
- mjLABEL_SELECTION, // selected object
- mjLABEL_SELPNT, // coordinates of selection point
- mjLABEL_CONTACTFORCE, // magnitude of contact force
-
- mjNLABEL // number of label types
-} mjtLabel;
-
-
-typedef enum mjtFrame_ { // frame visualization
- mjFRAME_NONE = 0, // no frames
- mjFRAME_BODY, // body frames
- mjFRAME_GEOM, // geom frames
- mjFRAME_SITE, // site frames
- mjFRAME_CAMERA, // camera frames
- mjFRAME_LIGHT, // light frames
- mjFRAME_CONTACT, // contact frames
- mjFRAME_WORLD, // world frame
-
- mjNFRAME // number of visualization frames
-} mjtFrame;
-
-
-typedef enum mjtVisFlag_ { // flags enabling model element visualization
- mjVIS_CONVEXHULL = 0, // mesh convex hull
- mjVIS_TEXTURE, // textures
- mjVIS_JOINT, // joints
- mjVIS_CAMERA, // cameras
- mjVIS_ACTUATOR, // actuators
- mjVIS_ACTIVATION, // activations
- mjVIS_LIGHT, // lights
- mjVIS_TENDON, // tendons
- mjVIS_RANGEFINDER, // rangefinder sensors
- mjVIS_CONSTRAINT, // point constraints
- mjVIS_INERTIA, // equivalent inertia boxes
- mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
- mjVIS_PERTFORCE, // perturbation force
- mjVIS_PERTOBJ, // perturbation object
- mjVIS_CONTACTPOINT, // contact points
- mjVIS_CONTACTFORCE, // contact force
- mjVIS_CONTACTSPLIT, // split contact force into normal and tanget
- mjVIS_TRANSPARENT, // make dynamic geoms more transparent
- mjVIS_AUTOCONNECT, // auto connect joints and body coms
- mjVIS_COM, // center of mass
- mjVIS_SELECT, // selection point
- mjVIS_STATIC, // static bodies
- mjVIS_SKIN, // skin
-
- mjNVISFLAG // number of visualization flags
-} mjtVisFlag;
-
-
-typedef enum mjtRndFlag_ { // flags enabling rendering effects
- mjRND_SHADOW = 0, // shadows
- mjRND_WIREFRAME, // wireframe
- mjRND_REFLECTION, // reflections
- mjRND_ADDITIVE, // additive transparency
- mjRND_SKYBOX, // skybox
- mjRND_FOG, // fog
- mjRND_HAZE, // haze
- mjRND_SEGMENT, // segmentation with random color
- mjRND_IDCOLOR, // segmentation with segid+1 color
- mjRND_CULL_FACE, // cull backward faces
-
- mjNRNDFLAG // number of rendering flags
-} mjtRndFlag;
-
-
-typedef enum mjtStereo_ { // type of stereo rendering
- mjSTEREO_NONE = 0, // no stereo; use left eye only
- mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
- mjSTEREO_SIDEBYSIDE // side-by-side
-} mjtStereo;
-
-
-//---------------------------------- mjvPerturb ----------------------------------------------------
-
-struct mjvPerturb_ { // object selection and perturbation
- int select; // selected body id; non-positive: none
- int skinselect; // selected skin id; negative: none
- int active; // perturbation bitmask (mjtPertBit)
- int active2; // secondary perturbation bitmask (mjtPertBit)
- mjtNum refpos[3]; // desired position for selected object
- mjtNum refquat[4]; // desired orientation for selected object
- mjtNum localpos[3]; // selection point in object coordinates
- mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
-};
-typedef struct mjvPerturb_ mjvPerturb;
-
-
-//---------------------------------- mjvCamera -----------------------------------------------------
-
-struct mjvCamera_ { // abstract camera
- // type and ids
- int type; // camera type (mjtCamera)
- int fixedcamid; // fixed camera id
- int trackbodyid; // body id to track
-
- // abstract camera pose specification
- mjtNum lookat[3]; // lookat point
- mjtNum distance; // distance to lookat point or tracked body
- mjtNum azimuth; // camera azimuth (deg)
- mjtNum elevation; // camera elevation (deg)
-};
-typedef struct mjvCamera_ mjvCamera;
-
-
-//---------------------------------- mjvGLCamera ---------------------------------------------------
-
-struct mjvGLCamera_ { // OpenGL camera
- // camera frame
- float pos[3]; // position
- float forward[3]; // forward direction
- float up[3]; // up direction
-
- // camera projection
- float frustum_center; // hor. center (left,right set to match aspect)
- float frustum_bottom; // bottom
- float frustum_top; // top
- float frustum_near; // near
- float frustum_far; // far
-};
-typedef struct mjvGLCamera_ mjvGLCamera;
-
-
-//---------------------------------- mjvGeom -------------------------------------------------------
-
-struct mjvGeom_ { // abstract geom
- // type info
- int type; // geom type (mjtGeom)
- int dataid; // mesh, hfield or plane id; -1: none
- int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
- int objid; // mujoco object id; -1 for decor
- int category; // visual category
- int texid; // texture id; -1: no texture
- int texuniform; // uniform cube mapping
- int texcoord; // mesh geom has texture coordinates
- int segid; // segmentation id; -1: not shown
-
- // OpenGL info
- float texrepeat[2]; // texture repetition for 2D mapping
- float size[3]; // size parameters
- float pos[3]; // Cartesian position
- float mat[9]; // Cartesian orientation
- float rgba[4]; // color and transparency
- float emission; // emission coef
- float specular; // specular coef
- float shininess; // shininess coef
- float reflectance; // reflectance coef
- char label[100]; // text label
-
- // transparency rendering (set internally)
- float camdist; // distance to camera (used by sorter)
- float modelrbound; // geom rbound from model, 0 if not model geom
- mjtByte transparent; // treat geom as transparent
-};
-typedef struct mjvGeom_ mjvGeom;
-
-
-//---------------------------------- mjvLight ------------------------------------------------------
-
-struct mjvLight_ { // OpenGL light
- float pos[3]; // position rel. to body frame
- float dir[3]; // direction rel. to body frame
- float attenuation[3]; // OpenGL attenuation (quadratic model)
- float cutoff; // OpenGL cutoff
- float exponent; // OpenGL exponent
- float ambient[3]; // ambient rgb (alpha=1)
- float diffuse[3]; // diffuse rgb (alpha=1)
- float specular[3]; // specular rgb (alpha=1)
- mjtByte headlight; // headlight
- mjtByte directional; // directional light
- mjtByte castshadow; // does light cast shadows
-};
-typedef struct mjvLight_ mjvLight;
-
-
-//---------------------------------- mjvOption -----------------------------------------------------
-
-struct mjvOption_ { // abstract visualization options
- int label; // what objects to label (mjtLabel)
- int frame; // which frame to show (mjtFrame)
- mjtByte geomgroup[mjNGROUP]; // geom visualization by group
- mjtByte sitegroup[mjNGROUP]; // site visualization by group
- mjtByte jointgroup[mjNGROUP]; // joint visualization by group
- mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
- mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
- mjtByte skingroup[mjNGROUP]; // skin visualization by group
- mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
-};
-typedef struct mjvOption_ mjvOption;
-
-
-//---------------------------------- mjvScene ------------------------------------------------------
-
-struct mjvScene_ { // abstract scene passed to OpenGL renderer
- // abstract geoms
- int maxgeom; // size of allocated geom buffer
- int ngeom; // number of geoms currently in buffer
- mjvGeom* geoms; // buffer for geoms (ngeom)
- int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
-
- // skin data
- int nskin; // number of skins
- int* skinfacenum; // number of faces in skin (nskin)
- int* skinvertadr; // address of skin vertices (nskin)
- int* skinvertnum; // number of vertices in skin (nskin)
- float* skinvert; // skin vertex data (nskin)
- float* skinnormal; // skin normal data (nskin)
-
- // OpenGL lights
- int nlight; // number of lights currently in buffer
- mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
-
- // OpenGL cameras
- mjvGLCamera camera[2]; // left and right camera
-
- // OpenGL model transformation
- mjtByte enabletransform; // enable model transformation
- float translate[3]; // model translation
- float rotate[4]; // model quaternion rotation
- float scale; // model scaling
-
- // OpenGL rendering effects
- int stereo; // stereoscopic rendering (mjtStereo)
- mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
-
- // framing
- int framewidth; // frame pixel width; 0: disable framing
- float framergb[3]; // frame color
-};
-typedef struct mjvScene_ mjvScene;
-
-
-//---------------------------------- mjvFigure -----------------------------------------------------
-
-struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
- // enable flags
- int flg_legend; // show legend
- int flg_ticklabel[2]; // show grid tick labels (x,y)
- int flg_extend; // automatically extend axis ranges to fit data
- int flg_barplot; // isolated line segments (i.e. GL_LINES)
- int flg_selection; // vertical selection line
- int flg_symmetric; // symmetric y-axis
-
- // style settings
- float linewidth; // line width
- float gridwidth; // grid line width
- int gridsize[2]; // number of grid points in (x,y)
- float gridrgb[3]; // grid line rgb
- float figurergba[4]; // figure color and alpha
- float panergba[4]; // pane color and alpha
- float legendrgba[4]; // legend color and alpha
- float textrgb[3]; // text color
- float linergb[mjMAXLINE][3]; // line colors
- float range[2][2]; // axis ranges; (min>=max) automatic
- char xformat[20]; // x-tick label format for sprintf
- char yformat[20]; // y-tick label format for sprintf
- char minwidth[20]; // string used to determine min y-tick width
-
- // text labels
- char title[1000]; // figure title; subplots separated with 2+ spaces
- char xlabel[100]; // x-axis label
- char linename[mjMAXLINE][100]; // line names for legend
-
- // dynamic settings
- int legendoffset; // number of lines to offset legend
- int subplot; // selected subplot (for title rendering)
- int highlight[2]; // if point is in legend rect, highlight line
- int highlightid; // if id>=0 and no point, highlight id
- float selection; // selection line x-value
-
- // line data
- int linepnt[mjMAXLINE]; // number of points in line; (0) disable
- float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
-
- // output from renderer
- int xaxispixel[2]; // range of x-axis in pixels
- int yaxispixel[2]; // range of y-axis in pixels
- float xaxisdata[2]; // range of x-axis in data units
- float yaxisdata[2]; // range of y-axis in data units
-};
-typedef struct mjvFigure_ mjvFigure;
-
-#endif // MUJOCO_MJVISUALIZE_H_
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
deleted file mode 100644
index b6d724e..0000000
--- a/include/mujoco/mjxmacro.h
+++ /dev/null
@@ -1,598 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJXMACRO_H_
-#define MUJOCO_MJXMACRO_H_
-
-
-//-------------------------------- mjOption --------------------------------------------------------
-
-// scalar fields of mjOption
-#define MJOPTION_FLOATS \
- X( mjtNum, timestep ) \
- X( mjtNum, apirate ) \
- X( mjtNum, impratio ) \
- X( mjtNum, tolerance ) \
- X( mjtNum, noslip_tolerance ) \
- X( mjtNum, mpr_tolerance ) \
- X( mjtNum, density ) \
- X( mjtNum, viscosity ) \
- X( mjtNum, o_margin ) \
-
-
-#define MJOPTION_INTS \
- X( int, integrator ) \
- X( int, collision ) \
- X( int, cone ) \
- X( int, jacobian ) \
- X( int, solver ) \
- X( int, iterations ) \
- X( int, noslip_iterations ) \
- X( int, mpr_iterations ) \
- X( int, disableflags ) \
- X( int, enableflags )
-
-
-#define MJOPTION_SCALARS \
- MJOPTION_FLOATS \
- MJOPTION_INTS
-
-
-// vector fields of mjOption
-#define MJOPTION_VECTORS \
- X( gravity, 3 ) \
- X( wind, 3 ) \
- X( magnetic, 3 ) \
- X( o_solref, mjNREF ) \
- X( o_solimp, mjNIMP )
-
-
-//-------------------------------- mjModel ---------------------------------------------------------
-
-// int fields of mjModel
-#define MJMODEL_INTS \
- X( nq ) \
- X( nv ) \
- X( nu ) \
- X( na ) \
- X( nbody ) \
- X( njnt ) \
- X( ngeom ) \
- X( nsite ) \
- X( ncam ) \
- X( nlight ) \
- X( nmesh ) \
- X( nmeshvert ) \
- X( nmeshtexvert ) \
- X( nmeshface ) \
- X( nmeshgraph ) \
- X( nskin ) \
- X( nskinvert ) \
- X( nskintexvert ) \
- X( nskinface ) \
- X( nskinbone ) \
- X( nskinbonevert ) \
- X( nhfield ) \
- X( nhfielddata ) \
- X( ntex ) \
- X( ntexdata ) \
- X( nmat ) \
- X( npair ) \
- X( nexclude ) \
- X( neq ) \
- X( ntendon ) \
- X( nwrap ) \
- X( nsensor ) \
- X( nnumeric ) \
- X( nnumericdata ) \
- X( ntext ) \
- X( ntextdata ) \
- X( ntuple ) \
- X( ntupledata ) \
- X( nkey ) \
- X( nmocap ) \
- X( nplugin ) \
- X( npluginattr ) \
- X( nuser_body ) \
- X( nuser_jnt ) \
- X( nuser_geom ) \
- X( nuser_site ) \
- X( nuser_cam ) \
- X( nuser_tendon ) \
- X( nuser_actuator ) \
- X( nuser_sensor ) \
- X( nnames ) \
- X( nM ) \
- X( nD ) \
- X( nemax ) \
- X( njmax ) \
- X( nconmax ) \
- X( nstack ) \
- X( nuserdata ) \
- X( nsensordata ) \
- X( npluginstate ) \
- X( nbuffer )
-
-
-// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
-#define MJMODEL_POINTERS_PREAMBLE( m ) \
- int nuser_body = m->nuser_body; \
- int nuser_jnt = m->nuser_jnt; \
- int nuser_geom = m->nuser_geom; \
- int nuser_site = m->nuser_site; \
- int nuser_cam = m->nuser_cam; \
- int nuser_tendon = m->nuser_tendon; \
- int nuser_actuator = m->nuser_actuator; \
- int nuser_sensor = m->nuser_sensor; \
- int nq = m->nq; \
- int nv = m->nv; \
- int na = m->na; \
- int nu = m->nu; \
- int nmocap = m->nmocap;
-
-// macro for annotating that an array size in an X macro is a member of mjModel
-// by default this macro does nothing, but users can redefine it as necessary
-#define MJ_M(n) n
-
-
-// pointer fields of mjModel
-#define MJMODEL_POINTERS \
- X( mjtNum, qpos0, nq, 1 ) \
- X( mjtNum, qpos_spring, nq, 1 ) \
- X( int, body_parentid, nbody, 1 ) \
- X( int, body_rootid, nbody, 1 ) \
- X( int, body_weldid, nbody, 1 ) \
- X( int, body_mocapid, nbody, 1 ) \
- X( int, body_jntnum, nbody, 1 ) \
- X( int, body_jntadr, nbody, 1 ) \
- X( int, body_dofnum, nbody, 1 ) \
- X( int, body_dofadr, nbody, 1 ) \
- X( int, body_geomnum, nbody, 1 ) \
- X( int, body_geomadr, nbody, 1 ) \
- X( mjtByte, body_simple, nbody, 1 ) \
- X( mjtByte, body_sameframe, nbody, 1 ) \
- X( mjtNum, body_pos, nbody, 3 ) \
- X( mjtNum, body_quat, nbody, 4 ) \
- X( mjtNum, body_ipos, nbody, 3 ) \
- X( mjtNum, body_iquat, nbody, 4 ) \
- X( mjtNum, body_mass, nbody, 1 ) \
- X( mjtNum, body_subtreemass, nbody, 1 ) \
- X( mjtNum, body_inertia, nbody, 3 ) \
- X( mjtNum, body_invweight0, nbody, 2 ) \
- X( mjtNum, body_gravcomp, nbody, 1 ) \
- X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
- X( int, body_plugin, nbody, 1 ) \
- X( int, jnt_type, njnt, 1 ) \
- X( int, jnt_qposadr, njnt, 1 ) \
- X( int, jnt_dofadr, njnt, 1 ) \
- X( int, jnt_bodyid, njnt, 1 ) \
- X( int, jnt_group, njnt, 1 ) \
- X( mjtByte, jnt_limited, njnt, 1 ) \
- X( mjtNum, jnt_solref, njnt, mjNREF ) \
- X( mjtNum, jnt_solimp, njnt, mjNIMP ) \
- X( mjtNum, jnt_pos, njnt, 3 ) \
- X( mjtNum, jnt_axis, njnt, 3 ) \
- X( mjtNum, jnt_stiffness, njnt, 1 ) \
- X( mjtNum, jnt_range, njnt, 2 ) \
- X( mjtNum, jnt_margin, njnt, 1 ) \
- X( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) ) \
- X( int, dof_bodyid, nv, 1 ) \
- X( int, dof_jntid, nv, 1 ) \
- X( int, dof_parentid, nv, 1 ) \
- X( int, dof_Madr, nv, 1 ) \
- X( int, dof_simplenum, nv, 1 ) \
- X( mjtNum, dof_solref, nv, mjNREF ) \
- X( mjtNum, dof_solimp, nv, mjNIMP ) \
- X( mjtNum, dof_frictionloss, nv, 1 ) \
- X( mjtNum, dof_armature, nv, 1 ) \
- X( mjtNum, dof_damping, nv, 1 ) \
- X( mjtNum, dof_invweight0, nv, 1 ) \
- X( mjtNum, dof_M0, nv, 1 ) \
- X( int, geom_type, ngeom, 1 ) \
- X( int, geom_contype, ngeom, 1 ) \
- X( int, geom_conaffinity, ngeom, 1 ) \
- X( int, geom_condim, ngeom, 1 ) \
- X( int, geom_bodyid, ngeom, 1 ) \
- X( int, geom_dataid, ngeom, 1 ) \
- X( int, geom_matid, ngeom, 1 ) \
- X( int, geom_group, ngeom, 1 ) \
- X( int, geom_priority, ngeom, 1 ) \
- X( mjtByte, geom_sameframe, ngeom, 1 ) \
- X( mjtNum, geom_solmix, ngeom, 1 ) \
- X( mjtNum, geom_solref, ngeom, mjNREF ) \
- X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
- X( mjtNum, geom_size, ngeom, 3 ) \
- X( mjtNum, geom_rbound, ngeom, 1 ) \
- X( mjtNum, geom_pos, ngeom, 3 ) \
- X( mjtNum, geom_quat, ngeom, 4 ) \
- X( mjtNum, geom_friction, ngeom, 3 ) \
- X( mjtNum, geom_margin, ngeom, 1 ) \
- X( mjtNum, geom_gap, ngeom, 1 ) \
- X( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
- X( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
- X( float, geom_rgba, ngeom, 4 ) \
- X( int, site_type, nsite, 1 ) \
- X( int, site_bodyid, nsite, 1 ) \
- X( int, site_matid, nsite, 1 ) \
- X( int, site_group, nsite, 1 ) \
- X( mjtByte, site_sameframe, nsite, 1 ) \
- X( mjtNum, site_size, nsite, 3 ) \
- X( mjtNum, site_pos, nsite, 3 ) \
- X( mjtNum, site_quat, nsite, 4 ) \
- X( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
- X( float, site_rgba, nsite, 4 ) \
- X( int, cam_mode, ncam, 1 ) \
- X( int, cam_bodyid, ncam, 1 ) \
- X( int, cam_targetbodyid, ncam, 1 ) \
- X( mjtNum, cam_pos, ncam, 3 ) \
- X( mjtNum, cam_quat, ncam, 4 ) \
- X( mjtNum, cam_poscom0, ncam, 3 ) \
- X( mjtNum, cam_pos0, ncam, 3 ) \
- X( mjtNum, cam_mat0, ncam, 9 ) \
- X( mjtNum, cam_fovy, ncam, 1 ) \
- X( mjtNum, cam_ipd, ncam, 1 ) \
- X( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
- X( int, light_mode, nlight, 1 ) \
- X( int, light_bodyid, nlight, 1 ) \
- X( int, light_targetbodyid, nlight, 1 ) \
- X( mjtByte, light_directional, nlight, 1 ) \
- X( mjtByte, light_castshadow, nlight, 1 ) \
- X( mjtByte, light_active, nlight, 1 ) \
- X( mjtNum, light_pos, nlight, 3 ) \
- X( mjtNum, light_dir, nlight, 3 ) \
- X( mjtNum, light_poscom0, nlight, 3 ) \
- X( mjtNum, light_pos0, nlight, 3 ) \
- X( mjtNum, light_dir0, nlight, 3 ) \
- X( float, light_attenuation, nlight, 3 ) \
- X( float, light_cutoff, nlight, 1 ) \
- X( float, light_exponent, nlight, 1 ) \
- X( float, light_ambient, nlight, 3 ) \
- X( float, light_diffuse, nlight, 3 ) \
- X( float, light_specular, nlight, 3 ) \
- X( int, mesh_vertadr, nmesh, 1 ) \
- X( int, mesh_vertnum, nmesh, 1 ) \
- X( int, mesh_texcoordadr, nmesh, 1 ) \
- X( int, mesh_faceadr, nmesh, 1 ) \
- X( int, mesh_facenum, nmesh, 1 ) \
- X( int, mesh_graphadr, nmesh, 1 ) \
- X( float, mesh_vert, nmeshvert, 3 ) \
- X( float, mesh_normal, nmeshvert, 3 ) \
- X( float, mesh_texcoord, nmeshtexvert, 2 ) \
- X( int, mesh_face, nmeshface, 3 ) \
- X( int, mesh_graph, nmeshgraph, 1 ) \
- X( int, skin_matid, nskin, 1 ) \
- X( int, skin_group, nskin, 1 ) \
- X( float, skin_rgba, nskin, 4 ) \
- X( float, skin_inflate, nskin, 1 ) \
- X( int, skin_vertadr, nskin, 1 ) \
- X( int, skin_vertnum, nskin, 1 ) \
- X( int, skin_texcoordadr, nskin, 1 ) \
- X( int, skin_faceadr, nskin, 1 ) \
- X( int, skin_facenum, nskin, 1 ) \
- X( int, skin_boneadr, nskin, 1 ) \
- X( int, skin_bonenum, nskin, 1 ) \
- X( float, skin_vert, nskinvert, 3 ) \
- X( float, skin_texcoord, nskintexvert, 2 ) \
- X( int, skin_face, nskinface, 3 ) \
- X( int, skin_bonevertadr, nskinbone, 1 ) \
- X( int, skin_bonevertnum, nskinbone, 1 ) \
- X( float, skin_bonebindpos, nskinbone, 3 ) \
- X( float, skin_bonebindquat, nskinbone, 4 ) \
- X( int, skin_bonebodyid, nskinbone, 1 ) \
- X( int, skin_bonevertid, nskinbonevert, 1 ) \
- X( float, skin_bonevertweight, nskinbonevert, 1 ) \
- X( mjtNum, hfield_size, nhfield, 4 ) \
- X( int, hfield_nrow, nhfield, 1 ) \
- X( int, hfield_ncol, nhfield, 1 ) \
- X( int, hfield_adr, nhfield, 1 ) \
- X( float, hfield_data, nhfielddata, 1 ) \
- X( int, tex_type, ntex, 1 ) \
- X( int, tex_height, ntex, 1 ) \
- X( int, tex_width, ntex, 1 ) \
- X( int, tex_adr, ntex, 1 ) \
- X( mjtByte, tex_rgb, ntexdata, 1 ) \
- X( int, mat_texid, nmat, 1 ) \
- X( mjtByte, mat_texuniform, nmat, 1 ) \
- X( float, mat_texrepeat, nmat, 2 ) \
- X( float, mat_emission, nmat, 1 ) \
- X( float, mat_specular, nmat, 1 ) \
- X( float, mat_shininess, nmat, 1 ) \
- X( float, mat_reflectance, nmat, 1 ) \
- X( float, mat_rgba, nmat, 4 ) \
- X( int, pair_dim, npair, 1 ) \
- X( int, pair_geom1, npair, 1 ) \
- X( int, pair_geom2, npair, 1 ) \
- X( int, pair_signature, npair, 1 ) \
- X( mjtNum, pair_solref, npair, mjNREF ) \
- X( mjtNum, pair_solimp, npair, mjNIMP ) \
- X( mjtNum, pair_margin, npair, 1 ) \
- X( mjtNum, pair_gap, npair, 1 ) \
- X( mjtNum, pair_friction, npair, 5 ) \
- X( int, exclude_signature, nexclude, 1 ) \
- X( int, eq_type, neq, 1 ) \
- X( int, eq_obj1id, neq, 1 ) \
- X( int, eq_obj2id, neq, 1 ) \
- X( mjtByte, eq_active, neq, 1 ) \
- X( mjtNum, eq_solref, neq, mjNREF ) \
- X( mjtNum, eq_solimp, neq, mjNIMP ) \
- X( mjtNum, eq_data, neq, mjNEQDATA ) \
- X( int, tendon_adr, ntendon, 1 ) \
- X( int, tendon_num, ntendon, 1 ) \
- X( int, tendon_matid, ntendon, 1 ) \
- X( int, tendon_group, ntendon, 1 ) \
- X( mjtByte, tendon_limited, ntendon, 1 ) \
- X( mjtNum, tendon_width, ntendon, 1 ) \
- X( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
- X( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
- X( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
- X( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
- X( mjtNum, tendon_range, ntendon, 2 ) \
- X( mjtNum, tendon_margin, ntendon, 1 ) \
- X( mjtNum, tendon_stiffness, ntendon, 1 ) \
- X( mjtNum, tendon_damping, ntendon, 1 ) \
- X( mjtNum, tendon_frictionloss, ntendon, 1 ) \
- X( mjtNum, tendon_lengthspring, ntendon, 2 ) \
- X( mjtNum, tendon_length0, ntendon, 1 ) \
- X( mjtNum, tendon_invweight0, ntendon, 1 ) \
- X( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
- X( float, tendon_rgba, ntendon, 4 ) \
- X( int, wrap_type, nwrap, 1 ) \
- X( int, wrap_objid, nwrap, 1 ) \
- X( mjtNum, wrap_prm, nwrap, 1 ) \
- X( int, actuator_trntype, nu, 1 ) \
- X( int, actuator_dyntype, nu, 1 ) \
- X( int, actuator_gaintype, nu, 1 ) \
- X( int, actuator_biastype, nu, 1 ) \
- X( int, actuator_trnid, nu, 2 ) \
- X( int, actuator_actadr, nu, 1 ) \
- X( int, actuator_actnum, nu, 1 ) \
- X( int, actuator_group, nu, 1 ) \
- X( mjtByte, actuator_ctrllimited, nu, 1 ) \
- X( mjtByte, actuator_forcelimited, nu, 1 ) \
- X( mjtByte, actuator_actlimited, nu, 1 ) \
- X( mjtNum, actuator_dynprm, nu, mjNDYN ) \
- X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
- X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
- X( mjtNum, actuator_ctrlrange, nu, 2 ) \
- X( mjtNum, actuator_forcerange, nu, 2 ) \
- X( mjtNum, actuator_actrange, nu, 2 ) \
- X( mjtNum, actuator_gear, nu, 6 ) \
- X( mjtNum, actuator_cranklength, nu, 1 ) \
- X( mjtNum, actuator_acc0, nu, 1 ) \
- X( mjtNum, actuator_length0, nu, 1 ) \
- X( mjtNum, actuator_lengthrange, nu, 2 ) \
- X( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
- X( int, actuator_plugin, nu, 1 ) \
- X( int, sensor_type, nsensor, 1 ) \
- X( int, sensor_datatype, nsensor, 1 ) \
- X( int, sensor_needstage, nsensor, 1 ) \
- X( int, sensor_objtype, nsensor, 1 ) \
- X( int, sensor_objid, nsensor, 1 ) \
- X( int, sensor_reftype, nsensor, 1 ) \
- X( int, sensor_refid, nsensor, 1 ) \
- X( int, sensor_dim, nsensor, 1 ) \
- X( int, sensor_adr, nsensor, 1 ) \
- X( mjtNum, sensor_cutoff, nsensor, 1 ) \
- X( mjtNum, sensor_noise, nsensor, 1 ) \
- X( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
- X( int, sensor_plugin, nsensor, 1 ) \
- X( int, plugin, nplugin, 1 ) \
- X( int, plugin_stateadr, nplugin, 1 ) \
- X( int, plugin_statenum, nplugin, 1 ) \
- X( char, plugin_attr, npluginattr, 1 ) \
- X( int, plugin_attradr, nplugin, 1 ) \
- X( int, numeric_adr, nnumeric, 1 ) \
- X( int, numeric_size, nnumeric, 1 ) \
- X( mjtNum, numeric_data, nnumericdata, 1 ) \
- X( int, text_adr, ntext, 1 ) \
- X( int, text_size, ntext, 1 ) \
- X( char, text_data, ntextdata, 1 ) \
- X( int, tuple_adr, ntuple, 1 ) \
- X( int, tuple_size, ntuple, 1 ) \
- X( int, tuple_objtype, ntupledata, 1 ) \
- X( int, tuple_objid, ntupledata, 1 ) \
- X( mjtNum, tuple_objprm, ntupledata, 1 ) \
- X( mjtNum, key_time, nkey, 1 ) \
- X( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
- X( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
- X( mjtNum, key_act, nkey, MJ_M(na) ) \
- X( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
- X( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
- X( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
- X( int, name_bodyadr, nbody, 1 ) \
- X( int, name_jntadr, njnt, 1 ) \
- X( int, name_geomadr, ngeom, 1 ) \
- X( int, name_siteadr, nsite, 1 ) \
- X( int, name_camadr, ncam, 1 ) \
- X( int, name_lightadr, nlight, 1 ) \
- X( int, name_meshadr, nmesh, 1 ) \
- X( int, name_skinadr, nskin, 1 ) \
- X( int, name_hfieldadr, nhfield, 1 ) \
- X( int, name_texadr, ntex, 1 ) \
- X( int, name_matadr, nmat, 1 ) \
- X( int, name_pairadr, npair, 1 ) \
- X( int, name_excludeadr, nexclude, 1 ) \
- X( int, name_eqadr, neq, 1 ) \
- X( int, name_tendonadr, ntendon, 1 ) \
- X( int, name_actuatoradr, nu, 1 ) \
- X( int, name_sensoradr, nsensor, 1 ) \
- X( int, name_numericadr, nnumeric, 1 ) \
- X( int, name_textadr, ntext, 1 ) \
- X( int, name_tupleadr, ntuple, 1 ) \
- X( int, name_keyadr, nkey, 1 ) \
- X( int, name_pluginadr, nplugin, 1 ) \
- X( char, names, nnames, 1 )
-
-
-//-------------------------------- mjData ----------------------------------------------------------
-
-// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
-#define MJDATA_POINTERS_PREAMBLE( m ) \
- int nv = m->nv;
-
-
-// pointer fields of mjData
-#define MJDATA_POINTERS \
- X( mjtNum, qpos, nq, 1 ) \
- X( mjtNum, qvel, nv, 1 ) \
- X( mjtNum, act, na, 1 ) \
- X( mjtNum, qacc_warmstart, nv, 1 ) \
- X( mjtNum, plugin_state, npluginstate, 1 ) \
- X( mjtNum, ctrl, nu, 1 ) \
- X( mjtNum, qfrc_applied, nv, 1 ) \
- X( mjtNum, xfrc_applied, nbody, 6 ) \
- X( mjtNum, mocap_pos, nmocap, 3 ) \
- X( mjtNum, mocap_quat, nmocap, 4 ) \
- X( mjtNum, qacc, nv, 1 ) \
- X( mjtNum, act_dot, na, 1 ) \
- X( mjtNum, userdata, nuserdata, 1 ) \
- X( mjtNum, sensordata, nsensordata, 1 ) \
- X( int, plugin, nplugin, 1 ) \
- X( uintptr_t, plugin_data, nplugin, 1 ) \
- X( mjtNum, xpos, nbody, 3 ) \
- X( mjtNum, xquat, nbody, 4 ) \
- X( mjtNum, xmat, nbody, 9 ) \
- X( mjtNum, xipos, nbody, 3 ) \
- X( mjtNum, ximat, nbody, 9 ) \
- X( mjtNum, xanchor, njnt, 3 ) \
- X( mjtNum, xaxis, njnt, 3 ) \
- X( mjtNum, geom_xpos, ngeom, 3 ) \
- X( mjtNum, geom_xmat, ngeom, 9 ) \
- X( mjtNum, site_xpos, nsite, 3 ) \
- X( mjtNum, site_xmat, nsite, 9 ) \
- X( mjtNum, cam_xpos, ncam, 3 ) \
- X( mjtNum, cam_xmat, ncam, 9 ) \
- X( mjtNum, light_xpos, nlight, 3 ) \
- X( mjtNum, light_xdir, nlight, 3 ) \
- X( mjtNum, subtree_com, nbody, 3 ) \
- X( mjtNum, cdof, nv, 6 ) \
- X( mjtNum, cinert, nbody, 10 ) \
- X( int, ten_wrapadr, ntendon, 1 ) \
- X( int, ten_wrapnum, ntendon, 1 ) \
- X( int, ten_J_rownnz, ntendon, 1 ) \
- X( int, ten_J_rowadr, ntendon, 1 ) \
- X( int, ten_J_colind, ntendon, MJ_M(nv) ) \
- X( mjtNum, ten_length, ntendon, 1 ) \
- X( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
- X( int, wrap_obj, nwrap, 2 ) \
- X( mjtNum, wrap_xpos, nwrap, 6 ) \
- X( mjtNum, actuator_length, nu, 1 ) \
- X( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
- X( mjtNum, crb, nbody, 10 ) \
- X( mjtNum, qM, nM, 1 ) \
- X( mjtNum, qLD, nM, 1 ) \
- X( mjtNum, qLDiagInv, nv, 1 ) \
- X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
- X( mjtNum, ten_velocity, ntendon, 1 ) \
- X( mjtNum, actuator_velocity, nu, 1 ) \
- X( mjtNum, cvel, nbody, 6 ) \
- X( mjtNum, cdof_dot, nv, 6 ) \
- X( mjtNum, qfrc_bias, nv, 1 ) \
- X( mjtNum, qfrc_passive, nv, 1 ) \
- X( mjtNum, subtree_linvel, nbody, 3 ) \
- X( mjtNum, subtree_angmom, nbody, 3 ) \
- X( mjtNum, qH, nM, 1 ) \
- X( mjtNum, qHDiagInv, nv, 1 ) \
- X( int, D_rownnz, nv, 1 ) \
- X( int, D_rowadr, nv, 1 ) \
- X( int, D_colind, nD, 1 ) \
- X( mjtNum, qDeriv, nD, 1 ) \
- X( mjtNum, qLU, nD, 1 ) \
- X( mjtNum, actuator_force, nu, 1 ) \
- X( mjtNum, qfrc_actuator, nv, 1 ) \
- X( mjtNum, qfrc_smooth, nv, 1 ) \
- X( mjtNum, qacc_smooth, nv, 1 ) \
- X( mjtNum, qfrc_constraint, nv, 1 ) \
- X( mjtNum, qfrc_inverse, nv, 1 ) \
- X( mjtNum, cacc, nbody, 6 ) \
- X( mjtNum, cfrc_int, nbody, 6 ) \
- X( mjtNum, cfrc_ext, nbody, 6 )
-
-
-// macro for annotating that an array size in an X macro is a member of mjData
-// by default this macro does nothing, but users can redefine it as necessary
-#define MJ_D(n) n
-
-// array of contacts
-#define MJDATA_ARENA_POINTERS_CONTACT \
- X( mjContact, contact, MJ_D(ncon), 1 )
-
-// array fields of mjData that are used in the primal problem
-#define MJDATA_ARENA_POINTERS_PRIMAL \
- X( int, efc_type, MJ_D(nefc), 1 ) \
- X( int, efc_id, MJ_D(nefc), 1 ) \
- X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
- X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
- X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
- X( int, efc_J_colind, MJ_D(nefc), MJ_M(nv) ) \
- X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
- X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
- X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
- X( int, efc_JT_colind, MJ_M(nv), MJ_D(nefc) ) \
- X( mjtNum, efc_J, MJ_D(nefc), MJ_M(nv) ) \
- X( mjtNum, efc_JT, MJ_M(nv), MJ_D(nefc) ) \
- X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
- X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_b, MJ_D(nefc), 1 ) \
- X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
- X( int, efc_state, MJ_D(nefc), 1 ) \
-
-// array fields of mjData that are used in the dual problem
-#define MJDATA_ARENA_POINTERS_DUAL \
- X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
- X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
- X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
- X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
-
-// array fields of mjData that live in d->arena
-#define MJDATA_ARENA_POINTERS \
- MJDATA_ARENA_POINTERS_CONTACT \
- MJDATA_ARENA_POINTERS_PRIMAL \
- MJDATA_ARENA_POINTERS_DUAL
-
-
-// scalar fields of mjData
-#define MJDATA_SCALAR \
- X( int, nstack ) \
- X( int, nbuffer ) \
- X( int, pstack ) \
- X( int, maxuse_stack ) \
- X( int, maxuse_con ) \
- X( int, maxuse_efc ) \
- X( int, solver_iter ) \
- X( int, solver_nnz ) \
- X( int, ne ) \
- X( int, nf ) \
- X( int, nefc ) \
- X( int, ncon ) \
- X( mjtNum, time )
-
-
-// vector fields of mjData
-#define MJDATA_VECTOR \
- X( mjWarningStat, warning, mjNWARNING, 1 ) \
- X( mjTimerStat, timer, mjNTIMER, 1 ) \
- X( mjSolverStat, solver, mjNSOLVER, 1 ) \
- X( mjtNum, solver_fwdinv, 2, 1 ) \
- X( mjtNum, energy, 2, 1 )
-
-
-#endif // MUJOCO_MJXMACRO_H_
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
deleted file mode 100644
index ff1b474..0000000
--- a/include/mujoco/mujoco.h
+++ /dev/null
@@ -1,1191 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MUJOCO_H_
-#define MUJOCO_MUJOCO_H_
-
-#include
-
-
-// this is a C-API
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 231
-
-// needed to define size_t, fabs and log10
-#include
-#include
-
-
-// type definitions
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-
-
-// macros
-#define mjMARKSTACK int _mark = d->pstack;
-#define mjFREESTACK d->pstack = _mark;
-#define mjDISABLED(x) (m->opt.disableflags & (x))
-#define mjENABLED(x) (m->opt.enableflags & (x))
-
-
-// user error and memory handlers
-MJAPI extern void (*mju_user_error)(const char*);
-MJAPI extern void (*mju_user_warning)(const char*);
-MJAPI extern void* (*mju_user_malloc)(size_t);
-MJAPI extern void (*mju_user_free)(void*);
-
-
-// callbacks extending computation pipeline
-MJAPI extern mjfGeneric mjcb_passive;
-MJAPI extern mjfGeneric mjcb_control;
-MJAPI extern mjfConFilt mjcb_contactfilter;
-MJAPI extern mjfSensor mjcb_sensor;
-MJAPI extern mjfTime mjcb_time;
-MJAPI extern mjfAct mjcb_act_dyn;
-MJAPI extern mjfAct mjcb_act_gain;
-MJAPI extern mjfAct mjcb_act_bias;
-
-
-// collision function table
-MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
-
-
-// string names
-MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
-MJAPI extern const char* mjENABLESTRING[mjNENABLE];
-MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
-MJAPI extern const char* mjLABELSTRING[mjNLABEL];
-MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
-MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
-MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
-
-
-//---------------------------------- Virtual file system -------------------------------------------
-
-// Initialize VFS to empty (no deallocation).
-MJAPI void mj_defaultVFS(mjVFS* vfs);
-
-// Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
-MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
-
-// Make empty file in VFS, return 0: success, 1: full, 2: repeated name.
-MJAPI int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
-
-// Return file index in VFS, or -1 if not found in VFS.
-MJAPI int mj_findFileVFS(const mjVFS* vfs, const char* filename);
-
-// Delete file from VFS, return 0: success, -1: not found in VFS.
-MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
-
-// Delete all files from VFS.
-MJAPI void mj_deleteVFS(mjVFS* vfs);
-
-
-//---------------------------------- Parse and compile ---------------------------------------------
-
-// Parse XML file in MJCF or URDF format, compile it, return low-level model.
-// If vfs is not NULL, look up files in vfs before reading from disk.
-// If error is not NULL, it must have size error_sz.
-MJAPI mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
- char* error, int error_sz);
-
-// Update XML data structures with info from low-level model, save as MJCF.
-// If error is not NULL, it must have size error_sz.
-MJAPI int mj_saveLastXML(const char* filename, const mjModel* m,
- char* error, int error_sz);
-
-// Free last XML model if loaded. Called internally at each load.
-MJAPI void mj_freeLastXML(void);
-
-// Print internal XML schema as plain text or HTML, with style-padding or .
-MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
- int flg_html, int flg_pad);
-
-
-//---------------------------------- Main simulation -----------------------------------------------
-
-// Advance simulation, use control callback to obtain external force and control.
-MJAPI void mj_step(const mjModel* m, mjData* d);
-
-// Advance simulation in two steps: before external force and control is set by user.
-MJAPI void mj_step1(const mjModel* m, mjData* d);
-
-// Advance simulation in two steps: after external force and control is set by user.
-MJAPI void mj_step2(const mjModel* m, mjData* d);
-
-// Forward dynamics: same as mj_step but do not integrate in time.
-MJAPI void mj_forward(const mjModel* m, mjData* d);
-
-// Inverse dynamics: qacc must be set before calling.
-MJAPI void mj_inverse(const mjModel* m, mjData* d);
-
-// Forward dynamics with skip; skipstage is mjtStage.
-MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-// Inverse dynamics with skip; skipstage is mjtStage.
-MJAPI void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-
-//---------------------------------- Initialization ------------------------------------------------
-
-// Set default options for length range computation.
-MJAPI void mj_defaultLROpt(mjLROpt* opt);
-
-// Set solver parameters to default values.
-MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
-
-// Set physics options to default values.
-MJAPI void mj_defaultOption(mjOption* opt);
-
-// Set visual options to default values.
-MJAPI void mj_defaultVisual(mjVisual* vis);
-
-// Copy mjModel, allocate new if dest is NULL.
-MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
-
-// Save model to binary MJB file or memory buffer; buffer has precedence when given.
-MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
-
-// Load model from binary MJB file.
-// If vfs is not NULL, look up file in vfs before reading from disk.
-MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
-
-// Free memory allocation in model.
-MJAPI void mj_deleteModel(mjModel* m);
-
-// Return size of buffer needed to hold model.
-MJAPI int mj_sizeModel(const mjModel* m);
-
-// Allocate mjData correponding to given model.
-// If the model buffer is unallocated the initial configuration will not be set.
-MJAPI mjData* mj_makeData(const mjModel* m);
-
-// Copy mjData.
-// m is only required to contain the size fields from MJMODEL_INTS.
-MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
-
-// Reset data to defaults.
-MJAPI void mj_resetData(const mjModel* m, mjData* d);
-
-// Reset data to defaults, fill everything else with debug_value.
-MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
-
-// Reset data, set fields from specified keyframe.
-MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
-
-// Allocate array of specified size on mjData stack. Call mju_error on stack overflow.
-MJAPI mjtNum* mj_stackAlloc(mjData* d, int size);
-
-// Free memory allocation in mjData.
-MJAPI void mj_deleteData(mjData* d);
-
-// Reset all callbacks to NULL pointers (NULL is the default).
-MJAPI void mj_resetCallbacks(void);
-
-// Set constant fields of mjModel, corresponding to qpos0 configuration.
-MJAPI void mj_setConst(mjModel* m, mjData* d);
-
-// Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
-MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
- const mjLROpt* opt, char* error, int error_sz);
-
-
-//---------------------------------- Printing ------------------------------------------------------
-
-// Print mjModel to text file, specifying format.
-// float_format must be a valid printf-style format string for a single float value.
-MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
-
-// Print model to text file.
-MJAPI void mj_printModel(const mjModel* m, const char* filename);
-
-// Print mjData to text file, specifying format.
-// float_format must be a valid printf-style format string for a single float value
-MJAPI void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
- const char* float_format);
-
-// Print data to text file.
-MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename);
-
-// Print matrix to screen.
-MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
-
-// Print sparse matrix to screen.
-MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
- const int* rownnz, const int* rowadr, const int* colind);
-
-
-//---------------------------------- Components ----------------------------------------------------
-
-// Run position-dependent computations.
-MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
-
-// Run velocity-dependent computations.
-MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
-
-// Compute actuator force qfrc_actuator.
-MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
-
-// Add up all non-constraint forces, compute qacc_unc.
-MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
-
-// Run selected constraint solver.
-MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
-
-// Euler integrator, semi-implicit in velocity.
-MJAPI void mj_Euler(const mjModel* m, mjData* d);
-
-// Runge-Kutta explicit order-N integrator.
-MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
-
-// Run position-dependent computations in inverse dynamics.
-MJAPI void mj_invPosition(const mjModel* m, mjData* d);
-
-// Run velocity-dependent computations in inverse dynamics.
-MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
-
-// Apply the analytical formula for inverse constraint dynamics.
-MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
-
-// Compare forward and inverse dynamics, save results in fwdinv.
-MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
-
-
-//---------------------------------- Sub components ------------------------------------------------
-
-// Evaluate position-dependent sensors.
-MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
-
-// Evaluate velocity-dependent sensors.
-MJAPI void mj_sensorVel(const mjModel* m, mjData* d);
-
-// Evaluate acceleration and force-dependent sensors.
-MJAPI void mj_sensorAcc(const mjModel* m, mjData* d);
-
-// Evaluate position-dependent energy (potential).
-MJAPI void mj_energyPos(const mjModel* m, mjData* d);
-
-// Evaluate velocity-dependent energy (kinetic).
-MJAPI void mj_energyVel(const mjModel* m, mjData* d);
-
-// Check qpos, reset if any element is too big or nan.
-MJAPI void mj_checkPos(const mjModel* m, mjData* d);
-
-// Check qvel, reset if any element is too big or nan.
-MJAPI void mj_checkVel(const mjModel* m, mjData* d);
-
-// Check qacc, reset if any element is too big or nan.
-MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
-
-// Run forward kinematics.
-MJAPI void mj_kinematics(const mjModel* m, mjData* d);
-
-// Map inertias and motion dofs to global frame centered at CoM.
-MJAPI void mj_comPos(const mjModel* m, mjData* d);
-
-// Compute camera and light positions and orientations.
-MJAPI void mj_camlight(const mjModel* m, mjData* d);
-
-// Compute tendon lengths, velocities and moment arms.
-MJAPI void mj_tendon(const mjModel* m, mjData* d);
-
-// Compute actuator transmission lengths and moments.
-MJAPI void mj_transmission(const mjModel* m, mjData* d);
-
-// Run composite rigid body inertia algorithm (CRB).
-MJAPI void mj_crb(const mjModel* m, mjData* d);
-
-// Compute sparse L'*D*L factorizaton of inertia matrix.
-MJAPI void mj_factorM(const mjModel* m, mjData* d);
-
-// Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y
-MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
-
-// Half of linear solve: x = sqrt(inv(D))*inv(L')*y
-MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
-
-// Compute cvel, cdof_dot.
-MJAPI void mj_comVel(const mjModel* m, mjData* d);
-
-// Compute qfrc_passive from spring-dampers, viscosity and density.
-MJAPI void mj_passive(const mjModel* m, mjData* d);
-
-// subtree linear velocity and angular momentum
-MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
-
-// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
-MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
-
-// RNE with complete data: compute cacc, cfrc_ext, cfrc_int.
-MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
-
-// Run collision detection.
-MJAPI void mj_collision(const mjModel* m, mjData* d);
-
-// Construct constraints.
-MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
-
-// Compute inverse constaint inertia efc_AR.
-MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
-
-// Compute efc_vel, efc_aref.
-MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
-
-// Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians.
-// If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.
-MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
- mjtNum cost[1], int flg_coneHessian);
-
-
-//---------------------------------- Support -------------------------------------------------------
-
-// Add contact to d->contact list; return 0 if success; 1 if buffer full.
-MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
-
-// Determine type of friction cone.
-MJAPI int mj_isPyramidal(const mjModel* m);
-
-// Determine type of constraint Jacobian.
-MJAPI int mj_isSparse(const mjModel* m);
-
-// Determine type of solver (PGS is dual, CG and Newton are primal).
-MJAPI int mj_isDual(const mjModel* m);
-
-// Multiply dense or sparse constraint Jacobian by vector.
-MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Multiply dense or sparse constraint Jacobian transpose by vector.
-MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.
-MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
- const mjtNum point[3], int body);
-
-// Compute body frame end-effector Jacobian.
-MJAPI void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-
-// Compute body center-of-mass end-effector Jacobian.
-MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-
-// Compute subtree center-of-mass end-effector Jacobian.
-MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
-
-// Compute geom end-effector Jacobian.
-MJAPI void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
-
-// Compute site end-effector Jacobian.
-MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
-
-// Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
-MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
- const mjtNum point[3], const mjtNum axis[3], int body);
-
-// Get id of object with specified name, return -1 if not found; type is mjtObj.
-MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
-
-// Get name of object with specified id, return 0 if invalid type or id; type is mjtObj.
-MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
-
-// Convert sparse inertia matrix M into full (i.e. dense) matrix.
-MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
-
-// Multiply vector by inertia matrix.
-MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Multiply vector by (inertia matrix)^(1/2).
-MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Add inertia matrix to destination matrix.
-// Destination can be sparse uncompressed, or dense when all int* are NULL
-MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
-
-// Apply cartesian force and torque (outside xfrc_applied mechanism).
-MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
- const mjtNum point[3], int body, mjtNum* qfrc_target);
-
-// Compute object 6D velocity in object-centered frame, world/local orientation.
-MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
- int objtype, int objid, mjtNum res[6], int flg_local);
-
-// Compute object 6D acceleration in object-centered frame, world/local orientation.
-MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
- int objtype, int objid, mjtNum res[6], int flg_local);
-
-// Extract 6D force:torque given contact id, in the contact frame.
-MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
-
-// Compute velocity by finite-differencing two positions.
-MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
- const mjtNum* qpos1, const mjtNum* qpos2);
-
-// Integrate position with given velocity.
-MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
-
-// Normalize all quaternions in qpos-type vector.
-MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
-
-// Map from body local to global Cartesian coordinates.
-MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
- const mjtNum quat[4], int body, mjtByte sameframe);
-
-// Sum all body masses.
-MJAPI mjtNum mj_getTotalmass(const mjModel* m);
-
-// Scale body masses and inertias to achieve specified total mass.
-MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
-
-// Return a config attribute value of a plugin instance;
-// NULL: invalid plugin instance ID or attribute name
-MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
-
-// Load a dynamic library. The dynamic library is assumed to register one or more plugins.
-MJAPI void mj_loadPluginLibrary(const char* path);
-
-// Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
-// are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
-// for each dynamic library encountered that registers plugins.
-MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
-
-// Return version number: 1.0.2 is encoded as 102.
-MJAPI int mj_version(void);
-
-// Return the current version of MuJoCo as a null-terminated string.
-MJAPI const char* mj_versionString();
-
-
-//---------------------------------- Ray collisions ------------------------------------------------
-
-// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
-// Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
-// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
-MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
- const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
- int geomid[1]);
-
-// Interect ray with hfield, return nearest distance or -1 if no intersection.
-MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
- const mjtNum pnt[3], const mjtNum vec[3]);
-
-// Interect ray with mesh, return nearest distance or -1 if no intersection.
-MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
- const mjtNum pnt[3], const mjtNum vec[3]);
-
-// Interect ray with pure geom, return nearest distance or -1 if no intersection.
-MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
- const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
-
-// Interect ray with skin, return nearest distance or -1 if no intersection,
-// and also output nearest vertex id.
-MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
- const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
-
-
-//---------------------------------- Interaction ---------------------------------------------------
-
-// Set default camera.
-MJAPI void mjv_defaultCamera(mjvCamera* cam);
-
-// Set default free camera.
-MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
-
-// Set default perturbation.
-MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
-
-// Transform pose from room to model space.
-MJAPI void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
- const mjtNum roomquat[4], const mjvScene* scn);
-
-// Transform pose from model to room space.
-MJAPI void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
- const mjtNum modelquat[4], const mjvScene* scn);
-
-// Get camera info in model space; average left and right OpenGL cameras.
-MJAPI void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
- const mjvScene* scn);
-
-// Get camera info in room space; average left and right OpenGL cameras.
-MJAPI void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
- const mjvScene* scn);
-
-// Get frustum height at unit distance from camera; average left and right OpenGL cameras.
-MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
-
-// Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
-MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
-
-// Move camera with mouse; action is mjtMouse.
-MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
- const mjvScene* scn, mjvCamera* cam);
-
-// Move perturb object with mouse; action is mjtMouse.
-MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
- mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
-
-// Move model with mouse; action is mjtMouse.
-MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
- const mjtNum roomup[3], mjvScene* scn);
-
-// Copy perturb pos,quat from selected body; set scale for perturbation.
-MJAPI void mjv_initPerturb(const mjModel* m, const mjData* d,
- const mjvScene* scn, mjvPerturb* pert);
-
-// Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
-// Write d->qpos only if flg_paused and subtree root for selected body has free joint.
-MJAPI void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
- int flg_paused);
-
-// Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
-MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
-
-// Return the average of two OpenGL cameras.
-MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
-
-// Select geom or skin with mouse, return bodyid; -1: none selected.
-MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
- mjtNum aspectratio, mjtNum relx, mjtNum rely,
- const mjvScene* scn, mjtNum selpnt[3], int geomid[1], int skinid[1]);
-
-
-//---------------------------------- Visualization -------------------------------------------------
-
-// Set default visualization options.
-MJAPI void mjv_defaultOption(mjvOption* opt);
-
-// Set default figure.
-MJAPI void mjv_defaultFigure(mjvFigure* fig);
-
-// Initialize given geom fields when not NULL, set the rest to their default values.
-MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
- const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
-
-// Set (type, size, pos, mat) for connector-type geom between given points.
-// Assume that mjv_initGeom was already called to set all other properties.
-MJAPI void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width,
- mjtNum a0, mjtNum a1, mjtNum a2,
- mjtNum b0, mjtNum b1, mjtNum b2);
-
-// Set default abstract scene.
-MJAPI void mjv_defaultScene(mjvScene* scn);
-
-// Allocate resources in abstract scene.
-MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
-
-// Free abstract scene.
-MJAPI void mjv_freeScene(mjvScene* scn);
-
-// Update entire scene given model state.
-MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
- const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
-
-// Add geoms from selected categories.
-MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
- const mjvPerturb* pert, int catmask, mjvScene* scn);
-
-// Make list of lights.
-MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
-
-// Update camera.
-MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
-
-// Update skins.
-MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
-
-
-//---------------------------------- OpenGL rendering ----------------------------------------------
-
-// Set default mjrContext.
-MJAPI void mjr_defaultContext(mjrContext* con);
-
-// Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
-MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
-
-// Change font of existing context.
-MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
-
-// Add Aux buffer with given index to context; free previous Aux buffer.
-MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
-
-// Free resources in custom OpenGL context, set to default.
-MJAPI void mjr_freeContext(mjrContext* con);
-
-// Upload texture to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
-
-// Upload mesh to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
-
-// Upload height field to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
-
-// Make con->currentBuffer current again.
-MJAPI void mjr_restoreBuffer(const mjrContext* con);
-
-// Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
-// If only one buffer is available, set that buffer and ignore framebuffer argument.
-MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
-
-// Read pixels from current OpenGL framebuffer to client buffer.
-// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
- mjrRect viewport, const mjrContext* con);
-
-// Draw pixels from client buffer to current OpenGL framebuffer.
-// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
- mjrRect viewport, const mjrContext* con);
-
-// Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
-// If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
-MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
- int flg_color, int flg_depth, const mjrContext* con);
-
-// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
-MJAPI void mjr_setAux(int index, const mjrContext* con);
-
-// Blit from Aux buffer to con->currentBuffer.
-MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
-
-// Draw text at (x,y) in relative coordinates; font is mjtFont.
-MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
- float x, float y, float r, float g, float b);
-
-// Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
-MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
- const char* overlay, const char* overlay2, const mjrContext* con);
-
-// Get maximum viewport for active buffer.
-MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
-
-// Draw rectangle.
-MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
-
-// Draw rectangle with centered text.
-MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
- float r, float g, float b, float a, float rt, float gt, float bt,
- const mjrContext* con);
-
-// Draw 2D figure.
-MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
-
-// Render 3D scene.
-MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
-
-// Call glFinish.
-MJAPI void mjr_finish(void);
-
-// Call glGetError and return result.
-MJAPI int mjr_getError(void);
-
-// Find first rectangle containing mouse, -1: not found.
-MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
-
-
-//---------------------------------- UI framework --------------------------------------------------
-
-// Get builtin UI theme spacing (ind: 0-1).
-MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
-
-// Get builtin UI theme color (ind: 0-3).
-MJAPI mjuiThemeColor mjui_themeColor(int ind);
-
-// Add definitions to UI.
-MJAPI void mjui_add(mjUI* ui, const mjuiDef* def);
-
-// Add definitions to UI section.
-MJAPI void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
-
-// Compute UI sizes.
-MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
-
-// Update specific section/item; -1: update all.
-MJAPI void mjui_update(int section, int item, const mjUI* ui,
- const mjuiState* state, const mjrContext* con);
-
-// Handle UI event, return pointer to changed item, NULL if no change.
-MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
-
-// Copy UI image to current buffer.
-MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-
-
-//---------------------------------- Error and memory ----------------------------------------------
-
-// Main error function; does not return to caller.
-MJAPI void mju_error(const char* msg);
-
-// Error function with int argument; msg is a printf format string.
-MJAPI void mju_error_i(const char* msg, int i);
-
-// Error function with string argument.
-MJAPI void mju_error_s(const char* msg, const char* text);
-
-// Main warning function; returns to caller.
-MJAPI void mju_warning(const char* msg);
-
-// Warning function with int argument.
-MJAPI void mju_warning_i(const char* msg, int i);
-
-// Warning function with string argument.
-MJAPI void mju_warning_s(const char* msg, const char* text);
-
-// Clear user error and memory handlers.
-MJAPI void mju_clearHandlers(void);
-
-// Allocate memory; byte-align on 64; pad size to multiple of 64.
-MJAPI void* mju_malloc(size_t size);
-
-// Free memory, using free() by default.
-MJAPI void mju_free(void* ptr);
-
-// High-level warning function: count warnings in mjData, print only the first.
-MJAPI void mj_warning(mjData* d, int warning, int info);
-
-// Write [datetime, type: message] to MUJOCO_LOG.TXT.
-MJAPI void mju_writeLog(const char* type, const char* msg);
-
-
-//---------------------------------- Activation ----------------------------------------------------
-
-// Return 1 (for backward compatibility).
-MJAPI int mj_activate(const char* filename);
-
-// Do nothing (for backward compatibility).
