ZhongMianAdmin/__test__/bim/js/io/ColladaLoader.js

import {
    AmbientLight,
    AnimationClip,
    Bone,
    BufferGeometry,
    ClampToEdgeWrapping,
    Color,
    DirectionalLight,
    DoubleSide,
    Euler,
    FileLoader,
    Float32BufferAttribute,
    FrontSide,
    Group,
    Line,
    LineBasicMaterial,
    LineSegments,
    Loader,
    LoaderUtils,
    MathUtils,
    Matrix4,
    Mesh,
    MeshBasicMaterial,
    MeshLambertMaterial,
    MeshPhongMaterial,
    OrthographicCamera,
    PerspectiveCamera,
    PointLight,
    Quaternion,
    QuaternionKeyframeTrack,
    RepeatWrapping,
    Scene,
    Skeleton,
    SkinnedMesh,
    SpotLight,
    TextureLoader,
    Vector2,
    Vector3,
    VectorKeyframeTrack,
    sRGBEncoding
} from '../lib/three.module.js'
import { TGALoader } from './TGALoader.js'

class ColladaLoader extends Loader {
    constructor(manager) {
        super(manager)
    }

    load(url, onLoad, onProgress, onError) {
        const scope = this

        const path = scope.path === '' ? LoaderUtils.extractUrlBase(url) : scope.path

        const loader = new FileLoader(scope.manager)
        loader.setPath(scope.path)
        loader.setRequestHeader(scope.requestHeader)
        loader.setWithCredentials(scope.withCredentials)
        loader.load(
            url,
            function(text) {
                try {
                    onLoad(scope.parse(text, path))
                } catch (e) {
                    if (onError) {
                        onError(e)
                    } else {
                        console.error(e)
                    }

                    scope.manager.itemError(url)
                }
            },
            onProgress,
            onError
        )
    }

    parse(text, path) {
        function getElementsByTagName(xml, name) {
            // Non recursive xml.getElementsByTagName() ...

            const array = []
            const childNodes = xml.childNodes

            for (let i = 0, l = childNodes.length; i < l; i++) {
                const child = childNodes[i]

                if (child.nodeName === name) {
                    array.push(child)
                }
            }

            return array
        }

        function parseStrings(text) {
            if (text.length === 0) return []

            const parts = text.trim().split(/\s+/)
            const array = new Array(parts.length)

            for (let i = 0, l = parts.length; i < l; i++) {
                array[i] = parts[i]
            }

            return array
        }

        function parseFloats(text) {
            if (text.length === 0) return []

            const parts = text.trim().split(/\s+/)
            const array = new Array(parts.length)

            for (let i = 0, l = parts.length; i < l; i++) {
                array[i] = parseFloat(parts[i])
            }

            return array
        }

        function parseInts(text) {
            if (text.length === 0) return []

            const parts = text.trim().split(/\s+/)
            const array = new Array(parts.length)

            for (let i = 0, l = parts.length; i < l; i++) {
                array[i] = parseInt(parts[i])
            }

            return array
        }

        function parseId(text) {
            return text.substring(1)
        }

        function generateId() {
            return 'three_default_' + count++
        }

        function isEmpty(object) {
            return Object.keys(object).length === 0
        }

        // asset

        function parseAsset(xml) {
            return {
                unit: parseAssetUnit(getElementsByTagName(xml, 'unit')[0]),
                upAxis: parseAssetUpAxis(getElementsByTagName(xml, 'up_axis')[0])
            }
        }

        function parseAssetUnit(xml) {
            if (xml !== undefined && xml.hasAttribute('meter') === true) {
                return parseFloat(xml.getAttribute('meter'))
            } else {
                return 1 // default 1 meter
            }
        }

        function parseAssetUpAxis(xml) {
            return xml !== undefined ? xml.textContent : 'Y_UP'
        }

        // library

        function parseLibrary(xml, libraryName, nodeName, parser) {
            const library = getElementsByTagName(xml, libraryName)[0]

            if (library !== undefined) {
                const elements = getElementsByTagName(library, nodeName)

                for (let i = 0; i < elements.length; i++) {
                    parser(elements[i])
                }
            }
        }

        function buildLibrary(data, builder) {
            for (const name in data) {
                const object = data[name]
                object.build = builder(data[name])
            }
        }

        // get

        function getBuild(data, builder) {
            if (data.build !== undefined) return data.build

            data.build = builder(data)

            return data.build
        }

        // animation

        function parseAnimation(xml) {
            const data = {
                sources: {},
                samplers: {},
                channels: {}
            }

            let hasChildren = false

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                let id

                switch (child.nodeName) {
                    case 'source':
                        id = child.getAttribute('id')
                        data.sources[id] = parseSource(child)
                        break

                    case 'sampler':
                        id = child.getAttribute('id')
                        data.samplers[id] = parseAnimationSampler(child)
                        break

                    case 'channel':
                        id = child.getAttribute('target')
                        data.channels[id] = parseAnimationChannel(child)
                        break

                    case 'animation':
                        // hierarchy of related animations
                        parseAnimation(child)
                        hasChildren = true
                        break

                    default:
                        console.log(child)
                }
            }

            if (hasChildren === false) {
                // since 'id' attributes can be optional, it's necessary to generate a UUID for unqiue assignment

                library.animations[xml.getAttribute('id') || MathUtils.generateUUID()] = data
            }
        }

        function parseAnimationSampler(xml) {
            const data = {
                inputs: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'input':
                        const id = parseId(child.getAttribute('source'))
                        const semantic = child.getAttribute('semantic')
                        data.inputs[semantic] = id
                        break
                }
            }

            return data
        }

        function parseAnimationChannel(xml) {
            const data = {}

            const target = xml.getAttribute('target')

            // parsing SID Addressing Syntax

            let parts = target.split('/')

            const id = parts.shift()
            let sid = parts.shift()

            // check selection syntax

            const arraySyntax = sid.indexOf('(') !== -1
            const memberSyntax = sid.indexOf('.') !== -1

            if (memberSyntax) {
                //  member selection access

                parts = sid.split('.')
                sid = parts.shift()
                data.member = parts.shift()
            } else if (arraySyntax) {
                // array-access syntax. can be used to express fields in one-dimensional vectors or two-dimensional matrices.

                const indices = sid.split('(')
                sid = indices.shift()

                for (let i = 0; i < indices.length; i++) {
                    indices[i] = parseInt(indices[i].replace(/\)/, ''))
                }

                data.indices = indices
            }

            data.id = id
            data.sid = sid

            data.arraySyntax = arraySyntax
            data.memberSyntax = memberSyntax

            data.sampler = parseId(xml.getAttribute('source'))

            return data
        }

        function buildAnimation(data) {
            const tracks = []

            const channels = data.channels
            const samplers = data.samplers
            const sources = data.sources

            for (const target in channels) {
                if (channels.hasOwnProperty(target)) {
                    const channel = channels[target]
                    const sampler = samplers[channel.sampler]

                    const inputId = sampler.inputs.INPUT
                    const outputId = sampler.inputs.OUTPUT

                    const inputSource = sources[inputId]
                    const outputSource = sources[outputId]

                    const animation = buildAnimationChannel(channel, inputSource, outputSource)

                    createKeyframeTracks(animation, tracks)
                }
            }

            return tracks
        }

        function getAnimation(id) {
            return getBuild(library.animations[id], buildAnimation)
        }

        function buildAnimationChannel(channel, inputSource, outputSource) {
            const node = library.nodes[channel.id]
            const object3D = getNode(node.id)

            const transform = node.transforms[channel.sid]
            const defaultMatrix = node.matrix.clone().transpose()

            let time, stride
            let i, il, j, jl

            const data = {}

            // the collada spec allows the animation of data in various ways.
            // depending on the transform type (matrix, translate, rotate, scale), we execute different logic

            switch (transform) {
                case 'matrix':
                    for (i = 0, il = inputSource.array.length; i < il; i++) {
                        time = inputSource.array[i]
                        stride = i * outputSource.stride

                        if (data[time] === undefined) data[time] = {}

                        if (channel.arraySyntax === true) {
                            const value = outputSource.array[stride]
                            const index = channel.indices[0] + 4 * channel.indices[1]

                            data[time][index] = value
                        } else {
                            for (j = 0, jl = outputSource.stride; j < jl; j++) {
                                data[time][j] = outputSource.array[stride + j]
                            }
                        }
                    }

                    break

                case 'translate':
                    console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform)
                    break

                case 'rotate':
                    console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform)
                    break

                case 'scale':
                    console.warn('THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform)
                    break
            }

            const keyframes = prepareAnimationData(data, defaultMatrix)

            const animation = {
                name: object3D.uuid,
                keyframes: keyframes
            }

            return animation
        }

        function prepareAnimationData(data, defaultMatrix) {
            const keyframes = []

            // transfer data into a sortable array

            for (const time in data) {
                keyframes.push({ time: parseFloat(time), value: data[time] })
            }

