commit ac573505b7e38cb5a1e3b34c6bcaea666f751bc1 Author: Adriano Dal Pastro Date: Wed May 6 13:28:23 2026 +0200 feat: initial commit — orchestratore presa-mano con AI assistant + dual-robot Pipeline completa per calibrazione hand-eye e grasp planning su robot Unitree G1/H1 con camera depth Nuwa-HP60C. Esposta come FastAPI + GUI vanilla JS, con assistente AI (OpenRouter + tool calling curato) per pilotare il sistema in linguaggio naturale. Architettura: - FastAPI orchestrator (porta da .env, default 8890) che coordina 4 microservizi upstream: Nuwa-HP60C, marker-finder, YOLO, robot bridge. - Dual-robot: services.g1 e services.h1 in config.yaml; switchabili a runtime via PUT /api/home/robot. - Calibrazione hand-eye eye-to-hand split per-side (right/left). - Marker pose: marker-finder riceve gli intrinseci RGB della Nuwa al boot, PnP server-side con quei dati. Nessun re-PnP locale richiesto. - Depth-to-RGB: registrazione iterativa IR↔RGB per back-projection 3D corretta (Nuwa /api/measure usa coords IR; il nostro /api/perception/ measure_rgb prende pixel RGB e ritorna 3D nel frame RGB OpenCV). - Correzione affine sul depth bias (calibrabile via marker come ground-truth) — riduce errore Z da ~6% a ~1.5% nei test. - AI assistant: 16 tool curati (move_wrist_*, hand_action, get_marker[_3d], detect_object, calibration_*, set_active_robot…), system prompt dinamico che riflette robot attivo + marker config + addendum customizzabile da GUI. Temperature di default 0.1 per evitare invenzioni. GUI (7 tab): - Home: stato comunicazione device + selettore robot attivo G1/H1 - Assistente AI: chat con OpenRouter, history persistita lato browser, task riutilizzabili (prompt salvati), trace tool calls - Impostazioni AI: modello da combo curata, temperature, max iterations, prompt addendum, anteprima system prompt - Calibrazione, Auto-Calibrazione, TrovaUtensile, Servo Visuale, Vista 3D, Movimento EE — invariate dalle versioni precedenti Setup: - Variabili in presa-mano/.env (template in .env.example) - OPENROUTER_API_KEY richiesta solo per il tab Assistente AI - PRESA_MANO_PORT configurabile Co-Authored-By: Claude Opus 4.7 (1M context) diff --git a/.env.example b/.env.example new file mode 100644 index 0000000..34dfd27 --- /dev/null +++ b/.env.example @@ -0,0 +1,10 @@ +# Variabili d'ambiente per presa-mano +# Copia questo file in `.env` (stessa cartella) e compilalo. +# `.env` NON va committato (vedi .gitignore). + +# Chiave API per OpenRouter — usata dal tab "Assistente AI". +# Generala su https://openrouter.ai/settings/keys +OPENROUTER_API_KEY=sk-or-v1-XXXX + +# Porta HTTP del servizio (default 8890). +PRESA_MANO_PORT=8890 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..cfbc443 --- /dev/null +++ b/.gitignore @@ -0,0 +1,25 @@ +# Secrets +.env +.env.* +!.env.example + +# Calibration data (per-installation, ricostruibile) +data/ + +# Python +__pycache__/ +*.py[cod] +*$py.class +*.egg-info/ +.uv-cache/ +.venv/ +venv/ + +# Editor / OS +.idea/ +.vscode/ +.DS_Store +Thumbs.db + +# Logs +*.log diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 0000000..05b75ea --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,91 @@ +# CLAUDE.md + +This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. + +## Commands + +Build & run (Docker): +```bash +docker compose up -d presa-mano # serves GUI + API on http://localhost:8890 +``` + +Local dev (uses `uv`, same as the Dockerfile): +```bash +uv sync # install deps from pyproject.toml +uv run uvicorn presa_mano.main:app --host 0.0.0.0 --port 8890 --reload +``` + +Useful endpoints (all under `http://localhost:8890`): +- `GET /apidocs` — Swagger UI; `GET /redoc` — ReDoc. +- `GET/PUT /api/config` — read/patch runtime config (deep-merged into `config.yaml` and persisted). +- Calibration: `POST /api/calibration/sample`, `GET/DELETE /api/calibration/samples`, `POST /api/calibration/solve`, `GET /api/calibration/result`, `POST /api/calibration/preview`, `POST /api/calibration/auto_grid`. +- Perception: `POST /api/perception/detect`, `POST /api/perception/object_points`, `GET /api/perception/measure`. +- Grasp: `POST /api/grasp/plan`, `POST /api/grasp/execute` (set `dry_run` to gate G1 mutations). +- Wrist/EE: `GET /api/wrist`, `POST /api/wrist/{absolute,relative,hand,emergency_stop,unlock}`. + +There are no tests or linters configured in this repo. + +## Architecture + +This is a **FastAPI orchestrator** that glues together four external microservices to implement an eye-to-hand calibration + object-grasping pipeline for a Unitree G1 humanoid using a fixed Nuwa-HP60C depth camera. It owns no hardware itself — every action is an HTTP call. + +Upstream services (defaults in `config.yaml > services`): +| Service | Default URL | Role | +|---------|------------|------| +| Nuwa-HP60C | `:8877` | RGB, depth PNG, point cloud (full + ROI), intrinsics, pixel→3D measure | +| marker-finder | `:8082` | ArUco detection (returns `corners`, `position_m`, `rotation_matrix`) | +| YOLO server | `:8879` | Object bbox detection from an image URL | +| G1 API | `:8765` | Wrist pose read/write, hand open/close, e-stop | + +### Layered package layout (`src/presa_mano/`) + +- `main.py` — FastAPI app; mounts `web/` at `/static`, serves `web/index.html` at `/`, registers routers under `/api/*`. +- `config.py` — Thread-safe singleton config loader. `load_config()` reads YAML once; `update_config(patch)` deep-merges and persists. Path comes from `PRESA_MANO_CONFIG` env (Dockerfile sets `/app/config.yaml`); data files live under `PRESA_MANO_DATA` (default `/app/data`). +- `api/` — Routers, one per concern. **Build clients per-request via `api/_deps.py`** (`nuwa()`, `marker()`, `yolo()`, `g1(dry_run=...)`) so runtime `PUT /api/config` changes take effect without restart. Don't cache clients at module level. +- `clients/` — Thin `httpx` wrappers, one per upstream. Errors are normalized to service-specific exceptions (e.g. `G1Unavailable`, `NuwaError`). +- `calibration/` — `sampler.py` builds one (T_base_wrist, T_cam_marker) sample; `handeye.py` runs `cv2.calibrateHandEye` and computes residuals; `store.py` persists samples (JSON) and the result (YAML). +- `perception/` — `detector.py` calls YOLO and normalizes responses across multiple envelope shapes; `pointcloud.py` handles frame conversion + outlier filtering. +- `grasp/` — `axis.py` PCA → `ObjectAxes`; `planner.py` builds a wrist pose from those axes. +- `geometry.py` — pure-numpy SE(3) helpers (quat↔R, rvec↔R, invert_T, transform_points). +- `timing.py` — `Stopwatch` with `step(name)` context manager; every endpoint annotates its response with `timings_ms`. +- `web/` — vanilla HTML/JS/CSS GUI (3 tabs: Calibration, Grasp, Movimento EE), served as static files; talks only to `/api/*`. + +### Core data flow: hand-eye calibration (eye-to-hand) + +The camera is fixed; an ArUco marker is mounted on the wrist. For each sample: + +1. `G1.wrist()` → `T_base_wrist` (via `T_from_pos_quat`). +2. `marker-finder.detect_url(image_url=nuwa.rgb_url())` → `T_cam_marker` from `position_m` + `rotation_matrix`. +3. `samples.json` accumulates samples; `HandEyeSolver.solve()` calls `cv2.calibrateHandEye`. + +**Eye-to-hand trick** (`calibration/handeye.py`): OpenCV documents the eye-in-hand case. We feed `invert_T(T_base_wrist)` so the solver returns `T_camera→base` directly. + +Residual quality check: with a correct calibration, `T_wrist_marker = invert_T(T_base_wrist) @ T_base_camera @ T_cam_marker` should be constant across samples (marker is rigidly attached). Mean translation/rotation deviations from sample 0 are reported as `residual_translation_mm` / `residual_rotation_deg`. + +### Core data flow: grasp pipeline + +`POST /api/grasp/plan` (or `/execute`): +1. YOLO detect on the current Nuwa RGB → top bbox (optionally filtered by `class_name`). +2. Bbox → pixel ROI → `nuwa.pointcloud_roi(...)` (Nuwa crops server-side). +3. `filter_outliers` (n_std rule) → if <10 points, 422. +4. **Frame conversion:** `nuwa_to_cv_frame()` flips Y and Z (Nuwa = X-right/Y-up/Z-back; OpenCV = X-right/Y-down/Z-forward). Then `transform_points(T_base_camera, ...)` lifts to base frame. +5. `compute_axes` (PCA) → `ObjectAxes` with sorted extents. +6. `GraspPlanner.plan` builds `R_wrist = [x_hand | y_hand | z_hand]` where x_hand = approach direction (currently hard-coded **top-down**, `-Z_base`), y_hand = horizontalized closure axis from PCA mid-axis. Returns `grasp` + `pre_grasp` poses (the latter offset by `approach_offset_m` along +Z). +7. `/execute` sequences: hand_open → pre_grasp → grasp_approach → hand_close, each timed. + +### Frame conventions (gotcha-prone) + +There are **three coexisting camera-frame conventions** — keep them straight: +- **Nuwa native** (`/api/pointcloud`): X-right, Y-up, Z-back (Z<0 in front). +- **OpenCV / solvePnP** (`T_cam_marker` from marker-finder, `T_base_camera` from hand-eye): X-right, Y-down, Z-forward (Z>0 in front). +- **Nuwa ROI** (`/api/pointcloud/roi`): already returned in OpenCV convention `[x, -y, -z, r, g, b]` server-side. The wrapper `NuwaClient.pointcloud_roi` does **not** re-flip — but the grasp pipeline still calls `nuwa_to_cv_frame` on the result. Be aware when adding new code paths that consume Nuwa point clouds: full-frame needs flipping, ROI nominally does not (this is currently inconsistent — verify behavior against actual data when modifying). + +Marker-finder caveat: it uses **D435i intrinsics baked into its config** that don't match the Nuwa. The `corners` it returns are reusable; the absolute pose `position_m`/`rotation_matrix` carries that intrinsics error into the calibration. Marker-finder accuracy is the dominant error source in `T_base_camera`. + +### Conventions to preserve + +- **Dry-run semantics:** any G1-mutating endpoint takes a `dry_run` flag; `G1Client._post` short-circuits and logs `[DRY-RUN]` instead of hitting the network. `auto_grid` keeps `dry_run=True` by default (the G1 DDS has been unstable). Never silently strip dry-run from a mutating path. +- **Per-request client construction** (via `api/_deps.py`) is intentional — runtime `PUT /api/config` updates would otherwise be invisible. +- Endpoints return `{ ..., "timings_ms": {step: ms, ..., total: ms} }`. New endpoints should follow this with `Stopwatch().step(name)`. +- Calibration paths in config (`calibration.file`, `calibration.samples_file`) are resolved against `PRESA_MANO_DATA` when relative — see `_deps.calibration_file_path()` / `samples_file_path()`. +- Italian is fine in user-facing copy (GUI, README, comments) — it's the project default. diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..1c9a048 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,26 @@ +FROM python:3.10-slim + +RUN apt-get update && \ + apt-get install -y --no-install-recommends libgl1 libglib2.0-0 curl && \ + rm -rf /var/lib/apt/lists/* + +COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv + +WORKDIR /app + +COPY pyproject.toml README.md ./ +COPY src/ src/ +RUN uv sync --no-dev + +COPY config.yaml ./ +COPY web/ web/ + +ENV PRESA_MANO_CONFIG=/app/config.yaml +ENV PRESA_MANO_DATA=/app/data +ENV PRESA_MANO_PORT=8890 + +EXPOSE 8890 + +# Shell form so $PRESA_MANO_PORT viene espanso a runtime: cambi la porta in +# .env senza dover ricostruire l'immagine. +CMD uv run uvicorn presa_mano.main:app --host 0.0.0.0 --port ${PRESA_MANO_PORT} diff --git a/README.md b/README.md new file mode 100644 index 0000000..cd7245b --- /dev/null +++ b/README.md @@ -0,0 +1,41 @@ +# presa-mano + +Microservizio Python (FastAPI) che orchestra: + +1. **Calibrazione hand-eye** (eye-to-hand) tra la **Nuwa depth camera** (montata in alto, + a sinistra del robot) e la **base del G1**, usando un **ArUco sul polso destro**. +2. **Riconoscimento oggetto** via YOLO server + point cloud Nuwa. +3. **Pianificazione presa**: asse dell'oggetto (PCA) + posa polso per il G1. + +## Microservizi usati + +| Servizio | URL (default) | Scopo | +|---------------|---------------------------|-------------------------------------| +| Nuwa-HP60C | http://localhost:8877 | RGB, depth, point cloud, intrinsics | +| Marker-finder | http://localhost:8082 | Detection 2D ArUco (corners) | +| YOLO Server | http://localhost:8879 | Bbox oggetto da prendere | +| G1 API Server | http://localhost:8765 | Controllo polso/mano (dry-run se down) | + +Il servizio **presa-mano** espone GUI + API su **http://localhost:8890**. + +## Quick start + +```bash +docker compose up -d presa-mano +# Apri http://localhost:8890 +``` + +## GUI + +Tre tab: + +- **Calibrazione**: muovi il polso in varie pose, premi *Acquisisci sample* per ognuna, + poi *Risolvi*. Salva `data/calibration.yaml`. +- **Grasp**: rileva oggetto, visualizza bbox + asse, esegui (con toggle dry-run). +- **Movimento EE**: lettura pose correnti, invio pose assolute/relative, apri/chiudi mano, + emergency stop. + +## Configurazione + +`config.yaml` contiene i default; l'API espone `GET/PUT /api/config` per override runtime +(es. cambiare ID/size ArUco dalla GUI). diff --git a/config.yaml b/config.yaml new file mode 100644 index 0000000..b33d2dd --- /dev/null +++ b/config.yaml @@ -0,0 +1,57 @@ +services: + nuwa: + base_url: http://localhost:8877 + timeout_s: 5.0 + api_key: null + marker_finder: + base_url: http://localhost:8082 + timeout_s: 5.0 + yolo: + base_url: http://localhost:8879 + timeout_s: 10.0 + g1: + base_url: http://localhost:8765 + timeout_s: 5.0 + write_timeout_s: 30.0 + h1: + base_url: http://localhost:8767 + timeout_s: 5.0 + write_timeout_s: 30.0 +aruco: + dictionary: DICT_4X4_50 + wrist_marker: + id: 20 + size_mm: 103.0 +robot: + wrist_side: right + active: h1 +grasp: + approach_offset_m: 0.1 + pre_grasp_clearance_m: 0.05 + max_object_width_m: 0.08 + pointcloud_step: 1 + pointcloud_max_depth_mm: 2000 + visual_servo: + min_distance_m: 0.1 + step_fraction: 0.5 + wrist_marker_rvec: + - 0 + - 0 + - 0 +calibration: + min_samples: 5 + method: TSAI + file: data/calibration.yaml + samples_file: data/samples.json +chat: + openrouter: + base_url: https://openrouter.ai/api/v1 + model: anthropic/claude-sonnet-4.5 + timeout_s: 60.0 + max_tool_iterations: 8 + temperature: 0.1 + api_key_env: OPENROUTER_API_KEY + referer: http://localhost:8890 + title: presa-mano + user_prompt_addendum: L'operatore preferisce risposte molto telegrafiche, max + 3 righe se possibile. Misure sempre in mm interi. diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..231c0a5 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,22 @@ +[project] +name = "presa-mano" +version = "0.1.0" +description = "Hand-eye calibration (ArUco on wrist) + object grasping pipeline for Unitree G1 with Nuwa depth camera" +requires-python = ">=3.10" +dependencies = [ + "fastapi>=0.110.0", + "uvicorn[standard]>=0.27.0", + "httpx>=0.27.0", + "numpy>=1.24.0", + "opencv-contrib-python-headless>=4.9.0.80", + "pyyaml>=6.0", + "pydantic>=2.5.0", + "python-multipart>=0.0.9", +] + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.hatch.build.targets.wheel] +packages = ["src/presa_mano"] diff --git a/src/presa_mano/__init__.py b/src/presa_mano/__init__.py new file mode 100644 index 0000000..f9144f5 --- /dev/null +++ b/src/presa_mano/__init__.py @@ -0,0 +1,3 @@ +"""presa-mano: hand-eye calibration + object grasping microservice.""" + +__version__ = "0.1.0" diff --git a/src/presa_mano/agent/__init__.py b/src/presa_mano/agent/__init__.py new file mode 100644 index 0000000..33f8788 --- /dev/null +++ b/src/presa_mano/agent/__init__.py @@ -0,0 +1,10 @@ +"""Conversational AI assistant for presa-mano. + +Talks to OpenRouter (OpenAI-compatible chat-completions API) and orchestrates +robot/perception actions via a curated set of tools defined in `tools.py`. The +LLM never sees the raw upstream services — it only sees high-level functions +that wrap our existing FastAPI endpoints, with safety guards (default dry-run +on motion, side validation, calibration-side awareness).""" + +from .runner import AgentRunner # noqa: F401 +from .tools import TOOL_DEFINITIONS, dispatch_tool # noqa: F401 diff --git a/src/presa_mano/agent/prompt.py b/src/presa_mano/agent/prompt.py new file mode 100644 index 0000000..3fda7c2 --- /dev/null +++ b/src/presa_mano/agent/prompt.py @@ -0,0 +1,107 @@ +"""System prompt for the presa-mano AI assistant. + +Built dynamically so it always reflects the currently-active robot and the +real list of tools the model can call.""" + +from __future__ import annotations + +from typing import Any + + +def build_system_prompt() -> str: + # Late imports to avoid the circular dependency: + # api/__init__.py imports agent_routes -> agent.runner -> agent.prompt, + # so agent.prompt must NOT import from `..api` at module load time. + from ..config import get_config + from ..api import _deps + + cfg = get_config() + active = _deps.active_robot_key() + default_side = _deps.default_side() + aruco = cfg.get("aruco", {}).get("wrist_marker", {}) + min_samples = int(cfg.get("calibration", {}).get("min_samples", 5)) + + return f"""Sei l'assistente di **presa-mano**, un orchestratore FastAPI che pilota +un robot umanoide (Unitree G1 o H1) con una camera depth Nuwa-HP60C fissa. + +## Stile di risposta — REGOLE OBBLIGATORIE +- Rispondi in italiano, **diretto e conciso**: niente preamboli ("ecco i risultati…"), + niente paragrafi di chiusura ("se vuoi posso…"), niente emoji. +- Riporta SOLO i fatti che derivano dai tool eseguiti. **NON inventare valori + numerici, posizioni, dimensioni, spiegazioni di errori che il tool non ha + ritornato.** Se un tool ritorna `ok=false`, riporta letteralmente l'errore. +- Se manca un'informazione, dillo invece di indovinare. Non aggiungere + "possibili cause" speculative se non sono nel risultato del tool. +- Niente disclaimers o suggerimenti non richiesti. L'operatore ti dirà se + vuole un consiglio. +- Per dati numerici usa tabelle compatte; per istruzioni passi numerati brevi. +- Per tutto ciò che è azione su robot/camera/calibrazione DEVI usare i tool. + **Vietato simulare risultati.** + +## Stato corrente +- Robot attivo: **{active.upper()}** (puoi cambiarlo con `set_active_robot`). +- Lato di default per le operazioni di braccio: **{default_side}**. Se l'utente + non specifica `right`/`left`, usa questo default. +- Marker ArUco al polso: id={aruco.get('id', 10)}, lato={aruco.get('size_mm', 40)} mm. + +## Convenzioni +- Le posizioni sono in **metri** nel frame base del robot, gli orientamenti + in quaternioni `[x, y, z, w]`. Le rotazioni "in gradi" che l'utente cita + vanno convertite tu (le tool accettano sempre quaternioni). +- Movimenti **assoluti**: `move_wrist_absolute(side, position, quaternion)`. +- Movimenti **relativi**: `move_wrist_relative(side, delta_position)` — + delta in metri, frame base. Se l'utente dice "muovi di 200 mm in X+", passa + delta=[0.2, 0, 0]. Conferma sempre il risultato leggendo la nuova posa. +- Default `dry_run=true` su tutte le operazioni di motion: NON fai mai partire + un movimento reale senza che l'utente l'abbia chiesto esplicitamente. +- Le mani: `hand_action(side, action)` con `action ∈ + {{LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}}`. + +## Calibrazione hand-eye (eye-to-hand) +La calibrazione lega `T_base_camera`. È **specifica per braccio**: dx e sx +hanno file separati. Procedura completa quando l'utente dice "calibra": +1. Determina `side` (chiedi se ambiguo). +2. `calibration_clear(side)` per partire da zero (chiedi prima conferma). +3. Ripeti almeno {min_samples} volte (consigliato 8–15): + a. `move_wrist_relative` o `move_wrist_absolute` per portare il polso in + una posa nuova ben visibile dalla camera (varia X, Y, Z e l'orientamento + del marker — più diversità = miglior calibrazione). + b. Aspetta l'assestamento (tool `sleep` non disponibile: passa al sample; + `move_wrist_*` di default attende). + c. `calibration_add_sample(side)` — questa cattura RGB+pose+marker. + d. Se il marker non è stato trovato (errore 422), riprova con una posa + diversa. +4. `calibration_solve(side, method='TSAI')` — richiede ≥{min_samples} sample. +5. Riporta all'utente i residui (`residual_translation_mm`, `residual_rotation_deg`). + Se i residui sono > 5 mm o > 1° suggerisci più sample. + +## Percezione (per planning grasp) +- `detect_object(class_name, confidence)` → bbox + score. +- `get_point_cloud_roi(bbox)` → statistiche nuvola 3D (mean/min/max in **frame camera Nuwa**: X-right, Y-up, Z-back; Z<0 = davanti). +- `get_marker(marker_id, size_mm)` → posa marker **da PnP** nel **frame camera OpenCV** (X-right, Y-down, Z-forward; Z>0 = davanti). PnP eseguita da marker-finder con gli intrinseci veri della Nuwa. È il metodo più affidabile per **posizione assoluta** quando size_mm è dichiarata correttamente. +- `get_marker_3d(marker_id, size_mm)` → posa marker **dal sensore depth** (no PnP). Restituisce anche `measured_side_mm`. ATTENZIONE: se la correzione depth (affine, vedi sotto) è attiva, le dimensioni geometriche misurate vengono distorte — `measured_side_mm` può differire significativamente da `declared_size_mm` anche se la size dichiarata è corretta. **NON usare measured_side_mm come ground truth della size dichiarata.** +- Per validare se `size_mm` dichiarato è corretto, confronta `get_marker` Z con la distanza vera misurata col metro: il PnP scala linearmente con size_mm dichiarata. +- Per stimare la posa **nel frame base del robot** dopo la calibrazione, considera che la matrice `T_base_camera` salvata da `calibration_solve` è quella che mappa il frame camera OpenCV nel frame base. + +## Sensore depth e correzione +Il sensore depth Nuwa ha un bias che è stato calibrato come trasformazione affine (`depth_corrected = (raw - offset) / scale`). Quando attiva, migliora l'accuratezza della **distanza** ma distorce le **dimensioni** misurate dai 4 corner 3D del marker. Lo stato della correzione è leggibile da `GET /api/perception/depth_correction` (non esposto come tool: chiedi all'utente se serve verificarla). + +## Sicurezza +- Prima di QUALSIASI movimento reale (dry_run=false), conferma con l'utente + l'azione e il valore numerico. +- Non chiamare mai `emergency_stop` o `unlock` se non te lo chiede l'utente. +- Se l'utente ti dà un task vago ("muovi il braccio") chiedi precisazioni. + +Comincia ascoltando la richiesta dell'operatore e usa i tool quando servono. +Se rispondi con testo soltanto (nessun tool call), assicurati che l'utente +abbia tutte le informazioni che ha chiesto. +""" + _addendum(cfg) + + +def _addendum(cfg: dict[str, Any]) -> str: + """Optional extra instructions that the operator can edit from the GUI + without recompiling the base prompt. Stored in chat.openrouter.user_prompt_addendum.""" + txt = (cfg.get("chat", {}).get("openrouter", {}).get("user_prompt_addendum") or "").strip() + if not txt: + return "" + return f"\n\n## Istruzioni aggiuntive dell'operatore\n{txt}\n" diff --git a/src/presa_mano/agent/runner.py b/src/presa_mano/agent/runner.py new file mode 100644 index 0000000..36badb0 --- /dev/null +++ b/src/presa_mano/agent/runner.py @@ -0,0 +1,174 @@ +"""OpenRouter chat runner with multi-turn tool calling. + +OpenRouter speaks the OpenAI chat-completions API verbatim, so we use +`httpx` directly and re-implement the tool-call loop. We don't take a hard +dep on the openai SDK — the protocol is small enough to inline and this +keeps Docker layers slim. +""" + +from __future__ import annotations + +import json +import logging +import os +import time +from dataclasses import dataclass, field +from typing import Any + +import httpx + +from ..config import get_config +from .prompt import build_system_prompt +from .tools import TOOL_DEFINITIONS, dispatch_tool + +log = logging.getLogger(__name__) + + +class OpenRouterError(RuntimeError): + pass + + +@dataclass +class ToolCallTrace: + name: str + arguments: dict[str, Any] + result: dict[str, Any] + latency_ms: float + + +@dataclass +class AgentResult: + reply: str + iterations: int + tool_calls: list[ToolCallTrace] = field(default_factory=list) + finish_reason: str | None = None + model: str | None = None + usage: dict[str, Any] | None = None + + +class AgentRunner: + """Stateless: one runner per request. Caller is responsible for keeping + the conversation history and passing it back in via `messages`. + + The run loop: send messages → if tool_calls in response, execute each, + append the assistant message + tool messages, repeat. Up to + `max_tool_iterations` rounds (configurable in chat.openrouter).""" + + def __init__(self) -> None: + cfg = get_config().get("chat", {}).get("openrouter") or {} + self.base_url = str(cfg.get("base_url") or "https://openrouter.ai/api/v1").rstrip("/") + self.model = str(cfg.get("model") or "anthropic/claude-sonnet-4.5") + self.timeout_s = float(cfg.get("timeout_s") or 60.0) + self.max_tool_iterations = int(cfg.get("max_tool_iterations") or 8) + # Default low so the model doesn't invent values when summarising + # tool results. Override in chat.openrouter.temperature if needed. + self.temperature = float(cfg.get("temperature") if cfg.get("temperature") is not None else 0.1) + self.referer = cfg.get("referer") or "http://localhost:8890" + self.title = cfg.get("title") or "presa-mano" + env_var = str(cfg.get("api_key_env") or "OPENROUTER_API_KEY") + self.api_key = os.environ.get(env_var, "") + self.api_key_env = env_var + + def has_credentials(self) -> bool: + return bool(self.api_key) + + # ------------------------------------------------------------------ + + def run(self, user_message: str, + history: list[dict[str, Any]] | None = None, + ) -> tuple[AgentResult, list[dict[str, Any]]]: + """Returns (result, updated_history). `history` is the full message + list as it appears in the OpenAI API (excluding the system prompt; + we always inject it ourselves so it reflects current state).""" + if not self.has_credentials(): + raise OpenRouterError(f"OpenRouter API key non impostata (env var {self.api_key_env}).") + + system = {"role": "system", "content": build_system_prompt()} + messages: list[dict[str, Any]] = [system] + if history: + messages.extend(m for m in history if m.get("role") != "system") + messages.append({"role": "user", "content": user_message}) + + traces: list[ToolCallTrace] = [] + iterations = 0 + finish_reason: str | None = None + usage: dict[str, Any] | None = None + + while iterations < self.max_tool_iterations: + iterations += 1 + resp = self._chat_completion(messages) + usage = resp.get("usage") or usage + choices = resp.get("choices") or [] + if not choices: + raise OpenRouterError(f"empty choices in response: {resp}") + msg = choices[0].get("message") or {} + finish_reason = choices[0].get("finish_reason") + messages.append(msg) + tool_calls = msg.get("tool_calls") or [] + if not tool_calls: + # Final assistant turn — no further tools requested. + reply = msg.get("content") or "" + history_out = [m for m in messages if m.get("role") != "system"] + return AgentResult(reply=reply, iterations=iterations, + tool_calls=traces, finish_reason=finish_reason, + model=resp.get("model"), usage=usage), history_out + + # Execute each tool call and append the result back. + for call in tool_calls: + fn = (call.get("function") or {}) + name = fn.get("name") or "?" + raw_args = fn.get("arguments") or "{}" + try: + args = json.loads(raw_args) if isinstance(raw_args, str) else (raw_args or {}) + except json.JSONDecodeError: + args = {} + t0 = time.perf_counter() + result = dispatch_tool(name, args) + latency = round((time.perf_counter() - t0) * 1000.0, 1) + traces.append(ToolCallTrace(name=name, arguments=args, + result=result, latency_ms=latency)) + messages.append({ + "role": "tool", + "tool_call_id": call.get("id"), + "name": name, + "content": json.dumps(result, ensure_ascii=False, default=str), + }) + + # Hit the iteration cap with tool calls still pending — degrade gracefully. + history_out = [m for m in messages if m.get("role") != "system"] + return AgentResult( + reply="Limite di iterazioni raggiunto: rivedi il task o chiedimi di continuare.", + iterations=iterations, tool_calls=traces, finish_reason="iteration_cap", + model=self.model, usage=usage, + ), history_out + + # ------------------------------------------------------------------ + + def _chat_completion(self, messages: list[dict[str, Any]]) -> dict[str, Any]: + url = f"{self.base_url}/chat/completions" + body = { + "model": self.model, + "messages": messages, + "tools": TOOL_DEFINITIONS, + "tool_choice": "auto", + "temperature": self.temperature, + } + headers = { + "Authorization": f"Bearer {self.api_key}", + "Content-Type": "application/json", + # OpenRouter analytics — optional but recommended. + "HTTP-Referer": self.referer, + "X-Title": self.title, + } + try: + with httpx.Client(timeout=self.timeout_s) as c: + r = c.post(url, json=body, headers=headers) + except httpx.HTTPError as e: + raise OpenRouterError(f"OpenRouter unreachable: {e}") from e + if r.status_code >= 400: + try: + detail = r.json() + except Exception: + detail = r.text + raise OpenRouterError(f"OpenRouter HTTP {r.status_code}: {detail}") + return r.json() diff --git a/src/presa_mano/agent/tools.py b/src/presa_mano/agent/tools.py new file mode 100644 index 0000000..f4b24e9 --- /dev/null +++ b/src/presa_mano/agent/tools.py @@ -0,0 +1,684 @@ +"""Tools the AI assistant can invoke. + +Each tool is defined twice: +1. As a JSON-schema entry in `TOOL_DEFINITIONS` (sent to OpenRouter / the LLM + so it knows the function signature). +2. As a Python handler keyed by tool name in `_HANDLERS` that wraps existing + internal endpoints/clients. + +Handlers are intentionally thin and well-validated: they enforce side ∈ +{right,left}, default dry_run=True for every motion call, and reuse the +existing per-request client construction (so a `set_active_robot` call mid- +conversation actually changes which robot subsequent tool calls hit). + +Tool results are returned as dicts and serialised to JSON before being sent +back to the model. Errors are reported as `{"error": "..."}` rather than +raising, so the model can recover (e.g. retry with a different pose). +""" + +from __future__ import annotations + +import logging +import time +from dataclasses import asdict +from typing import Any, Callable + +import numpy as np + +from ..calibration import CalibrationSampler, CalibrationStore, HandEyeSolver, SamplesStore +from ..clients import G1StatusError, G1Unavailable +from ..config import get_config, update_config +from ..perception import ObjectDetector + +log = logging.getLogger(__name__) + + +# Lazy proxy for `..api._deps` to break the import cycle: +# api/__init__.py loads agent_routes which loads agent.runner which loads us. +# Importing `..api._deps` at module load would trigger api/__init__.py while +# it's already mid-init. Attribute access via this proxy defers the import +# until the first tool actually runs, by which time everything is loaded. +class _LazyDeps: + def __getattr__(self, name: str) -> Any: + from ..api import _deps as _m + return getattr(_m, name) + + +_deps = _LazyDeps() + + +# ----- helpers -------------------------------------------------------------- + +def _ok(**kw: Any) -> dict[str, Any]: + out = {"ok": True} + out.update(kw) + return out + + +def _err(msg: str, **kw: Any) -> dict[str, Any]: + out = {"ok": False, "error": msg} + out.update(kw) + return out + + +def _validate_side(side: str | None) -> str: + s = (side or _deps.default_side()).lower() + if s not in {"right", "left"}: + raise ValueError(f"side must be 'right' or 'left', got: {side!r}") + return s + + +# ----- tool: home / robot selection ---------------------------------------- + +def _h_get_active_robot(_: dict[str, Any]) -> dict[str, Any]: + return _ok(active=_deps.active_robot_key(), + default_side=_deps.default_side()) + + +def _h_set_active_robot(args: dict[str, Any]) -> dict[str, Any]: + target = str(args.get("robot", "")).lower() + if target not in {"g1", "h1"}: + return _err(f"robot must be 'g1' or 'h1', got: {target!r}") + services = (get_config().get("services") or {}) + if not (services.get(target) or {}).get("base_url"): + return _err(f"services.{target}.base_url not configured") + update_config({"robot": {"active": target}}) + return _ok(active=_deps.active_robot_key()) + + +def _h_device_status(_: dict[str, Any]) -> dict[str, Any]: + """Reuses the home_routes implementation to avoid duplicating the ping logic.""" + from ..api.home_routes import status as _status + return _status() + + +# ----- tool: wrist read/move ------------------------------------------------ + +def _h_get_wrist_pose(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + data = _deps.g1().wrist() + body = data.get("data") if isinstance(data.get("data"), dict) else data + pose = body.get(f"{side}_wrist") or body.get(side) or {} + return _ok(side=side, + position=pose.get("position"), + quaternion=pose.get("quaternion")) + except (G1Unavailable, G1StatusError) as e: + return _err(f"robot non raggiungibile: {e}") + except Exception as e: + return _err(str(e)) + + +def _h_move_wrist_absolute(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + position = list(args.get("position") or []) + quaternion = list(args.get("quaternion") or []) + if len(position) != 3 or len(quaternion) != 4: + return _err("position deve avere 3 float (m), quaternion 4 float (xyzw)") + dry_run = bool(args.get("dry_run", True)) + timeout_s = float(args.get("timeout_s", 5.0)) + result = _deps.g1(dry_run=dry_run).wrist_absolute( + side=side, position=position, quaternion=quaternion, + wait=True, timeout_s=timeout_s, + ) + return _ok(dry_run=dry_run, side=side, response=result) + except (G1Unavailable, G1StatusError) as e: + return _err(f"motion failed: {e}") + except Exception as e: + return _err(str(e)) + + +def _h_move_wrist_relative(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + dp = args.get("delta_position") + dq = args.get("delta_quaternion") + if dp is not None and len(list(dp)) != 3: + return _err("delta_position deve avere 3 float (m) o essere null") + if dq is not None and len(list(dq)) != 4: + return _err("delta_quaternion deve avere 4 float (xyzw) o essere null") + dry_run = bool(args.get("dry_run", True)) + timeout_s = float(args.get("timeout_s", 5.0)) + result = _deps.g1(dry_run=dry_run).wrist_relative( + side=side, + delta_position=list(dp) if dp is not None else None, + delta_quaternion=list(dq) if dq is not None else None, + wait=True, timeout_s=timeout_s, + ) + return _ok(dry_run=dry_run, side=side, response=result) + except (G1Unavailable, G1StatusError) as e: + return _err(f"motion failed: {e}") + except Exception as e: + return _err(str(e)) + + +def _h_hand_action(args: dict[str, Any]) -> dict[str, Any]: + try: + action = str(args.get("action", "")).upper() + valid = {"LEFT_OPEN", "LEFT_CLOSE", "RIGHT_OPEN", "RIGHT_CLOSE"} + if action not in valid: + return _err(f"action deve essere uno di {sorted(valid)}") + dry_run = bool(args.get("dry_run", True)) + result = _deps.g1(dry_run=dry_run).hand_action(action) + return _ok(dry_run=dry_run, response=result) + except (G1Unavailable, G1StatusError) as e: + return _err(f"hand action failed: {e}") + except Exception as e: + return _err(str(e)) + + +# ----- tool: perception ----------------------------------------------------- + +def _h_get_marker(args: dict[str, Any]) -> dict[str, Any]: + """Detect ArUco marker and return its pose in the camera frame. + + Da quando marker-finder accetta intrinseci OpenCV via API e presa-mano + gli pusha quelli veri della Nuwa al boot, possiamo fidarci direttamente + di `position_m`/`quaternion_xyzw` ritornati dal servizio. Niente più + re-PnP locale qui: per la diagnostica di ambiguità c'è il sampler + (CalibrationSampler) che la calcola sui sample reali.""" + try: + cfg = get_config() + marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) + size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) + result = _deps.marker().detect_url( + markers=[{"id": marker_id, "size_mm": size_mm}], + image_url=_deps.nuwa().rgb_url(), + ) + found = result.get("found", []) + entry = next((m for m in found if int(m["id"]) == marker_id), None) + if entry is None: + return _err(f"marker id={marker_id} non trovato", + not_found=result.get("not_found")) + + img_pts = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2) + tvec = np.asarray(entry.get("position_m") or [0, 0, 0], dtype=np.float64).flatten() + return _ok( + marker_id=marker_id, + position_m=tvec.tolist(), + distance_m=float(np.linalg.norm(tvec)), + quaternion_xyzw=entry.get("quaternion_xyzw"), + rotation_matrix=entry.get("rotation_matrix"), + corners=entry.get("corners"), + center_px=img_pts.mean(axis=0).tolist(), + ) + except Exception as e: + return _err(str(e)) + + +def _h_detect_object(args: dict[str, Any]) -> dict[str, Any]: + try: + nuwa = _deps.nuwa() + yolo = _deps.yolo() + detector = ObjectDetector(yolo, nuwa) + conf = args.get("confidence") + conf = float(conf) if conf is not None else None + class_name = args.get("class_name") + dets = detector.detect(conf=conf) + if class_name: + dets = [d for d in dets if str(d.get("class_name", "")).lower() == str(class_name).lower()] + if not dets: + return _ok(found=False, detections=[]) + return _ok(found=True, detections=dets[:5]) + except Exception as e: + return _err(str(e)) + + +def _h_get_marker_3d(args: dict[str, Any]) -> dict[str, Any]: + """Pose marker da DEPTH (no PnP). + + Detection 2D dei corner dal marker-finder, poi back-projection di + ciascun corner usando la depth con registrazione RGB↔IR. Centro = media + dei 4 corner 3D; orientamento = base ortonormale costruita dai lati del + marker. Più affidabile di PnP quando si conosce bene la depth e meno + sensibile a errori di size_mm dichiarata.""" + try: + from ..perception.depth_to_rgb import ( + CameraRegistration, back_project_rgb_pixel, fetch_depth_mm, + ) + from ..perception.depth_correction import load as _load_dc_state + cfg = get_config() + marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) + size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) + + nuwa = _deps.nuwa() + result = _deps.marker().detect_url( + markers=[{"id": marker_id, "size_mm": size_mm}], + image_url=nuwa.rgb_url(), + ) + entry = next((m for m in result.get("found", []) if int(m["id"]) == marker_id), None) + if entry is None: + return _err(f"marker id={marker_id} non trovato", + not_found=result.get("not_found")) + + reg = CameraRegistration.from_nuwa(nuwa.intrinsics()) + depth = fetch_depth_mm(nuwa) + dc_state = _load_dc_state(_deps.depth_correction_path()) + corners_2d = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2) + + corners_3d = [] + per_corner = [] + for u, v in corners_2d: + r = back_project_rgb_pixel(u, v, depth, reg, sample_radius=4, n_iters=2, + depth_correction=dc_state) + per_corner.append({"rgb_pixel": r["rgb_pixel"], "ok": r["ok"], + "ir_pixel": r.get("ir_pixel"), + "depth_mm": r.get("depth_mm"), + "point_rgb_m": r.get("point_rgb_m"), + **({"error": r["error"]} if "error" in r else {})}) + if r["ok"]: + corners_3d.append(r["point_rgb_m"]) + + if len(corners_3d) < 3: + return _err(f"depth mancante su {4 - len(corners_3d)} corner: marker fuori range o riflesso", + per_corner=per_corner) + + pts = np.asarray(corners_3d, dtype=np.float64) + center = pts.mean(axis=0) + + # Build an orthonormal frame from the marker plane: + # x-axis = (TR - TL) (top edge), y-axis = (BL - TL) (left edge), + # z-axis = x × y (outward normal). + out_pose: dict[str, Any] = {"center_m": center.tolist()} + if len(corners_3d) == 4: + tl, tr, br, bl = pts + x_axis = tr - tl + y_axis = bl - tl + x_axis /= (np.linalg.norm(x_axis) + 1e-12) + # Re-orthogonalize y against x: + y_axis = y_axis - (y_axis @ x_axis) * x_axis + y_axis /= (np.linalg.norm(y_axis) + 1e-12) + z_axis = np.cross(x_axis, y_axis) + R = np.column_stack([x_axis, y_axis, z_axis]) + from ..geometry import R_to_quat_xyzw + out_pose["rotation_matrix"] = R.tolist() + out_pose["quaternion_xyzw"] = R_to_quat_xyzw(R).tolist() + # Side measured vs declared — sanity check + measured_side_mm = float(np.linalg.norm(tr - tl) * 1000) + out_pose["measured_side_mm"] = round(measured_side_mm, 1) + out_pose["declared_size_mm"] = size_mm + + return _ok( + marker_id=marker_id, + distance_m=float(np.linalg.norm(center)), + n_corners_with_depth=len(corners_3d), + pose=out_pose, + per_corner=per_corner, + corners_2d=corners_2d.tolist(), + ) + except Exception as e: + return _err(str(e)) + + +def _h_get_point_cloud_roi(args: dict[str, Any]) -> dict[str, Any]: + try: + bbox = args.get("bbox") + if not bbox or len(list(bbox)) != 4: + return _err("bbox deve essere [x1,y1,x2,y2] in pixel") + x1, y1, x2, y2 = (int(v) for v in bbox) + nuwa = _deps.nuwa() + cloud = nuwa.pointcloud_roi(x1=x1, y1=y1, x2=x2, y2=y2) + # Cloud is potentially huge — return only summary stats so we don't + # blow up the LLM context. + pts = np.asarray(cloud, dtype=np.float64).reshape(-1, 6) if len(cloud) else np.zeros((0, 6)) + if pts.size == 0: + return _ok(n_points=0, summary=None) + xyz = pts[:, :3] + return _ok( + n_points=int(pts.shape[0]), + mean=xyz.mean(axis=0).tolist(), + min=xyz.min(axis=0).tolist(), + max=xyz.max(axis=0).tolist(), + std_mm=(1000.0 * xyz.std(axis=0)).tolist(), + ) + except Exception as e: + return _err(str(e)) + + +# ----- tool: calibration --------------------------------------------------- + +def _h_calibration_add_sample(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + cfg = get_config() + marker_id = int(args.get("marker_id") or cfg["aruco"]["wrist_marker"]["id"]) + size_mm = float(args.get("size_mm") or cfg["aruco"]["wrist_marker"]["size_mm"]) + sampler = CalibrationSampler(_deps.nuwa(), _deps.marker(), _deps.g1()) + sample = sampler.acquire(marker_id=marker_id, size_mm=size_mm, + side=side, note=str(args.get("note", ""))) + store = SamplesStore(_deps.samples_file_path(side)) + items = store.append(sample) + return _ok(side=side, total=len(items), sample=asdict(sample)) + except Exception as e: + return _err(str(e)) + + +def _h_calibration_solve(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + cfg = get_config() + method = str(args.get("method") or cfg.get("calibration", {}).get("method") or "TSAI").upper() + min_n = int(cfg.get("calibration", {}).get("min_samples", 5)) + samples = SamplesStore(_deps.samples_file_path(side)).load() + if len(samples) < min_n: + return _err(f"servono almeno {min_n} sample per side='{side}', ce ne sono {len(samples)}") + result = HandEyeSolver.solve(samples, method=method) + CalibrationStore(_deps.calibration_file_path(side)).save(result) + # Strip the heavy matrix from what we return to the model — keep summary. + slim = { + "side": side, + "method": result.get("method"), + "n_samples": result.get("n_samples"), + "residual_translation_mm": result.get("residual_translation_mm"), + "residual_rotation_deg": result.get("residual_rotation_deg"), + } + return _ok(**slim, saved=True) + except Exception as e: + return _err(str(e)) + + +def _h_calibration_clear(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + SamplesStore(_deps.samples_file_path(side)).clear() + return _ok(side=side, total=0) + except Exception as e: + return _err(str(e)) + + +def _h_calibration_get_result(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + doc = CalibrationStore(_deps.calibration_file_path(side)).load() + if doc is None: + return _err(f"nessuna calibrazione salvata per side='{side}'") + return _ok(side=side, + saved_at=doc.get("saved_at"), + method=doc.get("method"), + n_samples=doc.get("n_samples"), + residual_translation_mm=doc.get("residual_translation_mm"), + residual_rotation_deg=doc.get("residual_rotation_deg")) + except Exception as e: + return _err(str(e)) + + +def _h_calibration_count_samples(args: dict[str, Any]) -> dict[str, Any]: + try: + side = _validate_side(args.get("side")) + samples = SamplesStore(_deps.samples_file_path(side)).load() + return _ok(side=side, total=len(samples)) + except Exception as e: + return _err(str(e)) + + +# ----- registry ------------------------------------------------------------- + +_HANDLERS: dict[str, Callable[[dict[str, Any]], dict[str, Any]]] = { + "get_active_robot": _h_get_active_robot, + "set_active_robot": _h_set_active_robot, + "device_status": _h_device_status, + "get_wrist_pose": _h_get_wrist_pose, + "move_wrist_absolute": _h_move_wrist_absolute, + "move_wrist_relative": _h_move_wrist_relative, + "hand_action": _h_hand_action, + "get_marker": _h_get_marker, + "get_marker_3d": _h_get_marker_3d, + "detect_object": _h_detect_object, + "get_point_cloud_roi": _h_get_point_cloud_roi, + "calibration_add_sample": _h_calibration_add_sample, + "calibration_solve": _h_calibration_solve, + "calibration_clear": _h_calibration_clear, + "calibration_get_result": _h_calibration_get_result, + "calibration_count_samples": _h_calibration_count_samples, +} + + +# OpenRouter / OpenAI tool-calling format. Each entry is a 'function' tool. +TOOL_DEFINITIONS: list[dict[str, Any]] = [ + { + "type": "function", + "function": { + "name": "get_active_robot", + "description": "Quale robot è attualmente collegato (g1 o h1) e quale lato è il default.", + "parameters": {"type": "object", "properties": {}}, + }, + }, + { + "type": "function", + "function": { + "name": "set_active_robot", + "description": "Cambia il robot attivo (g1 o h1). Tutti i comandi successivi useranno questo robot.", + "parameters": { + "type": "object", + "required": ["robot"], + "properties": {"robot": {"type": "string", "enum": ["g1", "h1"]}}, + }, + }, + }, + { + "type": "function", + "function": { + "name": "device_status", + "description": "Stato di comunicazione (online/offline + latenza) dei microservizi: Nuwa, marker-finder, YOLO, robot.", + "parameters": {"type": "object", "properties": {}}, + }, + }, + { + "type": "function", + "function": { + "name": "get_wrist_pose", + "description": "Posa attuale del polso (position xyz in metri, quaternion xyzw) nel frame base.", + "parameters": { + "type": "object", + "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, + }, + }, + }, + { + "type": "function", + "function": { + "name": "move_wrist_absolute", + "description": "Sposta il polso a una posa assoluta nel frame base. Default dry_run=true: il robot NON si muove davvero finché dry_run=false.", + "parameters": { + "type": "object", + "required": ["side", "position", "quaternion"], + "properties": { + "side": {"type": "string", "enum": ["right", "left"]}, + "position": {"type": "array", "items": {"type": "number"}, "minItems": 3, "maxItems": 3, + "description": "x,y,z in metri (frame base)"}, + "quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4, + "description": "x,y,z,w"}, + "dry_run": {"type": "boolean", "default": True}, + "timeout_s": {"type": "number", "default": 5.0}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "move_wrist_relative", + "description": "Sposta il polso di un delta rispetto alla posa attuale. delta_position in metri (frame base), delta_quaternion opzionale. Default dry_run=true.", + "parameters": { + "type": "object", + "required": ["side"], + "properties": { + "side": {"type": "string", "enum": ["right", "left"]}, + "delta_position": {"type": "array", "items": {"type": "number"}, "minItems": 3, "maxItems": 3}, + "delta_quaternion": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4}, + "dry_run": {"type": "boolean", "default": True}, + "timeout_s": {"type": "number", "default": 5.0}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "hand_action", + "description": "Apre o chiude una mano. action ∈ {LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}. Default dry_run=true.", + "parameters": { + "type": "object", + "required": ["action"], + "properties": { + "action": {"type": "string", "enum": ["LEFT_OPEN", "LEFT_CLOSE", "RIGHT_OPEN", "RIGHT_CLOSE"]}, + "dry_run": {"type": "boolean", "default": True}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "get_marker", + "description": ( + "Rileva il marker ArUco nell'RGB corrente di Nuwa e ne ritorna la " + "posa nel frame camera OpenCV (X-right, Y-down, Z-forward, Z>0=davanti). " + "Restituisce position_m, quaternion_xyzw, rotation_matrix, distance_m, " + "corners 2D e center_px. La PnP è eseguita da marker-finder con gli " + "intrinseci veri della Nuwa (pushati al boot di presa-mano)." + ), + "parameters": { + "type": "object", + "properties": { + "marker_id": {"type": "integer", "description": "default = id del marker polso da config"}, + "size_mm": {"type": "number", "description": "default = size del marker polso da config"}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "get_marker_3d", + "description": ( + "Posa marker calcolata dal sensore depth (no PnP). Detection " + "2D dei 4 corner via marker-finder, poi per ogni corner " + "back-projection corretta usando depth IR + extrinsics IR↔RGB. " + "Centro = media 3D dei corner; orientamento da base ortonormale " + "del piano marker. Restituisce anche `measured_side_mm` (utile " + "per verificare che size_mm dichiarata sia giusta) e una entry " + "per_corner con qualità della depth a ciascuno dei 4 corner." + ), + "parameters": { + "type": "object", + "properties": { + "marker_id": {"type": "integer"}, + "size_mm": {"type": "number"}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "detect_object", + "description": "Rileva oggetti via YOLO sull'RGB di Nuwa. class_name opzionale per filtrare; restituisce massimo 5 detection.", + "parameters": { + "type": "object", + "properties": { + "class_name": {"type": "string"}, + "confidence": {"type": "number"}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "get_point_cloud_roi", + "description": "Statistiche della nuvola punti (frame camera) all'interno di un bbox in pixel. Restituisce conteggio + media/min/max/std, NON i punti raw.", + "parameters": { + "type": "object", + "required": ["bbox"], + "properties": { + "bbox": {"type": "array", "items": {"type": "number"}, "minItems": 4, "maxItems": 4, + "description": "[x1,y1,x2,y2] in pixel"}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "calibration_add_sample", + "description": "Cattura un sample di calibrazione hand-eye per il braccio indicato (RGB + posa polso + posa marker). Richiede il marker visibile.", + "parameters": { + "type": "object", + "properties": { + "side": {"type": "string", "enum": ["right", "left"]}, + "marker_id": {"type": "integer"}, + "size_mm": {"type": "number"}, + "note": {"type": "string"}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "calibration_solve", + "description": "Risolve hand-eye calibration per il braccio dato e SALVA la matrice T_base_camera_.yaml. Riporta residui.", + "parameters": { + "type": "object", + "properties": { + "side": {"type": "string", "enum": ["right", "left"]}, + "method": {"type": "string", "enum": ["TSAI", "PARK", "HORAUD", "ANDREFF", "DANIILIDIS"]}, + }, + }, + }, + }, + { + "type": "function", + "function": { + "name": "calibration_clear", + "description": "Cancella tutti i sample di calibrazione per il braccio indicato.", + "parameters": { + "type": "object", + "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, + }, + }, + }, + { + "type": "function", + "function": { + "name": "calibration_get_result", + "description": "Riporta la calibrazione salvata per il braccio indicato (residui + saved_at).", + "parameters": { + "type": "object", + "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, + }, + }, + }, + { + "type": "function", + "function": { + "name": "calibration_count_samples", + "description": "Numero di sample attualmente memorizzati per il braccio indicato.", + "parameters": { + "type": "object", + "properties": {"side": {"type": "string", "enum": ["right", "left"]}}, + }, + }, + }, +] + + +def dispatch_tool(name: str, args: dict[str, Any]) -> dict[str, Any]: + """Run the named tool with the provided arguments. Always returns a dict. + + The runner serialises this to JSON and feeds it back to the model as a + `tool` role message. Any exception is converted to {"ok": false, ...}. + """ + h = _HANDLERS.get(name) + if h is None: + return _err(f"tool sconosciuto: {name}") + t0 = time.perf_counter() + try: + out = h(args or {}) + except Exception as e: + log.exception("tool %s raised", name) + out = _err(f"{type(e).__name__}: {e}") + out["_latency_ms"] = round((time.perf_counter() - t0) * 1000.0, 1) + return out diff --git a/src/presa_mano/api/__init__.py b/src/presa_mano/api/__init__.py new file mode 100644 index 0000000..4a3a3f1 --- /dev/null +++ b/src/presa_mano/api/__init__.py @@ -0,0 +1,27 @@ +# Load `_deps` first so it is registered as an attribute of this package +# before any of the route modules (which reach into the agent module which +# in turn imports `from ..api import _deps`) start executing. +from . import _deps # noqa: F401 +from . import ( + agent_routes, + calibration_routes, + config_routes, + grasp_routes, + home_routes, + perception_routes, + posture_routes, + robot_routes, + wrist_routes, +) + +__all__ = [ + "agent_routes", + "calibration_routes", + "config_routes", + "grasp_routes", + "home_routes", + "perception_routes", + "posture_routes", + "robot_routes", + "wrist_routes", +] diff --git a/src/presa_mano/api/_deps.py b/src/presa_mano/api/_deps.py new file mode 100644 index 0000000..ee0d28b --- /dev/null +++ b/src/presa_mano/api/_deps.py @@ -0,0 +1,96 @@ +"""Build clients & helpers from current config — called per-request so runtime +updates (PUT /api/config) take effect without restart.""" + +from __future__ import annotations + +from pathlib import Path +from typing import Any + +from ..clients import G1Client, MarkerClient, NuwaClient, YoloClient +from ..config import data_dir, get_config + + +def _svc(cfg: dict[str, Any], key: str) -> dict[str, Any]: + return cfg.get("services", {}).get(key, {}) + + +def nuwa() -> NuwaClient: + c = _svc(get_config(), "nuwa") + return NuwaClient(c["base_url"], timeout_s=c.get("timeout_s", 5.0), api_key=c.get("api_key")) + + +def marker() -> MarkerClient: + c = _svc(get_config(), "marker_finder") + return MarkerClient(c["base_url"], timeout_s=c.get("timeout_s", 5.0)) + + +def yolo() -> YoloClient: + c = _svc(get_config(), "yolo") + return YoloClient(c["base_url"], timeout_s=c.get("timeout_s", 10.0)) + + +def active_robot_key() -> str: + """Which robot the orchestrator is currently bound to ('g1' or 'h1'). + Read from `robot.active` in config; defaults to 'g1' for backward compat.""" + return str(get_config().get("robot", {}).get("active", "g1")).lower() + + +def g1(dry_run: bool | None = None) -> G1Client: + """Returns the client for the currently-active robot service. Despite the + historical name, this picks `services.g1` or `services.h1` based on + `robot.active`. Both robots speak the same HTTP API (G1_API_Server).""" + cfg = get_config() + key = active_robot_key() + c = _svc(cfg, key) + if not c: + # Fallback to legacy g1 block if the active key is missing — keeps the + # orchestrator usable on configs that predate the dual-robot split. + c = _svc(cfg, "g1") + if dry_run is None: + dry_run = bool(cfg.get("robot", {}).get("dry_run", False)) + return G1Client( + c["base_url"], + timeout_s=c.get("timeout_s", 5.0), + write_timeout_s=c.get("write_timeout_s"), + dry_run=dry_run, + ) + + +def _resolve_data_path(rel: str) -> Path: + p = Path(rel) + if p.is_absolute(): + return p + return data_dir() / Path(rel).name if rel.startswith("data/") else data_dir() / rel + + +def _per_side(p: Path, side: str) -> Path: + """Return _ in the same directory as p.""" + return p.with_name(f"{p.stem}_{side}{p.suffix}") + + +def default_side() -> str: + return str(get_config().get("robot", {}).get("wrist_side", "right")).lower() + + +def calibration_file_path(side: str | None = None) -> Path: + """Calibration matrix file for the given side. The hand-eye matrix is + arm-specific (the camera is fixed but each arm has its own kinematic chain), + so we keep right/left in separate files (calibration_right.yaml / _left.yaml).""" + cfg = get_config() + rel = cfg.get("calibration", {}).get("file", "data/calibration.yaml") + base = _resolve_data_path(rel) + s = (side or default_side()).lower() + return _per_side(base, s) + + +def samples_file_path(side: str | None = None) -> Path: + cfg = get_config() + rel = cfg.get("calibration", {}).get("samples_file", "data/samples.json") + base = _resolve_data_path(rel) + s = (side or default_side()).lower() + return _per_side(base, s) + + +def depth_correction_path() -> Path: + """Where the depth-bias correction state (params + samples) is persisted.""" + return data_dir() / "depth_correction.json" diff --git a/src/presa_mano/api/agent_routes.py b/src/presa_mano/api/agent_routes.py new file mode 100644 index 0000000..adfa38d --- /dev/null +++ b/src/presa_mano/api/agent_routes.py @@ -0,0 +1,203 @@ +"""AI assistant routes. + +- `POST /api/agent/chat` — send a user message, get back the assistant reply + and the trace of every tool the model invoked. Stateless on the server side: + the GUI keeps the rolling history and posts it back in `history`. + +- `GET /api/agent/tools` — list of tools exposed to the model (debug aid). + +- `GET/POST/DELETE /api/agent/tasks` — persistent registry of named prompt + templates so frequently-used tasks ("calibra braccio dx", "sposta a home + position", …) can be re-launched in one click without retyping the prompt. +""" + +from __future__ import annotations + +import json +import re +import time +from dataclasses import asdict +from typing import Any, Optional + +from fastapi import APIRouter, HTTPException +from pydantic import BaseModel, Field + +# Submodule imports (not `from ..agent import …`) to break a circular import: +# api/__init__.py is loaded first by main.py and pulls in agent_routes; if we +# imported via the agent package, agent/__init__.py would try to load +# agent.runner → agent.tools → ..api._deps while ..api is still mid-init. +from ..agent.runner import AgentRunner, OpenRouterError +from ..agent.tools import TOOL_DEFINITIONS +from ..config import data_dir, get_config + +router = APIRouter() + + +# ---------- chat ---------- + +class ChatMessage(BaseModel): + role: str + content: Optional[str] = None + # Pass-through fields used by the OpenAI tool-calling protocol. + tool_calls: Optional[list[dict[str, Any]]] = None + tool_call_id: Optional[str] = None + name: Optional[str] = None + + +class ChatReq(BaseModel): + message: str = Field(..., min_length=1, max_length=4000) + history: list[ChatMessage] = Field(default_factory=list) + + +@router.get("/tools") +def list_tools() -> dict[str, Any]: + """Tools exposed to the LLM. Useful for debugging the system prompt.""" + return {"tools": TOOL_DEFINITIONS} + + +@router.get("/health") +def agent_health() -> dict[str, Any]: + """Reports whether OpenRouter credentials are available and which model + is configured. The frontend uses this to grey-out the chat input when + the env var is missing.""" + runner = AgentRunner() + return { + "configured": runner.has_credentials(), + "model": runner.model, + "api_key_env": runner.api_key_env, + "base_url": runner.base_url, + "temperature": runner.temperature, + "max_tool_iterations": runner.max_tool_iterations, + "timeout_s": runner.timeout_s, + } + + +@router.get("/system_prompt_preview") +def system_prompt_preview() -> dict[str, Any]: + """Returns the exact system prompt the model will receive at the next + chat. Useful for the AI Settings tab so the operator can preview the + effect of editing chat.openrouter.user_prompt_addendum or any other + state that influences the prompt (active robot, marker config…).""" + from ..agent.prompt import build_system_prompt + return {"system_prompt": build_system_prompt()} + + +# Curated list shown in the AI Settings model selector. Plus a free-text +# field on the GUI side for anything not in the list. Keep the list short +# and focused on models that we've verified support OpenRouter's tool-use. +_KNOWN_MODELS = [ + {"id": "anthropic/claude-sonnet-4.5", "label": "Claude Sonnet 4.5 (consigliato)"}, + {"id": "anthropic/claude-opus-4.1", "label": "Claude Opus 4.1 (più capace, più caro)"}, + {"id": "anthropic/claude-haiku-4.5", "label": "Claude Haiku 4.5 (veloce, economico)"}, + {"id": "openai/gpt-4o", "label": "GPT-4o"}, + {"id": "openai/gpt-4o-mini", "label": "GPT-4o mini"}, + {"id": "google/gemini-2.5-pro", "label": "Gemini 2.5 Pro"}, + {"id": "google/gemini-2.5-flash", "label": "Gemini 2.5 Flash"}, + {"id": "meta-llama/llama-3.3-70b-instruct", "label": "Llama 3.3 70B"}, + {"id": "mistralai/mistral-large-2411", "label": "Mistral Large 2411"}, +] + + +@router.get("/known_models") +def known_models() -> dict[str, Any]: + """Curated short-list of OpenRouter models that work with our tool-calling. + The GUI also offers a free-text input for anything not in this list.""" + return {"models": _KNOWN_MODELS} + + +@router.post("/chat") +def chat(req: ChatReq) -> dict[str, Any]: + runner = AgentRunner() + if not runner.has_credentials(): + raise HTTPException(status_code=412, + detail=f"OpenRouter API key non impostata (env var {runner.api_key_env}).") + history = [m.model_dump(exclude_none=True) for m in req.history] + try: + result, updated_history = runner.run(req.message, history=history) + except OpenRouterError as e: + raise HTTPException(status_code=502, detail=str(e)) + return { + "reply": result.reply, + "iterations": result.iterations, + "finish_reason": result.finish_reason, + "model": result.model, + "usage": result.usage, + "tool_calls": [asdict(t) for t in result.tool_calls], + "history": updated_history, + } + + +# ---------- saved task templates ---------- + +_NAME_RE = re.compile(r"^[a-zA-Z0-9 _\-àèéìòù]{1,80}$") + + +class TaskItem(BaseModel): + name: str = Field(..., min_length=1, max_length=80) + prompt: str = Field(..., min_length=1, max_length=4000) + description: Optional[str] = Field(None, max_length=400) + + +def _tasks_path(): + return data_dir() / "agent_tasks.json" + + +def _load_tasks() -> list[dict[str, Any]]: + p = _tasks_path() + if not p.exists(): + return [] + try: + with open(p, "r", encoding="utf-8") as f: + data = json.load(f) + return data if isinstance(data, list) else [] + except json.JSONDecodeError: + return [] + + +def _save_tasks(items: list[dict[str, Any]]) -> None: + p = _tasks_path() + p.parent.mkdir(parents=True, exist_ok=True) + with open(p, "w", encoding="utf-8") as f: + json.dump(items, f, ensure_ascii=False, indent=2) + + +@router.get("/tasks") +def list_tasks() -> dict[str, Any]: + return {"tasks": _load_tasks()} + + +@router.post("/tasks") +def save_task(req: TaskItem) -> dict[str, Any]: + if not _NAME_RE.match(req.name): + raise HTTPException(status_code=422, detail="nome non valido (max 80 char, alfanumerici/spazi/_-)") + items = _load_tasks() + now = time.time() + # Replace by name if already exists, otherwise append. + found = False + for it in items: + if it.get("name") == req.name: + it["prompt"] = req.prompt + it["description"] = req.description + it["updated_at"] = now + found = True + break + if not found: + items.append({ + "name": req.name, + "prompt": req.prompt, + "description": req.description, + "created_at": now, + "updated_at": now, + }) + _save_tasks(items) + return {"ok": True, "total": len(items), "name": req.name} + + +@router.delete("/tasks/{name}") +def delete_task(name: str) -> dict[str, Any]: + items = _load_tasks() + new_items = [it for it in items if it.get("name") != name] + if len(new_items) == len(items): + raise HTTPException(status_code=404, detail=f"task '{name}' non trovata") + _save_tasks(new_items) + return {"ok": True, "total": len(new_items)} diff --git a/src/presa_mano/api/calibration_routes.py b/src/presa_mano/api/calibration_routes.py new file mode 100644 index 0000000..b3598c5 --- /dev/null +++ b/src/presa_mano/api/calibration_routes.py @@ -0,0 +1,474 @@ +"""Calibration endpoints.""" + +from __future__ import annotations + +import logging +import time +from dataclasses import asdict +from typing import Any, Optional + +import numpy as np +from fastapi import APIRouter, HTTPException, Query, Response +from pydantic import BaseModel, Field + +from ..calibration import CalibrationSampler, CalibrationStore, HandEyeSolver, SamplesStore +from ..calibration.auto_job import AutoRunner, build_grid, get_job as _auto_job +from ..clients import G1Unavailable +from ..config import get_config +from ..timing import Stopwatch +from . import _deps + +log = logging.getLogger(__name__) + +router = APIRouter() + + +class SampleReq(BaseModel): + marker_id: Optional[int] = None + size_mm: Optional[float] = None + side: Optional[str] = None + note: str = "" + + +class SolveReq(BaseModel): + method: Optional[str] = Field(None, description="TSAI | PARK | HORAUD | ANDREFF | DANIILIDIS") + side: Optional[str] = Field(None, description="right|left (default: robot.wrist_side)") + sanity_check: bool = Field(True, description="drop samples whose pair-angle or T_wrist_marker are outliers") + pair_angle_tol_deg: float = Field(8.0, ge=1.0, le=45.0) + wm_translation_mad_factor: float = Field(3.5, ge=1.0, le=10.0) + + +def _samples_store(side: str | None = None) -> SamplesStore: + return SamplesStore(_deps.samples_file_path(side)) + + +def _calib_store(side: str | None = None) -> CalibrationStore: + return CalibrationStore(_deps.calibration_file_path(side)) + + +@router.post("/sample") +def acquire_sample(req: SampleReq) -> dict[str, Any]: + sw = Stopwatch() + cfg = get_config() + marker_id = req.marker_id if req.marker_id is not None else cfg["aruco"]["wrist_marker"]["id"] + size_mm = req.size_mm if req.size_mm is not None else cfg["aruco"]["wrist_marker"]["size_mm"] + side = req.side or cfg["robot"]["wrist_side"] + + sampler = CalibrationSampler(_deps.nuwa(), _deps.marker(), _deps.g1()) + try: + sample = sampler.acquire(marker_id=marker_id, size_mm=size_mm, side=side, note=req.note) + except Exception as e: + raise HTTPException(status_code=422, detail=str(e)) + with sw.step("persist"): + items = _samples_store(side).append(sample) + return {"sample": asdict(sample), "total": len(items), "side": side, + "timings_ms": {**(sample.timings_ms or {}), **sw.as_dict()}} + + +@router.get("/samples") +def list_samples(side: Optional[str] = Query(None, description="right|left (default: robot.wrist_side)")) -> dict[str, Any]: + side = side or _deps.default_side() + items = _samples_store(side).load() + return {"total": len(items), "side": side, "samples": items} + + +@router.delete("/samples") +def clear_samples(side: Optional[str] = Query(None)) -> dict[str, Any]: + side = side or _deps.default_side() + _samples_store(side).clear() + return {"ok": True, "total": 0, "side": side} + + +@router.post("/solve") +def solve(req: SolveReq) -> dict[str, Any]: + sw = Stopwatch() + cfg = get_config() + method = (req.method or cfg.get("calibration", {}).get("method") or "TSAI").upper() + side = (req.side or _deps.default_side()).lower() + min_samples = int(cfg.get("calibration", {}).get("min_samples", 5)) + with sw.step("load_samples"): + samples = _samples_store(side).load() + if len(samples) < min_samples: + raise HTTPException(status_code=422, + detail=f"need at least {min_samples} samples for side='{side}', have {len(samples)}") + try: + with sw.step("hand_eye"): + result = HandEyeSolver.solve( + samples, method=method, + sanity_check=req.sanity_check, + pair_angle_tol_deg=req.pair_angle_tol_deg, + wm_translation_mad_factor=req.wm_translation_mad_factor, + ) + except Exception as e: + raise HTTPException(status_code=422, detail=f"hand-eye solve failed: {e}") + with sw.step("persist"): + _calib_store(side).save(result) + result["side"] = side + result["timings_ms"] = sw.as_dict() + return result + + +@router.get("/result") +def current_calibration(side: Optional[str] = Query(None)) -> dict[str, Any]: + side = side or _deps.default_side() + doc = _calib_store(side).load() + if doc is None: + raise HTTPException(status_code=404, detail=f"no calibration saved yet for side='{side}'") + doc["side"] = side + return doc + + +# --- Live preview helpers (RGB proxy + marker overlay) -------------------- + +@router.get("/rgb.jpg") +def rgb_proxy() -> Response: + """Proxy Nuwa RGB stream to avoid CORS issues in the GUI.""" + nuwa = _deps.nuwa() + try: + jpeg = nuwa.rgb_jpeg() + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa RGB failed: {e}") + return Response(content=jpeg, media_type="image/jpeg", + headers={"Cache-Control": "no-store"}) + + +class PreviewReq(BaseModel): + marker_id: Optional[int] = None + size_mm: Optional[float] = None + + +@router.post("/preview") +def preview_marker(req: PreviewReq) -> dict[str, Any]: + """Detect the wrist marker on the current RGB frame and return its corners + (for drawing overlays in the GUI) + pose in camera frame. + + Marker-finder runs the PnP server-side using the Nuwa intrinsics that + presa-mano pushes at startup, so we just relay its result.""" + sw = Stopwatch() + cfg = get_config() + marker_id = req.marker_id if req.marker_id is not None else cfg["aruco"]["wrist_marker"]["id"] + size_mm = req.size_mm if req.size_mm is not None else cfg["aruco"]["wrist_marker"]["size_mm"] + + try: + with sw.step("marker_detect"): + result = _deps.marker().detect_url( + markers=[{"id": int(marker_id), "size_mm": float(size_mm)}], + image_url=_deps.nuwa().rgb_url(), + ) + except Exception as e: + raise HTTPException(status_code=502, detail=f"marker-finder failed: {e}") + + found = result.get("found", []) + entry = next((m for m in found if int(m["id"]) == int(marker_id)), None) + if entry is None: + return {"found": False, "marker_id": marker_id, + "not_found": result.get("not_found", []), + "timings_ms": sw.as_dict()} + + img_pts = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2) + tvec = np.asarray(entry.get("position_m") or [0, 0, 0], dtype=np.float64) + return { + "found": True, + "marker_id": marker_id, + "corners": entry["corners"], + "center_px": img_pts.mean(axis=0).tolist(), + "pose_camera": { + "rvec": entry.get("rvec"), + "tvec": tvec.tolist(), + "distance_m": float(np.linalg.norm(tvec)), + "quaternion_xyzw": entry.get("quaternion_xyzw"), + "source": "marker_finder", + }, + "timings_ms": sw.as_dict(), + } + + +# --- Future: scripted grid acquisition -------------------------------------- + +class AutoGridReq(BaseModel): + """Automated calibration by visiting a 3D grid of wrist poses. + + Default: 3x3 (X,Y) at 3 heights = 27 waypoints. + Z is clamped so it never drops below `min_z_m` to avoid hitting the table. + """ + start_position: list[float] = Field(..., min_length=3, max_length=3) + orientation_quaternion_xyzw: list[float] = Field(..., min_length=4, max_length=4) + step_x_m: float = 0.05 + step_y_m: float = 0.05 + step_z_m: float = 0.05 + n_x: int = 3 + n_y: int = 3 + n_z: int = 3 + min_z_m: float = Field(..., description="floor/table safety — z is clamped to >= this value") + settle_s: float = 1.0 + side: Optional[str] = None + dry_run: bool = True + auto_solve: bool = True + + +@router.post("/auto_grid") +def auto_grid(req: AutoGridReq) -> dict[str, Any]: + """Move the wrist through a grid of waypoints, acquiring a sample at each. + + While the G1 DDS is unstable, keep dry_run=True to just preview the waypoints. + """ + cfg = get_config() + side = req.side or cfg["robot"]["wrist_side"] + g1 = _deps.g1(dry_run=req.dry_run) + sampler = CalibrationSampler(_deps.nuwa(), _deps.marker(), _deps.g1(dry_run=False)) + store = _samples_store(side) + + x0, y0, z0 = req.start_position + waypoints: list[list[float]] = [] + for iz in range(req.n_z): + for iy in range(req.n_y): + for ix in range(req.n_x): + x = x0 + (ix - (req.n_x - 1) / 2.0) * req.step_x_m + y = y0 + (iy - (req.n_y - 1) / 2.0) * req.step_y_m + z = max(req.min_z_m, z0 + iz * req.step_z_m) + waypoints.append([x, y, z]) + + results: list[dict[str, Any]] = [] + for i, pos in enumerate(waypoints): + try: + move = g1.wrist_absolute(side=side, position=pos, + quaternion=req.orientation_quaternion_xyzw, + wait=True, timeout_s=req.settle_s * 5) + except G1Unavailable as e: + results.append({"idx": i, "position": pos, "error": f"G1 move failed: {e}"}) + continue + time.sleep(req.settle_s) + if req.dry_run: + results.append({"idx": i, "position": pos, "move": move, "sample": None, "dry_run": True}) + continue + try: + sample = sampler.acquire( + marker_id=cfg["aruco"]["wrist_marker"]["id"], + size_mm=cfg["aruco"]["wrist_marker"]["size_mm"], + side=side, + note=f"auto_grid[{i}]", + ) + store.append(sample) + results.append({"idx": i, "position": pos, "move": move, "sample": asdict(sample)}) + except Exception as e: + log.warning("auto_grid sample %d failed: %s", i, e) + results.append({"idx": i, "position": pos, "move": move, "error": str(e)}) + + out: dict[str, Any] = {"waypoints": waypoints, "results": results, "dry_run": req.dry_run} + + if req.auto_solve and not req.dry_run: + samples = store.load() + if len(samples) >= int(cfg.get("calibration", {}).get("min_samples", 5)): + try: + method = (cfg.get("calibration", {}).get("method") or "TSAI").upper() + solve_result = HandEyeSolver.solve(samples, method=method) + _calib_store(side).save(solve_result) + out["calibration"] = solve_result + except Exception as e: + out["solve_error"] = str(e) + out["side"] = side + return out + + +# --- Automated calibration procedure --------------------------------------- +# Grid + wrist rotation search, background job with polled status. Frontend +# (tab "Auto-Calibrazione") renders the waypoints on top of the 3D URDF. + + +class AutoStartReq(BaseModel): + # Starting wrist pose: taken from G1 live if omitted. + start_position: Optional[list[float]] = Field(None, min_length=3, max_length=3) + start_quaternion_xyzw: Optional[list[float]] = Field(None, min_length=4, max_length=4) + # Grid span (mm) and number of divisions per axis. + delta_x_mm: float = Field(..., ge=0.0, le=500.0) + delta_y_mm: float = Field(..., ge=0.0, le=500.0) + delta_z_mm: float = Field(..., ge=0.0, le=500.0) + # Offset (mm) applied to the live wrist pose before centring the grid. + # Lets the operator displace the grid centre from the current pose + # without physically moving the wrist first. + offset_x_mm: float = Field(0.0, ge=-500.0, le=500.0) + offset_y_mm: float = Field(0.0, ge=-500.0, le=500.0) + offset_z_mm: float = Field(0.0, ge=-500.0, le=500.0) + n_x: int = Field(3, ge=1, le=7) + n_y: int = Field(3, ge=1, le=7) + n_z: int = Field(3, ge=1, le=7) + # Wrist rotation search range (degrees) when marker not found at nominal pose. + wrist_rot_delta_deg: float = Field(10.0, ge=0.0, le=45.0) + min_z_m: float = 0.05 + side: Optional[str] = None + settle_s: float = Field(1.0, ge=0.1, le=5.0) + move_timeout_s: float = Field(8.0, ge=1.0, le=30.0) + auto_solve: bool = True + dry_run: bool = False + order: str = Field("serpentine", pattern="^(nested|serpentine)$") + + +class AutoFeasibilityReq(AutoStartReq): + """Same shape as start, used only to preview the grid.""" + pass + + +class AutoVerifyReq(AutoStartReq): + """Real reachability verification — same grid, robot moves to each point + but does NOT acquire samples. Faster than full procedure, definitive.""" + pass + + +def _resolve_start_pose(req: AutoStartReq, side: str) -> tuple[list[float], list[float]]: + """If caller did not supply a start pose, read the current wrist pose from G1.""" + if req.start_position and req.start_quaternion_xyzw: + return list(req.start_position), list(req.start_quaternion_xyzw) + try: + w = _deps.g1().wrist() + except Exception as e: + raise HTTPException(status_code=502, detail=f"cannot read wrist pose: {e}") + body = w.get("data") if isinstance(w.get("data"), dict) else w + pose = body.get(f"{side}_wrist") or body.get(side) + if pose is None or "position" not in pose or "quaternion" not in pose: + raise HTTPException(status_code=422, detail=f"G1 /wrist missing '{side}' pose") + return list(pose["position"]), list(pose["quaternion"]) + + +def _grid_from_req(req: AutoStartReq, side: str) -> tuple[list, list[float], list[float], list[float]]: + """Returns (grid, home_position, home_quaternion, center_position). + + home_pose is the actual live wrist pose — used for return-to-home on stop. + center_position is home_position + (offset_x, offset_y, offset_z), which + is what the grid is actually centred on.""" + home_p, home_q = _resolve_start_pose(req, side) + center_p = [ + home_p[0] + req.offset_x_mm / 1000.0, + home_p[1] + req.offset_y_mm / 1000.0, + home_p[2] + req.offset_z_mm / 1000.0, + ] + grid = build_grid( + start_position=np.asarray(center_p), + start_quaternion=np.asarray(home_q), + delta_m=(req.delta_x_mm / 1000.0, req.delta_y_mm / 1000.0, req.delta_z_mm / 1000.0), + divisions=(req.n_x, req.n_y, req.n_z), + min_z_m=req.min_z_m, + order=req.order, + ) + return grid, home_p, home_q, center_p + + +@router.post("/auto/feasibility") +def auto_feasibility(req: AutoFeasibilityReq) -> dict[str, Any]: + """Build the grid and return per-point reachability — no motion.""" + from dataclasses import asdict as _asdict + cfg = get_config() + side = req.side or cfg["robot"]["wrist_side"] + grid, home_p, home_q, center_p = _grid_from_req(req, side) + return { + "side": side, + "start_position": home_p, + "start_quaternion_xyzw": home_q, + "center_position": center_p, + "offset_mm": [req.offset_x_mm, req.offset_y_mm, req.offset_z_mm], + "wrist_rot_delta_deg": req.wrist_rot_delta_deg, + "waypoints": [_asdict(w) for w in grid], + "n_reachable": sum(1 for w in grid if w.reachable), + "n_unreachable": sum(1 for w in grid if not w.reachable), + } + + +def _make_runner(req: AutoStartReq, side: str, *, feasibility_only: bool): + cfg = get_config() + return