-MJAPI void mj_deactivate(void);
-
-
-//---------------------------------- Standard math -------------------------------------------------
-
-#define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
-#define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
-
-#ifdef mjUSEDOUBLE
- #define mju_sqrt sqrt
- #define mju_exp exp
- #define mju_sin sin
- #define mju_cos cos
- #define mju_tan tan
- #define mju_asin asin
- #define mju_acos acos
- #define mju_atan2 atan2
- #define mju_tanh tanh
- #define mju_pow pow
- #define mju_abs fabs
- #define mju_log log
- #define mju_log10 log10
- #define mju_floor floor
- #define mju_ceil ceil
-
-#else
- #define mju_sqrt sqrtf
- #define mju_exp expf
- #define mju_sin sinf
- #define mju_cos cosf
- #define mju_tan tanf
- #define mju_asin asinf
- #define mju_acos acosf
- #define mju_atan2 atan2f
- #define mju_tanh tanhf
- #define mju_pow powf
- #define mju_abs fabsf
- #define mju_log logf
- #define mju_log10 log10f
- #define mju_floor floorf
- #define mju_ceil ceilf
-#endif
-
-
-//---------------------------------- Vector math ---------------------------------------------------
-
-// Set res = 0.
-MJAPI void mju_zero3(mjtNum res[3]);
-
-// Set res = vec.
-MJAPI void mju_copy3(mjtNum res[3], const mjtNum data[3]);
-
-// Set res = vec*scl.
-MJAPI void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// Set res = vec1 + vec2.
-MJAPI void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Set res = vec1 - vec2.
-MJAPI void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Set res = res + vec.
-MJAPI void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
-
-// Set res = res - vec.
-MJAPI void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
-
-// Set res = res + vec*scl.
-MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// Set res = vec1 + vec2*scl.
-MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
-
-// Normalize vector, return length before normalization.
-MJAPI mjtNum mju_normalize3(mjtNum res[3]);
-
-// Return vector length (without normalizing the vector).
-MJAPI mjtNum mju_norm3(const mjtNum vec[3]);
-
-// Return dot-product of vec1 and vec2.
-MJAPI mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Return Cartesian distance between 3D vectors pos1 and pos2.
-MJAPI mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
-
-// Multiply vector by 3D rotation matrix: res = mat * vec.
-MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
-
-// Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
-MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
-
-// Compute cross-product: res = cross(a, b).
-MJAPI void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
-
-// Set res = 0.
-MJAPI void mju_zero4(mjtNum res[4]);
-
-// Set res = (1,0,0,0).
-MJAPI void mju_unit4(mjtNum res[4]);
-
-// Set res = vec.
-MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
-
-// Normalize vector, return length before normalization.
-MJAPI mjtNum mju_normalize4(mjtNum res[4]);
-
-// Set res = 0.
-MJAPI void mju_zero(mjtNum* res, int n);
-
-// Set res = val.
-MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
-
-// Set res = vec.
-MJAPI void mju_copy(mjtNum* res, const mjtNum* data, int n);
-
-// Return sum(vec).
-MJAPI mjtNum mju_sum(const mjtNum* vec, int n);
-
-// Return L1 norm: sum(abs(vec)).
-MJAPI mjtNum mju_L1(const mjtNum* vec, int n);
-
-// Set res = vec*scl.
-MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// Set res = vec1 + vec2.
-MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// Set res = vec1 - vec2.
-MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// Set res = res + vec.
-MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
-
-// Set res = res - vec.
-MJAPI void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
-
-// Set res = res + vec*scl.
-MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// Set res = vec1 + vec2*scl.
-MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
-
-// Normalize vector, return length before normalization.
-MJAPI mjtNum mju_normalize(mjtNum* res, int n);
-
-// Return vector length (without normalizing vector).
-MJAPI mjtNum mju_norm(const mjtNum* res, int n);
-
-// Return dot-product of vec1 and vec2.
-MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n);
-
-// Multiply matrix and vector: res = mat * vec.
-MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// Multiply transposed matrix and vector: res = mat' * vec.
-MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
-MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
-
-// Transpose matrix: res = mat'.
-MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
-
-// Symmetrize square matrix res = (mat + mat')/2.
-MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
-
-// Set mat to the identity matrix.
-MJAPI void mju_eye(mjtNum* mat, int n);
-
-// Multiply matrices: res = mat1 * mat2.
-MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
- int r1, int c1, int c2);
-
-// Multiply matrices, second argument transposed: res = mat1 * mat2'.
-MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
- int r1, int c1, int r2);
-
-// Multiply matrices, first argument transposed: res = mat1' * mat2.
-MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
- int r1, int c1, int c2);
-
-// Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.
-MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
-
-// Coordinate transform of 6D motion or force vector in rotation:translation format.
-// rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.
-MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
- const mjtNum newpos[3], const mjtNum oldpos[3],
- const mjtNum rotnew2old[9]);
-
-
-//---------------------------------- Quaternions ---------------------------------------------------
-
-// Rotate vector by quaternion.
-MJAPI void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
-
-// Conjugate quaternion, corresponding to opposite rotation.
-MJAPI void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
-
-// Multiply quaternions.
-MJAPI void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
-
-// Multiply quaternion and axis.
-MJAPI void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
-
-// Convert axisAngle to quaternion.
-MJAPI void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
-
-// Convert quaternion (corresponding to orientation difference) to 3D velocity.
-MJAPI void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
-
-// Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
-MJAPI void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
-
-// Convert quaternion to 3D rotation matrix.
-MJAPI void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
-
-// Convert 3D rotation matrix to quaternion.
-MJAPI void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
-
-// Compute time-derivative of quaternion, given 3D rotational velocity.
-MJAPI void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
-
-// Integrate quaternion given 3D angular velocity.
-MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
-
-// Construct quaternion performing rotation from z-axis to given vector.
-MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
-
-
-//---------------------------------- Poses ---------------------------------------------------------
-
-// Multiply two poses.
-MJAPI void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
- const mjtNum pos1[3], const mjtNum quat1[4],
- const mjtNum pos2[3], const mjtNum quat2[4]);
-
-// Conjugate pose, corresponding to the opposite spatial transformation.
-MJAPI void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
- const mjtNum pos[3], const mjtNum quat[4]);
-
-// Transform vector by pose.
-MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
- const mjtNum vec[3]);
-
-
-//--------------------------------- Decompositions / Solvers ---------------------------------------
-
-// Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
-MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
-
-// Solve mat * res = vec, where mat is Cholesky-factorized
-MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
-
-// Cholesky rank-one update: L*L' +/- x*x'; return rank.
-MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
-
-// Eigenvalue decomposition of symmetric 3x3 matrix.
-MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
-
-// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed
-// inputs:
-// n - problem dimension
-// H - SPD matrix n*n
-// g - bias vector n
-// lower - lower bounds n
-// upper - upper bounds n
-// res - solution warmstart n
-// return value:
-// nfree <= n - rank of unconstrained subspace, -1 if failure
-// outputs (required):
-// res - solution n
-// R - subspace Cholesky factor nfree*nfree allocated: n*(n+7)
-// outputs (optional):
-// index - set of free dimensions nfree allocated: n
-// notes:
-// the initial value of res is used to warmstart the solver
-// R must have allocatd size n*(n+7), but only nfree*nfree values are used in output
-// index (if given) must have allocated size n, but only nfree values are used in output
-// only the lower triangles of H and R and are read from and written to, respectively
-// the convenience function mju_boxQPmalloc allocates the required data structures
-MJAPI int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
- const mjtNum* lower, const mjtNum* upper);
-
-// allocate heap memory for box-constrained Quadratic Program
-// as in mju_boxQP, index, lower, and upper are optional
-// free all pointers with mju_free()
-MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
- mjtNum** lower, mjtNum** upper);
-
-//---------------------- Miscellaneous -------------------------------------------------------------
-
-// Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
- mjtNum acc0, const mjtNum prm[9]);
-
-// Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
- mjtNum acc0, const mjtNum prm[9]);
-
-// Muscle activation dynamics, prm = (tau_act, tau_deact).
-MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[2]);
-
-// Convert contact force to pyramid representation.
-MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
-
-// Convert pyramid representation to contact force.
-MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
-
-// Integrate spring-damper analytically, return pos(dt).
-MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
-
-// Return min(a,b) with single evaluation of a and b.
-MJAPI mjtNum mju_min(mjtNum a, mjtNum b);
-
-// Return max(a,b) with single evaluation of a and b.
-MJAPI mjtNum mju_max(mjtNum a, mjtNum b);
-
-// Clip x to the range [min, max].
-MJAPI mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
-
-// Return sign of x: +1, -1 or 0.
-MJAPI mjtNum mju_sign(mjtNum x);
-
-// Round x to nearest integer.
-MJAPI int mju_round(mjtNum x);
-
-// Convert type id (mjtObj) to type name.
-MJAPI const char* mju_type2Str(int type);
-
-// Convert type name to type id (mjtObj).
-MJAPI int mju_str2Type(const char* str);
-
-// Return human readable number of bytes using standard letter suffix.
-MJAPI const char* mju_writeNumBytes(const size_t nbytes);
-
-// Construct a warning message given the warning type and info.
-MJAPI const char* mju_warningText(int warning, size_t info);
-
-// Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
-MJAPI int mju_isBad(mjtNum x);
-
-// Return 1 if all elements are 0.
-MJAPI int mju_isZero(mjtNum* vec, int n);
-
-// Standard normal random number generator (optional second number).
-MJAPI mjtNum mju_standardNormal(mjtNum* num2);
-
-// Convert from float to mjtNum.
-MJAPI void mju_f2n(mjtNum* res, const float* vec, int n);
-
-// Convert from mjtNum to float.
-MJAPI void mju_n2f(float* res, const mjtNum* vec, int n);
-
-// Convert from double to mjtNum.
-MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
-
-// Convert from mjtNum to double.
-MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
-
-// Insertion sort, resulting list is in increasing order.
-MJAPI void mju_insertionSort(mjtNum* list, int n);
-
-// Integer insertion sort, resulting list is in increasing order.
-MJAPI void mju_insertionSortInt(int* list, int n);
-
-// Generate Halton sequence.
-MJAPI mjtNum mju_Halton(int index, int base);
-
-// Call strncpy, then set dst[n-1] = 0.
-MJAPI char* mju_strncpy(char *dst, const char *src, int n);
-
-// Sigmoid function over 0<=x<=1 constructed from half-quadratics.
-MJAPI mjtNum mju_sigmoid(mjtNum x);
-
-
-//---------------------- Derivatives ---------------------------------------------------------------
-
-// Finite differenced transition matrices (control theory notation)
-// d(x_next) = A*dx + B*du
-// d(sensor) = C*dx + D*du
-// required output matrix dimensions:
-// A: (2*nv+na x 2*nv+na)
-// B: (2*nv+na x nu)
-// D: (nsensordata x 2*nv+na)
-// C: (nsensordata x nu)
-MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
- mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
-
-
-
-//---------------------- Plugins -------------------------------------------------------------------
-
-// Set default plugin definition.
-MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
-
-// Globally register a plugin. This function is thread-safe.
-// If an identical mjpPlugin is already registered, this function does nothing.
-// If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised.
-// Two mjpPlugins are considered identical if all member function pointers and numbers are equal,
-// and the name and attribute strings are all identical, however the char pointers to the strings
-// need not be the same.
-MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
-
-// Return the number of globally registered plugins.
-MJAPI int mjp_pluginCount();
-
-// Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
-MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
-
-// Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.
-MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
-
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // MUJOCO_MUJOCO_H_
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-
- MuJoCo Demo
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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--- a/node_modules/three/build/three.cjs
+++ /dev/null
@@ -1,50850 +0,0 @@
-/**
- * @license
- * Copyright 2010-2023 Three.js Authors
- * SPDX-License-Identifier: MIT
- */
-'use strict';
-
-const REVISION = '150';
-const MOUSE = { LEFT: 0, MIDDLE: 1, RIGHT: 2, ROTATE: 0, DOLLY: 1, PAN: 2 };
-const TOUCH = { ROTATE: 0, PAN: 1, DOLLY_PAN: 2, DOLLY_ROTATE: 3 };
-const CullFaceNone = 0;
-const CullFaceBack = 1;
-const CullFaceFront = 2;
-const CullFaceFrontBack = 3;
-const BasicShadowMap = 0;
-const PCFShadowMap = 1;
-const PCFSoftShadowMap = 2;
-const VSMShadowMap = 3;
-const FrontSide = 0;
-const BackSide = 1;
-const DoubleSide = 2;
-const TwoPassDoubleSide = 2; // r149
-const NoBlending = 0;
-const NormalBlending = 1;
-const AdditiveBlending = 2;
-const SubtractiveBlending = 3;
-const MultiplyBlending = 4;
-const CustomBlending = 5;
-const AddEquation = 100;
-const SubtractEquation = 101;
-const ReverseSubtractEquation = 102;
-const MinEquation = 103;
-const MaxEquation = 104;
-const ZeroFactor = 200;
-const OneFactor = 201;
-const SrcColorFactor = 202;
-const OneMinusSrcColorFactor = 203;
-const SrcAlphaFactor = 204;
-const OneMinusSrcAlphaFactor = 205;
-const DstAlphaFactor = 206;
-const OneMinusDstAlphaFactor = 207;
-const DstColorFactor = 208;
-const OneMinusDstColorFactor = 209;
-const SrcAlphaSaturateFactor = 210;
-const NeverDepth = 0;
-const AlwaysDepth = 1;
-const LessDepth = 2;
-const LessEqualDepth = 3;
-const EqualDepth = 4;
-const GreaterEqualDepth = 5;
-const GreaterDepth = 6;
-const NotEqualDepth = 7;
-const MultiplyOperation = 0;
-const MixOperation = 1;
-const AddOperation = 2;
-const NoToneMapping = 0;
-const LinearToneMapping = 1;
-const ReinhardToneMapping = 2;
-const CineonToneMapping = 3;
-const ACESFilmicToneMapping = 4;
-const CustomToneMapping = 5;
-
-const UVMapping = 300;
-const CubeReflectionMapping = 301;
-const CubeRefractionMapping = 302;
-const EquirectangularReflectionMapping = 303;
-const EquirectangularRefractionMapping = 304;
-const CubeUVReflectionMapping = 306;
-const RepeatWrapping = 1000;
-const ClampToEdgeWrapping = 1001;
-const MirroredRepeatWrapping = 1002;
-const NearestFilter = 1003;
-const NearestMipmapNearestFilter = 1004;
-const NearestMipMapNearestFilter = 1004;
-const NearestMipmapLinearFilter = 1005;
-const NearestMipMapLinearFilter = 1005;
-const LinearFilter = 1006;
-const LinearMipmapNearestFilter = 1007;
-const LinearMipMapNearestFilter = 1007;
-const LinearMipmapLinearFilter = 1008;
-const LinearMipMapLinearFilter = 1008;
-const UnsignedByteType = 1009;
-const ByteType = 1010;
-const ShortType = 1011;
-const UnsignedShortType = 1012;
-const IntType = 1013;
-const UnsignedIntType = 1014;
-const FloatType = 1015;
-const HalfFloatType = 1016;
-const UnsignedShort4444Type = 1017;
-const UnsignedShort5551Type = 1018;
-const UnsignedInt248Type = 1020;
-const AlphaFormat = 1021;
-const RGBAFormat = 1023;
-const LuminanceFormat = 1024;
-const LuminanceAlphaFormat = 1025;
-const DepthFormat = 1026;
-const DepthStencilFormat = 1027;
-const RedFormat = 1028;
-const RedIntegerFormat = 1029;
-const RGFormat = 1030;
-const RGIntegerFormat = 1031;
-const RGBAIntegerFormat = 1033;
-
-const RGB_S3TC_DXT1_Format = 33776;
-const RGBA_S3TC_DXT1_Format = 33777;
-const RGBA_S3TC_DXT3_Format = 33778;
-const RGBA_S3TC_DXT5_Format = 33779;
-const RGB_PVRTC_4BPPV1_Format = 35840;
-const RGB_PVRTC_2BPPV1_Format = 35841;
-const RGBA_PVRTC_4BPPV1_Format = 35842;
-const RGBA_PVRTC_2BPPV1_Format = 35843;
-const RGB_ETC1_Format = 36196;
-const RGB_ETC2_Format = 37492;
-const RGBA_ETC2_EAC_Format = 37496;
-const RGBA_ASTC_4x4_Format = 37808;
-const RGBA_ASTC_5x4_Format = 37809;
-const RGBA_ASTC_5x5_Format = 37810;
-const RGBA_ASTC_6x5_Format = 37811;
-const RGBA_ASTC_6x6_Format = 37812;
-const RGBA_ASTC_8x5_Format = 37813;
-const RGBA_ASTC_8x6_Format = 37814;
-const RGBA_ASTC_8x8_Format = 37815;
-const RGBA_ASTC_10x5_Format = 37816;
-const RGBA_ASTC_10x6_Format = 37817;
-const RGBA_ASTC_10x8_Format = 37818;
-const RGBA_ASTC_10x10_Format = 37819;
-const RGBA_ASTC_12x10_Format = 37820;
-const RGBA_ASTC_12x12_Format = 37821;
-const RGBA_BPTC_Format = 36492;
-const RED_RGTC1_Format = 36283;
-const SIGNED_RED_RGTC1_Format = 36284;
-const RED_GREEN_RGTC2_Format = 36285;
-const SIGNED_RED_GREEN_RGTC2_Format = 36286;
-const LoopOnce = 2200;
-const LoopRepeat = 2201;
-const LoopPingPong = 2202;
-const InterpolateDiscrete = 2300;
-const InterpolateLinear = 2301;
-const InterpolateSmooth = 2302;
-const ZeroCurvatureEnding = 2400;
-const ZeroSlopeEnding = 2401;
-const WrapAroundEnding = 2402;
-const NormalAnimationBlendMode = 2500;
-const AdditiveAnimationBlendMode = 2501;
-const TrianglesDrawMode = 0;
-const TriangleStripDrawMode = 1;
-const TriangleFanDrawMode = 2;
-const LinearEncoding = 3000;
-const sRGBEncoding = 3001;
-const BasicDepthPacking = 3200;
-const RGBADepthPacking = 3201;
-const TangentSpaceNormalMap = 0;
-const ObjectSpaceNormalMap = 1;
-
-// Color space string identifiers, matching CSS Color Module Level 4 and WebGPU names where available.
-const NoColorSpace = '';
-const SRGBColorSpace = 'srgb';
-const LinearSRGBColorSpace = 'srgb-linear';
-const DisplayP3ColorSpace = 'display-p3';
-
-const ZeroStencilOp = 0;
-const KeepStencilOp = 7680;
-const ReplaceStencilOp = 7681;
-const IncrementStencilOp = 7682;
-const DecrementStencilOp = 7683;
-const IncrementWrapStencilOp = 34055;
-const DecrementWrapStencilOp = 34056;
-const InvertStencilOp = 5386;
-
-const NeverStencilFunc = 512;
-const LessStencilFunc = 513;
-const EqualStencilFunc = 514;
-const LessEqualStencilFunc = 515;
-const GreaterStencilFunc = 516;
-const NotEqualStencilFunc = 517;
-const GreaterEqualStencilFunc = 518;
-const AlwaysStencilFunc = 519;
-
-const StaticDrawUsage = 35044;
-const DynamicDrawUsage = 35048;
-const StreamDrawUsage = 35040;
-const StaticReadUsage = 35045;
-const DynamicReadUsage = 35049;
-const StreamReadUsage = 35041;
-const StaticCopyUsage = 35046;
-const DynamicCopyUsage = 35050;
-const StreamCopyUsage = 35042;
-
-const GLSL1 = '100';
-const GLSL3 = '300 es';
-
-const _SRGBAFormat = 1035; // fallback for WebGL 1
-
-/**
- * https://github.com/mrdoob/eventdispatcher.js/
- */
-
-class EventDispatcher {
-
- addEventListener( type, listener ) {
-
- if ( this._listeners === undefined ) this._listeners = {};
-
- const listeners = this._listeners;
-
- if ( listeners[ type ] === undefined ) {
-
- listeners[ type ] = [];
-
- }
-
- if ( listeners[ type ].indexOf( listener ) === - 1 ) {
-
- listeners[ type ].push( listener );
-
- }
-
- }
-
- hasEventListener( type, listener ) {
-
- if ( this._listeners === undefined ) return false;
-
- const listeners = this._listeners;
-
- return listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== - 1;
-
- }
-
- removeEventListener( type, listener ) {
-
- if ( this._listeners === undefined ) return;
-
- const listeners = this._listeners;
- const listenerArray = listeners[ type ];
-
- if ( listenerArray !== undefined ) {
-
- const index = listenerArray.indexOf( listener );
-
- if ( index !== - 1 ) {
-
- listenerArray.splice( index, 1 );
-
- }
-
- }
-
- }
-
- dispatchEvent( event ) {
-
- if ( this._listeners === undefined ) return;
-
- const listeners = this._listeners;
- const listenerArray = listeners[ event.type ];
-
- if ( listenerArray !== undefined ) {
-
- event.target = this;
-
- // Make a copy, in case listeners are removed while iterating.
- const array = listenerArray.slice( 0 );
-
- for ( let i = 0, l = array.length; i < l; i ++ ) {
-
- array[ i ].call( this, event );
-
- }
-
- event.target = null;
-
- }
-
- }
-
-}
-
-const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ];
-
-let _seed = 1234567;
-
-
-const DEG2RAD = Math.PI / 180;
-const RAD2DEG = 180 / Math.PI;
-
-// http://stackoverflow.com/questions/105034/how-to-create-a-guid-uuid-in-javascript/21963136#21963136
-function generateUUID() {
-
- const d0 = Math.random() * 0xffffffff | 0;
- const d1 = Math.random() * 0xffffffff | 0;
- const d2 = Math.random() * 0xffffffff | 0;
- const d3 = Math.random() * 0xffffffff | 0;
- const uuid = _lut[ d0 & 0xff ] + _lut[ d0 >> 8 & 0xff ] + _lut[ d0 >> 16 & 0xff ] + _lut[ d0 >> 24 & 0xff ] + '-' +
- _lut[ d1 & 0xff ] + _lut[ d1 >> 8 & 0xff ] + '-' + _lut[ d1 >> 16 & 0x0f | 0x40 ] + _lut[ d1 >> 24 & 0xff ] + '-' +
- _lut[ d2 & 0x3f | 0x80 ] + _lut[ d2 >> 8 & 0xff ] + '-' + _lut[ d2 >> 16 & 0xff ] + _lut[ d2 >> 24 & 0xff ] +
- _lut[ d3 & 0xff ] + _lut[ d3 >> 8 & 0xff ] + _lut[ d3 >> 16 & 0xff ] + _lut[ d3 >> 24 & 0xff ];
-
- // .toLowerCase() here flattens concatenated strings to save heap memory space.
- return uuid.toLowerCase();
-
-}
-
-function clamp( value, min, max ) {
-
- return Math.max( min, Math.min( max, value ) );
-
-}
-
-// compute euclidean modulo of m % n
-// https://en.wikipedia.org/wiki/Modulo_operation
-function euclideanModulo( n, m ) {
-
- return ( ( n % m ) + m ) % m;
-
-}
-
-// Linear mapping from range to range
-function mapLinear( x, a1, a2, b1, b2 ) {
-
- return b1 + ( x - a1 ) * ( b2 - b1 ) / ( a2 - a1 );
-
-}
-
-// https://www.gamedev.net/tutorials/programming/general-and-gameplay-programming/inverse-lerp-a-super-useful-yet-often-overlooked-function-r5230/
-function inverseLerp( x, y, value ) {
-
- if ( x !== y ) {
-
- return ( value - x ) / ( y - x );
-
- } else {
-
- return 0;
-
- }
-
-}
-
-// https://en.wikipedia.org/wiki/Linear_interpolation
-function lerp( x, y, t ) {
-
- return ( 1 - t ) * x + t * y;
-
-}
-
-// http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/
-function damp( x, y, lambda, dt ) {
-
- return lerp( x, y, 1 - Math.exp( - lambda * dt ) );
-
-}
-
-// https://www.desmos.com/calculator/vcsjnyz7x4
-function pingpong( x, length = 1 ) {
-
- return length - Math.abs( euclideanModulo( x, length * 2 ) - length );
-
-}
-
-// http://en.wikipedia.org/wiki/Smoothstep
-function smoothstep( x, min, max ) {
-
- if ( x <= min ) return 0;
- if ( x >= max ) return 1;
-
- x = ( x - min ) / ( max - min );
-
- return x * x * ( 3 - 2 * x );
-
-}
-
-function smootherstep( x, min, max ) {
-
- if ( x <= min ) return 0;
- if ( x >= max ) return 1;
-
- x = ( x - min ) / ( max - min );
-
- return x * x * x * ( x * ( x * 6 - 15 ) + 10 );
-
-}
-
-// Random integer from interval
-function randInt( low, high ) {
-
- return low + Math.floor( Math.random() * ( high - low + 1 ) );
-
-}
-
-// Random float from interval
-function randFloat( low, high ) {
-
- return low + Math.random() * ( high - low );
-
-}
-
-// Random float from <-range/2, range/2> interval
-function randFloatSpread( range ) {
-
- return range * ( 0.5 - Math.random() );
-
-}
-
-// Deterministic pseudo-random float in the interval [ 0, 1 ]
-function seededRandom( s ) {
-
- if ( s !== undefined ) _seed = s;
-
- // Mulberry32 generator
-
- let t = _seed += 0x6D2B79F5;
-
- t = Math.imul( t ^ t >>> 15, t | 1 );
-
- t ^= t + Math.imul( t ^ t >>> 7, t | 61 );
-
- return ( ( t ^ t >>> 14 ) >>> 0 ) / 4294967296;
-
-}
-
-function degToRad( degrees ) {
-
- return degrees * DEG2RAD;
-
-}
-
-function radToDeg( radians ) {
-
- return radians * RAD2DEG;
-
-}
-
-function isPowerOfTwo( value ) {
-
- return ( value & ( value - 1 ) ) === 0 && value !== 0;
-
-}
-
-function ceilPowerOfTwo( value ) {
-
- return Math.pow( 2, Math.ceil( Math.log( value ) / Math.LN2 ) );
-
-}
-
-function floorPowerOfTwo( value ) {
-
- return Math.pow( 2, Math.floor( Math.log( value ) / Math.LN2 ) );
-
-}
-
-function setQuaternionFromProperEuler( q, a, b, c, order ) {
-
- // Intrinsic Proper Euler Angles - see https://en.wikipedia.org/wiki/Euler_angles
-
- // rotations are applied to the axes in the order specified by 'order'
- // rotation by angle 'a' is applied first, then by angle 'b', then by angle 'c'
- // angles are in radians
-
- const cos = Math.cos;
- const sin = Math.sin;
-
- const c2 = cos( b / 2 );
- const s2 = sin( b / 2 );
-
- const c13 = cos( ( a + c ) / 2 );
- const s13 = sin( ( a + c ) / 2 );
-
- const c1_3 = cos( ( a - c ) / 2 );
- const s1_3 = sin( ( a - c ) / 2 );
-
- const c3_1 = cos( ( c - a ) / 2 );
- const s3_1 = sin( ( c - a ) / 2 );
-
- switch ( order ) {
-
- case 'XYX':
- q.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 );
- break;
-
- case 'YZY':
- q.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 );
- break;
-
- case 'ZXZ':
- q.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 );
- break;
-
- case 'XZX':
- q.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 );
- break;
-
- case 'YXY':
- q.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 );
- break;
-
- case 'ZYZ':
- q.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 );
- break;
-
- default:
- console.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );
-
- }
-
-}
-
-function denormalize( value, array ) {
-
- switch ( array.constructor ) {
-
- case Float32Array:
-
- return value;
-
- case Uint16Array:
-
- return value / 65535.0;
-
- case Uint8Array:
-
- return value / 255.0;
-
- case Int16Array:
-
- return Math.max( value / 32767.0, - 1.0 );
-
- case Int8Array:
-
- return Math.max( value / 127.0, - 1.0 );
-
- default:
-
- throw new Error( 'Invalid component type.' );
-
- }
-
-}
-
-function normalize( value, array ) {
-
- switch ( array.constructor ) {
-
- case Float32Array:
-
- return value;
-
- case Uint16Array:
-
- return Math.round( value * 65535.0 );
-
- case Uint8Array:
-
- return Math.round( value * 255.0 );
-
- case Int16Array:
-
- return Math.round( value * 32767.0 );
-
- case Int8Array:
-
- return Math.round( value * 127.0 );
-
- default:
-
- throw new Error( 'Invalid component type.' );
-
- }
-
-}
-
-const MathUtils = {
- DEG2RAD: DEG2RAD,
- RAD2DEG: RAD2DEG,
- generateUUID: generateUUID,
- clamp: clamp,
- euclideanModulo: euclideanModulo,
- mapLinear: mapLinear,
- inverseLerp: inverseLerp,
- lerp: lerp,
- damp: damp,
- pingpong: pingpong,
- smoothstep: smoothstep,
- smootherstep: smootherstep,
- randInt: randInt,
- randFloat: randFloat,
- randFloatSpread: randFloatSpread,
- seededRandom: seededRandom,
- degToRad: degToRad,
- radToDeg: radToDeg,
- isPowerOfTwo: isPowerOfTwo,
- ceilPowerOfTwo: ceilPowerOfTwo,
- floorPowerOfTwo: floorPowerOfTwo,
- setQuaternionFromProperEuler: setQuaternionFromProperEuler,
- normalize: normalize,
- denormalize: denormalize
-};
-
-class Vector2 {
-
- constructor( x = 0, y = 0 ) {
-
- Vector2.prototype.isVector2 = true;
-
- this.x = x;
- this.y = y;
-
- }
-
- get width() {
-
- return this.x;
-
- }
-
- set width( value ) {
-
- this.x = value;
-
- }
-
- get height() {
-
- return this.y;
-
- }
-
- set height( value ) {
-
- this.y = value;
-
- }
-
- set( x, y ) {
-
- this.x = x;
- this.y = y;
-
- return this;
-
- }
-
- setScalar( scalar ) {
-
- this.x = scalar;
- this.y = scalar;
-
- return this;
-
- }
-
- setX( x ) {
-
- this.x = x;
-
- return this;
-
- }
-
- setY( y ) {
-
- this.y = y;
-
- return this;
-
- }
-
- setComponent( index, value ) {
-
- switch ( index ) {
-
- case 0: this.x = value; break;
- case 1: this.y = value; break;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- return this;
-
- }
-
- getComponent( index ) {
-
- switch ( index ) {
-
- case 0: return this.x;
- case 1: return this.y;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- }
-
- clone() {
-
- return new this.constructor( this.x, this.y );
-
- }
-
- copy( v ) {
-
- this.x = v.x;
- this.y = v.y;
-
- return this;
-
- }
-
- add( v ) {
-
- this.x += v.x;
- this.y += v.y;
-
- return this;
-
- }
-
- addScalar( s ) {
-
- this.x += s;
- this.y += s;
-
- return this;
-
- }
-
- addVectors( a, b ) {
-
- this.x = a.x + b.x;
- this.y = a.y + b.y;
-
- return this;
-
- }
-
- addScaledVector( v, s ) {
-
- this.x += v.x * s;
- this.y += v.y * s;
-
- return this;
-
- }
-
- sub( v ) {
-
- this.x -= v.x;
- this.y -= v.y;
-
- return this;
-
- }
-
- subScalar( s ) {
-
- this.x -= s;
- this.y -= s;
-
- return this;
-
- }
-
- subVectors( a, b ) {
-
- this.x = a.x - b.x;
- this.y = a.y - b.y;
-
- return this;
-
- }
-
- multiply( v ) {
-
- this.x *= v.x;
- this.y *= v.y;
-
- return this;
-
- }
-
- multiplyScalar( scalar ) {
-
- this.x *= scalar;
- this.y *= scalar;
-
- return this;
-
- }
-
- divide( v ) {
-
- this.x /= v.x;
- this.y /= v.y;
-
- return this;
-
- }
-
- divideScalar( scalar ) {
-
- return this.multiplyScalar( 1 / scalar );
-
- }
-
- applyMatrix3( m ) {
-
- const x = this.x, y = this.y;
- const e = m.elements;
-
- this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ];
- this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ];
-
- return this;
-
- }
-
- min( v ) {
-
- this.x = Math.min( this.x, v.x );
- this.y = Math.min( this.y, v.y );
-
- return this;
-
- }
-
- max( v ) {
-
- this.x = Math.max( this.x, v.x );
- this.y = Math.max( this.y, v.y );
-
- return this;
-
- }
-
- clamp( min, max ) {
-
- // assumes min < max, componentwise
-
- this.x = Math.max( min.x, Math.min( max.x, this.x ) );
- this.y = Math.max( min.y, Math.min( max.y, this.y ) );
-
- return this;
-
- }
-
- clampScalar( minVal, maxVal ) {
-
- this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
- this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
-
- return this;
-
- }
-
- clampLength( min, max ) {
-
- const length = this.length();
-
- return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
-
- }
-
- floor() {
-
- this.x = Math.floor( this.x );
- this.y = Math.floor( this.y );
-
- return this;
-
- }
-
- ceil() {
-
- this.x = Math.ceil( this.x );
- this.y = Math.ceil( this.y );
-
- return this;
-
- }
-
- round() {
-
- this.x = Math.round( this.x );
- this.y = Math.round( this.y );
-
- return this;
-
- }
-
- roundToZero() {
-
- this.x = ( this.x < 0 ) ? Math.ceil( this.x ) : Math.floor( this.x );
- this.y = ( this.y < 0 ) ? Math.ceil( this.y ) : Math.floor( this.y );
-
- return this;
-
- }
-
- negate() {
-
- this.x = - this.x;
- this.y = - this.y;
-
- return this;
-
- }
-
- dot( v ) {
-
- return this.x * v.x + this.y * v.y;
-
- }
-
- cross( v ) {
-
- return this.x * v.y - this.y * v.x;
-
- }
-
- lengthSq() {
-
- return this.x * this.x + this.y * this.y;
-
- }
-
- length() {
-
- return Math.sqrt( this.x * this.x + this.y * this.y );
-
- }
-
- manhattanLength() {
-
- return Math.abs( this.x ) + Math.abs( this.y );
-
- }
-
- normalize() {
-
- return this.divideScalar( this.length() || 1 );
-
- }
-
- angle() {
-
- // computes the angle in radians with respect to the positive x-axis
-
- const angle = Math.atan2( - this.y, - this.x ) + Math.PI;
-
- return angle;
-
- }
-
- distanceTo( v ) {
-
- return Math.sqrt( this.distanceToSquared( v ) );
-
- }
-
- distanceToSquared( v ) {
-
- const dx = this.x - v.x, dy = this.y - v.y;
- return dx * dx + dy * dy;
-
- }
-
- manhattanDistanceTo( v ) {
-
- return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y );
-
- }
-
- setLength( length ) {
-
- return this.normalize().multiplyScalar( length );
-
- }
-
- lerp( v, alpha ) {
-
- this.x += ( v.x - this.x ) * alpha;
- this.y += ( v.y - this.y ) * alpha;
-
- return this;
-
- }
-
- lerpVectors( v1, v2, alpha ) {
-
- this.x = v1.x + ( v2.x - v1.x ) * alpha;
- this.y = v1.y + ( v2.y - v1.y ) * alpha;
-
- return this;
-
- }
-
- equals( v ) {
-
- return ( ( v.x === this.x ) && ( v.y === this.y ) );
-
- }
-
- fromArray( array, offset = 0 ) {
-
- this.x = array[ offset ];
- this.y = array[ offset + 1 ];
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this.x;
- array[ offset + 1 ] = this.y;
-
- return array;
-
- }
-
- fromBufferAttribute( attribute, index ) {
-
- this.x = attribute.getX( index );
- this.y = attribute.getY( index );
-
- return this;
-
- }
-
- rotateAround( center, angle ) {
-
- const c = Math.cos( angle ), s = Math.sin( angle );
-
- const x = this.x - center.x;
- const y = this.y - center.y;
-
- this.x = x * c - y * s + center.x;
- this.y = x * s + y * c + center.y;
-
- return this;
-
- }
-
- random() {
-
- this.x = Math.random();
- this.y = Math.random();
-
- return this;
-
- }
-
- *[ Symbol.iterator ]() {
-
- yield this.x;
- yield this.y;
-
- }
-
-}
-
-class Matrix3 {
-
- constructor() {
-
- Matrix3.prototype.isMatrix3 = true;
-
- this.elements = [
-
- 1, 0, 0,
- 0, 1, 0,
- 0, 0, 1
-
- ];
-
- }
-
- set( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {
-
- const te = this.elements;
-
- te[ 0 ] = n11; te[ 1 ] = n21; te[ 2 ] = n31;
- te[ 3 ] = n12; te[ 4 ] = n22; te[ 5 ] = n32;
- te[ 6 ] = n13; te[ 7 ] = n23; te[ 8 ] = n33;
-
- return this;
-
- }
-
- identity() {
-
- this.set(
-
- 1, 0, 0,
- 0, 1, 0,
- 0, 0, 1
-
- );
-
- return this;
-
- }
-
- copy( m ) {
-
- const te = this.elements;
- const me = m.elements;
-
- te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ];
- te[ 3 ] = me[ 3 ]; te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ];
- te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ]; te[ 8 ] = me[ 8 ];
-
- return this;
-
- }
-
- extractBasis( xAxis, yAxis, zAxis ) {
-
- xAxis.setFromMatrix3Column( this, 0 );
- yAxis.setFromMatrix3Column( this, 1 );
- zAxis.setFromMatrix3Column( this, 2 );
-
- return this;
-
- }
-
- setFromMatrix4( m ) {
-
- const me = m.elements;
-
- this.set(
-
- me[ 0 ], me[ 4 ], me[ 8 ],
- me[ 1 ], me[ 5 ], me[ 9 ],
- me[ 2 ], me[ 6 ], me[ 10 ]
-
- );
-
- return this;
-
- }
-
- multiply( m ) {
-
- return this.multiplyMatrices( this, m );
-
- }
-
- premultiply( m ) {
-
- return this.multiplyMatrices( m, this );
-
- }
-
- multiplyMatrices( a, b ) {
-
- const ae = a.elements;
- const be = b.elements;
- const te = this.elements;
-
- const a11 = ae[ 0 ], a12 = ae[ 3 ], a13 = ae[ 6 ];
- const a21 = ae[ 1 ], a22 = ae[ 4 ], a23 = ae[ 7 ];
- const a31 = ae[ 2 ], a32 = ae[ 5 ], a33 = ae[ 8 ];
-
- const b11 = be[ 0 ], b12 = be[ 3 ], b13 = be[ 6 ];
- const b21 = be[ 1 ], b22 = be[ 4 ], b23 = be[ 7 ];
- const b31 = be[ 2 ], b32 = be[ 5 ], b33 = be[ 8 ];
-
- te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31;
- te[ 3 ] = a11 * b12 + a12 * b22 + a13 * b32;
- te[ 6 ] = a11 * b13 + a12 * b23 + a13 * b33;
-
- te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31;
- te[ 4 ] = a21 * b12 + a22 * b22 + a23 * b32;
- te[ 7 ] = a21 * b13 + a22 * b23 + a23 * b33;
-
- te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31;
- te[ 5 ] = a31 * b12 + a32 * b22 + a33 * b32;
- te[ 8 ] = a31 * b13 + a32 * b23 + a33 * b33;
-
- return this;
-
- }
-
- multiplyScalar( s ) {
-
- const te = this.elements;
-
- te[ 0 ] *= s; te[ 3 ] *= s; te[ 6 ] *= s;
- te[ 1 ] *= s; te[ 4 ] *= s; te[ 7 ] *= s;
- te[ 2 ] *= s; te[ 5 ] *= s; te[ 8 ] *= s;
-
- return this;
-
- }
-
- determinant() {
-
- const te = this.elements;
-
- const a = te[ 0 ], b = te[ 1 ], c = te[ 2 ],
- d = te[ 3 ], e = te[ 4 ], f = te[ 5 ],
- g = te[ 6 ], h = te[ 7 ], i = te[ 8 ];
-
- return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g;
-
- }
-
- invert() {
-
- const te = this.elements,
-
- n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ],
- n12 = te[ 3 ], n22 = te[ 4 ], n32 = te[ 5 ],
- n13 = te[ 6 ], n23 = te[ 7 ], n33 = te[ 8 ],
-
- t11 = n33 * n22 - n32 * n23,
- t12 = n32 * n13 - n33 * n12,
- t13 = n23 * n12 - n22 * n13,
-
- det = n11 * t11 + n21 * t12 + n31 * t13;
-
- if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0 );
-
- const detInv = 1 / det;
-
- te[ 0 ] = t11 * detInv;
- te[ 1 ] = ( n31 * n23 - n33 * n21 ) * detInv;
- te[ 2 ] = ( n32 * n21 - n31 * n22 ) * detInv;
-
- te[ 3 ] = t12 * detInv;
- te[ 4 ] = ( n33 * n11 - n31 * n13 ) * detInv;
- te[ 5 ] = ( n31 * n12 - n32 * n11 ) * detInv;
-
- te[ 6 ] = t13 * detInv;
- te[ 7 ] = ( n21 * n13 - n23 * n11 ) * detInv;
- te[ 8 ] = ( n22 * n11 - n21 * n12 ) * detInv;
-
- return this;
-
- }
-
- transpose() {
-
- let tmp;
- const m = this.elements;
-
- tmp = m[ 1 ]; m[ 1 ] = m[ 3 ]; m[ 3 ] = tmp;
- tmp = m[ 2 ]; m[ 2 ] = m[ 6 ]; m[ 6 ] = tmp;
- tmp = m[ 5 ]; m[ 5 ] = m[ 7 ]; m[ 7 ] = tmp;
-
- return this;
-
- }
-
- getNormalMatrix( matrix4 ) {
-
- return this.setFromMatrix4( matrix4 ).invert().transpose();
-
- }
-
- transposeIntoArray( r ) {
-
- const m = this.elements;
-
- r[ 0 ] = m[ 0 ];
- r[ 1 ] = m[ 3 ];
- r[ 2 ] = m[ 6 ];
- r[ 3 ] = m[ 1 ];
- r[ 4 ] = m[ 4 ];
- r[ 5 ] = m[ 7 ];
- r[ 6 ] = m[ 2 ];
- r[ 7 ] = m[ 5 ];
- r[ 8 ] = m[ 8 ];
-
- return this;
-
- }
-
- setUvTransform( tx, ty, sx, sy, rotation, cx, cy ) {
-
- const c = Math.cos( rotation );
- const s = Math.sin( rotation );
-
- this.set(
- sx * c, sx * s, - sx * ( c * cx + s * cy ) + cx + tx,
- - sy * s, sy * c, - sy * ( - s * cx + c * cy ) + cy + ty,
- 0, 0, 1
- );
-
- return this;
-
- }
-
- //
-
- scale( sx, sy ) {
-
- this.premultiply( _m3.makeScale( sx, sy ) );
-
- return this;
-
- }
-
- rotate( theta ) {
-
- this.premultiply( _m3.makeRotation( - theta ) );
-
- return this;
-
- }
-
- translate( tx, ty ) {
-
- this.premultiply( _m3.makeTranslation( tx, ty ) );
-
- return this;
-
- }
-
- // for 2D Transforms
-
- makeTranslation( x, y ) {
-
- this.set(
-
- 1, 0, x,
- 0, 1, y,
- 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeRotation( theta ) {
-
- // counterclockwise
-
- const c = Math.cos( theta );
- const s = Math.sin( theta );
-
- this.set(
-
- c, - s, 0,
- s, c, 0,
- 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeScale( x, y ) {
-
- this.set(
-
- x, 0, 0,
- 0, y, 0,
- 0, 0, 1
-
- );
-
- return this;
-
- }
-
- //
-
- equals( matrix ) {
-
- const te = this.elements;
- const me = matrix.elements;
-
- for ( let i = 0; i < 9; i ++ ) {
-
- if ( te[ i ] !== me[ i ] ) return false;
-
- }
-
- return true;
-
- }
-
- fromArray( array, offset = 0 ) {
-
- for ( let i = 0; i < 9; i ++ ) {
-
- this.elements[ i ] = array[ i + offset ];
-
- }
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- const te = this.elements;
-
- array[ offset ] = te[ 0 ];
- array[ offset + 1 ] = te[ 1 ];
- array[ offset + 2 ] = te[ 2 ];
-
- array[ offset + 3 ] = te[ 3 ];
- array[ offset + 4 ] = te[ 4 ];
- array[ offset + 5 ] = te[ 5 ];
-
- array[ offset + 6 ] = te[ 6 ];
- array[ offset + 7 ] = te[ 7 ];
- array[ offset + 8 ] = te[ 8 ];
-
- return array;
-
- }
-
- clone() {
-
- return new this.constructor().fromArray( this.elements );
-
- }
-
-}
-
-const _m3 = /*@__PURE__*/ new Matrix3();
-
-function arrayNeedsUint32( array ) {
-
- // assumes larger values usually on last
-
- for ( let i = array.length - 1; i >= 0; -- i ) {
-
- if ( array[ i ] >= 65535 ) return true; // account for PRIMITIVE_RESTART_FIXED_INDEX, #24565
-
- }
-
- return false;
-
-}
-
-const TYPED_ARRAYS = {
- Int8Array: Int8Array,
- Uint8Array: Uint8Array,
- Uint8ClampedArray: Uint8ClampedArray,
- Int16Array: Int16Array,
- Uint16Array: Uint16Array,
- Int32Array: Int32Array,
- Uint32Array: Uint32Array,
- Float32Array: Float32Array,
- Float64Array: Float64Array
-};
-
-function getTypedArray( type, buffer ) {
-
- return new TYPED_ARRAYS[ type ]( buffer );
-
-}
-
-function createElementNS( name ) {
-
- return document.createElementNS( 'http://www.w3.org/1999/xhtml', name );
-
-}
-
-class Quaternion {
-
- constructor( x = 0, y = 0, z = 0, w = 1 ) {
-
- this.isQuaternion = true;
-
- this._x = x;
- this._y = y;
- this._z = z;
- this._w = w;
-
- }
-
- static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
-
- // fuzz-free, array-based Quaternion SLERP operation
-
- let x0 = src0[ srcOffset0 + 0 ],
- y0 = src0[ srcOffset0 + 1 ],
- z0 = src0[ srcOffset0 + 2 ],
- w0 = src0[ srcOffset0 + 3 ];
-
- const x1 = src1[ srcOffset1 + 0 ],
- y1 = src1[ srcOffset1 + 1 ],
- z1 = src1[ srcOffset1 + 2 ],
- w1 = src1[ srcOffset1 + 3 ];
-
- if ( t === 0 ) {
-
- dst[ dstOffset + 0 ] = x0;
- dst[ dstOffset + 1 ] = y0;
- dst[ dstOffset + 2 ] = z0;
- dst[ dstOffset + 3 ] = w0;
- return;
-
- }
-
- if ( t === 1 ) {
-
- dst[ dstOffset + 0 ] = x1;
- dst[ dstOffset + 1 ] = y1;
- dst[ dstOffset + 2 ] = z1;
- dst[ dstOffset + 3 ] = w1;
- return;
-
- }
-
- if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {
-
- let s = 1 - t;
- const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,
- dir = ( cos >= 0 ? 1 : - 1 ),
- sqrSin = 1 - cos * cos;
-
- // Skip the Slerp for tiny steps to avoid numeric problems:
- if ( sqrSin > Number.EPSILON ) {
-
- const sin = Math.sqrt( sqrSin ),
- len = Math.atan2( sin, cos * dir );
-
- s = Math.sin( s * len ) / sin;
- t = Math.sin( t * len ) / sin;
-
- }
-
- const tDir = t * dir;
-
- x0 = x0 * s + x1 * tDir;
- y0 = y0 * s + y1 * tDir;
- z0 = z0 * s + z1 * tDir;
- w0 = w0 * s + w1 * tDir;
-
- // Normalize in case we just did a lerp:
- if ( s === 1 - t ) {
-
- const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );
-
- x0 *= f;
- y0 *= f;
- z0 *= f;
- w0 *= f;
-
- }
-
- }
-
- dst[ dstOffset ] = x0;
- dst[ dstOffset + 1 ] = y0;
- dst[ dstOffset + 2 ] = z0;
- dst[ dstOffset + 3 ] = w0;
-
- }
-
- static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
-
- const x0 = src0[ srcOffset0 ];
- const y0 = src0[ srcOffset0 + 1 ];
- const z0 = src0[ srcOffset0 + 2 ];
- const w0 = src0[ srcOffset0 + 3 ];
-
- const x1 = src1[ srcOffset1 ];
- const y1 = src1[ srcOffset1 + 1 ];
- const z1 = src1[ srcOffset1 + 2 ];
- const w1 = src1[ srcOffset1 + 3 ];
-
- dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
- dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
- dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
- dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
-
- return dst;
-
- }
-
- get x() {
-
- return this._x;
-
- }
-
- set x( value ) {
-
- this._x = value;
- this._onChangeCallback();
-
- }
-
- get y() {
-
- return this._y;
-
- }
-
- set y( value ) {
-
- this._y = value;
- this._onChangeCallback();
-
- }
-
- get z() {
-
- return this._z;
-
- }
-
- set z( value ) {
-
- this._z = value;
- this._onChangeCallback();
-
- }
-
- get w() {
-
- return this._w;
-
- }
-
- set w( value ) {
-
- this._w = value;
- this._onChangeCallback();
-
- }
-
- set( x, y, z, w ) {
-
- this._x = x;
- this._y = y;
- this._z = z;
- this._w = w;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- clone() {
-
- return new this.constructor( this._x, this._y, this._z, this._w );
-
- }
-
- copy( quaternion ) {
-
- this._x = quaternion.x;
- this._y = quaternion.y;
- this._z = quaternion.z;
- this._w = quaternion.w;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- setFromEuler( euler, update ) {
-
- const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
-
- // http://www.mathworks.com/matlabcentral/fileexchange/
- // 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
- // content/SpinCalc.m
-
- const cos = Math.cos;
- const sin = Math.sin;
-
- const c1 = cos( x / 2 );
- const c2 = cos( y / 2 );
- const c3 = cos( z / 2 );
-
- const s1 = sin( x / 2 );
- const s2 = sin( y / 2 );
- const s3 = sin( z / 2 );
-
- switch ( order ) {
-
- case 'XYZ':
- this._x = s1 * c2 * c3 + c1 * s2 * s3;
- this._y = c1 * s2 * c3 - s1 * c2 * s3;
- this._z = c1 * c2 * s3 + s1 * s2 * c3;
- this._w = c1 * c2 * c3 - s1 * s2 * s3;
- break;
-
- case 'YXZ':
- this._x = s1 * c2 * c3 + c1 * s2 * s3;
- this._y = c1 * s2 * c3 - s1 * c2 * s3;
- this._z = c1 * c2 * s3 - s1 * s2 * c3;
- this._w = c1 * c2 * c3 + s1 * s2 * s3;
- break;
-
- case 'ZXY':
- this._x = s1 * c2 * c3 - c1 * s2 * s3;
- this._y = c1 * s2 * c3 + s1 * c2 * s3;
- this._z = c1 * c2 * s3 + s1 * s2 * c3;
- this._w = c1 * c2 * c3 - s1 * s2 * s3;
- break;
-
- case 'ZYX':
- this._x = s1 * c2 * c3 - c1 * s2 * s3;
- this._y = c1 * s2 * c3 + s1 * c2 * s3;
- this._z = c1 * c2 * s3 - s1 * s2 * c3;
- this._w = c1 * c2 * c3 + s1 * s2 * s3;
- break;
-
- case 'YZX':
- this._x = s1 * c2 * c3 + c1 * s2 * s3;
- this._y = c1 * s2 * c3 + s1 * c2 * s3;
- this._z = c1 * c2 * s3 - s1 * s2 * c3;
- this._w = c1 * c2 * c3 - s1 * s2 * s3;
- break;
-
- case 'XZY':
- this._x = s1 * c2 * c3 - c1 * s2 * s3;
- this._y = c1 * s2 * c3 - s1 * c2 * s3;
- this._z = c1 * c2 * s3 + s1 * s2 * c3;
- this._w = c1 * c2 * c3 + s1 * s2 * s3;
- break;
-
- default:
- console.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );
-
- }
-
- if ( update !== false ) this._onChangeCallback();
-
- return this;
-
- }
-
- setFromAxisAngle( axis, angle ) {
-
- // http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
-
- // assumes axis is normalized
-
- const halfAngle = angle / 2, s = Math.sin( halfAngle );
-
- this._x = axis.x * s;
- this._y = axis.y * s;
- this._z = axis.z * s;
- this._w = Math.cos( halfAngle );
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- setFromRotationMatrix( m ) {
-
- // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
-
- // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-
- const te = m.elements,
-
- m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
- m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
- m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],
-
- trace = m11 + m22 + m33;
-
- if ( trace > 0 ) {
-
- const s = 0.5 / Math.sqrt( trace + 1.0 );
-
- this._w = 0.25 / s;
- this._x = ( m32 - m23 ) * s;
- this._y = ( m13 - m31 ) * s;
- this._z = ( m21 - m12 ) * s;
-
- } else if ( m11 > m22 && m11 > m33 ) {
-
- const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
-
- this._w = ( m32 - m23 ) / s;
- this._x = 0.25 * s;
- this._y = ( m12 + m21 ) / s;
- this._z = ( m13 + m31 ) / s;
-
- } else if ( m22 > m33 ) {
-
- const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
-
- this._w = ( m13 - m31 ) / s;
- this._x = ( m12 + m21 ) / s;
- this._y = 0.25 * s;
- this._z = ( m23 + m32 ) / s;
-
- } else {
-
- const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
-
- this._w = ( m21 - m12 ) / s;
- this._x = ( m13 + m31 ) / s;
- this._y = ( m23 + m32 ) / s;
- this._z = 0.25 * s;
-
- }
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- setFromUnitVectors( vFrom, vTo ) {
-
- // assumes direction vectors vFrom and vTo are normalized
-
- let r = vFrom.dot( vTo ) + 1;
-
- if ( r < Number.EPSILON ) {
-
- // vFrom and vTo point in opposite directions
-
- r = 0;
-
- if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {
-
- this._x = - vFrom.y;
- this._y = vFrom.x;
- this._z = 0;
- this._w = r;
-
- } else {
-
- this._x = 0;
- this._y = - vFrom.z;
- this._z = vFrom.y;
- this._w = r;
-
- }
-
- } else {
-
- // crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3
-
- this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
- this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
- this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
- this._w = r;
-
- }
-
- return this.normalize();
-
- }
-
- angleTo( q ) {
-
- return 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );
-
- }
-
- rotateTowards( q, step ) {
-
- const angle = this.angleTo( q );
-
- if ( angle === 0 ) return this;
-
- const t = Math.min( 1, step / angle );
-
- this.slerp( q, t );
-
- return this;
-
- }
-
- identity() {
-
- return this.set( 0, 0, 0, 1 );
-
- }
-
- invert() {
-
- // quaternion is assumed to have unit length
-
- return this.conjugate();
-
- }
-
- conjugate() {
-
- this._x *= - 1;
- this._y *= - 1;
- this._z *= - 1;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- dot( v ) {
-
- return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
-
- }
-
- lengthSq() {
-
- return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
-
- }
-
- length() {
-
- return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
-
- }
-
- normalize() {
-
- let l = this.length();
-
- if ( l === 0 ) {
-
- this._x = 0;
- this._y = 0;
- this._z = 0;
- this._w = 1;
-
- } else {
-
- l = 1 / l;
-
- this._x = this._x * l;
- this._y = this._y * l;
- this._z = this._z * l;
- this._w = this._w * l;
-
- }
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- multiply( q ) {
-
- return this.multiplyQuaternions( this, q );
-
- }
-
- premultiply( q ) {
-
- return this.multiplyQuaternions( q, this );
-
- }
-
- multiplyQuaternions( a, b ) {
-
- // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
-
- const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
- const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
-
- this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
- this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
- this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
- this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- slerp( qb, t ) {
-
- if ( t === 0 ) return this;
- if ( t === 1 ) return this.copy( qb );
-
- const x = this._x, y = this._y, z = this._z, w = this._w;
-
- // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
-
- let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
-
- if ( cosHalfTheta < 0 ) {
-
- this._w = - qb._w;
- this._x = - qb._x;
- this._y = - qb._y;
- this._z = - qb._z;
-
- cosHalfTheta = - cosHalfTheta;
-
- } else {
-
- this.copy( qb );
-
- }
-
- if ( cosHalfTheta >= 1.0 ) {
-
- this._w = w;
- this._x = x;
- this._y = y;
- this._z = z;
-
- return this;
-
- }
-
- const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;
-
- if ( sqrSinHalfTheta <= Number.EPSILON ) {
-
- const s = 1 - t;
- this._w = s * w + t * this._w;
- this._x = s * x + t * this._x;
- this._y = s * y + t * this._y;
- this._z = s * z + t * this._z;
-
- this.normalize();
- this._onChangeCallback();
-
- return this;
-
- }
-
- const sinHalfTheta = Math.sqrt( sqrSinHalfTheta );
- const halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );
- const ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,
- ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;
-
- this._w = ( w * ratioA + this._w * ratioB );
- this._x = ( x * ratioA + this._x * ratioB );
- this._y = ( y * ratioA + this._y * ratioB );
- this._z = ( z * ratioA + this._z * ratioB );
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- slerpQuaternions( qa, qb, t ) {
-
- return this.copy( qa ).slerp( qb, t );
-
- }
-
- random() {
-
- // Derived from http://planning.cs.uiuc.edu/node198.html
- // Note, this source uses w, x, y, z ordering,
- // so we swap the order below.