            // ensure keyframes are sorted by time

            keyframes.sort(ascending)

            // now we clean up all animation data, so we can use them for keyframe tracks

            for (let i = 0; i < 16; i++) {
                transformAnimationData(keyframes, i, defaultMatrix.elements[i])
            }

            return keyframes

            // array sort function

            function ascending(a, b) {
                return a.time - b.time
            }
        }

        const position = new Vector3()
        const scale = new Vector3()
        const quaternion = new Quaternion()

        function createKeyframeTracks(animation, tracks) {
            const keyframes = animation.keyframes
            const name = animation.name

            const times = []
            const positionData = []
            const quaternionData = []
            const scaleData = []

            for (let i = 0, l = keyframes.length; i < l; i++) {
                const keyframe = keyframes[i]

                const time = keyframe.time
                const value = keyframe.value

                matrix.fromArray(value).transpose()
                matrix.decompose(position, quaternion, scale)

                times.push(time)
                positionData.push(position.x, position.y, position.z)
                quaternionData.push(quaternion.x, quaternion.y, quaternion.z, quaternion.w)
                scaleData.push(scale.x, scale.y, scale.z)
            }

            if (positionData.length > 0) tracks.push(new VectorKeyframeTrack(name + '.position', times, positionData))
            if (quaternionData.length > 0) tracks.push(new QuaternionKeyframeTrack(name + '.quaternion', times, quaternionData))
            if (scaleData.length > 0) tracks.push(new VectorKeyframeTrack(name + '.scale', times, scaleData))

            return tracks
        }

        function transformAnimationData(keyframes, property, defaultValue) {
            let keyframe

            let empty = true
            let i, l

            // check, if values of a property are missing in our keyframes

            for (i = 0, l = keyframes.length; i < l; i++) {
                keyframe = keyframes[i]

                if (keyframe.value[property] === undefined) {
                    keyframe.value[property] = null // mark as missing
                } else {
                    empty = false
                }
            }

            if (empty === true) {
                // no values at all, so we set a default value

                for (i = 0, l = keyframes.length; i < l; i++) {
                    keyframe = keyframes[i]

                    keyframe.value[property] = defaultValue
                }
            } else {
                // filling gaps

                createMissingKeyframes(keyframes, property)
            }
        }

        function createMissingKeyframes(keyframes, property) {
            let prev, next

            for (let i = 0, l = keyframes.length; i < l; i++) {
                const keyframe = keyframes[i]

                if (keyframe.value[property] === null) {
                    prev = getPrev(keyframes, i, property)
                    next = getNext(keyframes, i, property)

                    if (prev === null) {
                        keyframe.value[property] = next.value[property]
                        continue
                    }

                    if (next === null) {
                        keyframe.value[property] = prev.value[property]
                        continue
                    }

                    interpolate(keyframe, prev, next, property)
                }
            }
        }

        function getPrev(keyframes, i, property) {
            while (i >= 0) {
                const keyframe = keyframes[i]

                if (keyframe.value[property] !== null) return keyframe

                i--
            }

            return null
        }

        function getNext(keyframes, i, property) {
            while (i < keyframes.length) {
                const keyframe = keyframes[i]

                if (keyframe.value[property] !== null) return keyframe

                i++
            }

            return null
        }

        function interpolate(key, prev, next, property) {
            if (next.time - prev.time === 0) {
                key.value[property] = prev.value[property]
                return
            }

            key.value[property] = ((key.time - prev.time) * (next.value[property] - prev.value[property])) / (next.time - prev.time) + prev.value[property]
        }

        // animation clips

        function parseAnimationClip(xml) {
            const data = {
                name: xml.getAttribute('id') || 'default',
                start: parseFloat(xml.getAttribute('start') || 0),
                end: parseFloat(xml.getAttribute('end') || 0),
                animations: []
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'instance_animation':
                        data.animations.push(parseId(child.getAttribute('url')))
                        break
                }
            }

            library.clips[xml.getAttribute('id')] = data
        }

        function buildAnimationClip(data) {
            const tracks = []

            const name = data.name
            const duration = data.end - data.start || -1
            const animations = data.animations

            for (let i = 0, il = animations.length; i < il; i++) {
                const animationTracks = getAnimation(animations[i])

                for (let j = 0, jl = animationTracks.length; j < jl; j++) {
                    tracks.push(animationTracks[j])
                }
            }

            return new AnimationClip(name, duration, tracks)
        }

        function getAnimationClip(id) {
            return getBuild(library.clips[id], buildAnimationClip)
        }

        // controller

        function parseController(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'skin':
                        // there is exactly one skin per controller
                        data.id = parseId(child.getAttribute('source'))
                        data.skin = parseSkin(child)
                        break

                    case 'morph':
                        data.id = parseId(child.getAttribute('source'))
                        console.warn('THREE.ColladaLoader: Morph target animation not supported yet.')
                        break
                }
            }

            library.controllers[xml.getAttribute('id')] = data
        }

        function parseSkin(xml) {
            const data = {
                sources: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'bind_shape_matrix':
                        data.bindShapeMatrix = parseFloats(child.textContent)
                        break

                    case 'source':
                        const id = child.getAttribute('id')
                        data.sources[id] = parseSource(child)
                        break

                    case 'joints':
                        data.joints = parseJoints(child)
                        break

                    case 'vertex_weights':
                        data.vertexWeights = parseVertexWeights(child)
                        break
                }
            }

            return data
        }

        function parseJoints(xml) {
            const data = {
                inputs: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'input':
                        const semantic = child.getAttribute('semantic')
                        const id = parseId(child.getAttribute('source'))
                        data.inputs[semantic] = id
                        break
                }
            }

            return data
        }

        function parseVertexWeights(xml) {
            const data = {
                inputs: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'input':
                        const semantic = child.getAttribute('semantic')
                        const id = parseId(child.getAttribute('source'))
                        const offset = parseInt(child.getAttribute('offset'))
                        data.inputs[semantic] = { id: id, offset: offset }
                        break

                    case 'vcount':
                        data.vcount = parseInts(child.textContent)
                        break

                    case 'v':
                        data.v = parseInts(child.textContent)
                        break
                }
            }

            return data
        }

        function buildController(data) {
            const build = {
                id: data.id
            }

            const geometry = library.geometries[build.id]

            if (data.skin !== undefined) {
                build.skin = buildSkin(data.skin)

                // we enhance the 'sources' property of the corresponding geometry with our skin data

                geometry.sources.skinIndices = build.skin.indices
                geometry.sources.skinWeights = build.skin.weights
            }

            return build
        }

        function buildSkin(data) {
            const BONE_LIMIT = 4

            const build = {
                joints: [], // this must be an array to preserve the joint order
                indices: {
                    array: [],
                    stride: BONE_LIMIT
                },
                weights: {
                    array: [],
                    stride: BONE_LIMIT
                }
            }

            const sources = data.sources
            const vertexWeights = data.vertexWeights

            const vcount = vertexWeights.vcount
            const v = vertexWeights.v
            const jointOffset = vertexWeights.inputs.JOINT.offset
            const weightOffset = vertexWeights.inputs.WEIGHT.offset

            const jointSource = data.sources[data.joints.inputs.JOINT]
            const inverseSource = data.sources[data.joints.inputs.INV_BIND_MATRIX]

            const weights = sources[vertexWeights.inputs.WEIGHT.id].array
            let stride = 0

            let i, j, l

            // procces skin data for each vertex

            for (i = 0, l = vcount.length; i < l; i++) {
                const jointCount = vcount[i] // this is the amount of joints that affect a single vertex
                const vertexSkinData = []

                for (j = 0; j < jointCount; j++) {
                    const skinIndex = v[stride + jointOffset]
                    const weightId = v[stride + weightOffset]
                    const skinWeight = weights[weightId]

                    vertexSkinData.push({ index: skinIndex, weight: skinWeight })

                    stride += 2
                }

                // we sort the joints in descending order based on the weights.
                // this ensures, we only procced the most important joints of the vertex

                vertexSkinData.sort(descending)

                // now we provide for each vertex a set of four index and weight values.
                // the order of the skin data matches the order of vertices

                for (j = 0; j < BONE_LIMIT; j++) {
                    const d = vertexSkinData[j]

                    if (d !== undefined) {
                        build.indices.array.push(d.index)
                        build.weights.array.push(d.weight)
                    } else {
                        build.indices.array.push(0)
                        build.weights.array.push(0)
                    }
                }
            }

            // setup bind matrix

            if (data.bindShapeMatrix) {
                build.bindMatrix = new Matrix4().fromArray(data.bindShapeMatrix).transpose()
            } else {
                build.bindMatrix = new Matrix4().identity()
            }