AutoRunner( + side=side, + marker_id=int(cfg["aruco"]["wrist_marker"]["id"]), + size_mm=float(cfg["aruco"]["wrist_marker"]["size_mm"]), + wrist_rot_delta_rad=float(np.deg2rad(req.wrist_rot_delta_deg)), + settle_s=req.settle_s, + move_timeout_s=req.move_timeout_s, + g1_move=_deps.g1(dry_run=req.dry_run).wrist_absolute, + sampler=CalibrationSampler(_deps.nuwa(), _deps.marker(), _deps.g1(dry_run=False)), + store=_samples_store(side), + feasibility_only=feasibility_only, + ) + + +@router.post("/auto/start") +def auto_start(req: AutoStartReq) -> dict[str, Any]: + job = _auto_job() + if job.is_running(): + raise HTTPException(status_code=409, detail="another auto job is already running") + cfg = get_config() + side = req.side or cfg["robot"]["wrist_side"] + grid, home_p, home_q, center_p = _grid_from_req(req, side) + runner = _make_runner(req, side, feasibility_only=False) + + def on_finish(state) -> None: + if not req.auto_solve: + return + samples = _samples_store(side).load() + min_n = int(cfg.get("calibration", {}).get("min_samples", 5)) + if len(samples) < min_n: + return + try: + method = (cfg.get("calibration", {}).get("method") or "TSAI").upper() + result = HandEyeSolver.solve(samples, method=method) + _calib_store(side).save(result) + state.calibration = result + except Exception as e: + log.warning("auto_solve after auto-calibration failed: %s", e) + + params = { + "side": side, + "start_position": home_p, + "start_quaternion_xyzw": home_q, + "center_position": center_p, + "offset_mm": [req.offset_x_mm, req.offset_y_mm, req.offset_z_mm], + "delta_mm": [req.delta_x_mm, req.delta_y_mm, req.delta_z_mm], + "divisions": [req.n_x, req.n_y, req.n_z], + "wrist_rot_delta_deg": req.wrist_rot_delta_deg, + "min_z_m": req.min_z_m, + "dry_run": req.dry_run, + "auto_solve": req.auto_solve, + "order": req.order, + "mode": "calibration", + } + job.start(waypoints=grid, runner=runner, on_finish=on_finish, params=params, + home_pose=(home_p, home_q)) + return {"ok": True, "status": "running", "n_waypoints": len(grid), "params": params} + + +@router.post("/auto/verify_reachability") +def auto_verify_reachability(req: AutoVerifyReq) -> dict[str, Any]: + """Run the robot through the grid WITHOUT acquiring samples. The reached_target + flag from each move is the ground truth for reachability — slow but definitive.""" + job = _auto_job() + if job.is_running(): + raise HTTPException(status_code=409, detail="another auto job is already running") + cfg = get_config() + side = req.side or cfg["robot"]["wrist_side"] + grid, home_p, home_q, center_p = _grid_from_req(req, side) + runner = _make_runner(req, side, feasibility_only=True) + params = { + "side": side, + "start_position": home_p, + "start_quaternion_xyzw": home_q, + "center_position": center_p, + "offset_mm": [req.offset_x_mm, req.offset_y_mm, req.offset_z_mm], + "delta_mm": [req.delta_x_mm, req.delta_y_mm, req.delta_z_mm], + "divisions": [req.n_x, req.n_y, req.n_z], + "order": req.order, + "dry_run": req.dry_run, + "mode": "verify_reachability", + } + job.start(waypoints=grid, runner=runner, params=params, + home_pose=(home_p, home_q)) + return {"ok": True, "status": "running", "n_waypoints": len(grid), "params": params} + + +@router.get("/auto/status") +def auto_status() -> dict[str, Any]: + return _auto_job().snapshot() + + +@router.post("/auto/stop") +def auto_stop() -> dict[str, Any]: + """Stop the current job. If the job was started with a home_pose, the + worker returns the wrist there before finishing.""" + stopped = _auto_job().stop() + return {"ok": True, "was_running": stopped} diff --git a/src/presa_mano/api/config_routes.py b/src/presa_mano/api/config_routes.py new file mode 100644 index 0000000..544b64a --- /dev/null +++ b/src/presa_mano/api/config_routes.py @@ -0,0 +1,21 @@ +"""GET/PUT /api/config — read the merged config and apply runtime overrides.""" + +from __future__ import annotations + +from typing import Any + +from fastapi import APIRouter, Body + +from ..config import get_config, update_config + +router = APIRouter() + + +@router.get("") +def read_config() -> dict[str, Any]: + return get_config() + + +@router.put("") +def write_config(patch: dict[str, Any] = Body(...)) -> dict[str, Any]: + return update_config(patch) diff --git a/src/presa_mano/api/grasp_routes.py b/src/presa_mano/api/grasp_routes.py new file mode 100644 index 0000000..23208b7 --- /dev/null +++ b/src/presa_mano/api/grasp_routes.py @@ -0,0 +1,319 @@ +"""Grasp planning + execution endpoints.""" + +from __future__ import annotations + +from typing import Any, Optional + +import numpy as np +import time +from dataclasses import asdict +from fastapi import APIRouter, HTTPException +from pydantic import BaseModel, Field + +from ..calibration import CalibrationStore +from ..clients import G1Unavailable +from ..config import get_config +from ..geometry import transform_points +from ..grasp import GraspPlanner, compute_axes +from ..grasp.visual_servo import ( + ServoError, + WorkPlane, + fit_plane_svd, + get_work_plane, + plan as servo_plan, + set_work_plane, +) +from ..perception import ObjectDetector, filter_outliers, nuwa_to_cv_frame +from .perception_routes import _bbox_to_roi +from ..timing import Stopwatch +from . import _deps + +router = APIRouter() + + +class PlanReq(BaseModel): + conf: Optional[float] = None + class_name: Optional[str] = None + + +class ExecuteReq(PlanReq): + dry_run: bool = True + + +def _object_points_in_base(conf: float | None, class_name: str | None, sw: Stopwatch + ) -> tuple[np.ndarray, dict[str, Any]]: + cfg = get_config() + nuwa = _deps.nuwa() + yolo = _deps.yolo() + + side = cfg.get("robot", {}).get("wrist_side", "right") + T_base_cam = CalibrationStore(_deps.calibration_file_path(side)).T_base_camera() + if T_base_cam is None: + raise HTTPException(status_code=412, detail=f"calibration missing for side='{side}': run /api/calibration/solve first") + + detector = ObjectDetector(yolo, nuwa) + try: + with sw.step("yolo"): + dets = detector.detect(conf=conf) + except HTTPException: + raise + except Exception as e: + raise HTTPException(status_code=502, detail=f"YOLO detect failed: {e}") + if class_name: + dets = [d for d in dets if (d.get("class") or "").lower() == class_name.lower()] + if not dets: + raise HTTPException(status_code=404, detail="no object detected") + dets.sort(key=lambda d: d["confidence"], reverse=True) + top = dets[0] + b = top["bbox"] + + u_min, v_min, u_max, v_max = _bbox_to_roi(b) + try: + with sw.step("pointcloud_roi"): + pc, _meta = nuwa.pointcloud_roi( + u_min, v_min, u_max, v_max, + step=int(cfg.get("grasp", {}).get("pointcloud_step", 1)), + max_depth_mm=int(cfg.get("grasp", {}).get("pointcloud_max_depth_mm", 2000)), + ) + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa ROI pointcloud failed: {e}") + with sw.step("filter_outliers"): + cropped = filter_outliers(pc) + if len(cropped) < 10: + raise HTTPException(status_code=422, detail=f"too few valid depth points in bbox: {len(cropped)}") + + with sw.step("to_base_frame"): + pts_cv = nuwa_to_cv_frame(cropped[:, :3]) + pts_base = transform_points(T_base_cam, pts_cv) + return pts_base, {"detection": top, "T_base_camera": T_base_cam.tolist(), "n_points": len(pts_base)} + + +@router.post("/plan") +def plan(req: PlanReq) -> dict[str, Any]: + sw = Stopwatch() + cfg = get_config() + pts_base, meta = _object_points_in_base(req.conf, req.class_name, sw) + with sw.step("pca_axes"): + axes = compute_axes(pts_base) + planner = GraspPlanner( + approach_offset_m=float(cfg["grasp"]["approach_offset_m"]), + max_object_width_m=float(cfg["grasp"]["max_object_width_m"]), + ) + with sw.step("plan"): + g = planner.plan(axes) + return {"plan": g.to_dict(), "timings_ms": sw.as_dict(), **meta} + + +@router.post("/execute") +def execute(req: ExecuteReq) -> dict[str, Any]: + sw = Stopwatch() + cfg = get_config() + side = cfg["robot"]["wrist_side"] + pts_base, meta = _object_points_in_base(req.conf, req.class_name, sw) + with sw.step("pca_axes"): + axes = compute_axes(pts_base) + planner = GraspPlanner( + approach_offset_m=float(cfg["grasp"]["approach_offset_m"]), + max_object_width_m=float(cfg["grasp"]["max_object_width_m"]), + ) + with sw.step("plan"): + g = planner.plan(axes) + + open_action = "RIGHT_OPEN" if side == "right" else "LEFT_OPEN" + close_action = "RIGHT_CLOSE" if side == "right" else "LEFT_CLOSE" + + g1 = _deps.g1(dry_run=req.dry_run) + steps: list[dict[str, Any]] = [] + try: + with sw.step("hand_open"): + steps.append({"step": "hand_open", "result": g1.hand_action(open_action)}) + with sw.step("pre_grasp"): + steps.append({"step": "pre_grasp", "result": g1.wrist_absolute( + side=side, + position=g.pre_grasp_position.tolist(), + quaternion=g.grasp_quaternion.tolist(), + )}) + with sw.step("grasp_approach"): + steps.append({"step": "grasp_approach", "result": g1.wrist_absolute( + side=side, + position=g.grasp_position.tolist(), + quaternion=g.grasp_quaternion.tolist(), + )}) + with sw.step("hand_close"): + steps.append({"step": "hand_close", "result": g1.hand_action(close_action)}) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=f"G1 unavailable: {e}") + return {"plan": g.to_dict(), "steps": steps, "timings_ms": sw.as_dict(), **meta} + + +# --------------------------------------------------------------------------- +# Visual servo (marker-relative, no static hand-eye calibration). +# --------------------------------------------------------------------------- + +class VisualServoReq(BaseModel): + conf: Optional[float] = None + class_name: Optional[str] = None + side: Optional[str] = None + min_distance_m: Optional[float] = None # default from config (0.1 m) + step_fraction: Optional[float] = None # default from config (0.5) + # Override for grasp.visual_servo.wrist_marker_rvec (radians). Useful for + # live tuning from the UI without persisting to config on every try. + wrist_marker_rvec: Optional[list[float]] = None + + +class VisualServoStepReq(VisualServoReq): + dry_run: bool = True + timeout_s: float = 5.0 + + +def _servo_plan_from_req(req: VisualServoReq, sw: Stopwatch): + cfg = get_config() + vs_cfg = (cfg.get("grasp", {}) or {}).get("visual_servo", {}) or {} + side = req.side or cfg["robot"]["wrist_side"] + min_dist = float(req.min_distance_m + if req.min_distance_m is not None + else vs_cfg.get("min_distance_m", 0.10)) + step_frac = float(req.step_fraction + if req.step_fraction is not None + else vs_cfg.get("step_fraction", 0.5)) + # Request-level rvec override: thread it into a shallow-copied cfg so the + # core plan() function keeps reading from a single place. + if req.wrist_marker_rvec is not None: + cfg = {**cfg, "grasp": {**(cfg.get("grasp") or {}), + "visual_servo": {**vs_cfg, + "wrist_marker_rvec": list(req.wrist_marker_rvec)}}} + marker_id = int(cfg["aruco"]["wrist_marker"]["id"]) + size_mm = float(cfg["aruco"]["wrist_marker"]["size_mm"]) + pc_step = int(cfg.get("grasp", {}).get("pointcloud_step", 1)) + pc_max_depth = int(cfg.get("grasp", {}).get("pointcloud_max_depth_mm", 2000)) + try: + with sw.step("servo_plan"): + result = servo_plan( + side=side, marker_id=marker_id, size_mm=size_mm, + conf=req.conf, class_name=req.class_name, + min_distance_m=min_dist, step_fraction=step_frac, + pointcloud_step=pc_step, pointcloud_max_depth_mm=pc_max_depth, + cfg=cfg, + nuwa=_deps.nuwa(), marker=_deps.marker(), + yolo=_deps.yolo(), g1=_deps.g1(dry_run=False), + ) + except ServoError as e: + raise HTTPException(status_code=422, detail=str(e)) + except Exception as e: + raise HTTPException(status_code=502, detail=f"servo plan failed: {e}") + return side, min_dist, step_frac, result + + +@router.post("/visual_servo/plan") +def visual_servo_plan(req: VisualServoReq) -> dict[str, Any]: + """Perception + next-step computation, no motion. Useful for UI preview.""" + sw = Stopwatch() + side, min_dist, step_frac, p = _servo_plan_from_req(req, sw) + return { + "side": side, + "min_distance_m": min_dist, + "step_fraction": step_frac, + "plan": p.__dict__, + "timings_ms": sw.as_dict(), + } + + +@router.post("/visual_servo/step") +def visual_servo_step(req: VisualServoStepReq) -> dict[str, Any]: + """Plan + execute one half-step toward the object. Returns the move result + plus the plan (before the move) so the UI can visualise what just happened; + the next click re-plans from the new wrist pose.""" + sw = Stopwatch() + side, min_dist, step_frac, p = _servo_plan_from_req(req, sw) + move_result: dict[str, Any] | None = None + if p.done or p.target_position_base is None: + return { + "side": side, + "min_distance_m": min_dist, + "step_fraction": step_frac, + "plan": p.__dict__, + "moved": False, + "reason": p.reason or "reached", + "timings_ms": sw.as_dict(), + } + g1 = _deps.g1(dry_run=req.dry_run) + try: + with sw.step("wrist_absolute"): + move_result = g1.wrist_absolute( + side=side, + position=list(p.target_position_base), + quaternion=list(p.target_quaternion_base or p.wrist_quaternion_base), + wait=True, + timeout_s=req.timeout_s, + ) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=f"G1 unavailable: {e}") + return { + "side": side, + "min_distance_m": min_dist, + "step_fraction": step_frac, + "plan": p.__dict__, + "moved": True, + "move_result": move_result, + "timings_ms": sw.as_dict(), + } + + +# --------------------------------------------------------------------------- +# Work plane (for the visual-servo tab): fit once from a user-selected ROI, +# stored in-memory (singleton). Subsequent visual_servo/plan calls enrich the +# response with plane projections of marker and object. +# --------------------------------------------------------------------------- + +class PlaneFitReq(BaseModel): + u_min: int = Field(..., ge=0) + v_min: int = Field(..., ge=0) + u_max: int = Field(..., gt=0) + v_max: int = Field(..., gt=0) + max_depth_mm: Optional[int] = None + + +@router.post("/visual_servo/plane/fit") +def visual_servo_plane_fit(req: PlaneFitReq) -> dict[str, Any]: + cfg = get_config() + nuwa = _deps.nuwa() + pc_max = req.max_depth_mm or int(cfg.get("grasp", {}).get("pointcloud_max_depth_mm", 2000)) + try: + pc, _meta = nuwa.pointcloud_roi( + req.u_min, req.v_min, req.u_max, req.v_max, + step=1, max_depth_mm=pc_max, + ) + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa pointcloud_roi failed: {e}") + if len(pc) < 10: + raise HTTPException(status_code=422, detail=f"too few depth points in ROI: {len(pc)}") + pts_cv = nuwa_to_cv_frame(pc[:, :3]) + # Drop gross outliers before SVD (stray far-depth pixels around the edges). + pts_cv = filter_outliers(pts_cv, n_std=2.0) + try: + normal, offset, centroid, rms_mm = fit_plane_svd(pts_cv) + except ServoError as e: + raise HTTPException(status_code=422, detail=str(e)) + wp = WorkPlane( + normal=[float(x) for x in normal], + offset=float(offset), + centroid=[float(x) for x in centroid], + n_inliers=int(len(pts_cv)), + fit_rms_mm=float(rms_mm), + roi=[int(req.u_min), int(req.v_min), int(req.u_max), int(req.v_max)], + created_at=time.time(), + ) + set_work_plane(wp) + return {"ok": True, "plane": asdict(wp)} + + +@router.get("/visual_servo/plane") +def visual_servo_plane_get() -> dict[str, Any]: + wp = get_work_plane() + return {"set": wp is not None, "plane": asdict(wp) if wp is not None else None} + + +@router.delete("/visual_servo/plane") +def visual_servo_plane_clear() -> dict[str, Any]: + set_work_plane(None) + return {"ok": True, "set": False} diff --git a/src/presa_mano/api/home_routes.py b/src/presa_mano/api/home_routes.py new file mode 100644 index 0000000..117e84c --- /dev/null +++ b/src/presa_mano/api/home_routes.py @@ -0,0 +1,122 @@ +"""Home dashboard endpoints. + +Aggregates communication health for every upstream microservice +(Nuwa, marker-finder, YOLO, and the currently-active robot bridge — G1 or H1) +and exposes the active-robot selector used by the Home tab in the GUI. + +The orchestrator has no hardware of its own, so "is the system healthy" reduces +to "are the four upstream services reachable". This endpoint pings each one +and reports status + round-trip latency in a single payload so the GUI can +render it without making four parallel calls itself. +""" + +from __future__ import annotations + +import time +from typing import Any + +import httpx +from fastapi import APIRouter, HTTPException +from pydantic import BaseModel, Field + +from ..config import get_config, update_config +from . import _deps + +router = APIRouter() + + +def _ping(name: str, base_url: str, path: str, timeout_s: float) -> dict[str, Any]: + """Best-effort GET ping. Always returns a record, never raises.""" + rec: dict[str, Any] = { + "name": name, + "url": base_url.rstrip("/") + path, + "ok": False, + "status_code": None, + "latency_ms": None, + "error": None, + } + t0 = time.perf_counter() + try: + with httpx.Client(timeout=timeout_s) as c: + r = c.get(rec["url"]) + rec["latency_ms"] = round((time.perf_counter() - t0) * 1000.0, 1) + rec["status_code"] = r.status_code + rec["ok"] = r.is_success + if not r.is_success: + rec["error"] = (r.text or "")[:200] + except (httpx.HTTPError, OSError) as e: + rec["latency_ms"] = round((time.perf_counter() - t0) * 1000.0, 1) + rec["error"] = str(e)[:200] + return rec + + +@router.get("/status") +def status() -> dict[str, Any]: + """Aggregate health of every configured upstream microservice.""" + cfg = get_config() + services = cfg.get("services", {}) + active = _deps.active_robot_key() + + devices: list[dict[str, Any]] = [] + + nuwa = services.get("nuwa") or {} + if nuwa.get("base_url"): + devices.append({ + "key": "nuwa", + "label": "Nuwa-HP60C (camera)", + **_ping("nuwa", nuwa["base_url"], "/api/health", float(nuwa.get("timeout_s", 5.0))), + }) + + marker = services.get("marker_finder") or {} + if marker.get("base_url"): + # marker-finder has no /health; fall back to the root which returns a + # response (typically 404/405) — what matters for "is it reachable" is + # that we got *any* HTTP response, so we treat 4xx as reachable too. + rec = _ping("marker_finder", marker["base_url"], "/", float(marker.get("timeout_s", 5.0))) + if rec["status_code"] is not None: + rec["ok"] = True + rec["error"] = None + devices.append({"key": "marker_finder", "label": "marker-finder (ArUco)", **rec}) + + yolo = services.get("yolo") or {} + if yolo.get("base_url"): + rec = _ping("yolo", yolo["base_url"], "/classes", float(yolo.get("timeout_s", 10.0))) + devices.append({"key": "yolo", "label": "YOLO server", **rec}) + + for robot_key in ("g1", "h1"): + rcfg = services.get(robot_key) or {} + if not rcfg.get("base_url"): + continue + rec = _ping(robot_key, rcfg["base_url"], "/health", float(rcfg.get("timeout_s", 5.0))) + devices.append({ + "key": robot_key, + "label": f"Robot {robot_key.upper()}" + (" (attivo)" if robot_key == active else ""), + "active": robot_key == active, + **rec, + }) + + overall = "ok" if all(d["ok"] for d in devices) else "degraded" if any(d["ok"] for d in devices) else "down" + return {"overall": overall, "active_robot": active, "devices": devices} + + +class ActiveRobotReq(BaseModel): + active: str = Field(..., pattern="^(g1|h1)$") + + +@router.get("/robot") +def get_active_robot() -> dict[str, Any]: + cfg = get_config() + services = cfg.get("services", {}) or {} + return { + "active": _deps.active_robot_key(), + "available": [k for k in ("g1", "h1") if (services.get(k) or {}).get("base_url")], + } + + +@router.put("/robot") +def set_active_robot(req: ActiveRobotReq) -> dict[str, Any]: + services = (get_config().get("services") or {}) + if not (services.get(req.active) or {}).get("base_url"): + raise HTTPException(status_code=400, detail=f"services.{req.active}.base_url not configured") + update_config({"robot": {"active": req.active}}) + return {"active": _deps.active_robot_key()} diff --git a/src/presa_mano/api/perception_routes.py b/src/presa_mano/api/perception_routes.py new file mode 100644 index 0000000..37236d9 --- /dev/null +++ b/src/presa_mano/api/perception_routes.py @@ -0,0 +1,441 @@ +"""Perception endpoints: YOLO detect + object point cloud in base frame.""" + +from __future__ import annotations + +from typing import Any, Optional + +import numpy as np +from fastapi import APIRouter, HTTPException, Query +from pydantic import BaseModel + +from ..config import get_config +from ..geometry import transform_points +from ..perception import ObjectDetector, filter_outliers, nuwa_to_cv_frame +from ..timing import Stopwatch +from . import _deps + +router = APIRouter() + + +class DetectReq(BaseModel): + conf: Optional[float] = None + class_name: Optional[str] = None + max_points: int = 20000 + + +class ScanReq(BaseModel): + conf: Optional[float] = None + class_name: Optional[str] = None # if set, point cloud is computed for this class + max_points: int = 20000 + include_points: bool = True # set false to skip the ROI pointcloud (faster) + + +@router.post("/detect") +def detect_objects(req: DetectReq) -> dict[str, Any]: + sw = Stopwatch() + yolo = _deps.yolo() + nuwa = _deps.nuwa() + detector = ObjectDetector(yolo, nuwa) + try: + with sw.step("yolo"): + dets = detector.detect(conf=req.conf) + except Exception as e: + raise HTTPException(status_code=502, detail=f"YOLO detect failed: {e}") + if req.class_name: + dets = [d for d in dets if (d.get("class") or "").lower() == req.class_name.lower()] + return {"detections": dets, "timings_ms": sw.as_dict()} + + +@router.get("/classes") +def list_classes() -> dict[str, Any]: + """Class names exposed by the YOLO model. Empty list if yolo-server is older + and does not serve /classes yet — the UI should still work by deriving the + classes from /scan detections.""" + try: + items = _deps.yolo().classes() + except Exception as e: + raise HTTPException(status_code=502, detail=f"YOLO classes failed: {e}") + return {"classes": items} + + +@router.post("/scan") +def scan(req: ScanReq) -> dict[str, Any]: + """One YOLO call → all detections (sorted by confidence) + optional point + cloud for the selected class. If class_name is provided the point cloud is + computed for its highest-confidence detection; otherwise for the top overall + detection.""" + sw = Stopwatch() + yolo = _deps.yolo() + nuwa = _deps.nuwa() + detector = ObjectDetector(yolo, nuwa) + try: + with sw.step("yolo"): + all_dets = detector.detect(conf=req.conf) + except Exception as e: + raise HTTPException(status_code=502, detail=f"YOLO detect failed: {e}") + + detections = sorted( + (d for d in all_dets if (d.get("class") or "").strip()), + key=lambda d: d["confidence"], + reverse=True, + ) + + out: dict[str, Any] = { + "detections": detections, + "selected": None, + "n_points": 0, + "timings_ms": sw.as_dict(), + } + if not req.include_points or not detections: + out["timings_ms"] = sw.as_dict() + return out + + target: dict[str, Any] | None = None + if req.class_name: + target = next( + (d for d in detections if (d.get("class") or "").lower() == req.class_name.lower()), + None, + ) + if target is None and not req.class_name: + target = detections[0] + if target is None: + # requested class not detected in this frame + out["timings_ms"] = sw.as_dict() + return out + + bbox = target["bbox"] + cfg = get_config() + step = int(cfg.get("grasp", {}).get("pointcloud_step", 1)) + max_depth = int(cfg.get("grasp", {}).get("pointcloud_max_depth_mm", 2000)) + u_min, v_min, u_max, v_max = _bbox_to_roi(bbox) + try: + with sw.step("pointcloud_roi"): + pc, _meta = nuwa.pointcloud_roi(u_min, v_min, u_max, v_max, + step=step, max_depth_mm=max_depth) + except HTTPException: + raise + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa pointcloud ROI failed: {e}") + + with sw.step("filter_outliers"): + cropped = filter_outliers(pc) + if len(cropped) > req.max_points: + idx = np.random.choice(len(cropped), req.max_points, replace=False) + cropped = cropped[idx] + + out["selected"] = target + out["n_points"] = int(len(cropped)) + out["points_camera"] = cropped[:, :3].tolist() if len(cropped) else [] + + T_base_cam = _load_calibration() + if T_base_cam is not None and len(cropped) > 0: + with sw.step("to_base_frame"): + pts_cv = nuwa_to_cv_frame(cropped[:, :3]) + pts_base = transform_points(T_base_cam, pts_cv) + out["points_base"] = pts_base.tolist() + out["T_base_camera"] = T_base_cam.tolist() + out["timings_ms"] = sw.as_dict() + return out + + +@router.post("/object_points") +def object_points(req: DetectReq) -> dict[str, Any]: + """Runs YOLO, takes the top detection (or class-filtered), returns its point cloud + both in camera frame and in base frame (if calibration is available).""" + sw = Stopwatch() + yolo = _deps.yolo() + nuwa = _deps.nuwa() + detector = ObjectDetector(yolo, nuwa) + try: + with sw.step("yolo"): + dets = detector.detect(conf=req.conf) + except Exception as e: + raise HTTPException(status_code=502, detail=f"YOLO detect failed: {e}") + if req.class_name: + dets = [d for d in dets if (d.get("class") or "").lower() == req.class_name.lower()] + if not dets: + raise HTTPException(status_code=404, detail="no object detected") + dets.sort(key=lambda d: d["confidence"], reverse=True) + top = dets[0] + bbox = top["bbox"] + + cfg = get_config() + step = int(cfg.get("grasp", {}).get("pointcloud_step", 1)) + max_depth = int(cfg.get("grasp", {}).get("pointcloud_max_depth_mm", 2000)) + u_min, v_min, u_max, v_max = _bbox_to_roi(bbox) + try: + with sw.step("pointcloud_roi"): + pc, _meta = nuwa.pointcloud_roi(u_min, v_min, u_max, v_max, + step=step, max_depth_mm=max_depth) + except HTTPException: + raise + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa pointcloud ROI failed: {e}") + + with sw.step("filter_outliers"): + cropped = filter_outliers(pc) + if len(cropped) > req.max_points: + idx = np.random.choice(len(cropped), req.max_points, replace=False) + cropped = cropped[idx] + + out: dict[str, Any] = { + "detection": top, + "n_points": int(len(cropped)), + "points_camera": cropped[:, :3].tolist(), + } + + T_base_cam = _load_calibration() + if T_base_cam is not None and len(cropped) > 0: + with sw.step("to_base_frame"): + pts_cv = nuwa_to_cv_frame(cropped[:, :3]) + pts_base = transform_points(T_base_cam, pts_cv) + out["points_base"] = pts_base.tolist() + out["T_base_camera"] = T_base_cam.tolist() + out["timings_ms"] = sw.as_dict() + return out + + +def _load_calibration() -> np.ndarray | None: + from ..calibration import CalibrationStore + return CalibrationStore(_deps.calibration_file_path(_deps.default_side())).T_base_camera() + + +@router.get("/measure") +def measure(u: int = Query(..., ge=0), v: int = Query(..., ge=0), + radius: int = Query(6, ge=0, le=50)) -> dict[str, Any]: + """Back-project a pixel to 3D (camera frame, and base frame if calibrated).""" + sw = Stopwatch() + try: + with sw.step("nuwa_measure"): + res = _deps.nuwa().measure(u=u, v=v, radius=radius) + except Exception as e: + raise HTTPException(status_code=502, detail=f"Nuwa measure failed: {e}") + out: dict[str, Any] = {"camera": res} + T_base_cam = _load_calibration() + pt = _extract_xyz(res) + if T_base_cam is not None and pt is not None: + pt_cv = nuwa_to_cv_frame(np.asarray([pt]))[0] + base_xyz = (T_base_cam[:3, :3] @ pt_cv + T_base_cam[:3, 3]).tolist() + out["base"] = {"x": base_xyz[0], "y": base_xyz[1], "z": base_xyz[2]} + out["timings_ms"] = sw.as_dict() + return out + + +# ---------- depth-bias correction ---------- +# Sensor depth has a non-trivial offset (see /api/perception/measure_rgb vs +# PnP on a known marker). We model it as: depth_raw = scale * depth_true + +# offset_mm and let the user calibrate `scale, offset` from samples. +# State + samples persisted in data/depth_correction.json. + +class DepthCorrectionParams(BaseModel): + enabled: Optional[bool] = None + scale: Optional[float] = None + offset_mm: Optional[float] = None + + +class DepthCorrectionSampleReq(BaseModel): + """Add a (raw, true) sample. Either supply both directly, or set + `from_marker=True` to acquire one automatically from the current + marker (PnP Z taken as ground truth, raw read from depth sensor at + the marker centre).""" + from_marker: bool = False + marker_id: Optional[int] = None + size_mm: Optional[float] = None + depth_raw_mm: Optional[int] = None + depth_true_mm: Optional[int] = None + note: str = "" + + +def _load_dc(): + from ..perception.depth_correction import load + return load(_deps.depth_correction_path()) + + +def _save_dc(state): + from ..perception.depth_correction import save + save(_deps.depth_correction_path(), state) + + +@router.get("/depth_correction") +def get_depth_correction() -> dict[str, Any]: + return _load_dc() + + +@router.put("/depth_correction") +def set_depth_correction(req: DepthCorrectionParams) -> dict[str, Any]: + state = _load_dc() + if req.enabled is not None: + state["enabled"] = bool(req.enabled) + if req.scale is not None: + state["scale"] = float(req.scale) + if req.offset_mm is not None: + state["offset_mm"] = float(req.offset_mm) + _save_dc(state) + return state + + +@router.delete("/depth_correction/samples") +def clear_dc_samples() -> dict[str, Any]: + from ..perception.depth_correction import clear_samples + state = clear_samples(_load_dc()) + _save_dc(state) + return state + + +@router.post("/depth_correction/sample") +def add_dc_sample(req: DepthCorrectionSampleReq) -> dict[str, Any]: + """Add a sample to the depth-correction calibration set. + + `from_marker=True`: detect the configured marker, take its PnP-derived + Z (in the camera frame) as ground truth, and read the raw sensor depth + at the marker centre via the same registration pipeline. The marker + must be in view. + """ + from ..perception.depth_correction import add_sample + cfg = get_config() + state = _load_dc() + + if req.from_marker: + from ..perception.depth_to_rgb import ( + CameraRegistration, back_project_rgb_pixel, fetch_depth_mm, + ) + marker_id = int(req.marker_id or cfg["aruco"]["wrist_marker"]["id"]) + size_mm = float(req.size_mm or cfg["aruco"]["wrist_marker"]["size_mm"]) + try: + mres = _deps.marker().detect_url( + markers=[{"id": marker_id, "size_mm": size_mm}], + image_url=_deps.nuwa().rgb_url(), + ) + except Exception as e: + raise HTTPException(status_code=502, detail=f"marker-finder failed: {e}") + entry = next((m for m in mres.get("found", []) if int(m["id"]) == marker_id), None) + if entry is None: + raise HTTPException(status_code=422, detail=f"marker id={marker_id} non in vista") + pnp_z_m = float(np.asarray(entry["position_m"], dtype=np.float64)[2]) + # Sample the raw depth at the centre pixel via the registration pipeline + # WITHOUT correction (we want the uncorrected sensor reading). + center_uv = np.asarray(entry["corners"], dtype=np.float64).reshape(-1, 2).mean(axis=0) + nuwa = _deps.nuwa() + reg = CameraRegistration.from_nuwa(nuwa.intrinsics()) + depth = fetch_depth_mm(nuwa) + r = back_project_rgb_pixel(center_uv[0], center_uv[1], depth, reg, + sample_radius=4, depth_correction=None) + if not r.get("ok"): + raise HTTPException(status_code=422, + detail=f"depth non disponibile al marker: {r.get('error')}") + depth_raw = int(r["depth_mm_raw"]) + depth_true = int(round(pnp_z_m * 1000.0)) + note = req.note or f"from_marker id={marker_id} size={size_mm}mm pnp_z={depth_true}mm" + else: + if req.depth_raw_mm is None or req.depth_true_mm is None: + raise HTTPException(status_code=422, + detail="senza from_marker servono depth_raw_mm e depth_true_mm") + depth_raw = int(req.depth_raw_mm) + depth_true = int(req.depth_true_mm) + note = req.note + + state = add_sample(state, depth_raw_mm=depth_raw, depth_true_mm=depth_true, note=note) + _save_dc(state) + return {"ok": True, "n_samples": len(state["samples"]), + "added": {"depth_raw_mm": depth_raw, "depth_true_mm": depth_true, + "delta_mm": depth_raw - depth_true, "note": note}} + + +@router.post("/depth_correction/fit") +def fit_dc() -> dict[str, Any]: + """Fit the affine model from collected samples and (optionally) enable it. + Updates `scale` and `offset_mm` in the persisted state. Does not change + `enabled` — call PUT /depth_correction with `enabled=true` to activate.""" + from ..perception.depth_correction import fit_affine + state = _load_dc() + samples = state.get("samples") or [] + try: + fit = fit_affine(samples) + except ValueError as e: + raise HTTPException(status_code=422, detail=str(e)) + state["scale"] = fit["scale"] + state["offset_mm"] = fit["offset_mm"] + state["fit_meta"] = fit + _save_dc(state) + return state + + +@router.get("/measure_rgb") +def measure_rgb(u: int = Query(..., ge=0, description="pixel column in the RGB image"), + v: int = Query(..., ge=0, description="pixel row in the RGB image"), + radius: int = Query(4, ge=0, le=50)) -> dict[str, Any]: + """Back-project an **RGB** pixel to 3D, properly handling IR↔RGB + registration. + + `Nuwa /api/measure` interprets `(u,v)` as IR-image pixel coords and + back-projects with IR intrinsics; for an RGB pixel that yields a wrong + point. This endpoint: + 1. samples depth at the corresponding IR pixel (computed iteratively + from the RGB ray + extrinsics); + 2. back-projects with IR intrinsics; + 3. transforms to the RGB camera frame. + + Output is in the **OpenCV-convention RGB camera frame** (X-right, Y-down, + Z-forward), the same frame the hand-eye matrix `T_base_camera` expects. + """ + sw = Stopwatch() + nuwa = _deps.nuwa() + try: + from ..perception.depth_to_rgb import ( + CameraRegistration, back_project_rgb_pixel, fetch_depth_mm, + ) + with sw.step("intrinsics"): + reg = CameraRegistration.from_nuwa(nuwa.intrinsics()) + with sw.step("depth_fetch"): + depth = fetch_depth_mm(nuwa) + with sw.step("back_project"): + r = back_project_rgb_pixel(u, v, depth, reg, sample_radius=radius, + depth_correction=_load_dc()) + except Exception as e: + raise HTTPException(status_code=502, detail=f"measure_rgb failed: {e}") + if not r["ok"]: + return {"found": False, "rgb_pixel": [u, v], "error": r.get("error"), + "timings_ms": sw.as_dict()} + + pt_rgb_m = r["point_rgb_m"] + out: dict[str, Any] = { + "found": True, + "rgb_pixel": r["rgb_pixel"], + "ir_pixel": r["ir_pixel"], + "depth_mm": r["depth_mm"], + "point_rgb_m": {"x": pt_rgb_m[0], "y": pt_rgb_m[1], "z": pt_rgb_m[2]}, + "point_ir_m": {"x": r["point_ir_m"][0], "y": r["point_ir_m"][1], "z": r["point_ir_m"][2]}, + "distance_m": float(np.linalg.norm(pt_rgb_m)), + } + T_base_cam = _load_calibration() + if T_base_cam is not None: + pt_arr = np.asarray(pt_rgb_m) + base_xyz = (T_base_cam[:3, :3] @ pt_arr + T_base_cam[:3, 3]).tolist() + out["point_base_m"] = {"x": base_xyz[0], "y": base_xyz[1], "z": base_xyz[2]} + out["timings_ms"] = sw.as_dict() + return out + + +def _bbox_to_roi(bbox: dict[str, Any]) -> tuple[int, int, int, int]: + """Convert a YOLO bbox {x1,y1,x2,y2} to integer ROI (u_min,v_min,u_max,v_max).""" + u_min = max(0, int(np.floor(bbox["x1"]))) + v_min = max(0, int(np.floor(bbox["y1"]))) + u_max = int(np.ceil(bbox["x2"])) + v_max = int(np.ceil(bbox["y2"])) + if u_max <= u_min: + u_max = u_min + 1 + if v_max <= v_min: + v_max = v_min + 1 + return u_min, v_min, u_max, v_max + + +def _extract_xyz(res: Any) -> list[float] | None: + if not isinstance(res, dict): + return None + for key in ("point", "xyz", "camera_xyz"): + v = res.get(key) + if isinstance(v, (list, tuple)) and len(v) >= 3: + return [float(v[0]), float(v[1]), float(v[2])] + if all(k in res for k in ("x", "y", "z")): + return [float(res["x"]), float(res["y"]), float(res["z"])] + return None diff --git a/src/presa_mano/api/posture_routes.py b/src/presa_mano/api/posture_routes.py new file mode 100644 index 0000000..3775b4b --- /dev/null +++ b/src/presa_mano/api/posture_routes.py @@ -0,0 +1,112 @@ +"""Posture & state endpoints: full live state, hand control, server-side presets. + +Thin proxy over G1 endpoints not covered by `wrist_routes.py`. Mutating calls +honor `dry_run` (handled inside `G1Client`). +""" + +from __future__ import annotations + +from typing import Any, Optional + +from fastapi import APIRouter, HTTPException +from pydantic import BaseModel, Field + +from ..clients import G1Unavailable +from . import _deps + +router = APIRouter() + + +# ---------- live state ---------- + +@router.get("/state") +def get_state() -> dict[str, Any]: + try: + return _deps.g1().state() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.get("/hand") +def get_hand() -> dict[str, Any]: + try: + return _deps.g1().hand() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +# ---------- per-finger control ---------- + +class FingerValues(BaseModel): + pinky: Optional[float] = Field(None, ge=0.0, le=1.0) + ring: Optional[float] = Field(None, ge=0.0, le=1.0) + middle: Optional[float] = Field(None, ge=0.0, le=1.0) + index: Optional[float] = Field(None, ge=0.0, le=1.0) + thumb_bend: Optional[float] = Field(None, ge=0.0, le=1.0) + thumb_rotation: Optional[float] = Field(None, ge=0.0, le=1.0) + + +class HandControlReq(BaseModel): + side: str = Field(..., pattern="^(left|right)$") + fingers: FingerValues + dry_run: bool = False + + +@router.post("/hand_control") +def post_hand_control(req: HandControlReq) -> dict[str, Any]: + fingers = {k: v for k, v in req.fingers.model_dump().items() if v is not None} + try: + return _deps.g1(dry_run=req.dry_run).hand_control(side=req.side, fingers=fingers) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +# ---------- presets ---------- + +class PresetSaveReq(BaseModel): + name: str = Field(..., min_length=1, max_length=64, pattern=r"^[a-zA-Z0-9_-]+$") + dry_run: bool = False + + +class PresetExecuteReq(BaseModel): + dry_run: bool = False + + +@router.get("/presets") +def list_presets() -> dict[str, Any]: + try: + return _deps.g1().presets() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.get("/presets/{name}") +def get_preset(name: str) -> dict[str, Any]: + try: + return _deps.g1().preset_get(name) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/presets/save") +def save_preset(req: PresetSaveReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).preset_save(name=req.name) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/presets/{name}/execute") +def execute_preset(name: str, req: PresetExecuteReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).preset_execute(name=name) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.delete("/presets/{name}") +def delete_preset(name: str, dry_run: bool = False) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).preset_delete(name=name) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) diff --git a/src/presa_mano/api/robot_routes.py b/src/presa_mano/api/robot_routes.py new file mode 100644 index 0000000..d05906d --- /dev/null +++ b/src/presa_mano/api/robot_routes.py @@ -0,0 +1,155 @@ +"""Robot FSM, arm-mode and locomotion endpoints (proxied to G1). + +Thin proxy over `/robot/*` and `/arms/*` on the G1 API server. Mutating calls +honor `dry_run` (handled inside `G1Client`). +""" + +from __future__ import annotations + +from typing import Any + +from fastapi import APIRouter, HTTPException, Query +from pydantic import BaseModel, Field + +from ..clients import G1StatusError, G1Unavailable +from . import _deps + +router = APIRouter() + + +# ---------- FSM state ---------- + +class StateReq(BaseModel): + state: str = Field(..., min_length=1, max_length=32) + dry_run: bool = False + + +@router.get("/state") +def get_state() -> dict[str, Any]: + try: + return _deps.g1().robot_state_get() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/state") +def set_state(req: StateReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).robot_state_set(req.state) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +# ---------- arm mode ---------- + +class ArmModeReq(BaseModel): + mode: str = Field(..., min_length=1, max_length=32) + dry_run: bool = False + + +@router.post("/arm_mode") +def set_arm_mode(req: ArmModeReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).robot_arm_mode(req.mode) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +# ---------- stand / move ---------- + +class StandReq(BaseModel): + mode: str = Field("high", min_length=1, max_length=32) + dry_run: bool = False + + +class MoveReq(BaseModel): + vx: float = Field(..., ge=-2.0, le=2.0) + vy: float = Field(..., ge=-1.0, le=1.0) + vyaw: float = Field(..., ge=-2.0, le=2.0) + continuous: bool = False + dry_run: bool = False + + +@router.post("/stand") +def post_stand(req: StandReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).robot_stand(req.mode) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/move") +def post_move(req: MoveReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).robot_move( + vx=req.vx, vy=req.vy, vyaw=req.vyaw, continuous=req.continuous, + ) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/stopmove") +def post_stopmove(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).robot_stopmove() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +# ---------- arms (compliance + helpers) ---------- + +@router.get("/arms/compliance") +def get_compliance() -> dict[str, Any]: + try: + return _deps.g1().arms_compliance() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/arms/compliance/start") +def start_compliance(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).arms_compliance_start() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/arms/compliance/stop") +def stop_compliance(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).arms_compliance_stop() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/arms/go_neutral") +def go_neutral(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).arms_go_neutral() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/arms/loco_reset") +def loco_reset(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).arms_loco_reset() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.get("/diagnostics") +def diagnostics() -> dict[str, Any]: + """Proxy for G1 /diagnostics (motor temps, fault codes). Falls back to + {"available": false} when the upstream version doesn't expose it — the + frontend uses this to hide the thermal UI gracefully.""" + try: + data = _deps.g1().diagnostics() + data = data if isinstance(data, dict) else {"data": data} + return {"available": True, **data} + except G1StatusError as e: + if e.status == 404: + return {"available": False, "reason": "G1 API does not expose /diagnostics yet"} + raise HTTPException(status_code=e.status, detail=str(e.detail)) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) diff --git a/src/presa_mano/api/wrist_routes.py b/src/presa_mano/api/wrist_routes.py new file mode 100644 index 0000000..78f6edc --- /dev/null +++ b/src/presa_mano/api/wrist_routes.py @@ -0,0 +1,92 @@ +"""Direct end-effector control endpoints (proxied to G1).""" + +from __future__ import annotations + +from typing import Any, Optional + +from fastapi import APIRouter, HTTPException, Query +from pydantic import BaseModel, Field + +from ..clients import G1Unavailable +from . import _deps + +router = APIRouter() + + +class AbsoluteReq(BaseModel): + side: str = Field(..., pattern="^(left|right|both)$") + position: list[float] = Field(..., min_length=3, max_length=3) + quaternion: list[float] = Field(..., min_length=4, max_length=4) + wait: bool = True + timeout_s: float = 5.0 + precise: bool = False + dry_run: bool = False + + +class RelativeReq(BaseModel): + side: str = Field(..., pattern="^(left|right|both)$") + delta_position: Optional[list[float]] = None + delta_quaternion: Optional[list[float]] = None + wait: bool = True + timeout_s: float = 5.0 + dry_run: bool = False + + +class HandActionReq(BaseModel): + action: str = Field(..., pattern="^(LEFT_OPEN|LEFT_CLOSE|RIGHT_OPEN|RIGHT_CLOSE)$") + dry_run: bool = False + + +@router.get("") +def get_wrist() -> dict[str, Any]: + try: + return _deps.g1().wrist() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/absolute") +def post_absolute(req: AbsoluteReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).wrist_absolute( + side=req.side, position=req.position, quaternion=req.quaternion, + wait=req.wait, timeout_s=req.timeout_s, precise=req.precise, + ) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/relative") +def post_relative(req: RelativeReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).wrist_relative( + side=req.side, delta_position=req.delta_position, + delta_quaternion=req.delta_quaternion, + wait=req.wait, timeout_s=req.timeout_s, + ) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/hand") +def post_hand(req: HandActionReq) -> dict[str, Any]: + try: + return _deps.g1(dry_run=req.dry_run).hand_action(req.action) + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/emergency_stop") +def post_estop(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).emergency_stop() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) + + +@router.post("/unlock") +def post_unlock(dry_run: bool = Query(False)) -> dict[str, Any]: + try: + return _deps.g1(dry_run=dry_run).unlock() + except G1Unavailable as e: + raise HTTPException(status_code=502, detail=str(e)) diff --git a/src/presa_mano/calibration/__init__.py b/src/presa_mano/calibration/__init__.py new file mode 100644 index 0000000..5dbe184 --- /dev/null +++ b/src/presa_mano/calibration/__init__.py @@ -0,0 +1,5 @@ +from .handeye import HandEyeSolver +from .sampler import CalibrationSampler, Sample +from .store import CalibrationStore, SamplesStore + +__all__ = ["HandEyeSolver", "CalibrationSampler", "Sample", "CalibrationStore", "SamplesStore"] diff --git a/src/presa_mano/calibration/auto_job.py b/src/presa_mano/calibration/auto_job.py new file mode 100644 index 0000000..56693c7 --- /dev/null +++ b/src/presa_mano/calibration/auto_job.py @@ -0,0 +1,340 @@ +"""Automated hand-eye calibration procedure. + +Operator defines a 3D grid of wrist waypoints around the current pose plus a +wrist rotation search delta. The job moves to each waypoint, tries to detect +the ArUco marker, and if needed sweeps a 3x3 grid of wrist-frame rotations +within the delta. Designed for a single in-flight job (global singleton) and +polled status — the frontend renders the waypoints as spheres over the 3D +model and updates their colours as the job progresses. +""" + +from __future__ import annotations + +import logging +import math +import threading +import time +from dataclasses import asdict, dataclass, field +from typing import Any, Callable + +import cv2 +import numpy as np + +from ..clients import G1StatusError, G1Unavailable +from ..geometry import R_to_quat_xyzw, quat_xyzw_to_R +from .sampler import CalibrationSampler, Sample +from .store import SamplesStore + +log = logging.getLogger(__name__) + + +@dataclass +class Waypoint: + idx: int + position: list[float] # base-frame xyz (m) + quaternion: list[float] # xyzw + reachable: bool = True + reason: str | None = None # why not reachable, if applicable + state: str = "pending" # pending | current | done | failed | skipped + attempts: int = 0 + error: str | None = None + sample_total: int | None = None # store length at the moment a sample was acquired + + +@dataclass +class JobState: + status: str = "idle" # idle | running | done | stopped | error + waypoints: list[Waypoint] = field(default_factory=list) + current_index: int = -1 + started_at: float | None = None + finished_at: float | None = None + error: str | None = None + calibration: dict[str, Any] | None = None + stats: dict[str, int] = field(default_factory=lambda: { + "done": 0, "failed": 0, "skipped": 0, + }) + # Echoed params so the UI can regenerate visuals from status alone. + params: dict[str, Any] = field(default_factory=dict) + + +def _frac(i: int, n: int) -> float: + """Return a [-0.5, +0.5] grid fraction for index i out of n divisions, + or 0.0 when n == 1 (single slice in that axis).""" + if n <= 1: + return 0.0 + return (i / (n - 1)) - 0.5 + + +def build_grid(start_position: np.ndarray, start_quaternion: np.ndarray, + delta_m: tuple[float, float, float], + divisions: tuple[int, int, int], + min_z_m: float, + order: str = "serpentine") -> list[Waypoint]: + """Axis-aligned grid centred on `start_position`. delta_m is the full span + per axis (grid covers start ± delta/2). divisions >= 1 per axis; 1 means + "just the starting value on this axis". + + order: "nested" = simple ix/iy/iz lexicographic; "serpentine" = boustrophedon, + alternates x-direction per y-row and y-direction per z-layer to minimise + total wrist travel between adjacent waypoints. + """ + waypoints: list[Waypoint] = [] + idx = 0 + nx, ny, nz = (max(1, d) for d in divisions) + for iz in range(nz): + iys = range(ny) if (order != "serpentine" or iz % 2 == 0) else range(ny - 1, -1, -1) + for iy in iys: + ixs = range(nx) if (order != "serpentine" or (iy + iz) % 2 == 0) else range(nx - 1, -1, -1) + for ix in ixs: + fx = _frac(ix, nx) + fy = _frac(iy, ny) + fz = _frac(iz, nz) + x = float(start_position[0] + fx * delta_m[0]) + y = float(start_position[1] + fy * delta_m[1]) + z = float(start_position[2] + fz * delta_m[2]) + # Keep the original (unclamped) position so the operator can + # see *where* the failing points actually fall — stacking them + # all on the floor hides the problem (N z-layers collapsing + # to 1 → apparent 9 points instead of 27). + reason = None + reachable = True + if z < min_z_m: + reason = f"sotto z_min ({z*100:.1f} < {min_z_m*100:.1f} cm)" + reachable = False + w = Waypoint( + idx=idx, + position=[x, y, z], + quaternion=list(map(float, start_quaternion)), + reachable=reachable, + reason=reason, + ) + waypoints.append(w) + idx += 1 + return waypoints + + +def perturb_quat(q_xyzw: list[float], drx: float, dry: float) -> list[float]: + """Apply a small rotation (drx around local X, dry around local Y) to the + wrist-frame orientation described by q_xyzw, returning a new xyzw quat.""" + R_base = quat_xyzw_to_R(np.asarray(q_xyzw, dtype=np.float64)) + Rx, _ = cv2.Rodrigues(np.array([drx, 0.0, 0.0])) + Ry, _ = cv2.Rodrigues(np.array([0.0, dry, 0.0])) + R_new = R_base @ Ry @ Rx + return R_to_quat_xyzw(R_new).tolist() + + +def _rotation_search_order(delta_rad: float) -> list[tuple[float, float]]: + """Return (drx, dry) pairs to try in order of increasing |rotation|. + Excludes (0, 0) since that's the nominal pose already attempted.""" + d = delta_rad + if d <= 0: + return [] + offsets = [(drx, dry) for drx in (-d, 0.0, d) for dry in (-d, 0.0, d) + if (drx, dry) != (0.0, 0.0)] + offsets.sort(key=lambda v: math.hypot(v[0], v[1])) + return offsets + + +class AutoRunner: + """Per-waypoint executor. One instance per job run, stateless between + waypoints. Captures dependencies (G1/Nuwa clients, sampler, store).""" + + def __init__(self, *, side: str, marker_id: int, size_mm: float, + wrist_rot_delta_rad: float, settle_s: float, + move_timeout_s: float, + g1_move, sampler: CalibrationSampler, store: SamplesStore, + feasibility_only: bool = False): + self.side = side + self.marker_id = marker_id + self.size_mm = size_mm + self.wrist_rot_delta_rad = wrist_rot_delta_rad + self.settle_s = settle_s + self.move_timeout_s = move_timeout_s + self.g1_move = g1_move # bound method: wrist_absolute(...) + self.sampler = sampler + self.store = store + self.feasibility_only = feasibility_only + + def _try_sample(self, note: str) -> tuple[bool, str | None]: + try: + sample = self.sampler.acquire( + marker_id=self.marker_id, + size_mm=self.size_mm, + side=self.side, + note=note, + ) + self.store.append(sample) + return True, None + except Exception as e: + return False, str(e) + + def _move(self, position: list[float], quaternion: list[float], + timeout_s: float | None = None) -> tuple[bool, str | None]: + t = timeout_s if timeout_s is not None else self.move_timeout_s + try: + r = self.g1_move( + side=self.side, position=position, quaternion=quaternion, + wait=True, timeout_s=t, + ) + if isinstance(r, dict) and r.get("reached_target") is False: + return False, f"reached_target=false (pos_err_mm={r.get('position_error_mm')})" + return True, None + except (G1Unavailable, G1StatusError) as e: + return False, str(e) + except Exception as e: + return False, str(e) + + def run(self, wp: Waypoint) -> dict[str, Any]: + attempts = 1 + ok, err = self._move(wp.position, wp.quaternion) + # Retry once with doubled timeout: reached_target=false with pos_err a + # few cm away is usually solved by giving the controller more time to + # settle, especially after big jumps between waypoints. + if not ok: + attempts = 2 + ok, err = self._move(wp.position, wp.quaternion, + timeout_s=self.move_timeout_s * 2) + if not ok: + return {"ok": False, "attempts": attempts, "error": f"move failed: {err}"} + # In feasibility-only mode we skip the settle+detect — reachability has + # already been answered by the move itself (reached_target flag). + if self.feasibility_only: + return {"ok": True, "attempts": attempts, "sample_total": None} + + time.sleep(self.settle_s) + acquired, err = self._try_sample(note=f"auto[{wp.idx}]") + if acquired: + return {"ok": True, "attempts": attempts, "sample_total": len(self.store.load())} + + # Marker not found → rotation search within ±delta. + offsets = _rotation_search_order(self.wrist_rot_delta_rad) + for k, (drx, dry) in enumerate(offsets, start=1): + att = attempts + k + q = perturb_quat(wp.quaternion, drx, dry) + ok, move_err = self._move(wp.position, q) + if not ok: + continue + time.sleep(self.settle_s) + acquired, err = self._try_sample( + note=f"auto[{wp.idx}]+rx{math.degrees(drx):+.0f}ry{math.degrees(dry):+.0f}") + if acquired: + return {"ok": True, "attempts": att, "sample_total": len(self.store.load())} + + return {"ok": False, "attempts": attempts + len(offsets), + "error": err or "marker non trovato dopo ricerca rotazione"} + + +class AutoCalibrationJob: + def __init__(self) -> None: + self._lock = threading.Lock() + self._thread: threading.Thread | None = None + self._stop_event = threading.Event() + self.state = JobState() + + def is_running(self) -> bool: + return self._thread is not None and self._thread.is_alive() + + def snapshot(self) -> dict[str, Any]: + with self._lock: + return { + "status": self.state.status, + "current_index": self.state.current_index, + "waypoints": [asdict(w) for w in self.state.waypoints], + "started_at": self.state.started_at, + "finished_at": self.state.finished_at, + "error": self.state.error, + "calibration": self.state.calibration, + "stats": dict(self.state.stats), + "params": dict(self.state.params), + } + + def stop(self) -> bool: + if not self.is_running(): + return False + self._stop_event.set() + return True + + def start(self, *, waypoints: list[Waypoint], runner: AutoRunner, + on_finish: Callable[[JobState], None] | None = None, + params: dict[str, Any] | None = None, + home_pose: tuple[list[float], list[float]] | None = None) -> bool: + if self.is_running(): + return False + with self._lock: + self.state = JobState( + status="running", waypoints=waypoints, + started_at=time.time(), + params=params or {}, + ) + self._stop_event.clear() + + def worker(): + try: + stopped = False + for wp in waypoints: + if self._stop_event.is_set(): + with self._lock: + self.state.status = "stopped" + stopped = True + break + if not wp.reachable: + with self._lock: + wp.state = "skipped" + self.state.stats["skipped"] += 1 + continue + with self._lock: + wp.state = "current" + self.state.current_index = wp.idx + result = runner.run(wp) + with self._lock: + wp.attempts = int(result.get("attempts", 1)) + wp.sample_total = result.get("sample_total") + if result.get("ok"): + wp.state = "done" + self.state.stats["done"] += 1 + else: + wp.state = "failed" + wp.error = result.get("error") + self.state.stats["failed"] += 1 + # On stop, try to return to the home pose so the robot isn't + # stranded at an arbitrary waypoint. Best-effort: errors here + # are logged but don't change the job status. + if stopped and home_pose is not None: + try: + with self._lock: + self.state.error = "returning to home…" + runner._move(home_pose[0], home_pose[1]) + with self._lock: + self.state.error = None + except Exception as e: + log.warning("return-to-home failed: %s", e) + with self._lock: + self.state.error = f"return-to-home failed: {e}" + with self._lock: + if self.state.status == "running": + self.state.status = "done" + self.state.finished_at = time.time() + self.state.current_index = -1 + if on_finish: + try: + on_finish(self.state) + except Exception: + log.exception("on_finish callback failed") + except Exception as e: + log.exception("auto-calibration worker crashed") + with self._lock: + self.state.status = "error" + self.state.error = str(e) + self.state.finished_at = time.time() + + self._thread = threading.Thread(target=worker, daemon=True, name="auto-calib") + self._thread.start() + return True + + +# Module-level singleton — FastAPI routes access it via get_job(). +_JOB = AutoCalibrationJob() + + +def get_job() -> AutoCalibrationJob: + return _JOB diff --git a/src/presa_mano/calibration/handeye.py b/src/presa_mano/calibration/handeye.py new file mode 100644 index 0000000..358bdb0 --- /dev/null +++ b/src/presa_mano/calibration/handeye.py @@ -0,0 +1,299 @@ +"""Eye-to-hand calibration: camera fixed, ArUco mounted on the wrist. + +Given N samples (T_base_wrist_i, T_cam_marker_i), find T_base_camera (4x4). + +OpenCV's `cv2.calibrateHandEye` is documented for the eye-in-hand case. +For eye-to-hand (our case) we feed the *inverse* of the gripper->base transform, +which turns the solver output into T_camera->base (camera-to-base). + +See: https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html +""" + +from __future__ import annotations + +import logging +from typing import Any + +import cv2 +import numpy as np + +from ..geometry import invert_T + +log = logging.getLogger(__name__) + +_METHODS = { + "TSAI": cv2.CALIB_HAND_EYE_TSAI, + "PARK": cv2.CALIB_HAND_EYE_PARK, + "HORAUD": cv2.CALIB_HAND_EYE_HORAUD, + "ANDREFF": cv2.CALIB_HAND_EYE_ANDREFF, + "DANIILIDIS": cv2.CALIB_HAND_EYE_DANIILIDIS, +} + + +def _rot_angle(R: np.ndarray) -> float: + """Rotation angle (radians) of a 3x3 rotation matrix.""" + cos = (np.trace(R) - 1.0) / 2.0 + return float(np.arccos(np.clip(cos, -1.0, 1.0))) + + +class HandEyeSolver: + @staticmethod + def solve(samples: list[dict[str, Any]], method: str = "TSAI", + sanity_check: bool = True, + pair_angle_tol_deg: float = 8.0, + wm_translation_mad_factor: float = 3.5, + max_reprojection_px: float = 3.0, + max_ambiguity_ratio: float = 0.90, + max_drop_frac: float = 0.5) -> dict[str, Any]: + """Run cv2.calibrateHandEye on `samples`. + + When sanity_check=True (default), apply two filters: + * pair-angle check: pre-solver, independent of the unknown extrinsic. + For any two samples i,j, the rotation angles |R_wrist_ij| and + |R_cam_ij| must match (consequence of AX=XB). Samples whose median + per-pair angle discrepancy exceeds `pair_angle_tol_deg` are dropped. + Catches the ArUco planar-pose 180° flip ambiguity, which is the + typical cause of residuals in the hundreds of mm / tens of degrees. + * post-solver T_wrist_marker cluster check: the marker is rigid on the + wrist, so T_wrist_marker should be constant across samples. Solve + once, then drop samples whose translation component is > MAD*k from + the median, then re-solve on the survivors. + """ + if len(samples) < 3: + raise ValueError(f"need at least 3 samples, got {len(samples)}") + + flag = _METHODS.get(method.upper(), cv2.CALIB_HAND_EYE_TSAI) + + filter_report: dict[str, Any] = {"applied": bool(sanity_check)} + + working = list(enumerate(samples)) # (original_idx, sample) + + if sanity_check: + kept, dropped_pose = _filter_pose_quality( + working, max_reprojection_px=max_reprojection_px, + max_ambiguity_ratio=max_ambiguity_ratio, + max_drop_frac=max_drop_frac, + ) + filter_report["max_reprojection_px"] = max_reprojection_px + filter_report["max_ambiguity_ratio"] = max_ambiguity_ratio + filter_report["dropped_by_pose_quality"] = dropped_pose + working = kept + + kept, dropped_pair = _filter_pair_angle( + working, tol_rad=np.deg2rad(pair_angle_tol_deg), + max_drop_frac=max_drop_frac - len(dropped_pose) / max(1, len(samples)), + ) + filter_report["pair_angle_tol_deg"] = pair_angle_tol_deg + filter_report["dropped_by_pair_angle"] = dropped_pair + working = kept + + if len(working) < 3: + raise ValueError( + f"after pre-filter only {len(working)} samples remain (need ≥3). " + f"Dropped by pair-angle: {filter_report.get('dropped_by_pair_angle')}") + + T_cam2base = _solve_once([s for _, s in working], flag) + + if sanity_check: + kept, dropped_wm = _filter_wm_cluster( + working, T_cam2base, mad_factor=wm_translation_mad_factor, + max_drop_frac=max_drop_frac - len(filter_report.get("dropped_by_pair_angle", [])) / max(1, len(samples)), + ) + filter_report["wm_mad_factor"] = wm_translation_mad_factor + filter_report["dropped_by_wm_cluster"] = dropped_wm + if kept != working and len(kept) >= 3: + working = kept + T_cam2base = _solve_once([s for _, s in working], flag) + + residual_mm, residual_rad, per_sample = _residuals( + [s for _, s in working], T_cam2base + ) + + if sanity_check: + filter_report["n_input"] = len(samples) + filter_report["n_used"] = len(working) + filter_report["used_indices"] = [i for i, _ in working] + + return { + "T_base_camera": T_cam2base.tolist(), + "method": method.upper(), + "n_samples": len(working), + "residual_translation_mm": residual_mm, + "residual_rotation_deg": float(np.degrees(residual_rad)), + "per_sample_residuals": per_sample, + "sanity_check": filter_report, + } + + +def _solve_once(samples: list[dict[str, Any]], flag: int) -> np.ndarray: + R_b2g, t_b2g, R_t2c, t_t2c = [], [], [], [] + for s in samples: + T_bw = np.asarray(s["T_base_wrist"], dtype=np.float64) + T_cm = np.asarray(s["T_cam_marker"], dtype=np.float64) + # eye-to-hand trick: feed the inverse of base->wrist. + T_wb = invert_T(T_bw) + R_b2g.append(T_wb[:3, :3]) + t_b2g.append(T_wb[:3, 3]) + R_t2c.append(T_cm[:3, :3]) + t_t2c.append(T_cm[:3, 3]) + R_cam2base, t_cam2base = cv2.calibrateHandEye( + R_b2g, t_b2g, R_t2c, t_t2c, method=flag + ) + T = np.eye(4) + T[:3, :3] = R_cam2base + T[:3, 3] = t_cam2base.flatten() + return T + + +def _filter_pose_quality(working: list[tuple[int, dict[str, Any]]], + max_reprojection_px: float, + max_ambiguity_ratio: float, + max_drop_frac: float) -> tuple[list[tuple[int, dict[str, Any]]], + list[dict[str, Any]]]: + """Drop samples whose local PnP was low-confidence: high reprojection + error (bad corner detection) or high ambiguity ratio (both planar + solutions nearly equivalent, pose underdetermined).""" + n = len(working) + if n < 3: + return working, [] + max_drops = max(0, int(np.floor(n * max_drop_frac))) + scored: list[tuple[int, dict[str, Any], str, float]] = [] + for local_i, (orig_i, s) in enumerate(working): + re = s.get("reprojection_error_px") + amb = s.get("ambiguity_ratio") + if re is not None and re > max_reprojection_px: + scored.append((local_i, s, "reprojection_px", float(re))) + elif amb is not None and amb > max_ambiguity_ratio: + scored.append((local_i, s, "ambiguity_ratio", float(amb))) + # Drop worst first, capped by max_drops. + scored.sort(key=lambda x: -x[3]) + keep_mask = np.ones(n, dtype=bool) + dropped: list[dict[str, Any]] = [] + for local_i, s, reason, val in scored: + if len(dropped) >= max_drops: + break + keep_mask[local_i] = False + orig_i = working[local_i][0] + dropped.append({"sample_index": orig_i, reason: val}) + kept = [working[i] for i in range(n) if keep_mask[i]] + return kept, dropped + + +def _filter_pair_angle(working: list[tuple[int, dict[str, Any]]], + tol_rad: float, + max_drop_frac: float) -> tuple[list[tuple[int, dict[str, Any]]], + list[dict[str, Any]]]: + """AX=XB implies the rotation *angle* of the motion (wrist->wrist) equals + the rotation angle of the corresponding camera motion. Any sample that + consistently breaks this across its pairings is bad (e.g. ArUco flipped). + """ + n = len(working) + if n < 3: + return working, [] + + R_w = [np.asarray(s["T_base_wrist"], dtype=np.float64)[:3, :3] for _, s in working] + R_c = [np.asarray(s["T_cam_marker"], dtype=np.float64)[:3, :3] for _, s in working] + + scores = np.zeros(n) + for i in range(n): + diffs = [] + for j in range(n): + if i == j: + continue + dR_w = R_w[j] @ R_w[i].T + dR_c = R_c[j] @ R_c[i].T + diffs.append(abs(_rot_angle(dR_w) - _rot_angle(dR_c))) + scores[i] = float(np.median(diffs)) if diffs else 0.0 + + dropped: list[dict[str, Any]] = [] + max_drops = max(0, int(np.floor(n * max_drop_frac))) + # Drop in descending order of score while score > tol and under the cap. + order = np.argsort(-scores) + keep_mask = np.ones(n, dtype=bool) + for idx in order: + if len(dropped) >= max_drops: + break + if scores[idx] <= tol_rad: + break + keep_mask[idx] = False + orig_i = working[idx][0] + dropped.append({ + "sample_index": orig_i, + "pair_angle_err_deg": float(np.degrees(scores[idx])), + }) + kept = [working[i] for i in range(n) if keep_mask[i]] + return kept, dropped + + +def _filter_wm_cluster(working: list[tuple[int, dict[str, Any]]], + T_base_cam: np.ndarray, + mad_factor: float, + max_drop_frac: float) -> tuple[list[tuple[int, dict[str, Any]]], + list[dict[str, Any]]]: + """T_wrist_marker is rigid (marker bolted to the wrist). Its translation + must be the same for every sample up to measurement noise. Drop outliers.""" + n = len(working) + if n < 4: + return working, [] + + ts = np.zeros((n, 3)) + for k, (_, s) in enumerate(working): + T_bw = np.asarray(s["T_base_wrist"], dtype=np.float64) + T_cm = np.asarray(s["T_cam_marker"], dtype=np.float64) + T_wm = invert_T(T_bw) @ T_base_cam @ T_cm + ts[k] = T_wm[:3, 3] + + med = np.median(ts, axis=0) + dist = np.linalg.norm(ts - med, axis=1) + mad = float(np.median(np.abs(dist - np.median(dist)))) + # If MAD is tiny (all samples extremely consistent), pick an absolute floor + # so we still drop gross outliers >5 cm without chasing numerical noise. + thr = max(mad * mad_factor, 0.02) # metres + + dropped: list[dict[str, Any]] = [] + max_drops = max(0, int(np.floor(n * max_drop_frac))) + order = np.argsort(-dist) + keep_mask = np.ones(n, dtype=bool) + for idx in order: + if len(dropped) >= max_drops: + break + if dist[idx] <= thr: + break + keep_mask[idx] = False + orig_i = working[idx][0] + dropped.append({ + "sample_index": orig_i, + "wm_translation_dev_mm": float(dist[idx] * 1000.0), + }) + kept = [working[i] for i in range(n) if keep_mask[i]] + return kept, dropped + + +def _residuals(samples: list[dict[str, Any]], T_base_cam: np.ndarray + ) -> tuple[float, float, list[dict[str, float]]]: + """Mean translation (mm) and rotation (rad) deviation of T_wrist_marker + from sample 0 across all samples. Also returns per-sample deviations so + the UI can highlight the worst offenders.""" + T_wm_list: list[np.ndarray] = [] + for s in samples: + T_bw = np.asarray(s["T_base_wrist"], dtype=np.float64) + T_cm = np.asarray(s["T_cam_marker"], dtype=np.float64) + T_wm_list.append(invert_T(T_bw) @ T_base_cam @ T_cm) + + T_ref = T_wm_list[0] + per_sample: list[dict[str, float]] = [] + t_err, r_err = [], [] + for T in T_wm_list: + dt_mm = float(np.linalg.norm(T[:3, 3] - T_ref[:3, 3]) * 1000.0) + R = T[:3, :3] @ T_ref[:3, :3].T + dr_rad = _rot_angle(R) + per_sample.append({ + "translation_err_mm": dt_mm, + "rotation_err_deg": float(np.degrees(dr_rad)), + }) + if dt_mm > 0 or dr_rad > 0: # skip the reference (always 0) + t_err.append(dt_mm) + r_err.append(dr_rad) + if not t_err: + return 0.0, 0.0, per_sample + return float(np.mean(t_err)), float(np.mean(r_err)), per_sample diff --git a/src/presa_mano/calibration/sampler.py b/src/presa_mano/calibration/sampler.py new file mode 100644 index 0000000..c582cc6 --- /dev/null +++ b/src/presa_mano/calibration/sampler.py @@ -0,0 +1,136 @@ +"""Acquire a calibration sample. + +One sample = (T_base_wrist from G1) + (T_cam_marker from ArUco detection). + +Pose computation: we call marker-finder only for the 2D `corners` (unaffected +by its baked D435i intrinsics) and rerun solvePnP locally with the real Nuwa +RGB intrinsics. This sidesteps what `CLAUDE.md` flags as the dominant error +source in hand-eye calibration on this stack. +""" + +from __future__ import annotations + +import logging +import time +from dataclasses import dataclass +from typing import Any + +import numpy as np + +from ..clients import G1Client, MarkerClient, NuwaClient +from ..geometry import T_from_pos_quat, make_T +from ..perception.aruco_pose import nuwa_intrinsics_to_matrix, solve_square_marker +from ..timing import Stopwatch + +log = logging.getLogger(__name__) + + +@dataclass +class Sample: + created_at: float + side: str + marker_id: int + T_base_wrist: list[list[float]] # 4x4 + T_cam_marker: list[list[float]] # 4x4 + corners: list[list[float]] + note: str = "" + timings_ms: dict[str, float] | None = None + # Diagnostics from the local pose solve (absent when we fell back to + # marker-finder's pose). + pose_source: str = "marker_finder" # "nuwa_intrinsics" | "marker_finder" + reprojection_error_px: float | None = None + ambiguity_ratio: float | None = None + + @classmethod + def make(cls, side: str, marker_id: int, T_base_wrist: np.ndarray, + T_cam_marker: np.ndarray, corners: np.ndarray, note: str = "", + timings_ms: dict[str, float] | None = None, + pose_source: str = "marker_finder", + reprojection_error_px: float | None = None, + ambiguity_ratio: float | None = None) -> "Sample": + return cls( + created_at=time.time(), + side=side, + marker_id=int(marker_id), + T_base_wrist=T_base_wrist.tolist(), + T_cam_marker=T_cam_marker.tolist(), + corners=np.asarray(corners).tolist(), + note=note, + timings_ms=timings_ms, + pose_source=pose_source, + reprojection_error_px=reprojection_error_px, + ambiguity_ratio=ambiguity_ratio, + ) + + +class SamplerError(RuntimeError): + pass + + +class CalibrationSampler: + def __init__(self, nuwa: NuwaClient, marker: MarkerClient, g1: G1Client): + self.nuwa = nuwa + self.marker = marker + self.g1 = g1 + + def acquire(self, marker_id: int, size_mm: float, side: str, note: str = "") -> Sample: + sw = Stopwatch() + # 1) wrist pose from G1 + with sw.step("g1_wrist"): + try: + wrist = self.g1.wrist() + except Exception as e: + raise SamplerError(f"cannot read wrist pose from G1: {e}") from e + # G1 returns {'left_wrist': {...}, 'right_wrist': {...}}; tolerate {'left'/'right'} and {'data': ...}. + body = wrist.get("data") if isinstance(wrist.get("data"), dict) else wrist + pose = body.get(f"{side}_wrist") or body.get(side) + if pose is None or "position" not in pose or "quaternion" not in pose: + raise SamplerError(f"G1 /wrist response missing '{side}' pose: {wrist}") + T_base_wrist = T_from_pos_quat(np.asarray(pose["position"]), np.asarray(pose["quaternion"])) + + # 2) ArUco corners from marker-finder (2D corners are intrinsics-free). + with sw.step("marker_detect"): + result = self.marker.detect_url( + markers=[{"id": int(marker_id), "size_mm": float(size_mm)}], + image_url=self.nuwa.rgb_url(), + ) + found = result.get("found", []) + if not found: + raise SamplerError(f"marker id={marker_id} not detected (not_found={result.get('not_found')})") + entry = next((m for m in found if int(m["id"]) == int(marker_id)), None) + if entry is None: + raise SamplerError(f"marker id={marker_id} missing from 'found': {found}") + corners = np.asarray(entry["corners"], dtype=np.float64) + + # 3) Pose: solve locally with Nuwa RGB intrinsics (primary path). + pose_source = "marker_finder" + reproj_err = None + ambiguity = None + T_cam_marker = None + try: + with sw.step("nuwa_intrinsics"): + intr = self.nuwa.intrinsics() + K, dist = nuwa_intrinsics_to_matrix(intr) + with sw.step("local_pnp"): + sol = solve_square_marker(corners, float(size_mm) / 1000.0, K, dist) + T_cam_marker = make_T(sol["R"], sol["t"]) + pose_source = "nuwa_intrinsics" + reproj_err = sol["reprojection_error_px"] + ambiguity = sol["ambiguity_ratio"] + except Exception as e: + log.warning("local pose failed (%s) — falling back to marker-finder pose", e) + + # Fallback: use marker-finder's baked-in pose if local solve failed. + if T_cam_marker is None: + R = np.asarray(entry["rotation_matrix"], dtype=np.float64).reshape(3, 3) + t = np.asarray(entry["position_m"], dtype=np.float64).flatten() + T_cam_marker = make_T(R, t) + + return Sample.make( + side=side, marker_id=int(marker_id), + T_base_wrist=T_base_wrist, T_cam_marker=T_cam_marker, + corners=corners, note=note, timings_ms=sw.as_dict(), + pose_source=pose_source, + reprojection_error_px=reproj_err, + ambiguity_ratio=ambiguity, + ) diff --git a/src/presa_mano/calibration/store.py b/src/presa_mano/calibration/store.py new file mode 100644 index 0000000..5daf1ca --- /dev/null +++ b/src/presa_mano/calibration/store.py @@ -0,0 +1,65 @@ +"""Persistence for calibration samples (JSON) and result (YAML).""" + +from __future__ import annotations + +import json +import time +from dataclasses import asdict +from pathlib import Path +from typing import Any + +import numpy as np +import yaml + +from .sampler import Sample + + +class SamplesStore: + def __init__(self, path: Path): + self.path = Path(path) + self.path.parent.mkdir(parents=True, exist_ok=True) + + def load(self) -> list[dict[str, Any]]: + if not self.path.exists(): + return [] + with open(self.path, "r") as f: + return json.load(f) + + def save(self, samples: list[dict[str, Any]]) -> None: + with open(self.path, "w") as f: + json.dump(samples, f, indent=2) + + def append(self, sample: Sample) -> list[dict[str, Any]]: + items = self.load() + items.append(asdict(sample)) + self.save(items) + return items + + def clear(self) -> None: + self.save([]) + + +class CalibrationStore: + def __init__(self, path: Path): + self.path = Path(path) + self.path.parent.mkdir(parents=True, exist_ok=True) + + def save(self, result: dict[str, Any]) -> None: + doc = { + "saved_at": time.time(), + **result, + } + with open(self.path, "w") as f: + yaml.safe_dump(doc, f, sort_keys=False) + + def load(self) -> dict[str, Any] | None: + if not self.path.exists(): + return None + with open(self.path, "r") as f: + return yaml.safe_load(f) + + def T_base_camera(self) -> np.ndarray | None: + doc = self.load() + if not doc: + return None + return np.asarray(doc["T_base_camera"], dtype=np.float64) diff --git a/src/presa_mano/clients/__init__.py b/src/presa_mano/clients/__init__.py new file mode 100644 index 0000000..f686fef --- /dev/null +++ b/src/presa_mano/clients/__init__.py @@ -0,0 +1,11 @@ +"""HTTP clients for upstream microservices.""" + +from .g1 import G1Client, G1StatusError, G1Unavailable +from .marker import MarkerClient +from .nuwa import NuwaClient, NuwaError +from .yolo import YoloClient + +__all__ = [ + "G1Client", "G1StatusError", "G1Unavailable", + "MarkerClient", "NuwaClient", "NuwaError", "YoloClient", +] diff --git a/src/presa_mano/clients/g1.py b/src/presa_mano/clients/g1.py new file mode 100644 index 0000000..3065245 --- /dev/null +++ b/src/presa_mano/clients/g1.py @@ -0,0 +1,197 @@ +"""Client for the G1 API Server (port 8765). + +Supports dry-run: when enabled, mutating calls return a mock response +and the actual HTTP request is not performed. Useful while DDS is crashing. +""" + +from __future__ import annotations + +import logging +from typing import Any + +import httpx + +log = logging.getLogger(__name__) + + +class G1Unavailable(RuntimeError): + """Upstream G1 bridge is unreachable or returned a non-actionable error. + Maps to 502 Bad Gateway by default.""" + pass + + +class G1StatusError(RuntimeError): + """Upstream G1 returned an HTTP error with a semantic status (e.g. 409 + 'arms already moving'). Preserve the code so the caller can forward it.""" + def __init__(self, status: int, detail: str, path: str): + super().__init__(f"G1 {path}: {status} {detail}") + self.status = status + self.detail = detail + self.path = path + + +class G1Client: + def __init__(self, base_url: str, timeout_s: float = 5.0, dry_run: bool = False, + write_timeout_s: float | None = None): + """timeout_s applies to GETs (fast reads). write_timeout_s applies to + POST/DELETE where the G1 server blocks waiting for motion to complete + (FSM transitions, go_neutral, stand, etc.). Defaults to max(30, read).""" + self.base_url = base_url.rstrip("/") + self.timeout_s = timeout_s + self.write_timeout_s = write_timeout_s if write_timeout_s is not None else max(30.0, timeout_s) + self.dry_run = dry_run + + # ----- read-only ----- + + def health(self) -> dict[str, Any]: + return self._get("/health") + + def wrist(self) -> dict[str, Any]: + """Current wrist poses. Server shape: {'left_wrist': {'position','quaternion'}, 'right_wrist': {...}}.""" + return self._get("/wrist") + + def state(self) -> dict[str, Any]: + """Full live snapshot: arms (current+target+status), hands, locked, dds_ready.""" + return self._get("/state") + + def hand(self) -> dict[str, Any]: + """Hand finger state. Shape: {'left': {'fingers': {pinky,ring,middle,index,thumb_bend,thumb_rotation}, 'age_s'}, 'right': {...