-
- const u1 = Math.random();
- const sqrt1u1 = Math.sqrt( 1 - u1 );
- const sqrtu1 = Math.sqrt( u1 );
-
- const u2 = 2 * Math.PI * Math.random();
-
- const u3 = 2 * Math.PI * Math.random();
-
- return this.set(
- sqrt1u1 * Math.cos( u2 ),
- sqrtu1 * Math.sin( u3 ),
- sqrtu1 * Math.cos( u3 ),
- sqrt1u1 * Math.sin( u2 ),
- );
-
- }
-
- equals( quaternion ) {
-
- return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
-
- }
-
- fromArray( array, offset = 0 ) {
-
- this._x = array[ offset ];
- this._y = array[ offset + 1 ];
- this._z = array[ offset + 2 ];
- this._w = array[ offset + 3 ];
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this._x;
- array[ offset + 1 ] = this._y;
- array[ offset + 2 ] = this._z;
- array[ offset + 3 ] = this._w;
-
- return array;
-
- }
-
- fromBufferAttribute( attribute, index ) {
-
- this._x = attribute.getX( index );
- this._y = attribute.getY( index );
- this._z = attribute.getZ( index );
- this._w = attribute.getW( index );
-
- return this;
-
- }
-
- _onChange( callback ) {
-
- this._onChangeCallback = callback;
-
- return this;
-
- }
-
- _onChangeCallback() {}
-
- *[ Symbol.iterator ]() {
-
- yield this._x;
- yield this._y;
- yield this._z;
- yield this._w;
-
- }
-
-}
-
-class Vector3 {
-
- constructor( x = 0, y = 0, z = 0 ) {
-
- Vector3.prototype.isVector3 = true;
-
- this.x = x;
- this.y = y;
- this.z = z;
-
- }
-
- set( x, y, z ) {
-
- if ( z === undefined ) z = this.z; // sprite.scale.set(x,y)
-
- this.x = x;
- this.y = y;
- this.z = z;
-
- return this;
-
- }
-
- setScalar( scalar ) {
-
- this.x = scalar;
- this.y = scalar;
- this.z = scalar;
-
- return this;
-
- }
-
- setX( x ) {
-
- this.x = x;
-
- return this;
-
- }
-
- setY( y ) {
-
- this.y = y;
-
- return this;
-
- }
-
- setZ( z ) {
-
- this.z = z;
-
- return this;
-
- }
-
- setComponent( index, value ) {
-
- switch ( index ) {
-
- case 0: this.x = value; break;
- case 1: this.y = value; break;
- case 2: this.z = value; break;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- return this;
-
- }
-
- getComponent( index ) {
-
- switch ( index ) {
-
- case 0: return this.x;
- case 1: return this.y;
- case 2: return this.z;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- }
-
- clone() {
-
- return new this.constructor( this.x, this.y, this.z );
-
- }
-
- copy( v ) {
-
- this.x = v.x;
- this.y = v.y;
- this.z = v.z;
-
- return this;
-
- }
-
- add( v ) {
-
- this.x += v.x;
- this.y += v.y;
- this.z += v.z;
-
- return this;
-
- }
-
- addScalar( s ) {
-
- this.x += s;
- this.y += s;
- this.z += s;
-
- return this;
-
- }
-
- addVectors( a, b ) {
-
- this.x = a.x + b.x;
- this.y = a.y + b.y;
- this.z = a.z + b.z;
-
- return this;
-
- }
-
- addScaledVector( v, s ) {
-
- this.x += v.x * s;
- this.y += v.y * s;
- this.z += v.z * s;
-
- return this;
-
- }
-
- sub( v ) {
-
- this.x -= v.x;
- this.y -= v.y;
- this.z -= v.z;
-
- return this;
-
- }
-
- subScalar( s ) {
-
- this.x -= s;
- this.y -= s;
- this.z -= s;
-
- return this;
-
- }
-
- subVectors( a, b ) {
-
- this.x = a.x - b.x;
- this.y = a.y - b.y;
- this.z = a.z - b.z;
-
- return this;
-
- }
-
- multiply( v ) {
-
- this.x *= v.x;
- this.y *= v.y;
- this.z *= v.z;
-
- return this;
-
- }
-
- multiplyScalar( scalar ) {
-
- this.x *= scalar;
- this.y *= scalar;
- this.z *= scalar;
-
- return this;
-
- }
-
- multiplyVectors( a, b ) {
-
- this.x = a.x * b.x;
- this.y = a.y * b.y;
- this.z = a.z * b.z;
-
- return this;
-
- }
-
- applyEuler( euler ) {
-
- return this.applyQuaternion( _quaternion$4.setFromEuler( euler ) );
-
- }
-
- applyAxisAngle( axis, angle ) {
-
- return this.applyQuaternion( _quaternion$4.setFromAxisAngle( axis, angle ) );
-
- }
-
- applyMatrix3( m ) {
-
- const x = this.x, y = this.y, z = this.z;
- const e = m.elements;
-
- this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ] * z;
- this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ] * z;
- this.z = e[ 2 ] * x + e[ 5 ] * y + e[ 8 ] * z;
-
- return this;
-
- }
-
- applyNormalMatrix( m ) {
-
- return this.applyMatrix3( m ).normalize();
-
- }
-
- applyMatrix4( m ) {
-
- const x = this.x, y = this.y, z = this.z;
- const e = m.elements;
-
- const w = 1 / ( e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] );
-
- this.x = ( e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] ) * w;
- this.y = ( e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] ) * w;
- this.z = ( e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] ) * w;
-
- return this;
-
- }
-
- applyQuaternion( q ) {
-
- const x = this.x, y = this.y, z = this.z;
- const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
-
- // calculate quat * vector
-
- const ix = qw * x + qy * z - qz * y;
- const iy = qw * y + qz * x - qx * z;
- const iz = qw * z + qx * y - qy * x;
- const iw = - qx * x - qy * y - qz * z;
-
- // calculate result * inverse quat
-
- this.x = ix * qw + iw * - qx + iy * - qz - iz * - qy;
- this.y = iy * qw + iw * - qy + iz * - qx - ix * - qz;
- this.z = iz * qw + iw * - qz + ix * - qy - iy * - qx;
-
- return this;
-
- }
-
- project( camera ) {
-
- return this.applyMatrix4( camera.matrixWorldInverse ).applyMatrix4( camera.projectionMatrix );
-
- }
-
- unproject( camera ) {
-
- return this.applyMatrix4( camera.projectionMatrixInverse ).applyMatrix4( camera.matrixWorld );
-
- }
-
- transformDirection( m ) {
-
- // input: THREE.Matrix4 affine matrix
- // vector interpreted as a direction
-
- const x = this.x, y = this.y, z = this.z;
- const e = m.elements;
-
- this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z;
- this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z;
- this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z;
-
- return this.normalize();
-
- }
-
- divide( v ) {
-
- this.x /= v.x;
- this.y /= v.y;
- this.z /= v.z;
-
- return this;
-
- }
-
- divideScalar( scalar ) {
-
- return this.multiplyScalar( 1 / scalar );
-
- }
-
- min( v ) {
-
- this.x = Math.min( this.x, v.x );
- this.y = Math.min( this.y, v.y );
- this.z = Math.min( this.z, v.z );
-
- return this;
-
- }
-
- max( v ) {
-
- this.x = Math.max( this.x, v.x );
- this.y = Math.max( this.y, v.y );
- this.z = Math.max( this.z, v.z );
-
- return this;
-
- }
-
- clamp( min, max ) {
-
- // assumes min < max, componentwise
-
- this.x = Math.max( min.x, Math.min( max.x, this.x ) );
- this.y = Math.max( min.y, Math.min( max.y, this.y ) );
- this.z = Math.max( min.z, Math.min( max.z, this.z ) );
-
- return this;
-
- }
-
- clampScalar( minVal, maxVal ) {
-
- this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
- this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
- this.z = Math.max( minVal, Math.min( maxVal, this.z ) );
-
- return this;
-
- }
-
- clampLength( min, max ) {
-
- const length = this.length();
-
- return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
-
- }
-
- floor() {
-
- this.x = Math.floor( this.x );
- this.y = Math.floor( this.y );
- this.z = Math.floor( this.z );
-
- return this;
-
- }
-
- ceil() {
-
- this.x = Math.ceil( this.x );
- this.y = Math.ceil( this.y );
- this.z = Math.ceil( this.z );
-
- return this;
-
- }
-
- round() {
-
- this.x = Math.round( this.x );
- this.y = Math.round( this.y );
- this.z = Math.round( this.z );
-
- return this;
-
- }
-
- roundToZero() {
-
- this.x = ( this.x < 0 ) ? Math.ceil( this.x ) : Math.floor( this.x );
- this.y = ( this.y < 0 ) ? Math.ceil( this.y ) : Math.floor( this.y );
- this.z = ( this.z < 0 ) ? Math.ceil( this.z ) : Math.floor( this.z );
-
- return this;
-
- }
-
- negate() {
-
- this.x = - this.x;
- this.y = - this.y;
- this.z = - this.z;
-
- return this;
-
- }
-
- dot( v ) {
-
- return this.x * v.x + this.y * v.y + this.z * v.z;
-
- }
-
- // TODO lengthSquared?
-
- lengthSq() {
-
- return this.x * this.x + this.y * this.y + this.z * this.z;
-
- }
-
- length() {
-
- return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z );
-
- }
-
- manhattanLength() {
-
- return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z );
-
- }
-
- normalize() {
-
- return this.divideScalar( this.length() || 1 );
-
- }
-
- setLength( length ) {
-
- return this.normalize().multiplyScalar( length );
-
- }
-
- lerp( v, alpha ) {
-
- this.x += ( v.x - this.x ) * alpha;
- this.y += ( v.y - this.y ) * alpha;
- this.z += ( v.z - this.z ) * alpha;
-
- return this;
-
- }
-
- lerpVectors( v1, v2, alpha ) {
-
- this.x = v1.x + ( v2.x - v1.x ) * alpha;
- this.y = v1.y + ( v2.y - v1.y ) * alpha;
- this.z = v1.z + ( v2.z - v1.z ) * alpha;
-
- return this;
-
- }
-
- cross( v ) {
-
- return this.crossVectors( this, v );
-
- }
-
- crossVectors( a, b ) {
-
- const ax = a.x, ay = a.y, az = a.z;
- const bx = b.x, by = b.y, bz = b.z;
-
- this.x = ay * bz - az * by;
- this.y = az * bx - ax * bz;
- this.z = ax * by - ay * bx;
-
- return this;
-
- }
-
- projectOnVector( v ) {
-
- const denominator = v.lengthSq();
-
- if ( denominator === 0 ) return this.set( 0, 0, 0 );
-
- const scalar = v.dot( this ) / denominator;
-
- return this.copy( v ).multiplyScalar( scalar );
-
- }
-
- projectOnPlane( planeNormal ) {
-
- _vector$d.copy( this ).projectOnVector( planeNormal );
-
- return this.sub( _vector$d );
-
- }
-
- reflect( normal ) {
-
- // reflect incident vector off plane orthogonal to normal
- // normal is assumed to have unit length
-
- return this.sub( _vector$d.copy( normal ).multiplyScalar( 2 * this.dot( normal ) ) );
-
- }
-
- angleTo( v ) {
-
- const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );
-
- if ( denominator === 0 ) return Math.PI / 2;
-
- const theta = this.dot( v ) / denominator;
-
- // clamp, to handle numerical problems
-
- return Math.acos( clamp( theta, - 1, 1 ) );
-
- }
-
- distanceTo( v ) {
-
- return Math.sqrt( this.distanceToSquared( v ) );
-
- }
-
- distanceToSquared( v ) {
-
- const dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z;
-
- return dx * dx + dy * dy + dz * dz;
-
- }
-
- manhattanDistanceTo( v ) {
-
- return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ) + Math.abs( this.z - v.z );
-
- }
-
- setFromSpherical( s ) {
-
- return this.setFromSphericalCoords( s.radius, s.phi, s.theta );
-
- }
-
- setFromSphericalCoords( radius, phi, theta ) {
-
- const sinPhiRadius = Math.sin( phi ) * radius;
-
- this.x = sinPhiRadius * Math.sin( theta );
- this.y = Math.cos( phi ) * radius;
- this.z = sinPhiRadius * Math.cos( theta );
-
- return this;
-
- }
-
- setFromCylindrical( c ) {
-
- return this.setFromCylindricalCoords( c.radius, c.theta, c.y );
-
- }
-
- setFromCylindricalCoords( radius, theta, y ) {
-
- this.x = radius * Math.sin( theta );
- this.y = y;
- this.z = radius * Math.cos( theta );
-
- return this;
-
- }
-
- setFromMatrixPosition( m ) {
-
- const e = m.elements;
-
- this.x = e[ 12 ];
- this.y = e[ 13 ];
- this.z = e[ 14 ];
-
- return this;
-
- }
-
- setFromMatrixScale( m ) {
-
- const sx = this.setFromMatrixColumn( m, 0 ).length();
- const sy = this.setFromMatrixColumn( m, 1 ).length();
- const sz = this.setFromMatrixColumn( m, 2 ).length();
-
- this.x = sx;
- this.y = sy;
- this.z = sz;
-
- return this;
-
- }
-
- setFromMatrixColumn( m, index ) {
-
- return this.fromArray( m.elements, index * 4 );
-
- }
-
- setFromMatrix3Column( m, index ) {
-
- return this.fromArray( m.elements, index * 3 );
-
- }
-
- setFromEuler( e ) {
-
- this.x = e._x;
- this.y = e._y;
- this.z = e._z;
-
- return this;
-
- }
-
- equals( v ) {
-
- return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) );
-
- }
-
- fromArray( array, offset = 0 ) {
-
- this.x = array[ offset ];
- this.y = array[ offset + 1 ];
- this.z = array[ offset + 2 ];
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this.x;
- array[ offset + 1 ] = this.y;
- array[ offset + 2 ] = this.z;
-
- return array;
-
- }
-
- fromBufferAttribute( attribute, index ) {
-
- this.x = attribute.getX( index );
- this.y = attribute.getY( index );
- this.z = attribute.getZ( index );
-
- return this;
-
- }
-
- random() {
-
- this.x = Math.random();
- this.y = Math.random();
- this.z = Math.random();
-
- return this;
-
- }
-
- randomDirection() {
-
- // Derived from https://mathworld.wolfram.com/SpherePointPicking.html
-
- const u = ( Math.random() - 0.5 ) * 2;
- const t = Math.random() * Math.PI * 2;
- const f = Math.sqrt( 1 - u ** 2 );
-
- this.x = f * Math.cos( t );
- this.y = f * Math.sin( t );
- this.z = u;
-
- return this;
-
- }
-
- *[ Symbol.iterator ]() {
-
- yield this.x;
- yield this.y;
- yield this.z;
-
- }
-
-}
-
-const _vector$d = /*@__PURE__*/ new Vector3();
-const _quaternion$4 = /*@__PURE__*/ new Quaternion();
-
-function SRGBToLinear( c ) {
-
- return ( c < 0.04045 ) ? c * 0.0773993808 : Math.pow( c * 0.9478672986 + 0.0521327014, 2.4 );
-
-}
-
-function LinearToSRGB( c ) {
-
- return ( c < 0.0031308 ) ? c * 12.92 : 1.055 * ( Math.pow( c, 0.41666 ) ) - 0.055;
-
-}
-
-
-/**
- * Matrices converting P3 <-> Rec. 709 primaries, without gamut mapping
- * or clipping. Based on W3C specifications for sRGB and Display P3,
- * and ICC specifications for the D50 connection space. Values in/out
- * are _linear_ sRGB and _linear_ Display P3.
- *
- * Note that both sRGB and Display P3 use the sRGB transfer functions.
- *
- * Reference:
- * - http://www.russellcottrell.com/photo/matrixCalculator.htm
- */
-
-const LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 = new Matrix3().fromArray( [
- 0.8224621, 0.0331941, 0.0170827,
- 0.1775380, 0.9668058, 0.0723974,
- - 0.0000001, 0.0000001, 0.9105199
-] );
-
-const LINEAR_DISPLAY_P3_TO_LINEAR_SRGB = new Matrix3().fromArray( [
- 1.2249401, - 0.0420569, - 0.0196376,
- - 0.2249404, 1.0420571, - 0.0786361,
- 0.0000001, 0.0000000, 1.0982735
-] );
-
-const _vector$c = new Vector3();
-
-function DisplayP3ToLinearSRGB( color ) {
-
- color.convertSRGBToLinear();
-
- _vector$c.set( color.r, color.g, color.b ).applyMatrix3( LINEAR_DISPLAY_P3_TO_LINEAR_SRGB );
-
- return color.setRGB( _vector$c.x, _vector$c.y, _vector$c.z );
-
-}
-
-function LinearSRGBToDisplayP3( color ) {
-
- _vector$c.set( color.r, color.g, color.b ).applyMatrix3( LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 );
-
- return color.setRGB( _vector$c.x, _vector$c.y, _vector$c.z ).convertLinearToSRGB();
-
-}
-
-// Conversions from to Linear-sRGB reference space.
-const TO_LINEAR = {
- [ LinearSRGBColorSpace ]: ( color ) => color,
- [ SRGBColorSpace ]: ( color ) => color.convertSRGBToLinear(),
- [ DisplayP3ColorSpace ]: DisplayP3ToLinearSRGB,
-};
-
-// Conversions to from Linear-sRGB reference space.
-const FROM_LINEAR = {
- [ LinearSRGBColorSpace ]: ( color ) => color,
- [ SRGBColorSpace ]: ( color ) => color.convertLinearToSRGB(),
- [ DisplayP3ColorSpace ]: LinearSRGBToDisplayP3,
-};
-
-const ColorManagement = {
-
- enabled: false,
-
- get legacyMode() {
-
- console.warn( 'THREE.ColorManagement: .legacyMode=false renamed to .enabled=true in r150.' );
-
- return ! this.enabled;
-
- },
-
- set legacyMode( legacyMode ) {
-
- console.warn( 'THREE.ColorManagement: .legacyMode=false renamed to .enabled=true in r150.' );
-
- this.enabled = ! legacyMode;
-
- },
-
- get workingColorSpace() {
-
- return LinearSRGBColorSpace;
-
- },
-
- set workingColorSpace( colorSpace ) {
-
- console.warn( 'THREE.ColorManagement: .workingColorSpace is readonly.' );
-
- },
-
- convert: function ( color, sourceColorSpace, targetColorSpace ) {
-
- if ( this.enabled === false || sourceColorSpace === targetColorSpace || ! sourceColorSpace || ! targetColorSpace ) {
-
- return color;
-
- }
-
- const sourceToLinear = TO_LINEAR[ sourceColorSpace ];
- const targetFromLinear = FROM_LINEAR[ targetColorSpace ];
-
- if ( sourceToLinear === undefined || targetFromLinear === undefined ) {
-
- throw new Error( `Unsupported color space conversion, "${ sourceColorSpace }" to "${ targetColorSpace }".` );
-
- }
-
- return targetFromLinear( sourceToLinear( color ) );
-
- },
-
- fromWorkingColorSpace: function ( color, targetColorSpace ) {
-
- return this.convert( color, this.workingColorSpace, targetColorSpace );
-
- },
-
- toWorkingColorSpace: function ( color, sourceColorSpace ) {
-
- return this.convert( color, sourceColorSpace, this.workingColorSpace );
-
- },
-
-};
-
-let _canvas;
-
-class ImageUtils {
-
- static getDataURL( image ) {
-
- if ( /^data:/i.test( image.src ) ) {
-
- return image.src;
-
- }
-
- if ( typeof HTMLCanvasElement == 'undefined' ) {
-
- return image.src;
-
- }
-
- let canvas;
-
- if ( image instanceof HTMLCanvasElement ) {
-
- canvas = image;
-
- } else {
-
- if ( _canvas === undefined ) _canvas = createElementNS( 'canvas' );
-
- _canvas.width = image.width;
- _canvas.height = image.height;
-
- const context = _canvas.getContext( '2d' );
-
- if ( image instanceof ImageData ) {
-
- context.putImageData( image, 0, 0 );
-
- } else {
-
- context.drawImage( image, 0, 0, image.width, image.height );
-
- }
-
- canvas = _canvas;
-
- }
-
- if ( canvas.width > 2048 || canvas.height > 2048 ) {
-
- console.warn( 'THREE.ImageUtils.getDataURL: Image converted to jpg for performance reasons', image );
-
- return canvas.toDataURL( 'image/jpeg', 0.6 );
-
- } else {
-
- return canvas.toDataURL( 'image/png' );
-
- }
-
- }
-
- static sRGBToLinear( image ) {
-
- if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||
- ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||
- ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {
-
- const canvas = createElementNS( 'canvas' );
-
- canvas.width = image.width;
- canvas.height = image.height;
-
- const context = canvas.getContext( '2d' );
- context.drawImage( image, 0, 0, image.width, image.height );
-
- const imageData = context.getImageData( 0, 0, image.width, image.height );
- const data = imageData.data;
-
- for ( let i = 0; i < data.length; i ++ ) {
-
- data[ i ] = SRGBToLinear( data[ i ] / 255 ) * 255;
-
- }
-
- context.putImageData( imageData, 0, 0 );
-
- return canvas;
-
- } else if ( image.data ) {
-
- const data = image.data.slice( 0 );
-
- for ( let i = 0; i < data.length; i ++ ) {
-
- if ( data instanceof Uint8Array || data instanceof Uint8ClampedArray ) {
-
- data[ i ] = Math.floor( SRGBToLinear( data[ i ] / 255 ) * 255 );
-
- } else {
-
- // assuming float
-
- data[ i ] = SRGBToLinear( data[ i ] );
-
- }
-
- }
-
- return {
- data: data,
- width: image.width,
- height: image.height
- };
-
- } else {
-
- console.warn( 'THREE.ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.' );
- return image;
-
- }
-
- }
-
-}
-
-class Source {
-
- constructor( data = null ) {
-
- this.isSource = true;
-
- this.uuid = generateUUID();
-
- this.data = data;
-
- this.version = 0;
-
- }
-
- set needsUpdate( value ) {
-
- if ( value === true ) this.version ++;
-
- }
-
- toJSON( meta ) {
-
- const isRootObject = ( meta === undefined || typeof meta === 'string' );
-
- if ( ! isRootObject && meta.images[ this.uuid ] !== undefined ) {
-
- return meta.images[ this.uuid ];
-
- }
-
- const output = {
- uuid: this.uuid,
- url: ''
- };
-
- const data = this.data;
-
- if ( data !== null ) {
-
- let url;
-
- if ( Array.isArray( data ) ) {
-
- // cube texture
-
- url = [];
-
- for ( let i = 0, l = data.length; i < l; i ++ ) {
-
- if ( data[ i ].isDataTexture ) {
-
- url.push( serializeImage( data[ i ].image ) );
-
- } else {
-
- url.push( serializeImage( data[ i ] ) );
-
- }
-
- }
-
- } else {
-
- // texture
-
- url = serializeImage( data );
-
- }
-
- output.url = url;
-
- }
-
- if ( ! isRootObject ) {
-
- meta.images[ this.uuid ] = output;
-
- }
-
- return output;
-
- }
-
-}
-
-function serializeImage( image ) {
-
- if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||
- ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||
- ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {
-
- // default images
-
- return ImageUtils.getDataURL( image );
-
- } else {
-
- if ( image.data ) {
-
- // images of DataTexture
-
- return {
- data: Array.from( image.data ),
- width: image.width,
- height: image.height,
- type: image.data.constructor.name
- };
-
- } else {
-
- console.warn( 'THREE.Texture: Unable to serialize Texture.' );
- return {};
-
- }
-
- }
-
-}
-
-let textureId = 0;
-
-class Texture extends EventDispatcher {
-
- constructor( image = Texture.DEFAULT_IMAGE, mapping = Texture.DEFAULT_MAPPING, wrapS = ClampToEdgeWrapping, wrapT = ClampToEdgeWrapping, magFilter = LinearFilter, minFilter = LinearMipmapLinearFilter, format = RGBAFormat, type = UnsignedByteType, anisotropy = Texture.DEFAULT_ANISOTROPY, encoding = LinearEncoding ) {
-
- super();
-
- this.isTexture = true;
-
- Object.defineProperty( this, 'id', { value: textureId ++ } );
-
- this.uuid = generateUUID();
-
- this.name = '';
-
- this.source = new Source( image );
- this.mipmaps = [];
-
- this.mapping = mapping;
-
- this.wrapS = wrapS;
- this.wrapT = wrapT;
-
- this.magFilter = magFilter;
- this.minFilter = minFilter;
-
- this.anisotropy = anisotropy;
-
- this.format = format;
- this.internalFormat = null;
- this.type = type;
-
- this.offset = new Vector2( 0, 0 );
- this.repeat = new Vector2( 1, 1 );
- this.center = new Vector2( 0, 0 );
- this.rotation = 0;
-
- this.matrixAutoUpdate = true;
- this.matrix = new Matrix3();
-
- this.generateMipmaps = true;
- this.premultiplyAlpha = false;
- this.flipY = true;
- this.unpackAlignment = 4; // valid values: 1, 2, 4, 8 (see http://www.khronos.org/opengles/sdk/docs/man/xhtml/glPixelStorei.xml)
-
- // Values of encoding !== THREE.LinearEncoding only supported on map, envMap and emissiveMap.
- //
- // Also changing the encoding after already used by a Material will not automatically make the Material
- // update. You need to explicitly call Material.needsUpdate to trigger it to recompile.
- this.encoding = encoding;
-
- this.userData = {};
-
- this.version = 0;
- this.onUpdate = null;
-
- this.isRenderTargetTexture = false; // indicates whether a texture belongs to a render target or not
- this.needsPMREMUpdate = false; // indicates whether this texture should be processed by PMREMGenerator or not (only relevant for render target textures)
-
- }
-
- get image() {
-
- return this.source.data;
-
- }
-
- set image( value = null ) {
-
- this.source.data = value;
-
- }
-
- updateMatrix() {
-
- this.matrix.setUvTransform( this.offset.x, this.offset.y, this.repeat.x, this.repeat.y, this.rotation, this.center.x, this.center.y );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( source ) {
-
- this.name = source.name;
-
- this.source = source.source;
- this.mipmaps = source.mipmaps.slice( 0 );
-
- this.mapping = source.mapping;
-
- this.wrapS = source.wrapS;
- this.wrapT = source.wrapT;
-
- this.magFilter = source.magFilter;
- this.minFilter = source.minFilter;
-
- this.anisotropy = source.anisotropy;
-
- this.format = source.format;
- this.internalFormat = source.internalFormat;
- this.type = source.type;
-
- this.offset.copy( source.offset );
- this.repeat.copy( source.repeat );
- this.center.copy( source.center );
- this.rotation = source.rotation;
-
- this.matrixAutoUpdate = source.matrixAutoUpdate;
- this.matrix.copy( source.matrix );
-
- this.generateMipmaps = source.generateMipmaps;
- this.premultiplyAlpha = source.premultiplyAlpha;
- this.flipY = source.flipY;
- this.unpackAlignment = source.unpackAlignment;
- this.encoding = source.encoding;
-
- this.userData = JSON.parse( JSON.stringify( source.userData ) );
-
- this.needsUpdate = true;
-
- return this;
-
- }
-
- toJSON( meta ) {
-
- const isRootObject = ( meta === undefined || typeof meta === 'string' );
-
- if ( ! isRootObject && meta.textures[ this.uuid ] !== undefined ) {
-
- return meta.textures[ this.uuid ];
-
- }
-
- const output = {
-
- metadata: {
- version: 4.5,
- type: 'Texture',
- generator: 'Texture.toJSON'
- },
-
- uuid: this.uuid,
- name: this.name,
-
- image: this.source.toJSON( meta ).uuid,
-
- mapping: this.mapping,
-
- repeat: [ this.repeat.x, this.repeat.y ],
- offset: [ this.offset.x, this.offset.y ],
- center: [ this.center.x, this.center.y ],
- rotation: this.rotation,
-
- wrap: [ this.wrapS, this.wrapT ],
-
- format: this.format,
- internalFormat: this.internalFormat,
- type: this.type,
- encoding: this.encoding,
-
- minFilter: this.minFilter,
- magFilter: this.magFilter,
- anisotropy: this.anisotropy,
-
- flipY: this.flipY,
-
- generateMipmaps: this.generateMipmaps,
- premultiplyAlpha: this.premultiplyAlpha,
- unpackAlignment: this.unpackAlignment
-
- };
-
- if ( Object.keys( this.userData ).length > 0 ) output.userData = this.userData;
-
- if ( ! isRootObject ) {
-
- meta.textures[ this.uuid ] = output;
-
- }
-
- return output;
-
- }
-
- dispose() {
-
- this.dispatchEvent( { type: 'dispose' } );
-
- }
-
- transformUv( uv ) {
-
- if ( this.mapping !== UVMapping ) return uv;
-
- uv.applyMatrix3( this.matrix );
-
- if ( uv.x < 0 || uv.x > 1 ) {
-
- switch ( this.wrapS ) {
-
- case RepeatWrapping:
-
- uv.x = uv.x - Math.floor( uv.x );
- break;
-
- case ClampToEdgeWrapping:
-
- uv.x = uv.x < 0 ? 0 : 1;
- break;
-
- case MirroredRepeatWrapping:
-
- if ( Math.abs( Math.floor( uv.x ) % 2 ) === 1 ) {
-
- uv.x = Math.ceil( uv.x ) - uv.x;
-
- } else {
-
- uv.x = uv.x - Math.floor( uv.x );
-
- }
-
- break;
-
- }
-
- }
-
- if ( uv.y < 0 || uv.y > 1 ) {
-
- switch ( this.wrapT ) {
-
- case RepeatWrapping:
-
- uv.y = uv.y - Math.floor( uv.y );
- break;
-
- case ClampToEdgeWrapping:
-
- uv.y = uv.y < 0 ? 0 : 1;
- break;
-
- case MirroredRepeatWrapping:
-
- if ( Math.abs( Math.floor( uv.y ) % 2 ) === 1 ) {
-
- uv.y = Math.ceil( uv.y ) - uv.y;
-
- } else {
-
- uv.y = uv.y - Math.floor( uv.y );
-
- }
-
- break;
-
- }
-
- }
-
- if ( this.flipY ) {
-
- uv.y = 1 - uv.y;
-
- }
-
- return uv;
-
- }
-
- set needsUpdate( value ) {
-
- if ( value === true ) {
-
- this.version ++;
- this.source.needsUpdate = true;
-
- }
-
- }
-
-}
-
-Texture.DEFAULT_IMAGE = null;
-Texture.DEFAULT_MAPPING = UVMapping;
-Texture.DEFAULT_ANISOTROPY = 1;
-
-class Vector4 {
-
- constructor( x = 0, y = 0, z = 0, w = 1 ) {
-
- Vector4.prototype.isVector4 = true;
-
- this.x = x;
- this.y = y;
- this.z = z;
- this.w = w;
-
- }
-
- get width() {
-
- return this.z;
-
- }
-
- set width( value ) {
-
- this.z = value;
-
- }
-
- get height() {
-
- return this.w;
-
- }
-
- set height( value ) {
-
- this.w = value;
-
- }
-
- set( x, y, z, w ) {
-
- this.x = x;
- this.y = y;
- this.z = z;
- this.w = w;
-
- return this;
-
- }
-
- setScalar( scalar ) {
-
- this.x = scalar;
- this.y = scalar;
- this.z = scalar;
- this.w = scalar;
-
- return this;
-
- }
-
- setX( x ) {
-
- this.x = x;
-
- return this;
-
- }
-
- setY( y ) {
-
- this.y = y;
-
- return this;
-
- }
-
- setZ( z ) {
-
- this.z = z;
-
- return this;
-
- }
-
- setW( w ) {
-
- this.w = w;
-
- return this;
-
- }
-
- setComponent( index, value ) {
-
- switch ( index ) {
-
- case 0: this.x = value; break;
- case 1: this.y = value; break;
- case 2: this.z = value; break;
- case 3: this.w = value; break;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- return this;
-
- }
-
- getComponent( index ) {
-
- switch ( index ) {
-
- case 0: return this.x;
- case 1: return this.y;
- case 2: return this.z;
- case 3: return this.w;
- default: throw new Error( 'index is out of range: ' + index );
-
- }
-
- }
-
- clone() {
-
- return new this.constructor( this.x, this.y, this.z, this.w );
-
- }
-
- copy( v ) {
-
- this.x = v.x;
- this.y = v.y;
- this.z = v.z;
- this.w = ( v.w !== undefined ) ? v.w : 1;
-
- return this;
-
- }
-
- add( v ) {
-
- this.x += v.x;
- this.y += v.y;
- this.z += v.z;
- this.w += v.w;
-
- return this;
-
- }
-
- addScalar( s ) {
-
- this.x += s;
- this.y += s;
- this.z += s;
- this.w += s;
-
- return this;
-
- }
-
- addVectors( a, b ) {
-
- this.x = a.x + b.x;
- this.y = a.y + b.y;
- this.z = a.z + b.z;
- this.w = a.w + b.w;
-
- return this;
-
- }
-
- addScaledVector( v, s ) {
-
- this.x += v.x * s;
- this.y += v.y * s;
- this.z += v.z * s;
- this.w += v.w * s;
-
- return this;
-
- }
-
- sub( v ) {
-
- this.x -= v.x;
- this.y -= v.y;
- this.z -= v.z;
- this.w -= v.w;
-
- return this;
-
- }
-
- subScalar( s ) {
-
- this.x -= s;
- this.y -= s;
- this.z -= s;
- this.w -= s;
-
- return this;
-
- }
-
- subVectors( a, b ) {
-
- this.x = a.x - b.x;
- this.y = a.y - b.y;
- this.z = a.z - b.z;
- this.w = a.w - b.w;
-
- return this;
-
- }
-
- multiply( v ) {
-
- this.x *= v.x;
- this.y *= v.y;
- this.z *= v.z;
- this.w *= v.w;
-
- return this;
-
- }
-
- multiplyScalar( scalar ) {
-
- this.x *= scalar;
- this.y *= scalar;
- this.z *= scalar;
- this.w *= scalar;
-
- return this;
-
- }
-
- applyMatrix4( m ) {
-
- const x = this.x, y = this.y, z = this.z, w = this.w;
- const e = m.elements;
-
- this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] * w;
- this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] * w;
- this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] * w;
- this.w = e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] * w;
-
- return this;
-
- }
-
- divideScalar( scalar ) {
-
- return this.multiplyScalar( 1 / scalar );
-
- }
-
- setAxisAngleFromQuaternion( q ) {
-
- // http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm
-
- // q is assumed to be normalized
-
- this.w = 2 * Math.acos( q.w );
-
- const s = Math.sqrt( 1 - q.w * q.w );
-
- if ( s < 0.0001 ) {
-
- this.x = 1;
- this.y = 0;
- this.z = 0;
-
- } else {
-
- this.x = q.x / s;
- this.y = q.y / s;
- this.z = q.z / s;
-
- }
-
- return this;
-
- }
-
- setAxisAngleFromRotationMatrix( m ) {
-
- // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm
-
- // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-
- let angle, x, y, z; // variables for result
- const epsilon = 0.01, // margin to allow for rounding errors
- epsilon2 = 0.1, // margin to distinguish between 0 and 180 degrees
-
- te = m.elements,
-
- m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
- m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
- m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];
-
- if ( ( Math.abs( m12 - m21 ) < epsilon ) &&
- ( Math.abs( m13 - m31 ) < epsilon ) &&
- ( Math.abs( m23 - m32 ) < epsilon ) ) {
-
- // singularity found
- // first check for identity matrix which must have +1 for all terms
- // in leading diagonal and zero in other terms
-
- if ( ( Math.abs( m12 + m21 ) < epsilon2 ) &&
- ( Math.abs( m13 + m31 ) < epsilon2 ) &&
- ( Math.abs( m23 + m32 ) < epsilon2 ) &&
- ( Math.abs( m11 + m22 + m33 - 3 ) < epsilon2 ) ) {
-
- // this singularity is identity matrix so angle = 0
-
- this.set( 1, 0, 0, 0 );
-
- return this; // zero angle, arbitrary axis
-
- }
-
- // otherwise this singularity is angle = 180
-
- angle = Math.PI;
-
- const xx = ( m11 + 1 ) / 2;
- const yy = ( m22 + 1 ) / 2;
- const zz = ( m33 + 1 ) / 2;
- const xy = ( m12 + m21 ) / 4;
- const xz = ( m13 + m31 ) / 4;
- const yz = ( m23 + m32 ) / 4;
-
- if ( ( xx > yy ) && ( xx > zz ) ) {
-
- // m11 is the largest diagonal term
-
- if ( xx < epsilon ) {
-
- x = 0;
- y = 0.707106781;
- z = 0.707106781;
-
- } else {
-
- x = Math.sqrt( xx );
- y = xy / x;
- z = xz / x;
-
- }
-
- } else if ( yy > zz ) {
-
- // m22 is the largest diagonal term
-
- if ( yy < epsilon ) {
-
- x = 0.707106781;
- y = 0;
- z = 0.707106781;
-
- } else {
-
- y = Math.sqrt( yy );
- x = xy / y;
- z = yz / y;
-
- }
-
- } else {
-
- // m33 is the largest diagonal term so base result on this
-
- if ( zz < epsilon ) {
-
- x = 0.707106781;
- y = 0.707106781;
- z = 0;
-
- } else {
-
- z = Math.sqrt( zz );
- x = xz / z;
- y = yz / z;
-
- }
-
- }
-
- this.set( x, y, z, angle );
-
- return this; // return 180 deg rotation
-
- }
-
- // as we have reached here there are no singularities so we can handle normally
-
- let s = Math.sqrt( ( m32 - m23 ) * ( m32 - m23 ) +
- ( m13 - m31 ) * ( m13 - m31 ) +
- ( m21 - m12 ) * ( m21 - m12 ) ); // used to normalize
-
- if ( Math.abs( s ) < 0.001 ) s = 1;
-
- // prevent divide by zero, should not happen if matrix is orthogonal and should be
- // caught by singularity test above, but I've left it in just in case
-
- this.x = ( m32 - m23 ) / s;
- this.y = ( m13 - m31 ) / s;
- this.z = ( m21 - m12 ) / s;
- this.w = Math.acos( ( m11 + m22 + m33 - 1 ) / 2 );
-
- return this;
-
- }
-
- min( v ) {
-
- this.x = Math.min( this.x, v.x );
- this.y = Math.min( this.y, v.y );
- this.z = Math.min( this.z, v.z );
- this.w = Math.min( this.w, v.w );
-
- return this;
-
- }
-
- max( v ) {
-
- this.x = Math.max( this.x, v.x );
- this.y = Math.max( this.y, v.y );
- this.z = Math.max( this.z, v.z );
- this.w = Math.max( this.w, v.w );
-
- return this;
-
- }
-
- clamp( min, max ) {
-
- // assumes min < max, componentwise
-
- this.x = Math.max( min.x, Math.min( max.x, this.x ) );
- this.y = Math.max( min.y, Math.min( max.y, this.y ) );
- this.z = Math.max( min.z, Math.min( max.z, this.z ) );
- this.w = Math.max( min.w, Math.min( max.w, this.w ) );
-
- return this;
-
- }
-
- clampScalar( minVal, maxVal ) {
-
- this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
- this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
- this.z = Math.max( minVal, Math.min( maxVal, this.z ) );
- this.w = Math.max( minVal, Math.min( maxVal, this.w ) );
-
- return this;
-
- }
-
- clampLength( min, max ) {
-
- const length = this.length();
-
- return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
-
- }
-
- floor() {
-
- this.x = Math.floor( this.x );
- this.y = Math.floor( this.y );
- this.z = Math.floor( this.z );
- this.w = Math.floor( this.w );
-
- return this;
-
- }
-
- ceil() {
-
- this.x = Math.ceil( this.x );
- this.y = Math.ceil( this.y );
- this.z = Math.ceil( this.z );
- this.w = Math.ceil( this.w );
-
- return this;
-
- }
-
- round() {
-
- this.x = Math.round( this.x );
- this.y = Math.round( this.y );
- this.z = Math.round( this.z );
- this.w = Math.round( this.w );
-
- return this;
-
- }
-
- roundToZero() {
-
- this.x = ( this.x < 0 ) ? Math.ceil( this.x ) : Math.floor( this.x );
- this.y = ( this.y < 0 ) ? Math.ceil( this.y ) : Math.floor( this.y );
- this.z = ( this.z < 0 ) ? Math.ceil( this.z ) : Math.floor( this.z );
- this.w = ( this.w < 0 ) ? Math.ceil( this.w ) : Math.floor( this.w );
-
- return this;
-
- }
-
- negate() {
-
- this.x = - this.x;
- this.y = - this.y;
- this.z = - this.z;
- this.w = - this.w;
-
- return this;
-
- }
-
- dot( v ) {
-
- return this.x * v.x + this.y * v.y + this.z * v.z + this.w * v.w;
-
- }
-
- lengthSq() {
-
- return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
-
- }
-
- length() {
-
- return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w );
-
- }
-
- manhattanLength() {
-
- return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z ) + Math.abs( this.w );
-
- }
-
- normalize() {
-
- return this.divideScalar( this.length() || 1 );
-
- }
-
- setLength( length ) {
-
- return this.normalize().multiplyScalar( length );
-
- }
-
- lerp( v, alpha ) {
-
- this.x += ( v.x - this.x ) * alpha;
- this.y += ( v.y - this.y ) * alpha;
- this.z += ( v.z - this.z ) * alpha;
- this.w += ( v.w - this.w ) * alpha;
-
- return this;
-
- }
-
- lerpVectors( v1, v2, alpha ) {
-
- this.x = v1.x + ( v2.x - v1.x ) * alpha;
- this.y = v1.y + ( v2.y - v1.y ) * alpha;
- this.z = v1.z + ( v2.z - v1.z ) * alpha;
- this.w = v1.w + ( v2.w - v1.w ) * alpha;
-
- return this;
-
- }
-
- equals( v ) {
-
- return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) && ( v.w === this.w ) );
-
- }
-
- fromArray( array, offset = 0 ) {
-
- this.x = array[ offset ];
- this.y = array[ offset + 1 ];
- this.z = array[ offset + 2 ];
- this.w = array[ offset + 3 ];
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this.x;
- array[ offset + 1 ] = this.y;
- array[ offset + 2 ] = this.z;
- array[ offset + 3 ] = this.w;
-
- return array;
-
- }
-
- fromBufferAttribute( attribute, index ) {
-
- this.x = attribute.getX( index );
- this.y = attribute.getY( index );
- this.z = attribute.getZ( index );
- this.w = attribute.getW( index );
-
- return this;
-
- }
-
- random() {
-
- this.x = Math.random();
- this.y = Math.random();
- this.z = Math.random();
- this.w = Math.random();
-
- return this;
-
- }
-
- *[ Symbol.iterator ]() {
-
- yield this.x;
- yield this.y;
- yield this.z;
- yield this.w;
-
- }
-
-}
-
-/*
- In options, we can specify:
- * Texture parameters for an auto-generated target texture
- * depthBuffer/stencilBuffer: Booleans to indicate if we should generate these buffers
-*/
-class WebGLRenderTarget extends EventDispatcher {
-
- constructor( width = 1, height = 1, options = {} ) {
-
- super();
-
- this.isWebGLRenderTarget = true;
-
- this.width = width;
- this.height = height;
- this.depth = 1;
-
- this.scissor = new Vector4( 0, 0, width, height );
- this.scissorTest = false;
-
- this.viewport = new Vector4( 0, 0, width, height );
-
- const image = { width: width, height: height, depth: 1 };
-
- this.texture = new Texture( image, options.mapping, options.wrapS, options.wrapT, options.magFilter, options.minFilter, options.format, options.type, options.anisotropy, options.encoding );
- this.texture.isRenderTargetTexture = true;
-
- this.texture.flipY = false;
- this.texture.generateMipmaps = options.generateMipmaps !== undefined ? options.generateMipmaps : false;
- this.texture.internalFormat = options.internalFormat !== undefined ? options.internalFormat : null;
- this.texture.minFilter = options.minFilter !== undefined ? options.minFilter : LinearFilter;
-
- this.depthBuffer = options.depthBuffer !== undefined ? options.depthBuffer : true;
- this.stencilBuffer = options.stencilBuffer !== undefined ? options.stencilBuffer : false;
-
- this.depthTexture = options.depthTexture !== undefined ? options.depthTexture : null;
-
- this.samples = options.samples !== undefined ? options.samples : 0;
-
- }
-
- setSize( width, height, depth = 1 ) {
-
- if ( this.width !== width || this.height !== height || this.depth !== depth ) {
-
- this.width = width;
- this.height = height;
- this.depth = depth;
-
- this.texture.image.width = width;
- this.texture.image.height = height;
- this.texture.image.depth = depth;
-
- this.dispose();
-
- }
-
- this.viewport.set( 0, 0, width, height );
- this.scissor.set( 0, 0, width, height );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( source ) {
-
- this.width = source.width;
- this.height = source.height;
- this.depth = source.depth;
-
- this.viewport.copy( source.viewport );
-
- this.texture = source.texture.clone();
- this.texture.isRenderTargetTexture = true;
-
- // ensure image object is not shared, see #20328
-
- const image = Object.assign( {}, source.texture.image );
- this.texture.source = new Source( image );
-
- this.depthBuffer = source.depthBuffer;
- this.stencilBuffer = source.stencilBuffer;
-
- if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();
-
- this.samples = source.samples;
-
- return this;
-
- }
-
- dispose() {
-
- this.dispatchEvent( { type: 'dispose' } );
-
- }
-
-}
-
-class DataArrayTexture extends Texture {
-
- constructor( data = null, width = 1, height = 1, depth = 1 ) {
-
- super( null );
-
- this.isDataArrayTexture = true;
-
- this.image = { data, width, height, depth };
-
- this.magFilter = NearestFilter;
- this.minFilter = NearestFilter;
-
- this.wrapR = ClampToEdgeWrapping;
-
- this.generateMipmaps = false;
- this.flipY = false;
- this.unpackAlignment = 1;
-
- }
-
-}
-
-class WebGLArrayRenderTarget extends WebGLRenderTarget {
-
- constructor( width = 1, height = 1, depth = 1 ) {
-
- super( width, height );
-
- this.isWebGLArrayRenderTarget = true;
-
- this.depth = depth;
-
- this.texture = new DataArrayTexture( null, width, height, depth );
-
- this.texture.isRenderTargetTexture = true;
-
- }
-
-}
-
-class Data3DTexture extends Texture {
-
- constructor( data = null, width = 1, height = 1, depth = 1 ) {
-
- // We're going to add .setXXX() methods for setting properties later.
- // Users can still set in DataTexture3D directly.
- //
- // const texture = new THREE.DataTexture3D( data, width, height, depth );
- // texture.anisotropy = 16;
- //
- // See #14839
-
- super( null );
-
- this.isData3DTexture = true;
-
- this.image = { data, width, height, depth };
-
- this.magFilter = NearestFilter;
- this.minFilter = NearestFilter;
-
- this.wrapR = ClampToEdgeWrapping;
-
- this.generateMipmaps = false;
- this.flipY = false;
- this.unpackAlignment = 1;
-
- }
-
-}
-
-class WebGL3DRenderTarget extends WebGLRenderTarget {
-
- constructor( width = 1, height = 1, depth = 1 ) {
-
- super( width, height );
-
- this.isWebGL3DRenderTarget = true;
-
- this.depth = depth;
-
- this.texture = new Data3DTexture( null, width, height, depth );
-
- this.texture.isRenderTargetTexture = true;
-
- }
-
-}
-
-class WebGLMultipleRenderTargets extends WebGLRenderTarget {
-
- constructor( width = 1, height = 1, count = 1, options = {} ) {
-
- super( width, height, options );
-
- this.isWebGLMultipleRenderTargets = true;
-
- const texture = this.texture;
-
- this.texture = [];
-
- for ( let i = 0; i < count; i ++ ) {
-
- this.texture[ i ] = texture.clone();
- this.texture[ i ].isRenderTargetTexture = true;
-
- }
-
- }
-
- setSize( width, height, depth = 1 ) {
-
- if ( this.width !== width || this.height !== height || this.depth !== depth ) {
-
- this.width = width;
- this.height = height;
- this.depth = depth;
-
- for ( let i = 0, il = this.texture.length; i < il; i ++ ) {
-
- this.texture[ i ].image.width = width;
- this.texture[ i ].image.height = height;
- this.texture[ i ].image.depth = depth;
-
- }
-
- this.dispose();
-
- }
-
- this.viewport.set( 0, 0, width, height );
- this.scissor.set( 0, 0, width, height );
-
- return this;
-
- }
-
- copy( source ) {
-
- this.dispose();
-
- this.width = source.width;
- this.height = source.height;
- this.depth = source.depth;
-
- this.viewport.set( 0, 0, this.width, this.height );
- this.scissor.set( 0, 0, this.width, this.height );
-
- this.depthBuffer = source.depthBuffer;
- this.stencilBuffer = source.stencilBuffer;
-
- if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();
-
- this.texture.length = 0;
-
- for ( let i = 0, il = source.texture.length; i < il; i ++ ) {
-
- this.texture[ i ] = source.texture[ i ].clone();
- this.texture[ i ].isRenderTargetTexture = true;
-
- }
-
- return this;
-
- }
-
-}
-
-class Box3 {
-
- constructor( min = new Vector3( + Infinity, + Infinity, + Infinity ), max = new Vector3( - Infinity, - Infinity, - Infinity ) ) {
-
- this.isBox3 = true;
-
- this.min = min;
- this.max = max;
-
- }
-
- set( min, max ) {
-
- this.min.copy( min );
- this.max.copy( max );
-
- return this;
-
- }
-
- setFromArray( array ) {
-
- let minX = + Infinity;
- let minY = + Infinity;
- let minZ = + Infinity;
-
- let maxX = - Infinity;
- let maxY = - Infinity;
- let maxZ = - Infinity;
-
- for ( let i = 0, l = array.length; i < l; i += 3 ) {
-
- const x = array[ i ];
- const y = array[ i + 1 ];
- const z = array[ i + 2 ];
-
- if ( x < minX ) minX = x;
- if ( y < minY ) minY = y;
- if ( z < minZ ) minZ = z;
-
- if ( x > maxX ) maxX = x;
- if ( y > maxY ) maxY = y;
- if ( z > maxZ ) maxZ = z;
-
- }
-
- this.min.set( minX, minY, minZ );
- this.max.set( maxX, maxY, maxZ );
-
- return this;
-
- }
-
- setFromBufferAttribute( attribute ) {
-
- let minX = + Infinity;
- let minY = + Infinity;
- let minZ = + Infinity;
-
- let maxX = - Infinity;
- let maxY = - Infinity;
- let maxZ = - Infinity;
-
- for ( let i = 0, l = attribute.count; i < l; i ++ ) {
-
- const x = attribute.getX( i );
- const y = attribute.getY( i );
- const z = attribute.getZ( i );
-
- if ( x < minX ) minX = x;
- if ( y < minY ) minY = y;
- if ( z < minZ ) minZ = z;
-
- if ( x > maxX ) maxX = x;
- if ( y > maxY ) maxY = y;
- if ( z > maxZ ) maxZ = z;
-
- }
-
- this.min.set( minX, minY, minZ );
- this.max.set( maxX, maxY, maxZ );
-
- return this;
-
- }
-
- setFromPoints( points ) {
-
- this.makeEmpty();
-
- for ( let i = 0, il = points.length; i < il; i ++ ) {
-
- this.expandByPoint( points[ i ] );
-
- }
-
- return this;
-
- }
-
- setFromCenterAndSize( center, size ) {
-
- const halfSize = _vector$b.copy( size ).multiplyScalar( 0.5 );
-
- this.min.copy( center ).sub( halfSize );
- this.max.copy( center ).add( halfSize );
-
- return this;
-
- }
-
- setFromObject( object, precise = false ) {
-
- this.makeEmpty();
-
- return this.expandByObject( object, precise );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( box ) {
-
- this.min.copy( box.min );
- this.max.copy( box.max );
-
- return this;
-
- }
-
- makeEmpty() {
-
- this.min.x = this.min.y = this.min.z = + Infinity;
- this.max.x = this.max.y = this.max.z = - Infinity;
-
- return this;
-
- }
-
- isEmpty() {
-
- // this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes
-
- return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y ) || ( this.max.z < this.min.z );
-
- }
-
- getCenter( target ) {
-
- return this.isEmpty() ? target.set( 0, 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 );
-
- }
-
- getSize( target ) {
-
- return this.isEmpty() ? target.set( 0, 0, 0 ) : target.subVectors( this.max, this.min );
-
- }
-
- expandByPoint( point ) {
-
- this.min.min( point );
- this.max.max( point );
-
- return this;
-
- }
-
- expandByVector( vector ) {
-
- this.min.sub( vector );
- this.max.add( vector );
-
- return this;
-
- }
-
- expandByScalar( scalar ) {
-
- this.min.addScalar( - scalar );
- this.max.addScalar( scalar );
-
- return this;
-
- }
-
- expandByObject( object, precise = false ) {
-
- // Computes the world-axis-aligned bounding box of an object (including its children),
- // accounting for both the object's, and children's, world transforms
-
- object.updateWorldMatrix( false, false );
-
- const geometry = object.geometry;
-
- if ( geometry !== undefined ) {
-
- if ( precise && geometry.attributes != undefined && geometry.attributes.position !== undefined ) {
-
- const position = geometry.attributes.position;
- for ( let i = 0, l = position.count; i < l; i ++ ) {
-
- _vector$b.fromBufferAttribute( position, i ).applyMatrix4( object.matrixWorld );
- this.expandByPoint( _vector$b );
-
- }
-
- } else {
-
- if ( geometry.boundingBox === null ) {
-
- geometry.computeBoundingBox();
-
- }
-
- _box$3.copy( geometry.boundingBox );
- _box$3.applyMatrix4( object.matrixWorld );
-
- this.union( _box$3 );
-
- }
-
- }
-
- const children = object.children;
-
- for ( let i = 0, l = children.length; i < l; i ++ ) {
-
- this.expandByObject( children[ i ], precise );
-
- }
-
- return this;
-
- }
-
- containsPoint( point ) {
-
- return point.x < this.min.x || point.x > this.max.x ||
- point.y < this.min.y || point.y > this.max.y ||
- point.z < this.min.z || point.z > this.max.z ? false : true;
-
- }
-
- containsBox( box ) {
-
- return this.min.x <= box.min.x && box.max.x <= this.max.x &&
- this.min.y <= box.min.y && box.max.y <= this.max.y &&
- this.min.z <= box.min.z && box.max.z <= this.max.z;
-
- }
-
- getParameter( point, target ) {
-
- // This can potentially have a divide by zero if the box
- // has a size dimension of 0.
-
- return target.set(
- ( point.x - this.min.x ) / ( this.max.x - this.min.x ),
- ( point.y - this.min.y ) / ( this.max.y - this.min.y ),
- ( point.z - this.min.z ) / ( this.max.z - this.min.z )
- );
-
- }
-
- intersectsBox( box ) {
-
- // using 6 splitting planes to rule out intersections.
- return box.max.x < this.min.x || box.min.x > this.max.x ||
- box.max.y < this.min.y || box.min.y > this.max.y ||
- box.max.z < this.min.z || box.min.z > this.max.z ? false : true;
-
- }
-
- intersectsSphere( sphere ) {
-
- // Find the point on the AABB closest to the sphere center.
- this.clampPoint( sphere.center, _vector$b );
-
- // If that point is inside the sphere, the AABB and sphere intersect.
- return _vector$b.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius );
-
- }
-
- intersectsPlane( plane ) {
-
- // We compute the minimum and maximum dot product values. If those values
- // are on the same side (back or front) of the plane, then there is no intersection.
-
- let min, max;
-
- if ( plane.normal.x > 0 ) {
-
- min = plane.normal.x * this.min.x;
- max = plane.normal.x * this.max.x;
-
- } else {
-
- min = plane.normal.x * this.max.x;
- max = plane.normal.x * this.min.x;
-
- }
-
- if ( plane.normal.y > 0 ) {
-
- min += plane.normal.y * this.min.y;
- max += plane.normal.y * this.max.y;
-
- } else {
-
- min += plane.normal.y * this.max.y;
- max += plane.normal.y * this.min.y;
-
- }
-
- if ( plane.normal.z > 0 ) {
-
- min += plane.normal.z * this.min.z;
- max += plane.normal.z * this.max.z;
-
- } else {
-
- min += plane.normal.z * this.max.z;
- max += plane.normal.z * this.min.z;
-
- }
-
- return ( min <= - plane.constant && max >= - plane.constant );
-
- }
-
- intersectsTriangle( triangle ) {
-
- if ( this.isEmpty() ) {
-
- return false;
-
- }
-
- // compute box center and extents
- this.getCenter( _center );
- _extents.subVectors( this.max, _center );
-
- // translate triangle to aabb origin
- _v0$2.subVectors( triangle.a, _center );
- _v1$7.subVectors( triangle.b, _center );
- _v2$4.subVectors( triangle.c, _center );
-
- // compute edge vectors for triangle
- _f0.subVectors( _v1$7, _v0$2 );
- _f1.subVectors( _v2$4, _v1$7 );
- _f2.subVectors( _v0$2, _v2$4 );
-
- // test against axes that are given by cross product combinations of the edges of the triangle and the edges of the aabb
- // make an axis testing of each of the 3 sides of the aabb against each of the 3 sides of the triangle = 9 axis of separation
- // axis_ij = u_i x f_j (u0, u1, u2 = face normals of aabb = x,y,z axes vectors since aabb is axis aligned)
- let axes = [
- 0, - _f0.z, _f0.y, 0, - _f1.z, _f1.y, 0, - _f2.z, _f2.y,
- _f0.z, 0, - _f0.x, _f1.z, 0, - _f1.x, _f2.z, 0, - _f2.x,
- - _f0.y, _f0.x, 0, - _f1.y, _f1.x, 0, - _f2.y, _f2.x, 0
- ];
- if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {
-
- return false;
-
- }
-
- // test 3 face normals from the aabb
- axes = [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ];
- if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {
-
- return false;
-
- }
-
- // finally testing the face normal of the triangle
- // use already existing triangle edge vectors here
- _triangleNormal.crossVectors( _f0, _f1 );
- axes = [ _triangleNormal.x, _triangleNormal.y, _triangleNormal.z ];
-
- return satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents );
-
- }
-
- clampPoint( point, target ) {
-
- return target.copy( point ).clamp( this.min, this.max );
-
- }
-
- distanceToPoint( point ) {
-
- return this.clampPoint( point, _vector$b ).distanceTo( point );
-
- }
-
- getBoundingSphere( target ) {
-
- if ( this.isEmpty() ) {
-
- target.makeEmpty();
-
- } else {
-
- this.getCenter( target.center );
-
- target.radius = this.getSize( _vector$b ).length() * 0.5;
-
- }
-
- return target;
-
- }
-
- intersect( box ) {
-
- this.min.max( box.min );
- this.max.min( box.max );
-
- // ensure that if there is no overlap, the result is fully empty, not slightly empty with non-inf/+inf values that will cause subsequence intersects to erroneously return valid values.
- if ( this.isEmpty() ) this.makeEmpty();
-
- return this;
-
- }
-
- union( box ) {
-
- this.min.min( box.min );
- this.max.max( box.max );
-
- return this;
-
- }
-
- applyMatrix4( matrix ) {
-
- // transform of empty box is an empty box.