            // process bones and inverse bind matrix data

            for (i = 0, l = jointSource.array.length; i < l; i++) {
                const name = jointSource.array[i]
                const boneInverse = new Matrix4().fromArray(inverseSource.array, i * inverseSource.stride).transpose()

                build.joints.push({ name: name, boneInverse: boneInverse })
            }

            return build

            // array sort function

            function descending(a, b) {
                return b.weight - a.weight
            }
        }

        function getController(id) {
            return getBuild(library.controllers[id], buildController)
        }

        // image

        function parseImage(xml) {
            const data = {
                init_from: getElementsByTagName(xml, 'init_from')[0].textContent
            }

            library.images[xml.getAttribute('id')] = data
        }

        function buildImage(data) {
            if (data.build !== undefined) return data.build

            return data.init_from
        }

        function getImage(id) {
            const data = library.images[id]

            if (data !== undefined) {
                return getBuild(data, buildImage)
            }

            console.warn("THREE.ColladaLoader: Couldn't find image with ID:", id)

            return null
        }

        // effect

        function parseEffect(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'profile_COMMON':
                        data.profile = parseEffectProfileCOMMON(child)
                        break
                }
            }

            library.effects[xml.getAttribute('id')] = data
        }

        function parseEffectProfileCOMMON(xml) {
            const data = {
                surfaces: {},
                samplers: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'newparam':
                        parseEffectNewparam(child, data)
                        break

                    case 'technique':
                        data.technique = parseEffectTechnique(child)
                        break

                    case 'extra':
                        data.extra = parseEffectExtra(child)
                        break
                }
            }

            return data
        }

        function parseEffectNewparam(xml, data) {
            const sid = xml.getAttribute('sid')

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'surface':
                        data.surfaces[sid] = parseEffectSurface(child)
                        break

                    case 'sampler2D':
                        data.samplers[sid] = parseEffectSampler(child)
                        break
                }
            }
        }

        function parseEffectSurface(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'init_from':
                        data.init_from = child.textContent
                        break
                }
            }

            return data
        }

        function parseEffectSampler(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'source':
                        data.source = child.textContent
                        break
                }
            }

            return data
        }

        function parseEffectTechnique(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'constant':
                    case 'lambert':
                    case 'blinn':
                    case 'phong':
                        data.type = child.nodeName
                        data.parameters = parseEffectParameters(child)
                        break

                    case 'extra':
                        data.extra = parseEffectExtra(child)
                        break
                }
            }

            return data
        }

        function parseEffectParameters(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'emission':
                    case 'diffuse':
                    case 'specular':
                    case 'bump':
                    case 'ambient':
                    case 'shininess':
                    case 'transparency':
                        data[child.nodeName] = parseEffectParameter(child)
                        break
                    case 'transparent':
                        data[child.nodeName] = {
                            opaque: child.hasAttribute('opaque') ? child.getAttribute('opaque') : 'A_ONE',
                            data: parseEffectParameter(child)
                        }
                        break
                }
            }

            return data
        }

        function parseEffectParameter(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'color':
                        data[child.nodeName] = parseFloats(child.textContent)
                        break

                    case 'float':
                        data[child.nodeName] = parseFloat(child.textContent)
                        break

                    case 'texture':
                        data[child.nodeName] = { id: child.getAttribute('texture'), extra: parseEffectParameterTexture(child) }
                        break
                }
            }

            return data
        }

        function parseEffectParameterTexture(xml) {
            const data = {
                technique: {}
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'extra':
                        parseEffectParameterTextureExtra(child, data)
                        break
                }
            }

            return data
        }

        function parseEffectParameterTextureExtra(xml, data) {
            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'technique':
                        parseEffectParameterTextureExtraTechnique(child, data)
                        break
                }
            }
        }

        function parseEffectParameterTextureExtraTechnique(xml, data) {
            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'repeatU':
                    case 'repeatV':
                    case 'offsetU':
                    case 'offsetV':
                        data.technique[child.nodeName] = parseFloat(child.textContent)
                        break

                    case 'wrapU':
                    case 'wrapV':
                        // some files have values for wrapU/wrapV which become NaN via parseInt

                        if (child.textContent.toUpperCase() === 'TRUE') {
                            data.technique[child.nodeName] = 1
                        } else if (child.textContent.toUpperCase() === 'FALSE') {
                            data.technique[child.nodeName] = 0
                        } else {
                            data.technique[child.nodeName] = parseInt(child.textContent)
                        }

                        break

                    case 'bump':
                        data[child.nodeName] = parseEffectExtraTechniqueBump(child)
                        break
                }
            }
        }

        function parseEffectExtra(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'technique':
                        data.technique = parseEffectExtraTechnique(child)
                        break
                }
            }

            return data
        }

        function parseEffectExtraTechnique(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'double_sided':
                        data[child.nodeName] = parseInt(child.textContent)
                        break

                    case 'bump':
                        data[child.nodeName] = parseEffectExtraTechniqueBump(child)
                        break
                }
            }

            return data
        }

        function parseEffectExtraTechniqueBump(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'texture':
                        data[child.nodeName] = { id: child.getAttribute('texture'), texcoord: child.getAttribute('texcoord'), extra: parseEffectParameterTexture(child) }
                        break
                }
            }

            return data
        }

        function buildEffect(data) {
            return data
        }

        function getEffect(id) {
            return getBuild(library.effects[id], buildEffect)
        }

        // material

        function parseMaterial(xml) {
            const data = {
                name: xml.getAttribute('name')
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'instance_effect':
                        data.url = parseId(child.getAttribute('url'))
                        break
                }
            }

            library.materials[xml.getAttribute('id')] = data
        }

        function getTextureLoader(image) {
            let loader

            let extension = image.slice(((image.lastIndexOf('.') - 1) >>> 0) + 2) // http://www.jstips.co/en/javascript/get-file-extension/
            extension = extension.toLowerCase()

            switch (extension) {
                case 'tga':
                    loader = tgaLoader
                    break

                default:
                    loader = textureLoader
            }

            return loader
        }

        function buildMaterial(data) {
            const effect = getEffect(data.url)
            const technique = effect.profile.technique

            let material

            switch (technique.type) {
                case 'phong':
                case 'blinn':
                    material = new MeshPhongMaterial()
                    break

                case 'lambert':
                    material = new MeshLambertMaterial()
                    break

                default:
                    material = new MeshBasicMaterial()
                    break
            }

            material.name = data.name || ''

            function getTexture(textureObject, encoding = null) {
                const sampler = effect.profile.samplers[textureObject.id]
                let image = null

                // get image

                if (sampler !== undefined) {
                    const surface = effect.profile.surfaces[sampler.source]
                    image = getImage(surface.init_from)
                } else {
                    console.warn('THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).')
                    image = getImage(textureObject.id)
                }

                // create texture if image is avaiable

                if (image !== null) {
                    const loader = getTextureLoader(image)

                    if (loader !== undefined) {
                        const texture = loader.load(image)

                        const extra = textureObject.extra

                        if (extra !== undefined && extra.technique !== undefined && isEmpty(extra.technique) === false) {
                            const technique = extra.technique

                            texture.wrapS = technique.wrapU ? RepeatWrapping : ClampToEdgeWrapping
                            texture.wrapT = technique.wrapV ? RepeatWrapping : ClampToEdgeWrapping

                            texture.offset.set(technique.offsetU || 0, technique.offsetV || 0)
                            texture.repeat.set(technique.repeatU || 1, technique.repeatV || 1)
                        } else {
                            texture.wrapS = RepeatWrapping
                            texture.wrapT = RepeatWrapping
                        }

                        if (encoding !== null) {
                            texture.encoding = encoding
                        }

                        return texture
                    } else {
                        console.warn('THREE.ColladaLoader: Loader for texture %s not found.', image)

                        return null
                    }
                } else {
                    console.warn("THREE.ColladaLoader: Couldn't create texture with ID:", textureObject.id)

                    return null
                }
            }

            const parameters = technique.parameters

            for (const key in parameters) {
                const parameter = parameters[key]

                switch (key) {
                    case 'diffuse':
                        if (parameter.color) material.color.fromArray(parameter.color)
                        if (parameter.texture) material.map = getTexture(parameter.texture, sRGBEncoding)
                        break
                    case 'specular':
                        if (parameter.color && material.specular) material.specular.fromArray(parameter.color)
                        if (parameter.texture) material.specularMap = getTexture(parameter.texture)
                        break
                    case 'bump':
                        if (parameter.texture) material.normalMap = getTexture(parameter.texture)
                        break
                    case 'ambient':
                        if (parameter.texture) material.lightMap = getTexture(parameter.texture, sRGBEncoding)
                        break
                    case 'shininess':
                        if (parameter.float && material.shininess) material.shininess = parameter.float
                        break
                    case 'emission':
                        if (parameter.color && material.emissive) material.emissive.fromArray(parameter.color)
                        if (parameter.texture) material.emissiveMap = getTexture(parameter.texture, sRGBEncoding)
                        break
                }
            }

            material.color.convertSRGBToLinear()
            if (material.specular) material.specular.convertSRGBToLinear()
            if (material.emissive) material.emissive.convertSRGBToLinear()