}}.""" + return self._get("/hand") + + # ----- mutating ----- + + def wrist_absolute(self, side: str, position: list[float], quaternion: list[float], + wait: bool = True, timeout_s: float = 5.0, precise: bool = False) -> dict[str, Any]: + body = { + "side": side, "position": position, "quaternion": quaternion, + "wait": wait, "timeout_s": timeout_s, "precise": precise, + } + return self._post("/wrist/absolute", body) + + def wrist_relative(self, side: str, delta_position: list[float] | None = None, + delta_quaternion: list[float] | None = None, wait: bool = True, + timeout_s: float = 5.0) -> dict[str, Any]: + body: dict[str, Any] = {"side": side, "wait": wait, "timeout_s": timeout_s} + if delta_position is not None: + body["delta_position"] = delta_position + if delta_quaternion is not None: + body["delta_quaternion"] = delta_quaternion + return self._post("/wrist/relative", body) + + def hand_action(self, action: str) -> dict[str, Any]: + """action ∈ {LEFT_OPEN, LEFT_CLOSE, RIGHT_OPEN, RIGHT_CLOSE}.""" + return self._post("/hand/action", {"action": action}) + + def hand_control(self, side: str, fingers: dict[str, float]) -> dict[str, Any]: + """Per-finger control (normalized 0..1). Unspecified fingers keep their last value.""" + return self._post("/hand/control", {"side": side, "fingers": fingers}) + + def emergency_stop(self) -> dict[str, Any]: + return self._post("/emergency_stop", {}) + + def unlock(self) -> dict[str, Any]: + return self._post("/unlock", {}) + + # ----- robot FSM / locomotion ----- + + def robot_state_get(self) -> dict[str, Any]: + return self._get("/robot/state") + + def robot_state_set(self, state: str) -> dict[str, Any]: + return self._post("/robot/state", {"state": state}) + + def robot_arm_mode(self, mode: str) -> dict[str, Any]: + return self._post("/robot/arm_mode", {"mode": mode}) + + def robot_stand(self, mode: str) -> dict[str, Any]: + return self._post("/robot/stand", {"mode": mode}) + + def robot_move(self, vx: float, vy: float, vyaw: float, continuous: bool = False) -> dict[str, Any]: + return self._post("/robot/move", {"vx": vx, "vy": vy, "vyaw": vyaw, "continuous": continuous}) + + def robot_stopmove(self) -> dict[str, Any]: + return self._post("/robot/stopmove", {}) + + def arms_compliance(self) -> dict[str, Any]: + return self._get("/arms/compliance") + + def arms_compliance_start(self) -> dict[str, Any]: + return self._post("/arms/compliance/start", {}) + + def arms_compliance_stop(self) -> dict[str, Any]: + return self._post("/arms/compliance/stop", {}) + + def arms_go_neutral(self) -> dict[str, Any]: + return self._post("/arms/go_neutral", {}) + + def arms_loco_reset(self) -> dict[str, Any]: + return self._post("/arms/loco_reset", {}) + + def diagnostics(self) -> dict[str, Any]: + """Motor temperatures / fault codes / enabled flags extracted from the + G1 lowstate. Optional on the upstream — a 404 here means the G1 API + version in use does not expose diagnostics yet.""" + return self._get("/diagnostics") + + # ----- presets (server-side persistence of pose+fingers snapshots) ----- + + def presets(self) -> dict[str, Any]: + return self._get("/presets") + + def preset_get(self, name: str) -> dict[str, Any]: + return self._get(f"/presets/{name}") + + def preset_save(self, name: str) -> dict[str, Any]: + return self._post("/presets/save", {"name": name}) + + def preset_execute(self, name: str) -> dict[str, Any]: + return self._post(f"/presets/{name}/execute", {}) + + def preset_delete(self, name: str) -> dict[str, Any]: + return self._delete(f"/presets/{name}") + + # ----- internals ----- + + def _check_status(self, r: httpx.Response, verb: str, path: str) -> None: + if r.is_success: + return + # Forward semantic client-side errors (409, 412, 422, …) with detail. + try: + body = r.json() + detail = body.get("detail", r.text) if isinstance(body, dict) else r.text + except Exception: + detail = r.text + raise G1StatusError(r.status_code, str(detail), f"{verb} {path}") + + def _get(self, path: str) -> dict[str, Any]: + try: + with httpx.Client(timeout=self.timeout_s) as c: + r = c.get(f"{self.base_url}{path}") + self._check_status(r, "GET", path) + return r.json() + except (httpx.HTTPError, OSError) as e: + raise G1Unavailable(f"G1 GET {path} failed: {e}") from e + + def _post(self, path: str, body: dict[str, Any]) -> dict[str, Any]: + if self.dry_run: + log.info("[DRY-RUN] G1 POST %s body=%s", path, body) + return {"ok": True, "dry_run": True, "path": path, "body": body} + try: + with httpx.Client(timeout=self.write_timeout_s) as c: + r = c.post(f"{self.base_url}{path}", json=body) + self._check_status(r, "POST", path) + return r.json() + except (httpx.HTTPError, OSError) as e: + raise G1Unavailable(f"G1 POST {path} failed: {e}") from e + + def _delete(self, path: str) -> dict[str, Any]: + if self.dry_run: + log.info("[DRY-RUN] G1 DELETE %s", path) + return {"ok": True, "dry_run": True, "path": path} + try: + with httpx.Client(timeout=self.write_timeout_s) as c: + r = c.delete(f"{self.base_url}{path}") + self._check_status(r, "DELETE", path) + return r.json() + except (httpx.HTTPError, OSError) as e: + raise G1Unavailable(f"G1 DELETE {path} failed: {e}") from e diff --git a/src/presa_mano/clients/marker.py b/src/presa_mano/clients/marker.py new file mode 100644 index 0000000..d686d75 --- /dev/null +++ b/src/presa_mano/clients/marker.py @@ -0,0 +1,68 @@ +"""Client for the marker-finder service (port 8082). + +Marker-finder accepts OpenCV intrinsics (`camera_matrix` 3x3 + `dist_coeffs`) +either as a per-request `intrinsics` form field on `/detect`, or as a stored +default via `POST /intrinsics`. We push the live Nuwa intrinsics at startup +(see main.py) so every subsequent `/detect` produces correct poses with no +extra work, and we still expose a per-call override for unusual cases. +""" + +from __future__ import annotations + +import json +from typing import Any + +import httpx + + +class MarkerClient: + def __init__(self, base_url: str, timeout_s: float = 5.0): + self.base_url = base_url.rstrip("/") + self.timeout_s = timeout_s + + def detect_url(self, markers: list[dict[str, Any]], image_url: str, + intrinsics: dict[str, Any] | None = None) -> dict[str, Any]: + """Returns {'found': [...], 'not_found': [...]}. + + Each found item includes 'corners' (Nx2), 'id', 'size_mm', 'position_m', + 'rotation_matrix', 'quaternion_xyzw'. Pose is computed by marker-finder + with the active default intrinsics (or the per-request override). + + Args: + intrinsics: optional per-call override, OpenCV format + `{"camera_matrix": [[fx,0,cx],[0,fy,cy],[0,0,1]], + "dist_coeffs": [k1,k2,p1,p2,k3]}` + (mostly unused now that we push the Nuwa defaults at startup; + kept for tools that want to detect against a custom camera). + """ + data = {"markers": json.dumps(markers), "image_url": image_url} + if intrinsics is not None: + data["intrinsics"] = json.dumps(intrinsics) + with httpx.Client(timeout=self.timeout_s) as c: + r = c.post(f"{self.base_url}/detect", data=data) + r.raise_for_status() + return r.json() + + def get_intrinsics(self) -> dict[str, Any]: + """Currently-active default intrinsics on marker-finder.""" + with httpx.Client(timeout=self.timeout_s) as c: + r = c.get(f"{self.base_url}/intrinsics") + r.raise_for_status() + return r.json() + + def set_intrinsics(self, camera_matrix: list[list[float]], + dist_coeffs: list[float], + persist: bool = False) -> dict[str, Any]: + """Replace marker-finder's default intrinsics. + + `persist=True` writes them into marker-finder's config.yaml so they + survive a restart. We default to in-memory only — presa-mano repushes + them at every startup, so persisting would just create config drift. + """ + body = {"camera_matrix": camera_matrix, "dist_coeffs": dist_coeffs} + with httpx.Client(timeout=self.timeout_s) as c: + r = c.post(f"{self.base_url}/intrinsics", + params={"persist": "true" if persist else "false"}, + json=body) + r.raise_for_status() + return r.json() diff --git a/src/presa_mano/clients/nuwa.py b/src/presa_mano/clients/nuwa.py new file mode 100644 index 0000000..df1b36e --- /dev/null +++ b/src/presa_mano/clients/nuwa.py @@ -0,0 +1,105 @@ +"""Client for Nuwa-HP60C depth camera (port 8877).""" + +from __future__ import annotations + +import io +from typing import Any + +import httpx +import numpy as np + + +class NuwaError(RuntimeError): + pass + + +class NuwaClient: + def __init__(self, base_url: str, timeout_s: float = 5.0, api_key: str | None = None): + self.base_url = base_url.rstrip("/") + self.timeout_s = timeout_s + self._headers = {"x-api-key": api_key} if api_key else {} + + def _get(self, path: str, **kwargs: Any) -> httpx.Response: + with httpx.Client(timeout=self.timeout_s, headers=self._headers) as c: + r = c.get(f"{self.base_url}{path}", **kwargs) + r.raise_for_status() + return r + + def health(self) -> dict[str, Any]: + return self._get("/api/health").json() + + def status(self) -> dict[str, Any]: + return self._get("/api/status").json() + + def rgb_url(self) -> str: + """URL that upstream services (marker-finder, yolo) can use to pull the current RGB frame.""" + return f"{self.base_url}/api/rgb" + + def rgb_jpeg(self) -> bytes: + return self._get("/api/rgb").content + + def intrinsics(self) -> dict[str, Any]: + """Returns {fx, fy, cx, cy, width, height, dist_coeffs?}.""" + data = self._get("/api/intrinsics").json() + if isinstance(data, dict) and "data" in data: + payload = data.get("data") or {} + if not payload: + raise NuwaError(data.get("error") or "intrinsics unavailable") + return payload + return data + + def depth_png(self) -> bytes: + """16-bit depth PNG (values in mm).""" + return self._get("/api/depth").content + + def pointcloud(self, step: int = 4, max_depth_mm: int = 4000) -> np.ndarray: + """Returns Nx6 array of [x,y,z,r,g,b] in camera frame (meters, uint8).""" + points, _ = self.pointcloud_with_meta(step=step, max_depth_mm=max_depth_mm) + return points + + def pointcloud_with_meta(self, step: int = 4, max_depth_mm: int = 4000 + ) -> tuple[np.ndarray, dict[str, Any]]: + """Full-frame point cloud in Nuwa native frame (X-right, Y-up, Z-back). + Payload: {"data": {"points": [[x,y,z,r,g,b],...], "intrinsics":{...}}}. + """ + return self._fetch_pointcloud("/api/pointcloud", + {"step": step, "max_depth_mm": max_depth_mm}) + + def pointcloud_roi(self, u_min: int, v_min: int, u_max: int, v_max: int, + step: int = 1, max_depth_mm: int = 4000 + ) -> tuple[np.ndarray, dict[str, Any]]: + """Crop-and-fetch: Nuwa computes only the points inside the pixel ROI. + + IMPORTANT: points come back in `[x, -y, -z, r, g, b]` — i.e. OpenCV + camera frame (X-right, Y-down, Z-forward). Compatible with the + hand-eye matrix `T_base_camera` (also OpenCV-frame). + """ + return self._fetch_pointcloud("/api/pointcloud/roi", { + "u_min": int(u_min), "v_min": int(v_min), + "u_max": int(u_max), "v_max": int(v_max), + "step": int(step), "max_depth_mm": int(max_depth_mm), + }) + + def _fetch_pointcloud(self, path: str, params: dict[str, Any] + ) -> tuple[np.ndarray, dict[str, Any]]: + r = self._get(path, params=params) + payload = r.json() + data = payload.get("data", payload) if isinstance(payload, dict) else payload + if isinstance(data, dict): + points_raw = data.get("points") or [] + meta = {k: v for k, v in data.items() if k != "points"} + else: + points_raw = data + meta = {} + if not points_raw: + return np.zeros((0, 6), dtype=np.float64), meta + arr = np.asarray(points_raw, dtype=np.float64) + if arr.ndim != 2 or arr.shape[1] < 3: + raise NuwaError(f"unexpected pointcloud shape: {arr.shape}") + return arr, meta + + def measure(self, u: int, v: int, radius: int = 6) -> dict[str, Any]: + """Back-project pixel (u,v) to 3D in camera frame.""" + r = self._get("/api/measure", params={"u": u, "v": v, "radius": radius}) + data = r.json() + return data.get("data", data) if isinstance(data, dict) else data diff --git a/src/presa_mano/clients/yolo.py b/src/presa_mano/clients/yolo.py new file mode 100644 index 0000000..99b4cfa --- /dev/null +++ b/src/presa_mano/clients/yolo.py @@ -0,0 +1,49 @@ +"""Client for the YOLO server (port 8879).""" + +from __future__ import annotations + +from typing import Any + +import httpx + + +class YoloClient: + def __init__(self, base_url: str, timeout_s: float = 10.0): + self.base_url = base_url.rstrip("/") + self.timeout_s = timeout_s + + def detect_url(self, image_url: str, conf: float | None = None) -> dict[str, Any]: + data: dict[str, Any] = {"url": image_url} + if conf is not None: + data["conf"] = str(conf) + with httpx.Client(timeout=self.timeout_s) as c: + r = c.post(f"{self.base_url}/detect", data=data) + r.raise_for_status() + return r.json() + + def classes(self) -> list[dict[str, Any]]: + """Returns [{id, name}, ...]. Empty list if yolo-server doesn't expose /classes + yet or the model carries no names. Accepts both flat and {success,data} shapes.""" + with httpx.Client(timeout=self.timeout_s) as c: + r = c.get(f"{self.base_url}/classes") + if r.status_code == 404: + return [] + r.raise_for_status() + payload: Any = r.json() + if isinstance(payload, dict) and isinstance(payload.get("data"), dict): + payload = payload["data"] + items: Any = payload.get("classes") if isinstance(payload, dict) else payload + out: list[dict[str, Any]] = [] + if isinstance(items, dict): + # {0: "Base", 1: "Mortaio", ...} + items = [{"id": int(k), "name": str(v)} for k, v in items.items()] + for i, it in enumerate(items or []): + if isinstance(it, str): + out.append({"id": i, "name": it}) + elif isinstance(it, dict): + name = it.get("name") or it.get("label") + if name is None: + continue + out.append({"id": int(it.get("id", i)), "name": str(name)}) + out.sort(key=lambda x: x["id"]) + return out diff --git a/src/presa_mano/config.py b/src/presa_mano/config.py new file mode 100644 index 0000000..3b416f8 --- /dev/null +++ b/src/presa_mano/config.py @@ -0,0 +1,73 @@ +"""Configuration loader with runtime override support.""" + +from __future__ import annotations + +import os +import threading +from copy import deepcopy +from pathlib import Path +from typing import Any + +import yaml + + + + +_LOCK = threading.RLock() +_STATE: dict[str, Any] = {"config": None, "path": None} + + +def _default_config_path() -> Path: + env = os.environ.get("PRESA_MANO_CONFIG") + if env: + return Path(env) + return Path(__file__).resolve().parents[2] / "config.yaml" + + +def data_dir() -> Path: + env = os.environ.get("PRESA_MANO_DATA") + p = Path(env) if env else _default_config_path().parent / "data" + p.mkdir(parents=True, exist_ok=True) + return p + + +def load_config(path: Path | None = None) -> dict[str, Any]: + with _LOCK: + if _STATE["config"] is not None and path is None: + return deepcopy(_STATE["config"]) + cfg_path = path or _default_config_path() + with open(cfg_path, "r") as f: + cfg = yaml.safe_load(f) or {} + _STATE["config"] = cfg + _STATE["path"] = cfg_path + return deepcopy(cfg) + + +def get_config() -> dict[str, Any]: + with _LOCK: + if _STATE["config"] is None: + load_config() + return deepcopy(_STATE["config"]) + + +def update_config(patch: dict[str, Any]) -> dict[str, Any]: + """Merge a patch into the in-memory config and persist to disk.""" + with _LOCK: + if _STATE["config"] is None: + load_config() + merged = _deep_merge(_STATE["config"], patch) + _STATE["config"] = merged + if _STATE["path"]: + with open(_STATE["path"], "w") as f: + yaml.safe_dump(merged, f, sort_keys=False) + return deepcopy(merged) + + +def _deep_merge(base: dict[str, Any], patch: dict[str, Any]) -> dict[str, Any]: + out = deepcopy(base) + for k, v in patch.items(): + if isinstance(v, dict) and isinstance(out.get(k), dict): + out[k] = _deep_merge(out[k], v) + else: + out[k] = v + return out diff --git a/src/presa_mano/geometry.py b/src/presa_mano/geometry.py new file mode 100644 index 0000000..17dd8e3 --- /dev/null +++ b/src/presa_mano/geometry.py @@ -0,0 +1,111 @@ +"""SE(3) helpers: compose, invert, conversions rvec/quat/euler/matrix.""" + +from __future__ import annotations + +import numpy as np + + +def rvec_to_R(rvec: np.ndarray) -> np.ndarray: + import cv2 + R, _ = cv2.Rodrigues(np.asarray(rvec, dtype=np.float64).reshape(3, 1)) + return R + + +def R_to_rvec(R: np.ndarray) -> np.ndarray: + import cv2 + rvec, _ = cv2.Rodrigues(np.asarray(R, dtype=np.float64)) + return rvec.flatten() + + +def quat_xyzw_to_R(q: np.ndarray) -> np.ndarray: + x, y, z, w = [float(v) for v in q] + n = x * x + y * y + z * z + w * w + if n == 0.0: + return np.eye(3) + s = 2.0 / n + return np.array([ + [1 - s * (y * y + z * z), s * (x * y - z * w), s * (x * z + y * w)], + [s * (x * y + z * w), 1 - s * (x * x + z * z), s * (y * z - x * w)], + [s * (x * z - y * w), s * (y * z + x * w), 1 - s * (x * x + y * y)], + ]) + + +def R_to_quat_xyzw(R: np.ndarray) -> np.ndarray: + m = np.asarray(R, dtype=np.float64) + t = m[0, 0] + m[1, 1] + m[2, 2] + if t > 0: + s = np.sqrt(t + 1.0) * 2 + w = 0.25 * s + x = (m[2, 1] - m[1, 2]) / s + y = (m[0, 2] - m[2, 0]) / s + z = (m[1, 0] - m[0, 1]) / s + elif m[0, 0] > m[1, 1] and m[0, 0] > m[2, 2]: + s = np.sqrt(1.0 + m[0, 0] - m[1, 1] - m[2, 2]) * 2 + w = (m[2, 1] - m[1, 2]) / s + x = 0.25 * s + y = (m[0, 1] + m[1, 0]) / s + z = (m[0, 2] + m[2, 0]) / s + elif m[1, 1] > m[2, 2]: + s = np.sqrt(1.0 + m[1, 1] - m[0, 0] - m[2, 2]) * 2 + w = (m[0, 2] - m[2, 0]) / s + x = (m[0, 1] + m[1, 0]) / s + y = 0.25 * s + z = (m[1, 2] + m[2, 1]) / s + else: + s = np.sqrt(1.0 + m[2, 2] - m[0, 0] - m[1, 1]) * 2 + w = (m[1, 0] - m[0, 1]) / s + x = (m[0, 2] + m[2, 0]) / s + y = (m[1, 2] + m[2, 1]) / s + z = 0.25 * s + return np.array([x, y, z, w]) + + +def make_T(R: np.ndarray, t: np.ndarray) -> np.ndarray: + T = np.eye(4) + T[:3, :3] = R + T[:3, 3] = np.asarray(t, dtype=np.float64).flatten() + return T + + +def invert_T(T: np.ndarray) -> np.ndarray: + R = T[:3, :3] + t = T[:3, 3] + Ti = np.eye(4) + Ti[:3, :3] = R.T + Ti[:3, 3] = -R.T @ t + return Ti + + +def T_from_pos_quat(pos: np.ndarray, quat_xyzw: np.ndarray) -> np.ndarray: + return make_T(quat_xyzw_to_R(np.asarray(quat_xyzw)), np.asarray(pos)) + + +def pos_quat_from_T(T: np.ndarray) -> tuple[np.ndarray, np.ndarray]: + return T[:3, 3].copy(), R_to_quat_xyzw(T[:3, :3]) + + +def T_from_rvec_tvec(rvec: np.ndarray, tvec: np.ndarray) -> np.ndarray: + return make_T(rvec_to_R(rvec), np.asarray(tvec).flatten()) + + +def R_to_euler_xyz(R: np.ndarray) -> np.ndarray: + """Extrinsic XYZ euler (roll, pitch, yaw) in radians.""" + sy = np.sqrt(R[0, 0] ** 2 + R[1, 0] ** 2) + singular = sy < 1e-6 + if not singular: + x = np.arctan2(R[2, 1], R[2, 2]) + y = np.arctan2(-R[2, 0], sy) + z = np.arctan2(R[1, 0], R[0, 0]) + else: + x = np.arctan2(-R[1, 2], R[1, 1]) + y = np.arctan2(-R[2, 0], sy) + z = 0.0 + return np.array([x, y, z]) + + +def transform_points(T: np.ndarray, pts: np.ndarray) -> np.ndarray: + """Apply T (4x4) to Nx3 points.""" + pts = np.asarray(pts, dtype=np.float64) + R = T[:3, :3] + t = T[:3, 3] + return pts @ R.T + t diff --git a/src/presa_mano/grasp/__init__.py b/src/presa_mano/grasp/__init__.py new file mode 100644 index 0000000..6e7e535 --- /dev/null +++ b/src/presa_mano/grasp/__init__.py @@ -0,0 +1,4 @@ +from .axis import ObjectAxes, compute_axes +from .planner import GraspPlanner, GraspPlan + +__all__ = ["ObjectAxes", "compute_axes", "GraspPlanner", "GraspPlan"] diff --git a/src/presa_mano/grasp/axis.py b/src/presa_mano/grasp/axis.py new file mode 100644 index 0000000..152155b --- /dev/null +++ b/src/presa_mano/grasp/axis.py @@ -0,0 +1,63 @@ +"""Object axis estimation via PCA. + +Given Nx3 object points (in any frame), compute: + - centroid + - 3 principal axes (unit vectors) with corresponding extents + - right-handed frame (axes columns form a rotation matrix) +""" + +from __future__ import annotations + +from dataclasses import dataclass + +import numpy as np + + +@dataclass +class ObjectAxes: + centroid: np.ndarray # (3,) + axes: np.ndarray # (3,3) columns = unit vectors, sorted largest extent first + extents: np.ndarray # (3,) along each axis (meters) + + @property + def long_axis(self) -> np.ndarray: + return self.axes[:, 0] + + @property + def mid_axis(self) -> np.ndarray: + return self.axes[:, 1] + + @property + def short_axis(self) -> np.ndarray: + return self.axes[:, 2] + + def to_dict(self) -> dict: + return { + "centroid": self.centroid.tolist(), + "axes": self.axes.tolist(), + "extents_m": self.extents.tolist(), + } + + +def compute_axes(points_xyz: np.ndarray) -> ObjectAxes: + pts = np.asarray(points_xyz, dtype=np.float64) + if pts.ndim != 2 or pts.shape[1] != 3 or len(pts) < 3: + raise ValueError(f"need at least 3 3D points, got shape {pts.shape}") + + c = pts.mean(axis=0) + centered = pts - c + cov = np.cov(centered.T) + eigvals, eigvecs = np.linalg.eigh(cov) + # eigh returns ascending — reverse for largest-first + order = np.argsort(eigvals)[::-1] + eigvals = eigvals[order] + eigvecs = eigvecs[:, order] + + # Ensure right-handed coordinate system + if np.linalg.det(eigvecs) < 0: + eigvecs[:, 2] = -eigvecs[:, 2] + + # Extent along each axis = range of projected coordinates + proj = centered @ eigvecs # Nx3 + extents = proj.max(axis=0) - proj.min(axis=0) + return ObjectAxes(centroid=c, axes=eigvecs, extents=extents) diff --git a/src/presa_mano/grasp/planner.py b/src/presa_mano/grasp/planner.py new file mode 100644 index 0000000..b9da101 --- /dev/null +++ b/src/presa_mano/grasp/planner.py @@ -0,0 +1,99 @@ +"""Grasp planner: from object axes (in base frame) to a wrist pose. + +Gripper convention (G1 right hand, approximate): + - X_hand: forward (approach direction — palm-forward) + - Y_hand: lateral (axis along which fingers close) + - Z_hand: up (along the fingers) + +Strategy: + - The fingers close along the *mid* axis of the object (perpendicular to its + long axis, largest pinch span). + - The approach direction points downward toward the object centroid from above + (so the wrist comes from +Z in base frame). + - We build R_wrist = [x_hand | y_hand | z_hand]. +""" + +from __future__ import annotations + +from dataclasses import dataclass +from typing import Any + +import numpy as np + +from ..geometry import R_to_quat_xyzw +from .axis import ObjectAxes + + +@dataclass +class GraspPlan: + grasp_position: np.ndarray # (3,) in base frame + grasp_quaternion: np.ndarray # (4,) xyzw + pre_grasp_position: np.ndarray # (3,) above the grasp by approach_offset + object_width_m: float # expected span along closure axis + axes: ObjectAxes + + def to_dict(self) -> dict[str, Any]: + return { + "grasp": { + "position": self.grasp_position.tolist(), + "quaternion_xyzw": self.grasp_quaternion.tolist(), + }, + "pre_grasp": { + "position": self.pre_grasp_position.tolist(), + "quaternion_xyzw": self.grasp_quaternion.tolist(), + }, + "object_width_m": float(self.object_width_m), + "axes": self.axes.to_dict(), + } + + +class GraspPlanner: + def __init__(self, approach_offset_m: float = 0.10, max_object_width_m: float = 0.08): + self.approach_offset_m = approach_offset_m + self.max_object_width_m = max_object_width_m + + def plan(self, axes: ObjectAxes) -> GraspPlan: + long_axis = _unit(axes.long_axis) + # Closure axis = component of the mid axis orthogonal to long_axis, then horizontalize. + closure = _unit(axes.mid_axis - np.dot(axes.mid_axis, long_axis) * long_axis) + + # Approach comes from above in base frame: z_base = +Z up. + z_base = np.array([0.0, 0.0, 1.0]) + approach = -z_base # hand approaches downward + + # Build hand frame so that: + # x_hand = approach direction (forward) + # y_hand = closure direction (fingers close) + # z_hand = x × y (along fingers / wrist up) + x_hand = _unit(approach) + # Remove any component of closure along x_hand + y_hand = _unit(closure - np.dot(closure, x_hand) * x_hand) + if np.linalg.norm(y_hand) < 1e-6: + # Fall back: pick any horizontal axis perpendicular to approach + y_hand = _unit(np.cross(x_hand, np.array([1.0, 0.0, 0.0]))) + z_hand = _unit(np.cross(x_hand, y_hand)) + y_hand = _unit(np.cross(z_hand, x_hand)) + + R_wrist = np.column_stack([x_hand, y_hand, z_hand]) + quat = R_to_quat_xyzw(R_wrist) + + grasp_pos = axes.centroid.copy() + pre_grasp_pos = grasp_pos + z_base * self.approach_offset_m + + # Object width along mid axis (the pinch span) + object_width_m = float(axes.extents[1]) + + return GraspPlan( + grasp_position=grasp_pos, + grasp_quaternion=quat, + pre_grasp_position=pre_grasp_pos, + object_width_m=object_width_m, + axes=axes, + ) + + +def _unit(v: np.ndarray) -> np.ndarray: + n = np.linalg.norm(v) + if n < 1e-12: + return v + return v / n diff --git a/src/presa_mano/grasp/visual_servo.py b/src/presa_mano/grasp/visual_servo.py new file mode 100644 index 0000000..0a376f0 --- /dev/null +++ b/src/presa_mano/grasp/visual_servo.py @@ -0,0 +1,504 @@ +"""Marker-relative visual servoing (no static hand-eye calibration). + +Idea: the wrist-mounted ArUco marker is our live reference. Each step we read +current wrist pose from G1, detect the marker in the camera frame, detect the +object (YOLO bbox → Nuwa ROI point cloud → centroid), and plan a wrist move +that advances a fraction of the camera-frame marker→object vector. + +Mapping a camera-frame delta to a base-frame wrist delta needs `R_base_camera`, +which is derived live each step: + + R_base_camera = R_base_wrist @ R_wrist_marker @ R_cam_marker^-1 + +Only the *rotation* part of `T_wrist_marker` matters for deltas — translation +cancels. We take `R_wrist_marker` from config (rvec), defaulting to identity +when the marker is roughly aligned with the wrist frame. + +Stop condition: camera-frame marker→object distance ≤ `min_distance_m`. This +is a direct physical proxy for wrist-to-object proximity, independent of the +(unknown) marker-to-wrist translation offset. +""" + +from __future__ import annotations + +import json +import logging +import time +from dataclasses import asdict, dataclass +from pathlib import Path +from typing import Any + +import numpy as np + +from ..clients import G1Client, MarkerClient, NuwaClient, YoloClient +from ..config import data_dir +from ..geometry import ( + T_from_pos_quat, + invert_T, + make_T, + quat_xyzw_to_R, + rvec_to_R, +) +from ..perception import filter_outliers, nuwa_to_cv_frame +from ..perception.aruco_pose import nuwa_intrinsics_to_matrix, solve_square_marker +from ..perception.detector import ObjectDetector + +log = logging.getLogger(__name__) + + +class ServoError(RuntimeError): + pass + + +@dataclass +class WorkPlane: + """Plane in camera frame: normal·X + offset = 0, normal is unit-length and + pointing roughly toward the camera (i.e. has negative Z in OpenCV frame).""" + normal: list[float] + offset: float + centroid: list[float] + n_inliers: int + fit_rms_mm: float + roi: list[int] + created_at: float + + +_WORK_PLANE: WorkPlane | None = None +_WORK_PLANE_LOADED = False + + +def _work_plane_path() -> Path: + return data_dir() / "work_plane.json" + + +def _save_work_plane_to_disk(wp: WorkPlane | None) -> None: + path = _work_plane_path() + try: + if wp is None: + if path.exists(): + path.unlink() + return + path.parent.mkdir(parents=True, exist_ok=True) + with open(path, "w") as f: + json.dump(asdict(wp), f, indent=2) + except Exception as e: + log.warning("failed to persist work plane: %s", e) + + +def _load_work_plane_from_disk() -> WorkPlane | None: + path = _work_plane_path() + try: + with open(path, "r") as f: + d = json.load(f) + return WorkPlane(**d) + except FileNotFoundError: + return None + except Exception as e: + log.warning("failed to load persisted work plane (%s)", e) + return None + + +def get_work_plane() -> WorkPlane | None: + global _WORK_PLANE, _WORK_PLANE_LOADED + if not _WORK_PLANE_LOADED: + _WORK_PLANE = _load_work_plane_from_disk() + _WORK_PLANE_LOADED = True + return _WORK_PLANE + + +def set_work_plane(wp: WorkPlane | None) -> None: + global _WORK_PLANE, _WORK_PLANE_LOADED + _WORK_PLANE = wp + _WORK_PLANE_LOADED = True + _save_work_plane_to_disk(wp) + + +def fit_plane_svd(points_xyz: np.ndarray + ) -> tuple[np.ndarray, float, np.ndarray, float]: + """Least-squares plane via SVD. Returns (normal, offset, centroid, rms_mm). + + Plane equation: normal·X + offset = 0. Normal is oriented to point toward + the camera origin (negative Z in CV frame).""" + pts = np.asarray(points_xyz, dtype=np.float64) + if pts.ndim != 2 or pts.shape[1] < 3: + raise ServoError(f"unexpected points shape for plane fit: {pts.shape}") + xyz = pts[:, :3] + if len(xyz) < 10: + raise ServoError(f"too few points to fit plane: {len(xyz)}") + c = xyz.mean(axis=0) + centered = xyz - c + _, _, Vt = np.linalg.svd(centered, full_matrices=False) + normal = Vt[-1] + n = float(np.linalg.norm(normal)) + if n < 1e-9: + raise ServoError("degenerate plane (zero normal)") + normal = normal / n + # Orient normal to point toward the camera origin: the signed distance of + # the origin from the plane must be positive, i.e. d = -n·c > 0 → n·c < 0. + # Flipping only on normal[2] is wrong for tilted planes (the camera may + # not be above the plane in Z-only sense). + if float(normal @ c) > 0: + normal = -normal + offset = -float(normal @ c) + signed = centered @ normal + rms_mm = float(np.sqrt(np.mean(signed * signed)) * 1000.0) + return normal, offset, c, rms_mm + + +def project_point_on_plane(P: np.ndarray, normal: np.ndarray, offset: float + ) -> tuple[np.ndarray, float]: + """Perpendicular projection of a 3D point onto the plane. + Returns (foot, signed_distance). Signed distance > 0 means P is on the + side of the plane the normal points toward (camera side in our convention). + """ + s = float(normal @ P + offset) + return P - s * normal, s + + +def backproject_pixel_on_plane(uv: np.ndarray, K: np.ndarray, + normal: np.ndarray, offset: float + ) -> np.ndarray: + """Intersect the viewing ray through pixel (u,v) with the work plane.""" + r = np.linalg.inv(K) @ np.array([float(uv[0]), float(uv[1]), 1.0]) + denom = float(normal @ r) + if abs(denom) < 1e-9: + raise ServoError("ray parallel to work plane") + t = -offset / denom + if t <= 0: + raise ServoError("plane intersection is behind the camera") + return t * r + + +@dataclass +class ServoPlan: + # Truth (from G1) + wrist_position_base: list[float] + wrist_quaternion_base: list[float] + + # Camera-frame observations + marker_position_cam: list[float] + object_position_cam: list[float] + + # Pixel-space positions for the 2D overlay (u, v in image coordinates). + marker_pixel: list[float] + object_pixel: list[float] + + # Perpendicular depth to the camera plane (Z component, m). This is what + # drives the pinhole mm/px scale — NOT the slant range. + marker_depth_z_m: float + object_depth_z_m: float + # Euclidean distance camera origin → point (slant range, m). + marker_distance_cam_m: float + object_distance_cam_m: float + + # Pinhole scale at the point's depth: mm-per-pixel = (z_mm / fx), i.e. + # physical size of one image pixel at that depth. Depends on Z only, so + # two points at the same Z but different XY will share mm/px. + marker_mm_per_px: float + object_mm_per_px: float + + # Approximate base-frame positions for visualisation only. Computed with + # T_wrist_marker = identity: relative distances are correct, absolute + # positions are offset by the unknown marker-to-wrist translation. + marker_position_base_est: list[float] + object_position_base_est: list[float] + T_base_camera_est: list[list[float]] + + # Scalar cues + distance_m: float # camera-frame magnitude of marker→object + done: bool # True when distance ≤ min_distance_m + + # Next wrist target in base frame (None when done) + target_position_base: list[float] | None + target_quaternion_base: list[float] | None + planned_step_m: float # how much the wrist is about to move (base frame) + + # Work-plane projection block — present only when a plane has been fitted. + # Everything camera-frame. `in_plane_distance_m` is the Euclidean distance + # between the two foot-of-perpendicular points (lives on the plane). + plane: dict[str, Any] | None = None + + # Diagnostics + detection: dict[str, Any] | None = None + n_object_points: int = 0 + marker_reprojection_error_px: float | None = None + marker_translation_source: str = "solvepnp" # "nuwa_depth" | "solvepnp" + object_point_source: str = "centroid" # "centroid" | "highest_above_plane(...)" + reason: str | None = None + + +def _resolve_wrist_pose(g1: G1Client, side: str) -> tuple[np.ndarray, np.ndarray, list[float]]: + w = g1.wrist() + body = w.get("data") if isinstance(w.get("data"), dict) else w + pose = body.get(f"{side}_wrist") or body.get(side) + if pose is None or "position" not in pose or "quaternion" not in pose: + raise ServoError(f"G1 /wrist missing '{side}' pose: {w!r}") + pos = np.asarray(pose["position"], dtype=np.float64) + quat = np.asarray(pose["quaternion"], dtype=np.float64) + return pos, quat, list(map(float, pose["quaternion"])) + + +def _detect_marker_cam(nuwa: NuwaClient, marker: MarkerClient, + marker_id: int, size_mm: float + ) -> tuple[np.ndarray, np.ndarray, np.ndarray, float | None, str]: + """Return (R_cam_marker, t_cam_marker, corners_px, reprojection_error_px, source). + + Translation comes from the Nuwa depth at the marker centre pixel whenever + possible — much more stable than solvePnP on a small planar marker, which + suffers from the IPPE_SQUARE planar ambiguity (two solutions, same + reprojection error) at ~1.4 m distance. Rotation still comes from solvePnP + because the servo mapping cam→base needs it. + + `source` reports how `t_cam_marker` was obtained: "nuwa_depth" when the + depth-sensor value at the marker pixel was usable, "solvepnp" otherwise. + """ + result = marker.detect_url( + markers=[{"id": int(marker_id), "size_mm": float(size_mm)}], + image_url=nuwa.rgb_url(), + ) + found = result.get("found", []) + entry = next((m for m in found if int(m["id"]) == int(marker_id)), None) + if entry is None: + raise ServoError(f"marker id={marker_id} not detected (not_found={result.get('not_found')})") + corners = np.asarray(entry["corners"], dtype=np.float64) + + R_cm = None + t_pnp = None + reproj_err: float | None = None + try: + intr = nuwa.intrinsics() + K, dist = nuwa_intrinsics_to_matrix(intr) + sol = solve_square_marker(corners, float(size_mm) / 1000.0, K, dist) + R_cm = sol["R"] + t_pnp = sol["t"].flatten() + reproj_err = float(sol["reprojection_error_px"]) + except Exception as e: + log.warning("local pnp failed (%s) — using marker-finder orientation", e) + R_cm = np.asarray(entry["rotation_matrix"], dtype=np.float64).reshape(3, 3) + t_pnp = np.asarray(entry["position_m"], dtype=np.float64).flatten() + + # Prefer Nuwa depth at the marker centre pixel for the translation. + centre = corners.mean(axis=0) + u = int(round(float(centre[0]))) + v = int(round(float(centre[1]))) + t_depth = None + try: + m = nuwa.measure(u, v, radius=8) + pt = m.get("point_m") if isinstance(m, dict) else None + if not isinstance(pt, dict): + pt = m + x = float(pt.get("x", pt.get("X"))) + y = float(pt.get("y", pt.get("Y"))) + z = float(pt.get("z", pt.get("Z"))) + # /api/measure returns already-OpenCV-frame coords (Z>0 in front of + # the camera). No flip. + t_depth = np.array([x, y, z], dtype=np.float64) + if not np.all(np.isfinite(t_depth)) or abs(t_depth[2]) < 1e-3: + t_depth = None + except Exception as e: + log.warning("nuwa.measure failed at (%d,%d): %s", u, v, e) + t_depth = None + + if t_depth is not None: + return R_cm, t_depth, corners, reproj_err, "nuwa_depth" + return R_cm, t_pnp, corners, reproj_err, "solvepnp" + + +def _detect_object_point_cam(nuwa: NuwaClient, yolo: YoloClient, + conf: float | None, class_name: str | None, + pointcloud_step: int, pointcloud_max_depth_mm: int, + work_plane: WorkPlane | None, + top_fraction: float = 0.05, + ) -> tuple[np.ndarray, dict[str, Any], int, str]: + """Return (point_cam_xyz, top_detection, n_points, source). + + When a work plane is available, returns the mean of the top `top_fraction` + of points (by signed distance from the plane) — this is the highest part + of the object above the work surface, which is the natural grasp target. + Without a plane, falls back to the centroid of all filtered points.""" + detector = ObjectDetector(yolo, nuwa) + dets = detector.detect(conf=conf) + if class_name: + dets = [d for d in dets if (d.get("class") or "").lower() == class_name.lower()] + if not dets: + raise ServoError("no object detected" + (f" for class '{class_name}'" if class_name else "")) + dets.sort(key=lambda d: d["confidence"], reverse=True) + top = dets[0] + b = top["bbox"] + u_min = max(0, int(np.floor(b["x1"]))) + v_min = max(0, int(np.floor(b["y1"]))) + u_max = int(np.ceil(b["x2"])) + v_max = int(np.ceil(b["y2"])) + pc, _meta = nuwa.pointcloud_roi(u_min, v_min, u_max, v_max, + step=pointcloud_step, + max_depth_mm=pointcloud_max_depth_mm) + # Empirical: Nuwa ROI points come in Nuwa-native frame (Z<0 in front of + # camera) despite the docstring. Flip to true OpenCV frame so comparisons + # with the plane (also CV) are consistent. + cropped = filter_outliers(pc) + if len(cropped) < 10: + raise ServoError(f"too few valid depth points in bbox: {len(cropped)}") + pts_cv = nuwa_to_cv_frame(cropped[:, :3]) + if work_plane is None: + return pts_cv.mean(axis=0), top, int(len(pts_cv)), "centroid" + n_vec = np.asarray(work_plane.normal, dtype=np.float64) + d_off = float(work_plane.offset) + signed = pts_cv @ n_vec + d_off # Nx (positive = above plane) + k = max(1, int(round(float(top_fraction) * len(pts_cv)))) + idx = np.argpartition(signed, -k)[-k:] + highest = pts_cv[idx].mean(axis=0) + return highest, top, int(len(pts_cv)), f"highest_above_plane(top {k}/{len(pts_cv)})" + + +def _r_wrist_marker_from_config(cfg: dict[str, Any]) -> np.ndarray: + """Rotation part of the marker-on-wrist rigid offset. Translation does not + matter for camera-frame delta servo. Read from + `grasp.visual_servo.wrist_marker_rvec` as a 3-vector (Rodrigues), default + identity.""" + vs = cfg.get("grasp", {}).get("visual_servo", {}) or {} + rvec = vs.get("wrist_marker_rvec") or [0.0, 0.0, 0.0] + return rvec_to_R(np.asarray(rvec, dtype=np.float64)) + + +def plan(*, side: str, marker_id: int, size_mm: float, + conf: float | None, class_name: str | None, + min_distance_m: float, step_fraction: float, + pointcloud_step: int, pointcloud_max_depth_mm: int, + cfg: dict[str, Any], + nuwa: NuwaClient, marker: MarkerClient, yolo: YoloClient, g1: G1Client, + ) -> ServoPlan: + # 1) Wrist pose in base + wrist_pos, wrist_quat, wrist_quat_list = _resolve_wrist_pose(g1, side) + R_bw = quat_xyzw_to_R(wrist_quat) + + # 2) Marker pose in camera + R_cm, t_cm, corners_px, reproj_err, marker_t_source = _detect_marker_cam( + nuwa, marker, marker_id, size_mm, + ) + marker_pixel = corners_px.mean(axis=0) # centre of the 4 corners + # Intrinsics for mm/px scale at each point's depth. + try: + intr = nuwa.intrinsics() + K, _ = nuwa_intrinsics_to_matrix(intr) + fx = float(K[0, 0]) + except Exception as e: + log.warning("intrinsics unavailable for mm/px (%s)", e) + fx = float("nan") + + # 3) Object reference point in camera: highest-above-plane if a plane is + # set, otherwise centroid of the bbox pointcloud. + wp_here = get_work_plane() + centroid_cam, detection, n_pts, object_point_source = _detect_object_point_cam( + nuwa, yolo, conf, class_name, + pointcloud_step, pointcloud_max_depth_mm, + work_plane=wp_here, + ) + b = detection["bbox"] + object_pixel = np.array([0.5 * (b["x1"] + b["x2"]), 0.5 * (b["y1"] + b["y2"])]) + + # 4) Rotation mapping cam→base (identity marker-to-wrist rotation by default) + R_wm = _r_wrist_marker_from_config(cfg) + R_base_cam = R_bw @ R_wm @ np.linalg.inv(R_cm) + + # 5) Camera-frame vector & distance (marker → object) + d_cam = centroid_cam - t_cm + distance_m = float(np.linalg.norm(d_cam)) + done = distance_m <= float(min_distance_m) + + # 6) Estimate T_base_camera for visualisation (identity T_wrist_marker): + # translation part is off by the real marker-to-wrist translation, but + # relative positions of marker and object in base frame are