- if ( this.isEmpty() ) return this;
-
- // NOTE: I am using a binary pattern to specify all 2^3 combinations below
- _points[ 0 ].set( this.min.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 000
- _points[ 1 ].set( this.min.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 001
- _points[ 2 ].set( this.min.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 010
- _points[ 3 ].set( this.min.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 011
- _points[ 4 ].set( this.max.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 100
- _points[ 5 ].set( this.max.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 101
- _points[ 6 ].set( this.max.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 110
- _points[ 7 ].set( this.max.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 111
-
- this.setFromPoints( _points );
-
- return this;
-
- }
-
- translate( offset ) {
-
- this.min.add( offset );
- this.max.add( offset );
-
- return this;
-
- }
-
- equals( box ) {
-
- return box.min.equals( this.min ) && box.max.equals( this.max );
-
- }
-
-}
-
-const _points = [
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3(),
- /*@__PURE__*/ new Vector3()
-];
-
-const _vector$b = /*@__PURE__*/ new Vector3();
-
-const _box$3 = /*@__PURE__*/ new Box3();
-
-// triangle centered vertices
-
-const _v0$2 = /*@__PURE__*/ new Vector3();
-const _v1$7 = /*@__PURE__*/ new Vector3();
-const _v2$4 = /*@__PURE__*/ new Vector3();
-
-// triangle edge vectors
-
-const _f0 = /*@__PURE__*/ new Vector3();
-const _f1 = /*@__PURE__*/ new Vector3();
-const _f2 = /*@__PURE__*/ new Vector3();
-
-const _center = /*@__PURE__*/ new Vector3();
-const _extents = /*@__PURE__*/ new Vector3();
-const _triangleNormal = /*@__PURE__*/ new Vector3();
-const _testAxis = /*@__PURE__*/ new Vector3();
-
-function satForAxes( axes, v0, v1, v2, extents ) {
-
- for ( let i = 0, j = axes.length - 3; i <= j; i += 3 ) {
-
- _testAxis.fromArray( axes, i );
- // project the aabb onto the separating axis
- const r = extents.x * Math.abs( _testAxis.x ) + extents.y * Math.abs( _testAxis.y ) + extents.z * Math.abs( _testAxis.z );
- // project all 3 vertices of the triangle onto the separating axis
- const p0 = v0.dot( _testAxis );
- const p1 = v1.dot( _testAxis );
- const p2 = v2.dot( _testAxis );
- // actual test, basically see if either of the most extreme of the triangle points intersects r
- if ( Math.max( - Math.max( p0, p1, p2 ), Math.min( p0, p1, p2 ) ) > r ) {
-
- // points of the projected triangle are outside the projected half-length of the aabb
- // the axis is separating and we can exit
- return false;
-
- }
-
- }
-
- return true;
-
-}
-
-const _box$2 = /*@__PURE__*/ new Box3();
-const _v1$6 = /*@__PURE__*/ new Vector3();
-const _v2$3 = /*@__PURE__*/ new Vector3();
-
-class Sphere {
-
- constructor( center = new Vector3(), radius = - 1 ) {
-
- this.center = center;
- this.radius = radius;
-
- }
-
- set( center, radius ) {
-
- this.center.copy( center );
- this.radius = radius;
-
- return this;
-
- }
-
- setFromPoints( points, optionalCenter ) {
-
- const center = this.center;
-
- if ( optionalCenter !== undefined ) {
-
- center.copy( optionalCenter );
-
- } else {
-
- _box$2.setFromPoints( points ).getCenter( center );
-
- }
-
- let maxRadiusSq = 0;
-
- for ( let i = 0, il = points.length; i < il; i ++ ) {
-
- maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( points[ i ] ) );
-
- }
-
- this.radius = Math.sqrt( maxRadiusSq );
-
- return this;
-
- }
-
- copy( sphere ) {
-
- this.center.copy( sphere.center );
- this.radius = sphere.radius;
-
- return this;
-
- }
-
- isEmpty() {
-
- return ( this.radius < 0 );
-
- }
-
- makeEmpty() {
-
- this.center.set( 0, 0, 0 );
- this.radius = - 1;
-
- return this;
-
- }
-
- containsPoint( point ) {
-
- return ( point.distanceToSquared( this.center ) <= ( this.radius * this.radius ) );
-
- }
-
- distanceToPoint( point ) {
-
- return ( point.distanceTo( this.center ) - this.radius );
-
- }
-
- intersectsSphere( sphere ) {
-
- const radiusSum = this.radius + sphere.radius;
-
- return sphere.center.distanceToSquared( this.center ) <= ( radiusSum * radiusSum );
-
- }
-
- intersectsBox( box ) {
-
- return box.intersectsSphere( this );
-
- }
-
- intersectsPlane( plane ) {
-
- return Math.abs( plane.distanceToPoint( this.center ) ) <= this.radius;
-
- }
-
- clampPoint( point, target ) {
-
- const deltaLengthSq = this.center.distanceToSquared( point );
-
- target.copy( point );
-
- if ( deltaLengthSq > ( this.radius * this.radius ) ) {
-
- target.sub( this.center ).normalize();
- target.multiplyScalar( this.radius ).add( this.center );
-
- }
-
- return target;
-
- }
-
- getBoundingBox( target ) {
-
- if ( this.isEmpty() ) {
-
- // Empty sphere produces empty bounding box
- target.makeEmpty();
- return target;
-
- }
-
- target.set( this.center, this.center );
- target.expandByScalar( this.radius );
-
- return target;
-
- }
-
- applyMatrix4( matrix ) {
-
- this.center.applyMatrix4( matrix );
- this.radius = this.radius * matrix.getMaxScaleOnAxis();
-
- return this;
-
- }
-
- translate( offset ) {
-
- this.center.add( offset );
-
- return this;
-
- }
-
- expandByPoint( point ) {
-
- if ( this.isEmpty() ) {
-
- this.center.copy( point );
-
- this.radius = 0;
-
- return this;
-
- }
-
- _v1$6.subVectors( point, this.center );
-
- const lengthSq = _v1$6.lengthSq();
-
- if ( lengthSq > ( this.radius * this.radius ) ) {
-
- // calculate the minimal sphere
-
- const length = Math.sqrt( lengthSq );
-
- const delta = ( length - this.radius ) * 0.5;
-
- this.center.addScaledVector( _v1$6, delta / length );
-
- this.radius += delta;
-
- }
-
- return this;
-
- }
-
- union( sphere ) {
-
- if ( sphere.isEmpty() ) {
-
- return this;
-
- }
-
- if ( this.isEmpty() ) {
-
- this.copy( sphere );
-
- return this;
-
- }
-
- if ( this.center.equals( sphere.center ) === true ) {
-
- this.radius = Math.max( this.radius, sphere.radius );
-
- } else {
-
- _v2$3.subVectors( sphere.center, this.center ).setLength( sphere.radius );
-
- this.expandByPoint( _v1$6.copy( sphere.center ).add( _v2$3 ) );
-
- this.expandByPoint( _v1$6.copy( sphere.center ).sub( _v2$3 ) );
-
- }
-
- return this;
-
- }
-
- equals( sphere ) {
-
- return sphere.center.equals( this.center ) && ( sphere.radius === this.radius );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
-}
-
-const _vector$a = /*@__PURE__*/ new Vector3();
-const _segCenter = /*@__PURE__*/ new Vector3();
-const _segDir = /*@__PURE__*/ new Vector3();
-const _diff = /*@__PURE__*/ new Vector3();
-
-const _edge1 = /*@__PURE__*/ new Vector3();
-const _edge2 = /*@__PURE__*/ new Vector3();
-const _normal$1 = /*@__PURE__*/ new Vector3();
-
-class Ray {
-
- constructor( origin = new Vector3(), direction = new Vector3( 0, 0, - 1 ) ) {
-
- this.origin = origin;
- this.direction = direction;
-
- }
-
- set( origin, direction ) {
-
- this.origin.copy( origin );
- this.direction.copy( direction );
-
- return this;
-
- }
-
- copy( ray ) {
-
- this.origin.copy( ray.origin );
- this.direction.copy( ray.direction );
-
- return this;
-
- }
-
- at( t, target ) {
-
- return target.copy( this.origin ).addScaledVector( this.direction, t );
-
- }
-
- lookAt( v ) {
-
- this.direction.copy( v ).sub( this.origin ).normalize();
-
- return this;
-
- }
-
- recast( t ) {
-
- this.origin.copy( this.at( t, _vector$a ) );
-
- return this;
-
- }
-
- closestPointToPoint( point, target ) {
-
- target.subVectors( point, this.origin );
-
- const directionDistance = target.dot( this.direction );
-
- if ( directionDistance < 0 ) {
-
- return target.copy( this.origin );
-
- }
-
- return target.copy( this.origin ).addScaledVector( this.direction, directionDistance );
-
- }
-
- distanceToPoint( point ) {
-
- return Math.sqrt( this.distanceSqToPoint( point ) );
-
- }
-
- distanceSqToPoint( point ) {
-
- const directionDistance = _vector$a.subVectors( point, this.origin ).dot( this.direction );
-
- // point behind the ray
-
- if ( directionDistance < 0 ) {
-
- return this.origin.distanceToSquared( point );
-
- }
-
- _vector$a.copy( this.origin ).addScaledVector( this.direction, directionDistance );
-
- return _vector$a.distanceToSquared( point );
-
- }
-
- distanceSqToSegment( v0, v1, optionalPointOnRay, optionalPointOnSegment ) {
-
- // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteDistRaySegment.h
- // It returns the min distance between the ray and the segment
- // defined by v0 and v1
- // It can also set two optional targets :
- // - The closest point on the ray
- // - The closest point on the segment
-
- _segCenter.copy( v0 ).add( v1 ).multiplyScalar( 0.5 );
- _segDir.copy( v1 ).sub( v0 ).normalize();
- _diff.copy( this.origin ).sub( _segCenter );
-
- const segExtent = v0.distanceTo( v1 ) * 0.5;
- const a01 = - this.direction.dot( _segDir );
- const b0 = _diff.dot( this.direction );
- const b1 = - _diff.dot( _segDir );
- const c = _diff.lengthSq();
- const det = Math.abs( 1 - a01 * a01 );
- let s0, s1, sqrDist, extDet;
-
- if ( det > 0 ) {
-
- // The ray and segment are not parallel.
-
- s0 = a01 * b1 - b0;
- s1 = a01 * b0 - b1;
- extDet = segExtent * det;
-
- if ( s0 >= 0 ) {
-
- if ( s1 >= - extDet ) {
-
- if ( s1 <= extDet ) {
-
- // region 0
- // Minimum at interior points of ray and segment.
-
- const invDet = 1 / det;
- s0 *= invDet;
- s1 *= invDet;
- sqrDist = s0 * ( s0 + a01 * s1 + 2 * b0 ) + s1 * ( a01 * s0 + s1 + 2 * b1 ) + c;
-
- } else {
-
- // region 1
-
- s1 = segExtent;
- s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
- sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
-
- }
-
- } else {
-
- // region 5
-
- s1 = - segExtent;
- s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
- sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
-
- }
-
- } else {
-
- if ( s1 <= - extDet ) {
-
- // region 4
-
- s0 = Math.max( 0, - ( - a01 * segExtent + b0 ) );
- s1 = ( s0 > 0 ) ? - segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );
- sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
-
- } else if ( s1 <= extDet ) {
-
- // region 3
-
- s0 = 0;
- s1 = Math.min( Math.max( - segExtent, - b1 ), segExtent );
- sqrDist = s1 * ( s1 + 2 * b1 ) + c;
-
- } else {
-
- // region 2
-
- s0 = Math.max( 0, - ( a01 * segExtent + b0 ) );
- s1 = ( s0 > 0 ) ? segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );
- sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
-
- }
-
- }
-
- } else {
-
- // Ray and segment are parallel.
-
- s1 = ( a01 > 0 ) ? - segExtent : segExtent;
- s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
- sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
-
- }
-
- if ( optionalPointOnRay ) {
-
- optionalPointOnRay.copy( this.origin ).addScaledVector( this.direction, s0 );
-
- }
-
- if ( optionalPointOnSegment ) {
-
- optionalPointOnSegment.copy( _segCenter ).addScaledVector( _segDir, s1 );
-
- }
-
- return sqrDist;
-
- }
-
- intersectSphere( sphere, target ) {
-
- _vector$a.subVectors( sphere.center, this.origin );
- const tca = _vector$a.dot( this.direction );
- const d2 = _vector$a.dot( _vector$a ) - tca * tca;
- const radius2 = sphere.radius * sphere.radius;
-
- if ( d2 > radius2 ) return null;
-
- const thc = Math.sqrt( radius2 - d2 );
-
- // t0 = first intersect point - entrance on front of sphere
- const t0 = tca - thc;
-
- // t1 = second intersect point - exit point on back of sphere
- const t1 = tca + thc;
-
- // test to see if t1 is behind the ray - if so, return null
- if ( t1 < 0 ) return null;
-
- // test to see if t0 is behind the ray:
- // if it is, the ray is inside the sphere, so return the second exit point scaled by t1,
- // in order to always return an intersect point that is in front of the ray.
- if ( t0 < 0 ) return this.at( t1, target );
-
- // else t0 is in front of the ray, so return the first collision point scaled by t0
- return this.at( t0, target );
-
- }
-
- intersectsSphere( sphere ) {
-
- return this.distanceSqToPoint( sphere.center ) <= ( sphere.radius * sphere.radius );
-
- }
-
- distanceToPlane( plane ) {
-
- const denominator = plane.normal.dot( this.direction );
-
- if ( denominator === 0 ) {
-
- // line is coplanar, return origin
- if ( plane.distanceToPoint( this.origin ) === 0 ) {
-
- return 0;
-
- }
-
- // Null is preferable to undefined since undefined means.... it is undefined
-
- return null;
-
- }
-
- const t = - ( this.origin.dot( plane.normal ) + plane.constant ) / denominator;
-
- // Return if the ray never intersects the plane
-
- return t >= 0 ? t : null;
-
- }
-
- intersectPlane( plane, target ) {
-
- const t = this.distanceToPlane( plane );
-
- if ( t === null ) {
-
- return null;
-
- }
-
- return this.at( t, target );
-
- }
-
- intersectsPlane( plane ) {
-
- // check if the ray lies on the plane first
-
- const distToPoint = plane.distanceToPoint( this.origin );
-
- if ( distToPoint === 0 ) {
-
- return true;
-
- }
-
- const denominator = plane.normal.dot( this.direction );
-
- if ( denominator * distToPoint < 0 ) {
-
- return true;
-
- }
-
- // ray origin is behind the plane (and is pointing behind it)
-
- return false;
-
- }
-
- intersectBox( box, target ) {
-
- let tmin, tmax, tymin, tymax, tzmin, tzmax;
-
- const invdirx = 1 / this.direction.x,
- invdiry = 1 / this.direction.y,
- invdirz = 1 / this.direction.z;
-
- const origin = this.origin;
-
- if ( invdirx >= 0 ) {
-
- tmin = ( box.min.x - origin.x ) * invdirx;
- tmax = ( box.max.x - origin.x ) * invdirx;
-
- } else {
-
- tmin = ( box.max.x - origin.x ) * invdirx;
- tmax = ( box.min.x - origin.x ) * invdirx;
-
- }
-
- if ( invdiry >= 0 ) {
-
- tymin = ( box.min.y - origin.y ) * invdiry;
- tymax = ( box.max.y - origin.y ) * invdiry;
-
- } else {
-
- tymin = ( box.max.y - origin.y ) * invdiry;
- tymax = ( box.min.y - origin.y ) * invdiry;
-
- }
-
- if ( ( tmin > tymax ) || ( tymin > tmax ) ) return null;
-
- if ( tymin > tmin || isNaN( tmin ) ) tmin = tymin;
-
- if ( tymax < tmax || isNaN( tmax ) ) tmax = tymax;
-
- if ( invdirz >= 0 ) {
-
- tzmin = ( box.min.z - origin.z ) * invdirz;
- tzmax = ( box.max.z - origin.z ) * invdirz;
-
- } else {
-
- tzmin = ( box.max.z - origin.z ) * invdirz;
- tzmax = ( box.min.z - origin.z ) * invdirz;
-
- }
-
- if ( ( tmin > tzmax ) || ( tzmin > tmax ) ) return null;
-
- if ( tzmin > tmin || tmin !== tmin ) tmin = tzmin;
-
- if ( tzmax < tmax || tmax !== tmax ) tmax = tzmax;
-
- //return point closest to the ray (positive side)
-
- if ( tmax < 0 ) return null;
-
- return this.at( tmin >= 0 ? tmin : tmax, target );
-
- }
-
- intersectsBox( box ) {
-
- return this.intersectBox( box, _vector$a ) !== null;
-
- }
-
- intersectTriangle( a, b, c, backfaceCulling, target ) {
-
- // Compute the offset origin, edges, and normal.
-
- // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteIntrRay3Triangle3.h
-
- _edge1.subVectors( b, a );
- _edge2.subVectors( c, a );
- _normal$1.crossVectors( _edge1, _edge2 );
-
- // Solve Q + t*D = b1*E1 + b2*E2 (Q = kDiff, D = ray direction,
- // E1 = kEdge1, E2 = kEdge2, N = Cross(E1,E2)) by
- // |Dot(D,N)|*b1 = sign(Dot(D,N))*Dot(D,Cross(Q,E2))
- // |Dot(D,N)|*b2 = sign(Dot(D,N))*Dot(D,Cross(E1,Q))
- // |Dot(D,N)|*t = -sign(Dot(D,N))*Dot(Q,N)
- let DdN = this.direction.dot( _normal$1 );
- let sign;
-
- if ( DdN > 0 ) {
-
- if ( backfaceCulling ) return null;
- sign = 1;
-
- } else if ( DdN < 0 ) {
-
- sign = - 1;
- DdN = - DdN;
-
- } else {
-
- return null;
-
- }
-
- _diff.subVectors( this.origin, a );
- const DdQxE2 = sign * this.direction.dot( _edge2.crossVectors( _diff, _edge2 ) );
-
- // b1 < 0, no intersection
- if ( DdQxE2 < 0 ) {
-
- return null;
-
- }
-
- const DdE1xQ = sign * this.direction.dot( _edge1.cross( _diff ) );
-
- // b2 < 0, no intersection
- if ( DdE1xQ < 0 ) {
-
- return null;
-
- }
-
- // b1+b2 > 1, no intersection
- if ( DdQxE2 + DdE1xQ > DdN ) {
-
- return null;
-
- }
-
- // Line intersects triangle, check if ray does.
- const QdN = - sign * _diff.dot( _normal$1 );
-
- // t < 0, no intersection
- if ( QdN < 0 ) {
-
- return null;
-
- }
-
- // Ray intersects triangle.
- return this.at( QdN / DdN, target );
-
- }
-
- applyMatrix4( matrix4 ) {
-
- this.origin.applyMatrix4( matrix4 );
- this.direction.transformDirection( matrix4 );
-
- return this;
-
- }
-
- equals( ray ) {
-
- return ray.origin.equals( this.origin ) && ray.direction.equals( this.direction );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
-}
-
-class Matrix4 {
-
- constructor() {
-
- Matrix4.prototype.isMatrix4 = true;
-
- this.elements = [
-
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1
-
- ];
-
- }
-
- set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {
-
- const te = this.elements;
-
- te[ 0 ] = n11; te[ 4 ] = n12; te[ 8 ] = n13; te[ 12 ] = n14;
- te[ 1 ] = n21; te[ 5 ] = n22; te[ 9 ] = n23; te[ 13 ] = n24;
- te[ 2 ] = n31; te[ 6 ] = n32; te[ 10 ] = n33; te[ 14 ] = n34;
- te[ 3 ] = n41; te[ 7 ] = n42; te[ 11 ] = n43; te[ 15 ] = n44;
-
- return this;
-
- }
-
- identity() {
-
- this.set(
-
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- clone() {
-
- return new Matrix4().fromArray( this.elements );
-
- }
-
- copy( m ) {
-
- const te = this.elements;
- const me = m.elements;
-
- te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ]; te[ 3 ] = me[ 3 ];
- te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ]; te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ];
- te[ 8 ] = me[ 8 ]; te[ 9 ] = me[ 9 ]; te[ 10 ] = me[ 10 ]; te[ 11 ] = me[ 11 ];
- te[ 12 ] = me[ 12 ]; te[ 13 ] = me[ 13 ]; te[ 14 ] = me[ 14 ]; te[ 15 ] = me[ 15 ];
-
- return this;
-
- }
-
- copyPosition( m ) {
-
- const te = this.elements, me = m.elements;
-
- te[ 12 ] = me[ 12 ];
- te[ 13 ] = me[ 13 ];
- te[ 14 ] = me[ 14 ];
-
- return this;
-
- }
-
- setFromMatrix3( m ) {
-
- const me = m.elements;
-
- this.set(
-
- me[ 0 ], me[ 3 ], me[ 6 ], 0,
- me[ 1 ], me[ 4 ], me[ 7 ], 0,
- me[ 2 ], me[ 5 ], me[ 8 ], 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- extractBasis( xAxis, yAxis, zAxis ) {
-
- xAxis.setFromMatrixColumn( this, 0 );
- yAxis.setFromMatrixColumn( this, 1 );
- zAxis.setFromMatrixColumn( this, 2 );
-
- return this;
-
- }
-
- makeBasis( xAxis, yAxis, zAxis ) {
-
- this.set(
- xAxis.x, yAxis.x, zAxis.x, 0,
- xAxis.y, yAxis.y, zAxis.y, 0,
- xAxis.z, yAxis.z, zAxis.z, 0,
- 0, 0, 0, 1
- );
-
- return this;
-
- }
-
- extractRotation( m ) {
-
- // this method does not support reflection matrices
-
- const te = this.elements;
- const me = m.elements;
-
- const scaleX = 1 / _v1$5.setFromMatrixColumn( m, 0 ).length();
- const scaleY = 1 / _v1$5.setFromMatrixColumn( m, 1 ).length();
- const scaleZ = 1 / _v1$5.setFromMatrixColumn( m, 2 ).length();
-
- te[ 0 ] = me[ 0 ] * scaleX;
- te[ 1 ] = me[ 1 ] * scaleX;
- te[ 2 ] = me[ 2 ] * scaleX;
- te[ 3 ] = 0;
-
- te[ 4 ] = me[ 4 ] * scaleY;
- te[ 5 ] = me[ 5 ] * scaleY;
- te[ 6 ] = me[ 6 ] * scaleY;
- te[ 7 ] = 0;
-
- te[ 8 ] = me[ 8 ] * scaleZ;
- te[ 9 ] = me[ 9 ] * scaleZ;
- te[ 10 ] = me[ 10 ] * scaleZ;
- te[ 11 ] = 0;
-
- te[ 12 ] = 0;
- te[ 13 ] = 0;
- te[ 14 ] = 0;
- te[ 15 ] = 1;
-
- return this;
-
- }
-
- makeRotationFromEuler( euler ) {
-
- const te = this.elements;
-
- const x = euler.x, y = euler.y, z = euler.z;
- const a = Math.cos( x ), b = Math.sin( x );
- const c = Math.cos( y ), d = Math.sin( y );
- const e = Math.cos( z ), f = Math.sin( z );
-
- if ( euler.order === 'XYZ' ) {
-
- const ae = a * e, af = a * f, be = b * e, bf = b * f;
-
- te[ 0 ] = c * e;
- te[ 4 ] = - c * f;
- te[ 8 ] = d;
-
- te[ 1 ] = af + be * d;
- te[ 5 ] = ae - bf * d;
- te[ 9 ] = - b * c;
-
- te[ 2 ] = bf - ae * d;
- te[ 6 ] = be + af * d;
- te[ 10 ] = a * c;
-
- } else if ( euler.order === 'YXZ' ) {
-
- const ce = c * e, cf = c * f, de = d * e, df = d * f;
-
- te[ 0 ] = ce + df * b;
- te[ 4 ] = de * b - cf;
- te[ 8 ] = a * d;
-
- te[ 1 ] = a * f;
- te[ 5 ] = a * e;
- te[ 9 ] = - b;
-
- te[ 2 ] = cf * b - de;
- te[ 6 ] = df + ce * b;
- te[ 10 ] = a * c;
-
- } else if ( euler.order === 'ZXY' ) {
-
- const ce = c * e, cf = c * f, de = d * e, df = d * f;
-
- te[ 0 ] = ce - df * b;
- te[ 4 ] = - a * f;
- te[ 8 ] = de + cf * b;
-
- te[ 1 ] = cf + de * b;
- te[ 5 ] = a * e;
- te[ 9 ] = df - ce * b;
-
- te[ 2 ] = - a * d;
- te[ 6 ] = b;
- te[ 10 ] = a * c;
-
- } else if ( euler.order === 'ZYX' ) {
-
- const ae = a * e, af = a * f, be = b * e, bf = b * f;
-
- te[ 0 ] = c * e;
- te[ 4 ] = be * d - af;
- te[ 8 ] = ae * d + bf;
-
- te[ 1 ] = c * f;
- te[ 5 ] = bf * d + ae;
- te[ 9 ] = af * d - be;
-
- te[ 2 ] = - d;
- te[ 6 ] = b * c;
- te[ 10 ] = a * c;
-
- } else if ( euler.order === 'YZX' ) {
-
- const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
-
- te[ 0 ] = c * e;
- te[ 4 ] = bd - ac * f;
- te[ 8 ] = bc * f + ad;
-
- te[ 1 ] = f;
- te[ 5 ] = a * e;
- te[ 9 ] = - b * e;
-
- te[ 2 ] = - d * e;
- te[ 6 ] = ad * f + bc;
- te[ 10 ] = ac - bd * f;
-
- } else if ( euler.order === 'XZY' ) {
-
- const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
-
- te[ 0 ] = c * e;
- te[ 4 ] = - f;
- te[ 8 ] = d * e;
-
- te[ 1 ] = ac * f + bd;
- te[ 5 ] = a * e;
- te[ 9 ] = ad * f - bc;
-
- te[ 2 ] = bc * f - ad;
- te[ 6 ] = b * e;
- te[ 10 ] = bd * f + ac;
-
- }
-
- // bottom row
- te[ 3 ] = 0;
- te[ 7 ] = 0;
- te[ 11 ] = 0;
-
- // last column
- te[ 12 ] = 0;
- te[ 13 ] = 0;
- te[ 14 ] = 0;
- te[ 15 ] = 1;
-
- return this;
-
- }
-
- makeRotationFromQuaternion( q ) {
-
- return this.compose( _zero, q, _one );
-
- }
-
- lookAt( eye, target, up ) {
-
- const te = this.elements;
-
- _z.subVectors( eye, target );
-
- if ( _z.lengthSq() === 0 ) {
-
- // eye and target are in the same position
-
- _z.z = 1;
-
- }
-
- _z.normalize();
- _x.crossVectors( up, _z );
-
- if ( _x.lengthSq() === 0 ) {
-
- // up and z are parallel
-
- if ( Math.abs( up.z ) === 1 ) {
-
- _z.x += 0.0001;
-
- } else {
-
- _z.z += 0.0001;
-
- }
-
- _z.normalize();
- _x.crossVectors( up, _z );
-
- }
-
- _x.normalize();
- _y.crossVectors( _z, _x );
-
- te[ 0 ] = _x.x; te[ 4 ] = _y.x; te[ 8 ] = _z.x;
- te[ 1 ] = _x.y; te[ 5 ] = _y.y; te[ 9 ] = _z.y;
- te[ 2 ] = _x.z; te[ 6 ] = _y.z; te[ 10 ] = _z.z;
-
- return this;
-
- }
-
- multiply( m ) {
-
- return this.multiplyMatrices( this, m );
-
- }
-
- premultiply( m ) {
-
- return this.multiplyMatrices( m, this );
-
- }
-
- multiplyMatrices( a, b ) {
-
- const ae = a.elements;
- const be = b.elements;
- const te = this.elements;
-
- const a11 = ae[ 0 ], a12 = ae[ 4 ], a13 = ae[ 8 ], a14 = ae[ 12 ];
- const a21 = ae[ 1 ], a22 = ae[ 5 ], a23 = ae[ 9 ], a24 = ae[ 13 ];
- const a31 = ae[ 2 ], a32 = ae[ 6 ], a33 = ae[ 10 ], a34 = ae[ 14 ];
- const a41 = ae[ 3 ], a42 = ae[ 7 ], a43 = ae[ 11 ], a44 = ae[ 15 ];
-
- const b11 = be[ 0 ], b12 = be[ 4 ], b13 = be[ 8 ], b14 = be[ 12 ];
- const b21 = be[ 1 ], b22 = be[ 5 ], b23 = be[ 9 ], b24 = be[ 13 ];
- const b31 = be[ 2 ], b32 = be[ 6 ], b33 = be[ 10 ], b34 = be[ 14 ];
- const b41 = be[ 3 ], b42 = be[ 7 ], b43 = be[ 11 ], b44 = be[ 15 ];
-
- te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
- te[ 4 ] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
- te[ 8 ] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
- te[ 12 ] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
-
- te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
- te[ 5 ] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
- te[ 9 ] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
- te[ 13 ] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
-
- te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
- te[ 6 ] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
- te[ 10 ] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
- te[ 14 ] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
-
- te[ 3 ] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
- te[ 7 ] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
- te[ 11 ] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
- te[ 15 ] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
-
- return this;
-
- }
-
- multiplyScalar( s ) {
-
- const te = this.elements;
-
- te[ 0 ] *= s; te[ 4 ] *= s; te[ 8 ] *= s; te[ 12 ] *= s;
- te[ 1 ] *= s; te[ 5 ] *= s; te[ 9 ] *= s; te[ 13 ] *= s;
- te[ 2 ] *= s; te[ 6 ] *= s; te[ 10 ] *= s; te[ 14 ] *= s;
- te[ 3 ] *= s; te[ 7 ] *= s; te[ 11 ] *= s; te[ 15 ] *= s;
-
- return this;
-
- }
-
- determinant() {
-
- const te = this.elements;
-
- const n11 = te[ 0 ], n12 = te[ 4 ], n13 = te[ 8 ], n14 = te[ 12 ];
- const n21 = te[ 1 ], n22 = te[ 5 ], n23 = te[ 9 ], n24 = te[ 13 ];
- const n31 = te[ 2 ], n32 = te[ 6 ], n33 = te[ 10 ], n34 = te[ 14 ];
- const n41 = te[ 3 ], n42 = te[ 7 ], n43 = te[ 11 ], n44 = te[ 15 ];
-
- //TODO: make this more efficient
- //( based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm )
-
- return (
- n41 * (
- + n14 * n23 * n32
- - n13 * n24 * n32
- - n14 * n22 * n33
- + n12 * n24 * n33
- + n13 * n22 * n34
- - n12 * n23 * n34
- ) +
- n42 * (
- + n11 * n23 * n34
- - n11 * n24 * n33
- + n14 * n21 * n33
- - n13 * n21 * n34
- + n13 * n24 * n31
- - n14 * n23 * n31
- ) +
- n43 * (
- + n11 * n24 * n32
- - n11 * n22 * n34
- - n14 * n21 * n32
- + n12 * n21 * n34
- + n14 * n22 * n31
- - n12 * n24 * n31
- ) +
- n44 * (
- - n13 * n22 * n31
- - n11 * n23 * n32
- + n11 * n22 * n33
- + n13 * n21 * n32
- - n12 * n21 * n33
- + n12 * n23 * n31
- )
-
- );
-
- }
-
- transpose() {
-
- const te = this.elements;
- let tmp;
-
- tmp = te[ 1 ]; te[ 1 ] = te[ 4 ]; te[ 4 ] = tmp;
- tmp = te[ 2 ]; te[ 2 ] = te[ 8 ]; te[ 8 ] = tmp;
- tmp = te[ 6 ]; te[ 6 ] = te[ 9 ]; te[ 9 ] = tmp;
-
- tmp = te[ 3 ]; te[ 3 ] = te[ 12 ]; te[ 12 ] = tmp;
- tmp = te[ 7 ]; te[ 7 ] = te[ 13 ]; te[ 13 ] = tmp;
- tmp = te[ 11 ]; te[ 11 ] = te[ 14 ]; te[ 14 ] = tmp;
-
- return this;
-
- }
-
- setPosition( x, y, z ) {
-
- const te = this.elements;
-
- if ( x.isVector3 ) {
-
- te[ 12 ] = x.x;
- te[ 13 ] = x.y;
- te[ 14 ] = x.z;
-
- } else {
-
- te[ 12 ] = x;
- te[ 13 ] = y;
- te[ 14 ] = z;
-
- }
-
- return this;
-
- }
-
- invert() {
-
- // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
- const te = this.elements,
-
- n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
- n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ],
- n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
- n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],
-
- t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
- t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
- t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
- t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
-
- const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
-
- if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );
-
- const detInv = 1 / det;
-
- te[ 0 ] = t11 * detInv;
- te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
- te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
- te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;
-
- te[ 4 ] = t12 * detInv;
- te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
- te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
- te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;
-
- te[ 8 ] = t13 * detInv;
- te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
- te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
- te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;
-
- te[ 12 ] = t14 * detInv;
- te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
- te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
- te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
-
- return this;
-
- }
-
- scale( v ) {
-
- const te = this.elements;
- const x = v.x, y = v.y, z = v.z;
-
- te[ 0 ] *= x; te[ 4 ] *= y; te[ 8 ] *= z;
- te[ 1 ] *= x; te[ 5 ] *= y; te[ 9 ] *= z;
- te[ 2 ] *= x; te[ 6 ] *= y; te[ 10 ] *= z;
- te[ 3 ] *= x; te[ 7 ] *= y; te[ 11 ] *= z;
-
- return this;
-
- }
-
- getMaxScaleOnAxis() {
-
- const te = this.elements;
-
- const scaleXSq = te[ 0 ] * te[ 0 ] + te[ 1 ] * te[ 1 ] + te[ 2 ] * te[ 2 ];
- const scaleYSq = te[ 4 ] * te[ 4 ] + te[ 5 ] * te[ 5 ] + te[ 6 ] * te[ 6 ];
- const scaleZSq = te[ 8 ] * te[ 8 ] + te[ 9 ] * te[ 9 ] + te[ 10 ] * te[ 10 ];
-
- return Math.sqrt( Math.max( scaleXSq, scaleYSq, scaleZSq ) );
-
- }
-
- makeTranslation( x, y, z ) {
-
- this.set(
-
- 1, 0, 0, x,
- 0, 1, 0, y,
- 0, 0, 1, z,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeRotationX( theta ) {
-
- const c = Math.cos( theta ), s = Math.sin( theta );
-
- this.set(
-
- 1, 0, 0, 0,
- 0, c, - s, 0,
- 0, s, c, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeRotationY( theta ) {
-
- const c = Math.cos( theta ), s = Math.sin( theta );
-
- this.set(
-
- c, 0, s, 0,
- 0, 1, 0, 0,
- - s, 0, c, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeRotationZ( theta ) {
-
- const c = Math.cos( theta ), s = Math.sin( theta );
-
- this.set(
-
- c, - s, 0, 0,
- s, c, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeRotationAxis( axis, angle ) {
-
- // Based on http://www.gamedev.net/reference/articles/article1199.asp
-
- const c = Math.cos( angle );
- const s = Math.sin( angle );
- const t = 1 - c;
- const x = axis.x, y = axis.y, z = axis.z;
- const tx = t * x, ty = t * y;
-
- this.set(
-
- tx * x + c, tx * y - s * z, tx * z + s * y, 0,
- tx * y + s * z, ty * y + c, ty * z - s * x, 0,
- tx * z - s * y, ty * z + s * x, t * z * z + c, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeScale( x, y, z ) {
-
- this.set(
-
- x, 0, 0, 0,
- 0, y, 0, 0,
- 0, 0, z, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- makeShear( xy, xz, yx, yz, zx, zy ) {
-
- this.set(
-
- 1, yx, zx, 0,
- xy, 1, zy, 0,
- xz, yz, 1, 0,
- 0, 0, 0, 1
-
- );
-
- return this;
-
- }
-
- compose( position, quaternion, scale ) {
-
- const te = this.elements;
-
- const x = quaternion._x, y = quaternion._y, z = quaternion._z, w = quaternion._w;
- const x2 = x + x, y2 = y + y, z2 = z + z;
- const xx = x * x2, xy = x * y2, xz = x * z2;
- const yy = y * y2, yz = y * z2, zz = z * z2;
- const wx = w * x2, wy = w * y2, wz = w * z2;
-
- const sx = scale.x, sy = scale.y, sz = scale.z;
-
- te[ 0 ] = ( 1 - ( yy + zz ) ) * sx;
- te[ 1 ] = ( xy + wz ) * sx;
- te[ 2 ] = ( xz - wy ) * sx;
- te[ 3 ] = 0;
-
- te[ 4 ] = ( xy - wz ) * sy;
- te[ 5 ] = ( 1 - ( xx + zz ) ) * sy;
- te[ 6 ] = ( yz + wx ) * sy;
- te[ 7 ] = 0;
-
- te[ 8 ] = ( xz + wy ) * sz;
- te[ 9 ] = ( yz - wx ) * sz;
- te[ 10 ] = ( 1 - ( xx + yy ) ) * sz;
- te[ 11 ] = 0;
-
- te[ 12 ] = position.x;
- te[ 13 ] = position.y;
- te[ 14 ] = position.z;
- te[ 15 ] = 1;
-
- return this;
-
- }
-
- decompose( position, quaternion, scale ) {
-
- const te = this.elements;
-
- let sx = _v1$5.set( te[ 0 ], te[ 1 ], te[ 2 ] ).length();
- const sy = _v1$5.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length();
- const sz = _v1$5.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length();
-
- // if determine is negative, we need to invert one scale
- const det = this.determinant();
- if ( det < 0 ) sx = - sx;
-
- position.x = te[ 12 ];
- position.y = te[ 13 ];
- position.z = te[ 14 ];
-
- // scale the rotation part
- _m1$2.copy( this );
-
- const invSX = 1 / sx;
- const invSY = 1 / sy;
- const invSZ = 1 / sz;
-
- _m1$2.elements[ 0 ] *= invSX;
- _m1$2.elements[ 1 ] *= invSX;
- _m1$2.elements[ 2 ] *= invSX;
-
- _m1$2.elements[ 4 ] *= invSY;
- _m1$2.elements[ 5 ] *= invSY;
- _m1$2.elements[ 6 ] *= invSY;
-
- _m1$2.elements[ 8 ] *= invSZ;
- _m1$2.elements[ 9 ] *= invSZ;
- _m1$2.elements[ 10 ] *= invSZ;
-
- quaternion.setFromRotationMatrix( _m1$2 );
-
- scale.x = sx;
- scale.y = sy;
- scale.z = sz;
-
- return this;
-
- }
-
- makePerspective( left, right, top, bottom, near, far ) {
-
- const te = this.elements;
- const x = 2 * near / ( right - left );
- const y = 2 * near / ( top - bottom );
-
- const a = ( right + left ) / ( right - left );
- const b = ( top + bottom ) / ( top - bottom );
- const c = - ( far + near ) / ( far - near );
- const d = - 2 * far * near / ( far - near );
-
- te[ 0 ] = x; te[ 4 ] = 0; te[ 8 ] = a; te[ 12 ] = 0;
- te[ 1 ] = 0; te[ 5 ] = y; te[ 9 ] = b; te[ 13 ] = 0;
- te[ 2 ] = 0; te[ 6 ] = 0; te[ 10 ] = c; te[ 14 ] = d;
- te[ 3 ] = 0; te[ 7 ] = 0; te[ 11 ] = - 1; te[ 15 ] = 0;
-
- return this;
-
- }
-
- makeOrthographic( left, right, top, bottom, near, far ) {
-
- const te = this.elements;
- const w = 1.0 / ( right - left );
- const h = 1.0 / ( top - bottom );
- const p = 1.0 / ( far - near );
-
- const x = ( right + left ) * w;
- const y = ( top + bottom ) * h;
- const z = ( far + near ) * p;
-
- te[ 0 ] = 2 * w; te[ 4 ] = 0; te[ 8 ] = 0; te[ 12 ] = - x;
- te[ 1 ] = 0; te[ 5 ] = 2 * h; te[ 9 ] = 0; te[ 13 ] = - y;
- te[ 2 ] = 0; te[ 6 ] = 0; te[ 10 ] = - 2 * p; te[ 14 ] = - z;
- te[ 3 ] = 0; te[ 7 ] = 0; te[ 11 ] = 0; te[ 15 ] = 1;
-
- return this;
-
- }
-
- equals( matrix ) {
-
- const te = this.elements;
- const me = matrix.elements;
-
- for ( let i = 0; i < 16; i ++ ) {
-
- if ( te[ i ] !== me[ i ] ) return false;
-
- }
-
- return true;
-
- }
-
- fromArray( array, offset = 0 ) {
-
- for ( let i = 0; i < 16; i ++ ) {
-
- this.elements[ i ] = array[ i + offset ];
-
- }
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- const te = this.elements;
-
- array[ offset ] = te[ 0 ];
- array[ offset + 1 ] = te[ 1 ];
- array[ offset + 2 ] = te[ 2 ];
- array[ offset + 3 ] = te[ 3 ];
-
- array[ offset + 4 ] = te[ 4 ];
- array[ offset + 5 ] = te[ 5 ];
- array[ offset + 6 ] = te[ 6 ];
- array[ offset + 7 ] = te[ 7 ];
-
- array[ offset + 8 ] = te[ 8 ];
- array[ offset + 9 ] = te[ 9 ];
- array[ offset + 10 ] = te[ 10 ];
- array[ offset + 11 ] = te[ 11 ];
-
- array[ offset + 12 ] = te[ 12 ];
- array[ offset + 13 ] = te[ 13 ];
- array[ offset + 14 ] = te[ 14 ];
- array[ offset + 15 ] = te[ 15 ];
-
- return array;
-
- }
-
-}
-
-const _v1$5 = /*@__PURE__*/ new Vector3();
-const _m1$2 = /*@__PURE__*/ new Matrix4();
-const _zero = /*@__PURE__*/ new Vector3( 0, 0, 0 );
-const _one = /*@__PURE__*/ new Vector3( 1, 1, 1 );
-const _x = /*@__PURE__*/ new Vector3();
-const _y = /*@__PURE__*/ new Vector3();
-const _z = /*@__PURE__*/ new Vector3();
-
-const _matrix$1 = /*@__PURE__*/ new Matrix4();
-const _quaternion$3 = /*@__PURE__*/ new Quaternion();
-
-class Euler {
-
- constructor( x = 0, y = 0, z = 0, order = Euler.DEFAULT_ORDER ) {
-
- this.isEuler = true;
-
- this._x = x;
- this._y = y;
- this._z = z;
- this._order = order;
-
- }
-
- get x() {
-
- return this._x;
-
- }
-
- set x( value ) {
-
- this._x = value;
- this._onChangeCallback();
-
- }
-
- get y() {
-
- return this._y;
-
- }
-
- set y( value ) {
-
- this._y = value;
- this._onChangeCallback();
-
- }
-
- get z() {
-
- return this._z;
-
- }
-
- set z( value ) {
-
- this._z = value;
- this._onChangeCallback();
-
- }
-
- get order() {
-
- return this._order;
-
- }
-
- set order( value ) {
-
- this._order = value;
- this._onChangeCallback();
-
- }
-
- set( x, y, z, order = this._order ) {
-
- this._x = x;
- this._y = y;
- this._z = z;
- this._order = order;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- clone() {
-
- return new this.constructor( this._x, this._y, this._z, this._order );
-
- }
-
- copy( euler ) {
-
- this._x = euler._x;
- this._y = euler._y;
- this._z = euler._z;
- this._order = euler._order;
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- setFromRotationMatrix( m, order = this._order, update = true ) {
-
- // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-
- const te = m.elements;
- const m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ];
- const m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ];
- const m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];
-
- switch ( order ) {
-
- case 'XYZ':
-
- this._y = Math.asin( clamp( m13, - 1, 1 ) );
-
- if ( Math.abs( m13 ) < 0.9999999 ) {
-
- this._x = Math.atan2( - m23, m33 );
- this._z = Math.atan2( - m12, m11 );
-
- } else {
-
- this._x = Math.atan2( m32, m22 );
- this._z = 0;
-
- }
-
- break;
-
- case 'YXZ':
-
- this._x = Math.asin( - clamp( m23, - 1, 1 ) );
-
- if ( Math.abs( m23 ) < 0.9999999 ) {
-
- this._y = Math.atan2( m13, m33 );
- this._z = Math.atan2( m21, m22 );
-
- } else {
-
- this._y = Math.atan2( - m31, m11 );
- this._z = 0;
-
- }
-
- break;
-
- case 'ZXY':
-
- this._x = Math.asin( clamp( m32, - 1, 1 ) );
-
- if ( Math.abs( m32 ) < 0.9999999 ) {
-
- this._y = Math.atan2( - m31, m33 );
- this._z = Math.atan2( - m12, m22 );
-
- } else {
-
- this._y = 0;
- this._z = Math.atan2( m21, m11 );
-
- }
-
- break;
-
- case 'ZYX':
-
- this._y = Math.asin( - clamp( m31, - 1, 1 ) );
-
- if ( Math.abs( m31 ) < 0.9999999 ) {
-
- this._x = Math.atan2( m32, m33 );
- this._z = Math.atan2( m21, m11 );
-
- } else {
-
- this._x = 0;
- this._z = Math.atan2( - m12, m22 );
-
- }
-
- break;
-
- case 'YZX':
-
- this._z = Math.asin( clamp( m21, - 1, 1 ) );
-
- if ( Math.abs( m21 ) < 0.9999999 ) {
-
- this._x = Math.atan2( - m23, m22 );
- this._y = Math.atan2( - m31, m11 );
-
- } else {
-
- this._x = 0;
- this._y = Math.atan2( m13, m33 );
-
- }
-
- break;
-
- case 'XZY':
-
- this._z = Math.asin( - clamp( m12, - 1, 1 ) );
-
- if ( Math.abs( m12 ) < 0.9999999 ) {
-
- this._x = Math.atan2( m32, m22 );
- this._y = Math.atan2( m13, m11 );
-
- } else {
-
- this._x = Math.atan2( - m23, m33 );
- this._y = 0;
-
- }
-
- break;
-
- default:
-
- console.warn( 'THREE.Euler: .setFromRotationMatrix() encountered an unknown order: ' + order );
-
- }
-
- this._order = order;
-
- if ( update === true ) this._onChangeCallback();
-
- return this;
-
- }
-
- setFromQuaternion( q, order, update ) {
-
- _matrix$1.makeRotationFromQuaternion( q );
-
- return this.setFromRotationMatrix( _matrix$1, order, update );
-
- }
-
- setFromVector3( v, order = this._order ) {
-
- return this.set( v.x, v.y, v.z, order );
-
- }
-
- reorder( newOrder ) {
-
- // WARNING: this discards revolution information -bhouston
-
- _quaternion$3.setFromEuler( this );
-
- return this.setFromQuaternion( _quaternion$3, newOrder );
-
- }
-
- equals( euler ) {
-
- return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order );
-
- }
-
- fromArray( array ) {
-
- this._x = array[ 0 ];
- this._y = array[ 1 ];
- this._z = array[ 2 ];
- if ( array[ 3 ] !== undefined ) this._order = array[ 3 ];
-
- this._onChangeCallback();
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this._x;
- array[ offset + 1 ] = this._y;
- array[ offset + 2 ] = this._z;
- array[ offset + 3 ] = this._order;
-
- return array;
-
- }
-
- _onChange( callback ) {
-
- this._onChangeCallback = callback;
-
- return this;
-
- }
-
- _onChangeCallback() {}
-
- *[ Symbol.iterator ]() {
-
- yield this._x;
- yield this._y;
- yield this._z;
- yield this._order;
-
- }
-
-}
-
-Euler.DEFAULT_ORDER = 'XYZ';
-
-class Layers {
-
- constructor() {
-
- this.mask = 1 | 0;
-
- }
-
- set( channel ) {
-
- this.mask = ( 1 << channel | 0 ) >>> 0;
-
- }
-
- enable( channel ) {
-
- this.mask |= 1 << channel | 0;
-
- }
-
- enableAll() {
-
- this.mask = 0xffffffff | 0;
-
- }
-
- toggle( channel ) {
-
- this.mask ^= 1 << channel | 0;
-
- }
-
- disable( channel ) {
-
- this.mask &= ~ ( 1 << channel | 0 );
-
- }
-
- disableAll() {
-
- this.mask = 0;
-
- }
-
- test( layers ) {
-
- return ( this.mask & layers.mask ) !== 0;
-
- }
-
- isEnabled( channel ) {
-
- return ( this.mask & ( 1 << channel | 0 ) ) !== 0;
-
- }
-
-}
-
-let _object3DId = 0;
-
-const _v1$4 = /*@__PURE__*/ new Vector3();
-const _q1 = /*@__PURE__*/ new Quaternion();
-const _m1$1 = /*@__PURE__*/ new Matrix4();
-const _target = /*@__PURE__*/ new Vector3();
-
-const _position$3 = /*@__PURE__*/ new Vector3();
-const _scale$2 = /*@__PURE__*/ new Vector3();
-const _quaternion$2 = /*@__PURE__*/ new Quaternion();
-
-const _xAxis = /*@__PURE__*/ new Vector3( 1, 0, 0 );
-const _yAxis = /*@__PURE__*/ new Vector3( 0, 1, 0 );
-const _zAxis = /*@__PURE__*/ new Vector3( 0, 0, 1 );
-
-const _addedEvent = { type: 'added' };
-const _removedEvent = { type: 'removed' };
-
-class Object3D extends EventDispatcher {
-
- constructor() {
-
- super();
-
- this.isObject3D = true;
-
- Object.defineProperty( this, 'id', { value: _object3DId ++ } );
-
- this.uuid = generateUUID();
-
- this.name = '';
- this.type = 'Object3D';
-
- this.parent = null;
- this.children = [];
-
- this.up = Object3D.DEFAULT_UP.clone();
-
- const position = new Vector3();
- const rotation = new Euler();
- const quaternion = new Quaternion();
- const scale = new Vector3( 1, 1, 1 );
-
- function onRotationChange() {
-
- quaternion.setFromEuler( rotation, false );
-
- }
-
- function onQuaternionChange() {
-
- rotation.setFromQuaternion( quaternion, undefined, false );
-
- }
-
- rotation._onChange( onRotationChange );
- quaternion._onChange( onQuaternionChange );
-
- Object.defineProperties( this, {
- position: {
- configurable: true,
- enumerable: true,
- value: position
- },
- rotation: {
- configurable: true,
- enumerable: true,
- value: rotation
- },
- quaternion: {
- configurable: true,
- enumerable: true,
- value: quaternion
- },
- scale: {
- configurable: true,
- enumerable: true,
- value: scale
- },
- modelViewMatrix: {
- value: new Matrix4()
- },
- normalMatrix: {
- value: new Matrix3()
- }
- } );
-
- this.matrix = new Matrix4();
- this.matrixWorld = new Matrix4();
-
- this.matrixAutoUpdate = Object3D.DEFAULT_MATRIX_AUTO_UPDATE;
- this.matrixWorldNeedsUpdate = false;
-
- this.matrixWorldAutoUpdate = Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE; // checked by the renderer
-
- this.layers = new Layers();
- this.visible = true;
-
- this.castShadow = false;
- this.receiveShadow = false;
-
- this.frustumCulled = true;
- this.renderOrder = 0;
-
- this.animations = [];
-
- this.userData = {};
-
- }
-
- onBeforeRender( /* renderer, scene, camera, geometry, material, group */ ) {}
-
- onAfterRender( /* renderer, scene, camera, geometry, material, group */ ) {}
-
- applyMatrix4( matrix ) {
-
- if ( this.matrixAutoUpdate ) this.updateMatrix();
-
- this.matrix.premultiply( matrix );
-
- this.matrix.decompose( this.position, this.quaternion, this.scale );
-
- }
-
- applyQuaternion( q ) {
-
- this.quaternion.premultiply( q );
-
- return this;
-
- }
-
- setRotationFromAxisAngle( axis, angle ) {
-
- // assumes axis is normalized
-
- this.quaternion.setFromAxisAngle( axis, angle );
-
- }
-
- setRotationFromEuler( euler ) {
-
- this.quaternion.setFromEuler( euler, true );
-
- }
-
- setRotationFromMatrix( m ) {
-
- // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-
- this.quaternion.setFromRotationMatrix( m );
-
- }
-
- setRotationFromQuaternion( q ) {
-
- // assumes q is normalized
-
- this.quaternion.copy( q );
-
- }
-
- rotateOnAxis( axis, angle ) {
-
- // rotate object on axis in object space
- // axis is assumed to be normalized
-
- _q1.setFromAxisAngle( axis, angle );
-
- this.quaternion.multiply( _q1 );
-
- return this;
-
- }
-
- rotateOnWorldAxis( axis, angle ) {
-
- // rotate object on axis in world space
- // axis is assumed to be normalized
- // method assumes no rotated parent
-
- _q1.setFromAxisAngle( axis, angle );
-
- this.quaternion.premultiply( _q1 );
-
- return this;
-
- }
-
- rotateX( angle ) {
-
- return this.rotateOnAxis( _xAxis, angle );
-
- }
-
- rotateY( angle ) {
-
- return this.rotateOnAxis( _yAxis, angle );
-
- }
-
- rotateZ( angle ) {
-
- return this.rotateOnAxis( _zAxis, angle );
-
- }
-
- translateOnAxis( axis, distance ) {
-
- // translate object by distance along axis in object space
- // axis is assumed to be normalized
-
- _v1$4.copy( axis ).applyQuaternion( this.quaternion );
-
- this.position.add( _v1$4.multiplyScalar( distance ) );
-
- return this;
-
- }
-
- translateX( distance ) {
-
- return this.translateOnAxis( _xAxis, distance );
-
- }
-
- translateY( distance ) {
-
- return this.translateOnAxis( _yAxis, distance );
-
- }
-
- translateZ( distance ) {
-
- return this.translateOnAxis( _zAxis, distance );
-
- }
-
- localToWorld( vector ) {
-
- this.updateWorldMatrix( true, false );
-
- return vector.applyMatrix4( this.matrixWorld );
-
- }
-
- worldToLocal( vector ) {
-
- this.updateWorldMatrix( true, false );
-
- return vector.applyMatrix4( _m1$1.copy( this.matrixWorld ).invert() );
-
- }
-
- lookAt( x, y, z ) {
-
- // This method does not support objects having non-uniformly-scaled parent(s)
-
- if ( x.isVector3 ) {
-
- _target.copy( x );
-
- } else {
-
- _target.set( x, y, z );
-
- }
-
- const parent = this.parent;
-
- this.updateWorldMatrix( true, false );
-
- _position$3.setFromMatrixPosition( this.matrixWorld );
-
- if ( this.isCamera || this.isLight ) {
-
- _m1$1.lookAt( _position$3, _target, this.up );
-
- } else {
-
- _m1$1.lookAt( _target, _position$3, this.up );
-
- }
-
- this.quaternion.setFromRotationMatrix( _m1$1 );
-
- if ( parent ) {
-
- _m1$1.extractRotation( parent.matrixWorld );
- _q1.setFromRotationMatrix( _m1$1 );
- this.quaternion.premultiply( _q1.invert() );
-
- }
-
- }
-
- add( object ) {
-
- if ( arguments.length > 1 ) {
-
- for ( let i = 0; i < arguments.length; i ++ ) {
-
- this.add( arguments[ i ] );
-
- }
-
- return this;
-
- }
-
- if ( object === this ) {
-
- console.error( 'THREE.Object3D.add: object can\'t be added as a child of itself.', object );
- return this;
-
- }
-
- if ( object && object.isObject3D ) {
-
- if ( object.parent !== null ) {
-
- object.parent.remove( object );
-
- }
-
- object.parent = this;
- this.children.push( object );
-
- object.dispatchEvent( _addedEvent );
-
- } else {
-
- console.error( 'THREE.Object3D.add: object not an instance of THREE.Object3D.', object );
-
- }
-
- return this;
-
- }
-
- remove( object ) {
-
- if ( arguments.length > 1 ) {
-
- for ( let i = 0; i < arguments.length; i ++ ) {
-
- this.remove( arguments[ i ] );
-
- }
-
- return this;
-
- }
-
- const index = this.children.indexOf( object );
-
- if ( index !== - 1 ) {
-
- object.parent = null;
- this.children.splice( index, 1 );
-
- object.dispatchEvent( _removedEvent );
-
- }
-
- return this;
-
- }
-
- removeFromParent() {
-
- const parent = this.parent;
-
- if ( parent !== null ) {
-
- parent.remove( this );
-
- }
-
- return this;
-
- }
-
- clear() {
-
- for ( let i = 0; i < this.children.length; i ++ ) {
-
- const object = this.children[ i ];
-
- object.parent = null;
-
- object.dispatchEvent( _removedEvent );
-
- }
-
- this.children.length = 0;
-
- return this;
-
-
- }
-
- attach( object ) {
-
- // adds object as a child of this, while maintaining the object's world transform
-
- // Note: This method does not support scene graphs having non-uniformly-scaled nodes(s)
-
- this.updateWorldMatrix( true, false );
-
- _m1$1.copy( this.matrixWorld ).invert();
-
- if ( object.parent !== null ) {
-
- object.parent.updateWorldMatrix( true, false );
-
- _m1$1.multiply( object.parent.matrixWorld );
-
- }
-
- object.applyMatrix4( _m1$1 );
-
- this.add( object );
-
- object.updateWorldMatrix( false, true );
-
- return this;
-
- }
-
- getObjectById( id ) {
-
- return this.getObjectByProperty( 'id', id );
-
- }
-
- getObjectByName( name ) {
-
- return this.getObjectByProperty( 'name', name );
-
- }
-
- getObjectByProperty( name, value ) {
-
- if ( this[ name ] === value ) return this;
-
- for ( let i = 0, l = this.children.length; i < l; i ++ ) {
-
- const child = this.children[ i ];
- const object = child.getObjectByProperty( name, value );
-
- if ( object !== undefined ) {
-
- return object;
-
- }
-
- }
-
- return undefined;
-
- }
-
- getObjectsByProperty( name, value ) {
-
- let result = [];
-
- if ( this[ name ] === value ) result.push( this );
-
- for ( let i = 0, l = this.children.length; i < l; i ++ ) {
-
- const childResult = this.children[ i ].getObjectsByProperty( name, value );
-
- if ( childResult.length > 0 ) {
-
- result = result.concat( childResult );
-
- }
-
- }
-
- return result;
-
- }
-
- getWorldPosition( target ) {
-
- this.updateWorldMatrix( true, false );
-
- return target.setFromMatrixPosition( this.matrixWorld );
-
- }
-
- getWorldQuaternion( target ) {
-
- this.updateWorldMatrix( true, false );
-
- this.matrixWorld.decompose( _position$3, target, _scale$2 );
-
- return target;
-
- }
-
- getWorldScale( target ) {
-
- this.updateWorldMatrix( true, false );
-
- this.matrixWorld.decompose( _position$3, _quaternion$2, target );
-
- return target;
-
- }
-
- getWorldDirection( target ) {
-
- this.updateWorldMatrix( true, false );
-
- const e = this.matrixWorld.elements;
-
- return target.set( e[ 8 ], e[ 9 ], e[ 10 ] ).normalize();
-
- }
-
- raycast( /* raycaster, intersects */ ) {}
-
- traverse( callback ) {
-
- callback( this );
-
- const children = this.children;
-
- for ( let i = 0, l = children.length; i < l; i ++ ) {
-
- children[ i ].traverse( callback );
-
- }
-
- }
-
- traverseVisible( callback ) {
-
- if ( this.visible === false ) return;
-
- callback( this );
-
- const children = this.children;
-
- for ( let i = 0, l = children.length; i < l; i ++ ) {
-
- children[ i ].traverseVisible( callback );
-
- }
-
- }
-
- traverseAncestors( callback ) {
-
- const parent = this.parent;
-
- if ( parent !== null ) {
-
- callback( parent );
-
- parent.traverseAncestors( callback );
-
- }
-
- }
-
- updateMatrix() {
-
- this.matrix.compose( this.position, this.quaternion, this.scale );
-
- this.matrixWorldNeedsUpdate = true;
-
- }
-
- updateMatrixWorld( force ) {
-
- if ( this.matrixAutoUpdate ) this.updateMatrix();
-
- if ( this.matrixWorldNeedsUpdate || force ) {
-
- if ( this.parent === null ) {
-
- this.matrixWorld.copy( this.matrix );
-
- } else {
-
- this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix );
-
- }
-
- this.matrixWorldNeedsUpdate = false;
-
- force = true;
-
- }
-
- // update children
-
- const children = this.children;
-
- for ( let i = 0, l = children.length; i < l; i ++ ) {
-
- const child = children[ i ];
-
- if ( child.matrixWorldAutoUpdate === true || force === true ) {
-
- child.updateMatrixWorld( force );
-
- }
-
- }
-
- }
-
- updateWorldMatrix( updateParents, updateChildren ) {
-
- const parent = this.parent;
-
- if ( updateParents === true && parent !== null && parent.matrixWorldAutoUpdate === true ) {
-
- parent.updateWorldMatrix( true, false );
-
- }
-
- if ( this.matrixAutoUpdate ) this.updateMatrix();
-
- if ( this.parent === null ) {
-
- this.matrixWorld.copy( this.matrix );
-
- } else {
-
- this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix );
-
- }
-
- // update children
-
- if ( updateChildren === true ) {
-
- const children = this.children;
-
- for ( let i = 0, l = children.length; i < l; i ++ ) {
-
- const child = children[ i ];
-
- if ( child.matrixWorldAutoUpdate === true ) {
-
- child.updateWorldMatrix( false, true );
-
- }
-
- }
-
- }
-
- }
-
- toJSON( meta ) {
-
- // meta is a string when called from JSON.stringify
- const isRootObject = ( meta === undefined || typeof meta === 'string' );
-
- const output = {};
-
- // meta is a hash used to collect geometries, materials.