            //

            let transparent = parameters['transparent']
            let transparency = parameters['transparency']

            // <transparency> does not exist but <transparent>

            if (transparency === undefined && transparent) {
                transparency = {
                    float: 1
                }
            }

            // <transparent> does not exist but <transparency>

            if (transparent === undefined && transparency) {
                transparent = {
                    opaque: 'A_ONE',
                    data: {
                        color: [1, 1, 1, 1]
                    }
                }
            }

            if (transparent && transparency) {
                // handle case if a texture exists but no color

                if (transparent.data.texture) {
                    // we do not set an alpha map (see #13792)

                    material.transparent = true
                } else {
                    const color = transparent.data.color

                    switch (transparent.opaque) {
                        case 'A_ONE':
                            material.opacity = color[3] * transparency.float
                            break
                        case 'RGB_ZERO':
                            material.opacity = 1 - color[0] * transparency.float
                            break
                        case 'A_ZERO':
                            material.opacity = 1 - color[3] * transparency.float
                            break
                        case 'RGB_ONE':
                            material.opacity = color[0] * transparency.float
                            break
                        default:
                            console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', transparent.opaque)
                    }

                    if (material.opacity < 1) material.transparent = true
                }
            }

            //

            if (technique.extra !== undefined && technique.extra.technique !== undefined) {
                const techniques = technique.extra.technique

                for (const k in techniques) {
                    const v = techniques[k]

                    switch (k) {
                        case 'double_sided':
                            material.side = v === 1 ? DoubleSide : FrontSide
                            break

                        case 'bump':
                            material.normalMap = getTexture(v.texture)
                            material.normalScale = new Vector2(1, 1)
                            break
                    }
                }
            }

            return material
        }

        function getMaterial(id) {
            return getBuild(library.materials[id], buildMaterial)
        }

        // camera

        function parseCamera(xml) {
            const data = {
                name: xml.getAttribute('name')
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'optics':
                        data.optics = parseCameraOptics(child)
                        break
                }
            }

            library.cameras[xml.getAttribute('id')] = data
        }

        function parseCameraOptics(xml) {
            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                switch (child.nodeName) {
                    case 'technique_common':
                        return parseCameraTechnique(child)
                }
            }

            return {}
        }

        function parseCameraTechnique(xml) {
            const data = {}

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                switch (child.nodeName) {
                    case 'perspective':
                    case 'orthographic':
                        data.technique = child.nodeName
                        data.parameters = parseCameraParameters(child)

                        break
                }
            }

            return data
        }

        function parseCameraParameters(xml) {
            const data = {}

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                switch (child.nodeName) {
                    case 'xfov':
                    case 'yfov':
                    case 'xmag':
                    case 'ymag':
                    case 'znear':
                    case 'zfar':
                    case 'aspect_ratio':
                        data[child.nodeName] = parseFloat(child.textContent)
                        break
                }
            }

            return data
        }

        function buildCamera(data) {
            let camera

            switch (data.optics.technique) {
                case 'perspective':
                    camera = new PerspectiveCamera(data.optics.parameters.yfov, data.optics.parameters.aspect_ratio, data.optics.parameters.znear, data.optics.parameters.zfar)
                    break

                case 'orthographic':
                    let ymag = data.optics.parameters.ymag
                    let xmag = data.optics.parameters.xmag
                    const aspectRatio = data.optics.parameters.aspect_ratio

                    xmag = xmag === undefined ? ymag * aspectRatio : xmag
                    ymag = ymag === undefined ? xmag / aspectRatio : ymag

                    xmag *= 0.5
                    ymag *= 0.5

                    camera = new OrthographicCamera(
                        -xmag,
                        xmag,
                        ymag,
                        -ymag, // left, right, top, bottom
                        data.optics.parameters.znear,
                        data.optics.parameters.zfar
                    )
                    break

                default:
                    camera = new PerspectiveCamera()
                    break
            }

            camera.name = data.name || ''

            return camera
        }

        function getCamera(id) {
            const data = library.cameras[id]

            if (data !== undefined) {
                return getBuild(data, buildCamera)
            }

            console.warn("THREE.ColladaLoader: Couldn't find camera with ID:", id)

            return null
        }

        // light

        function parseLight(xml) {
            let data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'technique_common':
                        data = parseLightTechnique(child)
                        break
                }
            }

            library.lights[xml.getAttribute('id')] = data
        }

        function parseLightTechnique(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'directional':
                    case 'point':
                    case 'spot':
                    case 'ambient':
                        data.technique = child.nodeName
                        data.parameters = parseLightParameters(child)
                }
            }

            return data
        }

        function parseLightParameters(xml) {
            const data = {}

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'color':
                        const array = parseFloats(child.textContent)
                        data.color = new Color().fromArray(array).convertSRGBToLinear()
                        break

                    case 'falloff_angle':
                        data.falloffAngle = parseFloat(child.textContent)
                        break

                    case 'quadratic_attenuation':
                        const f = parseFloat(child.textContent)
                        data.distance = f ? Math.sqrt(1 / f) : 0
                        break
                }
            }

            return data
        }

        function buildLight(data) {
            let light

            switch (data.technique) {
                case 'directional':
                    light = new DirectionalLight()
                    break

                case 'point':
                    light = new PointLight()
                    break

                case 'spot':
                    light = new SpotLight()
                    break

                case 'ambient':
                    light = new AmbientLight()
                    break
            }

            if (data.parameters.color) light.color.copy(data.parameters.color)
            if (data.parameters.distance) light.distance = data.parameters.distance

            return light
        }

        function getLight(id) {
            const data = library.lights[id]

            if (data !== undefined) {
                return getBuild(data, buildLight)
            }

            console.warn("THREE.ColladaLoader: Couldn't find light with ID:", id)

            return null
        }

        // geometry

        function parseGeometry(xml) {
            const data = {
                name: xml.getAttribute('name'),
                sources: {},
                vertices: {},
                primitives: []
            }

            const mesh = getElementsByTagName(xml, 'mesh')[0]

            // the following tags inside geometry are not supported yet (see https://github.com/mrdoob/three.js/pull/12606): convex_mesh, spline, brep
            if (mesh === undefined) return

            for (let i = 0; i < mesh.childNodes.length; i++) {
                const child = mesh.childNodes[i]

                if (child.nodeType !== 1) continue

                const id = child.getAttribute('id')

                switch (child.nodeName) {
                    case 'source':
                        data.sources[id] = parseSource(child)
                        break

                    case 'vertices':
                        // data.sources[ id ] = data.sources[ parseId( getElementsByTagName( child, 'input' )[ 0 ].getAttribute( 'source' ) ) ];
                        data.vertices = parseGeometryVertices(child)
                        break

                    case 'polygons':
                        console.warn('THREE.ColladaLoader: Unsupported primitive type: ', child.nodeName)
                        break

                    case 'lines':
                    case 'linestrips':
                    case 'polylist':
                    case 'triangles':
                        data.primitives.push(parseGeometryPrimitive(child))
                        break

                    default:
                        console.log(child)
                }
            }

            library.geometries[xml.getAttribute('id')] = data
        }

        function parseSource(xml) {
            const data = {
                array: [],
                stride: 3
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'float_array':
                        data.array = parseFloats(child.textContent)
                        break

                    case 'Name_array':
                        data.array = parseStrings(child.textContent)
                        break

                    case 'technique_common':
                        const accessor = getElementsByTagName(child, 'accessor')[0]

                        if (accessor !== undefined) {
                            data.stride = parseInt(accessor.getAttribute('stride'))
                        }

                        break
                }
            }

            return data
        }

        function parseGeometryVertices(xml) {
            const data = {}

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                data[child.getAttribute('semantic')] = parseId(child.getAttribute('source'))
            }

            return data
        }

        function parseGeometryPrimitive(xml) {
            const primitive = {
                type: xml.nodeName,
                material: xml.getAttribute('material'),
                count: parseInt(xml.getAttribute('count')),
                inputs: {},
                stride: 0,
                hasUV: false
            }

            for (let i = 0, l = xml.childNodes.length; i < l; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'input':
                        const id = parseId(child.getAttribute('source'))
                        const semantic = child.getAttribute('semantic')
                        const offset = parseInt(child.getAttribute('offset'))
                        const set = parseInt(child.getAttribute('set'))
                        const inputname = set > 0 ? semantic + set : semantic
                        primitive.inputs[inputname] = { id: id, offset: offset }
                        primitive.stride = Math.max(primitive.stride, offset + 1)
                        if (semantic === 'TEXCOORD') primitive.hasUV = true
                        break

                    case 'vcount':
                        primitive.vcount = parseInts(child.textContent)
                        break

                    case 'p':
                        primitive.p = parseInts(child.textContent)
                        break
                }
            }

            return primitive
        }

        function groupPrimitives(primitives) {
            const build = {}

            for (let i = 0; i < primitives.length; i++) {
                const primitive = primitives[i]

                if (build[primitive.type] === undefined) build[primitive.type] = []

                build[primitive.type].push(primitive)
            }

            return build
        }

        function checkUVCoordinates(primitives) {
            let count = 0

            for (let i = 0, l = primitives.length; i < l; i++) {
                const primitive = primitives[i]

                if (primitive.hasUV === true) {
                    count++
                }
            }

            if (count > 0 && count < primitives.length) {
                primitives.uvsNeedsFix = true
            }
        }

        function buildGeometry(data) {
            const build = {}

            const sources = data.sources
            const vertices = data.vertices
            const primitives = data.primitives

            if (primitives.length === 0) return {}

            // our goal is to create one buffer geometry for a single type of primitives
            // first, we group all primitives by their type

            const groupedPrimitives = groupPrimitives(primitives)

            for (const type in groupedPrimitives) {
                const primitiveType = groupedPrimitives[type]