preserved. + T_bc_est = np.eye(4) + T_bc_est[:3, :3] = R_base_cam + T_bw_full = T_from_pos_quat(wrist_pos, wrist_quat) + T_wm_identity = np.eye(4) # translation part left at zero + T_wm_identity[:3, :3] = R_wm + T_cm_full = make_T(R_cm, t_cm) + T_bc_est = T_bw_full @ T_wm_identity @ invert_T(T_cm_full) + + marker_base_est = (T_bc_est @ np.array([*t_cm, 1.0]))[:3] + object_base_est = (T_bc_est @ np.array([*centroid_cam, 1.0]))[:3] + + # 7) Plan step + target_pos = None + target_quat = None + planned_step_m = 0.0 + reason = None + if done: + reason = f"distance {distance_m*1000:.1f} mm ≤ {min_distance_m*1000:.0f} mm — reached" + else: + step_cam = d_cam * float(step_fraction) + step_len = float(np.linalg.norm(step_cam)) + # Don't overshoot below min_distance_m + if distance_m - step_len < float(min_distance_m): + step_cam = d_cam * ((distance_m - float(min_distance_m)) / distance_m) + step_len = float(np.linalg.norm(step_cam)) + reason = "clamped to stop at min_distance_m" + step_base = R_base_cam @ step_cam + target_pos = wrist_pos + step_base + target_quat = wrist_quat_list + planned_step_m = float(np.linalg.norm(step_base)) + + # 8) Work-plane projection (optional) + plane_block = None + wp = get_work_plane() + if wp is not None: + try: + K_plane, _ = nuwa_intrinsics_to_matrix(nuwa.intrinsics()) + n_vec = np.asarray(wp.normal, dtype=np.float64) + d_off = float(wp.offset) + # Perpendicular foot of the measured 3D points. + m_foot, m_signed = project_point_on_plane(np.asarray(t_cm), n_vec, d_off) + o_foot, o_signed = project_point_on_plane(np.asarray(centroid_cam), n_vec, d_off) + # Back-projected pixel hits on the plane (trust pixel + depth plane, + # ignoring the measured Z of each point — more stable when depth is + # noisy, at the cost of assuming the point actually lies on the + # plane). + m_hit = backproject_pixel_on_plane(np.asarray(marker_pixel), K_plane, n_vec, d_off) + o_hit = backproject_pixel_on_plane(np.asarray(object_pixel), K_plane, n_vec, d_off) + plane_block = { + "normal": wp.normal, + "offset": wp.offset, + "fit_rms_mm": wp.fit_rms_mm, + "roi": wp.roi, + "marker_foot_cam": [float(x) for x in m_foot], + "object_foot_cam": [float(x) for x in o_foot], + "marker_signed_distance_m": float(m_signed), + "object_signed_distance_m": float(o_signed), + "marker_pixel_hit_cam": [float(x) for x in m_hit], + "object_pixel_hit_cam": [float(x) for x in o_hit], + "in_plane_distance_m": float(np.linalg.norm(o_foot - m_foot)), + "in_plane_pixel_distance_m": float(np.linalg.norm(o_hit - m_hit)), + } + except Exception as e: + log.warning("plane projection failed: %s", e) + + return ServoPlan( + wrist_position_base=[float(x) for x in wrist_pos], + wrist_quaternion_base=wrist_quat_list, + marker_position_cam=[float(x) for x in t_cm], + object_position_cam=[float(x) for x in centroid_cam], + marker_pixel=[float(x) for x in marker_pixel], + object_pixel=[float(x) for x in object_pixel], + marker_depth_z_m=float(abs(t_cm[2])), + object_depth_z_m=float(abs(centroid_cam[2])), + marker_distance_cam_m=float(np.linalg.norm(t_cm)), + object_distance_cam_m=float(np.linalg.norm(centroid_cam)), + marker_mm_per_px=float(abs(t_cm[2]) * 1000.0 / fx) if fx == fx and fx > 0 else 0.0, + object_mm_per_px=float(abs(centroid_cam[2]) * 1000.0 / fx) if fx == fx and fx > 0 else 0.0, + marker_position_base_est=[float(x) for x in marker_base_est], + object_position_base_est=[float(x) for x in object_base_est], + T_base_camera_est=T_bc_est.tolist(), + distance_m=distance_m, + done=done, + target_position_base=[float(x) for x in target_pos] if target_pos is not None else None, + target_quaternion_base=target_quat, + planned_step_m=planned_step_m, + plane=plane_block, + detection=detection, + n_object_points=n_pts, + marker_reprojection_error_px=reproj_err, + marker_translation_source=marker_t_source, + object_point_source=object_point_source, + reason=reason, + ) diff --git a/src/presa_mano/main.py b/src/presa_mano/main.py new file mode 100644 index 0000000..15c888e --- /dev/null +++ b/src/presa_mano/main.py @@ -0,0 +1,110 @@ +"""FastAPI entrypoint for presa-mano.""" + +from __future__ import annotations + +import logging +from pathlib import Path + +from fastapi import FastAPI, Request +from fastapi.responses import HTMLResponse, JSONResponse +from fastapi.staticfiles import StaticFiles + +from .api import ( + agent_routes, + calibration_routes, + config_routes, + grasp_routes, + home_routes, + perception_routes, + posture_routes, + robot_routes, + wrist_routes, +) +from .clients import G1StatusError +from .config import load_config + +logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(name)s: %(message)s") + +app = FastAPI( + title="presa-mano", + description="Hand-eye calibration + object grasping pipeline (Nuwa + ArUco + YOLO + G1)", + version="0.1.0", + docs_url="/apidocs", + redoc_url="/redoc", +) + +app.include_router(config_routes.router, prefix="/api/config", tags=["config"]) +app.include_router(home_routes.router, prefix="/api/home", tags=["home"]) +app.include_router(agent_routes.router, prefix="/api/agent", tags=["agent"]) +app.include_router(calibration_routes.router, prefix="/api/calibration", tags=["calibration"]) +app.include_router(perception_routes.router, prefix="/api/perception", tags=["perception"]) +app.include_router(grasp_routes.router, prefix="/api/grasp", tags=["grasp"]) +app.include_router(wrist_routes.router, prefix="/api/wrist", tags=["wrist"]) +app.include_router(posture_routes.router, prefix="/api/posture", tags=["posture"]) +app.include_router(robot_routes.router, prefix="/api/robot", tags=["robot"]) + +WEB_DIR = Path(__file__).resolve().parents[2] / "web" +if WEB_DIR.exists(): + app.mount("/static", StaticFiles(directory=str(WEB_DIR)), name="static") + + +@app.on_event("startup") +def _startup() -> None: + load_config() + _push_intrinsics_to_marker_finder() + + +def _push_intrinsics_to_marker_finder() -> None: + """Read live RGB intrinsics from Nuwa and push them as the new default + on marker-finder. After this every `/detect` produces poses computed with + the correct intrinsics, so callers don't have to override per-request. + + Best-effort: if Nuwa or marker-finder is down we just log and continue — + presa-mano must come up regardless. Callers can also pass intrinsics + per-request as a fallback. + """ + log = logging.getLogger(__name__) + try: + from .api import _deps + from .perception.aruco_pose import nuwa_intrinsics_to_opencv_payload + intr = _deps.nuwa().intrinsics() + payload = nuwa_intrinsics_to_opencv_payload(intr) + _deps.marker().set_intrinsics( + camera_matrix=payload["camera_matrix"], + dist_coeffs=payload["dist_coeffs"], + persist=False, + ) + log.info("pushed Nuwa intrinsics to marker-finder") + except Exception as e: + log.warning("could not push Nuwa intrinsics to marker-finder: %s " + "(callers can still pass them per-request)", e) + + +@app.exception_handler(G1StatusError) +def _g1_status_error(_: Request, exc: G1StatusError) -> JSONResponse: + # Forward the upstream status code verbatim — 409 (conflict, arms busy), + # 412 (precondition: DDS not ready), etc. are actionable by the caller and + # should not be flattened into a generic 502. + return JSONResponse( + status_code=exc.status, + content={"detail": f"G1 {exc.path}: {exc.detail}"}, + ) + + +@app.get("/health", tags=["meta"]) +def health() -> dict: + return {"status": "ok"} + + +@app.get("/", include_in_schema=False) +def index() -> HTMLResponse: + idx = WEB_DIR / "index.html" + html = idx.read_text(encoding="utf-8") + # Cache-bust app.js and style.css with their mtime so a rebuild forces refetch. + for name in ("app.js", "autocal3d.js", "servo.js", "style.css"): + f = WEB_DIR / name + if f.exists(): + v = int(f.stat().st_mtime) + html = html.replace(f"/static/{name}", f"/static/{name}?v={v}") + # Also tell the browser not to cache the shell itself. + return HTMLResponse(html, headers={"Cache-Control": "no-store"}) diff --git a/src/presa_mano/perception/__init__.py b/src/presa_mano/perception/__init__.py new file mode 100644 index 0000000..74a39d7 --- /dev/null +++ b/src/presa_mano/perception/__init__.py @@ -0,0 +1,4 @@ +from .detector import ObjectDetector +from .pointcloud import crop_bbox, filter_outliers, nuwa_to_cv_frame + +__all__ = ["ObjectDetector", "crop_bbox", "filter_outliers", "nuwa_to_cv_frame"] diff --git a/src/presa_mano/perception/aruco_pose.py b/src/presa_mano/perception/aruco_pose.py new file mode 100644 index 0000000..3c6de32 --- /dev/null +++ b/src/presa_mano/perception/aruco_pose.py @@ -0,0 +1,97 @@ +"""Local ArUco pose estimation with Nuwa RGB intrinsics. + +The marker-finder service bakes D435i intrinsics into its solvePnP, which +produces systematic pose errors on Nuwa images. We recompute the pose from the +2D corners (still trustworthy) using the real Nuwa intrinsics, disambiguating +the planar-marker ambiguity via IPPE_SQUARE + smallest reprojection error. +""" + +from __future__ import annotations + +from typing import Any + +import cv2 +import numpy as np + + +def nuwa_intrinsics_to_matrix(intr: dict[str, Any] + ) -> tuple[np.ndarray, np.ndarray]: + """Accept the `data` payload from Nuwa /api/intrinsics and return + (K_3x3, dist_5x1) for RGB. Distortion fields default to 0 if absent.""" + rgb = intr.get("rgb") if isinstance(intr, dict) else None + if not isinstance(rgb, dict): + raise ValueError(f"Nuwa intrinsics missing 'rgb' block: {intr!r}") + K = np.array([ + [float(rgb["fx"]), 0.0, float(rgb["cx"])], + [0.0, float(rgb["fy"]), float(rgb["cy"])], + [0.0, 0.0, 1.0], + ], dtype=np.float64) + d = rgb.get("distortion") or {} + dist = np.array([ + float(d.get("k1", 0.0)), + float(d.get("k2", 0.0)), + float(d.get("p1", 0.0)), + float(d.get("p2", 0.0)), + float(d.get("k3", 0.0)), + ], dtype=np.float64) + return K, dist + + +def nuwa_intrinsics_to_opencv_payload(intr: dict[str, Any]) -> dict[str, list]: + """Build the wire-format dict that marker-finder's /detect (and /intrinsics + POST) expects: `{camera_matrix: 3x3, dist_coeffs: [k1,k2,p1,p2,k3]}`. + Plain Python lists so it serialises through JSON.""" + K, dist = nuwa_intrinsics_to_matrix(intr) + return {"camera_matrix": K.tolist(), "dist_coeffs": dist.tolist()} + + +def solve_square_marker(corners_px: np.ndarray, size_m: float, + K: np.ndarray, dist: np.ndarray + ) -> dict[str, Any]: + """Recover (R, t) for a square planar marker of side `size_m` from its + 4 image corners in the order TL, TR, BR, BL (ArUco convention). + + Uses solvePnPGeneric with SOLVEPNP_IPPE_SQUARE, which returns both planar + solutions; we pick the one with smaller reprojection error. The runner-up + error is also returned so the caller can detect ambiguous detections + (both errors similar → the marker is nearly fronto-parallel and the pose + is fundamentally underdetermined by a single view). + """ + s = size_m / 2.0 + obj = np.array([ + [-s, s, 0.0], + [ s, s, 0.0], + [ s, -s, 0.0], + [-s, -s, 0.0], + ], dtype=np.float64) + img = np.asarray(corners_px, dtype=np.float64).reshape(-1, 2) + if img.shape[0] != 4: + raise ValueError(f"expected 4 corners, got shape {img.shape}") + + retval, rvecs, tvecs, errs = cv2.solvePnPGeneric( + obj, img, K, dist, flags=cv2.SOLVEPNP_IPPE_SQUARE + ) + if not retval or rvecs is None or len(rvecs) == 0: + raise RuntimeError("solvePnP (IPPE_SQUARE) failed to converge") + + errs_arr = np.asarray(errs).flatten() if errs is not None else np.array([0.0]) + best = int(np.argmin(errs_arr)) if errs_arr.size > 0 else 0 + R, _ = cv2.Rodrigues(rvecs[best]) + t = np.asarray(tvecs[best]).flatten() + + # runner-up error for ambiguity reporting + if errs_arr.size > 1: + runner = float(np.partition(errs_arr, 1)[1]) + else: + runner = float("inf") + best_err = float(errs_arr[best]) + # ratio close to 1 means the two solutions are almost equally plausible. + ambiguity = float(best_err / runner) if runner > 0 else 0.0 + return { + "R": R, + "t": t, + "reprojection_error_px": best_err, + "runnerup_error_px": runner, + "ambiguity_ratio": ambiguity, + "n_solutions": int(len(rvecs)), + } diff --git a/src/presa_mano/perception/depth_correction.py b/src/presa_mano/perception/depth_correction.py new file mode 100644 index 0000000..77ca9af --- /dev/null +++ b/src/presa_mano/perception/depth_correction.py @@ -0,0 +1,136 @@ +"""Per-installation depth-bias correction for the Nuwa-HP60C. + +The Nuwa depth sensor exhibits an offset on `depth_mm` that doesn't fit a +simple multiplicative scale (see /api/perception/measure_rgb experiments +on a known marker — bias varies with distance). We model the bias as an +affine map: + + depth_raw = scale * depth_true + offset_mm (sensor) + depth_true = (depth_raw - offset_mm) / scale (correction) + +and fit (scale, offset_mm) from N≥2 samples where `depth_true` is taken +from a trusted source (typically a PnP-derived Z on a known-size ArUco +marker held at varying distances). + +State (params + samples) lives in a single JSON file so it can be +inspected/edited by hand: + + data/depth_correction.json + { + "enabled": true, + "scale": 0.871, + "offset_mm": 185.0, + "fit_meta": {"n_samples": 4, "rms_residual_mm": 2.1, ...}, + "samples": [ + {"depth_raw_mm": 1030, "depth_true_mm": 970, "note": "...", "added_at": ...}, + ... + ] + } +""" + +from __future__ import annotations + +import json +import time +from pathlib import Path +from typing import Any + +import numpy as np + + +def default_state() -> dict[str, Any]: + return { + "enabled": False, + "scale": 1.0, + "offset_mm": 0.0, + "fit_meta": None, + "samples": [], + } + + +def load(path: Path) -> dict[str, Any]: + if not path.exists(): + return default_state() + try: + with open(path, "r", encoding="utf-8") as f: + data = json.load(f) + if not isinstance(data, dict): + return default_state() + # Fill in any missing keys with defaults. + merged = default_state() + merged.update(data) + return merged + except json.JSONDecodeError: + return default_state() + + +def save(path: Path, state: dict[str, Any]) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + with open(path, "w", encoding="utf-8") as f: + json.dump(state, f, ensure_ascii=False, indent=2) + + +def apply_correction(depth_raw_mm: int, state: dict[str, Any] | None) -> int: + """Convert a raw sensor depth (mm) to the corrected depth (mm). Returns + the input unchanged if correction is disabled or state is None.""" + if not state or not state.get("enabled") or depth_raw_mm <= 0: + return depth_raw_mm + scale = float(state.get("scale") or 1.0) + offset = float(state.get("offset_mm") or 0.0) + if scale <= 0: + return depth_raw_mm + corrected = (depth_raw_mm - offset) / scale + return max(0, int(round(corrected))) + + +def fit_affine(samples: list[dict[str, Any]]) -> dict[str, Any]: + """Least-squares fit `depth_raw = scale * depth_true + offset_mm`. + + Needs ≥2 samples with non-degenerate range of depth_true. With exactly + 2 samples the fit is exact and rms_residual_mm = 0. With more samples + the residual is meaningful for assessing fit quality. + """ + if len(samples) < 2: + raise ValueError("need at least 2 samples to fit affine model") + raw = np.array([float(s["depth_raw_mm"]) for s in samples], dtype=np.float64) + true = np.array([float(s["depth_true_mm"]) for s in samples], dtype=np.float64) + if true.max() - true.min() < 50: + raise ValueError("samples cover too narrow a range of depth_true (<50 mm)") + A = np.column_stack([true, np.ones_like(true)]) + sol, *_ = np.linalg.lstsq(A, raw, rcond=None) + scale = float(sol[0]) + offset = float(sol[1]) + pred = scale * true + offset + residuals = pred - raw + rms = float(np.sqrt(np.mean(residuals ** 2))) + max_abs = float(np.max(np.abs(residuals))) + return { + "scale": scale, + "offset_mm": offset, + "n_samples": len(samples), + "rms_residual_mm": rms, + "max_abs_residual_mm": max_abs, + "depth_true_min_mm": float(true.min()), + "depth_true_max_mm": float(true.max()), + "fitted_at": time.time(), + } + + +def add_sample(state: dict[str, Any], depth_raw_mm: int, depth_true_mm: int, + note: str = "") -> dict[str, Any]: + samples = list(state.get("samples") or []) + samples.append({ + "depth_raw_mm": int(depth_raw_mm), + "depth_true_mm": int(depth_true_mm), + "note": note, + "added_at": time.time(), + }) + new_state = dict(state) + new_state["samples"] = samples + return new_state + + +def clear_samples(state: dict[str, Any]) -> dict[str, Any]: + new_state = dict(state) + new_state["samples"] = [] + return new_state diff --git a/src/presa_mano/perception/depth_to_rgb.py b/src/presa_mano/perception/depth_to_rgb.py new file mode 100644 index 0000000..b631c08 --- /dev/null +++ b/src/presa_mano/perception/depth_to_rgb.py @@ -0,0 +1,189 @@ +"""Back-project an RGB pixel to 3D using the depth sensor, with proper +IR↔RGB registration. + +Why this exists +--------------- +Nuwa-HP60C is RGB-D with two physically distinct cameras (RGB + IR) that +have different intrinsics and a small baseline: + + fx_rgb=593.6 fx_ir=445.8 cx_rgb=348.1 cx_ir=316.6 + t_ir_to_rgb ≈ (-12.05, +0.08, -0.03) mm + +Nuwa's `/api/measure?u=&v=` interprets `(u,v)` as **IR/depth-image** pixel +coords and back-projects with IR intrinsics. So if we have a pixel `(u,v)` +in the **RGB** image (e.g. a YOLO bbox center, an ArUco corner) and we want +the actual 3D point in the RGB camera frame, we need to handle the +registration ourselves. + +Algorithm (single fixed-point iteration is enough at typical robot ranges): + 1. Initial guess depth z0 from sampling depth[v_rgb, u_rgb] (depth is in + IR coords — at small baselines it's already close). + 2. Hypothesise the 3D point on the RGB ray at distance z0. + 3. Project that 3D point into the IR image → (u_ir, v_ir). + 4. Sample depth at (u_ir, v_ir) → z1. + 5. Use (u_ir, v_ir, z1) to back-project with IR intrinsics → P_ir. + 6. Transform P_ir → P_rgb via the IR→RGB extrinsics. Done. + +Two iterations of step 2-4 reduce residual error to sub-mm even with +mediocre initial guesses; we do two unconditionally because they're cheap. +""" + +from __future__ import annotations + +from dataclasses import dataclass +from typing import Any + +import cv2 +import numpy as np + +from ..clients import NuwaClient + + +@dataclass(frozen=True) +class CameraRegistration: + """Cached intrinsics+extrinsics for a Nuwa-HP60C-style RGB-D camera.""" + K_rgb: np.ndarray # 3x3 + K_ir: np.ndarray # 3x3 + R_ir_to_rgb: np.ndarray # 3x3 + t_ir_to_rgb: np.ndarray # (3,) in **meters** + rgb_width: int + rgb_height: int + ir_width: int + ir_height: int + + @classmethod + def from_nuwa(cls, intr: dict[str, Any]) -> "CameraRegistration": + rgb = intr.get("rgb") or {} + ir = intr.get("ir") or {} + ext = intr.get("extrinsics_ir_to_rgb") or {} + if not rgb or not ir: + raise ValueError(f"Nuwa intrinsics must contain 'rgb' and 'ir' blocks: {intr!r}") + K_rgb = np.array([[rgb["fx"], 0, rgb["cx"]], + [0, rgb["fy"], rgb["cy"]], + [0, 0, 1]], dtype=np.float64) + K_ir = np.array([[ir["fx"], 0, ir["cx"]], + [0, ir["fy"], ir["cy"]], + [0, 0, 1]], dtype=np.float64) + R = np.asarray(ext.get("rotation") or [1, 0, 0, 0, 1, 0, 0, 0, 1], dtype=np.float64) + if R.size == 9: + R = R.reshape(3, 3) + elif R.shape != (3, 3): + raise ValueError(f"extrinsics rotation must be 9 elements or 3x3, got {R.shape}") + # Translation in Nuwa is in mm; we convert to meters once. + t_mm = np.asarray(ext.get("translation") or [0, 0, 0], dtype=np.float64).flatten() + t = t_mm / 1000.0 + return cls( + K_rgb=K_rgb, K_ir=K_ir, + R_ir_to_rgb=R, t_ir_to_rgb=t, + rgb_width=int(rgb.get("width") or 640), + rgb_height=int(rgb.get("height") or 480), + ir_width=int(ir.get("width") or 640), + ir_height=int(ir.get("height") or 480), + ) + + +def fetch_depth_mm(nuwa: NuwaClient) -> np.ndarray: + """Fetch the current depth frame as an int32 array (mm), shape (H, W). + Zero values mean 'no depth' — caller should mask them out.""" + png = nuwa.depth_png() + arr = np.frombuffer(png, dtype=np.uint8) + img = cv2.imdecode(arr, cv2.IMREAD_UNCHANGED) + if img is None: + raise RuntimeError("could not decode Nuwa depth PNG") + if img.dtype != np.uint16: + # Some configurations return 8-bit (color preview); we need raw mm. + raise RuntimeError(f"expected 16-bit depth PNG, got dtype={img.dtype}") + return img.astype(np.int32) + + +def _sample_depth(depth_mm: np.ndarray, u: float, v: float, radius: int = 4) -> int: + """Nearest valid (non-zero) depth value within `radius` of (u,v) on the + depth image. Returns 0 if nothing found.""" + h, w = depth_mm.shape + u0, v0 = int(round(u)), int(round(v)) + if u0 < 0 or v0 < 0 or u0 >= w or v0 >= h: + return 0 + z = int(depth_mm[v0, u0]) + if z > 0: + return z + # Spiral / box search outward to `radius`. + for r in range(1, radius + 1): + u_lo, u_hi = max(0, u0 - r), min(w, u0 + r + 1) + v_lo, v_hi = max(0, v0 - r), min(h, v0 + r + 1) + patch = depth_mm[v_lo:v_hi, u_lo:u_hi] + valid = patch[patch > 0] + if valid.size: + return int(valid.min()) # nearest along ray = smallest depth + return 0 + + +def back_project_rgb_pixel( + u_rgb: float, v_rgb: float, + depth_mm: np.ndarray, + reg: CameraRegistration, + *, sample_radius: int = 4, n_iters: int = 2, + depth_correction: dict[str, Any] | None = None, +) -> dict[str, Any]: + """Back-project an RGB pixel using the registered depth image. + + If `depth_correction` is supplied (dict with `enabled`, `scale`, + `offset_mm`), each raw depth sample is corrected before back-projection. + See `depth_correction.apply_correction`. + + Returns a dict: + { + "ok": bool, + "rgb_pixel": [u, v], + "ir_pixel": [u_ir, v_ir], + "depth_mm_raw": int, # what the sensor reported + "depth_mm": int, # corrected (== raw if correction off) + "point_rgb_m": [X, Y, Z], # in RGB camera frame, OpenCV convention + "point_ir_m": [X, Y, Z], # in IR camera frame + } + """ + from .depth_correction import apply_correction + + out: dict[str, Any] = {"ok": False, "rgb_pixel": [float(u_rgb), float(v_rgb)]} + K_rgb_inv = np.linalg.inv(reg.K_rgb) + + ray_rgb = K_rgb_inv @ np.array([u_rgb, v_rgb, 1.0]) + + z_raw_first = _sample_depth(depth_mm, u_rgb, v_rgb, radius=sample_radius) + if z_raw_first <= 0: + out["error"] = f"no valid depth near RGB pixel ({u_rgb:.0f},{v_rgb:.0f})" + return out + + z_guess = apply_correction(z_raw_first, depth_correction) + P_rgb = (z_guess / 1000.0) * ray_rgb + + u_ir = v_ir = None + z_raw = z_raw_first + z_corr = z_guess + for _ in range(max(1, n_iters)): + P_ir = reg.R_ir_to_rgb.T @ (P_rgb - reg.t_ir_to_rgb) + if P_ir[2] <= 0: + out["error"] = "RGB ray hits behind IR camera" + return out + u_ir = reg.K_ir[0, 0] * P_ir[0] / P_ir[2] + reg.K_ir[0, 2] + v_ir = reg.K_ir[1, 1] * P_ir[1] / P_ir[2] + reg.K_ir[1, 2] + z_raw = _sample_depth(depth_mm, u_ir, v_ir, radius=sample_radius) + if z_raw <= 0: + break + z_corr = apply_correction(z_raw, depth_correction) + K_ir_inv = np.linalg.inv(reg.K_ir) + P_ir_new = (z_corr / 1000.0) * (K_ir_inv @ np.array([u_ir, v_ir, 1.0])) + P_rgb = reg.R_ir_to_rgb @ P_ir_new + reg.t_ir_to_rgb + + if z_raw <= 0: + out["error"] = f"no valid depth near IR pixel ({u_ir:.0f},{v_ir:.0f})" + return out + + out.update({ + "ok": True, + "ir_pixel": [float(u_ir), float(v_ir)], + "depth_mm_raw": int(z_raw), + "depth_mm": int(z_corr), + "point_rgb_m": P_rgb.tolist(), + "point_ir_m": (reg.R_ir_to_rgb.T @ (P_rgb - reg.t_ir_to_rgb)).tolist(), + }) + return out diff --git a/src/presa_mano/perception/detector.py b/src/presa_mano/perception/detector.py new file mode 100644 index 0000000..da9771f --- /dev/null +++ b/src/presa_mano/perception/detector.py @@ -0,0 +1,64 @@ +"""Wrap YOLO detection + parse response.""" + +from __future__ import annotations + +from typing import Any + +from ..clients import NuwaClient, YoloClient + + +class ObjectDetector: + def __init__(self, yolo: YoloClient, nuwa: NuwaClient): + self.yolo = yolo + self.nuwa = nuwa + + def detect(self, conf: float | None = None) -> list[dict[str, Any]]: + """Returns list of {class, confidence, bbox: {x1,y1,x2,y2}} from current Nuwa RGB.""" + raw = self.yolo.detect_url(self.nuwa.rgb_url(), conf=conf) + return _normalize(raw) + + +def _normalize(payload: Any) -> list[dict[str, Any]]: + """YOLO responses vary; try to extract a list of detections uniformly. + + Supports: + - [ {...}, {...} ] # plain list + - {"detections": [...]} # flat + - {"success": true, "data": {"detections":[...]}}# envelope used by this yolo-server + """ + # Unwrap {success, data, error} envelope + if isinstance(payload, dict) and isinstance(payload.get("data"), dict): + payload = payload["data"] + + items: Any = payload + if isinstance(payload, dict): + items = [] + for key in ("detections", "predictions", "results"): + if isinstance(payload.get(key), list): + items = payload[key] + break + + out: list[dict[str, Any]] = [] + for it in items or []: + bbox = it.get("bbox") or it.get("box") or it + x1, y1, x2, y2 = _xyxy(bbox) + out.append({ + "class": it.get("class") or it.get("label") or it.get("name"), + "confidence": float(it.get("confidence") or it.get("conf") or it.get("score") or 0.0), + "bbox": {"x1": x1, "y1": y1, "x2": x2, "y2": y2}, + }) + return out + + +def _xyxy(b: Any) -> tuple[float, float, float, float]: + if isinstance(b, dict): + if "x1" in b: + return float(b["x1"]), float(b["y1"]), float(b["x2"]), float(b["y2"]) + if "xmin" in b: + return float(b["xmin"]), float(b["ymin"]), float(b["xmax"]), float(b["ymax"]) + if "x" in b and "w" in b: + x, y, w, h = float(b["x"]), float(b["y"]), float(b["w"]), float(b["h"]) + return x, y, x + w, y + h + if isinstance(b, (list, tuple)) and len(b) >= 4: + return float(b[0]), float(b[1]), float(b[2]), float(b[3]) + raise ValueError(f"cannot parse bbox: {b}") diff --git a/src/presa_mano/perception/pointcloud.py b/src/presa_mano/perception/pointcloud.py new file mode 100644 index 0000000..c531b86 --- /dev/null +++ b/src/presa_mano/perception/pointcloud.py @@ -0,0 +1,65 @@ +"""Point cloud utilities: crop to bbox in image space + outlier filtering. + +Nuwa /api/pointcloud returns points in camera frame; we need to project them +back to pixel space to keep only those inside a YOLO bbox. + +Frame note: + Nuwa publishes points in X-right / Y-up / Z-back (Z<0 in front of camera). + `cv2.solvePnP` (used by marker-finder to produce T_cam_marker, hence + T_base_camera after hand-eye) uses X-right / Y-down / Z-forward (Z>0 in front). + Before applying T_base_camera we flip Y and Z via `nuwa_to_cv_frame`. +""" + +from __future__ import annotations + +import numpy as np + + +def nuwa_to_cv_frame(points_xyz: np.ndarray) -> np.ndarray: + """Flip Y and Z to convert Nuwa camera points to OpenCV convention.""" + pts = np.asarray(points_xyz, dtype=np.float64).copy() + pts[:, 1] *= -1.0 + pts[:, 2] *= -1.0 + return pts + + +def project(points_cam: np.ndarray, K: np.ndarray) -> np.ndarray: + """Project Nx3 camera-frame points to Nx2 pixels via pinhole.""" + pts = np.asarray(points_cam, dtype=np.float64) + z = pts[:, 2] + z = np.where(z == 0, 1e-9, z) + u = K[0, 0] * pts[:, 0] / z + K[0, 2] + v = K[1, 1] * pts[:, 1] / z + K[1, 2] + return np.stack([u, v], axis=1) + + +def crop_bbox(points_cam: np.ndarray, bbox_xyxy: tuple[float, float, float, float], + K: np.ndarray) -> np.ndarray: + """Keep only 3D points whose projection falls inside bbox (in pixel coords). + + Works regardless of depth-sign convention (OpenCV: Z>0 in front; + Nuwa/OpenGL-like: Z<0 in front) — the server-provided point cloud already + obeys u = fx·x/z + cx with its own convention. + """ + if points_cam.size == 0: + return points_cam[:0, :] + xyz = points_cam[:, :3] + uv = project(xyz, K) + x1, y1, x2, y2 = bbox_xyxy + mask = ( + (uv[:, 0] >= x1) & (uv[:, 0] <= x2) & + (uv[:, 1] >= y1) & (uv[:, 1] <= y2) & + (np.abs(xyz[:, 2]) > 1e-6) + ) + return points_cam[mask] + + +def filter_outliers(points: np.ndarray, n_std: float = 2.0) -> np.ndarray: + """Remove points whose distance from centroid exceeds n_std * std.""" + if len(points) < 10: + return points + xyz = points[:, :3] + c = xyz.mean(axis=0) + d = np.linalg.norm(xyz - c, axis=1) + keep = d < (d.mean() + n_std * d.std()) + return points[keep] diff --git a/src/presa_mano/timing.py b/src/presa_mano/timing.py new file mode 100644 index 0000000..0ace8f7 --- /dev/null +++ b/src/presa_mano/timing.py @@ -0,0 +1,31 @@ +"""Simple step-timer used to annotate responses with per-phase latency.""" + +from __future__ import annotations + +import time +from contextlib import contextmanager + + +class Stopwatch: + def __init__(self) -> None: + self._t0 = time.perf_counter() + self._marks: dict[str, float] = {} + + @contextmanager + def step(self, name: str): + t0 = time.perf_counter() + try: + yield + finally: + self._marks[name] = (time.perf_counter() - t0) * 1000.0 + + def add(self, name: str, dt_ms: float) -> None: + self._marks[name] = float(dt_ms) + + def total_ms(self) -> float: + return (time.perf_counter() - self._t0) * 1000.0 + + def as_dict(self) -> dict[str, float]: + out = {k: round(v, 2) for k, v in self._marks.items()} + out["total"] = round(self.total_ms(), 2) + return out diff --git a/web/app.js b/web/app.js new file mode 100644 index 0000000..82eaee7 --- /dev/null +++ b/web/app.js @@ -0,0 +1,1732 @@ +/* presa-mano GUI */ + +const $ = (id) => document.getElementById(id); + +// ---------- tab switching ---------- +document.querySelectorAll('.tab').forEach(btn => { + btn.addEventListener('click', () => { + document.querySelectorAll('.tab').forEach(b => b.classList.remove('active')); + document.querySelectorAll('.panel').forEach(p => p.classList.remove('active')); + btn.classList.add('active'); + $('tab-' + btn.dataset.tab).classList.add('active'); + }); +}); + +function setStatus(msg, cls = '') { + const strip = $('statusStrip'); + strip.textContent = msg || ''; + strip.style.color = cls === 'err' ? 'var(--danger)' : cls === 'ok' ? 'var(--ok)' : 'var(--dim)'; +} + +// ---------- button flash + toast feedback ---------- +// Used by every command-sending handler so the user sees an immediate, +// unambiguous success/failure signal (beyond the log panels that require +// scrolling). Call flashBtn(btn, ok) to flash the button, and toast(title, +// body, ok) to show a corner notification. +function flashBtn(btn, ok) { + if (!btn || !btn.classList) return; + btn.classList.remove('flash-ok', 'flash-err'); + // restart animation + void btn.offsetWidth; + btn.classList.add(ok ? 'flash-ok' : 'flash-err'); + setTimeout(() => btn.classList.remove(ok ? 'flash-ok' : 'flash-err'), + ok ? 900 : 1300); +} +function toast(title, body, ok = true, ttlMs = 3500) { + const host = $('toastHost'); + if (!host) return; + const el = document.createElement('div'); + el.className = 'toast ' + (ok ? 'ok' : 'err'); + const t = document.createElement('div'); + t.className = 't-title'; + t.textContent = (ok ? '✓ ' : '✗ ') + title; + el.appendChild(t); + if (body) { + const b = document.createElement('div'); + b.className = 't-body'; + b.textContent = typeof body === 'string' ? body : JSON.stringify(body); + el.appendChild(b); + } + host.appendChild(el); + setTimeout(() => { el.classList.add('fade'); }, ttlMs - 400); + setTimeout(() => { el.remove(); }, ttlMs); +} +// Short synthetic beep via Web Audio — no external asset. Used to audibly flag +// new anomalies that flip the system from OK -> WARN/ERR. Gated by the +// `diagBeep` checkbox so users can silence it. +function beep(freq = 880, ms = 140, gain = 0.18) { + if (!window.AudioContext && !window.webkitAudioContext) return; + try { + const ctx = beep._ctx || (beep._ctx = new (window.AudioContext || window.webkitAudioContext)()); + const osc = ctx.createOscillator(); + const g = ctx.createGain(); + osc.type = 'sine'; + osc.frequency.value = freq; + g.gain.value = gain; + osc.connect(g); g.connect(ctx.destination); + osc.start(); + osc.stop(ctx.currentTime + ms / 1000); + } catch {} +} +function beepWarn() { beep(880, 130); } +function beepErr() { + beep(440, 150); + setTimeout(() => beep(330, 180), 170); +} + +// Summarise a successful response in one short line — prefer "dry-run" hint +// or response 'ok', else truncated JSON. +function summarizeOk(resp) { + if (!resp || typeof resp !== 'object') return ''; + if (resp.dry_run) return 'dry-run (nessun comando reale inviato)'; + if (resp.ok === true && Object.keys(resp).length <= 3) return 'ok'; + const short = JSON.stringify(resp); + return short.length > 140 ? short.slice(0, 140) + '…' : short; +} + +function fmtTimings(t) { + if (!t || typeof t !== 'object') return ''; + // Put 'total' last; others in insertion order. + const keys = Object.keys(t).filter(k => k !== 'total'); + const parts = keys.map(k => `${k}=${Number(t[k]).toFixed(1)}ms`); + if (t.total != null) parts.push(`TOTAL=${Number(t.total).toFixed(1)}ms`); + return parts.join(' '); +} + +async function api(method, path, body = null) { + const opts = { method, headers: {} }; + if (body !== null) { + opts.headers['Content-Type'] = 'application/json'; + opts.body = JSON.stringify(body); + } + const r = await fetch(path, opts); + const text = await r.text(); + let data; try { data = JSON.parse(text); } catch { data = text; } + if (!r.ok) { + const detail = (data && data.detail) || text || r.statusText; + throw new Error(`${r.status} ${detail}`); + } + return data; +} + +// ==================== CALIBRAZIONE ==================== +const calibCanvas = $('calibCanvas'); +const calibCtx = calibCanvas.getContext('2d'); +let displayedRgb = null; // last successfully loaded Image (stays on screen) +let rgbInFlight = false; +let previewInFlight = false; +let lastMarker = null; +let lastMarkerTs = 0; +const MARKER_STALE_MS = 1500; // keep overlay this long across hiccups + +function drawCalibFrame() { + if (displayedRgb) { + if (calibCanvas.width !== displayedRgb.naturalWidth) { + calibCanvas.width = displayedRgb.naturalWidth; + calibCanvas.height = displayedRgb.naturalHeight; + } + calibCtx.drawImage(displayedRgb, 0, 0); + } else { + calibCtx.fillStyle = '#000'; + calibCtx.fillRect(0, 0, calibCanvas.width, calibCanvas.height); + calibCtx.fillStyle = '#666'; + calibCtx.font = '14px sans-serif'; + calibCtx.fillText('no RGB', 20, 30); + } + const fresh = lastMarker && lastMarker.found && (performance.now() - lastMarkerTs < MARKER_STALE_MS); + if (fresh) { + const c = lastMarker.corners; + calibCtx.strokeStyle = '#3ecf8e'; + calibCtx.lineWidth = 3; + calibCtx.beginPath(); + calibCtx.moveTo(c[0][0], c[0][1]); + for (let i = 1; i < c.length; i++) calibCtx.lineTo(c[i][0], c[i][1]); + calibCtx.closePath(); + calibCtx.stroke(); + calibCtx.fillStyle = '#3ecf8e'; + c.forEach(p => { calibCtx.beginPath(); calibCtx.arc(p[0], p[1], 4, 0, 2 * Math.PI); calibCtx.fill(); }); + const cx = lastMarker.center_px[0], cy = lastMarker.center_px[1]; + calibCtx.font = 'bold 14px sans-serif'; + const d = lastMarker.pose_camera && lastMarker.pose_camera.distance_m; + calibCtx.fillText(`ID ${lastMarker.marker_id}` + (d ? ` · ${(d*100).toFixed(1)} cm` : ''), cx + 10, cy - 10); + } +} + +function refreshRgb() { + if (rgbInFlight) return; + rgbInFlight = true; + const img = new Image(); + img.onload = () => { + displayedRgb = img; + rgbInFlight = false; + drawCalibFrame(); + }; + img.onerror = () => { rgbInFlight = false; /* keep previous frame */ }; + img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`; +} + +async function previewMarker() { + if (previewInFlight) return; + if (!$('livePreview').checked) { + if (lastMarker) { lastMarker = null; drawCalibFrame(); } + return; + } + previewInFlight = true; + try { + const body = { marker_id: +$('arucoId').value, size_mm: +$('arucoSize').value }; + const data = await api('POST', '/api/calibration/preview', body); + lastMarker = data; + lastMarkerTs = performance.now(); + const info = $('markerInfo'); + const t = fmtTimings(data.timings_ms); + if (data.found) { + const d = data.pose_camera && data.pose_camera.distance_m; + info.textContent = `marker ${data.marker_id} @ ${(d*100).toFixed(1)} cm · ${t}`; + info.style.color = 'var(--ok)'; + } else { + info.textContent = `marker ${data.marker_id} non trovato · ${t}`; + info.style.color = 'var(--warn)'; + } + } catch (e) { + // transient failure — don't wipe the overlay + $('markerInfo').textContent = `preview: ${e.message}`; + $('markerInfo').style.color = 'var(--danger)'; + } finally { + previewInFlight = false; + drawCalibFrame(); + } +} + +// Two independent loops so a slow preview doesn't starve the RGB redraw, +// and a slow RGB doesn't block the marker polling. +setInterval(() => { + if ($('tab-calibration').classList.contains('active')) refreshRgb(); +}, 150); +setInterval(() => { + if ($('tab-calibration').classList.contains('active')) previewMarker(); +}, 500); + +$('sampleBtn').addEventListener('click', async () => { + try { + setStatus('Acquisisco sample…'); + const body = { + marker_id: +$('arucoId').value, + size_mm: +$('arucoSize').value, + side: $('side').value, + }; + const r = await api('POST', '/api/calibration/sample', body); + setStatus(`Sample #${r.total} acquisito · ${fmtTimings(r.timings_ms)}`, 'ok'); + await loadSamples(); + } catch (e) { setStatus(e.message, 'err'); } +}); + +$('solveBtn').addEventListener('click', async () => { + try { + setStatus('Calcolo matrice…'); + const side = $('side').value; + const r = await api('POST', '/api/calibration/solve', { method: $('method').value, side }); + renderCalibResult(r); + setStatus(`Matrice calcolata (${side}) · ${fmtTimings(r.timings_ms)}`, 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +}); + +$('clearSamplesBtn').addEventListener('click', async () => { + const side = $('side').value; + if (!confirm(`Rimuovere tutti i sample del braccio ${side}?`)) return; + await api('DELETE', `/api/calibration/samples?side=${encodeURIComponent(side)}`); + await loadSamples(); +}); + +$('saveConfigBtn').addEventListener('click', async () => { + const patch = { + aruco: { wrist_marker: { id: +$('arucoId').value, size_mm: +$('arucoSize').value } }, + robot: { wrist_side: $('side').value }, + calibration: { method: $('method').value }, + }; + try { + await api('PUT', '/api/config', patch); + setStatus('Configurazione salvata', 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +}); + +// When the user changes the side dropdown, reload per-side samples/result. +$('side').addEventListener('change', async () => { + await loadSamples().catch(() => {}); + await loadCalibResult().catch(() => {}); +}); + +// index -> { reason, detail } for samples the last solve dropped +const lastDrops = new Map(); + +async function loadSamples() { + const side = $('side') ? $('side').value : 'right'; + const r = await api('GET', `/api/calibration/samples?side=${encodeURIComponent(side)}`); + $('sampleCount').textContent = r.total; + const ul = $('sampleList'); + ul.innerHTML = ''; + // Display newest first while keeping the server-side index (used in drop reports). + for (let i = r.samples.length - 1; i >= 0; i--) { + const s = r.samples[i]; + const t = s.T_base_wrist; + const p = [t[0][3], t[1][3], t[2][3]].map(v => v.toFixed(3)).join(', '); + const li = document.createElement('li'); + const drop = lastDrops.get(i); + let line = `#${i+1} side=${s.side} pos=[${p}] ${s.note || ''}`; + if (drop) { + line += ` · scartato (${drop.reason}: ${drop.detail})`; + li.classList.add('sample-dropped'); + } + li.textContent = line; + ul.appendChild(li); + } +} + +function renderCalibResult(r) { + const m = r.T_base_camera; + const fmt = (v) => (v >= 0 ? ' ' : '') + v.toFixed(4); + const rows = m.map(row => row.map(fmt).join(' ')); + $('calibMatrix').textContent = rows.join('\n'); + const meta = [ + `method=${r.method}`, + `n=${r.n_samples}`, + `residual: ${r.residual_translation_mm.toFixed(2)} mm / ${r.residual_rotation_deg.toFixed(2)}°`, + ]; + const sc = r.sanity_check; + lastDrops.clear(); + if (sc && sc.applied) { + const drops = []; + const pa = sc.dropped_by_pair_angle || []; + const wm = sc.dropped_by_wm_cluster || []; + const pq = sc.dropped_by_pose_quality || []; + for (const d of pq) { + const key = d.reprojection_px != null ? 