- // not providing it implies that this is the root object
- // being serialized.
- if ( isRootObject ) {
-
- // initialize meta obj
- meta = {
- geometries: {},
- materials: {},
- textures: {},
- images: {},
- shapes: {},
- skeletons: {},
- animations: {},
- nodes: {}
- };
-
- output.metadata = {
- version: 4.5,
- type: 'Object',
- generator: 'Object3D.toJSON'
- };
-
- }
-
- // standard Object3D serialization
-
- const object = {};
-
- object.uuid = this.uuid;
- object.type = this.type;
-
- if ( this.name !== '' ) object.name = this.name;
- if ( this.castShadow === true ) object.castShadow = true;
- if ( this.receiveShadow === true ) object.receiveShadow = true;
- if ( this.visible === false ) object.visible = false;
- if ( this.frustumCulled === false ) object.frustumCulled = false;
- if ( this.renderOrder !== 0 ) object.renderOrder = this.renderOrder;
- if ( Object.keys( this.userData ).length > 0 ) object.userData = this.userData;
-
- object.layers = this.layers.mask;
- object.matrix = this.matrix.toArray();
-
- if ( this.matrixAutoUpdate === false ) object.matrixAutoUpdate = false;
-
- // object specific properties
-
- if ( this.isInstancedMesh ) {
-
- object.type = 'InstancedMesh';
- object.count = this.count;
- object.instanceMatrix = this.instanceMatrix.toJSON();
- if ( this.instanceColor !== null ) object.instanceColor = this.instanceColor.toJSON();
-
- }
-
- //
-
- function serialize( library, element ) {
-
- if ( library[ element.uuid ] === undefined ) {
-
- library[ element.uuid ] = element.toJSON( meta );
-
- }
-
- return element.uuid;
-
- }
-
- if ( this.isScene ) {
-
- if ( this.background ) {
-
- if ( this.background.isColor ) {
-
- object.background = this.background.toJSON();
-
- } else if ( this.background.isTexture ) {
-
- object.background = this.background.toJSON( meta ).uuid;
-
- }
-
- }
-
- if ( this.environment && this.environment.isTexture && this.environment.isRenderTargetTexture !== true ) {
-
- object.environment = this.environment.toJSON( meta ).uuid;
-
- }
-
- } else if ( this.isMesh || this.isLine || this.isPoints ) {
-
- object.geometry = serialize( meta.geometries, this.geometry );
-
- const parameters = this.geometry.parameters;
-
- if ( parameters !== undefined && parameters.shapes !== undefined ) {
-
- const shapes = parameters.shapes;
-
- if ( Array.isArray( shapes ) ) {
-
- for ( let i = 0, l = shapes.length; i < l; i ++ ) {
-
- const shape = shapes[ i ];
-
- serialize( meta.shapes, shape );
-
- }
-
- } else {
-
- serialize( meta.shapes, shapes );
-
- }
-
- }
-
- }
-
- if ( this.isSkinnedMesh ) {
-
- object.bindMode = this.bindMode;
- object.bindMatrix = this.bindMatrix.toArray();
-
- if ( this.skeleton !== undefined ) {
-
- serialize( meta.skeletons, this.skeleton );
-
- object.skeleton = this.skeleton.uuid;
-
- }
-
- }
-
- if ( this.material !== undefined ) {
-
- if ( Array.isArray( this.material ) ) {
-
- const uuids = [];
-
- for ( let i = 0, l = this.material.length; i < l; i ++ ) {
-
- uuids.push( serialize( meta.materials, this.material[ i ] ) );
-
- }
-
- object.material = uuids;
-
- } else {
-
- object.material = serialize( meta.materials, this.material );
-
- }
-
- }
-
- //
-
- if ( this.children.length > 0 ) {
-
- object.children = [];
-
- for ( let i = 0; i < this.children.length; i ++ ) {
-
- object.children.push( this.children[ i ].toJSON( meta ).object );
-
- }
-
- }
-
- //
-
- if ( this.animations.length > 0 ) {
-
- object.animations = [];
-
- for ( let i = 0; i < this.animations.length; i ++ ) {
-
- const animation = this.animations[ i ];
-
- object.animations.push( serialize( meta.animations, animation ) );
-
- }
-
- }
-
- if ( isRootObject ) {
-
- const geometries = extractFromCache( meta.geometries );
- const materials = extractFromCache( meta.materials );
- const textures = extractFromCache( meta.textures );
- const images = extractFromCache( meta.images );
- const shapes = extractFromCache( meta.shapes );
- const skeletons = extractFromCache( meta.skeletons );
- const animations = extractFromCache( meta.animations );
- const nodes = extractFromCache( meta.nodes );
-
- if ( geometries.length > 0 ) output.geometries = geometries;
- if ( materials.length > 0 ) output.materials = materials;
- if ( textures.length > 0 ) output.textures = textures;
- if ( images.length > 0 ) output.images = images;
- if ( shapes.length > 0 ) output.shapes = shapes;
- if ( skeletons.length > 0 ) output.skeletons = skeletons;
- if ( animations.length > 0 ) output.animations = animations;
- if ( nodes.length > 0 ) output.nodes = nodes;
-
- }
-
- output.object = object;
-
- return output;
-
- // extract data from the cache hash
- // remove metadata on each item
- // and return as array
- function extractFromCache( cache ) {
-
- const values = [];
- for ( const key in cache ) {
-
- const data = cache[ key ];
- delete data.metadata;
- values.push( data );
-
- }
-
- return values;
-
- }
-
- }
-
- clone( recursive ) {
-
- return new this.constructor().copy( this, recursive );
-
- }
-
- copy( source, recursive = true ) {
-
- this.name = source.name;
-
- this.up.copy( source.up );
-
- this.position.copy( source.position );
- this.rotation.order = source.rotation.order;
- this.quaternion.copy( source.quaternion );
- this.scale.copy( source.scale );
-
- this.matrix.copy( source.matrix );
- this.matrixWorld.copy( source.matrixWorld );
-
- this.matrixAutoUpdate = source.matrixAutoUpdate;
- this.matrixWorldNeedsUpdate = source.matrixWorldNeedsUpdate;
-
- this.matrixWorldAutoUpdate = source.matrixWorldAutoUpdate;
-
- this.layers.mask = source.layers.mask;
- this.visible = source.visible;
-
- this.castShadow = source.castShadow;
- this.receiveShadow = source.receiveShadow;
-
- this.frustumCulled = source.frustumCulled;
- this.renderOrder = source.renderOrder;
-
- this.userData = JSON.parse( JSON.stringify( source.userData ) );
-
- if ( recursive === true ) {
-
- for ( let i = 0; i < source.children.length; i ++ ) {
-
- const child = source.children[ i ];
- this.add( child.clone() );
-
- }
-
- }
-
- return this;
-
- }
-
-}
-
-Object3D.DEFAULT_UP = /*@__PURE__*/ new Vector3( 0, 1, 0 );
-Object3D.DEFAULT_MATRIX_AUTO_UPDATE = true;
-Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE = true;
-
-const _v0$1 = /*@__PURE__*/ new Vector3();
-const _v1$3 = /*@__PURE__*/ new Vector3();
-const _v2$2 = /*@__PURE__*/ new Vector3();
-const _v3$1 = /*@__PURE__*/ new Vector3();
-
-const _vab = /*@__PURE__*/ new Vector3();
-const _vac = /*@__PURE__*/ new Vector3();
-const _vbc = /*@__PURE__*/ new Vector3();
-const _vap = /*@__PURE__*/ new Vector3();
-const _vbp = /*@__PURE__*/ new Vector3();
-const _vcp = /*@__PURE__*/ new Vector3();
-
-class Triangle {
-
- constructor( a = new Vector3(), b = new Vector3(), c = new Vector3() ) {
-
- this.a = a;
- this.b = b;
- this.c = c;
-
- }
-
- static getNormal( a, b, c, target ) {
-
- target.subVectors( c, b );
- _v0$1.subVectors( a, b );
- target.cross( _v0$1 );
-
- const targetLengthSq = target.lengthSq();
- if ( targetLengthSq > 0 ) {
-
- return target.multiplyScalar( 1 / Math.sqrt( targetLengthSq ) );
-
- }
-
- return target.set( 0, 0, 0 );
-
- }
-
- // static/instance method to calculate barycentric coordinates
- // based on: http://www.blackpawn.com/texts/pointinpoly/default.html
- static getBarycoord( point, a, b, c, target ) {
-
- _v0$1.subVectors( c, a );
- _v1$3.subVectors( b, a );
- _v2$2.subVectors( point, a );
-
- const dot00 = _v0$1.dot( _v0$1 );
- const dot01 = _v0$1.dot( _v1$3 );
- const dot02 = _v0$1.dot( _v2$2 );
- const dot11 = _v1$3.dot( _v1$3 );
- const dot12 = _v1$3.dot( _v2$2 );
-
- const denom = ( dot00 * dot11 - dot01 * dot01 );
-
- // collinear or singular triangle
- if ( denom === 0 ) {
-
- // arbitrary location outside of triangle?
- // not sure if this is the best idea, maybe should be returning undefined
- return target.set( - 2, - 1, - 1 );
-
- }
-
- const invDenom = 1 / denom;
- const u = ( dot11 * dot02 - dot01 * dot12 ) * invDenom;
- const v = ( dot00 * dot12 - dot01 * dot02 ) * invDenom;
-
- // barycentric coordinates must always sum to 1
- return target.set( 1 - u - v, v, u );
-
- }
-
- static containsPoint( point, a, b, c ) {
-
- this.getBarycoord( point, a, b, c, _v3$1 );
-
- return ( _v3$1.x >= 0 ) && ( _v3$1.y >= 0 ) && ( ( _v3$1.x + _v3$1.y ) <= 1 );
-
- }
-
- static getUV( point, p1, p2, p3, uv1, uv2, uv3, target ) {
-
- this.getBarycoord( point, p1, p2, p3, _v3$1 );
-
- target.set( 0, 0 );
- target.addScaledVector( uv1, _v3$1.x );
- target.addScaledVector( uv2, _v3$1.y );
- target.addScaledVector( uv3, _v3$1.z );
-
- return target;
-
- }
-
- static isFrontFacing( a, b, c, direction ) {
-
- _v0$1.subVectors( c, b );
- _v1$3.subVectors( a, b );
-
- // strictly front facing
- return ( _v0$1.cross( _v1$3 ).dot( direction ) < 0 ) ? true : false;
-
- }
-
- set( a, b, c ) {
-
- this.a.copy( a );
- this.b.copy( b );
- this.c.copy( c );
-
- return this;
-
- }
-
- setFromPointsAndIndices( points, i0, i1, i2 ) {
-
- this.a.copy( points[ i0 ] );
- this.b.copy( points[ i1 ] );
- this.c.copy( points[ i2 ] );
-
- return this;
-
- }
-
- setFromAttributeAndIndices( attribute, i0, i1, i2 ) {
-
- this.a.fromBufferAttribute( attribute, i0 );
- this.b.fromBufferAttribute( attribute, i1 );
- this.c.fromBufferAttribute( attribute, i2 );
-
- return this;
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( triangle ) {
-
- this.a.copy( triangle.a );
- this.b.copy( triangle.b );
- this.c.copy( triangle.c );
-
- return this;
-
- }
-
- getArea() {
-
- _v0$1.subVectors( this.c, this.b );
- _v1$3.subVectors( this.a, this.b );
-
- return _v0$1.cross( _v1$3 ).length() * 0.5;
-
- }
-
- getMidpoint( target ) {
-
- return target.addVectors( this.a, this.b ).add( this.c ).multiplyScalar( 1 / 3 );
-
- }
-
- getNormal( target ) {
-
- return Triangle.getNormal( this.a, this.b, this.c, target );
-
- }
-
- getPlane( target ) {
-
- return target.setFromCoplanarPoints( this.a, this.b, this.c );
-
- }
-
- getBarycoord( point, target ) {
-
- return Triangle.getBarycoord( point, this.a, this.b, this.c, target );
-
- }
-
- getUV( point, uv1, uv2, uv3, target ) {
-
- return Triangle.getUV( point, this.a, this.b, this.c, uv1, uv2, uv3, target );
-
- }
-
- containsPoint( point ) {
-
- return Triangle.containsPoint( point, this.a, this.b, this.c );
-
- }
-
- isFrontFacing( direction ) {
-
- return Triangle.isFrontFacing( this.a, this.b, this.c, direction );
-
- }
-
- intersectsBox( box ) {
-
- return box.intersectsTriangle( this );
-
- }
-
- closestPointToPoint( p, target ) {
-
- const a = this.a, b = this.b, c = this.c;
- let v, w;
-
- // algorithm thanks to Real-Time Collision Detection by Christer Ericson,
- // published by Morgan Kaufmann Publishers, (c) 2005 Elsevier Inc.,
- // under the accompanying license; see chapter 5.1.5 for detailed explanation.
- // basically, we're distinguishing which of the voronoi regions of the triangle
- // the point lies in with the minimum amount of redundant computation.
-
- _vab.subVectors( b, a );
- _vac.subVectors( c, a );
- _vap.subVectors( p, a );
- const d1 = _vab.dot( _vap );
- const d2 = _vac.dot( _vap );
- if ( d1 <= 0 && d2 <= 0 ) {
-
- // vertex region of A; barycentric coords (1, 0, 0)
- return target.copy( a );
-
- }
-
- _vbp.subVectors( p, b );
- const d3 = _vab.dot( _vbp );
- const d4 = _vac.dot( _vbp );
- if ( d3 >= 0 && d4 <= d3 ) {
-
- // vertex region of B; barycentric coords (0, 1, 0)
- return target.copy( b );
-
- }
-
- const vc = d1 * d4 - d3 * d2;
- if ( vc <= 0 && d1 >= 0 && d3 <= 0 ) {
-
- v = d1 / ( d1 - d3 );
- // edge region of AB; barycentric coords (1-v, v, 0)
- return target.copy( a ).addScaledVector( _vab, v );
-
- }
-
- _vcp.subVectors( p, c );
- const d5 = _vab.dot( _vcp );
- const d6 = _vac.dot( _vcp );
- if ( d6 >= 0 && d5 <= d6 ) {
-
- // vertex region of C; barycentric coords (0, 0, 1)
- return target.copy( c );
-
- }
-
- const vb = d5 * d2 - d1 * d6;
- if ( vb <= 0 && d2 >= 0 && d6 <= 0 ) {
-
- w = d2 / ( d2 - d6 );
- // edge region of AC; barycentric coords (1-w, 0, w)
- return target.copy( a ).addScaledVector( _vac, w );
-
- }
-
- const va = d3 * d6 - d5 * d4;
- if ( va <= 0 && ( d4 - d3 ) >= 0 && ( d5 - d6 ) >= 0 ) {
-
- _vbc.subVectors( c, b );
- w = ( d4 - d3 ) / ( ( d4 - d3 ) + ( d5 - d6 ) );
- // edge region of BC; barycentric coords (0, 1-w, w)
- return target.copy( b ).addScaledVector( _vbc, w ); // edge region of BC
-
- }
-
- // face region
- const denom = 1 / ( va + vb + vc );
- // u = va * denom
- v = vb * denom;
- w = vc * denom;
-
- return target.copy( a ).addScaledVector( _vab, v ).addScaledVector( _vac, w );
-
- }
-
- equals( triangle ) {
-
- return triangle.a.equals( this.a ) && triangle.b.equals( this.b ) && triangle.c.equals( this.c );
-
- }
-
-}
-
-let materialId = 0;
-
-class Material extends EventDispatcher {
-
- constructor() {
-
- super();
-
- this.isMaterial = true;
-
- Object.defineProperty( this, 'id', { value: materialId ++ } );
-
- this.uuid = generateUUID();
-
- this.name = '';
- this.type = 'Material';
-
- this.blending = NormalBlending;
- this.side = FrontSide;
- this.vertexColors = false;
-
- this.opacity = 1;
- this.transparent = false;
-
- this.blendSrc = SrcAlphaFactor;
- this.blendDst = OneMinusSrcAlphaFactor;
- this.blendEquation = AddEquation;
- this.blendSrcAlpha = null;
- this.blendDstAlpha = null;
- this.blendEquationAlpha = null;
-
- this.depthFunc = LessEqualDepth;
- this.depthTest = true;
- this.depthWrite = true;
-
- this.stencilWriteMask = 0xff;
- this.stencilFunc = AlwaysStencilFunc;
- this.stencilRef = 0;
- this.stencilFuncMask = 0xff;
- this.stencilFail = KeepStencilOp;
- this.stencilZFail = KeepStencilOp;
- this.stencilZPass = KeepStencilOp;
- this.stencilWrite = false;
-
- this.clippingPlanes = null;
- this.clipIntersection = false;
- this.clipShadows = false;
-
- this.shadowSide = null;
-
- this.colorWrite = true;
-
- this.precision = null; // override the renderer's default precision for this material
-
- this.polygonOffset = false;
- this.polygonOffsetFactor = 0;
- this.polygonOffsetUnits = 0;
-
- this.dithering = false;
-
- this.alphaToCoverage = false;
- this.premultipliedAlpha = false;
- this.forceSinglePass = false;
-
- this.visible = true;
-
- this.toneMapped = true;
-
- this.userData = {};
-
- this.version = 0;
-
- this._alphaTest = 0;
-
- }
-
- get alphaTest() {
-
- return this._alphaTest;
-
- }
-
- set alphaTest( value ) {
-
- if ( this._alphaTest > 0 !== value > 0 ) {
-
- this.version ++;
-
- }
-
- this._alphaTest = value;
-
- }
-
- onBuild( /* shaderobject, renderer */ ) {}
-
- onBeforeRender( /* renderer, scene, camera, geometry, object, group */ ) {}
-
- onBeforeCompile( /* shaderobject, renderer */ ) {}
-
- customProgramCacheKey() {
-
- return this.onBeforeCompile.toString();
-
- }
-
- setValues( values ) {
-
- if ( values === undefined ) return;
-
- for ( const key in values ) {
-
- const newValue = values[ key ];
-
- if ( newValue === undefined ) {
-
- console.warn( 'THREE.Material: \'' + key + '\' parameter is undefined.' );
- continue;
-
- }
-
- const currentValue = this[ key ];
-
- if ( currentValue === undefined ) {
-
- console.warn( 'THREE.' + this.type + ': \'' + key + '\' is not a property of this material.' );
- continue;
-
- }
-
- if ( currentValue && currentValue.isColor ) {
-
- currentValue.set( newValue );
-
- } else if ( ( currentValue && currentValue.isVector3 ) && ( newValue && newValue.isVector3 ) ) {
-
- currentValue.copy( newValue );
-
- } else {
-
- this[ key ] = newValue;
-
- }
-
- }
-
- }
-
- toJSON( meta ) {
-
- const isRootObject = ( meta === undefined || typeof meta === 'string' );
-
- if ( isRootObject ) {
-
- meta = {
- textures: {},
- images: {}
- };
-
- }
-
- const data = {
- metadata: {
- version: 4.5,
- type: 'Material',
- generator: 'Material.toJSON'
- }
- };
-
- // standard Material serialization
- data.uuid = this.uuid;
- data.type = this.type;
-
- if ( this.name !== '' ) data.name = this.name;
-
- if ( this.color && this.color.isColor ) data.color = this.color.getHex();
-
- if ( this.roughness !== undefined ) data.roughness = this.roughness;
- if ( this.metalness !== undefined ) data.metalness = this.metalness;
-
- if ( this.sheen !== undefined ) data.sheen = this.sheen;
- if ( this.sheenColor && this.sheenColor.isColor ) data.sheenColor = this.sheenColor.getHex();
- if ( this.sheenRoughness !== undefined ) data.sheenRoughness = this.sheenRoughness;
- if ( this.emissive && this.emissive.isColor ) data.emissive = this.emissive.getHex();
- if ( this.emissiveIntensity && this.emissiveIntensity !== 1 ) data.emissiveIntensity = this.emissiveIntensity;
-
- if ( this.specular && this.specular.isColor ) data.specular = this.specular.getHex();
- if ( this.specularIntensity !== undefined ) data.specularIntensity = this.specularIntensity;
- if ( this.specularColor && this.specularColor.isColor ) data.specularColor = this.specularColor.getHex();
- if ( this.shininess !== undefined ) data.shininess = this.shininess;
- if ( this.clearcoat !== undefined ) data.clearcoat = this.clearcoat;
- if ( this.clearcoatRoughness !== undefined ) data.clearcoatRoughness = this.clearcoatRoughness;
-
- if ( this.clearcoatMap && this.clearcoatMap.isTexture ) {
-
- data.clearcoatMap = this.clearcoatMap.toJSON( meta ).uuid;
-
- }
-
- if ( this.clearcoatRoughnessMap && this.clearcoatRoughnessMap.isTexture ) {
-
- data.clearcoatRoughnessMap = this.clearcoatRoughnessMap.toJSON( meta ).uuid;
-
- }
-
- if ( this.clearcoatNormalMap && this.clearcoatNormalMap.isTexture ) {
-
- data.clearcoatNormalMap = this.clearcoatNormalMap.toJSON( meta ).uuid;
- data.clearcoatNormalScale = this.clearcoatNormalScale.toArray();
-
- }
-
- if ( this.iridescence !== undefined ) data.iridescence = this.iridescence;
- if ( this.iridescenceIOR !== undefined ) data.iridescenceIOR = this.iridescenceIOR;
- if ( this.iridescenceThicknessRange !== undefined ) data.iridescenceThicknessRange = this.iridescenceThicknessRange;
-
- if ( this.iridescenceMap && this.iridescenceMap.isTexture ) {
-
- data.iridescenceMap = this.iridescenceMap.toJSON( meta ).uuid;
-
- }
-
- if ( this.iridescenceThicknessMap && this.iridescenceThicknessMap.isTexture ) {
-
- data.iridescenceThicknessMap = this.iridescenceThicknessMap.toJSON( meta ).uuid;
-
- }
-
- if ( this.map && this.map.isTexture ) data.map = this.map.toJSON( meta ).uuid;
- if ( this.matcap && this.matcap.isTexture ) data.matcap = this.matcap.toJSON( meta ).uuid;
- if ( this.alphaMap && this.alphaMap.isTexture ) data.alphaMap = this.alphaMap.toJSON( meta ).uuid;
-
- if ( this.lightMap && this.lightMap.isTexture ) {
-
- data.lightMap = this.lightMap.toJSON( meta ).uuid;
- data.lightMapIntensity = this.lightMapIntensity;
-
- }
-
- if ( this.aoMap && this.aoMap.isTexture ) {
-
- data.aoMap = this.aoMap.toJSON( meta ).uuid;
- data.aoMapIntensity = this.aoMapIntensity;
-
- }
-
- if ( this.bumpMap && this.bumpMap.isTexture ) {
-
- data.bumpMap = this.bumpMap.toJSON( meta ).uuid;
- data.bumpScale = this.bumpScale;
-
- }
-
- if ( this.normalMap && this.normalMap.isTexture ) {
-
- data.normalMap = this.normalMap.toJSON( meta ).uuid;
- data.normalMapType = this.normalMapType;
- data.normalScale = this.normalScale.toArray();
-
- }
-
- if ( this.displacementMap && this.displacementMap.isTexture ) {
-
- data.displacementMap = this.displacementMap.toJSON( meta ).uuid;
- data.displacementScale = this.displacementScale;
- data.displacementBias = this.displacementBias;
-
- }
-
- if ( this.roughnessMap && this.roughnessMap.isTexture ) data.roughnessMap = this.roughnessMap.toJSON( meta ).uuid;
- if ( this.metalnessMap && this.metalnessMap.isTexture ) data.metalnessMap = this.metalnessMap.toJSON( meta ).uuid;
-
- if ( this.emissiveMap && this.emissiveMap.isTexture ) data.emissiveMap = this.emissiveMap.toJSON( meta ).uuid;
- if ( this.specularMap && this.specularMap.isTexture ) data.specularMap = this.specularMap.toJSON( meta ).uuid;
- if ( this.specularIntensityMap && this.specularIntensityMap.isTexture ) data.specularIntensityMap = this.specularIntensityMap.toJSON( meta ).uuid;
- if ( this.specularColorMap && this.specularColorMap.isTexture ) data.specularColorMap = this.specularColorMap.toJSON( meta ).uuid;
-
- if ( this.envMap && this.envMap.isTexture ) {
-
- data.envMap = this.envMap.toJSON( meta ).uuid;
-
- if ( this.combine !== undefined ) data.combine = this.combine;
-
- }
-
- if ( this.envMapIntensity !== undefined ) data.envMapIntensity = this.envMapIntensity;
- if ( this.reflectivity !== undefined ) data.reflectivity = this.reflectivity;
- if ( this.refractionRatio !== undefined ) data.refractionRatio = this.refractionRatio;
-
- if ( this.gradientMap && this.gradientMap.isTexture ) {
-
- data.gradientMap = this.gradientMap.toJSON( meta ).uuid;
-
- }
-
- if ( this.transmission !== undefined ) data.transmission = this.transmission;
- if ( this.transmissionMap && this.transmissionMap.isTexture ) data.transmissionMap = this.transmissionMap.toJSON( meta ).uuid;
- if ( this.thickness !== undefined ) data.thickness = this.thickness;
- if ( this.thicknessMap && this.thicknessMap.isTexture ) data.thicknessMap = this.thicknessMap.toJSON( meta ).uuid;
- if ( this.attenuationDistance !== undefined && this.attenuationDistance !== Infinity ) data.attenuationDistance = this.attenuationDistance;
- if ( this.attenuationColor !== undefined ) data.attenuationColor = this.attenuationColor.getHex();
-
- if ( this.size !== undefined ) data.size = this.size;
- if ( this.shadowSide !== null ) data.shadowSide = this.shadowSide;
- if ( this.sizeAttenuation !== undefined ) data.sizeAttenuation = this.sizeAttenuation;
-
- if ( this.blending !== NormalBlending ) data.blending = this.blending;
- if ( this.side !== FrontSide ) data.side = this.side;
- if ( this.vertexColors ) data.vertexColors = true;
-
- if ( this.opacity < 1 ) data.opacity = this.opacity;
- if ( this.transparent === true ) data.transparent = this.transparent;
-
- data.depthFunc = this.depthFunc;
- data.depthTest = this.depthTest;
- data.depthWrite = this.depthWrite;
- data.colorWrite = this.colorWrite;
-
- data.stencilWrite = this.stencilWrite;
- data.stencilWriteMask = this.stencilWriteMask;
- data.stencilFunc = this.stencilFunc;
- data.stencilRef = this.stencilRef;
- data.stencilFuncMask = this.stencilFuncMask;
- data.stencilFail = this.stencilFail;
- data.stencilZFail = this.stencilZFail;
- data.stencilZPass = this.stencilZPass;
-
- // rotation (SpriteMaterial)
- if ( this.rotation !== undefined && this.rotation !== 0 ) data.rotation = this.rotation;
-
- if ( this.polygonOffset === true ) data.polygonOffset = true;
- if ( this.polygonOffsetFactor !== 0 ) data.polygonOffsetFactor = this.polygonOffsetFactor;
- if ( this.polygonOffsetUnits !== 0 ) data.polygonOffsetUnits = this.polygonOffsetUnits;
-
- if ( this.linewidth !== undefined && this.linewidth !== 1 ) data.linewidth = this.linewidth;
- if ( this.dashSize !== undefined ) data.dashSize = this.dashSize;
- if ( this.gapSize !== undefined ) data.gapSize = this.gapSize;
- if ( this.scale !== undefined ) data.scale = this.scale;
-
- if ( this.dithering === true ) data.dithering = true;
-
- if ( this.alphaTest > 0 ) data.alphaTest = this.alphaTest;
- if ( this.alphaToCoverage === true ) data.alphaToCoverage = this.alphaToCoverage;
- if ( this.premultipliedAlpha === true ) data.premultipliedAlpha = this.premultipliedAlpha;
- if ( this.forceSinglePass === true ) data.forceSinglePass = this.forceSinglePass;
-
- if ( this.wireframe === true ) data.wireframe = this.wireframe;
- if ( this.wireframeLinewidth > 1 ) data.wireframeLinewidth = this.wireframeLinewidth;
- if ( this.wireframeLinecap !== 'round' ) data.wireframeLinecap = this.wireframeLinecap;
- if ( this.wireframeLinejoin !== 'round' ) data.wireframeLinejoin = this.wireframeLinejoin;
-
- if ( this.flatShading === true ) data.flatShading = this.flatShading;
-
- if ( this.visible === false ) data.visible = false;
-
- if ( this.toneMapped === false ) data.toneMapped = false;
-
- if ( this.fog === false ) data.fog = false;
-
- if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData;
-
- // TODO: Copied from Object3D.toJSON
-
- function extractFromCache( cache ) {
-
- const values = [];
-
- for ( const key in cache ) {
-
- const data = cache[ key ];
- delete data.metadata;
- values.push( data );
-
- }
-
- return values;
-
- }
-
- if ( isRootObject ) {
-
- const textures = extractFromCache( meta.textures );
- const images = extractFromCache( meta.images );
-
- if ( textures.length > 0 ) data.textures = textures;
- if ( images.length > 0 ) data.images = images;
-
- }
-
- return data;
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( source ) {
-
- this.name = source.name;
-
- this.blending = source.blending;
- this.side = source.side;
- this.vertexColors = source.vertexColors;
-
- this.opacity = source.opacity;
- this.transparent = source.transparent;
-
- this.blendSrc = source.blendSrc;
- this.blendDst = source.blendDst;
- this.blendEquation = source.blendEquation;
- this.blendSrcAlpha = source.blendSrcAlpha;
- this.blendDstAlpha = source.blendDstAlpha;
- this.blendEquationAlpha = source.blendEquationAlpha;
-
- this.depthFunc = source.depthFunc;
- this.depthTest = source.depthTest;
- this.depthWrite = source.depthWrite;
-
- this.stencilWriteMask = source.stencilWriteMask;
- this.stencilFunc = source.stencilFunc;
- this.stencilRef = source.stencilRef;
- this.stencilFuncMask = source.stencilFuncMask;
- this.stencilFail = source.stencilFail;
- this.stencilZFail = source.stencilZFail;
- this.stencilZPass = source.stencilZPass;
- this.stencilWrite = source.stencilWrite;
-
- const srcPlanes = source.clippingPlanes;
- let dstPlanes = null;
-
- if ( srcPlanes !== null ) {
-
- const n = srcPlanes.length;
- dstPlanes = new Array( n );
-
- for ( let i = 0; i !== n; ++ i ) {
-
- dstPlanes[ i ] = srcPlanes[ i ].clone();
-
- }
-
- }
-
- this.clippingPlanes = dstPlanes;
- this.clipIntersection = source.clipIntersection;
- this.clipShadows = source.clipShadows;
-
- this.shadowSide = source.shadowSide;
-
- this.colorWrite = source.colorWrite;
-
- this.precision = source.precision;
-
- this.polygonOffset = source.polygonOffset;
- this.polygonOffsetFactor = source.polygonOffsetFactor;
- this.polygonOffsetUnits = source.polygonOffsetUnits;
-
- this.dithering = source.dithering;
-
- this.alphaTest = source.alphaTest;
- this.alphaToCoverage = source.alphaToCoverage;
- this.premultipliedAlpha = source.premultipliedAlpha;
- this.forceSinglePass = source.forceSinglePass;
-
- this.visible = source.visible;
-
- this.toneMapped = source.toneMapped;
-
- this.userData = JSON.parse( JSON.stringify( source.userData ) );
-
- return this;
-
- }
-
- dispose() {
-
- this.dispatchEvent( { type: 'dispose' } );
-
- }
-
- set needsUpdate( value ) {
-
- if ( value === true ) this.version ++;
-
- }
-
-}
-
-const _colorKeywords = { 'aliceblue': 0xF0F8FF, 'antiquewhite': 0xFAEBD7, 'aqua': 0x00FFFF, 'aquamarine': 0x7FFFD4, 'azure': 0xF0FFFF,
- 'beige': 0xF5F5DC, 'bisque': 0xFFE4C4, 'black': 0x000000, 'blanchedalmond': 0xFFEBCD, 'blue': 0x0000FF, 'blueviolet': 0x8A2BE2,
- 'brown': 0xA52A2A, 'burlywood': 0xDEB887, 'cadetblue': 0x5F9EA0, 'chartreuse': 0x7FFF00, 'chocolate': 0xD2691E, 'coral': 0xFF7F50,
- 'cornflowerblue': 0x6495ED, 'cornsilk': 0xFFF8DC, 'crimson': 0xDC143C, 'cyan': 0x00FFFF, 'darkblue': 0x00008B, 'darkcyan': 0x008B8B,
- 'darkgoldenrod': 0xB8860B, 'darkgray': 0xA9A9A9, 'darkgreen': 0x006400, 'darkgrey': 0xA9A9A9, 'darkkhaki': 0xBDB76B, 'darkmagenta': 0x8B008B,
- 'darkolivegreen': 0x556B2F, 'darkorange': 0xFF8C00, 'darkorchid': 0x9932CC, 'darkred': 0x8B0000, 'darksalmon': 0xE9967A, 'darkseagreen': 0x8FBC8F,
- 'darkslateblue': 0x483D8B, 'darkslategray': 0x2F4F4F, 'darkslategrey': 0x2F4F4F, 'darkturquoise': 0x00CED1, 'darkviolet': 0x9400D3,
- 'deeppink': 0xFF1493, 'deepskyblue': 0x00BFFF, 'dimgray': 0x696969, 'dimgrey': 0x696969, 'dodgerblue': 0x1E90FF, 'firebrick': 0xB22222,
- 'floralwhite': 0xFFFAF0, 'forestgreen': 0x228B22, 'fuchsia': 0xFF00FF, 'gainsboro': 0xDCDCDC, 'ghostwhite': 0xF8F8FF, 'gold': 0xFFD700,
- 'goldenrod': 0xDAA520, 'gray': 0x808080, 'green': 0x008000, 'greenyellow': 0xADFF2F, 'grey': 0x808080, 'honeydew': 0xF0FFF0, 'hotpink': 0xFF69B4,
- 'indianred': 0xCD5C5C, 'indigo': 0x4B0082, 'ivory': 0xFFFFF0, 'khaki': 0xF0E68C, 'lavender': 0xE6E6FA, 'lavenderblush': 0xFFF0F5, 'lawngreen': 0x7CFC00,
- 'lemonchiffon': 0xFFFACD, 'lightblue': 0xADD8E6, 'lightcoral': 0xF08080, 'lightcyan': 0xE0FFFF, 'lightgoldenrodyellow': 0xFAFAD2, 'lightgray': 0xD3D3D3,
- 'lightgreen': 0x90EE90, 'lightgrey': 0xD3D3D3, 'lightpink': 0xFFB6C1, 'lightsalmon': 0xFFA07A, 'lightseagreen': 0x20B2AA, 'lightskyblue': 0x87CEFA,
- 'lightslategray': 0x778899, 'lightslategrey': 0x778899, 'lightsteelblue': 0xB0C4DE, 'lightyellow': 0xFFFFE0, 'lime': 0x00FF00, 'limegreen': 0x32CD32,
- 'linen': 0xFAF0E6, 'magenta': 0xFF00FF, 'maroon': 0x800000, 'mediumaquamarine': 0x66CDAA, 'mediumblue': 0x0000CD, 'mediumorchid': 0xBA55D3,
- 'mediumpurple': 0x9370DB, 'mediumseagreen': 0x3CB371, 'mediumslateblue': 0x7B68EE, 'mediumspringgreen': 0x00FA9A, 'mediumturquoise': 0x48D1CC,
- 'mediumvioletred': 0xC71585, 'midnightblue': 0x191970, 'mintcream': 0xF5FFFA, 'mistyrose': 0xFFE4E1, 'moccasin': 0xFFE4B5, 'navajowhite': 0xFFDEAD,
- 'navy': 0x000080, 'oldlace': 0xFDF5E6, 'olive': 0x808000, 'olivedrab': 0x6B8E23, 'orange': 0xFFA500, 'orangered': 0xFF4500, 'orchid': 0xDA70D6,
- 'palegoldenrod': 0xEEE8AA, 'palegreen': 0x98FB98, 'paleturquoise': 0xAFEEEE, 'palevioletred': 0xDB7093, 'papayawhip': 0xFFEFD5, 'peachpuff': 0xFFDAB9,
- 'peru': 0xCD853F, 'pink': 0xFFC0CB, 'plum': 0xDDA0DD, 'powderblue': 0xB0E0E6, 'purple': 0x800080, 'rebeccapurple': 0x663399, 'red': 0xFF0000, 'rosybrown': 0xBC8F8F,
- 'royalblue': 0x4169E1, 'saddlebrown': 0x8B4513, 'salmon': 0xFA8072, 'sandybrown': 0xF4A460, 'seagreen': 0x2E8B57, 'seashell': 0xFFF5EE,
- 'sienna': 0xA0522D, 'silver': 0xC0C0C0, 'skyblue': 0x87CEEB, 'slateblue': 0x6A5ACD, 'slategray': 0x708090, 'slategrey': 0x708090, 'snow': 0xFFFAFA,
- 'springgreen': 0x00FF7F, 'steelblue': 0x4682B4, 'tan': 0xD2B48C, 'teal': 0x008080, 'thistle': 0xD8BFD8, 'tomato': 0xFF6347, 'turquoise': 0x40E0D0,
- 'violet': 0xEE82EE, 'wheat': 0xF5DEB3, 'white': 0xFFFFFF, 'whitesmoke': 0xF5F5F5, 'yellow': 0xFFFF00, 'yellowgreen': 0x9ACD32 };
-
-const _hslA = { h: 0, s: 0, l: 0 };
-const _hslB = { h: 0, s: 0, l: 0 };
-
-function hue2rgb( p, q, t ) {
-
- if ( t < 0 ) t += 1;
- if ( t > 1 ) t -= 1;
- if ( t < 1 / 6 ) return p + ( q - p ) * 6 * t;
- if ( t < 1 / 2 ) return q;
- if ( t < 2 / 3 ) return p + ( q - p ) * 6 * ( 2 / 3 - t );
- return p;
-
-}
-
-class Color {
-
- constructor( r, g, b ) {
-
- this.isColor = true;
-
- this.r = 1;
- this.g = 1;
- this.b = 1;
-
- if ( g === undefined && b === undefined ) {
-
- // r is THREE.Color, hex or string
- return this.set( r );
-
- }
-
- return this.setRGB( r, g, b );
-
- }
-
- set( value ) {
-
- if ( value && value.isColor ) {
-
- this.copy( value );
-
- } else if ( typeof value === 'number' ) {
-
- this.setHex( value );
-
- } else if ( typeof value === 'string' ) {
-
- this.setStyle( value );
-
- }
-
- return this;
-
- }
-
- setScalar( scalar ) {
-
- this.r = scalar;
- this.g = scalar;
- this.b = scalar;
-
- return this;
-
- }
-
- setHex( hex, colorSpace = SRGBColorSpace ) {
-
- hex = Math.floor( hex );
-
- this.r = ( hex >> 16 & 255 ) / 255;
- this.g = ( hex >> 8 & 255 ) / 255;
- this.b = ( hex & 255 ) / 255;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- return this;
-
- }
-
- setRGB( r, g, b, colorSpace = ColorManagement.workingColorSpace ) {
-
- this.r = r;
- this.g = g;
- this.b = b;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- return this;
-
- }
-
- setHSL( h, s, l, colorSpace = ColorManagement.workingColorSpace ) {
-
- // h,s,l ranges are in 0.0 - 1.0
- h = euclideanModulo( h, 1 );
- s = clamp( s, 0, 1 );
- l = clamp( l, 0, 1 );
-
- if ( s === 0 ) {
-
- this.r = this.g = this.b = l;
-
- } else {
-
- const p = l <= 0.5 ? l * ( 1 + s ) : l + s - ( l * s );
- const q = ( 2 * l ) - p;
-
- this.r = hue2rgb( q, p, h + 1 / 3 );
- this.g = hue2rgb( q, p, h );
- this.b = hue2rgb( q, p, h - 1 / 3 );
-
- }
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- return this;
-
- }
-
- setStyle( style, colorSpace = SRGBColorSpace ) {
-
- function handleAlpha( string ) {
-
- if ( string === undefined ) return;
-
- if ( parseFloat( string ) < 1 ) {
-
- console.warn( 'THREE.Color: Alpha component of ' + style + ' will be ignored.' );
-
- }
-
- }
-
-
- let m;
-
- if ( m = /^(\w+)\(([^\)]*)\)/.exec( style ) ) {
-
- // rgb / hsl
-
- let color;
- const name = m[ 1 ];
- const components = m[ 2 ];
-
- switch ( name ) {
-
- case 'rgb':
- case 'rgba':
-
- if ( color = /^\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
-
- // rgb(255,0,0) rgba(255,0,0,0.5)
- this.r = Math.min( 255, parseInt( color[ 1 ], 10 ) ) / 255;
- this.g = Math.min( 255, parseInt( color[ 2 ], 10 ) ) / 255;
- this.b = Math.min( 255, parseInt( color[ 3 ], 10 ) ) / 255;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- handleAlpha( color[ 4 ] );
-
- return this;
-
- }
-
- if ( color = /^\s*(\d+)\%\s*,\s*(\d+)\%\s*,\s*(\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
-
- // rgb(100%,0%,0%) rgba(100%,0%,0%,0.5)
- this.r = Math.min( 100, parseInt( color[ 1 ], 10 ) ) / 100;
- this.g = Math.min( 100, parseInt( color[ 2 ], 10 ) ) / 100;
- this.b = Math.min( 100, parseInt( color[ 3 ], 10 ) ) / 100;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- handleAlpha( color[ 4 ] );
-
- return this;
-
- }
-
- break;
-
- case 'hsl':
- case 'hsla':
-
- if ( color = /^\s*(\d*\.?\d+)\s*,\s*(\d*\.?\d+)\%\s*,\s*(\d*\.?\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
-
- // hsl(120,50%,50%) hsla(120,50%,50%,0.5)
- const h = parseFloat( color[ 1 ] ) / 360;
- const s = parseFloat( color[ 2 ] ) / 100;
- const l = parseFloat( color[ 3 ] ) / 100;
-
- handleAlpha( color[ 4 ] );
-
- return this.setHSL( h, s, l, colorSpace );
-
- }
-
- break;
-
- default:
-
- console.warn( 'THREE.Color: Unknown color model ' + style );
-
- }
-
- } else if ( m = /^\#([A-Fa-f\d]+)$/.exec( style ) ) {
-
- // hex color
-
- const hex = m[ 1 ];
- const size = hex.length;
-
- if ( size === 3 ) {
-
- // #ff0
- this.r = parseInt( hex.charAt( 0 ) + hex.charAt( 0 ), 16 ) / 255;
- this.g = parseInt( hex.charAt( 1 ) + hex.charAt( 1 ), 16 ) / 255;
- this.b = parseInt( hex.charAt( 2 ) + hex.charAt( 2 ), 16 ) / 255;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- return this;
-
- } else if ( size === 6 ) {
-
- // #ff0000
- this.r = parseInt( hex.charAt( 0 ) + hex.charAt( 1 ), 16 ) / 255;
- this.g = parseInt( hex.charAt( 2 ) + hex.charAt( 3 ), 16 ) / 255;
- this.b = parseInt( hex.charAt( 4 ) + hex.charAt( 5 ), 16 ) / 255;
-
- ColorManagement.toWorkingColorSpace( this, colorSpace );
-
- return this;
-
- } else {
-
- console.warn( 'THREE.Color: Invalid hex color ' + style );
-
- }
-
- } else if ( style && style.length > 0 ) {
-
- return this.setColorName( style, colorSpace );
-
- }
-
- return this;
-
- }
-
- setColorName( style, colorSpace = SRGBColorSpace ) {
-
- // color keywords
- const hex = _colorKeywords[ style.toLowerCase() ];
-
- if ( hex !== undefined ) {
-
- // red
- this.setHex( hex, colorSpace );
-
- } else {
-
- // unknown color
- console.warn( 'THREE.Color: Unknown color ' + style );
-
- }
-
- return this;
-
- }
-
- clone() {
-
- return new this.constructor( this.r, this.g, this.b );
-
- }
-
- copy( color ) {
-
- this.r = color.r;
- this.g = color.g;
- this.b = color.b;
-
- return this;
-
- }
-
- copySRGBToLinear( color ) {
-
- this.r = SRGBToLinear( color.r );
- this.g = SRGBToLinear( color.g );
- this.b = SRGBToLinear( color.b );
-
- return this;
-
- }
-
- copyLinearToSRGB( color ) {
-
- this.r = LinearToSRGB( color.r );
- this.g = LinearToSRGB( color.g );
- this.b = LinearToSRGB( color.b );
-
- return this;
-
- }
-
- convertSRGBToLinear() {
-
- this.copySRGBToLinear( this );
-
- return this;
-
- }
-
- convertLinearToSRGB() {
-
- this.copyLinearToSRGB( this );
-
- return this;
-
- }
-
- getHex( colorSpace = SRGBColorSpace ) {
-
- ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
-
- return clamp( _color.r * 255, 0, 255 ) << 16 ^ clamp( _color.g * 255, 0, 255 ) << 8 ^ clamp( _color.b * 255, 0, 255 ) << 0;
-
- }
-
- getHexString( colorSpace = SRGBColorSpace ) {
-
- return ( '000000' + this.getHex( colorSpace ).toString( 16 ) ).slice( - 6 );
-
- }
-
- getHSL( target, colorSpace = ColorManagement.workingColorSpace ) {
-
- // h,s,l ranges are in 0.0 - 1.0
-
- ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
-
- const r = _color.r, g = _color.g, b = _color.b;
-
- const max = Math.max( r, g, b );
- const min = Math.min( r, g, b );
-
- let hue, saturation;
- const lightness = ( min + max ) / 2.0;
-
- if ( min === max ) {
-
- hue = 0;
- saturation = 0;
-
- } else {
-
- const delta = max - min;
-
- saturation = lightness <= 0.5 ? delta / ( max + min ) : delta / ( 2 - max - min );
-
- switch ( max ) {
-
- case r: hue = ( g - b ) / delta + ( g < b ? 6 : 0 ); break;
- case g: hue = ( b - r ) / delta + 2; break;
- case b: hue = ( r - g ) / delta + 4; break;
-
- }
-
- hue /= 6;
-
- }
-
- target.h = hue;
- target.s = saturation;
- target.l = lightness;
-
- return target;
-
- }
-
- getRGB( target, colorSpace = ColorManagement.workingColorSpace ) {
-
- ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
-
- target.r = _color.r;
- target.g = _color.g;
- target.b = _color.b;
-
- return target;
-
- }
-
- getStyle( colorSpace = SRGBColorSpace ) {
-
- ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
-
- const r = _color.r, g = _color.g, b = _color.b;
-
- if ( colorSpace !== SRGBColorSpace ) {
-
- // Requires CSS Color Module Level 4 (https://www.w3.org/TR/css-color-4/).
- return `color(${ colorSpace } ${ r.toFixed( 3 ) } ${ g.toFixed( 3 ) } ${ b.toFixed( 3 ) })`;
-
- }
-
- return `rgb(${( r * 255 ) | 0},${( g * 255 ) | 0},${( b * 255 ) | 0})`;
-
- }
-
- offsetHSL( h, s, l ) {
-
- this.getHSL( _hslA );
-
- _hslA.h += h; _hslA.s += s; _hslA.l += l;
-
- this.setHSL( _hslA.h, _hslA.s, _hslA.l );
-
- return this;
-
- }
-
- add( color ) {
-
- this.r += color.r;
- this.g += color.g;
- this.b += color.b;
-
- return this;
-
- }
-
- addColors( color1, color2 ) {
-
- this.r = color1.r + color2.r;
- this.g = color1.g + color2.g;
- this.b = color1.b + color2.b;
-
- return this;
-
- }
-
- addScalar( s ) {
-
- this.r += s;
- this.g += s;
- this.b += s;
-
- return this;
-
- }
-
- sub( color ) {
-
- this.r = Math.max( 0, this.r - color.r );
- this.g = Math.max( 0, this.g - color.g );
- this.b = Math.max( 0, this.b - color.b );
-
- return this;
-
- }
-
- multiply( color ) {
-
- this.r *= color.r;
- this.g *= color.g;
- this.b *= color.b;
-
- return this;
-
- }
-
- multiplyScalar( s ) {
-
- this.r *= s;
- this.g *= s;
- this.b *= s;
-
- return this;
-
- }
-
- lerp( color, alpha ) {
-
- this.r += ( color.r - this.r ) * alpha;
- this.g += ( color.g - this.g ) * alpha;
- this.b += ( color.b - this.b ) * alpha;
-
- return this;
-
- }
-
- lerpColors( color1, color2, alpha ) {
-
- this.r = color1.r + ( color2.r - color1.r ) * alpha;
- this.g = color1.g + ( color2.g - color1.g ) * alpha;
- this.b = color1.b + ( color2.b - color1.b ) * alpha;
-
- return this;
-
- }
-
- lerpHSL( color, alpha ) {
-
- this.getHSL( _hslA );
- color.getHSL( _hslB );
-
- const h = lerp( _hslA.h, _hslB.h, alpha );
- const s = lerp( _hslA.s, _hslB.s, alpha );
- const l = lerp( _hslA.l, _hslB.l, alpha );
-
- this.setHSL( h, s, l );
-
- return this;
-
- }
-
- equals( c ) {
-
- return ( c.r === this.r ) && ( c.g === this.g ) && ( c.b === this.b );
-
- }
-
- fromArray( array, offset = 0 ) {
-
- this.r = array[ offset ];
- this.g = array[ offset + 1 ];
- this.b = array[ offset + 2 ];
-
- return this;
-
- }
-
- toArray( array = [], offset = 0 ) {
-
- array[ offset ] = this.r;
- array[ offset + 1 ] = this.g;
- array[ offset + 2 ] = this.b;
-
- return array;
-
- }
-
- fromBufferAttribute( attribute, index ) {
-
- this.r = attribute.getX( index );
- this.g = attribute.getY( index );
- this.b = attribute.getZ( index );
-
- return this;
-
- }
-
- toJSON() {
-
- return this.getHex();
-
- }
-
- *[ Symbol.iterator ]() {
-
- yield this.r;
- yield this.g;
- yield this.b;
-
- }
-
-}
-
-const _color = new Color();
-
-Color.NAMES = _colorKeywords;
-
-class MeshBasicMaterial extends Material {
-
- constructor( parameters ) {
-
- super();
-
- this.isMeshBasicMaterial = true;
-
- this.type = 'MeshBasicMaterial';
-
- this.color = new Color( 0xffffff ); // emissive
-
- this.map = null;
-
- this.lightMap = null;
- this.lightMapIntensity = 1.0;
-
- this.aoMap = null;
- this.aoMapIntensity = 1.0;
-
- this.specularMap = null;
-
- this.alphaMap = null;
-
- this.envMap = null;
- this.combine = MultiplyOperation;
- this.reflectivity = 1;
- this.refractionRatio = 0.98;
-
- this.wireframe = false;
- this.wireframeLinewidth = 1;
- this.wireframeLinecap = 'round';
- this.wireframeLinejoin = 'round';
-
- this.fog = true;
-
- this.setValues( parameters );
-
- }
-
- copy( source ) {
-
- super.copy( source );
-
- this.color.copy( source.color );
-
- this.map = source.map;
-
- this.lightMap = source.lightMap;
- this.lightMapIntensity = source.lightMapIntensity;
-
- this.aoMap = source.aoMap;
- this.aoMapIntensity = source.aoMapIntensity;
-
- this.specularMap = source.specularMap;
-
- this.alphaMap = source.alphaMap;
-
- this.envMap = source.envMap;
- this.combine = source.combine;
- this.reflectivity = source.reflectivity;
- this.refractionRatio = source.refractionRatio;
-
- this.wireframe = source.wireframe;
- this.wireframeLinewidth = source.wireframeLinewidth;
- this.wireframeLinecap = source.wireframeLinecap;
- this.wireframeLinejoin = source.wireframeLinejoin;
-
- this.fog = source.fog;
-
- return this;
-
- }
-
-}
-
-const _vector$9 = /*@__PURE__*/ new Vector3();
-const _vector2$1 = /*@__PURE__*/ new Vector2();
-
-class BufferAttribute {
-
- constructor( array, itemSize, normalized = false ) {
-
- if ( Array.isArray( array ) ) {
-
- throw new TypeError( 'THREE.BufferAttribute: array should be a Typed Array.' );
-
- }
-
- this.isBufferAttribute = true;
-
- this.name = '';
-
- this.array = array;
- this.itemSize = itemSize;
- this.count = array !== undefined ? array.length / itemSize : 0;
- this.normalized = normalized;
-
- this.usage = StaticDrawUsage;
- this.updateRange = { offset: 0, count: - 1 };
-
- this.version = 0;
-
- }
-
- onUploadCallback() {}
-
- set needsUpdate( value ) {
-
- if ( value === true ) this.version ++;
-
- }
-
- setUsage( value ) {
-
- this.usage = value;
-
- return this;
-
- }
-
- copy( source ) {
-
- this.name = source.name;
- this.array = new source.array.constructor( source.array );
- this.itemSize = source.itemSize;
- this.count = source.count;
- this.normalized = source.normalized;
-
- this.usage = source.usage;
-
- return this;
-
- }
-
- copyAt( index1, attribute, index2 ) {
-
- index1 *= this.itemSize;
- index2 *= attribute.itemSize;
-
- for ( let i = 0, l = this.itemSize; i < l; i ++ ) {
-
- this.array[ index1 + i ] = attribute.array[ index2 + i ];
-
- }
-
- return this;
-
- }
-
- copyArray( array ) {
-
- this.array.set( array );
-
- return this;
-
- }
-
- applyMatrix3( m ) {
-
- if ( this.itemSize === 2 ) {
-
- for ( let i = 0, l = this.count; i < l; i ++ ) {
-
- _vector2$1.fromBufferAttribute( this, i );
- _vector2$1.applyMatrix3( m );
-
- this.setXY( i, _vector2$1.x, _vector2$1.y );
-
- }
-
- } else if ( this.itemSize === 3 ) {
-
- for ( let i = 0, l = this.count; i < l; i ++ ) {
-
- _vector$9.fromBufferAttribute( this, i );
- _vector$9.applyMatrix3( m );
-
- this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
-
- }
-
- }
-
- return this;
-
- }
-
- applyMatrix4( m ) {
-
- for ( let i = 0, l = this.count; i < l; i ++ ) {
-
- _vector$9.fromBufferAttribute( this, i );
-
- _vector$9.applyMatrix4( m );
-
- this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
-
- }
-
- return this;
-
- }
-
- applyNormalMatrix( m ) {
-
- for ( let i = 0, l = this.count; i < l; i ++ ) {
-
- _vector$9.fromBufferAttribute( this, i );
-
- _vector$9.applyNormalMatrix( m );
-
- this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
-
- }
-
- return this;
-
- }
-
- transformDirection( m ) {
-
- for ( let i = 0, l = this.count; i < l; i ++ ) {
-
- _vector$9.fromBufferAttribute( this, i );
-
- _vector$9.transformDirection( m );
-
- this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
-
- }
-
- return this;
-
- }
-
- set( value, offset = 0 ) {
-
- // Matching BufferAttribute constructor, do not normalize the array.