                // second, ensure consistent uv coordinates for each type of primitives (polylist,triangles or lines)

                checkUVCoordinates(primitiveType)

                // third, create a buffer geometry for each type of primitives

                build[type] = buildGeometryType(primitiveType, sources, vertices)
            }

            return build
        }

        function buildGeometryType(primitives, sources, vertices) {
            const build = {}

            const position = { array: [], stride: 0 }
            const normal = { array: [], stride: 0 }
            const uv = { array: [], stride: 0 }
            const uv2 = { array: [], stride: 0 }
            const color = { array: [], stride: 0 }

            const skinIndex = { array: [], stride: 4 }
            const skinWeight = { array: [], stride: 4 }

            const geometry = new BufferGeometry()

            const materialKeys = []

            let start = 0

            for (let p = 0; p < primitives.length; p++) {
                const primitive = primitives[p]
                const inputs = primitive.inputs

                // groups

                let count = 0

                switch (primitive.type) {
                    case 'lines':
                    case 'linestrips':
                        count = primitive.count * 2
                        break

                    case 'triangles':
                        count = primitive.count * 3
                        break

                    case 'polylist':
                        for (let g = 0; g < primitive.count; g++) {
                            const vc = primitive.vcount[g]

                            switch (vc) {
                                case 3:
                                    count += 3 // single triangle
                                    break

                                case 4:
                                    count += 6 // quad, subdivided into two triangles
                                    break

                                default:
                                    count += (vc - 2) * 3 // polylist with more than four vertices
                                    break
                            }
                        }

                        break

                    default:
                        console.warn('THREE.ColladaLoader: Unknow primitive type:', primitive.type)
                }

                geometry.addGroup(start, count, p)
                start += count

                // material

                if (primitive.material) {
                    materialKeys.push(primitive.material)
                }

                // geometry data

                for (const name in inputs) {
                    const input = inputs[name]

                    switch (name) {
                        case 'VERTEX':
                            for (const key in vertices) {
                                const id = vertices[key]

                                switch (key) {
                                    case 'POSITION':
                                        const prevLength = position.array.length
                                        buildGeometryData(primitive, sources[id], input.offset, position.array)
                                        position.stride = sources[id].stride

                                        if (sources.skinWeights && sources.skinIndices) {
                                            buildGeometryData(primitive, sources.skinIndices, input.offset, skinIndex.array)
                                            buildGeometryData(primitive, sources.skinWeights, input.offset, skinWeight.array)
                                        }

                                        // see #3803

                                        if (primitive.hasUV === false && primitives.uvsNeedsFix === true) {
                                            const count = (position.array.length - prevLength) / position.stride

                                            for (let i = 0; i < count; i++) {
                                                // fill missing uv coordinates

                                                uv.array.push(0, 0)
                                            }
                                        }

                                        break

                                    case 'NORMAL':
                                        buildGeometryData(primitive, sources[id], input.offset, normal.array)
                                        normal.stride = sources[id].stride
                                        break

                                    case 'COLOR':
                                        buildGeometryData(primitive, sources[id], input.offset, color.array)
                                        color.stride = sources[id].stride
                                        break

                                    case 'TEXCOORD':
                                        buildGeometryData(primitive, sources[id], input.offset, uv.array)
                                        uv.stride = sources[id].stride
                                        break

                                    case 'TEXCOORD1':
                                        buildGeometryData(primitive, sources[id], input.offset, uv2.array)
                                        uv.stride = sources[id].stride
                                        break

                                    default:
                                        console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key)
                                }
                            }

                            break

                        case 'NORMAL':
                            buildGeometryData(primitive, sources[input.id], input.offset, normal.array)
                            normal.stride = sources[input.id].stride
                            break

                        case 'COLOR':
                            buildGeometryData(primitive, sources[input.id], input.offset, color.array, true)
                            color.stride = sources[input.id].stride
                            break

                        case 'TEXCOORD':
                            buildGeometryData(primitive, sources[input.id], input.offset, uv.array)
                            uv.stride = sources[input.id].stride
                            break

                        case 'TEXCOORD1':
                            buildGeometryData(primitive, sources[input.id], input.offset, uv2.array)
                            uv2.stride = sources[input.id].stride
                            break
                    }
                }
            }

            // build geometry

            if (position.array.length > 0) geometry.setAttribute('position', new Float32BufferAttribute(position.array, position.stride))
            if (normal.array.length > 0) geometry.setAttribute('normal', new Float32BufferAttribute(normal.array, normal.stride))
            if (color.array.length > 0) geometry.setAttribute('color', new Float32BufferAttribute(color.array, color.stride))
            if (uv.array.length > 0) geometry.setAttribute('uv', new Float32BufferAttribute(uv.array, uv.stride))
            if (uv2.array.length > 0) geometry.setAttribute('uv2', new Float32BufferAttribute(uv2.array, uv2.stride))

            if (skinIndex.array.length > 0) geometry.setAttribute('skinIndex', new Float32BufferAttribute(skinIndex.array, skinIndex.stride))
            if (skinWeight.array.length > 0) geometry.setAttribute('skinWeight', new Float32BufferAttribute(skinWeight.array, skinWeight.stride))

            build.data = geometry
            build.type = primitives[0].type
            build.materialKeys = materialKeys

            return build
        }

        function buildGeometryData(primitive, source, offset, array, isColor = false) {
            const indices = primitive.p
            const stride = primitive.stride
            const vcount = primitive.vcount

            function pushVector(i) {
                let index = indices[i + offset] * sourceStride
                const length = index + sourceStride

                for (; index < length; index++) {
                    array.push(sourceArray[index])
                }

                if (isColor) {
                    // convert the vertex colors from srgb to linear if present
                    const startIndex = array.length - sourceStride - 1
                    tempColor.setRGB(array[startIndex + 0], array[startIndex + 1], array[startIndex + 2]).convertSRGBToLinear()

                    array[startIndex + 0] = tempColor.r
                    array[startIndex + 1] = tempColor.g
                    array[startIndex + 2] = tempColor.b
                }
            }

            const sourceArray = source.array
            const sourceStride = source.stride

            if (primitive.vcount !== undefined) {
                let index = 0

                for (let i = 0, l = vcount.length; i < l; i++) {
                    const count = vcount[i]

                    if (count === 4) {
                        const a = index + stride * 0
                        const b = index + stride * 1
                        const c = index + stride * 2
                        const d = index + stride * 3

                        pushVector(a)
                        pushVector(b)
                        pushVector(d)
                        pushVector(b)
                        pushVector(c)
                        pushVector(d)
                    } else if (count === 3) {
                        const a = index + stride * 0
                        const b = index + stride * 1
                        const c = index + stride * 2

                        pushVector(a)
                        pushVector(b)
                        pushVector(c)
                    } else if (count > 4) {
                        for (let k = 1, kl = count - 2; k <= kl; k++) {
                            const a = index + stride * 0
                            const b = index + stride * k
                            const c = index + stride * (k + 1)

                            pushVector(a)
                            pushVector(b)
                            pushVector(c)
                        }
                    }

                    index += stride * count
                }
            } else {
                for (let i = 0, l = indices.length; i < l; i += stride) {
                    pushVector(i)
                }
            }
        }

        function getGeometry(id) {
            return getBuild(library.geometries[id], buildGeometry)
        }