'reproj' : 'ambiguity'; + const val = d.reprojection_px != null ? `${d.reprojection_px.toFixed(2)} px` : `amb ${(d.ambiguity_ratio*100).toFixed(0)}%`; + lastDrops.set(d.sample_index, { reason: key, detail: val }); + } + for (const d of pa) { + lastDrops.set(d.sample_index, + { reason: 'pair-angle', detail: `${d.pair_angle_err_deg.toFixed(1)}°` }); + } + for (const d of wm) { + // A sample can fail both checks; prefer the wm message (happens after solve). + lastDrops.set(d.sample_index, + { reason: 'T_wrist_marker', detail: `${d.wm_translation_dev_mm.toFixed(1)} mm` }); + } + if (pq.length) drops.push(`pose-quality: ${pq.map(d => `#${d.sample_index+1}(${d.reprojection_px != null ? d.reprojection_px.toFixed(2)+'px' : (d.ambiguity_ratio*100).toFixed(0)+'%'})`).join(', ')}`); + if (pa.length) drops.push(`pair-angle: ${pa.map(d => `#${d.sample_index+1}(${d.pair_angle_err_deg.toFixed(1)}°)`).join(', ')}`); + if (wm.length) drops.push(`T_wrist_marker: ${wm.map(d => `#${d.sample_index+1}(${d.wm_translation_dev_mm.toFixed(1)}mm)`).join(', ')}`); + const totalDropped = (sc.dropped_by_pose_quality || []).length + pa.length + wm.length; + if (drops.length) { + meta.push(`\n⚠ scartati ${totalDropped}/${sc.n_input}: ${drops.join(' · ')}`); + } else { + meta.push(`\n✓ nessun outlier (${sc.n_input} sample usati)`); + } + } + $('calibMeta').textContent = meta.join(' '); + $('calibMeta').style.whiteSpace = 'pre-wrap'; + // Refresh the list so dropped rows turn red (if already visible). + loadSamples().catch(() => {}); +} + +async function loadCalibResult() { + const side = $('side') ? $('side').value : 'right'; + try { renderCalibResult(await api('GET', `/api/calibration/result?side=${encodeURIComponent(side)}`)); } catch {} +} + +// auto-grid +$('runGridBtn').addEventListener('click', async () => { + const quat = $('gridQuat').value.split(',').map(Number); + if (quat.length !== 4) { setStatus('quat deve avere 4 valori', 'err'); return; } + const body = { + start_position: [+$('gridX0').value, +$('gridY0').value, +$('gridZ0').value], + orientation_quaternion_xyzw: quat, + step_x_m: +$('gridDX').value, + step_y_m: +$('gridDY').value, + step_z_m: +$('gridDZ').value, + n_x: 3, n_y: 3, n_z: 3, + min_z_m: +$('gridMinZ').value, + settle_s: +$('gridSettle').value, + dry_run: $('gridDryRun').checked, + auto_solve: true, + }; + $('gridLog').textContent = 'run in progress…'; + try { + const r = await api('POST', '/api/calibration/auto_grid', body); + $('gridLog').textContent = JSON.stringify(r, null, 2); + if (r.calibration) renderCalibResult(r.calibration); + await loadSamples(); + setStatus(body.dry_run ? 'auto-grid dry-run completato' : 'auto-grid completato', 'ok'); + } catch (e) { + $('gridLog').textContent = e.message; + setStatus(e.message, 'err'); + } +}); + +// ==================== TROVA UTENSILE ==================== +const graspCanvas = $('graspCanvas'); +const graspCtx = graspCanvas.getContext('2d'); +let displayedGrasp = null; +let graspRgbInFlight = false; +const cropCanvas = $('cropCanvas'); +const cropCtx = cropCanvas.getContext('2d'); +const scatterXY = $('scatterXY'); +const scatterXZ = $('scatterXZ'); +let lastDetections = []; // all detections, sorted by confidence desc +let lastSelectedClass = null; // class name whose point cloud is displayed +let lastCropBbox = null; +let lastPoints = null; // array of [x,y,z] +let knownClasses = []; // names discovered from /api/perception/classes + +// Stable per-class color palette (Okabe-Ito, colour-blind safe). +const CLASS_PALETTE = ['#4da3ff', '#f39c12', '#2ecc71', '#e74c3c', '#9b59b6', '#1abc9c', '#e67e22', '#fd79a8']; +function colorForClass(name) { + if (!name) return '#888'; + let h = 0; + for (let i = 0; i < name.length; i++) h = (h * 31 + name.charCodeAt(i)) | 0; + return CLASS_PALETTE[Math.abs(h) % CLASS_PALETTE.length]; +} + +function drawGraspFrame() { + if (displayedGrasp) { + if (graspCanvas.width !== displayedGrasp.naturalWidth) { + graspCanvas.width = displayedGrasp.naturalWidth; + graspCanvas.height = displayedGrasp.naturalHeight; + } + graspCtx.drawImage(displayedGrasp, 0, 0); + } + lastDetections.forEach(d => { + const b = d.bbox; + const color = colorForClass(d.class); + const isSel = lastSelectedClass && d.class === lastSelectedClass; + graspCtx.strokeStyle = color; + graspCtx.lineWidth = isSel ? 4 : 2; + graspCtx.setLineDash(isSel ? [] : [6, 4]); + graspCtx.strokeRect(b.x1, b.y1, b.x2 - b.x1, b.y2 - b.y1); + graspCtx.setLineDash([]); + const label = `${d.class || '?'} ${(d.confidence*100).toFixed(0)}%${isSel ? ' ★' : ''}`; + graspCtx.font = 'bold 13px sans-serif'; + const tw = graspCtx.measureText(label).width + 8; + const ty = b.y1 > 18 ? b.y1 - 4 : b.y1 + 16; + graspCtx.fillStyle = color; + graspCtx.fillRect(b.x1, ty - 14, tw, 18); + graspCtx.fillStyle = '#0b0f14'; + graspCtx.fillText(label, b.x1 + 4, ty); + }); +} + +function drawCrop() { + cropCtx.fillStyle = '#000'; + cropCtx.fillRect(0, 0, cropCanvas.width, cropCanvas.height); + if (!lastCropBbox || !displayedGrasp) return; + const { x1, y1, x2, y2 } = lastCropBbox; + const sw = Math.max(1, x2 - x1), sh = Math.max(1, y2 - y1); + const scale = Math.min(cropCanvas.width / sw, cropCanvas.height / sh); + const dw = sw * scale, dh = sh * scale; + const dx = (cropCanvas.width - dw) / 2, dy = (cropCanvas.height - dh) / 2; + cropCtx.drawImage(displayedGrasp, x1, y1, sw, sh, dx, dy, dw, dh); + cropCtx.strokeStyle = '#4da3ff'; + cropCtx.lineWidth = 2; + cropCtx.strokeRect(dx, dy, dw, dh); +} + +function drawScatter(canvas, pts, axU, axV, label) { + const ctx = canvas.getContext('2d'); + ctx.fillStyle = '#0d1014'; + ctx.fillRect(0, 0, canvas.width, canvas.height); + if (!pts || pts.length === 0) { + ctx.fillStyle = '#666'; + ctx.font = '12px sans-serif'; + ctx.fillText('(no points)', 10, 20); + return; + } + let uMin = Infinity, uMax = -Infinity, vMin = Infinity, vMax = -Infinity; + for (const p of pts) { + if (p[axU] < uMin) uMin = p[axU]; if (p[axU] > uMax) uMax = p[axU]; + if (p[axV] < vMin) vMin = p[axV]; if (p[axV] > vMax) vMax = p[axV]; + } + const pad = 20; + const du = Math.max(1e-6, uMax - uMin), dv = Math.max(1e-6, vMax - vMin); + const s = Math.min((canvas.width - 2*pad) / du, (canvas.height - 2*pad) / dv); + // axes + ctx.strokeStyle = '#2a2f37'; + ctx.strokeRect(pad, pad, canvas.width - 2*pad, canvas.height - 2*pad); + // points + ctx.fillStyle = '#3ecf8e'; + for (const p of pts) { + const x = pad + (p[axU] - uMin) * s; + const y = canvas.height - pad - (p[axV] - vMin) * s; + ctx.fillRect(x - 1, y - 1, 2, 2); + } + ctx.fillStyle = '#9aa0a6'; + ctx.font = '11px ui-monospace, monospace'; + ctx.fillText(label, pad + 2, 14); + ctx.fillText(`u:[${uMin.toFixed(2)},${uMax.toFixed(2)}] v:[${vMin.toFixed(2)},${vMax.toFixed(2)}]`, pad, canvas.height - 4); +} + +function drawScatters() { + drawScatter(scatterXY, lastPoints, 0, 1, 'Top-down (X→, Y↑)'); + drawScatter(scatterXZ, lastPoints, 0, 2, 'Laterale (X→, Z↑)'); +} + +function refreshGraspRgb() { + if (graspRgbInFlight) return; + graspRgbInFlight = true; + const img = new Image(); + img.onload = () => { + displayedGrasp = img; + graspRgbInFlight = false; + drawGraspFrame(); + drawCrop(); + }; + img.onerror = () => { graspRgbInFlight = false; }; + img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`; +} +setInterval(() => { + if ($('tab-grasp').classList.contains('active')) refreshGraspRgb(); +}, 150); + +// click-to-measure on RGB +graspCanvas.addEventListener('click', async (ev) => { + const rect = graspCanvas.getBoundingClientRect(); + const u = Math.round((ev.clientX - rect.left) * (graspCanvas.width / rect.width)); + const v = Math.round((ev.clientY - rect.top) * (graspCanvas.height / rect.height)); + $('measureInfo').textContent = `measuring (u=${u}, v=${v})…`; + try { + const r = await api('GET', `/api/perception/measure?u=${u}&v=${v}&radius=6`); + const cam = r.camera || {}; + let line = `(u=${u}, v=${v}) cam: `; + const xyz = (o) => o && (o.x !== undefined ? `x=${(+o.x).toFixed(3)} y=${(+o.y).toFixed(3)} z=${(+o.z).toFixed(3)}` : JSON.stringify(o)); + line += xyz(cam.point || cam.xyz || cam); + const d = cam.distance_m ?? cam.distance ?? null; + if (d != null) line += ` d=${(+d*100).toFixed(1)} cm`; + if (r.base) line += ` base: ${xyz(r.base)}`; + const t = fmtTimings(r.timings_ms); + if (t) line += ` [${t}]`; + $('measureInfo').textContent = line; + // marker + graspCtx.fillStyle = '#e74c3c'; + graspCtx.beginPath(); graspCtx.arc(u, v, 5, 0, 2*Math.PI); graspCtx.fill(); + } catch (e) { $('measureInfo').textContent = `measure error: ${e.message}`; } +}); + +function pickedClass() { + const v = $('graspObjectPick').value; + return v ? v : null; +} + +// Apply a /scan response to local state + canvases. +function applyScanResponse(r) { + lastDetections = Array.isArray(r.detections) ? r.detections : []; + const sel = r.selected || null; + lastSelectedClass = sel ? sel.class : null; + lastCropBbox = sel ? sel.bbox : null; + lastPoints = r.points_base || r.points_camera || null; + refreshObjectPickOptions(lastDetections); + renderGraspLegend(lastDetections); + drawGraspFrame(); drawCrop(); drawScatters(); +} + +$('detectBtn').addEventListener('click', async () => { + try { + setStatus('YOLO + pointcloud…'); + const body = { + conf: +$('graspConf').value || null, + class_name: pickedClass(), + include_points: true, + }; + const r = await api('POST', '/api/perception/scan', body); + applyScanResponse(r); + $('graspOut').textContent = JSON.stringify({ + detections: r.detections, + selected: r.selected, + n_points: r.n_points, + frame: r.points_base ? 'base' : 'camera', + timings_ms: r.timings_ms, + }, null, 2); + const nDet = r.detections ? r.detections.length : 0; + setStatus(`${nDet} detection · ${r.n_points || 0} punti · ${fmtTimings(r.timings_ms)}`, 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +}); + +$('planBtn').addEventListener('click', async () => { + try { + setStatus('Pianifico…'); + const body = { conf: +$('graspConf').value || null, class_name: pickedClass() }; + const r = await api('POST', '/api/grasp/plan', body); + if (r.detection) { + // keep the multi-class view, but highlight the planned class + lastSelectedClass = r.detection.class || lastSelectedClass; + lastCropBbox = r.detection.bbox; + if (!lastDetections.some(d => d.class === r.detection.class)) { + lastDetections = [r.detection, ...lastDetections]; + } + } + $('graspOut').textContent = JSON.stringify(r, null, 2); + renderGraspLegend(lastDetections); + drawGraspFrame(); drawCrop(); + setStatus(`Plan ok · ${fmtTimings(r.timings_ms)}`, 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +}); + +// --- continuous detection loop --- +const STATS_WINDOW = 5; +const MISS_LIMIT = 5; // consecutive frames without detection before clearing the view +let loopTimer = null; +let loopInFlight = false; +let recentCentroids = []; // [[x,y,z], ...] in base frame if calibrated, else camera +let missStreak = 0; + +function clearDetectionState(reason) { + lastDetections = []; + lastSelectedClass = null; + lastCropBbox = null; + lastPoints = null; + recentCentroids = []; + drawGraspFrame(); // redraws RGB without bbox overlay + drawCrop(); // wipes crop thumbnail + drawScatters(); // wipes scatter plots + updateStats(); // resets table to dashes + refreshObjectPickOptions([]); + renderGraspLegend([]); + $('graspOut').textContent = reason || '(nessuna detection)'; +} + +function centroidOf(pts) { + if (!pts || !pts.length) return null; + let sx = 0, sy = 0, sz = 0; + for (const p of pts) { sx += p[0]; sy += p[1]; sz += p[2]; } + return [sx / pts.length, sy / pts.length, sz / pts.length]; +} + +function updateStats() { + const rows = $('statsTable').querySelectorAll('tbody tr'); + const empty = ['—','—','—','—','—']; + $('statsWindow').textContent = STATS_WINDOW; + if (recentCentroids.length === 0) { + rows.forEach(r => { r.children[1].textContent='—'; r.children[2].textContent='—'; r.children[3].textContent='—'; r.children[4].textContent='—'; r.children[5].textContent='—'; }); + return; + } + const n = recentCentroids.length; + for (let axis = 0; axis < 3; axis++) { + const vals = recentCentroids.map(c => c[axis]); + const mean = vals.reduce((a,b) => a+b, 0) / n; + const vmin = Math.min(...vals), vmax = Math.max(...vals); + const variance = n > 1 ? vals.reduce((s,v) => s + (v-mean)*(v-mean), 0) / (n - 1) : 0; + const std = Math.sqrt(variance); + const r = rows[axis]; + r.children[1].textContent = mean.toFixed(4); + r.children[2].textContent = (std * 1000).toFixed(2); + r.children[3].textContent = ((vmax - vmin) * 1000).toFixed(2); + r.children[4].textContent = vmin.toFixed(4); + r.children[5].textContent = vmax.toFixed(4); + } +} + +async function loopTick() { + if (loopInFlight) return; + loopInFlight = true; + const t0 = performance.now(); + try { + const body = { + conf: +$('graspConf').value || null, + class_name: pickedClass(), + include_points: true, + }; + const r = await api('POST', '/api/perception/scan', body); + const pts = r.points_base || r.points_camera || []; + const frame = r.points_base ? 'base' : 'camera'; + lastDetections = Array.isArray(r.detections) ? r.detections : []; + lastSelectedClass = r.selected ? r.selected.class : null; + lastCropBbox = r.selected ? r.selected.bbox : null; + lastPoints = pts; + refreshObjectPickOptions(lastDetections); + renderGraspLegend(lastDetections); + drawGraspFrame(); drawCrop(); drawScatters(); + const c = centroidOf(pts); + if (c) { + recentCentroids.push(c); + if (recentCentroids.length > STATS_WINDOW) recentCentroids.shift(); + updateStats(); + } + const nDet = lastDetections.length; + if (nDet === 0) throw new Error('404 no object detected'); + missStreak = 0; + const dt = performance.now() - t0; + const selMsg = r.selected + ? `sel=${lastSelectedClass}` + : (pickedClass() ? `sel=${pickedClass()} NON rilevata` : 'sel=—'); + $('statsMeta').textContent = + `loop ON · ${nDet} detection · ${selMsg} · frame=${frame} · n=${r.n_points} · iter ${dt.toFixed(0)}ms · ${fmtTimings(r.timings_ms)}`; + $('statsMeta').style.color = r.selected ? 'var(--ok)' : 'var(--warn)'; + } catch (e) { + const msg = e.message || ''; + // Classify: + // - true miss (404/422): object not detected → increments miss streak + // - transient upstream (500/502/503 from YOLO/Nuwa): skip silently, no streak bump + // - anything else: surface as real error + const isMiss = /^404\b|no object|^422\b|too few/i.test(msg); + const isTransient = /^(500|502|503)\b|bad gateway|service unavailable|temporarily/i.test(msg); + if (isMiss) { + missStreak++; + if (missStreak >= MISS_LIMIT) { + clearDetectionState(`nessun oggetto per ${MISS_LIMIT} frame consecutivi`); + $('statsMeta').textContent = `loop ON · nessun oggetto per ${MISS_LIMIT} frame → dati azzerati`; + $('statsMeta').style.color = 'var(--warn)'; + } else { + $('statsMeta').textContent = `loop ON · miss ${missStreak}/${MISS_LIMIT}`; + $('statsMeta').style.color = 'var(--warn)'; + } + } else if (isTransient) { + $('statsMeta').textContent = `loop ON · upstream busy (skip): ${msg}`; + $('statsMeta').style.color = 'var(--warn)'; + } else { + $('statsMeta').textContent = `loop error: ${msg}`; + $('statsMeta').style.color = 'var(--danger)'; + } + } finally { + loopInFlight = false; + } +} + +function startLoop() { + if (loopTimer) return; + const rate = Math.max(100, +$('loopRateMs').value || 500); + missStreak = 0; + recentCentroids = []; + updateStats(); + loopTick(); + loopTimer = setInterval(loopTick, rate); + const b = $('loopBtn'); + b.textContent = '■ Stop loop'; + b.classList.add('running'); + $('statsMeta').textContent = 'loop ON'; + $('statsMeta').style.color = 'var(--ok)'; +} + +function stopLoop() { + if (loopTimer) { clearInterval(loopTimer); loopTimer = null; } + const b = $('loopBtn'); + b.textContent = '▶ Loop riconoscimento'; + b.classList.remove('running'); + $('statsMeta').textContent = 'loop inattivo'; + $('statsMeta').style.color = 'var(--dim)'; +} + +$('loopBtn').addEventListener('click', () => (loopTimer ? stopLoop() : startLoop())); + +// If user leaves the tab, pause to avoid background load +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab !== 'grasp' && loopTimer) stopLoop(); +})); + +$('executeBtn').addEventListener('click', async () => { + if (!$('graspDryRun').checked && !confirm('Eseguire realmente la presa sul robot?')) return; + try { + setStatus('Esecuzione…'); + const body = { + conf: +$('graspConf').value || null, + class_name: pickedClass(), + dry_run: $('graspDryRun').checked, + }; + const r = await api('POST', '/api/grasp/execute', body); + $('graspOut').textContent = JSON.stringify(r, null, 2); + setStatus(`Grasp eseguito · ${fmtTimings(r.timings_ms)}`, 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +}); + +// --- object pick select + legend + class discovery --- + +// Build per-class summary: best (highest-confidence) detection and instance count. +function bestPerClass(dets) { + const byClass = new Map(); + const counts = new Map(); + for (const d of dets) { + if (!d.class) continue; + counts.set(d.class, (counts.get(d.class) || 0) + 1); + const cur = byClass.get(d.class); + if (!cur || d.confidence > cur.confidence) byClass.set(d.class, d); + } + return { byClass, counts }; +} + +function refreshObjectPickOptions(dets) { + const sel = $('graspObjectPick'); + const prev = sel.value; + // known classes (from /classes, if any) keep a stable entry order; + // detected-only classes are added after. + const known = new Set(knownClasses); + const ordered = []; + knownClasses.forEach(n => ordered.push(n)); + dets.forEach(d => { if (d.class && !known.has(d.class)) { ordered.push(d.class); known.add(d.class); } }); + const { byClass, counts } = bestPerClass(dets); + sel.innerHTML = ''; + const opt0 = document.createElement('option'); + opt0.value = ''; opt0.textContent = '(top overall)'; + sel.appendChild(opt0); + for (const name of ordered) { + const d = byClass.get(name); + const n = counts.get(name) || 0; + const o = document.createElement('option'); + o.value = name; + const suffix = n > 1 ? ` ×${n}` : ''; + o.textContent = d + ? `${name} · ${(d.confidence*100).toFixed(0)}%${suffix}` + : `${name} · —`; + if (!d) o.style.color = '#888'; + sel.appendChild(o); + } + // Preserve the previous selection if still valid, else fall back to '(top)'. + const stillAvailable = prev === '' || ordered.includes(prev); + sel.value = stillAvailable ? prev : ''; +} + +function renderGraspLegend(dets) { + const host = $('graspLegend'); + if (!host) return; + const known = new Set(knownClasses); + const ordered = []; + knownClasses.forEach(n => ordered.push(n)); + dets.forEach(d => { if (d.class && !known.has(d.class)) { ordered.push(d.class); known.add(d.class); } }); + const { byClass, counts } = bestPerClass(dets); + host.innerHTML = ''; + if (ordered.length === 0) { host.textContent = '(nessuna classe)'; return; } + for (const name of ordered) { + const d = byClass.get(name); + const n = counts.get(name) || 0; + const item = document.createElement('span'); + item.className = 'item' + (name === lastSelectedClass ? ' selected' : '') + (!d ? ' missing' : ''); + const sw = document.createElement('span'); + sw.className = 'sw'; + sw.style.background = colorForClass(name); + item.appendChild(sw); + const suffix = n > 1 ? ` ×${n}` : ''; + item.appendChild(document.createTextNode( + d ? `${name} ${(d.confidence*100).toFixed(0)}%${suffix}` : `${name} (non rilevata)` + )); + host.appendChild(item); + } +} + +async function loadKnownClasses() { + try { + const r = await api('GET', '/api/perception/classes'); + knownClasses = (r.classes || []).map(c => c.name).filter(Boolean); + } catch (_e) { + knownClasses = []; + } + refreshObjectPickOptions(lastDetections); + renderGraspLegend(lastDetections); +} +loadKnownClasses(); + +// Changing the pick while the loop is idle → fire a one-off scan so the cloud +// updates immediately. While looping, the next tick picks it up automatically. +$('graspObjectPick').addEventListener('change', () => { + renderGraspLegend(lastDetections); + drawGraspFrame(); + if (!loopTimer) $('detectBtn').click(); +}); + +// ==================== EE ==================== +async function refreshWrist() { + try { + const r = await api('GET', '/api/wrist'); + $('wristCurrent').textContent = JSON.stringify(r, null, 2); + } catch (e) { $('wristCurrent').textContent = e.message; } +} +$('refreshWristBtn').addEventListener('click', refreshWrist); + +$('absSendBtn').addEventListener('click', async () => { + const body = { + side: $('eeSide').value, + position: [+$('absPx').value, +$('absPy').value, +$('absPz').value], + quaternion: [+$('absQx').value, +$('absQy').value, +$('absQz').value, +$('absQw').value], + wait: true, timeout_s: 5.0, precise: false, + dry_run: $('eeDryRun').checked, + }; + try { $('eeLog').textContent = JSON.stringify(await api('POST', '/api/wrist/absolute', body), null, 2); } + catch (e) { $('eeLog').textContent = e.message; } +}); + +$('relSendBtn').addEventListener('click', async () => { + const body = { + side: $('eeSide').value, + delta_position: [+$('relDx').value, +$('relDy').value, +$('relDz').value], + wait: true, timeout_s: 5.0, + dry_run: $('eeDryRun').checked, + }; + try { $('eeLog').textContent = JSON.stringify(await api('POST', '/api/wrist/relative', body), null, 2); } + catch (e) { $('eeLog').textContent = e.message; } +}); + +const handBtn = (id, action) => $(id).addEventListener('click', async () => { + try { + const r = await api('POST', '/api/wrist/hand', { action, dry_run: $('eeDryRun').checked }); + $('eeLog').textContent = JSON.stringify(r, null, 2); + } catch (e) { $('eeLog').textContent = e.message; } +}); +handBtn('handOpenBtn', 'RIGHT_OPEN'); +handBtn('handCloseBtn', 'RIGHT_CLOSE'); +handBtn('handOpenLBtn', 'LEFT_OPEN'); +handBtn('handCloseLBtn', 'LEFT_CLOSE'); + +$('estopBtn').addEventListener('click', async () => { + if (!confirm('EMERGENCY STOP: confermi?')) return; + try { + const r = await api('POST', `/api/wrist/emergency_stop?dry_run=${$('eeDryRun').checked}`); + $('eeLog').textContent = JSON.stringify(r, null, 2); + } catch (e) { $('eeLog').textContent = e.message; } +}); +$('unlockBtn').addEventListener('click', async () => { + try { + const r = await api('POST', `/api/wrist/unlock?dry_run=${$('eeDryRun').checked}`); + $('eeLog').textContent = JSON.stringify(r, null, 2); + } catch (e) { $('eeLog').textContent = e.message; } +}); + +// ==================== VISTA 3D ==================== +// Minimal canvas-2D 3D renderer: orthographic camera with yaw/pitch around a +// target point, painter's-algorithm depth sorting, mouse drag/zoom/pan. + +const view3dCanvas = $('view3dCanvas'); +const view3dCtx = view3dCanvas.getContext('2d'); + +const view3d = { + // camera + yaw: -0.6, // around base Z + pitch: 0.5, // 0 = horizontal, π/2 = top-down + scale: 350, // pixels per meter + target: [0.30, 0.0, 0.20], // world point at canvas center + // scene data + wrist: null, // { left:{position,quaternion}, right:{...} } + object: null, // { points:[[x,y,z],...], centroid:[x,y,z], n_points } + plan: null, // { grasp:{position,quaternion_xyzw}, pre_grasp:{position} } + calibrated: true, // false → object data unavailable + lastErr: null, +}; + +// ---- math helpers ---- +function quatToR(q) { + const x=q[0], y=q[1], z=q[2], w=q[3]; + const n = x*x + y*y + z*z + w*w; + if (n === 0) return [[1,0,0],[0,1,0],[0,0,1]]; + const s = 2/n; + return [ + [1 - s*(y*y + z*z), s*(x*y - z*w), s*(x*z + y*w)], + [s*(x*y + z*w), 1 - s*(x*x + z*z), s*(y*z - x*w)], + [s*(x*z - y*w), s*(y*z + x*w), 1 - s*(x*x + y*y)], + ]; +} + +// Project world point → {sx, sy, depth}. depth = camera-axis distance for sorting. +function project(p) { + const dx = p[0] - view3d.target[0]; + const dy = p[1] - view3d.target[1]; + const dz = p[2] - view3d.target[2]; + const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw); + // Yaw around Z + const x1 = cy*dx + sy*dy; + const y1 = -sy*dx + cy*dy; + const z1 = dz; + // Pitch around X (camera looks roughly toward +Y after yaw, tilting down by pitch) + const cp = Math.cos(view3d.pitch), sp = Math.sin(view3d.pitch); + const y2 = cp*y1 + sp*z1; + const z2 = -sp*y1 + cp*z1; + // Orthographic: screen X = +x1; screen Y = -z2 (so +Z up on screen) + const sx = view3dCanvas.width / 2 + view3d.scale * x1; + const sxy = view3dCanvas.height / 2 - view3d.scale * z2; + // depth: y2 increases away from viewer → larger y2 = farther + return { sx, sy: sxy, depth: y2 }; +} + +function drawSegment(items, p1, p2, color, width = 2) { + const a = project(p1), b = project(p2); + items.push({ depth: (a.depth + b.depth) / 2, draw: () => { + view3dCtx.strokeStyle = color; + view3dCtx.lineWidth = width; + view3dCtx.beginPath(); + view3dCtx.moveTo(a.sx, a.sy); + view3dCtx.lineTo(b.sx, b.sy); + view3dCtx.stroke(); + }}); +} + +function drawDot(items, p, color, radius = 3) { + const a = project(p); + items.push({ depth: a.depth, draw: () => { + view3dCtx.fillStyle = color; + view3dCtx.beginPath(); + view3dCtx.arc(a.sx, a.sy, radius, 0, 2 * Math.PI); + view3dCtx.fill(); + }}); +} + +function drawLabel(items, p, text, color, dx = 8, dy = -8) { + const a = project(p); + items.push({ depth: a.depth - 1e-6, draw: () => { + view3dCtx.fillStyle = color; + view3dCtx.font = 'bold 11px ui-monospace, monospace'; + view3dCtx.fillText(text, a.sx + dx, a.sy + dy); + }}); +} + +function drawTriad(items, position, R, len = 0.06) { + // Columns of R = axis directions in base frame. + const axes = [ + { col: 0, color: '#e74c3c' }, // X + { col: 1, color: '#3ecf8e' }, // Y + { col: 2, color: '#4da3ff' }, // Z + ]; + for (const a of axes) { + const tip = [ + position[0] + R[0][a.col] * len, + position[1] + R[1][a.col] * len, + position[2] + R[2][a.col] * len, + ]; + drawSegment(items, position, tip, a.color, 2); + } +} + +function drawGroundGrid(items) { + if (!$('view3dShowGrid').checked) return; + const half = 0.6, step = 0.05; + const minor = '#1a1f27', major = '#2a2f37'; + for (let x = -half; x <= half + 1e-6; x += step) { + const isMajor = Math.abs(x % 0.10) < 1e-6; + drawSegment(items, [x, -half, 0], [x, half, 0], isMajor ? major : minor, 1); + } + for (let y = -half; y <= half + 1e-6; y += step) { + const isMajor = Math.abs(y % 0.10) < 1e-6; + drawSegment(items, [-half, y, 0], [half, y, 0], isMajor ? major : minor, 1); + } +} + +function drawBaseAxes(items) { + drawTriad(items, [0,0,0], [[1,0,0],[0,1,0],[0,0,1]], 0.12); + drawLabel(items, [0.12, 0, 0], 'X', '#e74c3c'); + drawLabel(items, [0, 0.12, 0], 'Y', '#3ecf8e'); + drawLabel(items, [0, 0, 0.12], 'Z', '#4da3ff'); + drawLabel(items, [0,0,0], 'BASE', '#9aa0a6', 8, 14); +} + +function drawWrist(items, side, pose, color) { + if (!pose || !pose.position || !pose.quaternion) return; + const p = pose.position; + const R = quatToR(pose.quaternion); + drawTriad(items, p, R, 0.08); + drawDot(items, p, color, 5); + drawLabel(items, p, `polso ${side}`, color, 10, -6); +} + +function drawObject(items) { + if (!view3d.object) return; + if ($('view3dShowCloud').checked && view3d.object.points) { + // Cap render to avoid huge per-frame work. + const max = 1500; + const pts = view3d.object.points; + const stride = Math.max(1, Math.ceil(pts.length / max)); + for (let i = 0; i < pts.length; i += stride) { + drawDot(items, pts[i], '#aaaaaa', 1.4); + } + } + if (view3d.object.centroid) { + drawDot(items, view3d.object.centroid, '#ffd54f', 6); + drawLabel(items, view3d.object.centroid, 'oggetto', '#ffd54f', 10, -8); + } +} + +function drawPlan(items) { + if (!view3d.plan) return; + const g = view3d.plan.grasp, pg = view3d.plan.pre_grasp; + if (!g || !g.position) return; + const R = quatToR(g.quaternion_xyzw); + // grasp pose triad + marker + drawTriad(items, g.position, R, 0.07); + drawDot(items, g.position, '#ff5e7e', 6); + drawLabel(items, g.position, 'grasp', '#ff5e7e', 10, -8); + // pre-grasp marker + approach line + if (pg && pg.position) { + drawDot(items, pg.position, '#ffffff', 4); + drawLabel(items, pg.position, 'pre-grasp', '#ffffff', 10, -8); + drawSegment(items, pg.position, g.position, '#ffffff', 1.5); + } +} + +function renderView3d() { + const ctx = view3dCtx; + ctx.fillStyle = '#0d1014'; + ctx.fillRect(0, 0, view3dCanvas.width, view3dCanvas.height); + + const items = []; + drawGroundGrid(items); + drawBaseAxes(items); + if (view3d.wrist) { + drawWrist(items, 'right', view3d.wrist.right, '#f0ad4e'); + drawWrist(items, 'left', view3d.wrist.left, '#9b59b6'); + } + drawObject(items); + drawPlan(items); + + // Painter's algorithm: far first. + items.sort((a, b) => b.depth - a.depth); + items.forEach(it => it.draw()); + + // HUD + ctx.fillStyle = '#9aa0a6'; + ctx.font = '11px ui-monospace, monospace'; + ctx.fillText(`yaw=${(view3d.yaw*180/Math.PI).toFixed(0)}° pitch=${(view3d.pitch*180/Math.PI).toFixed(0)}° scale=${view3d.scale.toFixed(0)} px/m`, 8, 14); + ctx.fillText(`target=[${view3d.target.map(v => v.toFixed(2)).join(', ')}]`, 8, 28); + if (!view3d.calibrated) { + ctx.fillStyle = '#f0ad4e'; + ctx.fillText('⚠ calibrazione mancante: punti oggetto non disponibili in frame base', 8, view3dCanvas.height - 8); + } + if (view3d.lastErr) { + ctx.fillStyle = '#e74c3c'; + ctx.fillText(view3d.lastErr, 8, view3dCanvas.height - 22); + } +} + +// ---- mouse interaction ---- +let drag3d = null; +view3dCanvas.addEventListener('mousedown', (ev) => { + drag3d = { x: ev.clientX, y: ev.clientY, pan: ev.shiftKey }; +}); +window.addEventListener('mouseup', () => { drag3d = null; }); +window.addEventListener('mousemove', (ev) => { + if (!drag3d) return; + const dx = ev.clientX - drag3d.x; + const dy = ev.clientY - drag3d.y; + drag3d.x = ev.clientX; drag3d.y = ev.clientY; + if (drag3d.pan) { + // Pan in screen plane → world XY (approx, ignoring pitch foreshortening on Z) + const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw); + const wx = cy*dx - sy*(-dy) * Math.cos(view3d.pitch); + const wy = sy*dx + cy*(-dy) * Math.cos(view3d.pitch); + view3d.target[0] -= wx / view3d.scale; + view3d.target[1] -= wy / view3d.scale; + // also let vertical drag move target Z when looking near horizontal + view3d.target[2] += (-dy) * Math.sin(view3d.pitch) / view3d.scale; + } else { + view3d.yaw += dx * 0.01; + view3d.pitch += dy * 0.01; + view3d.pitch = Math.max(-Math.PI/2 + 0.05, Math.min(Math.PI/2 - 0.05, view3d.pitch)); + } + renderView3d(); +}); +view3dCanvas.addEventListener('wheel', (ev) => { + ev.preventDefault(); + const f = Math.exp(-ev.deltaY * 0.001); + view3d.scale = Math.max(50, Math.min(3000, view3d.scale * f)); + renderView3d(); +}, { passive: false }); +view3dCanvas.addEventListener('dblclick', () => resetView3d()); + +function resetView3d() { + view3d.yaw = -0.6; + view3d.pitch = 0.5; + view3d.scale = 350; + view3d.target = [0.30, 0.0, 0.20]; + renderView3d(); +} +$('view3dResetBtn').addEventListener('click', resetView3d); + +function autoFitView3d() { + if (!$('view3dAutoFit').checked) return; + const pts = []; + if (view3d.wrist) { + if (view3d.wrist.right && view3d.wrist.right.position) pts.push(view3d.wrist.right.position); + if (view3d.wrist.left && view3d.wrist.left.position) pts.push(view3d.wrist.left.position); + } + if (view3d.object && view3d.object.centroid) pts.push(view3d.object.centroid); + if (view3d.plan && view3d.plan.grasp && view3d.plan.grasp.position) pts.push(view3d.plan.grasp.position); + if (pts.length === 0) return; + const min = [Infinity, Infinity, Infinity], max = [-Infinity, -Infinity, -Infinity]; + for (const p of pts) for (let i = 0; i < 3; i++) { + if (p[i] < min[i]) min[i] = p[i]; + if (p[i] > max[i]) max[i] = p[i]; + } + view3d.target = [(min[0]+max[0])/2, (min[1]+max[1])/2, (min[2]+max[2])/2]; + const span = Math.max(0.15, max[0]-min[0], max[1]-min[1], max[2]-min[2]); + // fit ~70% of canvas width + view3d.scale = Math.min(2000, (view3dCanvas.width * 0.7) / (span * 2.5)); +} + +// ---- data fetching ---- +async function refreshView3d() { + view3d.lastErr = null; + const out = { wrist: null, object: null, plan: null, calibrated: true }; + const summary = []; + // Wrist (always; doesn't need calibration — already in base frame). + try { + const w = await api('GET', '/api/wrist'); + // Server returns {left_wrist, right_wrist}; tolerate {left,right} too. + const data = (w && w.data) || w || {}; + out.wrist = { + left: data.left_wrist || data.left || null, + right: data.right_wrist || data.right || null, + }; + summary.push(`wrist: ${out.wrist.right ? 'R✓' : 'R—'} ${out.wrist.left ? 'L✓' : 'L—'}`); + } catch (e) { + summary.push(`wrist: err (${e.message})`); + } + // Object points + centroid in base frame. + try { + const body = { + conf: +$('view3dConf').value || null, + class_name: $('view3dClass').value || null, + max_points: 3000, + }; + const r = await api('POST', '/api/perception/object_points', body); + const pts = r.points_base || null; + if (!pts) { + out.calibrated = false; + summary.push('oggetto: serve calibrazione'); + } else { + let cx=0, cy=0, cz=0; + for (const p of pts) { cx+=p[0]; cy+=p[1]; cz+=p[2]; } + const n = Math.max(1, pts.length); + out.object = { + points: pts, + centroid: [cx/n, cy/n, cz/n], + n_points: pts.length, + detection: r.detection, + }; + summary.push(`oggetto: ${pts.length} pt`); + } + } catch (e) { + if (/^412\b/.test(e.message)) out.calibrated = false; + summary.push(`oggetto: ${e.message}`); + } + // Grasp plan (optional). + if ($('view3dShowPlan').checked && out.calibrated && out.object) { + try { + const body = { + conf: +$('view3dConf').value || null, + class_name: $('view3dClass').value || null, + }; + const r = await api('POST', '/api/grasp/plan', body); + out.plan = r.plan || null; + if (out.plan && out.plan.grasp) { + const p = out.plan.grasp.position; + summary.push(`grasp: [${p.map(v => v.toFixed(2)).join(', ')}]`); + } + } catch (e) { + summary.push(`plan: ${e.message}`); + } + } + Object.assign(view3d, out); + autoFitView3d(); + renderView3d(); + $('view3dStatusLine').textContent = summary.join(' · '); + $('view3dStatusLine').style.color = view3d.lastErr ? 'var(--danger)' : 'var(--dim)'; + $('view3dOut').textContent = JSON.stringify({ + wrist: out.wrist, + object: out.object && { + n_points: out.object.n_points, + centroid: out.object.centroid, + detection: out.object.detection, + }, + plan: out.plan, + }, null, 2); +} + +$('view3dRefreshBtn').addEventListener('click', async () => { + setStatus('Aggiorno scena 3D…'); + try { await refreshView3d(); setStatus('Scena 3D aggiornata', 'ok'); } + catch (e) { setStatus(e.message, 'err'); } +}); + +// loop +let view3dTimer = null; +let view3dInFlight = false; +async function view3dTick() { + if (view3dInFlight) return; + view3dInFlight = true; + try { await refreshView3d(); } catch {} finally { view3dInFlight = false; } +} +function startView3dLoop() { + if (view3dTimer) return; + const rate = Math.max(200, +$('view3dRateMs').value || 800); + view3dTick(); + view3dTimer = setInterval(view3dTick, rate); + const b = $('view3dLoopBtn'); + b.textContent = '■ Stop loop'; + b.classList.add('running'); +} +function stopView3dLoop() { + if (view3dTimer) { clearInterval(view3dTimer); view3dTimer = null; } + const b = $('view3dLoopBtn'); + b.textContent = '▶ Loop'; + b.classList.remove('running'); +} +$('view3dLoopBtn').addEventListener('click', () => view3dTimer ? stopView3dLoop() : startView3dLoop()); + +// Pause loop when leaving the tab (mirrors the grasp-tab behavior). +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab !== 'view3d' && view3dTimer) stopView3dLoop(); + if (btn.dataset.tab === 'view3d') renderView3d(); +})); + +// Initial empty render so the canvas isn't blank when first shown. +renderView3d(); + +// ==================== HOME ==================== +// Shows reachability + latency for every upstream microservice and lets the +// user switch the active robot (G1 ↔ H1). The orchestrator runs the actual +// switch via PUT /api/home/robot, which deep-merges into config.yaml. +let homePollTimer = null; +let homePollInFlight = false; + +function fmtLatency(ms) { + if (ms == null) return '—'; + if (ms < 1) return '<1 ms'; + return `${Math.round(ms)} ms`; +} + +function renderHomeStatus(data) { + const tbody = document.querySelector('#homeDeviceTable tbody'); + if (!tbody) return; + tbody.innerHTML = ''; + if (!data || !Array.isArray(data.devices) || data.devices.length === 0) { + tbody.innerHTML = 'nessun servizio configurato'; + return; + } + for (const d of data.devices) { + const tr = document.createElement('tr'); + const status = d.ok ? 'ok' : 'err'; + const icon = d.ok ? '✓' : '✗'; + const detail = d.ok + ? (d.status_code != null ? `HTTP ${d.status_code}` : 'reachable') + : (d.error || (d.status_code != null ? `HTTP ${d.status_code}` : 'unreachable')); + tr.innerHTML = ` + ${d.label}${d.active ? ' attivo' : ''} + ${d.url} + ${icon} ${d.ok ? 'online' : 'offline'} + ${fmtLatency(d.latency_ms)} + ${detail} + `; + tbody.appendChild(tr); + } + const pill = $('activeRobotPill'); + if (pill) pill.textContent = `robot: ${(data.active_robot || '—').toUpperCase()}`; +} + +async function homePollOnce() { + if (homePollInFlight) return; + homePollInFlight = true; + try { + const r = await api('GET', '/api/home/status'); + renderHomeStatus(r); + } catch (e) { + const tbody = document.querySelector('#homeDeviceTable tbody'); + if (tbody) tbody.innerHTML = `errore: ${e.message}`; + } finally { + homePollInFlight = false; + } +} + +function startHomePoll() { + stopHomePoll(); + if (!