- this.array.set( value, offset );
-
- return this;
-
- }
-
- getX( index ) {
-
- let x = this.array[ index * this.itemSize ];
-
- if ( this.normalized ) x = denormalize( x, this.array );
-
- return x;
-
- }
-
- setX( index, x ) {
-
- if ( this.normalized ) x = normalize( x, this.array );
-
- this.array[ index * this.itemSize ] = x;
-
- return this;
-
- }
-
- getY( index ) {
-
- let y = this.array[ index * this.itemSize + 1 ];
-
- if ( this.normalized ) y = denormalize( y, this.array );
-
- return y;
-
- }
-
- setY( index, y ) {
-
- if ( this.normalized ) y = normalize( y, this.array );
-
- this.array[ index * this.itemSize + 1 ] = y;
-
- return this;
-
- }
-
- getZ( index ) {
-
- let z = this.array[ index * this.itemSize + 2 ];
-
- if ( this.normalized ) z = denormalize( z, this.array );
-
- return z;
-
- }
-
- setZ( index, z ) {
-
- if ( this.normalized ) z = normalize( z, this.array );
-
- this.array[ index * this.itemSize + 2 ] = z;
-
- return this;
-
- }
-
- getW( index ) {
-
- let w = this.array[ index * this.itemSize + 3 ];
-
- if ( this.normalized ) w = denormalize( w, this.array );
-
- return w;
-
- }
-
- setW( index, w ) {
-
- if ( this.normalized ) w = normalize( w, this.array );
-
- this.array[ index * this.itemSize + 3 ] = w;
-
- return this;
-
- }
-
- setXY( index, x, y ) {
-
- index *= this.itemSize;
-
- if ( this.normalized ) {
-
- x = normalize( x, this.array );
- y = normalize( y, this.array );
-
- }
-
- this.array[ index + 0 ] = x;
- this.array[ index + 1 ] = y;
-
- return this;
-
- }
-
- setXYZ( index, x, y, z ) {
-
- index *= this.itemSize;
-
- if ( this.normalized ) {
-
- x = normalize( x, this.array );
- y = normalize( y, this.array );
- z = normalize( z, this.array );
-
- }
-
- this.array[ index + 0 ] = x;
- this.array[ index + 1 ] = y;
- this.array[ index + 2 ] = z;
-
- return this;
-
- }
-
- setXYZW( index, x, y, z, w ) {
-
- index *= this.itemSize;
-
- if ( this.normalized ) {
-
- x = normalize( x, this.array );
- y = normalize( y, this.array );
- z = normalize( z, this.array );
- w = normalize( w, this.array );
-
- }
-
- this.array[ index + 0 ] = x;
- this.array[ index + 1 ] = y;
- this.array[ index + 2 ] = z;
- this.array[ index + 3 ] = w;
-
- return this;
-
- }
-
- onUpload( callback ) {
-
- this.onUploadCallback = callback;
-
- return this;
-
- }
-
- clone() {
-
- return new this.constructor( this.array, this.itemSize ).copy( this );
-
- }
-
- toJSON() {
-
- const data = {
- itemSize: this.itemSize,
- type: this.array.constructor.name,
- array: Array.from( this.array ),
- normalized: this.normalized
- };
-
- if ( this.name !== '' ) data.name = this.name;
- if ( this.usage !== StaticDrawUsage ) data.usage = this.usage;
- if ( this.updateRange.offset !== 0 || this.updateRange.count !== - 1 ) data.updateRange = this.updateRange;
-
- return data;
-
- }
-
- // @deprecated
-
- copyColorsArray() {
-
- console.error( 'THREE.BufferAttribute: copyColorsArray() was removed in r144.' );
-
- }
-
- copyVector2sArray() {
-
- console.error( 'THREE.BufferAttribute: copyVector2sArray() was removed in r144.' );
-
- }
-
- copyVector3sArray() {
-
- console.error( 'THREE.BufferAttribute: copyVector3sArray() was removed in r144.' );
-
- }
-
- copyVector4sArray() {
-
- console.error( 'THREE.BufferAttribute: copyVector4sArray() was removed in r144.' );
-
- }
-
-}
-
-//
-
-class Int8BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Int8Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Uint8BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Uint8Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Uint8ClampedBufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Uint8ClampedArray( array ), itemSize, normalized );
-
- }
-
-}
-
-class Int16BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Int16Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Uint16BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Uint16Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Int32BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Int32Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Uint32BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Uint32Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Float16BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Uint16Array( array ), itemSize, normalized );
-
- this.isFloat16BufferAttribute = true;
-
- }
-
-}
-
-
-class Float32BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Float32Array( array ), itemSize, normalized );
-
- }
-
-}
-
-class Float64BufferAttribute extends BufferAttribute {
-
- constructor( array, itemSize, normalized ) {
-
- super( new Float64Array( array ), itemSize, normalized );
-
- }
-
-}
-
-let _id$1 = 0;
-
-const _m1 = /*@__PURE__*/ new Matrix4();
-const _obj = /*@__PURE__*/ new Object3D();
-const _offset = /*@__PURE__*/ new Vector3();
-const _box$1 = /*@__PURE__*/ new Box3();
-const _boxMorphTargets = /*@__PURE__*/ new Box3();
-const _vector$8 = /*@__PURE__*/ new Vector3();
-
-class BufferGeometry extends EventDispatcher {
-
- constructor() {
-
- super();
-
- this.isBufferGeometry = true;
-
- Object.defineProperty( this, 'id', { value: _id$1 ++ } );
-
- this.uuid = generateUUID();
-
- this.name = '';
- this.type = 'BufferGeometry';
-
- this.index = null;
- this.attributes = {};
-
- this.morphAttributes = {};
- this.morphTargetsRelative = false;
-
- this.groups = [];
-
- this.boundingBox = null;
- this.boundingSphere = null;
-
- this.drawRange = { start: 0, count: Infinity };
-
- this.userData = {};
-
- }
-
- getIndex() {
-
- return this.index;
-
- }
-
- setIndex( index ) {
-
- if ( Array.isArray( index ) ) {
-
- this.index = new ( arrayNeedsUint32( index ) ? Uint32BufferAttribute : Uint16BufferAttribute )( index, 1 );
-
- } else {
-
- this.index = index;
-
- }
-
- return this;
-
- }
-
- getAttribute( name ) {
-
- return this.attributes[ name ];
-
- }
-
- setAttribute( name, attribute ) {
-
- this.attributes[ name ] = attribute;
-
- return this;
-
- }
-
- deleteAttribute( name ) {
-
- delete this.attributes[ name ];
-
- return this;
-
- }
-
- hasAttribute( name ) {
-
- return this.attributes[ name ] !== undefined;
-
- }
-
- addGroup( start, count, materialIndex = 0 ) {
-
- this.groups.push( {
-
- start: start,
- count: count,
- materialIndex: materialIndex
-
- } );
-
- }
-
- clearGroups() {
-
- this.groups = [];
-
- }
-
- setDrawRange( start, count ) {
-
- this.drawRange.start = start;
- this.drawRange.count = count;
-
- }
-
- applyMatrix4( matrix ) {
-
- const position = this.attributes.position;
-
- if ( position !== undefined ) {
-
- position.applyMatrix4( matrix );
-
- position.needsUpdate = true;
-
- }
-
- const normal = this.attributes.normal;
-
- if ( normal !== undefined ) {
-
- const normalMatrix = new Matrix3().getNormalMatrix( matrix );
-
- normal.applyNormalMatrix( normalMatrix );
-
- normal.needsUpdate = true;
-
- }
-
- const tangent = this.attributes.tangent;
-
- if ( tangent !== undefined ) {
-
- tangent.transformDirection( matrix );
-
- tangent.needsUpdate = true;
-
- }
-
- if ( this.boundingBox !== null ) {
-
- this.computeBoundingBox();
-
- }
-
- if ( this.boundingSphere !== null ) {
-
- this.computeBoundingSphere();
-
- }
-
- return this;
-
- }
-
- applyQuaternion( q ) {
-
- _m1.makeRotationFromQuaternion( q );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- rotateX( angle ) {
-
- // rotate geometry around world x-axis
-
- _m1.makeRotationX( angle );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- rotateY( angle ) {
-
- // rotate geometry around world y-axis
-
- _m1.makeRotationY( angle );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- rotateZ( angle ) {
-
- // rotate geometry around world z-axis
-
- _m1.makeRotationZ( angle );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- translate( x, y, z ) {
-
- // translate geometry
-
- _m1.makeTranslation( x, y, z );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- scale( x, y, z ) {
-
- // scale geometry
-
- _m1.makeScale( x, y, z );
-
- this.applyMatrix4( _m1 );
-
- return this;
-
- }
-
- lookAt( vector ) {
-
- _obj.lookAt( vector );
-
- _obj.updateMatrix();
-
- this.applyMatrix4( _obj.matrix );
-
- return this;
-
- }
-
- center() {
-
- this.computeBoundingBox();
-
- this.boundingBox.getCenter( _offset ).negate();
-
- this.translate( _offset.x, _offset.y, _offset.z );
-
- return this;
-
- }
-
- setFromPoints( points ) {
-
- const position = [];
-
- for ( let i = 0, l = points.length; i < l; i ++ ) {
-
- const point = points[ i ];
- position.push( point.x, point.y, point.z || 0 );
-
- }
-
- this.setAttribute( 'position', new Float32BufferAttribute( position, 3 ) );
-
- return this;
-
- }
-
- computeBoundingBox() {
-
- if ( this.boundingBox === null ) {
-
- this.boundingBox = new Box3();
-
- }
-
- const position = this.attributes.position;
- const morphAttributesPosition = this.morphAttributes.position;
-
- if ( position && position.isGLBufferAttribute ) {
-
- console.error( 'THREE.BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box. Alternatively set "mesh.frustumCulled" to "false".', this );
-
- this.boundingBox.set(
- new Vector3( - Infinity, - Infinity, - Infinity ),
- new Vector3( + Infinity, + Infinity, + Infinity )
- );
-
- return;
-
- }
-
- if ( position !== undefined ) {
-
- this.boundingBox.setFromBufferAttribute( position );
-
- // process morph attributes if present
-
- if ( morphAttributesPosition ) {
-
- for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
-
- const morphAttribute = morphAttributesPosition[ i ];
- _box$1.setFromBufferAttribute( morphAttribute );
-
- if ( this.morphTargetsRelative ) {
-
- _vector$8.addVectors( this.boundingBox.min, _box$1.min );
- this.boundingBox.expandByPoint( _vector$8 );
-
- _vector$8.addVectors( this.boundingBox.max, _box$1.max );
- this.boundingBox.expandByPoint( _vector$8 );
-
- } else {
-
- this.boundingBox.expandByPoint( _box$1.min );
- this.boundingBox.expandByPoint( _box$1.max );
-
- }
-
- }
-
- }
-
- } else {
-
- this.boundingBox.makeEmpty();
-
- }
-
- if ( isNaN( this.boundingBox.min.x ) || isNaN( this.boundingBox.min.y ) || isNaN( this.boundingBox.min.z ) ) {
-
- console.error( 'THREE.BufferGeometry.computeBoundingBox(): Computed min/max have NaN values. The "position" attribute is likely to have NaN values.', this );
-
- }
-
- }
-
- computeBoundingSphere() {
-
- if ( this.boundingSphere === null ) {
-
- this.boundingSphere = new Sphere();
-
- }
-
- const position = this.attributes.position;
- const morphAttributesPosition = this.morphAttributes.position;
-
- if ( position && position.isGLBufferAttribute ) {
-
- console.error( 'THREE.BufferGeometry.computeBoundingSphere(): GLBufferAttribute requires a manual bounding sphere. Alternatively set "mesh.frustumCulled" to "false".', this );
-
- this.boundingSphere.set( new Vector3(), Infinity );
-
- return;
-
- }
-
- if ( position ) {
-
- // first, find the center of the bounding sphere
-
- const center = this.boundingSphere.center;
-
- _box$1.setFromBufferAttribute( position );
-
- // process morph attributes if present
-
- if ( morphAttributesPosition ) {
-
- for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
-
- const morphAttribute = morphAttributesPosition[ i ];
- _boxMorphTargets.setFromBufferAttribute( morphAttribute );
-
- if ( this.morphTargetsRelative ) {
-
- _vector$8.addVectors( _box$1.min, _boxMorphTargets.min );
- _box$1.expandByPoint( _vector$8 );
-
- _vector$8.addVectors( _box$1.max, _boxMorphTargets.max );
- _box$1.expandByPoint( _vector$8 );
-
- } else {
-
- _box$1.expandByPoint( _boxMorphTargets.min );
- _box$1.expandByPoint( _boxMorphTargets.max );
-
- }
-
- }
-
- }
-
- _box$1.getCenter( center );
-
- // second, try to find a boundingSphere with a radius smaller than the
- // boundingSphere of the boundingBox: sqrt(3) smaller in the best case
-
- let maxRadiusSq = 0;
-
- for ( let i = 0, il = position.count; i < il; i ++ ) {
-
- _vector$8.fromBufferAttribute( position, i );
-
- maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$8 ) );
-
- }
-
- // process morph attributes if present
-
- if ( morphAttributesPosition ) {
-
- for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
-
- const morphAttribute = morphAttributesPosition[ i ];
- const morphTargetsRelative = this.morphTargetsRelative;
-
- for ( let j = 0, jl = morphAttribute.count; j < jl; j ++ ) {
-
- _vector$8.fromBufferAttribute( morphAttribute, j );
-
- if ( morphTargetsRelative ) {
-
- _offset.fromBufferAttribute( position, j );
- _vector$8.add( _offset );
-
- }
-
- maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$8 ) );
-
- }
-
- }
-
- }
-
- this.boundingSphere.radius = Math.sqrt( maxRadiusSq );
-
- if ( isNaN( this.boundingSphere.radius ) ) {
-
- console.error( 'THREE.BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values.', this );
-
- }
-
- }
-
- }
-
- computeTangents() {
-
- const index = this.index;
- const attributes = this.attributes;
-
- // based on http://www.terathon.com/code/tangent.html
- // (per vertex tangents)
-
- if ( index === null ||
- attributes.position === undefined ||
- attributes.normal === undefined ||
- attributes.uv === undefined ) {
-
- console.error( 'THREE.BufferGeometry: .computeTangents() failed. Missing required attributes (index, position, normal or uv)' );
- return;
-
- }
-
- const indices = index.array;
- const positions = attributes.position.array;
- const normals = attributes.normal.array;
- const uvs = attributes.uv.array;
-
- const nVertices = positions.length / 3;
-
- if ( this.hasAttribute( 'tangent' ) === false ) {
-
- this.setAttribute( 'tangent', new BufferAttribute( new Float32Array( 4 * nVertices ), 4 ) );
-
- }
-
- const tangents = this.getAttribute( 'tangent' ).array;
-
- const tan1 = [], tan2 = [];
-
- for ( let i = 0; i < nVertices; i ++ ) {
-
- tan1[ i ] = new Vector3();
- tan2[ i ] = new Vector3();
-
- }
-
- const vA = new Vector3(),
- vB = new Vector3(),
- vC = new Vector3(),
-
- uvA = new Vector2(),
- uvB = new Vector2(),
- uvC = new Vector2(),
-
- sdir = new Vector3(),
- tdir = new Vector3();
-
- function handleTriangle( a, b, c ) {
-
- vA.fromArray( positions, a * 3 );
- vB.fromArray( positions, b * 3 );
- vC.fromArray( positions, c * 3 );
-
- uvA.fromArray( uvs, a * 2 );
- uvB.fromArray( uvs, b * 2 );
- uvC.fromArray( uvs, c * 2 );
-
- vB.sub( vA );
- vC.sub( vA );
-
- uvB.sub( uvA );
- uvC.sub( uvA );
-
- const r = 1.0 / ( uvB.x * uvC.y - uvC.x * uvB.y );
-
- // silently ignore degenerate uv triangles having coincident or colinear vertices
-
- if ( ! isFinite( r ) ) return;
-
- sdir.copy( vB ).multiplyScalar( uvC.y ).addScaledVector( vC, - uvB.y ).multiplyScalar( r );
- tdir.copy( vC ).multiplyScalar( uvB.x ).addScaledVector( vB, - uvC.x ).multiplyScalar( r );
-
- tan1[ a ].add( sdir );
- tan1[ b ].add( sdir );
- tan1[ c ].add( sdir );
-
- tan2[ a ].add( tdir );
- tan2[ b ].add( tdir );
- tan2[ c ].add( tdir );
-
- }
-
- let groups = this.groups;
-
- if ( groups.length === 0 ) {
-
- groups = [ {
- start: 0,
- count: indices.length
- } ];
-
- }
-
- for ( let i = 0, il = groups.length; i < il; ++ i ) {
-
- const group = groups[ i ];
-
- const start = group.start;
- const count = group.count;
-
- for ( let j = start, jl = start + count; j < jl; j += 3 ) {
-
- handleTriangle(
- indices[ j + 0 ],
- indices[ j + 1 ],
- indices[ j + 2 ]
- );
-
- }
-
- }
-
- const tmp = new Vector3(), tmp2 = new Vector3();
- const n = new Vector3(), n2 = new Vector3();
-
- function handleVertex( v ) {
-
- n.fromArray( normals, v * 3 );
- n2.copy( n );
-
- const t = tan1[ v ];
-
- // Gram-Schmidt orthogonalize
-
- tmp.copy( t );
- tmp.sub( n.multiplyScalar( n.dot( t ) ) ).normalize();
-
- // Calculate handedness
-
- tmp2.crossVectors( n2, t );
- const test = tmp2.dot( tan2[ v ] );
- const w = ( test < 0.0 ) ? - 1.0 : 1.0;
-
- tangents[ v * 4 ] = tmp.x;
- tangents[ v * 4 + 1 ] = tmp.y;
- tangents[ v * 4 + 2 ] = tmp.z;
- tangents[ v * 4 + 3 ] = w;
-
- }
-
- for ( let i = 0, il = groups.length; i < il; ++ i ) {
-
- const group = groups[ i ];
-
- const start = group.start;
- const count = group.count;
-
- for ( let j = start, jl = start + count; j < jl; j += 3 ) {
-
- handleVertex( indices[ j + 0 ] );
- handleVertex( indices[ j + 1 ] );
- handleVertex( indices[ j + 2 ] );
-
- }
-
- }
-
- }
-
- computeVertexNormals() {
-
- const index = this.index;
- const positionAttribute = this.getAttribute( 'position' );
-
- if ( positionAttribute !== undefined ) {
-
- let normalAttribute = this.getAttribute( 'normal' );
-
- if ( normalAttribute === undefined ) {
-
- normalAttribute = new BufferAttribute( new Float32Array( positionAttribute.count * 3 ), 3 );
- this.setAttribute( 'normal', normalAttribute );
-
- } else {
-
- // reset existing normals to zero
-
- for ( let i = 0, il = normalAttribute.count; i < il; i ++ ) {
-
- normalAttribute.setXYZ( i, 0, 0, 0 );
-
- }
-
- }
-
- const pA = new Vector3(), pB = new Vector3(), pC = new Vector3();
- const nA = new Vector3(), nB = new Vector3(), nC = new Vector3();
- const cb = new Vector3(), ab = new Vector3();
-
- // indexed elements
-
- if ( index ) {
-
- for ( let i = 0, il = index.count; i < il; i += 3 ) {
-
- const vA = index.getX( i + 0 );
- const vB = index.getX( i + 1 );
- const vC = index.getX( i + 2 );
-
- pA.fromBufferAttribute( positionAttribute, vA );
- pB.fromBufferAttribute( positionAttribute, vB );
- pC.fromBufferAttribute( positionAttribute, vC );
-
- cb.subVectors( pC, pB );
- ab.subVectors( pA, pB );
- cb.cross( ab );
-
- nA.fromBufferAttribute( normalAttribute, vA );
- nB.fromBufferAttribute( normalAttribute, vB );
- nC.fromBufferAttribute( normalAttribute, vC );
-
- nA.add( cb );
- nB.add( cb );
- nC.add( cb );
-
- normalAttribute.setXYZ( vA, nA.x, nA.y, nA.z );
- normalAttribute.setXYZ( vB, nB.x, nB.y, nB.z );
- normalAttribute.setXYZ( vC, nC.x, nC.y, nC.z );
-
- }
-
- } else {
-
- // non-indexed elements (unconnected triangle soup)
-
- for ( let i = 0, il = positionAttribute.count; i < il; i += 3 ) {
-
- pA.fromBufferAttribute( positionAttribute, i + 0 );
- pB.fromBufferAttribute( positionAttribute, i + 1 );
- pC.fromBufferAttribute( positionAttribute, i + 2 );
-
- cb.subVectors( pC, pB );
- ab.subVectors( pA, pB );
- cb.cross( ab );
-
- normalAttribute.setXYZ( i + 0, cb.x, cb.y, cb.z );
- normalAttribute.setXYZ( i + 1, cb.x, cb.y, cb.z );
- normalAttribute.setXYZ( i + 2, cb.x, cb.y, cb.z );
-
- }
-
- }
-
- this.normalizeNormals();
-
- normalAttribute.needsUpdate = true;
-
- }
-
- }
-
- // @deprecated since r144
-
- merge() {
-
- console.error( 'THREE.BufferGeometry.merge() has been removed. Use THREE.BufferGeometryUtils.mergeBufferGeometries() instead.' );
- return this;
-
- }
-
- normalizeNormals() {
-
- const normals = this.attributes.normal;
-
- for ( let i = 0, il = normals.count; i < il; i ++ ) {
-
- _vector$8.fromBufferAttribute( normals, i );
-
- _vector$8.normalize();
-
- normals.setXYZ( i, _vector$8.x, _vector$8.y, _vector$8.z );
-
- }
-
- }
-
- toNonIndexed() {
-
- function convertBufferAttribute( attribute, indices ) {
-
- const array = attribute.array;
- const itemSize = attribute.itemSize;
- const normalized = attribute.normalized;
-
- const array2 = new array.constructor( indices.length * itemSize );
-
- let index = 0, index2 = 0;
-
- for ( let i = 0, l = indices.length; i < l; i ++ ) {
-
- if ( attribute.isInterleavedBufferAttribute ) {
-
- index = indices[ i ] * attribute.data.stride + attribute.offset;
-
- } else {
-
- index = indices[ i ] * itemSize;
-
- }
-
- for ( let j = 0; j < itemSize; j ++ ) {
-
- array2[ index2 ++ ] = array[ index ++ ];
-
- }
-
- }
-
- return new BufferAttribute( array2, itemSize, normalized );
-
- }
-
- //
-
- if ( this.index === null ) {
-
- console.warn( 'THREE.BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.' );
- return this;
-
- }
-
- const geometry2 = new BufferGeometry();
-
- const indices = this.index.array;
- const attributes = this.attributes;
-
- // attributes
-
- for ( const name in attributes ) {
-
- const attribute = attributes[ name ];
-
- const newAttribute = convertBufferAttribute( attribute, indices );
-
- geometry2.setAttribute( name, newAttribute );
-
- }
-
- // morph attributes
-
- const morphAttributes = this.morphAttributes;
-
- for ( const name in morphAttributes ) {
-
- const morphArray = [];
- const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes
-
- for ( let i = 0, il = morphAttribute.length; i < il; i ++ ) {
-
- const attribute = morphAttribute[ i ];
-
- const newAttribute = convertBufferAttribute( attribute, indices );
-
- morphArray.push( newAttribute );
-
- }
-
- geometry2.morphAttributes[ name ] = morphArray;
-
- }
-
- geometry2.morphTargetsRelative = this.morphTargetsRelative;
-
- // groups
-
- const groups = this.groups;
-
- for ( let i = 0, l = groups.length; i < l; i ++ ) {
-
- const group = groups[ i ];
- geometry2.addGroup( group.start, group.count, group.materialIndex );
-
- }
-
- return geometry2;
-
- }
-
- toJSON() {
-
- const data = {
- metadata: {
- version: 4.5,
- type: 'BufferGeometry',
- generator: 'BufferGeometry.toJSON'
- }
- };
-
- // standard BufferGeometry serialization
-
- data.uuid = this.uuid;
- data.type = this.type;
- if ( this.name !== '' ) data.name = this.name;
- if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData;
-
- if ( this.parameters !== undefined ) {
-
- const parameters = this.parameters;
-
- for ( const key in parameters ) {
-
- if ( parameters[ key ] !== undefined ) data[ key ] = parameters[ key ];
-
- }
-
- return data;
-
- }
-
- // for simplicity the code assumes attributes are not shared across geometries, see #15811
-
- data.data = { attributes: {} };
-
- const index = this.index;
-
- if ( index !== null ) {
-
- data.data.index = {
- type: index.array.constructor.name,
- array: Array.prototype.slice.call( index.array )
- };
-
- }
-
- const attributes = this.attributes;
-
- for ( const key in attributes ) {
-
- const attribute = attributes[ key ];
-
- data.data.attributes[ key ] = attribute.toJSON( data.data );
-
- }
-
- const morphAttributes = {};
- let hasMorphAttributes = false;
-
- for ( const key in this.morphAttributes ) {
-
- const attributeArray = this.morphAttributes[ key ];
-
- const array = [];
-
- for ( let i = 0, il = attributeArray.length; i < il; i ++ ) {
-
- const attribute = attributeArray[ i ];
-
- array.push( attribute.toJSON( data.data ) );
-
- }
-
- if ( array.length > 0 ) {
-
- morphAttributes[ key ] = array;
-
- hasMorphAttributes = true;
-
- }
-
- }
-
- if ( hasMorphAttributes ) {
-
- data.data.morphAttributes = morphAttributes;
- data.data.morphTargetsRelative = this.morphTargetsRelative;
-
- }
-
- const groups = this.groups;
-
- if ( groups.length > 0 ) {
-
- data.data.groups = JSON.parse( JSON.stringify( groups ) );
-
- }
-
- const boundingSphere = this.boundingSphere;
-
- if ( boundingSphere !== null ) {
-
- data.data.boundingSphere = {
- center: boundingSphere.center.toArray(),
- radius: boundingSphere.radius
- };
-
- }
-
- return data;
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
- copy( source ) {
-
- // reset
-
- this.index = null;
- this.attributes = {};
- this.morphAttributes = {};
- this.groups = [];
- this.boundingBox = null;
- this.boundingSphere = null;
-
- // used for storing cloned, shared data
-
- const data = {};
-
- // name
-
- this.name = source.name;
-
- // index
-
- const index = source.index;
-
- if ( index !== null ) {
-
- this.setIndex( index.clone( data ) );
-
- }
-
- // attributes
-
- const attributes = source.attributes;
-
- for ( const name in attributes ) {
-
- const attribute = attributes[ name ];
- this.setAttribute( name, attribute.clone( data ) );
-
- }
-
- // morph attributes
-
- const morphAttributes = source.morphAttributes;
-
- for ( const name in morphAttributes ) {
-
- const array = [];
- const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes
-
- for ( let i = 0, l = morphAttribute.length; i < l; i ++ ) {
-
- array.push( morphAttribute[ i ].clone( data ) );
-
- }
-
- this.morphAttributes[ name ] = array;
-
- }
-
- this.morphTargetsRelative = source.morphTargetsRelative;
-
- // groups
-
- const groups = source.groups;
-
- for ( let i = 0, l = groups.length; i < l; i ++ ) {
-
- const group = groups[ i ];
- this.addGroup( group.start, group.count, group.materialIndex );
-
- }
-
- // bounding box
-
- const boundingBox = source.boundingBox;
-
- if ( boundingBox !== null ) {
-
- this.boundingBox = boundingBox.clone();
-
- }
-
- // bounding sphere
-
- const boundingSphere = source.boundingSphere;
-
- if ( boundingSphere !== null ) {
-
- this.boundingSphere = boundingSphere.clone();
-
- }
-
- // draw range
-
- this.drawRange.start = source.drawRange.start;
- this.drawRange.count = source.drawRange.count;
-
- // user data
-
- this.userData = source.userData;
-
- return this;
-
- }
-
- dispose() {
-
- this.dispatchEvent( { type: 'dispose' } );
-
- }
-
-}
-
-const _inverseMatrix$2 = /*@__PURE__*/ new Matrix4();
-const _ray$2 = /*@__PURE__*/ new Ray();
-const _sphere$3 = /*@__PURE__*/ new Sphere();
-const _sphereHitAt = /*@__PURE__*/ new Vector3();
-
-const _vA$1 = /*@__PURE__*/ new Vector3();
-const _vB$1 = /*@__PURE__*/ new Vector3();
-const _vC$1 = /*@__PURE__*/ new Vector3();
-
-const _tempA = /*@__PURE__*/ new Vector3();
-const _morphA = /*@__PURE__*/ new Vector3();
-
-const _uvA$1 = /*@__PURE__*/ new Vector2();
-const _uvB$1 = /*@__PURE__*/ new Vector2();
-const _uvC$1 = /*@__PURE__*/ new Vector2();
-
-const _intersectionPoint = /*@__PURE__*/ new Vector3();
-const _intersectionPointWorld = /*@__PURE__*/ new Vector3();
-
-class Mesh extends Object3D {
-
- constructor( geometry = new BufferGeometry(), material = new MeshBasicMaterial() ) {
-
- super();
-
- this.isMesh = true;
-
- this.type = 'Mesh';
-
- this.geometry = geometry;
- this.material = material;
-
- this.updateMorphTargets();
-
- }
-
- copy( source, recursive ) {
-
- super.copy( source, recursive );
-
- if ( source.morphTargetInfluences !== undefined ) {
-
- this.morphTargetInfluences = source.morphTargetInfluences.slice();
-
- }
-
- if ( source.morphTargetDictionary !== undefined ) {
-
- this.morphTargetDictionary = Object.assign( {}, source.morphTargetDictionary );
-
- }
-
- this.material = source.material;
- this.geometry = source.geometry;
-
- return this;
-
- }
-
- updateMorphTargets() {
-
- const geometry = this.geometry;
-
- const morphAttributes = geometry.morphAttributes;
- const keys = Object.keys( morphAttributes );
-
- if ( keys.length > 0 ) {
-
- const morphAttribute = morphAttributes[ keys[ 0 ] ];
-
- if ( morphAttribute !== undefined ) {
-
- this.morphTargetInfluences = [];
- this.morphTargetDictionary = {};
-
- for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) {
-
- const name = morphAttribute[ m ].name || String( m );
-
- this.morphTargetInfluences.push( 0 );
- this.morphTargetDictionary[ name ] = m;
-
- }
-
- }
-
- }
-
- }
-
- getVertexPosition( index, target ) {
-
- const geometry = this.geometry;
- const position = geometry.attributes.position;
- const morphPosition = geometry.morphAttributes.position;
- const morphTargetsRelative = geometry.morphTargetsRelative;
-
- target.fromBufferAttribute( position, index );
-
- const morphInfluences = this.morphTargetInfluences;
-
- if ( morphPosition && morphInfluences ) {
-
- _morphA.set( 0, 0, 0 );
-
- for ( let i = 0, il = morphPosition.length; i < il; i ++ ) {
-
- const influence = morphInfluences[ i ];
- const morphAttribute = morphPosition[ i ];
-
- if ( influence === 0 ) continue;
-
- _tempA.fromBufferAttribute( morphAttribute, index );
-
- if ( morphTargetsRelative ) {
-
- _morphA.addScaledVector( _tempA, influence );
-
- } else {
-
- _morphA.addScaledVector( _tempA.sub( target ), influence );
-
- }
-
- }
-
- target.add( _morphA );
-
- }
-
- if ( this.isSkinnedMesh ) {
-
- this.boneTransform( index, target );
-
- }
-
- return target;
-
- }
-
- raycast( raycaster, intersects ) {
-
- const geometry = this.geometry;
- const material = this.material;
- const matrixWorld = this.matrixWorld;
-
- if ( material === undefined ) return;
-
- // Checking boundingSphere distance to ray
-
- if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
-
- _sphere$3.copy( geometry.boundingSphere );
- _sphere$3.applyMatrix4( matrixWorld );
-
- _ray$2.copy( raycaster.ray ).recast( raycaster.near );
-
- if ( _sphere$3.containsPoint( _ray$2.origin ) === false ) {
-
- if ( _ray$2.intersectSphere( _sphere$3, _sphereHitAt ) === null ) return;
-
- if ( _ray$2.origin.distanceToSquared( _sphereHitAt ) > ( raycaster.far - raycaster.near ) ** 2 ) return;
-
- }
-
- //
-
- _inverseMatrix$2.copy( matrixWorld ).invert();
- _ray$2.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$2 );
-
- // Check boundingBox before continuing
-
- if ( geometry.boundingBox !== null ) {
-
- if ( _ray$2.intersectsBox( geometry.boundingBox ) === false ) return;
-
- }
-
- let intersection;
-
- const index = geometry.index;
- const position = geometry.attributes.position;
- const uv = geometry.attributes.uv;
- const uv2 = geometry.attributes.uv2;
- const groups = geometry.groups;
- const drawRange = geometry.drawRange;
-
- if ( index !== null ) {
-
- // indexed buffer geometry
-
- if ( Array.isArray( material ) ) {
-
- for ( let i = 0, il = groups.length; i < il; i ++ ) {
-
- const group = groups[ i ];
- const groupMaterial = material[ group.materialIndex ];
-
- const start = Math.max( group.start, drawRange.start );
- const end = Math.min( index.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) );
-
- for ( let j = start, jl = end; j < jl; j += 3 ) {
-
- const a = index.getX( j );
- const b = index.getX( j + 1 );
- const c = index.getX( j + 2 );
-
- intersection = checkBufferGeometryIntersection( this, groupMaterial, raycaster, _ray$2, uv, uv2, a, b, c );
-
- if ( intersection ) {
-
- intersection.faceIndex = Math.floor( j / 3 ); // triangle number in indexed buffer semantics
- intersection.face.materialIndex = group.materialIndex;
- intersects.push( intersection );
-
- }
-
- }
-
- }
-
- } else {
-
- const start = Math.max( 0, drawRange.start );
- const end = Math.min( index.count, ( drawRange.start + drawRange.count ) );
-
- for ( let i = start, il = end; i < il; i += 3 ) {
-
- const a = index.getX( i );
- const b = index.getX( i + 1 );
- const c = index.getX( i + 2 );
-
- intersection = checkBufferGeometryIntersection( this, material, raycaster, _ray$2, uv, uv2, a, b, c );
-
- if ( intersection ) {
-
- intersection.faceIndex = Math.floor( i / 3 ); // triangle number in indexed buffer semantics
- intersects.push( intersection );
-
- }
-
- }
-
- }
-
- } else if ( position !== undefined ) {
-
- // non-indexed buffer geometry
-
- if ( Array.isArray( material ) ) {
-
- for ( let i = 0, il = groups.length; i < il; i ++ ) {
-
- const group = groups[ i ];
- const groupMaterial = material[ group.materialIndex ];
-
- const start = Math.max( group.start, drawRange.start );
- const end = Math.min( position.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) );
-
- for ( let j = start, jl = end; j < jl; j += 3 ) {
-
- const a = j;
- const b = j + 1;
- const c = j + 2;
-
- intersection = checkBufferGeometryIntersection( this, groupMaterial, raycaster, _ray$2, uv, uv2, a, b, c );
-
- if ( intersection ) {
-
- intersection.faceIndex = Math.floor( j / 3 ); // triangle number in non-indexed buffer semantics
- intersection.face.materialIndex = group.materialIndex;
- intersects.push( intersection );
-
- }
-
- }
-
- }
-
- } else {
-
- const start = Math.max( 0, drawRange.start );
- const end = Math.min( position.count, ( drawRange.start + drawRange.count ) );
-
- for ( let i = start, il = end; i < il; i += 3 ) {
-
- const a = i;
- const b = i + 1;
- const c = i + 2;
-
- intersection = checkBufferGeometryIntersection( this, material, raycaster, _ray$2, uv, uv2, a, b, c );
-
- if ( intersection ) {
-
- intersection.faceIndex = Math.floor( i / 3 ); // triangle number in non-indexed buffer semantics
- intersects.push( intersection );
-
- }
-
- }
-
- }
-
- }
-
- }
-
-}
-
-function checkIntersection( object, material, raycaster, ray, pA, pB, pC, point ) {
-
- let intersect;
-
- if ( material.side === BackSide ) {
-
- intersect = ray.intersectTriangle( pC, pB, pA, true, point );
-
- } else {
-
- intersect = ray.intersectTriangle( pA, pB, pC, ( material.side === FrontSide ), point );
-
- }
-
- if ( intersect === null ) return null;
-
- _intersectionPointWorld.copy( point );
- _intersectionPointWorld.applyMatrix4( object.matrixWorld );
-
- const distance = raycaster.ray.origin.distanceTo( _intersectionPointWorld );
-
- if ( distance < raycaster.near || distance > raycaster.far ) return null;
-
- return {
- distance: distance,
- point: _intersectionPointWorld.clone(),
- object: object
- };
-
-}
-
-function checkBufferGeometryIntersection( object, material, raycaster, ray, uv, uv2, a, b, c ) {
-
- object.getVertexPosition( a, _vA$1 );
- object.getVertexPosition( b, _vB$1 );
- object.getVertexPosition( c, _vC$1 );
-
- const intersection = checkIntersection( object, material, raycaster, ray, _vA$1, _vB$1, _vC$1, _intersectionPoint );
-
- if ( intersection ) {
-
- if ( uv ) {
-
- _uvA$1.fromBufferAttribute( uv, a );
- _uvB$1.fromBufferAttribute( uv, b );
- _uvC$1.fromBufferAttribute( uv, c );
-
- intersection.uv = Triangle.getUV( _intersectionPoint, _vA$1, _vB$1, _vC$1, _uvA$1, _uvB$1, _uvC$1, new Vector2() );
-
- }
-
- if ( uv2 ) {
-
- _uvA$1.fromBufferAttribute( uv2, a );
- _uvB$1.fromBufferAttribute( uv2, b );
- _uvC$1.fromBufferAttribute( uv2, c );
-
- intersection.uv2 = Triangle.getUV( _intersectionPoint, _vA$1, _vB$1, _vC$1, _uvA$1, _uvB$1, _uvC$1, new Vector2() );
-
- }
-
- const face = {
- a: a,
- b: b,
- c: c,
- normal: new Vector3(),
- materialIndex: 0
- };
-
- Triangle.getNormal( _vA$1, _vB$1, _vC$1, face.normal );
-
- intersection.face = face;
-
- }
-
- return intersection;
-
-}
-
-class BoxGeometry extends BufferGeometry {
-
- constructor( width = 1, height = 1, depth = 1, widthSegments = 1, heightSegments = 1, depthSegments = 1 ) {
-
- super();
-
- this.type = 'BoxGeometry';
-
- this.parameters = {
- width: width,
- height: height,
- depth: depth,
- widthSegments: widthSegments,
- heightSegments: heightSegments,
- depthSegments: depthSegments
- };
-
- const scope = this;
-
- // segments
-
- widthSegments = Math.floor( widthSegments );
- heightSegments = Math.floor( heightSegments );
- depthSegments = Math.floor( depthSegments );
-
- // buffers
-
- const indices = [];
- const vertices = [];
- const normals = [];
- const uvs = [];
-
- // helper variables
-
- let numberOfVertices = 0;
- let groupStart = 0;
-
- // build each side of the box geometry
-
- buildPlane( 'z', 'y', 'x', - 1, - 1, depth, height, width, depthSegments, heightSegments, 0 ); // px
- buildPlane( 'z', 'y', 'x', 1, - 1, depth, height, - width, depthSegments, heightSegments, 1 ); // nx
- buildPlane( 'x', 'z', 'y', 1, 1, width, depth, height, widthSegments, depthSegments, 2 ); // py
- buildPlane( 'x', 'z', 'y', 1, - 1, width, depth, - height, widthSegments, depthSegments, 3 ); // ny
- buildPlane( 'x', 'y', 'z', 1, - 1, width, height, depth, widthSegments, heightSegments, 4 ); // pz
- buildPlane( 'x', 'y', 'z', - 1, - 1, width, height, - depth, widthSegments, heightSegments, 5 ); // nz
-
- // build geometry
-
- this.setIndex( indices );
- this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
- this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
- this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
-
- function buildPlane( u, v, w, udir, vdir, width, height, depth, gridX, gridY, materialIndex ) {
-
- const segmentWidth = width / gridX;
- const segmentHeight = height / gridY;
-
- const widthHalf = width / 2;
- const heightHalf = height / 2;
- const depthHalf = depth / 2;
-
- const gridX1 = gridX + 1;
- const gridY1 = gridY + 1;
-
- let vertexCounter = 0;
- let groupCount = 0;
-
- const vector = new Vector3();
-
- // generate vertices, normals and uvs
-
- for ( let iy = 0; iy < gridY1; iy ++ ) {
-
- const y = iy * segmentHeight - heightHalf;
-
- for ( let ix = 0; ix < gridX1; ix ++ ) {
-
- const x = ix * segmentWidth - widthHalf;
-
- // set values to correct vector component
-
- vector[ u ] = x * udir;
- vector[ v ] = y * vdir;
- vector[ w ] = depthHalf;
-
- // now apply vector to vertex buffer
-
- vertices.push( vector.x, vector.y, vector.z );
-
- // set values to correct vector component
-
- vector[ u ] = 0;
- vector[ v ] = 0;
- vector[ w ] = depth > 0 ? 1 : - 1;
-
- // now apply vector to normal buffer
-
- normals.push( vector.x, vector.y, vector.z );
-
- // uvs
-
- uvs.push( ix / gridX );
- uvs.push( 1 - ( iy / gridY ) );
-
- // counters
-
- vertexCounter += 1;
-
- }
-
- }
-
- // indices
-
- // 1. you need three indices to draw a single face
- // 2. a single segment consists of two faces
- // 3. so we need to generate six (2*3) indices per segment
-
- for ( let iy = 0; iy < gridY; iy ++ ) {
-
- for ( let ix = 0; ix < gridX; ix ++ ) {
-
- const a = numberOfVertices + ix + gridX1 * iy;
- const b = numberOfVertices + ix + gridX1 * ( iy + 1 );
- const c = numberOfVertices + ( ix + 1 ) + gridX1 * ( iy + 1 );
- const d = numberOfVertices + ( ix + 1 ) + gridX1 * iy;
-
- // faces
-
- indices.push( a, b, d );
- indices.push( b, c, d );
-
- // increase counter
-
- groupCount += 6;
-
- }
-
- }
-
- // add a group to the geometry. this will ensure multi material support
-
- scope.addGroup( groupStart, groupCount, materialIndex );
-
- // calculate new start value for groups
-
- groupStart += groupCount;
-
- // update total number of vertices
-
- numberOfVertices += vertexCounter;
-
- }
-
- }
-
- copy( source ) {
-
- super.copy( source );
-
- this.parameters = Object.assign( {}, source.parameters );
-
- return this;
-
- }
-
- static fromJSON( data ) {
-
- return new BoxGeometry( data.width, data.height, data.depth, data.widthSegments, data.heightSegments, data.depthSegments );
-
- }
-
-}
-
-/**
- * Uniform Utilities
- */
-
-function cloneUniforms( src ) {
-
- const dst = {};
-
- for ( const u in src ) {
-
- dst[ u ] = {};
-
- for ( const p in src[ u ] ) {
-
- const property = src[ u ][ p ];
-
- if ( property && ( property.isColor ||
- property.isMatrix3 || property.isMatrix4 ||
- property.isVector2 || property.isVector3 || property.isVector4 ||
- property.isTexture || property.isQuaternion ) ) {
-
- dst[ u ][ p ] = property.clone();
-
- } else if ( Array.isArray( property ) ) {
-
- dst[ u ][ p ] = property.slice();
-
- } else {
-
- dst[ u ][ p ] = property;
-
- }
-
- }
-
- }
-
- return dst;
-
-}
-
-function mergeUniforms( uniforms ) {
-
- const merged = {};
-
- for ( let u = 0; u < uniforms.length; u ++ ) {
-
- const tmp = cloneUniforms( uniforms[ u ] );
-
- for ( const p in tmp ) {
-
- merged[ p ] = tmp[ p ];
-
- }
-
- }
-
- return merged;
-
-}
-
-function cloneUniformsGroups( src ) {
-
- const dst = [];
-
- for ( let u = 0; u < src.length; u ++ ) {
-
- dst.push( src[ u ].clone() );
-
- }
-
- return dst;
-
-}
-
-function getUnlitUniformColorSpace( renderer ) {
-
- if ( renderer.getRenderTarget() === null ) {
-
- // https://github.com/mrdoob/three.js/pull/23937#issuecomment-1111067398
- return renderer.outputEncoding === sRGBEncoding ? SRGBColorSpace : LinearSRGBColorSpace;
-
- }
-
- return LinearSRGBColorSpace;
-
-}
-
-// Legacy
-
-const UniformsUtils = { clone: cloneUniforms, merge: mergeUniforms };
-
-var default_vertex = "void main() {\n\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\n}";
-
-var default_fragment = "void main() {\n\tgl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );\n}";
-
-class ShaderMaterial extends Material {
-
- constructor( parameters ) {
-
- super();
-
- this.isShaderMaterial = true;
-
- this.type = 'ShaderMaterial';
-
- this.defines = {};
- this.uniforms = {};
- this.uniformsGroups = [];
-
- this.vertexShader = default_vertex;
- this.fragmentShader = default_fragment;
-
- this.linewidth = 1;
-
- this.wireframe = false;
- this.wireframeLinewidth = 1;
-
- this.fog = false; // set to use scene fog
- this.lights = false; // set to use scene lights
- this.clipping = false; // set to use user-defined clipping planes
-
- this.extensions = {
- derivatives: false, // set to use derivatives
- fragDepth: false, // set to use fragment depth values
- drawBuffers: false, // set to use draw buffers
- shaderTextureLOD: false // set to use shader texture LOD
- };
-
- // When rendered geometry doesn't include these attributes but the material does,
- // use these default values in WebGL. This avoids errors when buffer data is missing.
- this.defaultAttributeValues = {
- 'color': [ 1, 1, 1 ],
- 'uv': [ 0, 0 ],
- 'uv2': [ 0, 0 ]
- };
-
- this.index0AttributeName = undefined;
- this.uniformsNeedUpdate = false;
-
- this.glslVersion = null;
-
- if ( parameters !== undefined ) {
-
- this.setValues( parameters );
-
- }
-
- }
-
- copy( source ) {
-
- super.copy( source );
-
- this.fragmentShader = source.fragmentShader;
- this.vertexShader = source.vertexShader;
-
- this.uniforms = cloneUniforms( source.uniforms );
- this.uniformsGroups = cloneUniformsGroups( source.uniformsGroups );
-
- this.defines = Object.assign( {}, source.defines );
-
- this.wireframe = source.wireframe;
- this.wireframeLinewidth = source.wireframeLinewidth;
-
- this.fog = source.fog;
- this.lights = source.lights;
- this.clipping = source.clipping;
-
- this.extensions = Object.assign( {}, source.extensions );
-
- this.glslVersion = source.glslVersion;
-
- return this;
-
- }
-
- toJSON( meta ) {
-
- const data = super.toJSON( meta );
-
- data.glslVersion = this.glslVersion;
- data.uniforms = {};
-
- for ( const name in this.uniforms ) {
-
- const uniform = this.uniforms[ name ];
- const value = uniform.value;
-
- if ( value && value.isTexture ) {
-
- data.uniforms[ name ] = {
- type: 't',
- value: value.toJSON( meta ).uuid
- };
-
- } else if ( value && value.isColor ) {
-
- data.uniforms[ name ] = {
- type: 'c',
- value: value.getHex()
- };
-
- } else if ( value && value.isVector2 ) {
-
- data.uniforms[ name ] = {
- type: 'v2',
- value: value.toArray()
- };
-
- } else if ( value && value.isVector3 ) {
-
- data.uniforms[ name ] = {
- type: 'v3',
- value: value.toArray()
- };
-
- } else if ( value && value.isVector4 ) {
-
- data.uniforms[ name ] = {
- type: 'v4',
- value: value.toArray()
- };
-
- } else if ( value && value.isMatrix3 ) {
-
- data.uniforms[ name ] = {
- type: 'm3',
- value: value.toArray()
- };
-
- } else if ( value && value.isMatrix4 ) {
-
- data.uniforms[ name ] = {
- type: 'm4',
- value: value.toArray()
- };
-
- } else {
-
- data.uniforms[ name ] = {
- value: value
- };
-
- // note: the array variants v2v, v3v, v4v, m4v and tv are not supported so far
-
- }
-
- }
-
- if ( Object.keys( this.defines ).length > 0 ) data.defines = this.defines;
-
- data.vertexShader = this.vertexShader;
- data.fragmentShader = this.fragmentShader;
-
- const extensions = {};
-
- for ( const key in this.extensions ) {
-
- if ( this.extensions[ key ] === true ) extensions[ key ] = true;
-
- }
-
- if ( Object.keys( extensions ).length > 0 ) data.extensions = extensions;
-
- return data;
-
- }
-
-}
-
-class Camera extends Object3D {
-
- constructor() {
-
- super();
-
- this.isCamera = true;
-
- this.type = 'Camera';
-
- this.matrixWorldInverse = new Matrix4();
-
- this.projectionMatrix = new Matrix4();
- this.projectionMatrixInverse = new Matrix4();
-
- }
-
- copy( source, recursive ) {
-
- super.copy( source, recursive );
-
- this.matrixWorldInverse.copy( source.matrixWorldInverse );
-
- this.projectionMatrix.copy( source.projectionMatrix );
- this.projectionMatrixInverse.copy( source.projectionMatrixInverse );
-
- return this;
-
- }
-
- getWorldDirection( target ) {
-
- this.updateWorldMatrix( true, false );
-
- const e = this.matrixWorld.elements;
-
- return target.set( - e[ 8 ], - e[ 9 ], - e[ 10 ] ).normalize();
-
- }
-
- updateMatrixWorld( force ) {
-
- super.updateMatrixWorld( force );
-
- this.matrixWorldInverse.copy( this.matrixWorld ).invert();
-
- }
-
- updateWorldMatrix( updateParents, updateChildren ) {
-
- super.updateWorldMatrix( updateParents, updateChildren );
-
- this.matrixWorldInverse.copy( this.matrixWorld ).invert();
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
-}
-
-class PerspectiveCamera extends Camera {
-
- constructor( fov = 50, aspect = 1, near = 0.1, far = 2000 ) {
-
- super();
-
- this.isPerspectiveCamera = true;
-
- this.type = 'PerspectiveCamera';
-
- this.fov = fov;
- this.zoom = 1;
-
- this.near = near;
- this.far = far;
- this.focus = 10;
-
- this.aspect = aspect;
- this.view = null;
-
- this.filmGauge = 35; // width of the film (default in millimeters)
- this.filmOffset = 0; // horizontal film offset (same unit as gauge)
-
- this.updateProjectionMatrix();
-
- }
-
- copy( source, recursive ) {
-
- super.copy( source, recursive );
-
- this.fov = source.fov;
- this.zoom = source.zoom;
-
- this.near = source.near;
- this.far = source.far;
- this.focus = source.focus;
-
- this.aspect = source.aspect;
- this.view = source.view === null ? null : Object.assign( {}, source.view );
-
- this.filmGauge = source.filmGauge;
- this.filmOffset = source.filmOffset;
-
- return this;
-
- }
-
- /**
- * Sets the FOV by focal length in respect to the current .filmGauge.
- *
- * The default film gauge is 35, so that the focal length can be specified for
- * a 35mm (full frame) camera.
- *
- * Values for focal length and film gauge must have the same unit.
- */
- setFocalLength( focalLength ) {
-
- /** see {@link http://www.bobatkins.com/photography/technical/field_of_view.html} */
- const vExtentSlope = 0.5 * this.getFilmHeight() / focalLength;
-
- this.fov = RAD2DEG * 2 * Math.atan( vExtentSlope );
- this.updateProjectionMatrix();
-
- }
-
- /**
- * Calculates the focal length from the current .fov and .filmGauge.
- */
- getFocalLength() {
-
- const vExtentSlope = Math.tan( DEG2RAD * 0.5 * this.fov );
-
- return 0.5 * this.getFilmHeight() / vExtentSlope;
-
- }
-
- getEffectiveFOV() {
-
- return RAD2DEG * 2 * Math.atan(
- Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom );
-
- }
-
- getFilmWidth() {
-
- // film not completely covered in portrait format (aspect < 1)
- return this.filmGauge * Math.min( this.aspect, 1 );
-
- }
-
- getFilmHeight() {
-
- // film not completely covered in landscape format (aspect > 1)
- return this.filmGauge / Math.max( this.aspect, 1 );
-
- }
-
- /**
- * Sets an offset in a larger frustum. This is useful for multi-window or
- * multi-monitor/multi-machine setups.
- *
- * For example, if you have 3x2 monitors and each monitor is 1920x1080 and
- * the monitors are in grid like this
- *
- * +---+---+---+
- * | A | B | C |
- * +---+---+---+
- * | D | E | F |
- * +---+---+---+
- *
- * then for each monitor you would call it like this
- *
- * const w = 1920;
- * const h = 1080;
- * const fullWidth = w * 3;
- * const fullHeight = h * 2;
- *
- * --A--
- * camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 0, w, h );
- * --B--
- * camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 0, w, h );
- * --C--
- * camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 0, w, h );
- * --D--
- * camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 1, w, h );
- * --E--
- * camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 1, w, h );
- * --F--
- * camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 1, w, h );
- *
- * Note there is no reason monitors have to be the same size or in a grid.
- */
- setViewOffset( fullWidth, fullHeight, x, y, width, height ) {
-
- this.aspect = fullWidth / fullHeight;
-
- if ( this.view === null ) {
-
- this.view = {
- enabled: true,
- fullWidth: 1,
- fullHeight: 1,
- offsetX: 0,
- offsetY: 0,
- width: 1,
- height: 1
- };
-
- }
-
- this.view.enabled = true;
- this.view.fullWidth = fullWidth;
- this.view.fullHeight = fullHeight;
- this.view.offsetX = x;
- this.view.offsetY = y;
- this.view.width = width;
- this.view.height = height;
-
- this.updateProjectionMatrix();
-
- }
-
- clearViewOffset() {
-
- if ( this.view !== null ) {
-
- this.view.enabled = false;
-
- }
-
- this.updateProjectionMatrix();
-
- }
-
- updateProjectionMatrix() {
-
- const near = this.near;
- let top = near * Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom;
- let height = 2 * top;
- let width = this.aspect * height;
- let left = - 0.5 * width;
- const view = this.view;
-
- if ( this.view !== null && this.view.enabled ) {
-
- const fullWidth = view.fullWidth,
- fullHeight = view.fullHeight;
-
- left += view.offsetX * width / fullWidth;
- top -= view.offsetY * height / fullHeight;
- width *= view.width / fullWidth;
- height *= view.height / fullHeight;
-
- }
-
- const skew = this.filmOffset;
- if ( skew !== 0 ) left += near * skew / this.getFilmWidth();
-
- this.projectionMatrix.makePerspective( left, left + width, top, top - height, near, this.far );
-
- this.projectionMatrixInverse.copy( this.projectionMatrix ).invert();
-
- }
-
- toJSON( meta ) {
-
- const data = super.toJSON( meta );
-
- data.object.fov = this.fov;
- data.object.zoom = this.zoom;
-
- data.object.near = this.near;
- data.object.far = this.far;
- data.object.focus = this.focus;
-
- data.object.aspect = this.aspect;
-
- if ( this.view !== null ) data.object.view = Object.assign( {}, this.view );
-
- data.object.filmGauge = this.filmGauge;
- data.object.filmOffset = this.filmOffset;
-
- return data;
-
- }
-
-}
-
-const fov = - 90; // negative fov is not an error
-const aspect = 1;
-
-class CubeCamera extends Object3D {
-
- constructor( near, far, renderTarget ) {
-
- super();
-
- this.type = 'CubeCamera';
-
- this.renderTarget = renderTarget;
-
- const cameraPX = new PerspectiveCamera( fov, aspect, near, far );
- cameraPX.layers = this.layers;
- cameraPX.up.set( 0, 1, 0 );
- cameraPX.lookAt( 1, 0, 0 );
- this.add( cameraPX );
-
- const cameraNX = new PerspectiveCamera( fov, aspect, near, far );
- cameraNX.layers = this.layers;
- cameraNX.up.set( 0, 1, 0 );
- cameraNX.lookAt( - 1, 0, 0 );
- this.add( cameraNX );
-
- const cameraPY = new PerspectiveCamera( fov, aspect, near, far );
- cameraPY.layers = this.layers;
- cameraPY.up.set( 0, 0, - 1 );
- cameraPY.lookAt( 0, 1, 0 );
- this.add( cameraPY );
-
- const cameraNY = new PerspectiveCamera( fov, aspect, near, far );
- cameraNY.layers = this.layers;
- cameraNY.up.set( 0, 0, 1 );
- cameraNY.lookAt( 0, - 1, 0 );
- this.add( cameraNY );
-
- const cameraPZ = new PerspectiveCamera( fov, aspect, near, far );
- cameraPZ.layers = this.layers;
- cameraPZ.up.set( 0, 1, 0 );
- cameraPZ.lookAt( 0, 0, 1 );
- this.add( cameraPZ );
-
- const cameraNZ = new PerspectiveCamera( fov, aspect, near, far );
- cameraNZ.layers = this.layers;
- cameraNZ.up.set( 0, 1, 0 );
- cameraNZ.lookAt( 0, 0, - 1 );
- this.add( cameraNZ );
-
- }
-
- update( renderer, scene ) {
-
- if ( this.parent === null ) this.updateMatrixWorld();
-
- const renderTarget = this.renderTarget;
-
- const [ cameraPX, cameraNX, cameraPY, cameraNY, cameraPZ, cameraNZ ] = this.children;
-
- const currentRenderTarget = renderer.getRenderTarget();
-
- const currentToneMapping = renderer.toneMapping;
- const currentXrEnabled = renderer.xr.enabled;
-
- renderer.toneMapping = NoToneMapping;
- renderer.xr.enabled = false;
-
- const generateMipmaps = renderTarget.texture.generateMipmaps;
-
- renderTarget.texture.generateMipmaps = false;
-
- renderer.setRenderTarget( renderTarget, 0 );
- renderer.render( scene, cameraPX );
-
- renderer.setRenderTarget( renderTarget, 1 );
- renderer.render( scene, cameraNX );
-
- renderer.setRenderTarget( renderTarget, 2 );
- renderer.render( scene, cameraPY );
-
- renderer.setRenderTarget( renderTarget, 3 );
- renderer.render( scene, cameraNY );
-
- renderer.setRenderTarget( renderTarget, 4 );
- renderer.render( scene, cameraPZ );
-
- renderTarget.texture.generateMipmaps = generateMipmaps;
-
- renderer.setRenderTarget( renderTarget, 5 );
- renderer.render( scene, cameraNZ );
-
- renderer.setRenderTarget( currentRenderTarget );
-
- renderer.toneMapping = currentToneMapping;
- renderer.xr.enabled = currentXrEnabled;
-
- renderTarget.texture.needsPMREMUpdate = true;
-
- }
-
-}
-
-class CubeTexture extends Texture {
-
- constructor( images, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, encoding ) {
-
- images = images !== undefined ? images : [];
- mapping = mapping !== undefined ? mapping : CubeReflectionMapping;
-
- super( images, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, encoding );
-
- this.isCubeTexture = true;
-
- this.flipY = false;
-
- }
-
- get images() {
-
- return this.image;
-
- }
-
- set images( value ) {
-
- this.image = value;
-
- }
-
-}
-
-class WebGLCubeRenderTarget extends WebGLRenderTarget {
-
- constructor( size = 1, options = {} ) {
-
- super( size, size, options );
-
- this.isWebGLCubeRenderTarget = true;
-
- const image = { width: size, height: size, depth: 1 };
- const images = [ image, image, image, image, image, image ];
-
- this.texture = new CubeTexture( images, options.mapping, options.wrapS, options.wrapT, options.magFilter, options.minFilter, options.format, options.type, options.anisotropy, options.encoding );
-
- // By convention -- likely based on the RenderMan spec from the 1990's -- cube maps are specified by WebGL (and three.js)
- // in a coordinate system in which positive-x is to the right when looking up the positive-z axis -- in other words,
- // in a left-handed coordinate system. By continuing this convention, preexisting cube maps continued to render correctly.
-
- // three.js uses a right-handed coordinate system. So environment maps used in three.js appear to have px and nx swapped
- // and the flag isRenderTargetTexture controls this conversion. The flip is not required when using WebGLCubeRenderTarget.texture
- // as a cube texture (this is detected when isRenderTargetTexture is set to true for cube textures).