        // kinematics

        function parseKinematicsModel(xml) {
            const data = {
                name: xml.getAttribute('name') || '',
                joints: {},
                links: []
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'technique_common':
                        parseKinematicsTechniqueCommon(child, data)
                        break
                }
            }

            library.kinematicsModels[xml.getAttribute('id')] = data
        }

        function buildKinematicsModel(data) {
            if (data.build !== undefined) return data.build

            return data
        }

        function getKinematicsModel(id) {
            return getBuild(library.kinematicsModels[id], buildKinematicsModel)
        }

        function parseKinematicsTechniqueCommon(xml, data) {
            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'joint':
                        data.joints[child.getAttribute('sid')] = parseKinematicsJoint(child)
                        break

                    case 'link':
                        data.links.push(parseKinematicsLink(child))
                        break
                }
            }
        }

        function parseKinematicsJoint(xml) {
            let data

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'prismatic':
                    case 'revolute':
                        data = parseKinematicsJointParameter(child)
                        break
                }
            }

            return data
        }

        function parseKinematicsJointParameter(xml) {
            const data = {
                sid: xml.getAttribute('sid'),
                name: xml.getAttribute('name') || '',
                axis: new Vector3(),
                limits: {
                    min: 0,
                    max: 0
                },
                type: xml.nodeName,
                static: false,
                zeroPosition: 0,
                middlePosition: 0
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'axis':
                        const array = parseFloats(child.textContent)
                        data.axis.fromArray(array)
                        break
                    case 'limits':
                        const max = child.getElementsByTagName('max')[0]
                        const min = child.getElementsByTagName('min')[0]

                        data.limits.max = parseFloat(max.textContent)
                        data.limits.min = parseFloat(min.textContent)
                        break
                }
            }

            // if min is equal to or greater than max, consider the joint static

            if (data.limits.min >= data.limits.max) {
                data.static = true
            }

            // calculate middle position

            data.middlePosition = (data.limits.min + data.limits.max) / 2.0

            return data
        }

        function parseKinematicsLink(xml) {
            const data = {
                sid: xml.getAttribute('sid'),
                name: xml.getAttribute('name') || '',
                attachments: [],
                transforms: []
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'attachment_full':
                        data.attachments.push(parseKinematicsAttachment(child))
                        break

                    case 'matrix':
                    case 'translate':
                    case 'rotate':
                        data.transforms.push(parseKinematicsTransform(child))
                        break
                }
            }

            return data
        }

        function parseKinematicsAttachment(xml) {
            const data = {
                joint: xml
                    .getAttribute('joint')
                    .split('/')
                    .pop(),
                transforms: [],
                links: []
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'link':
                        data.links.push(parseKinematicsLink(child))
                        break

                    case 'matrix':
                    case 'translate':
                    case 'rotate':
                        data.transforms.push(parseKinematicsTransform(child))
                        break
                }
            }

            return data
        }

        function parseKinematicsTransform(xml) {
            const data = {
                type: xml.nodeName
            }

            const array = parseFloats(xml.textContent)

            switch (data.type) {
                case 'matrix':
                    data.obj = new Matrix4()
                    data.obj.fromArray(array).transpose()
                    break

                case 'translate':
                    data.obj = new Vector3()
                    data.obj.fromArray(array)
                    break

                case 'rotate':
                    data.obj = new Vector3()
                    data.obj.fromArray(array)
                    data.angle = MathUtils.degToRad(array[3])
                    break
            }

            return data
        }

        // physics

        function parsePhysicsModel(xml) {
            const data = {
                name: xml.getAttribute('name') || '',
                rigidBodies: {}
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'rigid_body':
                        data.rigidBodies[child.getAttribute('name')] = {}
                        parsePhysicsRigidBody(child, data.rigidBodies[child.getAttribute('name')])
                        break
                }
            }

            library.physicsModels[xml.getAttribute('id')] = data
        }

        function parsePhysicsRigidBody(xml, data) {
            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'technique_common':
                        parsePhysicsTechniqueCommon(child, data)
                        break
                }
            }
        }

        function parsePhysicsTechniqueCommon(xml, data) {
            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'inertia':
                        data.inertia = parseFloats(child.textContent)
                        break

                    case 'mass':
                        data.mass = parseFloats(child.textContent)[0]
                        break
                }
            }
        }

        // scene

        function parseKinematicsScene(xml) {
            const data = {
                bindJointAxis: []
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'bind_joint_axis':
                        data.bindJointAxis.push(parseKinematicsBindJointAxis(child))
                        break
                }
            }

            library.kinematicsScenes[parseId(xml.getAttribute('url'))] = data
        }

        function parseKinematicsBindJointAxis(xml) {
            const data = {
                target: xml
                    .getAttribute('target')
                    .split('/')
                    .pop()
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                switch (child.nodeName) {
                    case 'axis':
                        const param = child.getElementsByTagName('param')[0]
                        data.axis = param.textContent
                        const tmpJointIndex = data.axis
                            .split('inst_')
                            .pop()
                            .split('axis')[0]
                        data.jointIndex = tmpJointIndex.substring(0, tmpJointIndex.length - 1)
                        break
                }
            }

            return data
        }

        function buildKinematicsScene(data) {
            if (data.build !== undefined) return data.build

            return data
        }

        function getKinematicsScene(id) {
            return getBuild(library.kinematicsScenes[id], buildKinematicsScene)
        }

        function setupKinematics() {
            const kinematicsModelId = Object.keys(library.kinematicsModels)[0]
            const kinematicsSceneId = Object.keys(library.kinematicsScenes)[0]
            const visualSceneId = Object.keys(library.visualScenes)[0]

            if (kinematicsModelId === undefined || kinematicsSceneId === undefined) return

            const kinematicsModel = getKinematicsModel(kinematicsModelId)
            const kinematicsScene = getKinematicsScene(kinematicsSceneId)
            const visualScene = getVisualScene(visualSceneId)

            const bindJointAxis = kinematicsScene.bindJointAxis
            const jointMap = {}

            for (let i = 0, l = bindJointAxis.length; i < l; i++) {
                const axis = bindJointAxis[i]

                // the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'

                const targetElement = collada.querySelector('[sid="' + axis.target + '"]')

                if (targetElement) {
                    // get the parent of the transform element

                    const parentVisualElement = targetElement.parentElement

                    // connect the joint of the kinematics model with the element in the visual scene

                    connect(axis.jointIndex, parentVisualElement)
                }
            }

            function connect(jointIndex, visualElement) {
                const visualElementName = visualElement.getAttribute('name')
                const joint = kinematicsModel.joints[jointIndex]

                visualScene.traverse(function(object) {
                    if (object.name === visualElementName) {
                        jointMap[jointIndex] = {
                            object: object,
                            transforms: buildTransformList(visualElement),
                            joint: joint,
                            position: joint.zeroPosition
                        }
                    }
                })
            }

            const m0 = new Matrix4()

            kinematics = {
                joints: kinematicsModel && kinematicsModel.joints,

                getJointValue: function(jointIndex) {
                    const jointData = jointMap[jointIndex]

                    if (jointData) {
                        return jointData.position
                    } else {
                        console.warn('THREE.ColladaLoader: Joint ' + jointIndex + " doesn't exist.")
                    }
                },

                setJointValue: function(jointIndex, value) {
                    const jointData = jointMap[jointIndex]

                    if (jointData) {
                        const joint = jointData.joint

                        if (value > joint.limits.max || value < joint.limits.min) {
                            console.warn('THREE.ColladaLoader: Joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ').')
                        } else if (joint.static) {
                            console.warn('THREE.ColladaLoader: Joint ' + jointIndex + ' is static.')
                        } else {
                            const object = jointData.object
                            const axis = joint.axis
                            const transforms = jointData.transforms

                            matrix.identity()

                            // each update, we have to apply all transforms in the correct order

                            for (let i = 0; i < transforms.length; i++) {
                                const transform = transforms[i]

                                // if there is a connection of the transform node with a joint, apply the joint value

                                if (transform.sid && transform.sid.indexOf(jointIndex) !== -1) {
                                    switch (joint.type) {
                                        case 'revolute':
                                            matrix.multiply(m0.makeRotationAxis(axis, MathUtils.degToRad(value)))
                                            break

                                        case 'prismatic':
                                            matrix.multiply(m0.makeTranslation(axis.x * value, axis.y * value, axis.z * value))
                                            break

                                        default:
                                            console.warn('THREE.ColladaLoader: Unknown joint type: ' + joint.type)
                                            break
                                    }
                                } else {
                                    switch (transform.type) {
                                        case 'matrix':
                                            matrix.multiply(transform.obj)
                                            break

                                        case 'translate':
                                            matrix.multiply(m0.makeTranslation(transform.obj.x, transform.obj.y, transform.obj.z))
                                            break

                                        case 'scale':
                                            matrix.scale(transform.obj)
                                            break

                                        case 'rotate':
                                            matrix.multiply(m0.makeRotationAxis(transform.obj, transform.angle))
                                            break
                                    }
                                }
                            }

                            object.matrix.copy(matrix)
                            object.matrix.decompose(object.position, object.quaternion, object.scale)

                            jointMap[jointIndex].position = value
                        }
                    } else {
                        console.log('THREE.ColladaLoader: ' + jointIndex + ' does not exist.')
                    }
                }
            }
        }

        function buildTransformList(node) {
            const transforms = []

            const xml = collada.querySelector('[id="' + node.id + '"]')