-
- this.texture.isRenderTargetTexture = true;
-
- this.texture.generateMipmaps = options.generateMipmaps !== undefined ? options.generateMipmaps : false;
- this.texture.minFilter = options.minFilter !== undefined ? options.minFilter : LinearFilter;
-
- }
-
- fromEquirectangularTexture( renderer, texture ) {
-
- this.texture.type = texture.type;
- this.texture.encoding = texture.encoding;
-
- this.texture.generateMipmaps = texture.generateMipmaps;
- this.texture.minFilter = texture.minFilter;
- this.texture.magFilter = texture.magFilter;
-
- const shader = {
-
- uniforms: {
- tEquirect: { value: null },
- },
-
- vertexShader: /* glsl */`
-
- varying vec3 vWorldDirection;
-
- vec3 transformDirection( in vec3 dir, in mat4 matrix ) {
-
- return normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );
-
- }
-
- void main() {
-
- vWorldDirection = transformDirection( position, modelMatrix );
-
- #include
- #include
-
- }
- `,
-
- fragmentShader: /* glsl */`
-
- uniform sampler2D tEquirect;
-
- varying vec3 vWorldDirection;
-
- #include
-
- void main() {
-
- vec3 direction = normalize( vWorldDirection );
-
- vec2 sampleUV = equirectUv( direction );
-
- gl_FragColor = texture2D( tEquirect, sampleUV );
-
- }
- `
- };
-
- const geometry = new BoxGeometry( 5, 5, 5 );
-
- const material = new ShaderMaterial( {
-
- name: 'CubemapFromEquirect',
-
- uniforms: cloneUniforms( shader.uniforms ),
- vertexShader: shader.vertexShader,
- fragmentShader: shader.fragmentShader,
- side: BackSide,
- blending: NoBlending
-
- } );
-
- material.uniforms.tEquirect.value = texture;
-
- const mesh = new Mesh( geometry, material );
-
- const currentMinFilter = texture.minFilter;
-
- // Avoid blurred poles
- if ( texture.minFilter === LinearMipmapLinearFilter ) texture.minFilter = LinearFilter;
-
- const camera = new CubeCamera( 1, 10, this );
- camera.update( renderer, mesh );
-
- texture.minFilter = currentMinFilter;
-
- mesh.geometry.dispose();
- mesh.material.dispose();
-
- return this;
-
- }
-
- clear( renderer, color, depth, stencil ) {
-
- const currentRenderTarget = renderer.getRenderTarget();
-
- for ( let i = 0; i < 6; i ++ ) {
-
- renderer.setRenderTarget( this, i );
-
- renderer.clear( color, depth, stencil );
-
- }
-
- renderer.setRenderTarget( currentRenderTarget );
-
- }
-
-}
-
-const _vector1 = /*@__PURE__*/ new Vector3();
-const _vector2 = /*@__PURE__*/ new Vector3();
-const _normalMatrix = /*@__PURE__*/ new Matrix3();
-
-class Plane {
-
- constructor( normal = new Vector3( 1, 0, 0 ), constant = 0 ) {
-
- this.isPlane = true;
-
- // normal is assumed to be normalized
-
- this.normal = normal;
- this.constant = constant;
-
- }
-
- set( normal, constant ) {
-
- this.normal.copy( normal );
- this.constant = constant;
-
- return this;
-
- }
-
- setComponents( x, y, z, w ) {
-
- this.normal.set( x, y, z );
- this.constant = w;
-
- return this;
-
- }
-
- setFromNormalAndCoplanarPoint( normal, point ) {
-
- this.normal.copy( normal );
- this.constant = - point.dot( this.normal );
-
- return this;
-
- }
-
- setFromCoplanarPoints( a, b, c ) {
-
- const normal = _vector1.subVectors( c, b ).cross( _vector2.subVectors( a, b ) ).normalize();
-
- // Q: should an error be thrown if normal is zero (e.g. degenerate plane)?
-
- this.setFromNormalAndCoplanarPoint( normal, a );
-
- return this;
-
- }
-
- copy( plane ) {
-
- this.normal.copy( plane.normal );
- this.constant = plane.constant;
-
- return this;
-
- }
-
- normalize() {
-
- // Note: will lead to a divide by zero if the plane is invalid.
-
- const inverseNormalLength = 1.0 / this.normal.length();
- this.normal.multiplyScalar( inverseNormalLength );
- this.constant *= inverseNormalLength;
-
- return this;
-
- }
-
- negate() {
-
- this.constant *= - 1;
- this.normal.negate();
-
- return this;
-
- }
-
- distanceToPoint( point ) {
-
- return this.normal.dot( point ) + this.constant;
-
- }
-
- distanceToSphere( sphere ) {
-
- return this.distanceToPoint( sphere.center ) - sphere.radius;
-
- }
-
- projectPoint( point, target ) {
-
- return target.copy( point ).addScaledVector( this.normal, - this.distanceToPoint( point ) );
-
- }
-
- intersectLine( line, target ) {
-
- const direction = line.delta( _vector1 );
-
- const denominator = this.normal.dot( direction );
-
- if ( denominator === 0 ) {
-
- // line is coplanar, return origin
- if ( this.distanceToPoint( line.start ) === 0 ) {
-
- return target.copy( line.start );
-
- }
-
- // Unsure if this is the correct method to handle this case.
- return null;
-
- }
-
- const t = - ( line.start.dot( this.normal ) + this.constant ) / denominator;
-
- if ( t < 0 || t > 1 ) {
-
- return null;
-
- }
-
- return target.copy( line.start ).addScaledVector( direction, t );
-
- }
-
- intersectsLine( line ) {
-
- // Note: this tests if a line intersects the plane, not whether it (or its end-points) are coplanar with it.
-
- const startSign = this.distanceToPoint( line.start );
- const endSign = this.distanceToPoint( line.end );
-
- return ( startSign < 0 && endSign > 0 ) || ( endSign < 0 && startSign > 0 );
-
- }
-
- intersectsBox( box ) {
-
- return box.intersectsPlane( this );
-
- }
-
- intersectsSphere( sphere ) {
-
- return sphere.intersectsPlane( this );
-
- }
-
- coplanarPoint( target ) {
-
- return target.copy( this.normal ).multiplyScalar( - this.constant );
-
- }
-
- applyMatrix4( matrix, optionalNormalMatrix ) {
-
- const normalMatrix = optionalNormalMatrix || _normalMatrix.getNormalMatrix( matrix );
-
- const referencePoint = this.coplanarPoint( _vector1 ).applyMatrix4( matrix );
-
- const normal = this.normal.applyMatrix3( normalMatrix ).normalize();
-
- this.constant = - referencePoint.dot( normal );
-
- return this;
-
- }
-
- translate( offset ) {
-
- this.constant -= offset.dot( this.normal );
-
- return this;
-
- }
-
- equals( plane ) {
-
- return plane.normal.equals( this.normal ) && ( plane.constant === this.constant );
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
-}
-
-const _sphere$2 = /*@__PURE__*/ new Sphere();
-const _vector$7 = /*@__PURE__*/ new Vector3();
-
-class Frustum {
-
- constructor( p0 = new Plane(), p1 = new Plane(), p2 = new Plane(), p3 = new Plane(), p4 = new Plane(), p5 = new Plane() ) {
-
- this.planes = [ p0, p1, p2, p3, p4, p5 ];
-
- }
-
- set( p0, p1, p2, p3, p4, p5 ) {
-
- const planes = this.planes;
-
- planes[ 0 ].copy( p0 );
- planes[ 1 ].copy( p1 );
- planes[ 2 ].copy( p2 );
- planes[ 3 ].copy( p3 );
- planes[ 4 ].copy( p4 );
- planes[ 5 ].copy( p5 );
-
- return this;
-
- }
-
- copy( frustum ) {
-
- const planes = this.planes;
-
- for ( let i = 0; i < 6; i ++ ) {
-
- planes[ i ].copy( frustum.planes[ i ] );
-
- }
-
- return this;
-
- }
-
- setFromProjectionMatrix( m ) {
-
- const planes = this.planes;
- const me = m.elements;
- const me0 = me[ 0 ], me1 = me[ 1 ], me2 = me[ 2 ], me3 = me[ 3 ];
- const me4 = me[ 4 ], me5 = me[ 5 ], me6 = me[ 6 ], me7 = me[ 7 ];
- const me8 = me[ 8 ], me9 = me[ 9 ], me10 = me[ 10 ], me11 = me[ 11 ];
- const me12 = me[ 12 ], me13 = me[ 13 ], me14 = me[ 14 ], me15 = me[ 15 ];
-
- planes[ 0 ].setComponents( me3 - me0, me7 - me4, me11 - me8, me15 - me12 ).normalize();
- planes[ 1 ].setComponents( me3 + me0, me7 + me4, me11 + me8, me15 + me12 ).normalize();
- planes[ 2 ].setComponents( me3 + me1, me7 + me5, me11 + me9, me15 + me13 ).normalize();
- planes[ 3 ].setComponents( me3 - me1, me7 - me5, me11 - me9, me15 - me13 ).normalize();
- planes[ 4 ].setComponents( me3 - me2, me7 - me6, me11 - me10, me15 - me14 ).normalize();
- planes[ 5 ].setComponents( me3 + me2, me7 + me6, me11 + me10, me15 + me14 ).normalize();
-
- return this;
-
- }
-
- intersectsObject( object ) {
-
- const geometry = object.geometry;
-
- if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
-
- _sphere$2.copy( geometry.boundingSphere ).applyMatrix4( object.matrixWorld );
-
- return this.intersectsSphere( _sphere$2 );
-
- }
-
- intersectsSprite( sprite ) {
-
- _sphere$2.center.set( 0, 0, 0 );
- _sphere$2.radius = 0.7071067811865476;
- _sphere$2.applyMatrix4( sprite.matrixWorld );
-
- return this.intersectsSphere( _sphere$2 );
-
- }
-
- intersectsSphere( sphere ) {
-
- const planes = this.planes;
- const center = sphere.center;
- const negRadius = - sphere.radius;
-
- for ( let i = 0; i < 6; i ++ ) {
-
- const distance = planes[ i ].distanceToPoint( center );
-
- if ( distance < negRadius ) {
-
- return false;
-
- }
-
- }
-
- return true;
-
- }
-
- intersectsBox( box ) {
-
- const planes = this.planes;
-
- for ( let i = 0; i < 6; i ++ ) {
-
- const plane = planes[ i ];
-
- // corner at max distance
-
- _vector$7.x = plane.normal.x > 0 ? box.max.x : box.min.x;
- _vector$7.y = plane.normal.y > 0 ? box.max.y : box.min.y;
- _vector$7.z = plane.normal.z > 0 ? box.max.z : box.min.z;
-
- if ( plane.distanceToPoint( _vector$7 ) < 0 ) {
-
- return false;
-
- }
-
- }
-
- return true;
-
- }
-
- containsPoint( point ) {
-
- const planes = this.planes;
-
- for ( let i = 0; i < 6; i ++ ) {
-
- if ( planes[ i ].distanceToPoint( point ) < 0 ) {
-
- return false;
-
- }
-
- }
-
- return true;
-
- }
-
- clone() {
-
- return new this.constructor().copy( this );
-
- }
-
-}
-
-function WebGLAnimation() {
-
- let context = null;
- let isAnimating = false;
- let animationLoop = null;
- let requestId = null;
-
- function onAnimationFrame( time, frame ) {
-
- animationLoop( time, frame );
-
- requestId = context.requestAnimationFrame( onAnimationFrame );
-
- }
-
- return {
-
- start: function () {
-
- if ( isAnimating === true ) return;
- if ( animationLoop === null ) return;
-
- requestId = context.requestAnimationFrame( onAnimationFrame );
-
- isAnimating = true;
-
- },
-
- stop: function () {
-
- context.cancelAnimationFrame( requestId );
-
- isAnimating = false;
-
- },
-
- setAnimationLoop: function ( callback ) {
-
- animationLoop = callback;
-
- },
-
- setContext: function ( value ) {
-
- context = value;
-
- }
-
- };
-
-}
-
-function WebGLAttributes( gl, capabilities ) {
-
- const isWebGL2 = capabilities.isWebGL2;
-
- const buffers = new WeakMap();
-
- function createBuffer( attribute, bufferType ) {
-
- const array = attribute.array;
- const usage = attribute.usage;
-
- const buffer = gl.createBuffer();
-
- gl.bindBuffer( bufferType, buffer );
- gl.bufferData( bufferType, array, usage );
-
- attribute.onUploadCallback();
-
- let type;
-
- if ( array instanceof Float32Array ) {
-
- type = gl.FLOAT;
-
- } else if ( array instanceof Uint16Array ) {
-
- if ( attribute.isFloat16BufferAttribute ) {
-
- if ( isWebGL2 ) {
-
- type = gl.HALF_FLOAT;
-
- } else {
-
- throw new Error( 'THREE.WebGLAttributes: Usage of Float16BufferAttribute requires WebGL2.' );
-
- }
-
- } else {
-
- type = gl.UNSIGNED_SHORT;
-
- }
-
- } else if ( array instanceof Int16Array ) {
-
- type = gl.SHORT;
-
- } else if ( array instanceof Uint32Array ) {
-
- type = gl.UNSIGNED_INT;
-
- } else if ( array instanceof Int32Array ) {
-
- type = gl.INT;
-
- } else if ( array instanceof Int8Array ) {
-
- type = gl.BYTE;
-
- } else if ( array instanceof Uint8Array ) {
-
- type = gl.UNSIGNED_BYTE;
-
- } else if ( array instanceof Uint8ClampedArray ) {
-
- type = gl.UNSIGNED_BYTE;
-
- } else {
-
- throw new Error( 'THREE.WebGLAttributes: Unsupported buffer data format: ' + array );
-
- }
-
- return {
- buffer: buffer,
- type: type,
- bytesPerElement: array.BYTES_PER_ELEMENT,
- version: attribute.version
- };
-
- }
-
- function updateBuffer( buffer, attribute, bufferType ) {
-
- const array = attribute.array;
- const updateRange = attribute.updateRange;
-
- gl.bindBuffer( bufferType, buffer );
-
- if ( updateRange.count === - 1 ) {
-
- // Not using update ranges
-
- gl.bufferSubData( bufferType, 0, array );
-
- } else {
-
- if ( isWebGL2 ) {
-
- gl.bufferSubData( bufferType, updateRange.offset * array.BYTES_PER_ELEMENT,
- array, updateRange.offset, updateRange.count );
-
- } else {
-
- gl.bufferSubData( bufferType, updateRange.offset * array.BYTES_PER_ELEMENT,
- array.subarray( updateRange.offset, updateRange.offset + updateRange.count ) );
-
- }
-
- updateRange.count = - 1; // reset range
-
- }
-
- attribute.onUploadCallback();
-
- }
-
- //
-
- function get( attribute ) {
-
- if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
-
- return buffers.get( attribute );
-
- }
-
- function remove( attribute ) {
-
- if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
-
- const data = buffers.get( attribute );
-
- if ( data ) {
-
- gl.deleteBuffer( data.buffer );
-
- buffers.delete( attribute );
-
- }
-
- }
-
- function update( attribute, bufferType ) {
-
- if ( attribute.isGLBufferAttribute ) {
-
- const cached = buffers.get( attribute );
-
- if ( ! cached || cached.version < attribute.version ) {
-
- buffers.set( attribute, {
- buffer: attribute.buffer,
- type: attribute.type,
- bytesPerElement: attribute.elementSize,
- version: attribute.version
- } );
-
- }
-
- return;
-
- }
-
- if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
-
- const data = buffers.get( attribute );
-
- if ( data === undefined ) {
-
- buffers.set( attribute, createBuffer( attribute, bufferType ) );
-
- } else if ( data.version < attribute.version ) {
-
- updateBuffer( data.buffer, attribute, bufferType );
-
- data.version = attribute.version;
-
- }
-
- }
-
- return {
-
- get: get,
- remove: remove,
- update: update
-
- };
-
-}
-
-class PlaneGeometry extends BufferGeometry {
-
- constructor( width = 1, height = 1, widthSegments = 1, heightSegments = 1 ) {
-
- super();
-
- this.type = 'PlaneGeometry';
-
- this.parameters = {
- width: width,
- height: height,
- widthSegments: widthSegments,
- heightSegments: heightSegments
- };
-
- const width_half = width / 2;
- const height_half = height / 2;
-
- const gridX = Math.floor( widthSegments );
- const gridY = Math.floor( heightSegments );
-
- const gridX1 = gridX + 1;
- const gridY1 = gridY + 1;
-
- const segment_width = width / gridX;
- const segment_height = height / gridY;
-
- //
-
- const indices = [];
- const vertices = [];
- const normals = [];
- const uvs = [];
-
- for ( let iy = 0; iy < gridY1; iy ++ ) {
-
- const y = iy * segment_height - height_half;
-
- for ( let ix = 0; ix < gridX1; ix ++ ) {
-
- const x = ix * segment_width - width_half;
-
- vertices.push( x, - y, 0 );
-
- normals.push( 0, 0, 1 );
-
- uvs.push( ix / gridX );
- uvs.push( 1 - ( iy / gridY ) );
-
- }
-
- }
-
- for ( let iy = 0; iy < gridY; iy ++ ) {
-
- for ( let ix = 0; ix < gridX; ix ++ ) {
-
- const a = ix + gridX1 * iy;
- const b = ix + gridX1 * ( iy + 1 );
- const c = ( ix + 1 ) + gridX1 * ( iy + 1 );
- const d = ( ix + 1 ) + gridX1 * iy;
-
- indices.push( a, b, d );
- indices.push( b, c, d );
-
- }
-
- }
-
- this.setIndex( indices );
- this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
- this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
- this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
-
- }
-
- copy( source ) {
-
- super.copy( source );
-
- this.parameters = Object.assign( {}, source.parameters );
-
- return this;
-
- }
-
- static fromJSON( data ) {
-
- return new PlaneGeometry( data.width, data.height, data.widthSegments, data.heightSegments );
-
- }
-
-}
-
-var alphamap_fragment = "#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, vUv ).g;\n#endif";
-
-var alphamap_pars_fragment = "#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif";
-
-var alphatest_fragment = "#ifdef USE_ALPHATEST\n\tif ( diffuseColor.a < alphaTest ) discard;\n#endif";
-
-var alphatest_pars_fragment = "#ifdef USE_ALPHATEST\n\tuniform float alphaTest;\n#endif";
-
-var aomap_fragment = "#ifdef USE_AOMAP\n\tfloat ambientOcclusion = ( texture2D( aoMap, vUv2 ).r - 1.0 ) * aoMapIntensity + 1.0;\n\treflectedLight.indirectDiffuse *= ambientOcclusion;\n\t#if defined( USE_ENVMAP ) && defined( STANDARD )\n\t\tfloat dotNV = saturate( dot( geometry.normal, geometry.viewDir ) );\n\t\treflectedLight.indirectSpecular *= computeSpecularOcclusion( dotNV, ambientOcclusion, material.roughness );\n\t#endif\n#endif";
-
-var aomap_pars_fragment = "#ifdef USE_AOMAP\n\tuniform sampler2D aoMap;\n\tuniform float aoMapIntensity;\n#endif";
-
-var begin_vertex = "vec3 transformed = vec3( position );";
-
-var beginnormal_vertex = "vec3 objectNormal = vec3( normal );\n#ifdef USE_TANGENT\n\tvec3 objectTangent = vec3( tangent.xyz );\n#endif";
-
-var bsdfs = "vec3 BRDF_Lambert( const in vec3 diffuseColor ) {\n\treturn RECIPROCAL_PI * diffuseColor;\n}\nvec3 F_Schlick( const in vec3 f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n}\nfloat F_Schlick( const in float f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n}\nvec3 Schlick_to_F0( const in vec3 f, const in float f90, const in float dotVH ) {\n float x = clamp( 1.0 - dotVH, 0.0, 1.0 );\n float x2 = x * x;\n float x5 = clamp( x * x2 * x2, 0.0, 0.9999 );\n return ( f - vec3( f90 ) * x5 ) / ( 1.0 - x5 );\n}\nfloat V_GGX_SmithCorrelated( const in float alpha, const in float dotNL, const in float dotNV ) {\n\tfloat a2 = pow2( alpha );\n\tfloat gv = dotNL * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );\n\tfloat gl = dotNV * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );\n\treturn 0.5 / max( gv + gl, EPSILON );\n}\nfloat D_GGX( const in float alpha, const in float dotNH ) {\n\tfloat a2 = pow2( alpha );\n\tfloat denom = pow2( dotNH ) * ( a2 - 1.0 ) + 1.0;\n\treturn RECIPROCAL_PI * a2 / pow2( denom );\n}\nvec3 BRDF_GGX( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 f0, const in float f90, const in float roughness ) {\n\tfloat alpha = pow2( roughness );\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( f0, f90, dotVH );\n\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\tfloat D = D_GGX( alpha, dotNH );\n\treturn F * ( V * D );\n}\n#ifdef USE_IRIDESCENCE\n\tvec3 BRDF_GGX_Iridescence( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 f0, const in float f90, const in float iridescence, const in vec3 iridescenceFresnel, const in float roughness ) {\n\t\tfloat alpha = pow2( roughness );\n\t\tvec3 halfDir = normalize( lightDir + viewDir );\n\t\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\t\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\t\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\t\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\t\tvec3 F = mix( F_Schlick( f0, f90, dotVH ), iridescenceFresnel, iridescence );\n\t\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\t\tfloat D = D_GGX( alpha, dotNH );\n\t\treturn F * ( V * D );\n\t}\n#endif\nvec2 LTC_Uv( const in vec3 N, const in vec3 V, const in float roughness ) {\n\tconst float LUT_SIZE = 64.0;\n\tconst float LUT_SCALE = ( LUT_SIZE - 1.0 ) / LUT_SIZE;\n\tconst float LUT_BIAS = 0.5 / LUT_SIZE;\n\tfloat dotNV = saturate( dot( N, V ) );\n\tvec2 uv = vec2( roughness, sqrt( 1.0 - dotNV ) );\n\tuv = uv * LUT_SCALE + LUT_BIAS;\n\treturn uv;\n}\nfloat LTC_ClippedSphereFormFactor( const in vec3 f ) {\n\tfloat l = length( f );\n\treturn max( ( l * l + f.z ) / ( l + 1.0 ), 0.0 );\n}\nvec3 LTC_EdgeVectorFormFactor( const in vec3 v1, const in vec3 v2 ) {\n\tfloat x = dot( v1, v2 );\n\tfloat y = abs( x );\n\tfloat a = 0.8543985 + ( 0.4965155 + 0.0145206 * y ) * y;\n\tfloat b = 3.4175940 + ( 4.1616724 + y ) * y;\n\tfloat v = a / b;\n\tfloat theta_sintheta = ( x > 0.0 ) ? v : 0.5 * inversesqrt( max( 1.0 - x * x, 1e-7 ) ) - v;\n\treturn cross( v1, v2 ) * theta_sintheta;\n}\nvec3 LTC_Evaluate( const in vec3 N, const in vec3 V, const in vec3 P, const in mat3 mInv, const in vec3 rectCoords[ 4 ] ) {\n\tvec3 v1 = rectCoords[ 1 ] - rectCoords[ 0 ];\n\tvec3 v2 = rectCoords[ 3 ] - rectCoords[ 0 ];\n\tvec3 lightNormal = cross( v1, v2 );\n\tif( dot( lightNormal, P - rectCoords[ 0 ] ) < 0.0 ) return vec3( 0.0 );\n\tvec3 T1, T2;\n\tT1 = normalize( V - N * dot( V, N ) );\n\tT2 = - cross( N, T1 );\n\tmat3 mat = mInv * transposeMat3( mat3( T1, T2, N ) );\n\tvec3 coords[ 4 ];\n\tcoords[ 0 ] = mat * ( rectCoords[ 0 ] - P );\n\tcoords[ 1 ] = mat * ( rectCoords[ 1 ] - P );\n\tcoords[ 2 ] = mat * ( rectCoords[ 2 ] - P );\n\tcoords[ 3 ] = mat * ( rectCoords[ 3 ] - P );\n\tcoords[ 0 ] = normalize( coords[ 0 ] );\n\tcoords[ 1 ] = normalize( coords[ 1 ] );\n\tcoords[ 2 ] = normalize( coords[ 2 ] );\n\tcoords[ 3 ] = normalize( coords[ 3 ] );\n\tvec3 vectorFormFactor = vec3( 0.0 );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 0 ], coords[ 1 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 1 ], coords[ 2 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 2 ], coords[ 3 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 3 ], coords[ 0 ] );\n\tfloat result = LTC_ClippedSphereFormFactor( vectorFormFactor );\n\treturn vec3( result );\n}\nfloat G_BlinnPhong_Implicit( ) {\n\treturn 0.25;\n}\nfloat D_BlinnPhong( const in float shininess, const in float dotNH ) {\n\treturn RECIPROCAL_PI * ( shininess * 0.5 + 1.0 ) * pow( dotNH, shininess );\n}\nvec3 BRDF_BlinnPhong( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 specularColor, const in float shininess ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( specularColor, 1.0, dotVH );\n\tfloat G = G_BlinnPhong_Implicit( );\n\tfloat D = D_BlinnPhong( shininess, dotNH );\n\treturn F * ( G * D );\n}\n#if defined( USE_SHEEN )\nfloat D_Charlie( float roughness, float dotNH ) {\n\tfloat alpha = pow2( roughness );\n\tfloat invAlpha = 1.0 / alpha;\n\tfloat cos2h = dotNH * dotNH;\n\tfloat sin2h = max( 1.0 - cos2h, 0.0078125 );\n\treturn ( 2.0 + invAlpha ) * pow( sin2h, invAlpha * 0.5 ) / ( 2.0 * PI );\n}\nfloat V_Neubelt( float dotNV, float dotNL ) {\n\treturn saturate( 1.0 / ( 4.0 * ( dotNL + dotNV - dotNL * dotNV ) ) );\n}\nvec3 BRDF_Sheen( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, vec3 sheenColor, const in float sheenRoughness ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat D = D_Charlie( sheenRoughness, dotNH );\n\tfloat V = V_Neubelt( dotNV, dotNL );\n\treturn sheenColor * ( D * V );\n}\n#endif";
-
-var iridescence_fragment = "#ifdef USE_IRIDESCENCE\n\tconst mat3 XYZ_TO_REC709 = mat3(\n\t\t 3.2404542, -0.9692660, 0.0556434,\n\t\t-1.5371385, 1.8760108, -0.2040259,\n\t\t-0.4985314, 0.0415560, 1.0572252\n\t);\n\tvec3 Fresnel0ToIor( vec3 fresnel0 ) {\n\t\tvec3 sqrtF0 = sqrt( fresnel0 );\n\t\treturn ( vec3( 1.0 ) + sqrtF0 ) / ( vec3( 1.0 ) - sqrtF0 );\n\t}\n\tvec3 IorToFresnel0( vec3 transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - vec3( incidentIor ) ) / ( transmittedIor + vec3( incidentIor ) ) );\n\t}\n\tfloat IorToFresnel0( float transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - incidentIor ) / ( transmittedIor + incidentIor ));\n\t}\n\tvec3 evalSensitivity( float OPD, vec3 shift ) {\n\t\tfloat phase = 2.0 * PI * OPD * 1.0e-9;\n\t\tvec3 val = vec3( 5.4856e-13, 4.4201e-13, 5.2481e-13 );\n\t\tvec3 pos = vec3( 1.6810e+06, 1.7953e+06, 2.2084e+06 );\n\t\tvec3 var = vec3( 4.3278e+09, 9.3046e+09, 6.6121e+09 );\n\t\tvec3 xyz = val * sqrt( 2.0 * PI * var ) * cos( pos * phase + shift ) * exp( - pow2( phase ) * var );\n\t\txyz.x += 9.7470e-14 * sqrt( 2.0 * PI * 4.5282e+09 ) * cos( 2.2399e+06 * phase + shift[ 0 ] ) * exp( - 4.5282e+09 * pow2( phase ) );\n\t\txyz /= 1.0685e-7;\n\t\tvec3 rgb = XYZ_TO_REC709 * xyz;\n\t\treturn rgb;\n\t}\n\tvec3 evalIridescence( float outsideIOR, float eta2, float cosTheta1, float thinFilmThickness, vec3 baseF0 ) {\n\t\tvec3 I;\n\t\tfloat iridescenceIOR = mix( outsideIOR, eta2, smoothstep( 0.0, 0.03, thinFilmThickness ) );\n\t\tfloat sinTheta2Sq = pow2( outsideIOR / iridescenceIOR ) * ( 1.0 - pow2( cosTheta1 ) );\n\t\tfloat cosTheta2Sq = 1.0 - sinTheta2Sq;\n\t\tif ( cosTheta2Sq < 0.0 ) {\n\t\t\t return vec3( 1.0 );\n\t\t}\n\t\tfloat cosTheta2 = sqrt( cosTheta2Sq );\n\t\tfloat R0 = IorToFresnel0( iridescenceIOR, outsideIOR );\n\t\tfloat R12 = F_Schlick( R0, 1.0, cosTheta1 );\n\t\tfloat R21 = R12;\n\t\tfloat T121 = 1.0 - R12;\n\t\tfloat phi12 = 0.0;\n\t\tif ( iridescenceIOR < outsideIOR ) phi12 = PI;\n\t\tfloat phi21 = PI - phi12;\n\t\tvec3 baseIOR = Fresnel0ToIor( clamp( baseF0, 0.0, 0.9999 ) );\t\tvec3 R1 = IorToFresnel0( baseIOR, iridescenceIOR );\n\t\tvec3 R23 = F_Schlick( R1, 1.0, cosTheta2 );\n\t\tvec3 phi23 = vec3( 0.0 );\n\t\tif ( baseIOR[ 0 ] < iridescenceIOR ) phi23[ 0 ] = PI;\n\t\tif ( baseIOR[ 1 ] < iridescenceIOR ) phi23[ 1 ] = PI;\n\t\tif ( baseIOR[ 2 ] < iridescenceIOR ) phi23[ 2 ] = PI;\n\t\tfloat OPD = 2.0 * iridescenceIOR * thinFilmThickness * cosTheta2;\n\t\tvec3 phi = vec3( phi21 ) + phi23;\n\t\tvec3 R123 = clamp( R12 * R23, 1e-5, 0.9999 );\n\t\tvec3 r123 = sqrt( R123 );\n\t\tvec3 Rs = pow2( T121 ) * R23 / ( vec3( 1.0 ) - R123 );\n\t\tvec3 C0 = R12 + Rs;\n\t\tI = C0;\n\t\tvec3 Cm = Rs - T121;\n\t\tfor ( int m = 1; m <= 2; ++ m ) {\n\t\t\tCm *= r123;\n\t\t\tvec3 Sm = 2.0 * evalSensitivity( float( m ) * OPD, float( m ) * phi );\n\t\t\tI += Cm * Sm;\n\t\t}\n\t\treturn max( I, vec3( 0.0 ) );\n\t}\n#endif";
-
-var bumpmap_pars_fragment = "#ifdef USE_BUMPMAP\n\tuniform sampler2D bumpMap;\n\tuniform float bumpScale;\n\tvec2 dHdxy_fwd() {\n\t\tvec2 dSTdx = dFdx( vUv );\n\t\tvec2 dSTdy = dFdy( vUv );\n\t\tfloat Hll = bumpScale * texture2D( bumpMap, vUv ).x;\n\t\tfloat dBx = bumpScale * texture2D( bumpMap, vUv + dSTdx ).x - Hll;\n\t\tfloat dBy = bumpScale * texture2D( bumpMap, vUv + dSTdy ).x - Hll;\n\t\treturn vec2( dBx, dBy );\n\t}\n\tvec3 perturbNormalArb( vec3 surf_pos, vec3 surf_norm, vec2 dHdxy, float faceDirection ) {\n\t\tvec3 vSigmaX = dFdx( surf_pos.xyz );\n\t\tvec3 vSigmaY = dFdy( surf_pos.xyz );\n\t\tvec3 vN = surf_norm;\n\t\tvec3 R1 = cross( vSigmaY, vN );\n\t\tvec3 R2 = cross( vN, vSigmaX );\n\t\tfloat fDet = dot( vSigmaX, R1 ) * faceDirection;\n\t\tvec3 vGrad = sign( fDet ) * ( dHdxy.x * R1 + dHdxy.y * R2 );\n\t\treturn normalize( abs( fDet ) * surf_norm - vGrad );\n\t}\n#endif";
-
-var clipping_planes_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvec4 plane;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {\n\t\tplane = clippingPlanes[ i ];\n\t\tif ( dot( vClipPosition, plane.xyz ) > plane.w ) discard;\n\t}\n\t#pragma unroll_loop_end\n\t#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES\n\t\tbool clipped = true;\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {\n\t\t\tplane = clippingPlanes[ i ];\n\t\t\tclipped = ( dot( vClipPosition, plane.xyz ) > plane.w ) && clipped;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t\tif ( clipped ) discard;\n\t#endif\n#endif";
-
-var clipping_planes_pars_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n\tuniform vec4 clippingPlanes[ NUM_CLIPPING_PLANES ];\n#endif";
-
-var clipping_planes_pars_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n#endif";
-
-var clipping_planes_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvClipPosition = - mvPosition.xyz;\n#endif";
-
-var color_fragment = "#if defined( USE_COLOR_ALPHA )\n\tdiffuseColor *= vColor;\n#elif defined( USE_COLOR )\n\tdiffuseColor.rgb *= vColor;\n#endif";
-
-var color_pars_fragment = "#if defined( USE_COLOR_ALPHA )\n\tvarying vec4 vColor;\n#elif defined( USE_COLOR )\n\tvarying vec3 vColor;\n#endif";
-
-var color_pars_vertex = "#if defined( USE_COLOR_ALPHA )\n\tvarying vec4 vColor;\n#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR )\n\tvarying vec3 vColor;\n#endif";
-
-var color_vertex = "#if defined( USE_COLOR_ALPHA )\n\tvColor = vec4( 1.0 );\n#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR )\n\tvColor = vec3( 1.0 );\n#endif\n#ifdef USE_COLOR\n\tvColor *= color;\n#endif\n#ifdef USE_INSTANCING_COLOR\n\tvColor.xyz *= instanceColor.xyz;\n#endif";
-
-var common = "#define PI 3.141592653589793\n#define PI2 6.283185307179586\n#define PI_HALF 1.5707963267948966\n#define RECIPROCAL_PI 0.3183098861837907\n#define RECIPROCAL_PI2 0.15915494309189535\n#define EPSILON 1e-6\n#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\n#define whiteComplement( a ) ( 1.0 - saturate( a ) )\nfloat pow2( const in float x ) { return x*x; }\nvec3 pow2( const in vec3 x ) { return x*x; }\nfloat pow3( const in float x ) { return x*x*x; }\nfloat pow4( const in float x ) { float x2 = x*x; return x2*x2; }\nfloat max3( const in vec3 v ) { return max( max( v.x, v.y ), v.z ); }\nfloat average( const in vec3 v ) { return dot( v, vec3( 0.3333333 ) ); }\nhighp float rand( const in vec2 uv ) {\n\tconst highp float a = 12.9898, b = 78.233, c = 43758.5453;\n\thighp float dt = dot( uv.xy, vec2( a,b ) ), sn = mod( dt, PI );\n\treturn fract( sin( sn ) * c );\n}\n#ifdef HIGH_PRECISION\n\tfloat precisionSafeLength( vec3 v ) { return length( v ); }\n#else\n\tfloat precisionSafeLength( vec3 v ) {\n\t\tfloat maxComponent = max3( abs( v ) );\n\t\treturn length( v / maxComponent ) * maxComponent;\n\t}\n#endif\nstruct IncidentLight {\n\tvec3 color;\n\tvec3 direction;\n\tbool visible;\n};\nstruct ReflectedLight {\n\tvec3 directDiffuse;\n\tvec3 directSpecular;\n\tvec3 indirectDiffuse;\n\tvec3 indirectSpecular;\n};\nstruct GeometricContext {\n\tvec3 position;\n\tvec3 normal;\n\tvec3 viewDir;\n#ifdef USE_CLEARCOAT\n\tvec3 clearcoatNormal;\n#endif\n};\nvec3 transformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );\n}\nvec3 inverseTransformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( vec4( dir, 0.0 ) * matrix ).xyz );\n}\nmat3 transposeMat3( const in mat3 m ) {\n\tmat3 tmp;\n\ttmp[ 0 ] = vec3( m[ 0 ].x, m[ 1 ].x, m[ 2 ].x );\n\ttmp[ 1 ] = vec3( m[ 0 ].y, m[ 1 ].y, m[ 2 ].y );\n\ttmp[ 2 ] = vec3( m[ 0 ].z, m[ 1 ].z, m[ 2 ].z );\n\treturn tmp;\n}\nfloat luminance( const in vec3 rgb ) {\n\tconst vec3 weights = vec3( 0.2126729, 0.7151522, 0.0721750 );\n\treturn dot( weights, rgb );\n}\nbool isPerspectiveMatrix( mat4 m ) {\n\treturn m[ 2 ][ 3 ] == - 1.0;\n}\nvec2 equirectUv( in vec3 dir ) {\n\tfloat u = atan( dir.z, dir.x ) * RECIPROCAL_PI2 + 0.5;\n\tfloat v = asin( clamp( dir.y, - 1.0, 1.0 ) ) * RECIPROCAL_PI + 0.5;\n\treturn vec2( u, v );\n}";
-
-var cube_uv_reflection_fragment = "#ifdef ENVMAP_TYPE_CUBE_UV\n\t#define cubeUV_minMipLevel 4.0\n\t#define cubeUV_minTileSize 16.0\n\tfloat getFace( vec3 direction ) {\n\t\tvec3 absDirection = abs( direction );\n\t\tfloat face = - 1.0;\n\t\tif ( absDirection.x > absDirection.z ) {\n\t\t\tif ( absDirection.x > absDirection.y )\n\t\t\t\tface = direction.x > 0.0 ? 0.0 : 3.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t} else {\n\t\t\tif ( absDirection.z > absDirection.y )\n\t\t\t\tface = direction.z > 0.0 ? 2.0 : 5.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t}\n\t\treturn face;\n\t}\n\tvec2 getUV( vec3 direction, float face ) {\n\t\tvec2 uv;\n\t\tif ( face == 0.0 ) {\n\t\t\tuv = vec2( direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 1.0 ) {\n\t\t\tuv = vec2( - direction.x, - direction.z ) / abs( direction.y );\n\t\t} else if ( face == 2.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.y ) / abs( direction.z );\n\t\t} else if ( face == 3.0 ) {\n\t\t\tuv = vec2( - direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 4.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.z ) / abs( direction.y );\n\t\t} else {\n\t\t\tuv = vec2( direction.x, direction.y ) / abs( direction.z );\n\t\t}\n\t\treturn 0.5 * ( uv + 1.0 );\n\t}\n\tvec3 bilinearCubeUV( sampler2D envMap, vec3 direction, float mipInt ) {\n\t\tfloat face = getFace( direction );\n\t\tfloat filterInt = max( cubeUV_minMipLevel - mipInt, 0.0 );\n\t\tmipInt = max( mipInt, cubeUV_minMipLevel );\n\t\tfloat faceSize = exp2( mipInt );\n\t\thighp vec2 uv = getUV( direction, face ) * ( faceSize - 2.0 ) + 1.0;\n\t\tif ( face > 2.0 ) {\n\t\t\tuv.y += faceSize;\n\t\t\tface -= 3.0;\n\t\t}\n\t\tuv.x += face * faceSize;\n\t\tuv.x += filterInt * 3.0 * cubeUV_minTileSize;\n\t\tuv.y += 4.0 * ( exp2( CUBEUV_MAX_MIP ) - faceSize );\n\t\tuv.x *= CUBEUV_TEXEL_WIDTH;\n\t\tuv.y *= CUBEUV_TEXEL_HEIGHT;\n\t\t#ifdef texture2DGradEXT\n\t\t\treturn texture2DGradEXT( envMap, uv, vec2( 0.0 ), vec2( 0.0 ) ).rgb;\n\t\t#else\n\t\t\treturn texture2D( envMap, uv ).rgb;\n\t\t#endif\n\t}\n\t#define cubeUV_r0 1.0\n\t#define cubeUV_v0 0.339\n\t#define cubeUV_m0 - 2.0\n\t#define cubeUV_r1 0.8\n\t#define cubeUV_v1 0.276\n\t#define cubeUV_m1 - 1.0\n\t#define cubeUV_r4 0.4\n\t#define cubeUV_v4 0.046\n\t#define cubeUV_m4 2.0\n\t#define cubeUV_r5 0.305\n\t#define cubeUV_v5 0.016\n\t#define cubeUV_m5 3.0\n\t#define cubeUV_r6 0.21\n\t#define cubeUV_v6 0.0038\n\t#define cubeUV_m6 4.0\n\tfloat roughnessToMip( float roughness ) {\n\t\tfloat mip = 0.0;\n\t\tif ( roughness >= cubeUV_r1 ) {\n\t\t\tmip = ( cubeUV_r0 - roughness ) * ( cubeUV_m1 - cubeUV_m0 ) / ( cubeUV_r0 - cubeUV_r1 ) + cubeUV_m0;\n\t\t} else if ( roughness >= cubeUV_r4 ) {\n\t\t\tmip = ( cubeUV_r1 - roughness ) * ( cubeUV_m4 - cubeUV_m1 ) / ( cubeUV_r1 - cubeUV_r4 ) + cubeUV_m1;\n\t\t} else if ( roughness >= cubeUV_r5 ) {\n\t\t\tmip = ( cubeUV_r4 - roughness ) * ( cubeUV_m5 - cubeUV_m4 ) / ( cubeUV_r4 - cubeUV_r5 ) + cubeUV_m4;\n\t\t} else if ( roughness >= cubeUV_r6 ) {\n\t\t\tmip = ( cubeUV_r5 - roughness ) * ( cubeUV_m6 - cubeUV_m5 ) / ( cubeUV_r5 - cubeUV_r6 ) + cubeUV_m5;\n\t\t} else {\n\t\t\tmip = - 2.0 * log2( 1.16 * roughness );\t\t}\n\t\treturn mip;\n\t}\n\tvec4 textureCubeUV( sampler2D envMap, vec3 sampleDir, float roughness ) {\n\t\tfloat mip = clamp( roughnessToMip( roughness ), cubeUV_m0, CUBEUV_MAX_MIP );\n\t\tfloat mipF = fract( mip );\n\t\tfloat mipInt = floor( mip );\n\t\tvec3 color0 = bilinearCubeUV( envMap, sampleDir, mipInt );\n\t\tif ( mipF == 0.0 ) {\n\t\t\treturn vec4( color0, 1.0 );\n\t\t} else {\n\t\t\tvec3 color1 = bilinearCubeUV( envMap, sampleDir, mipInt + 1.0 );\n\t\t\treturn vec4( mix( color0, color1, mipF ), 1.0 );\n\t\t}\n\t}\n#endif";
-
-var defaultnormal_vertex = "vec3 transformedNormal = objectNormal;\n#ifdef USE_INSTANCING\n\tmat3 m = mat3( instanceMatrix );\n\ttransformedNormal /= vec3( dot( m[ 0 ], m[ 0 ] ), dot( m[ 1 ], m[ 1 ] ), dot( m[ 2 ], m[ 2 ] ) );\n\ttransformedNormal = m * transformedNormal;\n#endif\ntransformedNormal = normalMatrix * transformedNormal;\n#ifdef FLIP_SIDED\n\ttransformedNormal = - transformedNormal;\n#endif\n#ifdef USE_TANGENT\n\tvec3 transformedTangent = ( modelViewMatrix * vec4( objectTangent, 0.0 ) ).xyz;\n\t#ifdef FLIP_SIDED\n\t\ttransformedTangent = - transformedTangent;\n\t#endif\n#endif";
-
-var displacementmap_pars_vertex = "#ifdef USE_DISPLACEMENTMAP\n\tuniform sampler2D displacementMap;\n\tuniform float displacementScale;\n\tuniform float displacementBias;\n#endif";
-
-var displacementmap_vertex = "#ifdef USE_DISPLACEMENTMAP\n\ttransformed += normalize( objectNormal ) * ( texture2D( displacementMap, vUv ).x * displacementScale + displacementBias );\n#endif";
-
-var emissivemap_fragment = "#ifdef USE_EMISSIVEMAP\n\tvec4 emissiveColor = texture2D( emissiveMap, vUv );\n\ttotalEmissiveRadiance *= emissiveColor.rgb;\n#endif";
-
-var emissivemap_pars_fragment = "#ifdef USE_EMISSIVEMAP\n\tuniform sampler2D emissiveMap;\n#endif";
-
-var encodings_fragment = "gl_FragColor = linearToOutputTexel( gl_FragColor );";
-
-var encodings_pars_fragment = "vec4 LinearToLinear( in vec4 value ) {\n\treturn value;\n}\nvec4 LinearTosRGB( in vec4 value ) {\n\treturn vec4( mix( pow( value.rgb, vec3( 0.41666 ) ) * 1.055 - vec3( 0.055 ), value.rgb * 12.92, vec3( lessThanEqual( value.rgb, vec3( 0.0031308 ) ) ) ), value.a );\n}";
-
-var envmap_fragment = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvec3 cameraToFrag;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToFrag = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToFrag = normalize( vWorldPosition - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvec3 reflectVec = reflect( cameraToFrag, worldNormal );\n\t\t#else\n\t\t\tvec3 reflectVec = refract( cameraToFrag, worldNormal, refractionRatio );\n\t\t#endif\n\t#else\n\t\tvec3 reflectVec = vReflect;\n\t#endif\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 envColor = textureCube( envMap, vec3( flipEnvMap * reflectVec.x, reflectVec.yz ) );\n\t#else\n\t\tvec4 envColor = vec4( 0.0 );\n\t#endif\n\t#ifdef ENVMAP_BLENDING_MULTIPLY\n\t\toutgoingLight = mix( outgoingLight, outgoingLight * envColor.xyz, specularStrength * reflectivity );\n\t#elif defined( ENVMAP_BLENDING_MIX )\n\t\toutgoingLight = mix( outgoingLight, envColor.xyz, specularStrength * reflectivity );\n\t#elif defined( ENVMAP_BLENDING_ADD )\n\t\toutgoingLight += envColor.xyz * specularStrength * reflectivity;\n\t#endif\n#endif";
-
-var envmap_common_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float envMapIntensity;\n\tuniform float flipEnvMap;\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tuniform samplerCube envMap;\n\t#else\n\t\tuniform sampler2D envMap;\n\t#endif\n\t\n#endif";
-
-var envmap_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float reflectivity;\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\tvarying vec3 vWorldPosition;\n\t\tuniform float refractionRatio;\n\t#else\n\t\tvarying vec3 vReflect;\n\t#endif\n#endif";
-
-var envmap_pars_vertex = "#ifdef USE_ENVMAP\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\t\n\t\tvarying vec3 vWorldPosition;\n\t#else\n\t\tvarying vec3 vReflect;\n\t\tuniform float refractionRatio;\n\t#endif\n#endif";
-
-var envmap_vertex = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvWorldPosition = worldPosition.xyz;\n\t#else\n\t\tvec3 cameraToVertex;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToVertex = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToVertex = normalize( worldPosition.xyz - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvReflect = reflect( cameraToVertex, worldNormal );\n\t\t#else\n\t\t\tvReflect = refract( cameraToVertex, worldNormal, refractionRatio );\n\t\t#endif\n\t#endif\n#endif";
-
-var fog_vertex = "#ifdef USE_FOG\n\tvFogDepth = - mvPosition.z;\n#endif";
-
-var fog_pars_vertex = "#ifdef USE_FOG\n\tvarying float vFogDepth;\n#endif";
-
-var fog_fragment = "#ifdef USE_FOG\n\t#ifdef FOG_EXP2\n\t\tfloat fogFactor = 1.0 - exp( - fogDensity * fogDensity * vFogDepth * vFogDepth );\n\t#else\n\t\tfloat fogFactor = smoothstep( fogNear, fogFar, vFogDepth );\n\t#endif\n\tgl_FragColor.rgb = mix( gl_FragColor.rgb, fogColor, fogFactor );\n#endif";
-
-var fog_pars_fragment = "#ifdef USE_FOG\n\tuniform vec3 fogColor;\n\tvarying float vFogDepth;\n\t#ifdef FOG_EXP2\n\t\tuniform float fogDensity;\n\t#else\n\t\tuniform float fogNear;\n\t\tuniform float fogFar;\n\t#endif\n#endif";
-
-var gradientmap_pars_fragment = "#ifdef USE_GRADIENTMAP\n\tuniform sampler2D gradientMap;\n#endif\nvec3 getGradientIrradiance( vec3 normal, vec3 lightDirection ) {\n\tfloat dotNL = dot( normal, lightDirection );\n\tvec2 coord = vec2( dotNL * 0.5 + 0.5, 0.0 );\n\t#ifdef USE_GRADIENTMAP\n\t\treturn vec3( texture2D( gradientMap, coord ).r );\n\t#else\n\t\tvec2 fw = fwidth( coord ) * 0.5;\n\t\treturn mix( vec3( 0.7 ), vec3( 1.0 ), smoothstep( 0.7 - fw.x, 0.7 + fw.x, coord.x ) );\n\t#endif\n}";
-
-var lightmap_fragment = "#ifdef USE_LIGHTMAP\n\tvec4 lightMapTexel = texture2D( lightMap, vUv2 );\n\tvec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;\n\treflectedLight.indirectDiffuse += lightMapIrradiance;\n#endif";
-
-var lightmap_pars_fragment = "#ifdef USE_LIGHTMAP\n\tuniform sampler2D lightMap;\n\tuniform float lightMapIntensity;\n#endif";
-
-var lights_lambert_fragment = "LambertMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularStrength = specularStrength;";
-
-var lights_lambert_pars_fragment = "varying vec3 vViewPosition;\nstruct LambertMaterial {\n\tvec3 diffuseColor;\n\tfloat specularStrength;\n};\nvoid RE_Direct_Lambert( const in IncidentLight directLight, const in GeometricContext geometry, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometry.normal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Lambert( const in vec3 irradiance, const in GeometricContext geometry, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Lambert\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Lambert";
-
-var lights_pars_begin = "uniform bool receiveShadow;\nuniform vec3 ambientLightColor;\nuniform vec3 lightProbe[ 9 ];\nvec3 shGetIrradianceAt( in vec3 normal, in vec3 shCoefficients[ 9 ] ) {\n\tfloat x = normal.x, y = normal.y, z = normal.z;\n\tvec3 result = shCoefficients[ 0 ] * 0.886227;\n\tresult += shCoefficients[ 1 ] * 2.0 * 0.511664 * y;\n\tresult += shCoefficients[ 2 ] * 2.0 * 0.511664 * z;\n\tresult += shCoefficients[ 3 ] * 2.0 * 0.511664 * x;\n\tresult += shCoefficients[ 4 ] * 2.0 * 0.429043 * x * y;\n\tresult += shCoefficients[ 5 ] * 2.0 * 0.429043 * y * z;\n\tresult += shCoefficients[ 6 ] * ( 0.743125 * z * z - 0.247708 );\n\tresult += shCoefficients[ 7 ] * 2.0 * 0.429043 * x * z;\n\tresult += shCoefficients[ 8 ] * 0.429043 * ( x * x - y * y );\n\treturn result;\n}\nvec3 getLightProbeIrradiance( const in vec3 lightProbe[ 9 ], const in vec3 normal ) {\n\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\tvec3 irradiance = shGetIrradianceAt( worldNormal, lightProbe );\n\treturn irradiance;\n}\nvec3 getAmbientLightIrradiance( const in vec3 ambientLightColor ) {\n\tvec3 irradiance = ambientLightColor;\n\treturn irradiance;\n}\nfloat getDistanceAttenuation( const in float lightDistance, const in float cutoffDistance, const in float decayExponent ) {\n\t#if defined ( LEGACY_LIGHTS )\n\t\tif ( cutoffDistance > 0.0 && decayExponent > 0.0 ) {\n\t\t\treturn pow( saturate( - lightDistance / cutoffDistance + 1.0 ), decayExponent );\n\t\t}\n\t\treturn 1.0;\n\t#else\n\t\tfloat distanceFalloff = 1.0 / max( pow( lightDistance, decayExponent ), 0.01 );\n\t\tif ( cutoffDistance > 0.0 ) {\n\t\t\tdistanceFalloff *= pow2( saturate( 1.0 - pow4( lightDistance / cutoffDistance ) ) );\n\t\t}\n\t\treturn distanceFalloff;\n\t#endif\n}\nfloat getSpotAttenuation( const in float coneCosine, const in float penumbraCosine, const in float angleCosine ) {\n\treturn smoothstep( coneCosine, penumbraCosine, angleCosine );\n}\n#if NUM_DIR_LIGHTS > 0\n\tstruct DirectionalLight {\n\t\tvec3 direction;\n\t\tvec3 color;\n\t};\n\tuniform DirectionalLight directionalLights[ NUM_DIR_LIGHTS ];\n\tvoid getDirectionalLightInfo( const in DirectionalLight directionalLight, const in GeometricContext geometry, out IncidentLight light ) {\n\t\tlight.color = directionalLight.color;\n\t\tlight.direction = directionalLight.direction;\n\t\tlight.visible = true;\n\t}\n#endif\n#if NUM_POINT_LIGHTS > 0\n\tstruct PointLight {\n\t\tvec3 position;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t};\n\tuniform PointLight pointLights[ NUM_POINT_LIGHTS ];\n\tvoid getPointLightInfo( const in PointLight pointLight, const in GeometricContext geometry, out IncidentLight light ) {\n\t\tvec3 lVector = pointLight.position - geometry.position;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat lightDistance = length( lVector );\n\t\tlight.color = pointLight.color;\n\t\tlight.color *= getDistanceAttenuation( lightDistance, pointLight.distance, pointLight.decay );\n\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t}\n#endif\n#if NUM_SPOT_LIGHTS > 0\n\tstruct SpotLight {\n\t\tvec3 position;\n\t\tvec3 direction;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t\tfloat coneCos;\n\t\tfloat penumbraCos;\n\t};\n\tuniform SpotLight spotLights[ NUM_SPOT_LIGHTS ];\n\tvoid getSpotLightInfo( const in SpotLight spotLight, const in GeometricContext geometry, out IncidentLight light ) {\n\t\tvec3 lVector = spotLight.position - geometry.position;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat angleCos = dot( light.direction, spotLight.direction );\n\t\tfloat spotAttenuation = getSpotAttenuation( spotLight.coneCos, spotLight.penumbraCos, angleCos );\n\t\tif ( spotAttenuation > 0.0 ) {\n\t\t\tfloat lightDistance = length( lVector );\n\t\t\tlight.color = spotLight.color * spotAttenuation;\n\t\t\tlight.color *= getDistanceAttenuation( lightDistance, spotLight.distance, spotLight.decay );\n\t\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t\t} else {\n\t\t\tlight.color = vec3( 0.0 );\n\t\t\tlight.visible = false;\n\t\t}\n\t}\n#endif\n#if NUM_RECT_AREA_LIGHTS > 0\n\tstruct RectAreaLight {\n\t\tvec3 color;\n\t\tvec3 position;\n\t\tvec3 halfWidth;\n\t\tvec3 halfHeight;\n\t};\n\tuniform sampler2D ltc_1;\tuniform sampler2D ltc_2;\n\tuniform RectAreaLight rectAreaLights[ NUM_RECT_AREA_LIGHTS ];\n#endif\n#if NUM_HEMI_LIGHTS > 0\n\tstruct HemisphereLight {\n\t\tvec3 direction;\n\t\tvec3 skyColor;\n\t\tvec3 groundColor;\n\t};\n\tuniform HemisphereLight hemisphereLights[ NUM_HEMI_LIGHTS ];\n\tvec3 getHemisphereLightIrradiance( const in HemisphereLight hemiLight, const in vec3 normal ) {\n\t\tfloat dotNL = dot( normal, hemiLight.direction );\n\t\tfloat hemiDiffuseWeight = 0.5 * dotNL + 0.5;\n\t\tvec3 irradiance = mix( hemiLight.groundColor, hemiLight.skyColor, hemiDiffuseWeight );\n\t\treturn irradiance;\n\t}\n#endif";
-
-var envmap_physical_pars_fragment = "#if defined( USE_ENVMAP )\n\tvec3 getIBLIrradiance( const in vec3 normal ) {\n\t\t#if defined( ENVMAP_TYPE_CUBE_UV )\n\t\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, worldNormal, 1.0 );\n\t\t\treturn PI * envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n\tvec3 getIBLRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness ) {\n\t\t#if defined( ENVMAP_TYPE_CUBE_UV )\n\t\t\tvec3 reflectVec = reflect( - viewDir, normal );\n\t\t\treflectVec = normalize( mix( reflectVec, normal, roughness * roughness) );\n\t\t\treflectVec = inverseTransformDirection( reflectVec, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, reflectVec, roughness );\n\t\t\treturn envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n#endif";
-
-var lights_toon_fragment = "ToonMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;";
-
-var lights_toon_pars_fragment = "varying vec3 vViewPosition;\nstruct ToonMaterial {\n\tvec3 diffuseColor;\n};\nvoid RE_Direct_Toon( const in IncidentLight directLight, const in GeometricContext geometry, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\tvec3 irradiance = getGradientIrradiance( geometry.normal, directLight.direction ) * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Toon( const in vec3 irradiance, const in GeometricContext geometry, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Toon\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Toon";
-
-var lights_phong_fragment = "BlinnPhongMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularColor = specular;\nmaterial.specularShininess = shininess;\nmaterial.specularStrength = specularStrength;";
-
-var lights_phong_pars_fragment = "varying vec3 vViewPosition;\nstruct BlinnPhongMaterial {\n\tvec3 diffuseColor;\n\tvec3 specularColor;\n\tfloat specularShininess;\n\tfloat specularStrength;\n};\nvoid RE_Direct_BlinnPhong( const in IncidentLight directLight, const in GeometricContext geometry, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometry.normal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n\treflectedLight.directSpecular += irradiance * BRDF_BlinnPhong( directLight.direction, geometry.viewDir, geometry.normal, material.specularColor, material.specularShininess ) * material.specularStrength;\n}\nvoid RE_IndirectDiffuse_BlinnPhong( const in vec3 irradiance, const in GeometricContext geometry, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_BlinnPhong\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_BlinnPhong";
-
-var lights_physical_fragment = "PhysicalMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb * ( 1.0 - metalnessFactor );\nvec3 dxy = max( abs( dFdx( geometryNormal ) ), abs( dFdy( geometryNormal ) ) );\nfloat geometryRoughness = max( max( dxy.x, dxy.y ), dxy.z );\nmaterial.roughness = max( roughnessFactor, 0.0525 );material.roughness += geometryRoughness;\nmaterial.roughness = min( material.roughness, 1.0 );\n#ifdef IOR\n\tmaterial.ior = ior;\n\t#ifdef SPECULAR\n\t\tfloat specularIntensityFactor = specularIntensity;\n\t\tvec3 specularColorFactor = specularColor;\n\t\t#ifdef USE_SPECULARINTENSITYMAP\n\t\t\tspecularIntensityFactor *= texture2D( specularIntensityMap, vUv ).a;\n\t\t#endif\n\t\t#ifdef USE_SPECULARCOLORMAP\n\t\t\tspecularColorFactor *= texture2D( specularColorMap, vUv ).rgb;\n\t\t#endif\n\t\tmaterial.specularF90 = mix( specularIntensityFactor, 1.0, metalnessFactor );\n\t#else\n\t\tfloat specularIntensityFactor = 1.0;\n\t\tvec3 specularColorFactor = vec3( 1.0 );\n\t\tmaterial.specularF90 = 1.0;\n\t#endif\n\tmaterial.specularColor = mix( min( pow2( ( material.ior - 1.0 ) / ( material.ior + 1.0 ) ) * specularColorFactor, vec3( 1.0 ) ) * specularIntensityFactor, diffuseColor.rgb, metalnessFactor );\n#else\n\tmaterial.specularColor = mix( vec3( 0.04 ), diffuseColor.rgb, metalnessFactor );\n\tmaterial.specularF90 = 1.0;\n#endif\n#ifdef USE_CLEARCOAT\n\tmaterial.clearcoat = clearcoat;\n\tmaterial.clearcoatRoughness = clearcoatRoughness;\n\tmaterial.clearcoatF0 = vec3( 0.04 );\n\tmaterial.clearcoatF90 = 1.0;\n\t#ifdef USE_CLEARCOATMAP\n\t\tmaterial.clearcoat *= texture2D( clearcoatMap, vUv ).x;\n\t#endif\n\t#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\t\tmaterial.clearcoatRoughness *= texture2D( clearcoatRoughnessMap, vUv ).y;\n\t#endif\n\tmaterial.clearcoat = saturate( material.clearcoat );\tmaterial.clearcoatRoughness = max( material.clearcoatRoughness, 0.0525 );\n\tmaterial.clearcoatRoughness += geometryRoughness;\n\tmaterial.clearcoatRoughness = min( material.clearcoatRoughness, 1.0 );\n#endif\n#ifdef USE_IRIDESCENCE\n\tmaterial.iridescence = iridescence;\n\tmaterial.iridescenceIOR = iridescenceIOR;\n\t#ifdef USE_IRIDESCENCEMAP\n\t\tmaterial.iridescence *= texture2D( iridescenceMap, vUv ).r;\n\t#endif\n\t#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\t\tmaterial.iridescenceThickness = (iridescenceThicknessMaximum - iridescenceThicknessMinimum) * texture2D( iridescenceThicknessMap, vUv ).g + iridescenceThicknessMinimum;\n\t#else\n\t\tmaterial.iridescenceThickness = iridescenceThicknessMaximum;\n\t#endif\n#endif\n#ifdef USE_SHEEN\n\tmaterial.sheenColor = sheenColor;\n\t#ifdef USE_SHEENCOLORMAP\n\t\tmaterial.sheenColor *= texture2D( sheenColorMap, vUv ).rgb;\n\t#endif\n\tmaterial.sheenRoughness = clamp( sheenRoughness, 0.07, 1.0 );\n\t#ifdef USE_SHEENROUGHNESSMAP\n\t\tmaterial.sheenRoughness *= texture2D( sheenRoughnessMap, vUv ).a;\n\t#endif\n#endif";
-
-var lights_physical_pars_fragment = "struct PhysicalMaterial {\n\tvec3 diffuseColor;\n\tfloat roughness;\n\tvec3 specularColor;\n\tfloat specularF90;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat clearcoat;\n\t\tfloat clearcoatRoughness;\n\t\tvec3 clearcoatF0;\n\t\tfloat clearcoatF90;\n\t#endif\n\t#ifdef USE_IRIDESCENCE\n\t\tfloat iridescence;\n\t\tfloat iridescenceIOR;\n\t\tfloat iridescenceThickness;\n\t\tvec3 iridescenceFresnel;\n\t\tvec3 iridescenceF0;\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tvec3 sheenColor;\n\t\tfloat sheenRoughness;\n\t#endif\n\t#ifdef IOR\n\t\tfloat ior;\n\t#endif\n\t#ifdef USE_TRANSMISSION\n\t\tfloat transmission;\n\t\tfloat transmissionAlpha;\n\t\tfloat thickness;\n\t\tfloat attenuationDistance;\n\t\tvec3 attenuationColor;\n\t#endif\n};\nvec3 clearcoatSpecular = vec3( 0.0 );\nvec3 sheenSpecular = vec3( 0.0 );\nfloat IBLSheenBRDF( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat r2 = roughness * roughness;\n\tfloat a = roughness < 0.25 ? -339.2 * r2 + 161.4 * roughness - 25.9 : -8.48 * r2 + 14.3 * roughness - 9.95;\n\tfloat b = roughness < 0.25 ? 44.0 * r2 - 23.7 * roughness + 3.26 : 1.97 * r2 - 3.27 * roughness + 0.72;\n\tfloat DG = exp( a * dotNV + b ) + ( roughness < 0.25 ? 0.0 : 0.1 * ( roughness - 0.25 ) );\n\treturn saturate( DG * RECIPROCAL_PI );\n}\nvec2 DFGApprox( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tconst vec4 c0 = vec4( - 1, - 0.0275, - 0.572, 0.022 );\n\tconst vec4 c1 = vec4( 1, 0.0425, 1.04, - 0.04 );\n\tvec4 r = roughness * c0 + c1;\n\tfloat a004 = min( r.x * r.x, exp2( - 9.28 * dotNV ) ) * r.x + r.y;\n\tvec2 fab = vec2( - 1.04, 1.04 ) * a004 + r.zw;\n\treturn fab;\n}\nvec3 EnvironmentBRDF( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness ) {\n\tvec2 fab = DFGApprox( normal, viewDir, roughness );\n\treturn specularColor * fab.x + specularF90 * fab.y;\n}\n#ifdef USE_IRIDESCENCE\nvoid computeMultiscatteringIridescence( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float iridescence, const in vec3 iridescenceF0, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#else\nvoid computeMultiscattering( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#endif\n\tvec2 fab = DFGApprox( normal, viewDir, roughness );\n\t#ifdef USE_IRIDESCENCE\n\t\tvec3 Fr = mix( specularColor, iridescenceF0, iridescence );\n\t#else\n\t\tvec3 Fr = specularColor;\n\t#endif\n\tvec3 FssEss = Fr * fab.x + specularF90 * fab.y;\n\tfloat Ess = fab.x + fab.y;\n\tfloat Ems = 1.0 - Ess;\n\tvec3 Favg = Fr + ( 1.0 - Fr ) * 0.047619;\tvec3 Fms = FssEss * Favg / ( 1.0 - Ems * Favg );\n\tsingleScatter += FssEss;\n\tmultiScatter += Fms * Ems;\n}\n#if NUM_RECT_AREA_LIGHTS > 0\n\tvoid RE_Direct_RectArea_Physical( const in RectAreaLight rectAreaLight, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\t\tvec3 normal = geometry.normal;\n\t\tvec3 viewDir = geometry.viewDir;\n\t\tvec3 position = geometry.position;\n\t\tvec3 lightPos = rectAreaLight.position;\n\t\tvec3 halfWidth = rectAreaLight.halfWidth;\n\t\tvec3 halfHeight = rectAreaLight.halfHeight;\n\t\tvec3 lightColor = rectAreaLight.color;\n\t\tfloat roughness = material.roughness;\n\t\tvec3 rectCoords[ 4 ];\n\t\trectCoords[ 0 ] = lightPos + halfWidth - halfHeight;\t\trectCoords[ 1 ] = lightPos - halfWidth - halfHeight;\n\t\trectCoords[ 2 ] = lightPos - halfWidth + halfHeight;\n\t\trectCoords[ 3 ] = lightPos + halfWidth + halfHeight;\n\t\tvec2 uv = LTC_Uv( normal, viewDir, roughness );\n\t\tvec4 t1 = texture2D( ltc_1, uv );\n\t\tvec4 t2 = texture2D( ltc_2, uv );\n\t\tmat3 mInv = mat3(\n\t\t\tvec3( t1.x, 0, t1.y ),\n\t\t\tvec3( 0, 1, 0 ),\n\t\t\tvec3( t1.z, 0, t1.w )\n\t\t);\n\t\tvec3 fresnel = ( material.specularColor * t2.x + ( vec3( 1.0 ) - material.specularColor ) * t2.y );\n\t\treflectedLight.directSpecular += lightColor * fresnel * LTC_Evaluate( normal, viewDir, position, mInv, rectCoords );\n\t\treflectedLight.directDiffuse += lightColor * material.diffuseColor * LTC_Evaluate( normal, viewDir, position, mat3( 1.0 ), rectCoords );\n\t}\n#endif\nvoid RE_Direct_Physical( const in IncidentLight directLight, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometry.normal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat dotNLcc = saturate( dot( geometry.clearcoatNormal, directLight.direction ) );\n\t\tvec3 ccIrradiance = dotNLcc * directLight.color;\n\t\tclearcoatSpecular += ccIrradiance * BRDF_GGX( directLight.direction, geometry.viewDir, geometry.clearcoatNormal, material.clearcoatF0, material.clearcoatF90, material.clearcoatRoughness );\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tsheenSpecular += irradiance * BRDF_Sheen( directLight.direction, geometry.viewDir, geometry.normal, material.sheenColor, material.sheenRoughness );\n\t#endif\n\t#ifdef USE_IRIDESCENCE\n\t\treflectedLight.directSpecular += irradiance * BRDF_GGX_Iridescence( directLight.direction, geometry.viewDir, geometry.normal, material.specularColor, material.specularF90, material.iridescence, material.iridescenceFresnel, material.roughness );\n\t#else\n\t\treflectedLight.directSpecular += irradiance * BRDF_GGX( directLight.direction, geometry.viewDir, geometry.normal, material.specularColor, material.specularF90, material.roughness );\n\t#endif\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Physical( const in vec3 irradiance, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectSpecular_Physical( const in vec3 radiance, const in vec3 irradiance, const in vec3 clearcoatRadiance, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight) {\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatSpecular += clearcoatRadiance * EnvironmentBRDF( geometry.clearcoatNormal, geometry.viewDir, material.clearcoatF0, material.clearcoatF90, material.clearcoatRoughness );\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tsheenSpecular += irradiance * material.sheenColor * IBLSheenBRDF( geometry.normal, geometry.viewDir, material.sheenRoughness );\n\t#endif\n\tvec3 singleScattering = vec3( 0.0 );\n\tvec3 multiScattering = vec3( 0.0 );\n\tvec3 cosineWeightedIrradiance = irradiance * RECIPROCAL_PI;\n\t#ifdef USE_IRIDESCENCE\n\t\tcomputeMultiscatteringIridescence( geometry.normal, geometry.viewDir, material.specularColor, material.specularF90, material.iridescence, material.iridescenceFresnel, material.roughness, singleScattering, multiScattering );\n\t#else\n\t\tcomputeMultiscattering( geometry.normal, geometry.viewDir, material.specularColor, material.specularF90, material.roughness, singleScattering, multiScattering );\n\t#endif\n\tvec3 totalScattering = singleScattering + multiScattering;\n\tvec3 diffuse = material.diffuseColor * ( 1.0 - max( max( totalScattering.r, totalScattering.g ), totalScattering.b ) );\n\treflectedLight.indirectSpecular += radiance * singleScattering;\n\treflectedLight.indirectSpecular += multiScattering * cosineWeightedIrradiance;\n\treflectedLight.indirectDiffuse += diffuse * cosineWeightedIrradiance;\n}\n#define RE_Direct\t\t\t\tRE_Direct_Physical\n#define RE_Direct_RectArea\t\tRE_Direct_RectArea_Physical\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Physical\n#define RE_IndirectSpecular\t\tRE_IndirectSpecular_Physical\nfloat computeSpecularOcclusion( const in float dotNV, const in float ambientOcclusion, const in float roughness ) {\n\treturn saturate( pow( dotNV + ambientOcclusion, exp2( - 16.0 * roughness - 1.0 ) ) - 1.0 + ambientOcclusion );\n}";
-
-var lights_fragment_begin = "\nGeometricContext geometry;\ngeometry.position = - vViewPosition;\ngeometry.normal = normal;\ngeometry.viewDir = ( isOrthographic ) ? vec3( 0, 0, 1 ) : normalize( vViewPosition );\n#ifdef USE_CLEARCOAT\n\tgeometry.clearcoatNormal = clearcoatNormal;\n#endif\n#ifdef USE_IRIDESCENCE\n\tfloat dotNVi = saturate( dot( normal, geometry.viewDir ) );\n\tif ( material.iridescenceThickness == 0.0 ) {\n\t\tmaterial.iridescence = 0.0;\n\t} else {\n\t\tmaterial.iridescence = saturate( material.iridescence );\n\t}\n\tif ( material.iridescence > 0.0 ) {\n\t\tmaterial.iridescenceFresnel = evalIridescence( 1.0, material.iridescenceIOR, dotNVi, material.iridescenceThickness, material.specularColor );\n\t\tmaterial.iridescenceF0 = Schlick_to_F0( material.iridescenceFresnel, 1.0, dotNVi );\n\t}\n#endif\nIncidentLight directLight;\n#if ( NUM_POINT_LIGHTS > 0 ) && defined( RE_Direct )\n\tPointLight pointLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_POINT_LIGHT_SHADOWS > 0\n\tPointLightShadow pointLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\n\t\tpointLight = pointLights[ i ];\n\t\tgetPointLightInfo( pointLight, geometry, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_POINT_LIGHT_SHADOWS )\n\t\tpointLightShadow = pointLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getPointShadow( pointShadowMap[ i ], pointLightShadow.shadowMapSize, pointLightShadow.shadowBias, pointLightShadow.shadowRadius, vPointShadowCoord[ i ], pointLightShadow.shadowCameraNear, pointLightShadow.shadowCameraFar ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometry, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_SPOT_LIGHTS > 0 ) && defined( RE_Direct )\n\tSpotLight spotLight;\n\tvec4 spotColor;\n\tvec3 spotLightCoord;\n\tbool inSpotLightMap;\n\t#if defined( USE_SHADOWMAP ) && NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\n\t\tspotLight = spotLights[ i ];\n\t\tgetSpotLightInfo( spotLight, geometry, directLight );\n\t\t#if ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#define SPOT_LIGHT_MAP_INDEX UNROLLED_LOOP_INDEX\n\t\t#elif ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t#define SPOT_LIGHT_MAP_INDEX NUM_SPOT_LIGHT_MAPS\n\t\t#else\n\t\t#define SPOT_LIGHT_MAP_INDEX ( UNROLLED_LOOP_INDEX - NUM_SPOT_LIGHT_SHADOWS + NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#endif\n\t\t#if ( SPOT_LIGHT_MAP_INDEX < NUM_SPOT_LIGHT_MAPS )\n\t\t\tspotLightCoord = vSpotLightCoord[ i ].xyz / vSpotLightCoord[ i ].w;\n\t\t\tinSpotLightMap = all( lessThan( abs( spotLightCoord * 2. - 1. ), vec3( 1.0 ) ) );\n\t\t\tspotColor = texture2D( spotLightMap[ SPOT_LIGHT_MAP_INDEX ], spotLightCoord.xy );\n\t\t\tdirectLight.color = inSpotLightMap ? directLight.color * spotColor.rgb : directLight.color;\n\t\t#endif\n\t\t#undef SPOT_LIGHT_MAP_INDEX\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\tspotLightShadow = spotLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( spotShadowMap[ i ], spotLightShadow.shadowMapSize, spotLightShadow.shadowBias, spotLightShadow.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometry, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_DIR_LIGHTS > 0 ) && defined( RE_Direct )\n\tDirectionalLight directionalLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\n\t\tdirectionalLight = directionalLights[ i ];\n\t\tgetDirectionalLightInfo( directionalLight, geometry, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_DIR_LIGHT_SHADOWS )\n\t\tdirectionalLightShadow = directionalLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( directionalShadowMap[ i ], directionalLightShadow.shadowMapSize, directionalLightShadow.shadowBias, directionalLightShadow.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometry, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_RECT_AREA_LIGHTS > 0 ) && defined( RE_Direct_RectArea )\n\tRectAreaLight rectAreaLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_RECT_AREA_LIGHTS; i ++ ) {\n\t\trectAreaLight = rectAreaLights[ i ];\n\t\tRE_Direct_RectArea( rectAreaLight, geometry, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if defined( RE_IndirectDiffuse )\n\tvec3 iblIrradiance = vec3( 0.0 );\n\tvec3 irradiance = getAmbientLightIrradiance( ambientLightColor );\n\tirradiance += getLightProbeIrradiance( lightProbe, geometry.normal );\n\t#if ( NUM_HEMI_LIGHTS > 0 )\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {\n\t\t\tirradiance += getHemisphereLightIrradiance( hemisphereLights[ i ], geometry.normal );\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if defined( RE_IndirectSpecular )\n\tvec3 radiance = vec3( 0.0 );\n\tvec3 clearcoatRadiance = vec3( 0.0 );\n#endif";
-
-var lights_fragment_maps = "#if defined( RE_IndirectDiffuse )\n\t#ifdef USE_LIGHTMAP\n\t\tvec4 lightMapTexel = texture2D( lightMap, vUv2 );\n\t\tvec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;\n\t\tirradiance += lightMapIrradiance;\n\t#endif\n\t#if defined( USE_ENVMAP ) && defined( STANDARD ) && defined( ENVMAP_TYPE_CUBE_UV )\n\t\tiblIrradiance += getIBLIrradiance( geometry.normal );\n\t#endif\n#endif\n#if defined( USE_ENVMAP ) && defined( RE_IndirectSpecular )\n\tradiance += getIBLRadiance( geometry.viewDir, geometry.normal, material.roughness );\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatRadiance += getIBLRadiance( geometry.viewDir, geometry.clearcoatNormal, material.clearcoatRoughness );\n\t#endif\n#endif";
-
-var lights_fragment_end = "#if defined( RE_IndirectDiffuse )\n\tRE_IndirectDiffuse( irradiance, geometry, material, reflectedLight );\n#endif\n#if defined( RE_IndirectSpecular )\n\tRE_IndirectSpecular( radiance, iblIrradiance, clearcoatRadiance, geometry, material, reflectedLight );\n#endif";
-
-var logdepthbuf_fragment = "#if defined( USE_LOGDEPTHBUF ) && defined( USE_LOGDEPTHBUF_EXT )\n\tgl_FragDepthEXT = vIsPerspective == 0.0 ? gl_FragCoord.z : log2( vFragDepth ) * logDepthBufFC * 0.5;\n#endif";
-
-var logdepthbuf_pars_fragment = "#if defined( USE_LOGDEPTHBUF ) && defined( USE_LOGDEPTHBUF_EXT )\n\tuniform float logDepthBufFC;\n\tvarying float vFragDepth;\n\tvarying float vIsPerspective;\n#endif";
-
-var logdepthbuf_pars_vertex = "#ifdef USE_LOGDEPTHBUF\n\t#ifdef USE_LOGDEPTHBUF_EXT\n\t\tvarying float vFragDepth;\n\t\tvarying float vIsPerspective;\n\t#else\n\t\tuniform float logDepthBufFC;\n\t#endif\n#endif";
-
-var logdepthbuf_vertex = "#ifdef USE_LOGDEPTHBUF\n\t#ifdef USE_LOGDEPTHBUF_EXT\n\t\tvFragDepth = 1.0 + gl_Position.w;\n\t\tvIsPerspective = float( isPerspectiveMatrix( projectionMatrix ) );\n\t#else\n\t\tif ( isPerspectiveMatrix( projectionMatrix ) ) {\n\t\t\tgl_Position.z = log2( max( EPSILON, gl_Position.w + 1.0 ) ) * logDepthBufFC - 1.0;\n\t\t\tgl_Position.z *= gl_Position.w;\n\t\t}\n\t#endif\n#endif";
-
-var map_fragment = "#ifdef USE_MAP\n\tvec4 sampledDiffuseColor = texture2D( map, vUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\tsampledDiffuseColor = vec4( mix( pow( sampledDiffuseColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), sampledDiffuseColor.rgb * 0.0773993808, vec3( lessThanEqual( sampledDiffuseColor.rgb, vec3( 0.04045 ) ) ) ), sampledDiffuseColor.w );\n\t#endif\n\tdiffuseColor *= sampledDiffuseColor;\n#endif";
-
-var map_pars_fragment = "#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif";
-
-var map_particle_fragment = "#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\tvec2 uv = ( uvTransform * vec3( gl_PointCoord.x, 1.0 - gl_PointCoord.y, 1 ) ).xy;\n#endif\n#ifdef USE_MAP\n\tdiffuseColor *= texture2D( map, uv );\n#endif\n#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, uv ).g;\n#endif";
-
-var map_particle_pars_fragment = "#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\tuniform mat3 uvTransform;\n#endif\n#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif\n#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif";
-
-var metalnessmap_fragment = "float metalnessFactor = metalness;\n#ifdef USE_METALNESSMAP\n\tvec4 texelMetalness = texture2D( metalnessMap, vUv );\n\tmetalnessFactor *= texelMetalness.b;\n#endif";
-
-var metalnessmap_pars_fragment = "#ifdef USE_METALNESSMAP\n\tuniform sampler2D metalnessMap;\n#endif";
-
-var morphcolor_vertex = "#if defined( USE_MORPHCOLORS ) && defined( MORPHTARGETS_TEXTURE )\n\tvColor *= morphTargetBaseInfluence;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t#if defined( USE_COLOR_ALPHA )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ) * morphTargetInfluences[ i ];\n\t\t#elif defined( USE_COLOR )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ).rgb * morphTargetInfluences[ i ];\n\t\t#endif\n\t}\n#endif";
-
-var morphnormal_vertex = "#ifdef USE_MORPHNORMALS\n\tobjectNormal *= morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) objectNormal += getMorph( gl_VertexID, i, 1 ).xyz * morphTargetInfluences[ i ];\n\t\t}\n\t#else\n\t\tobjectNormal += morphNormal0 * morphTargetInfluences[ 0 ];\n\t\tobjectNormal += morphNormal1 * morphTargetInfluences[ 1 ];\n\t\tobjectNormal += morphNormal2 * morphTargetInfluences[ 2 ];\n\t\tobjectNormal += morphNormal3 * morphTargetInfluences[ 3 ];\n\t#endif\n#endif";
-
-var morphtarget_pars_vertex = "#ifdef USE_MORPHTARGETS\n\tuniform float morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tuniform float morphTargetInfluences[ MORPHTARGETS_COUNT ];\n\t\tuniform sampler2DArray morphTargetsTexture;\n\t\tuniform ivec2 morphTargetsTextureSize;\n\t\tvec4 getMorph( const in int vertexIndex, const in int morphTargetIndex, const in int offset ) {\n\t\t\tint texelIndex = vertexIndex * MORPHTARGETS_TEXTURE_STRIDE + offset;\n\t\t\tint y = texelIndex / morphTargetsTextureSize.x;\n\t\t\tint x = texelIndex - y * morphTargetsTextureSize.x;\n\t\t\tivec3 morphUV = ivec3( x, y, morphTargetIndex );\n\t\t\treturn texelFetch( morphTargetsTexture, morphUV, 0 );\n\t\t}\n\t#else\n\t\t#ifndef USE_MORPHNORMALS\n\t\t\tuniform float morphTargetInfluences[ 8 ];\n\t\t#else\n\t\t\tuniform float morphTargetInfluences[ 4 ];\n\t\t#endif\n\t#endif\n#endif";
-
-var morphtarget_vertex = "#ifdef USE_MORPHTARGETS\n\ttransformed *= morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) transformed += getMorph( gl_VertexID, i, 0 ).xyz * morphTargetInfluences[ i ];\n\t\t}\n\t#else\n\t\ttransformed += morphTarget0 * morphTargetInfluences[ 0 ];\n\t\ttransformed += morphTarget1 * morphTargetInfluences[ 1 ];\n\t\ttransformed += morphTarget2 * morphTargetInfluences[ 2 ];\n\t\ttransformed += morphTarget3 * morphTargetInfluences[ 3 ];\n\t\t#ifndef USE_MORPHNORMALS\n\t\t\ttransformed += morphTarget4 * morphTargetInfluences[ 4 ];\n\t\t\ttransformed += morphTarget5 * morphTargetInfluences[ 5 ];\n\t\t\ttransformed += morphTarget6 * morphTargetInfluences[ 6 ];\n\t\t\ttransformed += morphTarget7 * morphTargetInfluences[ 7 ];\n\t\t#endif\n\t#endif\n#endif";
-
-var normal_fragment_begin = "float faceDirection = gl_FrontFacing ? 1.0 : - 1.0;\n#ifdef FLAT_SHADED\n\tvec3 fdx = dFdx( vViewPosition );\n\tvec3 fdy = dFdy( vViewPosition );\n\tvec3 normal = normalize( cross( fdx, fdy ) );\n#else\n\tvec3 normal = normalize( vNormal );\n\t#ifdef DOUBLE_SIDED\n\t\tnormal = normal * faceDirection;\n\t#endif\n\t#ifdef USE_TANGENT\n\t\tvec3 tangent = normalize( vTangent );\n\t\tvec3 bitangent = normalize( vBitangent );\n\t\t#ifdef DOUBLE_SIDED\n\t\t\ttangent = tangent * faceDirection;\n\t\t\tbitangent = bitangent * faceDirection;\n\t\t#endif\n\t\t#if defined( TANGENTSPACE_NORMALMAP ) || defined( USE_CLEARCOAT_NORMALMAP )\n\t\t\tmat3 vTBN = mat3( tangent, bitangent, normal );\n\t\t#endif\n\t#endif\n#endif\nvec3 geometryNormal = normal;";
-
-var normal_fragment_maps = "#ifdef OBJECTSPACE_NORMALMAP\n\tnormal = texture2D( normalMap, vUv ).xyz * 2.0 - 1.0;\n\t#ifdef FLIP_SIDED\n\t\tnormal = - normal;\n\t#endif\n\t#ifdef DOUBLE_SIDED\n\t\tnormal = normal * faceDirection;\n\t#endif\n\tnormal = normalize( normalMatrix * normal );\n#elif defined( TANGENTSPACE_NORMALMAP )\n\tvec3 mapN = texture2D( normalMap, vUv ).xyz * 2.0 - 1.0;\n\tmapN.xy *= normalScale;\n\t#ifdef USE_TANGENT\n\t\tnormal = normalize( vTBN * mapN );\n\t#else\n\t\tnormal = perturbNormal2Arb( - vViewPosition, normal, mapN, faceDirection );\n\t#endif\n#elif defined( USE_BUMPMAP )\n\tnormal = perturbNormalArb( - vViewPosition, normal, dHdxy_fwd(), faceDirection );\n#endif";
-
-var normal_pars_fragment = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif";
-
-var normal_pars_vertex = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif";
-
-var normal_vertex = "#ifndef FLAT_SHADED\n\tvNormal = normalize( transformedNormal );\n\t#ifdef USE_TANGENT\n\t\tvTangent = normalize( transformedTangent );\n\t\tvBitangent = normalize( cross( vNormal, vTangent ) * tangent.w );\n\t#endif\n#endif";
-
-var normalmap_pars_fragment = "#ifdef USE_NORMALMAP\n\tuniform sampler2D normalMap;\n\tuniform vec2 normalScale;\n#endif\n#ifdef OBJECTSPACE_NORMALMAP\n\tuniform mat3 normalMatrix;\n#endif\n#if ! defined ( USE_TANGENT ) && ( defined ( TANGENTSPACE_NORMALMAP ) || defined ( USE_CLEARCOAT_NORMALMAP ) )\n\tvec3 perturbNormal2Arb( vec3 eye_pos, vec3 surf_norm, vec3 mapN, float faceDirection ) {\n\t\tvec3 q0 = dFdx( eye_pos.xyz );\n\t\tvec3 q1 = dFdy( eye_pos.xyz );\n\t\tvec2 st0 = dFdx( vUv.st );\n\t\tvec2 st1 = dFdy( vUv.st );\n\t\tvec3 N = surf_norm;\n\t\tvec3 q1perp = cross( q1, N );\n\t\tvec3 q0perp = cross( N, q0 );\n\t\tvec3 T = q1perp * st0.x + q0perp * st1.x;\n\t\tvec3 B = q1perp * st0.y + q0perp * st1.y;\n\t\tfloat det = max( dot( T, T ), dot( B, B ) );\n\t\tfloat scale = ( det == 0.0 ) ? 0.0 : faceDirection * inversesqrt( det );\n\t\treturn normalize( T * ( mapN.x * scale ) + B * ( mapN.y * scale ) + N * mapN.z );\n\t}\n#endif";
-
-var clearcoat_normal_fragment_begin = "#ifdef USE_CLEARCOAT\n\tvec3 clearcoatNormal = geometryNormal;\n#endif";
-
-var clearcoat_normal_fragment_maps = "#ifdef USE_CLEARCOAT_NORMALMAP\n\tvec3 clearcoatMapN = texture2D( clearcoatNormalMap, vUv ).xyz * 2.0 - 1.0;\n\tclearcoatMapN.xy *= clearcoatNormalScale;\n\t#ifdef USE_TANGENT\n\t\tclearcoatNormal = normalize( vTBN * clearcoatMapN );\n\t#else\n\t\tclearcoatNormal = perturbNormal2Arb( - vViewPosition, clearcoatNormal, clearcoatMapN, faceDirection );\n\t#endif\n#endif";
-
-var clearcoat_pars_fragment = "#ifdef USE_CLEARCOATMAP\n\tuniform sampler2D clearcoatMap;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tuniform sampler2D clearcoatRoughnessMap;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tuniform sampler2D clearcoatNormalMap;\n\tuniform vec2 clearcoatNormalScale;\n#endif";
-
-var iridescence_pars_fragment = "#ifdef USE_IRIDESCENCEMAP\n\tuniform sampler2D iridescenceMap;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tuniform sampler2D iridescenceThicknessMap;\n#endif";
-
-var output_fragment = "#ifdef OPAQUE\ndiffuseColor.a = 1.0;\n#endif\n#ifdef USE_TRANSMISSION\ndiffuseColor.a *= material.transmissionAlpha + 0.1;\n#endif\ngl_FragColor = vec4( outgoingLight, diffuseColor.a );";
-
-var packing = "vec3 packNormalToRGB( const in vec3 normal ) {\n\treturn normalize( normal ) * 0.5 + 0.5;\n}\nvec3 unpackRGBToNormal( const in vec3 rgb ) {\n\treturn 2.0 * rgb.xyz - 1.0;\n}\nconst float PackUpscale = 256. / 255.;const float UnpackDownscale = 255. / 256.;\nconst vec3 PackFactors = vec3( 256. * 256. * 256., 256. * 256., 256. );\nconst vec4 UnpackFactors = UnpackDownscale / vec4( PackFactors, 1. );\nconst float ShiftRight8 = 1. / 256.;\nvec4 packDepthToRGBA( const in float v ) {\n\tvec4 r = vec4( fract( v * PackFactors ), v );\n\tr.yzw -= r.xyz * ShiftRight8;\treturn r * PackUpscale;\n}\nfloat unpackRGBAToDepth( const in vec4 v ) {\n\treturn dot( v, UnpackFactors );\n}\nvec2 packDepthToRG( in highp float v ) {\n\treturn packDepthToRGBA( v ).yx;\n}\nfloat unpackRGToDepth( const in highp vec2 v ) {\n\treturn unpackRGBAToDepth( vec4( v.xy, 0.0, 0.0 ) );\n}\nvec4 pack2HalfToRGBA( vec2 v ) {\n\tvec4 r = vec4( v.x, fract( v.x * 255.0 ), v.y, fract( v.y * 255.0 ) );\n\treturn vec4( r.x - r.y / 255.0, r.y, r.z - r.w / 255.0, r.w );\n}\nvec2 unpackRGBATo2Half( vec4 v ) {\n\treturn vec2( v.x + ( v.y / 255.0 ), v.z + ( v.w / 255.0 ) );\n}\nfloat viewZToOrthographicDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( viewZ + near ) / ( near - far );\n}\nfloat orthographicDepthToViewZ( const in float linearClipZ, const in float near, const in float far ) {\n\treturn linearClipZ * ( near - far ) - near;\n}\nfloat viewZToPerspectiveDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( ( near + viewZ ) * far ) / ( ( far - near ) * viewZ );\n}\nfloat perspectiveDepthToViewZ( const in float invClipZ, const in float near, const in float far ) {\n\treturn ( near * far ) / ( ( far - near ) * invClipZ - far );\n}";
-
-var premultiplied_alpha_fragment = "#ifdef PREMULTIPLIED_ALPHA\n\tgl_FragColor.rgb *= gl_FragColor.a;\n#endif";
-
-var project_vertex = "vec4 mvPosition = vec4( transformed, 1.0 );\n#ifdef USE_INSTANCING\n\tmvPosition = instanceMatrix * mvPosition;\n#endif\nmvPosition = modelViewMatrix * mvPosition;\ngl_Position = projectionMatrix * mvPosition;";
-
-var dithering_fragment = "#ifdef DITHERING\n\tgl_FragColor.rgb = dithering( gl_FragColor.rgb );\n#endif";
-
-var dithering_pars_fragment = "#ifdef DITHERING\n\tvec3 dithering( vec3 color ) {\n\t\tfloat grid_position = rand( gl_FragCoord.xy );\n\t\tvec3 dither_shift_RGB = vec3( 0.25 / 255.0, -0.25 / 255.0, 0.25 / 255.0 );\n\t\tdither_shift_RGB = mix( 2.0 * dither_shift_RGB, -2.0 * dither_shift_RGB, grid_position );\n\t\treturn color + dither_shift_RGB;\n\t}\n#endif";
-
-var roughnessmap_fragment = "float roughnessFactor = roughness;\n#ifdef USE_ROUGHNESSMAP\n\tvec4 texelRoughness = texture2D( roughnessMap, vUv );\n\troughnessFactor *= texelRoughness.g;\n#endif";
-
-var roughnessmap_pars_fragment = "#ifdef USE_ROUGHNESSMAP\n\tuniform sampler2D roughnessMap;\n#endif";
-
-var shadowmap_pars_fragment = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#if NUM_SPOT_LIGHT_MAPS > 0\n\tuniform sampler2D spotLightMap[ NUM_SPOT_LIGHT_MAPS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D directionalShadowMap[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D spotShadowMap[ NUM_SPOT_LIGHT_SHADOWS ];\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D pointShadowMap[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n\tfloat texture2DCompare( sampler2D depths, vec2 uv, float compare ) {\n\t\treturn step( compare, unpackRGBAToDepth( texture2D( depths, uv ) ) );\n\t}\n\tvec2 texture2DDistribution( sampler2D shadow, vec2 uv ) {\n\t\treturn unpackRGBATo2Half( texture2D( shadow, uv ) );\n\t}\n\tfloat VSMShadow (sampler2D shadow, vec2 uv, float compare ){\n\t\tfloat occlusion = 1.0;\n\t\tvec2 distribution = texture2DDistribution( shadow, uv );\n\t\tfloat hard_shadow = step( compare , distribution.x );\n\t\tif (hard_shadow != 1.0 ) {\n\t\t\tfloat distance = compare - distribution.x ;\n\t\t\tfloat variance = max( 0.00000, distribution.y * distribution.y );\n\t\t\tfloat softness_probability = variance / (variance + distance * distance );\t\t\tsoftness_probability = clamp( ( softness_probability - 0.3 ) / ( 0.95 - 0.3 ), 0.0, 1.0 );\t\t\tocclusion = clamp( max( hard_shadow, softness_probability ), 0.0, 1.0 );\n\t\t}\n\t\treturn occlusion;\n\t}\n\tfloat getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\n\t\tfloat shadow = 1.0;\n\t\tshadowCoord.xyz /= shadowCoord.w;\n\t\tshadowCoord.z += shadowBias;\n\t\tbool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;\n\t\tbool frustumTest = inFrustum && shadowCoord.z <= 1.0;\n\t\tif ( frustumTest ) {\n\t\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\t\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\n\t\t\tfloat dx0 = - texelSize.x * shadowRadius;\n\t\t\tfloat dy0 = - texelSize.y * shadowRadius;\n\t\t\tfloat dx1 = + texelSize.x * shadowRadius;\n\t\t\tfloat dy1 = + texelSize.y * shadowRadius;\n\t\t\tfloat dx2 = dx0 / 2.0;\n\t\t\tfloat dy2 = dy0 / 2.0;\n\t\t\tfloat dx3 = dx1 / 2.0;\n\t\t\tfloat dy3 = dy1 / 2.0;\n\t\t\tshadow = (\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy1 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy1 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy1 ), shadowCoord.z )\n\t\t\t) * ( 1.0 / 17.0 );\n\t\t#elif defined( SHADOWMAP_TYPE_PCF_SOFT )\n\t\t\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\n\t\t\tfloat dx = texelSize.x;\n\t\t\tfloat dy = texelSize.y;\n\t\t\tvec2 uv = shadowCoord.xy;\n\t\t\tvec2 f = fract( uv * shadowMapSize + 0.5 );\n\t\t\tuv -= f * texelSize;\n\t\t\tshadow = (\n\t\t\t\ttexture2DCompare( shadowMap, uv, shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + vec2( dx, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + vec2( 0.0, dy ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + texelSize, shadowCoord.z ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( -dx, 0.0 ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 0.0 ), shadowCoord.z ),\n\t\t\t\t\t f.x ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( -dx, dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, dy ), shadowCoord.z ),\n\t\t\t\t\t f.x ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( 0.0, -dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 0.0, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t f.y ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t f.y ) +\n\t\t\t\tmix( mix( texture2DCompare( shadowMap, uv + vec2( -dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t\t f.x ),\n\t\t\t\t\t mix( texture2DCompare( shadowMap, uv + vec2( -dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t\t f.x ),\n\t\t\t\t\t f.y )\n\t\t\t) * ( 1.0 / 9.0 );\n\t\t#elif defined( SHADOWMAP_TYPE_VSM )\n\t\t\tshadow = VSMShadow( shadowMap, shadowCoord.xy, shadowCoord.z );\n\t\t#else\n\t\t\tshadow = texture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z );\n\t\t#endif\n\t\t}\n\t\treturn shadow;\n\t}\n\tvec2 cubeToUV( vec3 v, float texelSizeY ) {\n\t\tvec3 absV = abs( v );\n\t\tfloat scaleToCube = 1.0 / max( absV.x, max( absV.y, absV.z ) );\n\t\tabsV *= scaleToCube;\n\t\tv *= scaleToCube * ( 1.0 - 2.0 * texelSizeY );\n\t\tvec2 planar = v.xy;\n\t\tfloat almostATexel = 1.5 * texelSizeY;\n\t\tfloat almostOne = 1.0 - almostATexel;\n\t\tif ( absV.z >= almostOne ) {\n\t\t\tif ( v.z > 0.0 )\n\t\t\t\tplanar.x = 4.0 - v.x;\n\t\t} else if ( absV.x >= almostOne ) {\n\t\t\tfloat signX = sign( v.x );\n\t\t\tplanar.x = v.z * signX + 2.0 * signX;\n\t\t} else if ( absV.y >= almostOne ) {\n\t\t\tfloat signY = sign( v.y );\n\t\t\tplanar.x = v.x + 2.0 * signY + 2.0;\n\t\t\tplanar.y = v.z * signY - 2.0;\n\t\t}\n\t\treturn vec2( 0.125, 0.25 ) * planar + vec2( 0.375, 0.75 );\n\t}\n\tfloat getPointShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord, float shadowCameraNear, float shadowCameraFar ) {\n\t\tvec2 texelSize = vec2( 1.0 ) / ( shadowMapSize * vec2( 4.0, 2.0 ) );\n\t\tvec3 lightToPosition = shadowCoord.xyz;\n\t\tfloat dp = ( length( lightToPosition ) - shadowCameraNear ) / ( shadowCameraFar - shadowCameraNear );\t\tdp += shadowBias;\n\t\tvec3 bd3D = normalize( lightToPosition );\n\t\t#if defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_PCF_SOFT ) || defined( SHADOWMAP_TYPE_VSM )\n\t\t\tvec2 offset = vec2( - 1, 1 ) * shadowRadius * texelSize.y;\n\t\t\treturn (\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxx, texelSize.y ), dp )\n\t\t\t) * ( 1.0 / 9.0 );\n\t\t#else\n\t\t\treturn texture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp );\n\t\t#endif\n\t}\n#endif";
-
-var shadowmap_pars_vertex = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tuniform mat4 spotLightMatrix[ NUM_SPOT_LIGHT_COORDS ];\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\tuniform mat4 directionalShadowMatrix[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\tuniform mat4 pointShadowMatrix[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n#endif";
-
-var shadowmap_vertex = "#if ( defined( USE_SHADOWMAP ) && ( NUM_DIR_LIGHT_SHADOWS > 0 || NUM_POINT_LIGHT_SHADOWS > 0 ) ) || ( NUM_SPOT_LIGHT_COORDS > 0 )\n\tvec3 shadowWorldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\tvec4 shadowWorldPosition;\n#endif\n#if defined( USE_SHADOWMAP )\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * directionalLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvDirectionalShadowCoord[ i ] = directionalShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * pointLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvPointShadowCoord[ i ] = pointShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if NUM_SPOT_LIGHT_COORDS > 0\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_COORDS; i ++ ) {\n\t\tshadowWorldPosition = worldPosition;\n\t\t#if ( defined( USE_SHADOWMAP ) && UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t\tshadowWorldPosition.xyz += shadowWorldNormal * spotLightShadows[ i ].shadowNormalBias;\n\t\t#endif\n\t\tvSpotLightCoord[ i ] = spotLightMatrix[ i ] * shadowWorldPosition;\n\t}\n\t#pragma unroll_loop_end\n#endif";
-
-var shadowmask_pars_fragment = "float getShadowMask() {\n\tfloat shadow = 1.0;\n\t#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\tdirectionalLight = directionalLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_SHADOWS; i ++ ) {\n\t\tspotLight = spotLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowBias, spotLight.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\tPointLightShadow pointLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\tpointLight = pointLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ], pointLight.shadowCameraNear, pointLight.shadowCameraFar ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#endif\n\treturn shadow;\n}";
-
-var skinbase_vertex = "#ifdef USE_SKINNING\n\tmat4 boneMatX = getBoneMatrix( skinIndex.x );\n\tmat4 boneMatY = getBoneMatrix( skinIndex.y );\n\tmat4 boneMatZ = getBoneMatrix( skinIndex.z );\n\tmat4 boneMatW = getBoneMatrix( skinIndex.w );\n#endif";
-
-var skinning_pars_vertex = "#ifdef USE_SKINNING\n\tuniform mat4 bindMatrix;\n\tuniform mat4 bindMatrixInverse;\n\tuniform highp sampler2D boneTexture;\n\tuniform int boneTextureSize;\n\tmat4 getBoneMatrix( const in float i ) {\n\t\tfloat j = i * 4.0;\n\t\tfloat x = mod( j, float( boneTextureSize ) );\n\t\tfloat y = floor( j / float( boneTextureSize ) );\n\t\tfloat dx = 1.0 / float( boneTextureSize );\n\t\tfloat dy = 1.0 / float( boneTextureSize );\n\t\ty = dy * ( y + 0.5 );\n\t\tvec4 v1 = texture2D( boneTexture, vec2( dx * ( x + 0.5 ), y ) );\n\t\tvec4 v2 = texture2D( boneTexture, vec2( dx * ( x + 1.5 ), y ) );\n\t\tvec4 v3 = texture2D( boneTexture, vec2( dx * ( x + 2.5 ), y ) );\n\t\tvec4 v4 = texture2D( boneTexture, vec2( dx * ( x + 3.5 ), y ) );\n\t\tmat4 bone = mat4( v1, v2, v3, v4 );\n\t\treturn bone;\n\t}\n#endif";
-
-var skinning_vertex = "#ifdef USE_SKINNING\n\tvec4 skinVertex = bindMatrix * vec4( transformed, 1.0 );\n\tvec4 skinned = vec4( 0.0 );\n\tskinned += boneMatX * skinVertex * skinWeight.x;\n\tskinned += boneMatY * skinVertex * skinWeight.y;\n\tskinned += boneMatZ * skinVertex * skinWeight.z;\n\tskinned += boneMatW * skinVertex * skinWeight.w;\n\ttransformed = ( bindMatrixInverse * skinned ).xyz;\n#endif";
-
-var skinnormal_vertex = "#ifdef USE_SKINNING\n\tmat4 skinMatrix = mat4( 0.0 );\n\tskinMatrix += skinWeight.x * boneMatX;\n\tskinMatrix += skinWeight.y * boneMatY;\n\tskinMatrix += skinWeight.z * boneMatZ;\n\tskinMatrix += skinWeight.w * boneMatW;\n\tskinMatrix = bindMatrixInverse * skinMatrix * bindMatrix;\n\tobjectNormal = vec4( skinMatrix * vec4( objectNormal, 0.0 ) ).xyz;\n\t#ifdef USE_TANGENT\n\t\tobjectTangent = vec4( skinMatrix * vec4( objectTangent, 0.0 ) ).xyz;\n\t#endif\n#endif";
-
-var specularmap_fragment = "float specularStrength;\n#ifdef USE_SPECULARMAP\n\tvec4 texelSpecular = texture2D( specularMap, vUv );\n\tspecularStrength = texelSpecular.r;\n#else\n\tspecularStrength = 1.0;\n#endif";
-
-var specularmap_pars_fragment = "#ifdef USE_SPECULARMAP\n\tuniform sampler2D specularMap;\n#endif";
-
-var tonemapping_fragment = "#if defined( TONE_MAPPING )\n\tgl_FragColor.rgb = toneMapping( gl_FragColor.rgb );\n#endif";
-
-var tonemapping_pars_fragment = "#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\nuniform float toneMappingExposure;\nvec3 LinearToneMapping( vec3 color ) {\n\treturn toneMappingExposure * color;\n}\nvec3 ReinhardToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\treturn saturate( color / ( vec3( 1.0 ) + color ) );\n}\nvec3 OptimizedCineonToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\tcolor = max( vec3( 0.0 ), color - 0.004 );\n\treturn pow( ( color * ( 6.2 * color + 0.5 ) ) / ( color * ( 6.2 * color + 1.7 ) + 0.06 ), vec3( 2.2 ) );\n}\nvec3 RRTAndODTFit( vec3 v ) {\n\tvec3 a = v * ( v + 0.0245786 ) - 0.000090537;\n\tvec3 b = v * ( 0.983729 * v + 0.4329510 ) + 0.238081;\n\treturn a / b;\n}\nvec3 ACESFilmicToneMapping( vec3 color ) {\n\tconst mat3 ACESInputMat = mat3(\n\t\tvec3( 0.59719, 0.07600, 0.02840 ),\t\tvec3( 0.35458, 0.90834, 0.13383 ),\n\t\tvec3( 0.04823, 0.01566, 0.83777 )\n\t);\n\tconst mat3 ACESOutputMat = mat3(\n\t\tvec3( 1.60475, -0.10208, -0.00327 ),\t\tvec3( -0.53108, 1.10813, -0.07276 ),\n\t\tvec3( -0.07367, -0.00605, 1.07602 )\n\t);\n\tcolor *= toneMappingExposure / 0.6;\n\tcolor = ACESInputMat * color;\n\tcolor = RRTAndODTFit( color );\n\tcolor = ACESOutputMat * color;\n\treturn saturate( color );\n}\nvec3 CustomToneMapping( vec3 color ) { return color; }";
-
-var transmission_fragment = "#ifdef USE_TRANSMISSION\n\tmaterial.transmission = transmission;\n\tmaterial.transmissionAlpha = 1.0;\n\tmaterial.thickness = thickness;\n\tmaterial.attenuationDistance = attenuationDistance;\n\tmaterial.attenuationColor = attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tmaterial.transmission *= texture2D( transmissionMap, vUv ).r;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tmaterial.thickness *= texture2D( thicknessMap, vUv ).g;\n\t#endif\n\tvec3 pos = vWorldPosition;\n\tvec3 v = normalize( cameraPosition - pos );\n\tvec3 n = inverseTransformDirection( normal, viewMatrix );\n\tvec4 transmission = getIBLVolumeRefraction(\n\t\tn, v, material.roughness, material.diffuseColor, material.specularColor, material.specularF90,\n\t\tpos, modelMatrix, viewMatrix, projectionMatrix, material.ior, material.thickness,\n\t\tmaterial.attenuationColor, material.attenuationDistance );\n\tmaterial.transmissionAlpha = mix( material.transmissionAlpha, transmission.a, material.transmission );\n\ttotalDiffuse = mix( totalDiffuse, transmission.rgb, material.transmission );\n#endif";
-
-var transmission_pars_fragment = "#ifdef USE_TRANSMISSION\n\tuniform float transmission;\n\tuniform float thickness;\n\tuniform float attenuationDistance;\n\tuniform vec3 attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tuniform sampler2D transmissionMap;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tuniform sampler2D thicknessMap;\n\t#endif\n\tuniform vec2 transmissionSamplerSize;\n\tuniform sampler2D transmissionSamplerMap;\n\tuniform mat4 modelMatrix;\n\tuniform mat4 projectionMatrix;\n\tvarying vec3 vWorldPosition;\n\tfloat w0( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - a + 3.0 ) - 3.0 ) + 1.0 );\n\t}\n\tfloat w1( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * a * ( 3.0 * a - 6.0 ) + 4.0 );\n\t}\n\tfloat w2( float a ){\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - 3.0 * a + 3.0 ) + 3.0 ) + 1.0 );\n\t}\n\tfloat w3( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * a * a );\n\t}\n\tfloat g0( float a ) {\n\t\treturn w0( a ) + w1( a );\n\t}\n\tfloat g1( float a ) {\n\t\treturn w2( a ) + w3( a );\n\t}\n\tfloat h0( float a ) {\n\t\treturn - 1.0 + w1( a ) / ( w0( a ) + w1( a ) );\n\t}\n\tfloat h1( float a ) {\n\t\treturn 1.0 + w3( a ) / ( w2( a ) + w3( a ) );\n\t}\n\tvec4 bicubic( sampler2D tex, vec2 uv, vec4 texelSize, vec2 fullSize, float lod ) {\n\t\tuv = uv * texelSize.zw + 0.5;\n\t\tvec2 iuv = floor( uv );\n\t\tvec2 fuv = fract( uv );\n\t\tfloat g0x = g0( fuv.x );\n\t\tfloat g1x = g1( fuv.x );\n\t\tfloat h0x = h0( fuv.x );\n\t\tfloat h1x = h1( fuv.x );\n\t\tfloat h0y = h0( fuv.y );\n\t\tfloat h1y = h1( fuv.y );\n\t\tvec2 p0 = ( vec2( iuv.x + h0x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p1 = ( vec2( iuv.x + h1x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p2 = ( vec2( iuv.x + h0x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p3 = ( vec2( iuv.x + h1x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\t\n\t\tvec2 lodFudge = pow( 1.95, lod ) / fullSize;\n\t\treturn g0( fuv.y ) * ( g0x * textureLod( tex, p0, lod ) + g1x * textureLod( tex, p1, lod ) ) +\n\t\t\tg1( fuv.y ) * ( g0x * textureLod( tex, p2, lod ) + g1x * textureLod( tex, p3, lod ) );\n\t}\n\tvec4 textureBicubic( sampler2D sampler, vec2 uv, float lod ) {\n\t\tvec2 fLodSize = vec2( textureSize( sampler, int( lod ) ) );\n\t\tvec2 cLodSize = vec2( textureSize( sampler, int( lod + 1.0 ) ) );\n\t\tvec2 fLodSizeInv = 1.0 / fLodSize;\n\t\tvec2 cLodSizeInv = 1.0 / cLodSize;\n\t\tvec2 fullSize = vec2( textureSize( sampler, 0 ) );\n\t\tvec4 fSample = bicubic( sampler, uv, vec4( fLodSizeInv, fLodSize ), fullSize, floor( lod ) );\n\t\tvec4 cSample = bicubic( sampler, uv, vec4( cLodSizeInv, cLodSize ), fullSize, ceil( lod ) );\n\t\treturn mix( fSample, cSample, fract( lod ) );\n\t}\n\tvec3 getVolumeTransmissionRay( const in vec3 n, const in vec3 v, const in float thickness, const in float ior, const in mat4 modelMatrix ) {\n\t\tvec3 refractionVector = refract( - v, normalize( n ), 1.0 / ior );\n\t\tvec3 modelScale;\n\t\tmodelScale.x = length( vec3( modelMatrix[ 0 ].xyz ) );\n\t\tmodelScale.y = length( vec3( modelMatrix[ 1 ].xyz ) );\n\t\tmodelScale.z = length( vec3( modelMatrix[ 2 ].xyz ) );\n\t\treturn normalize( refractionVector ) * thickness * modelScale;\n\t}\n\tfloat applyIorToRoughness( const in float roughness, const in float ior ) {\n\t\treturn roughness * clamp( ior * 2.0 - 2.0, 0.0, 1.0 );\n\t}\n\tvec4 getTransmissionSample( const in vec2 fragCoord, const in float roughness, const in float ior ) {\n\t\tfloat lod = log2( transmissionSamplerSize.x ) * applyIorToRoughness( roughness, ior );\n\t\treturn textureBicubic( transmissionSamplerMap, fragCoord.xy, lod );\n\t}\n\tvec3 applyVolumeAttenuation( const in vec3 radiance, const in float transmissionDistance, const in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tif ( isinf( attenuationDistance ) ) {\n\t\t\treturn radiance;\n\t\t} else {\n\t\t\tvec3 attenuationCoefficient = -log( attenuationColor ) / attenuationDistance;\n\t\t\tvec3 transmittance = exp( - attenuationCoefficient * transmissionDistance );\t\t\treturn transmittance * radiance;\n\t\t}\n\t}\n\tvec4 getIBLVolumeRefraction( const in vec3 n, const in vec3 v, const in float roughness, const in vec3 diffuseColor,\n\t\tconst in vec3 specularColor, const in float specularF90, const in vec3 position, const in mat4 modelMatrix,\n\t\tconst in mat4 viewMatrix, const in mat4 projMatrix, const in float ior, const in float thickness,\n\t\tconst in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tvec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, ior, modelMatrix );\n\t\tvec3 refractedRayExit = position + transmissionRay;\n\t\tvec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );\n\t\tvec2 refractionCoords = ndcPos.xy / ndcPos.w;\n\t\trefractionCoords += 1.0;\n\t\trefractionCoords /= 2.0;\n\t\tvec4 transmittedLight = getTransmissionSample( refractionCoords, roughness, ior );\n\t\tvec3 attenuatedColor = applyVolumeAttenuation( transmittedLight.rgb, length( transmissionRay ), attenuationColor, attenuationDistance );\n\t\tvec3 F = EnvironmentBRDF( n, v, specularColor, specularF90, roughness );\n\t\treturn vec4( ( 1.0 - F ) * attenuatedColor * diffuseColor, transmittedLight.a );\n\t}\n#endif";
-
-var uv_pars_fragment = "#if ( defined( USE_UV ) && ! defined( UVS_VERTEX_ONLY ) )\n\tvarying vec2 vUv;\n#endif";
-
-var uv_pars_vertex = "#ifdef USE_UV\n\t#ifdef UVS_VERTEX_ONLY\n\t\tvec2 vUv;\n\t#else\n\t\tvarying vec2 vUv;\n\t#endif\n\tuniform mat3 uvTransform;\n#endif";
-
-var uv_vertex = "#ifdef USE_UV\n\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n#endif";
-
-var uv2_pars_fragment = "#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\n\tvarying vec2 vUv2;\n#endif";
-
-var uv2_pars_vertex = "#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\n\tattribute vec2 uv2;\n\tvarying vec2 vUv2;\n\tuniform mat3 uv2Transform;\n#endif";
-
-var uv2_vertex = "#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\n\tvUv2 = ( uv2Transform * vec3( uv2, 1 ) ).xy;\n#endif";
-
-var worldpos_vertex = "#if defined( USE_ENVMAP ) || defined( DISTANCE ) || defined ( USE_SHADOWMAP ) || defined ( USE_TRANSMISSION ) || NUM_SPOT_LIGHT_COORDS > 0\n\tvec4 worldPosition = vec4( transformed, 1.0 );\n\t#ifdef USE_INSTANCING\n\t\tworldPosition = instanceMatrix * worldPosition;\n\t#endif\n\tworldPosition = modelMatrix * worldPosition;\n#endif";
-
-const vertex$h = "varying vec2 vUv;\nuniform mat3 uvTransform;\nvoid main() {\n\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n\tgl_Position = vec4( position.xy, 1.0, 1.0 );\n}";
-
-const fragment$h = "uniform sampler2D t2D;\nuniform float backgroundIntensity;\nvarying vec2 vUv;\nvoid main() {\n\tvec4 texColor = texture2D( t2D, vUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\ttexColor = vec4( mix( pow( texColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), texColor.rgb * 0.0773993808, vec3( lessThanEqual( texColor.rgb, vec3( 0.04045 ) ) ) ), texColor.w );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}";
-
-const vertex$g = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}";
-
-const fragment$g = "#ifdef ENVMAP_TYPE_CUBE\n\tuniform samplerCube envMap;\n#elif defined( ENVMAP_TYPE_CUBE_UV )\n\tuniform sampler2D envMap;\n#endif\nuniform float flipEnvMap;\nuniform float backgroundBlurriness;\nuniform float backgroundIntensity;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 texColor = textureCube( envMap, vec3( flipEnvMap * vWorldDirection.x, vWorldDirection.yz ) );\n\t#elif defined( ENVMAP_TYPE_CUBE_UV )\n\t\tvec4 texColor = textureCubeUV( envMap, vWorldDirection, backgroundBlurriness );\n\t#else\n\t\tvec4 texColor = vec4( 0.0, 0.0, 0.0, 1.0 );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}";
-
-const vertex$f = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}";
-
-const fragment$f = "uniform samplerCube tCube;\nuniform float tFlip;\nuniform float opacity;\nvarying vec3 vWorldDirection;\nvoid main() {\n\tvec4 texColor = textureCube( tCube, vec3( tFlip * vWorldDirection.x, vWorldDirection.yz ) );\n\tgl_FragColor = texColor;\n\tgl_FragColor.a *= opacity;\n\t#include \n\t#include \n}";
-
-const vertex$e = "#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvHighPrecisionZW = gl_Position.zw;\n}";
-
-const fragment$e = "#if DEPTH_PACKING == 3200\n\tuniform float opacity;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( 1.0 );\n\t#if DEPTH_PACKING == 3200\n\t\tdiffuseColor.a = opacity;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\tfloat fragCoordZ = 0.5 * vHighPrecisionZW[0] / vHighPrecisionZW[1] + 0.5;\n\t#if DEPTH_PACKING == 3200\n\t\tgl_FragColor = vec4( vec3( 1.0 - fragCoordZ ), opacity );\n\t#elif DEPTH_PACKING == 3201\n\t\tgl_FragColor = packDepthToRGBA( fragCoordZ );\n\t#endif\n}";
-
-const vertex$d = "#define DISTANCE\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvWorldPosition = worldPosition.xyz;\n}";
-
-const fragment$d = "#define DISTANCE\nuniform vec3 referencePosition;\nuniform float nearDistance;\nuniform float farDistance;\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main () {\n\t#include \n\tvec4 diffuseColor = vec4( 1.0 );\n\t#include \n\t#include \n\t#include \n\tfloat dist = length( vWorldPosition - referencePosition );\n\tdist = ( dist - nearDistance ) / ( farDistance - nearDistance );\n\tdist = saturate( dist );\n\tgl_FragColor = packDepthToRGBA( dist );\n}";
-
-const vertex$c = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n}";
-
-const fragment$c = "uniform sampler2D tEquirect;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvec3 direction = normalize( vWorldDirection );\n\tvec2 sampleUV = equirectUv( direction );\n\tgl_FragColor = texture2D( tEquirect, sampleUV );\n\t#include \n\t#include \n}";
-
-const vertex$b = "uniform float scale;\nattribute float lineDistance;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvLineDistance = scale * lineDistance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
-
-const fragment$b = "uniform vec3 diffuse;\nuniform float opacity;\nuniform float dashSize;\nuniform float totalSize;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tif ( mod( vLineDistance, totalSize ) > dashSize ) {\n\t\tdiscard;\n\t}\n\tvec3 outgoingLight = vec3( 0.0 );\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
-
-const vertex$a = "#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#if defined ( USE_ENVMAP ) || defined ( USE_SKINNING )\n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
-
-const fragment$a = "uniform vec3 diffuse;\nuniform float opacity;\n#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include 
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