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                let array, vector

                switch (child.nodeName) {
                    case 'matrix':
                        array = parseFloats(child.textContent)
                        const matrix = new Matrix4().fromArray(array).transpose()
                        transforms.push({
                            sid: child.getAttribute('sid'),
                            type: child.nodeName,
                            obj: matrix
                        })
                        break

                    case 'translate':
                    case 'scale':
                        array = parseFloats(child.textContent)
                        vector = new Vector3().fromArray(array)
                        transforms.push({
                            sid: child.getAttribute('sid'),
                            type: child.nodeName,
                            obj: vector
                        })
                        break

                    case 'rotate':
                        array = parseFloats(child.textContent)
                        vector = new Vector3().fromArray(array)
                        const angle = MathUtils.degToRad(array[3])
                        transforms.push({
                            sid: child.getAttribute('sid'),
                            type: child.nodeName,
                            obj: vector,
                            angle: angle
                        })
                        break
                }
            }

            return transforms
        }

        // nodes

        function prepareNodes(xml) {
            const elements = xml.getElementsByTagName('node')

            // ensure all node elements have id attributes

            for (let i = 0; i < elements.length; i++) {
                const element = elements[i]

                if (element.hasAttribute('id') === false) {
                    element.setAttribute('id', generateId())
                }
            }
        }

        const matrix = new Matrix4()
        const vector = new Vector3()

        function parseNode(xml) {
            const data = {
                name: xml.getAttribute('name') || '',
                type: xml.getAttribute('type'),
                id: xml.getAttribute('id'),
                sid: xml.getAttribute('sid'),
                matrix: new Matrix4(),
                nodes: [],
                instanceCameras: [],
                instanceControllers: [],
                instanceLights: [],
                instanceGeometries: [],
                instanceNodes: [],
                transforms: {}
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                if (child.nodeType !== 1) continue

                let array

                switch (child.nodeName) {
                    case 'node':
                        data.nodes.push(child.getAttribute('id'))
                        parseNode(child)
                        break

                    case 'instance_camera':
                        data.instanceCameras.push(parseId(child.getAttribute('url')))
                        break

                    case 'instance_controller':
                        data.instanceControllers.push(parseNodeInstance(child))
                        break

                    case 'instance_light':
                        data.instanceLights.push(parseId(child.getAttribute('url')))
                        break

                    case 'instance_geometry':
                        data.instanceGeometries.push(parseNodeInstance(child))
                        break

                    case 'instance_node':
                        data.instanceNodes.push(parseId(child.getAttribute('url')))
                        break

                    case 'matrix':
                        array = parseFloats(child.textContent)
                        data.matrix.multiply(matrix.fromArray(array).transpose())
                        data.transforms[child.getAttribute('sid')] = child.nodeName
                        break

                    case 'translate':
                        array = parseFloats(child.textContent)
                        vector.fromArray(array)
                        data.matrix.multiply(matrix.makeTranslation(vector.x, vector.y, vector.z))
                        data.transforms[child.getAttribute('sid')] = child.nodeName
                        break

                    case 'rotate':
                        array = parseFloats(child.textContent)
                        const angle = MathUtils.degToRad(array[3])
                        data.matrix.multiply(matrix.makeRotationAxis(vector.fromArray(array), angle))
                        data.transforms[child.getAttribute('sid')] = child.nodeName
                        break

                    case 'scale':
                        array = parseFloats(child.textContent)
                        data.matrix.scale(vector.fromArray(array))
                        data.transforms[child.getAttribute('sid')] = child.nodeName
                        break

                    case 'extra':
                        break

                    default:
                        console.log(child)
                }
            }

            if (hasNode(data.id)) {
                console.warn('THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.', data.id)
            } else {
                library.nodes[data.id] = data
            }

            return data
        }

        function parseNodeInstance(xml) {
            const data = {
                id: parseId(xml.getAttribute('url')),
                materials: {},
                skeletons: []
            }

            for (let i = 0; i < xml.childNodes.length; i++) {
                const child = xml.childNodes[i]

                switch (child.nodeName) {
                    case 'bind_material':
                        const instances = child.getElementsByTagName('instance_material')

                        for (let j = 0; j < instances.length; j++) {
                            const instance = instances[j]
                            const symbol = instance.getAttribute('symbol')
                            const target = instance.getAttribute('target')

                            data.materials[symbol] = parseId(target)
                        }

                        break

                    case 'skeleton':
                        data.skeletons.push(parseId(child.textContent))
                        break

                    default:
                        break
                }
            }

            return data
        }

        function buildSkeleton(skeletons, joints) {
            const boneData = []
            const sortedBoneData = []

            let i, j, data

            // a skeleton can have multiple root bones. collada expresses this
            // situtation with multiple "skeleton" tags per controller instance

            for (i = 0; i < skeletons.length; i++) {
                const skeleton = skeletons[i]

                let root

                if (hasNode(skeleton)) {
                    root = getNode(skeleton)
                    buildBoneHierarchy(root, joints, boneData)
                } else if (hasVisualScene(skeleton)) {
                    // handle case where the skeleton refers to the visual scene (#13335)

                    const visualScene = library.visualScenes[skeleton]
                    const children = visualScene.children

                    for (let j = 0; j < children.length; j++) {
                        const child = children[j]

                        if (child.type === 'JOINT') {
                            const root = getNode(child.id)
                            buildBoneHierarchy(root, joints, boneData)
                        }
                    }
                } else {
                    console.error('THREE.ColladaLoader: Unable to find root bone of skeleton with ID:', skeleton)
                }
            }

            // sort bone data (the order is defined in the corresponding controller)

            for (i = 0; i < joints.length; i++) {
                for (j = 0; j < boneData.length; j++) {
                    data = boneData[j]

                    if (data.bone.name === joints[i].name) {
                        sortedBoneData[i] = data
                        data.processed = true
                        break
                    }
                }
            }

            // add unprocessed bone data at the end of the list

            for (i = 0; i < boneData.length; i++) {
                data = boneData[i]

                if (data.processed === false) {
                    sortedBoneData.push(data)
                    data.processed = true
                }
            }

            // setup arrays for skeleton creation

            const bones = []
            const boneInverses = []

            for (i = 0; i < sortedBoneData.length; i++) {
                data = sortedBoneData[i]

                bones.push(data.bone)
                boneInverses.push(data.boneInverse)
            }

            return new Skeleton(bones, boneInverses)
        }

        function buildBoneHierarchy(root, joints, boneData) {
            // setup bone data from visual scene

            root.traverse(function(object) {
                if (object.isBone === true) {
                    let boneInverse

                    // retrieve the boneInverse from the controller data

                    for (let i = 0; i < joints.length; i++) {
                        const joint = joints[i]

                        if (joint.name === object.name) {
                            boneInverse = joint.boneInverse
                            break
                        }
                    }

                    if (boneInverse === undefined) {
                        // Unfortunately, there can be joints in the visual scene that are not part of the
                        // corresponding controller. In this case, we have to create a dummy boneInverse matrix
                        // for the respective bone. This bone won't affect any vertices, because there are no skin indices
                        // and weights defined for it. But we still have to add the bone to the sorted bone list in order to
                        // ensure a correct animation of the model.

                        boneInverse = new Matrix4()
                    }

                    boneData.push({ bone: object, boneInverse: boneInverse, processed: false })
                }
            })
        }

        function buildNode(data) {
            const objects = []

            const matrix = data.matrix
            const nodes = data.nodes
            const type = data.type
            const instanceCameras = data.instanceCameras
            const instanceControllers = data.instanceControllers
            const instanceLights = data.instanceLights
            const instanceGeometries = data.instanceGeometries
            const instanceNodes = data.instanceNodes

            // nodes

            for (let i = 0, l = nodes.length; i < l; i++) {
                objects.push(getNode(nodes[i]))
            }

            // instance cameras

            for (let i = 0, l = instanceCameras.length; i < l; i++) {
                const instanceCamera = getCamera(instanceCameras[i])

                if (instanceCamera !== null) {
                    objects.push(instanceCamera.clone())
                }
            }

            // instance controllers

            for (let i = 0, l = instanceControllers.length; i < l; i++) {
                const instance = instanceControllers[i]
                const controller = getController(instance.id)
                const geometries = getGeometry(controller.id)
                const newObjects = buildObjects(geometries, instance.materials)

                const skeletons = instance.skeletons
                const joints = controller.skin.joints

                const skeleton = buildSkeleton(skeletons, joints)

                for (let j = 0, jl = newObjects.length; j < jl; j++) {
                    const object = newObjects[j]

                    if (object.isSkinnedMesh) {
                        object.bind(skeleton, controller.skin.bindMatrix)
                        object.normalizeSkinWeights()
                    }

                    objects.push(object)
                }
            }

            // instance lights

            for (let i = 0, l = instanceLights.length; i < l; i++) {
                const instanceLight = getLight(instanceLights[i])

                if (instanceLight !== null) {
                    objects.push(instanceLight.clone())
                }
            }

            // instance geometries

            for (let i = 0, l = instanceGeometries.length; i < l; i++) {
                const instance = instanceGeometries[i]

                // a single geometry instance in collada can lead to multiple object3Ds.
                // this is the case when primitives are combined like triangles and lines

                const geometries = getGeometry(instance.id)
                const newObjects = buildObjects(geometries, instance.materials)

                for (let j = 0, jl = newObjects.length; j < jl; j++) {
                    objects.push(newObjects[j])
                }
            }

            // instance nodes

            for (let i = 0, l = instanceNodes.length; i < l; i++) {
                objects.push(getNode(instanceNodes[i]).clone())
            }

            let object

            if (nodes.length === 0 && objects.length === 1) {
                object = objects[0]
            } else {
                object = type === 'JOINT' ? new Bone() : new Group()

                for (let i = 0; i < objects.length; i++) {
                    object.add(objects[i])
                }
            }

            object.name = type === 'JOINT' ? data.sid : data.name
            object.matrix.copy(matrix)
            object.matrix.decompose(object.position, object.quaternion, object.scale)

            return object
        }

        const fallbackMaterial = new MeshBasicMaterial({ color: 0xff00ff })

        function resolveMaterialBinding(keys, instanceMaterials) {
            const materials = []

            for (let i = 0, l = keys.length; i < l; i++) {
                const id = instanceMaterials[keys[i]]

                if (id === undefined) {
                    console.warn('THREE.ColladaLoader: Material with key %s not found. Apply fallback material.', keys[i])
                    materials.push(fallbackMaterial)
                } else {
                    materials.push(getMaterial(id))
                }
            }

            return materials
        }

        function buildObjects(geometries, instanceMaterials) {
            const objects = []

            for (const type in geometries) {
                const geometry = geometries[type]

                const materials = resolveMaterialBinding(geometry.materialKeys, instanceMaterials)

                // handle case if no materials are defined

                if (materials.length === 0) {
                    if (type === 'lines' || type === 'linestrips') {
                        materials.push(new LineBasicMaterial())
                    } else {
                        materials.push(new MeshPhongMaterial())
                    }
                }

                // regard skinning

                const skinning = geometry.data.attributes.skinIndex !== undefined

                // choose between a single or multi materials (material array)

                const material = materials.length === 1 ? materials[0] : materials

                // now create a specific 3D object

                let object

                switch (type) {
                    case 'lines':
                        object = new LineSegments(geometry.data, material)
                        break

                    case 'linestrips':
                        object = new Line(geometry.data, material)
                        break

                    case 'triangles':
                    case 'polylist':
                        if (skinning) {
                            object = new SkinnedMesh(geometry.data, material)
                        } else {
                            object = new Mesh(geometry.data, material)
                        }

                        break
                }

                objects.push(object)
            }

            return objects
        }

        function hasNode(id) {
            return library.nodes[id] !== undefined
        }

        function getNode(id) {
            return getBuild(library.nodes[id], buildNode)
        }

        // visual scenes

        function parseVisualScene(xml) {
            const data = {
                name: xml.getAttribute('name'),
                children: []
            }

            prepareNodes(xml)

            const elements = getElementsByTagName(xml, 'node')

            for (let i = 0; i < elements.length; i++) {
                data.children.push(parseNode(elements[i]))
            }

            library.visualScenes[xml.getAttribute('id')] = data
        }

        function buildVisualScene(data) {
            const group = new Group()
            group.name = data.name

            const children = data.children

            for (let i = 0; i < children.length; i++) {
                const child = children[i]

                group.add(getNode(child.id))
            }

            return group
        }

        function hasVisualScene(id) {
            return library.visualScenes[id] !== undefined
        }

        function getVisualScene(id) {
            return getBuild(library.visualScenes[id], buildVisualScene)
        }

        // scenes

        function parseScene(xml) {
            const instance = getElementsByTagName(xml, 'instance_visual_scene')[0]
            return getVisualScene(parseId(instance.getAttribute('url')))
        }

        function setupAnimations() {
            const clips = library.clips

            if (isEmpty(clips) === true) {
                if (isEmpty(library.animations) === false) {
                    // if there are animations but no clips, we create a default clip for playback

                    const tracks = []

                    for (const id in library.animations) {
                        const animationTracks = getAnimation(id)

                        for (let i = 0, l = animationTracks.length; i < l; i++) {
                            tracks.push(animationTracks[i])
                        }
                    }

                    animations.push(new AnimationClip('default', -1, tracks))
                }
            } else {
                for (const id in clips) {
                    animations.push(getAnimationClip(id))
                }
            }
        }

        // convert the parser error element into text with each child elements text
        // separated by new lines.

        function parserErrorToText(parserError) {
            let result = ''
            const stack = [parserError]

            while (stack.length) {
                const node = stack.shift()

                if (node.nodeType === Node.TEXT_NODE) {
                    result += node.textContent
                } else {
                    result += '\n'
                    stack.push.apply(stack, node.childNodes)
                }
            }

            return result.trim()
        }

        if (text.length === 0) {
            return { scene: new Scene() }
        }

        const xml = new DOMParser().parseFromString(text, 'application/xml')

        const collada = getElementsByTagName(xml, 'COLLADA')[0]

        const parserError = xml.getElementsByTagName('parsererror')[0]
        if (parserError !== undefined) {
            // Chrome will return parser error with a div in it

            const errorElement = getElementsByTagName(parserError, 'div')[0]
            let errorText

            if (errorElement) {
                errorText = errorElement.textContent
            } else {
                errorText = parserErrorToText(parserError)
            }

            console.error('THREE.ColladaLoader: Failed to parse collada file.\n', errorText)

            return null
        }

        // metadata

        const version = collada.getAttribute('version')
        console.log('THREE.ColladaLoader: File version', version)

        const asset = parseAsset(getElementsByTagName(collada, 'asset')[0])
        const textureLoader = new TextureLoader(this.manager)
        textureLoader.setPath(this.resourcePath || path).setCrossOrigin(this.crossOrigin)

        let tgaLoader

        if (TGALoader) {
            tgaLoader = new TGALoader(this.manager)
            tgaLoader.setPath(this.resourcePath || path)
        }

        //

        const tempColor = new Color()
        const animations = []
        let kinematics = {}
        let count = 0

        //

        const library = {
            animations: {},
            clips: {},
            controllers: {},
            images: {},
            effects: {},
            materials: {},
            cameras: {},
            lights: {},
            geometries: {},
            nodes: {},
            visualScenes: {},
            kinematicsModels: {},
            physicsModels: {},
            kinematicsScenes: {}
        }

        parseLibrary(collada, 'library_animations', 'animation', parseAnimation)
        parseLibrary(collada, 'library_animation_clips', 'animation_clip', parseAnimationClip)
        parseLibrary(collada, 'library_controllers', 'controller', parseController)
        parseLibrary(collada, 'library_images', 'image', parseImage)
        parseLibrary(collada, 'library_effects', 'effect', parseEffect)
        parseLibrary(collada, 'library_materials', 'material', parseMaterial)
        parseLibrary(collada, 'library_cameras', 'camera', parseCamera)
        parseLibrary(collada, 'library_lights', 'light', parseLight)
        parseLibrary(collada, 'library_geometries', 'geometry', parseGeometry)
        parseLibrary(collada, 'library_nodes', 'node', parseNode)
        parseLibrary(collada, 'library_visual_scenes', 'visual_scene', parseVisualScene)
        parseLibrary(collada, 'library_kinematics_models', 'kinematics_model', parseKinematicsModel)
        parseLibrary(collada, 'library_physics_models', 'physics_model', parsePhysicsModel)
        parseLibrary(collada, 'scene', 'instance_kinematics_scene', parseKinematicsScene)

        buildLibrary(library.animations, buildAnimation)
        buildLibrary(library.clips, buildAnimationClip)
        buildLibrary(library.controllers, buildController)
        buildLibrary(library.images, buildImage)
        buildLibrary(library.effects, buildEffect)
        buildLibrary(library.materials, buildMaterial)
        buildLibrary(library.cameras, buildCamera)
        buildLibrary(library.lights, buildLight)
        buildLibrary(library.geometries, buildGeometry)
        buildLibrary(library.visualScenes, buildVisualScene)

        setupAnimations()
        setupKinematics()

        const scene = parseScene(getElementsByTagName(collada, 'scene')[0])
        scene.animations = animations

        if (asset.upAxis === 'Y_UP') {
            // bimrocket: Z_UP

            scene.quaternion.setFromEuler(new Euler(-Math.PI / 2, 0, 0))
        }

        scene.scale.multiplyScalar(asset.unit)

        return {
            get animations() {
                console.warn('THREE.ColladaLoader: Please access animations over scene.animations now.')
                return animations
            },
            kinematics: kinematics,
            library: library,
            scene: scene
        }
    }
}

export { ColladaLoader }