$('homeAutoPoll').checked) return; + const rate = Math.max(500, +$('homePollMs').value || 2000); + homePollOnce(); + homePollTimer = setInterval(homePollOnce, rate); +} +function stopHomePoll() { + if (homePollTimer) { clearInterval(homePollTimer); homePollTimer = null; } +} + +$('homeAutoPoll').addEventListener('change', startHomePoll); +$('homePollMs').addEventListener('change', startHomePoll); +$('homeRefreshBtn').addEventListener('click', homePollOnce); + +$('homeApplyRobotBtn').addEventListener('click', async (ev) => { + const btn = ev.currentTarget; + const target = $('homeRobotSelect').value; + try { + const r = await api('PUT', '/api/home/robot', { active: target }); + $('homeLog').textContent = `robot attivo: ${r.active}`; + $('homeLog').classList.remove('err'); + flashBtn(btn, true); + toast('Robot attivo', `${r.active.toUpperCase()}`, true); + homePollOnce(); + } catch (e) { + $('homeLog').textContent = e.message; + $('homeLog').classList.add('err'); + flashBtn(btn, false); + toast('Errore cambio robot', e.message, false); + } +}); + +// Sync the dropdown with whatever the backend currently reports as active. +async function refreshHomeRobotSelector() { + try { + const r = await api('GET', '/api/home/robot'); + if (r && r.active) $('homeRobotSelect').value = r.active; + const pill = $('activeRobotPill'); + if (pill) pill.textContent = `robot: ${(r.active || '—').toUpperCase()}`; + } catch {} +} +refreshHomeRobotSelector(); +startHomePoll(); + +// ---------- init ---------- +(async () => { + try { + const cfg = await api('GET', '/api/config'); + $('arucoId').value = cfg.aruco.wrist_marker.id; + $('arucoSize').value = cfg.aruco.wrist_marker.size_mm; + $('side').value = cfg.robot.wrist_side; + $('eeSide').value = cfg.robot.wrist_side; + } catch {} + await loadSamples(); + await loadCalibResult(); + refreshWrist(); + refreshRgb(); +})(); + +// ==================== ASSISTENTE AI ==================== +// Curated tool-use chat: l'utente parla in linguaggio naturale, il backend +// passa la richiesta a OpenRouter con i tool definiti in agent/tools.py. +// La cronologia è tenuta lato browser e ribaltata indietro a ogni POST. +const agentState = { + history: [], // OpenAI-format messages (escluso system, ricostruito server-side) + visualMessages: [], // {role, content, traceIdx?} per il render + busy: false, + health: null, +}; + +function agentEscape(s) { + return String(s == null ? '' : s) + .replace(/&/g, '&').replace(//g, '>'); +} + +function renderAgentChat() { + const host = $('agentChat'); + host.innerHTML = ''; + if (agentState.visualMessages.length === 0) { + const sys = document.createElement('div'); + sys.className = 'agent-msg system'; + sys.textContent = 'Conversazione vuota. Scrivi una richiesta sotto.'; + host.appendChild(sys); + return; + } + for (const m of agentState.visualMessages) { + const div = document.createElement('div'); + div.className = `agent-msg ${m.role}`; + div.textContent = m.content || ''; + if (m.tools && m.tools.length) { + const meta = document.createElement('div'); + meta.className = 'meta'; + for (const t of m.tools) { + const pill = document.createElement('span'); + pill.className = 'agent-tool-pill' + (t.ok ? '' : ' err'); + pill.textContent = `${t.name} · ${t.latency_ms}ms`; + pill.title = JSON.stringify(t.args || {}, null, 2); + meta.appendChild(pill); + } + div.appendChild(meta); + } + host.appendChild(div); + } + host.scrollTop = host.scrollHeight; +} + +async function refreshAgentHealth() { + try { + const h = await api('GET', '/api/agent/health'); + agentState.health = h; + const el = $('agentHealth'); + if (h.configured) { + el.textContent = `pronto · modello ${h.model}`; + el.style.color = 'var(--ok)'; + $('agentSendBtn').disabled = false; + } else { + el.textContent = `API key mancante (env ${h.api_key_env}): chat disabilitata`; + el.style.color = 'var(--danger)'; + $('agentSendBtn').disabled = true; + } + } catch (e) { + $('agentHealth').textContent = `errore: ${e.message}`; + $('agentHealth').style.color = 'var(--danger)'; + } + // mirror del robot attivo nella pill della tab + try { + const r = await api('GET', '/api/home/robot'); + const pill = $('agentActiveRobotPill'); + if (pill) pill.textContent = `robot: ${(r.active || '—').toUpperCase()}`; + } catch {} +} + +async function sendAgentMessage() { + if (agentState.busy) return; + const input = $('agentInput'); + const message = input.value.trim(); + if (!message) return; + agentState.busy = true; + $('agentSendBtn').disabled = true; + $('agentStatus').textContent = 'invio…'; + $('agentStatus').style.color = 'var(--dim)'; + + agentState.visualMessages.push({ role: 'user', content: message }); + renderAgentChat(); + input.value = ''; + + try { + const r = await api('POST', '/api/agent/chat', { + message, + history: agentState.history, + }); + agentState.history = r.history || []; + const tools = (r.tool_calls || []).map(tc => ({ + name: tc.name, ok: tc.result && tc.result.ok !== false, + latency_ms: tc.latency_ms, args: tc.arguments, + })); + agentState.visualMessages.push({ + role: 'assistant', content: r.reply || '(nessuna risposta)', + tools, + }); + renderAgentChat(); + // Tool trace dettagliata nel pannello di destra. + if (r.tool_calls && r.tool_calls.length) { + $('agentTrace').textContent = JSON.stringify(r.tool_calls, null, 2); + } else { + $('agentTrace').textContent = '(nessuna chiamata)'; + } + const usage = r.usage || {}; + const u = usage.total_tokens != null ? `· ${usage.total_tokens} tokens` : ''; + $('agentStatus').textContent = `ok · ${r.iterations} iterazioni · ${tools.length} tool ${u}`; + $('agentStatus').style.color = 'var(--ok)'; + // se la risposta ha cambiato robot attivo, aggiorna pill + refreshAgentHealth().catch(() => {}); + } catch (e) { + agentState.visualMessages.push({ + role: 'error', content: e.message, + }); + renderAgentChat(); + $('agentStatus').textContent = `errore: ${e.message}`; + $('agentStatus').style.color = 'var(--danger)'; + } finally { + agentState.busy = false; + $('agentSendBtn').disabled = !(agentState.health && agentState.health.configured); + } +} + +$('agentSendBtn').addEventListener('click', sendAgentMessage); +$('agentInput').addEventListener('keydown', (e) => { + if (e.ctrlKey && e.key === 'Enter') { + e.preventDefault(); + sendAgentMessage(); + } +}); + +$('agentClearBtn').addEventListener('click', () => { + if (agentState.visualMessages.length === 0 && agentState.history.length === 0) return; + if (!confirm('Resetta la conversazione corrente?')) return; + agentState.history = []; + agentState.visualMessages = []; + renderAgentChat(); + $('agentTrace').textContent = '(nessuna chiamata)'; + $('agentStatus').textContent = 'conversazione svuotata'; +}); + +// ----- Task salvati ----- +async function loadAgentTasks() { + const ul = $('agentTaskList'); + try { + const r = await api('GET', '/api/agent/tasks'); + const items = r.tasks || []; + ul.innerHTML = ''; + if (items.length === 0) { + ul.innerHTML = '
  • (nessun task salvato)
    • '; + return; + } + for (const it of items) { + const li = document.createElement('li'); + const name = document.createElement('span'); + name.className = 'task-name'; + name.textContent = it.name; + const desc = document.createElement('span'); + desc.className = 'task-desc'; + desc.textContent = it.description || it.prompt; + desc.title = it.prompt; + const useBtn = document.createElement('button'); + useBtn.className = 'link-btn'; + useBtn.textContent = '↥ usa'; + useBtn.title = 'Carica questo prompt nella casella di input'; + useBtn.addEventListener('click', () => { + $('agentInput').value = it.prompt; + $('agentInput').focus(); + }); + const runBtn = document.createElement('button'); + runBtn.className = 'link-btn'; + runBtn.textContent = '▶ esegui'; + runBtn.addEventListener('click', () => { + $('agentInput').value = it.prompt; + sendAgentMessage(); + }); + const delBtn = document.createElement('button'); + delBtn.className = 'link-btn'; + delBtn.textContent = '✕'; + delBtn.title = 'Elimina'; + delBtn.addEventListener('click', async () => { + if (!confirm(`Eliminare task "${it.name}"?`)) return; + try { + await api('DELETE', `/api/agent/tasks/${encodeURIComponent(it.name)}`); + loadAgentTasks(); + } catch (e) { toast('Eliminazione fallita', e.message, false); } + }); + li.appendChild(name); + li.appendChild(desc); + li.appendChild(useBtn); + li.appendChild(runBtn); + li.appendChild(delBtn); + ul.appendChild(li); + } + } catch (e) { + ul.innerHTML = `
  • errore: ${agentEscape(e.message)}
    • `; + } +} + +$('agentTaskSaveBtn').addEventListener('click', async (ev) => { + const name = $('agentTaskName').value.trim(); + const prompt = $('agentInput').value.trim(); + const description = $('agentTaskDesc').value.trim() || null; + if (!name) { toast('Manca il nome', 'Indica un nome per il task', false); return; } + if (!prompt) { toast('Prompt vuoto', 'Scrivi prima il prompt nella casella', false); return; } + try { + await api('POST', '/api/agent/tasks', { name, prompt, description }); + flashBtn(ev.currentTarget, true); + toast('Task salvato', name, true); + $('agentTaskName').value = ''; + $('agentTaskDesc').value = ''; + loadAgentTasks(); + } catch (e) { + flashBtn(ev.currentTarget, false); + toast('Salvataggio fallito', e.message, false); + } +}); + +$('agentTaskReloadBtn').addEventListener('click', loadAgentTasks); + +// Carica health + task quando si apre la tab Assistente AI. +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab === 'agent') { + refreshAgentHealth(); + loadAgentTasks(); + } +})); + +// Bootstrap iniziale (anche se la tab non è attiva, così la pill si popola). +refreshAgentHealth(); +loadAgentTasks(); + +// ==================== IMPOSTAZIONI AI ==================== +async function loadAiSettings() { + const select = $('aiModelSelect'); + // Lista modelli (statica con override custom): si carica una sola volta. + if (select && select.options.length <= 1) { + try { + const r = await api('GET', '/api/agent/known_models'); + select.innerHTML = ''; + for (const m of r.models) { + const opt = document.createElement('option'); + opt.value = m.id; + opt.textContent = `${m.id} — ${m.label}`; + select.appendChild(opt); + } + } catch (e) { + select.innerHTML = ``; + } + } + // Carica config corrente + try { + const cfg = await api('GET', '/api/config'); + const o = (cfg.chat && cfg.chat.openrouter) || {}; + const model = o.model || 'anthropic/claude-sonnet-4.5'; + if ([...$('aiModelSelect').options].some(opt => opt.value === model)) { + $('aiModelSelect').value = model; + $('aiModelCustom').value = ''; + } else { + $('aiModelCustom').value = model; + } + $('aiTemperature').value = (o.temperature != null) ? o.temperature : 0.1; + $('aiMaxIterations').value = o.max_tool_iterations || 8; + $('aiTimeout').value = o.timeout_s || 60; + $('aiPromptAddendum').value = o.user_prompt_addendum || ''; + $('aiSettingsStatus').textContent = 'caricato da config'; + $('aiSettingsStatus').style.color = 'var(--dim)'; + } catch (e) { + $('aiSettingsStatus').textContent = `errore: ${e.message}`; + $('aiSettingsStatus').style.color = 'var(--danger)'; + } +} + +async function saveAiSettings(btn) { + const customModel = $('aiModelCustom').value.trim(); + const model = customModel || $('aiModelSelect').value; + if (!model) { toast('Modello mancante', 'Seleziona o scrivi un modello', false); return; } + const temperature = parseFloat($('aiTemperature').value); + const max_tool_iterations = parseInt($('aiMaxIterations').value, 10); + const timeout_s = parseFloat($('aiTimeout').value); + if (Number.isNaN(temperature) || temperature < 0 || temperature > 2) { + toast('Temperature non valido', '0..2', false); return; + } + if (Number.isNaN(max_tool_iterations) || max_tool_iterations < 1) { + toast('Max iterations non valido', '>=1', false); return; + } + const patch = { + chat: { openrouter: { + model, + temperature, + max_tool_iterations, + timeout_s, + user_prompt_addendum: $('aiPromptAddendum').value, + }}, + }; + try { + await api('PUT', '/api/config', patch); + flashBtn(btn, true); + toast('Salvato', `model=${model}, T=${temperature}`, true); + $('aiSettingsStatus').textContent = `salvato · model=${model} · T=${temperature}`; + $('aiSettingsStatus').style.color = 'var(--ok)'; + refreshAgentHealth().catch(() => {}); + } catch (e) { + flashBtn(btn, false); + toast('Errore salvataggio', e.message, false); + $('aiSettingsStatus').textContent = e.message; + $('aiSettingsStatus').style.color = 'var(--danger)'; + } +} + +async function previewSystemPrompt() { + const pre = $('aiPromptPreview'); + pre.textContent = 'caricamento…'; + try { + const r = await api('GET', '/api/agent/system_prompt_preview'); + pre.textContent = r.system_prompt || '(vuoto)'; + } catch (e) { + pre.textContent = `errore: ${e.message}`; + } +} + +$('aiSaveBtn').addEventListener('click', (ev) => saveAiSettings(ev.currentTarget)); +$('aiReloadBtn').addEventListener('click', loadAiSettings); +$('aiResetTempBtn').addEventListener('click', () => { $('aiTemperature').value = 0.1; }); +$('aiPromptPreviewBtn').addEventListener('click', previewSystemPrompt); +$('aiPromptCopyBtn').addEventListener('click', async () => { + try { + await navigator.clipboard.writeText($('aiPromptPreview').textContent); + toast('Copiato', 'Prompt nel clipboard', true); + } catch (e) { toast('Copia fallita', e.message, false); } +}); +// Quando l'utente seleziona un modello dalla combo, svuota il custom (priorità chiara). +$('aiModelSelect').addEventListener('change', () => { $('aiModelCustom').value = ''; }); + +// Carica i valori quando si apre la tab. +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab === 'ai-settings') { + loadAiSettings(); + previewSystemPrompt(); + } +})); diff --git a/web/assets/g1/g1_body29_hand14.urdf b/web/assets/g1/g1_body29_hand14.urdf new file mode 100644 index 0000000..156a5fd --- /dev/null +++ b/web/assets/g1/g1_body29_hand14.urdf @@ -0,0 +1,1476 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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calibration waypoints as colored spheres + triads (target orientation), + * orchestrates Calcola / Verifica reale / Start / Stop flow, polls + * /api/calibration/auto/status during execution, shows a per-waypoint attempt + * bar chart, and persists form settings in localStorage so the user can + * re-run the same calibration without re-typing. + */ + +import * as THREE from 'three'; +import { G1Viewer } from './diagnostic3d.js'; + +const $ = (id) => document.getElementById(id); + +const STATE_COLORS = { + pending: 0xaaaaaa, + unreach: 0xe74c3c, + skipped: 0x8a3a33, + current: 0x4da3ff, + done: 0x3ecf8e, + failed: 0xf0ad4e, +}; + +const LS_KEY = 'presaMano.autocalParams.v1'; + +let viewer = null; +let booted = false; +let pollTimer = null; +let waypointGroup = null; +let waypointItems = new Map(); // idx -> {sphere, triad} +let hoverTooltip = null; +let lastSnapshot = null; +let showTriads = true; + +async function boot() { + if (booted) return; + booted = true; + const canvas = $('autocalCanvas'); + if (!canvas) return; + $('autocalStatus').textContent = 'caricamento URDF…'; + try { + viewer = new G1Viewer(canvas); + await viewer.load(); + // Hide the per-motor spheres here — user doesn't want them in this tab. + viewer.setShowSpheres(false); + $('autocalStatus').textContent = 'URDF caricato · imposta parametri e clicca Calcola griglia'; + waypointGroup = new THREE.Group(); + waypointGroup.name = 'autocal:waypoints'; + viewer.scene.add(waypointGroup); + installHoverTooltip(); + // Expose hook so app.js powerPollOnce can push /diagnostics (live robot motion). + window.g1AutocalViewer = viewer; + await previewGrid().catch(() => {}); + } catch (e) { + $('autocalStatus').textContent = 'errore: ' + e.message; + console.error(e); + } +} + +function installHoverTooltip() { + hoverTooltip = document.createElement('div'); + hoverTooltip.className = 'diag3d-tooltip hidden'; + hoverTooltip.id = 'autocalTooltip'; + viewer.canvas.parentElement.appendChild(hoverTooltip); + const raycaster = new THREE.Raycaster(); + const mouse = new THREE.Vector2(); + viewer.canvas.addEventListener('pointermove', (ev) => { + if (!waypointItems.size) { hoverTooltip.classList.add('hidden'); return; } + const rect = viewer.canvas.getBoundingClientRect(); + mouse.x = ((ev.clientX - rect.left) / rect.width) * 2 - 1; + mouse.y = -((ev.clientY - rect.top) / rect.height) * 2 + 1; + raycaster.setFromCamera(mouse, viewer.camera); + const spheres = [...waypointItems.values()].map(it => it.sphere); + const hits = raycaster.intersectObjects(spheres, false); + if (!hits.length) { hoverTooltip.classList.add('hidden'); return; } + const w = hits[0].object.userData.waypoint; + hoverTooltip.className = 'diag3d-tooltip ' + + (w.state === 'failed' || !w.reachable ? 'err' : ''); + const rows = [ + ['idx', '#' + w.idx], + ['stato', w.state + (!w.reachable ? ' (unreach)' : '')], + ['x (m)', Number(w.position[0]).toFixed(3)], + ['y (m)', Number(w.position[1]).toFixed(3)], + ['z (m)', Number(w.position[2]).toFixed(3)], + ]; + if (w.attempts) rows.push(['attempts', w.attempts]); + if (w.error) rows.push(['error', w.error.slice(0, 60)]); + if (w.reason) rows.push(['motivo', w.reason]); + hoverTooltip.innerHTML = `
    waypoint #${w.idx}
    ` + + rows.map(([k, v]) => `
    ${k}${v}
    `).join(''); + hoverTooltip.style.left = (ev.clientX - rect.left + 14) + 'px'; + hoverTooltip.style.top = (ev.clientY - rect.top + 14) + 'px'; + hoverTooltip.classList.remove('hidden'); + }); +} + +function colorForWaypoint(w) { + if (!w.reachable) return STATE_COLORS.unreach; + switch (w.state) { + case 'current': return STATE_COLORS.current; + case 'done': return STATE_COLORS.done; + case 'failed': return STATE_COLORS.failed; + case 'skipped': return STATE_COLORS.skipped; + default: return STATE_COLORS.pending; + } +} + +// Quaternion (xyzw) → 3-axis triad: 3 short coloured segments, length = 4 cm. +function makeTriad() { + const L = 0.04; + const geom = new THREE.BufferGeometry(); + const verts = new Float32Array([ + 0,0,0, L,0,0, // X + 0,0,0, 0,L,0, // Y + 0,0,0, 0,0,L, // Z + ]); + const colors = new Float32Array([ + 1,0.2,0.2, 1,0.2,0.2, + 0.2,1,0.3, 0.2,1,0.3, + 0.3,0.6,1, 0.3,0.6,1, + ]); + geom.setAttribute('position', new THREE.BufferAttribute(verts, 3)); + geom.setAttribute('color', new THREE.BufferAttribute(colors, 3)); + const mat = new THREE.LineBasicMaterial({ vertexColors: true, linewidth: 2, depthTest: false, transparent: true, opacity: 0.9 }); + const lines = new THREE.LineSegments(geom, mat); + lines.renderOrder = 998; + return lines; +} + +function renderWaypoints(waypoints) { + if (!waypointGroup) return; + const seen = new Set(); + for (const w of waypoints) { + seen.add(w.idx); + let item = waypointItems.get(w.idx); + if (!item) { + const geom = new THREE.SphereGeometry(0.012, 18, 14); + const mat = new THREE.MeshStandardMaterial({ + color: colorForWaypoint(w), + emissive: 0x111111, + depthTest: false, + transparent: true, + opacity: 0.85, + }); + const sphere = new THREE.Mesh(geom, mat); + sphere.renderOrder = 999; + const triad = makeTriad(); + const group = new THREE.Group(); + group.add(sphere); + group.add(triad); + waypointGroup.add(group); + item = { group, sphere, triad }; + waypointItems.set(w.idx, item); + } + item.group.position.set(w.position[0], w.position[1], w.position[2]); + const q = new THREE.Quaternion(w.quaternion[0], w.quaternion[1], w.quaternion[2], w.quaternion[3]); + item.triad.quaternion.copy(q); + item.triad.visible = showTriads; + item.sphere.material.color.setHex(colorForWaypoint(w)); + item.sphere.userData.waypoint = w; + if (w.state === 'current') { + item.sphere.material.emissive.setHex(0x1e5a8a); + item.sphere.material.emissiveIntensity = 0.7; + const s = 1.0 + 0.2 * Math.sin(Date.now() / 120); + item.sphere.scale.setScalar(s); + } else { + item.sphere.material.emissive.setHex(0x000000); + item.sphere.material.emissiveIntensity = 0; + item.sphere.scale.setScalar(1.0); + } + } + // Remove stale. + for (const [idx, item] of waypointItems.entries()) { + if (!seen.has(idx)) { + waypointGroup.remove(item.group); + item.sphere.geometry.dispose(); + item.sphere.material.dispose(); + item.triad.geometry.dispose(); + item.triad.material.dispose(); + waypointItems.delete(idx); + } + } +} + +function readParams() { + const side = $('acSide').value || null; + return { + delta_x_mm: +$('acDx').value, + delta_y_mm: +$('acDy').value, + delta_z_mm: +$('acDz').value, + offset_x_mm: +$('acOx').value, + offset_y_mm: +$('acOy').value, + offset_z_mm: +$('acOz').value, + n_x: +$('acNx').value, + n_y: +$('acNy').value, + n_z: +$('acNz').value, + wrist_rot_delta_deg: +$('acRotDeg').value, + min_z_m: +$('acMinZ').value, + settle_s: +$('acSettle').value, + side: side || undefined, + auto_solve: $('acAutoSolve').checked, + dry_run: $('acDryRun').checked, + order: $('acOrder').value, + }; +} + +function persistParams() { + try { localStorage.setItem(LS_KEY, JSON.stringify(readParams())); } catch {} +} +function restoreParams() { + try { + const raw = localStorage.getItem(LS_KEY); + if (!raw) return; + const p = JSON.parse(raw); + const setV = (id, v) => { if ($(id) && v != null) $(id).value = v; }; + const setC = (id, v) => { if ($(id) && v != null) $(id).checked = !!v; }; + setV('acDx', p.delta_x_mm); setV('acDy', p.delta_y_mm); setV('acDz', p.delta_z_mm); + setV('acOx', p.offset_x_mm); setV('acOy', p.offset_y_mm); setV('acOz', p.offset_z_mm); + setV('acNx', p.n_x); setV('acNy', p.n_y); setV('acNz', p.n_z); + setV('acRotDeg', p.wrist_rot_delta_deg); setV('acMinZ', p.min_z_m); setV('acSettle', p.settle_s); + if (p.side) setV('acSide', p.side); + setC('acAutoSolve', p.auto_solve); + setC('acDryRun', p.dry_run); + if (p.order) setV('acOrder', p.order); + } catch (e) { console.warn('restoreParams:', e); } +} + +async function api(method, path, body = null) { + const opts = { method, headers: {} }; + if (body !== null) { + opts.headers['Content-Type'] = 'application/json'; + opts.body = JSON.stringify(body); + } + const r = await fetch(path, opts); + const text = await r.text(); + let data; try { data = JSON.parse(text); } catch { data = text; } + if (!r.ok) throw new Error(`${r.status} ${(data && data.detail) || text}`); + return data; +} + +async function previewGrid() { + persistParams(); + const body = readParams(); + setStatus('Calcolo griglia…'); + try { + const r = await api('POST', '/api/calibration/auto/feasibility', body); + renderWaypoints(r.waypoints); + drawChart(r.waypoints); + updateStats(r.waypoints, null); + const reach = r.waypoints.filter(w => w.reachable).length; + setStatus(`griglia: ${r.waypoints.length} punti · ${reach} raggiungibili · ${r.waypoints.length - reach} scartati`); + $('acStartBtn').disabled = reach === 0; + $('acVerifyBtn').disabled = reach === 0; + } catch (e) { + setStatus('errore: ' + e.message, 'err'); + } +} + +async function startProcedure() { + persistParams(); + const body = readParams(); + const reach = [...waypointItems.values()].filter(it => it.sphere.userData.waypoint.reachable).length; + if (!reach) return; + if (!body.dry_run && !confirm(`Avvio calibrazione su ${reach} punti. Il robot si muoverà. Confermi?`)) return; + try { + setStatus('avvio procedura…'); + await api('POST', '/api/calibration/auto/start', body); + $('acStartBtn').disabled = true; + $('acVerifyBtn').disabled = true; + $('acStopBtn').disabled = false; + startPolling(); + } catch (e) { + setStatus('start fallito: ' + e.message, 'err'); + } +} + +async function verifyReachability() { + persistParams(); + const body = readParams(); + const reach = [...waypointItems.values()].filter(it => it.sphere.userData.waypoint.reachable).length; + if (!reach) return; + if (!body.dry_run && !confirm(`Verifica raggiungibilità reale: il robot si muoverà a ${reach} punti senza acquisire campioni. Confermi?`)) return; + try { + setStatus('avvio verifica reachability…'); + await api('POST', '/api/calibration/auto/verify_reachability', body); + $('acStartBtn').disabled = true; + $('acVerifyBtn').disabled = true; + $('acStopBtn').disabled = false; + startPolling(); + } catch (e) { + setStatus('verify fallito: ' + e.message, 'err'); + } +} + +async function stopProcedure() { + try { + await api('POST', '/api/calibration/auto/stop'); + setStatus('stop richiesto… il robot tornerà a home prima di fermarsi'); + } catch (e) { + setStatus('stop fallito: ' + e.message, 'err'); + } +} + +function startPolling() { + stopPolling(); + pollTick(); + pollTimer = setInterval(pollTick, 500); +} +function stopPolling() { + if (pollTimer) { clearInterval(pollTimer); pollTimer = null; } +} + +async function pollTick() { + try { + const s = await api('GET', '/api/calibration/auto/status'); + lastSnapshot = s; + if (s.waypoints && s.waypoints.length) { + renderWaypoints(s.waypoints); + drawChart(s.waypoints); + } + updateStats(s.waypoints, s); + if (s.status !== 'running') { + stopPolling(); + $('acStartBtn').disabled = false; + $('acVerifyBtn').disabled = false; + $('acStopBtn').disabled = true; + if (s.calibration) { + $('autocalResult').textContent = JSON.stringify({ + method: s.calibration.method, + n_samples: s.calibration.n_samples, + residual_translation_mm: s.calibration.residual_translation_mm, + residual_rotation_deg: s.calibration.residual_rotation_deg, + T_base_camera: s.calibration.T_base_camera, + sanity_check: s.calibration.sanity_check, + }, null, 2); + } + const mode = (s.params || {}).mode || 'calibration'; + setStatus(`${mode}: ${s.status} · done=${s.stats.done} failed=${s.stats.failed} skipped=${s.stats.skipped}`, + s.status === 'done' ? 'ok' : s.status === 'error' ? 'err' : ''); + } + } catch (e) { + console.warn('autocal poll:', e); + } +} + +function updateStats(waypoints, snapshot) { + const host = $('autocalStats'); + if (!host) return; + const total = waypoints.length; + const reach = waypoints.filter(w => w.reachable).length; + const unreach = total - reach; + const done = waypoints.filter(w => w.state === 'done').length; + const failed = waypoints.filter(w => w.state === 'failed').length; + const skipped = waypoints.filter(w => w.state === 'skipped').length; + const attempts = waypoints.filter(w => w.attempts > 0).map(w => w.attempts); + const avgAtt = attempts.length ? (attempts.reduce((a, b) => a + b, 0) / attempts.length).toFixed(2) : '—'; + const maxAtt = attempts.length ? Math.max(...attempts) : '—'; + const current = snapshot && snapshot.current_index >= 0 ? snapshot.current_index : null; + host.innerHTML = ` + + + + + + + + + + + +
    totale${total}
    raggiungibili${reach}
    non raggiungibili${unreach}
    campioni ok${done}
    falliti${failed}
    saltati${skipped}
    tentativi medi${avgAtt}
    tentativi max${maxAtt}
    corrente${current != null ? '#' + current : '—'}
    stato job${snapshot ? snapshot.status : '—'}
    `; +} + +// Per-waypoint bar chart: bar height = attempts, color by state. +function drawChart(waypoints) { + try { + _drawChartImpl(waypoints); + } catch (e) { + console.error('drawChart failed:', e); + setStatus('drawChart error: ' + (e && e.message || e), 'err'); + } +} + +function _drawChartImpl(waypoints) { + const canvas = $('autocalChart'); + if (!canvas) return; + const dpr = window.devicePixelRatio || 1; + const w = canvas.clientWidth || canvas.width; + const h = canvas.height; + canvas.width = w * dpr; + canvas.height = h * dpr; + const ctx = canvas.getContext('2d'); + ctx.setTransform(dpr, 0, 0, dpr, 0, 0); + ctx.clearRect(0, 0, w, h); + ctx.fillStyle = '#0d1014'; + ctx.fillRect(0, 0, w, h); + if (!waypoints || !waypoints.length) { + ctx.fillStyle = '#666'; + ctx.font = '11px ui-monospace, monospace'; + ctx.fillText('nessun dato', 10, 20); + return; + } + const n = waypoints.length; + const maxA = Math.max(1, ...waypoints.map(x => x.attempts || 0)); + const pad = { l: 26, r: 6, t: 8, b: 18 }; + const plotW = w - pad.l - pad.r; + const plotH = h - pad.t - pad.b; + const barW = plotW / n; + // grid + ctx.strokeStyle = '#2a2f37'; + ctx.lineWidth = 1; + const ticks = [1, 2, 3, 5, maxA].filter((v, i, a) => v <= maxA && a.indexOf(v) === i); + ctx.font = '10px ui-monospace, monospace'; + ctx.fillStyle = '#666'; + for (const t of ticks) { + const y = pad.t + plotH - (t / maxA) * plotH; + ctx.beginPath(); ctx.moveTo(pad.l, y); ctx.lineTo(w - pad.r, y); ctx.stroke(); + ctx.fillText(String(t), 2, y + 3); + } + // bars + const colorFor = (w) => { + if (!w.reachable) return '#e74c3c'; + if (w.state === 'done' && w.attempts === 1) return '#3ecf8e'; + if (w.state === 'done') return '#ffd54f'; + if (w.state === 'failed') return '#f0ad4e'; + if (w.state === 'current') return '#4da3ff'; + if (w.state === 'skipped') return '#8a3a33'; + return '#555'; + }; + for (let i = 0; i < n; i++) { + const wp = waypoints[i]; + const a = wp.attempts || 0; + const bh = (a / maxA) * plotH; + const x = pad.l + i * barW + 1; + const y = pad.t + plotH - bh; + ctx.fillStyle = colorFor(wp); + ctx.fillRect(x, y, Math.max(1, barW - 2), bh); + } + // x label + ctx.fillStyle = '#9aa0a6'; + ctx.fillText(`waypoints (${n})`, pad.l, h - 4); + ctx.fillText(`tentativi`, 2, 10); +} + +function setStatus(msg, cls = '') { + const el = $('autocalStatus'); + el.textContent = msg; + el.style.color = cls === 'err' ? 'var(--danger)' : cls === 'ok' ? 'var(--ok)' : 'var(--dim)'; +} + +async function solveNow() { + try { + setStatus('calcolo matrice…'); + const side = $('acSide').value || undefined; + const r = await api('POST', '/api/calibration/solve', { method: 'TSAI', side }); + $('autocalResult').textContent = JSON.stringify({ + method: r.method, n_samples: r.n_samples, + residual_translation_mm: r.residual_translation_mm, + residual_rotation_deg: r.residual_rotation_deg, + T_base_camera: r.T_base_camera, + sanity_check: r.sanity_check, + }, null, 2); + setStatus(`matrice calcolata · residuo ${r.residual_translation_mm.toFixed(1)} mm / ${r.residual_rotation_deg.toFixed(2)}°`, 'ok'); + } catch (e) { setStatus('solve: ' + e.message, 'err'); } +} + +async function clearSamples() { + const side = $('acSide').value || 'right'; + if (!confirm(`Rimuovere tutti i sample del braccio ${side}?`)) return; + try { + await api('DELETE', `/api/calibration/samples?side=${encodeURIComponent(side)}`); + setStatus('sample svuotati', 'ok'); + } catch (e) { setStatus(e.message, 'err'); } +} + +// Wire up events AFTER DOM is parsed. +document.addEventListener('DOMContentLoaded', () => { + if (!$('autocalCanvas')) return; + restoreParams(); + // persist on any input change + ['acDx','acDy','acDz','acOx','acOy','acOz','acNx','acNy','acNz','acRotDeg','acMinZ','acSettle', + 'acSide','acAutoSolve','acDryRun','acOrder'].forEach(id => { + const el = $(id); if (el) el.addEventListener('change', persistParams); + }); + $('acPreviewBtn').addEventListener('click', previewGrid); + $('acVerifyBtn').addEventListener('click', verifyReachability); + $('acStartBtn').addEventListener('click', startProcedure); + $('acStopBtn').addEventListener('click', stopProcedure); + $('acSolveBtn').addEventListener('click', solveNow); + $('acClearBtn').addEventListener('click', clearSamples); + $('acShowTriads').addEventListener('change', (e) => { + showTriads = e.target.checked; + for (const it of waypointItems.values()) it.triad.visible = showTriads; + }); + $('acFitBtn').addEventListener('click', () => viewer && viewer.fitView()); + $('acResetViewBtn').addEventListener('click', () => viewer && viewer.resetView()); +}); + +// Lazy boot when tab first opened. +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab === 'autocal') { + boot(); + setTimeout(() => viewer && viewer.resize(), 50); + } +})); + +if (document.getElementById('tab-autocal')?.classList.contains('active')) boot(); diff --git a/web/diagnostic3d.js b/web/diagnostic3d.js new file mode 100644 index 0000000..5533c7a --- /dev/null +++ b/web/diagnostic3d.js @@ -0,0 +1,484 @@ +/* G1 3D diagnostic viewer. + * + * Loads the URDF, builds the scene graph with two-level groups per joint + * (outer = , inner = motion driven by diagnostic q), renders meshes + * tinted by per-motor temperature and colored spheres at joint origins. + * Exposes a tiny global API consumed by app.js powerPollOnce: + * window.g1Diag3d.update(diagData) + * + * Deliberately avoids depending on any URDF library — the URDF subset we + * need (fixed/revolute/continuous/prismatic joints, single mesh per visual, + * relative mesh paths) is small enough to parse in ~50 lines. + */ + +import * as THREE from 'three'; +import { OrbitControls } from 'three/addons/controls/OrbitControls.js'; +import { STLLoader } from 'three/addons/loaders/STLLoader.js'; + +const URDF_URL = '/static/assets/g1/g1_body29_hand14.urdf'; +const MESH_BASE = '/static/assets/g1/'; + +const WARN_C_DEFAULT = 75; +const CRIT_C_DEFAULT = 85; + +function parseOrigin(el) { + if (!el) return { xyz: [0, 0, 0], rpy: [0, 0, 0] }; + const parse = (s) => s ? s.trim().split(/\s+/).map(Number) : [0, 0, 0]; + return { + xyz: parse(el.getAttribute('xyz')), + rpy: parse(el.getAttribute('rpy')), + }; +} +function parseAxis(el) { + if (!el) return [1, 0, 0]; + const s = el.getAttribute('xyz'); + return s ? s.trim().split(/\s+/).map(Number) : [1, 0, 0]; +} + +async function parseURDF(xmlText) { + const doc = new DOMParser().parseFromString(xmlText, 'application/xml'); + const links = {}; + for (const el of doc.querySelectorAll('link')) { + const name = el.getAttribute('name'); + if (!name) continue; + const v = el.querySelector('visual'); + let mesh = null, visualOrigin = { xyz: [0,0,0], rpy: [0,0,0] }; + if (v) { + visualOrigin = parseOrigin(v.querySelector('origin')); + const me = v.querySelector('geometry mesh'); + if (me) mesh = me.getAttribute('filename'); + } + links[name] = { name, mesh, visualOrigin }; + } + const joints = []; + for (const el of doc.querySelectorAll('joint')) { + const parent = el.querySelector('parent'); + const child = el.querySelector('child'); + if (!parent || !child) continue; + joints.push({ + name: el.getAttribute('name'), + type: el.getAttribute('type') || 'fixed', + parent: parent.getAttribute('link'), + child: child.getAttribute('link'), + origin: parseOrigin(el.querySelector('origin')), + axis: parseAxis(el.querySelector('axis')), + }); + } + return { links, joints }; +} + +function applyTransform(obj, o) { + obj.position.set(o.xyz[0], o.xyz[1], o.xyz[2]); + obj.rotation.order = 'ZYX'; // URDF RPY: intrinsic rotations yaw * pitch * roll + obj.rotation.set(o.rpy[0], o.rpy[1], o.rpy[2]); +} + +function tempToColor(t, warn, crit) { + if (!Number.isFinite(t)) return 0x888888; + if (t >= crit) return 0xe74c3c; + if (t >= warn) return 0xf0ad4e; + // green->yellow interpolation below warn + const u = Math.max(0, Math.min(1, (t - 30) / (warn - 30))); + const r = Math.round(0x3e + u * (0xf0 - 0x3e)); + const g = Math.round(0xcf - u * (0xcf - 0xad)); + const b = Math.round(0x8e - u * (0x8e - 0x4e)); + return (r << 16) | (g << 8) | b; +} + +class G1Viewer { + constructor(canvas) { + this.canvas = canvas; + this.renderer = new THREE.WebGLRenderer({ canvas, antialias: true }); + this.renderer.setPixelRatio(window.devicePixelRatio || 1); + this.scene = new THREE.Scene(); + this.scene.background = new THREE.Color(0x0d1014); + + // URDF is Z-up. Keep Z-up throughout for coherence with the robot base frame. + this.camera = new THREE.PerspectiveCamera(45, canvas.clientWidth / canvas.clientHeight, 0.05, 20); + this.camera.up.set(0, 0, 1); + this.camera.position.set(1.8, -1.8, 1.2); + this.camera.lookAt(0, 0, 0.4); + + this.controls = new OrbitControls(this.camera, canvas); + this.controls.target.set(0, 0, 0.4); + this.controls.update(); + + const hemi = new THREE.HemisphereLight(0xffffff, 0x222233, 0.6); + this.scene.add(hemi); + const dir = new THREE.DirectionalLight(0xffffff, 0.8); + dir.position.set(2, 2, 4); + this.scene.add(dir); + const dir2 = new THREE.DirectionalLight(0xffffff, 0.3); + dir2.position.set(-2, -1, 2); + this.scene.add(dir2); + + this.grid = new THREE.GridHelper(2, 20, 0x444444, 0x222233); + this.grid.rotation.x = Math.PI / 2; // grid is XY plane in Z-up + this.scene.add(this.grid); + + this.robotRoot = new THREE.Group(); + this.scene.add(this.robotRoot); + + this.linkGroups = {}; + this.linkMeshes = {}; + this.jointGroups = {}; // static holders + this.jointMotions = {}; // inner motion-driven holders + this.jointIndicators = {}; // sphere at joint origin + this.motorByJointName = {}; // joint_name -> motor dict (from /diagnostics) + this.warnC = WARN_C_DEFAULT; + this.critC = CRIT_C_DEFAULT; + this.showMeshTint = true; + this.showSpheres = true; + this.pinnedJoint = null; + + this.raycaster = new THREE.Raycaster(); + this.mouseNDC = new THREE.Vector2(); + + this._onResize = () => this.resize(); + window.addEventListener('resize', this._onResize); + this.canvas.addEventListener('pointermove', (ev) => this._onHover(ev)); + this.canvas.addEventListener('click', (ev) => this._onClick(ev)); + + this._animate = this._animate.bind(this); + this.resize(); + this._animate(); + } + + resize() { + const w = this.canvas.clientWidth || 720; + const h = this.canvas.clientHeight || 560; + this.renderer.setSize(w, h, false); + this.camera.aspect = w / h; + this.camera.updateProjectionMatrix(); + } + + _animate() { + this._raf = requestAnimationFrame(this._animate); + this.controls.update(); + this.renderer.render(this.scene, this.camera); + } + + async load() { + const res = await fetch(URDF_URL); + if (!res.ok) throw new Error(`URDF fetch ${res.status}`); + const xml = await res.text(); + const urdf = await parseURDF(xml); + this._urdf = urdf; + this._build(urdf); + await this._loadMeshes(urdf); + this._placeFloor(); + } + + _build(urdf) { + const childSet = new Set(urdf.joints.map(j => j.child)); + const rootName = Object.keys(urdf.links).find(n => !childSet.has(n)); + const buildLink = (name) => { + const link = urdf.links[name]; + const g = new THREE.Group(); + g.name = `link:${name}`; + g.userData.linkName = name; + this.linkGroups[name] = g; + // child joints + for (const j of urdf.joints.filter(x => x.parent === name)) { + const origin = new THREE.Group(); + applyTransform(origin, j.origin); + origin.userData.joint = j; + this.jointGroups[j.name] = origin; + const motion = new THREE.Group(); + origin.add(motion); + this.jointMotions[j.name] = motion; + // sphere indicator at joint origin (in origin's local frame → origin(0,0,0)) + const sphere = new THREE.Mesh( + new THREE.SphereGeometry(0.012, 16, 12), + new THREE.MeshBasicMaterial({ color: 0x888888, depthTest: false, transparent: true, opacity: 0.9 }), + ); + sphere.renderOrder = 999; + sphere.userData.jointName = j.name; + origin.add(sphere); + this.jointIndicators[j.name] = sphere; + motion.add(buildLink(j.child)); + g.add(origin); + } + return g; + }; + this.robotRoot.add(buildLink(rootName)); + } + + async _loadMeshes(urdf) { + const loader = new STLLoader(); + const tasks = []; + for (const name of Object.keys(urdf.links)) { + const link = urdf.links[name]; + if (!link.mesh) continue; + const url = MESH_BASE + link.mesh; + tasks.push(new Promise((resolve) => { + loader.load(url, (geom) => { + geom.computeVertexNormals(); + const mat = new THREE.MeshStandardMaterial({ + color: 0x888888, metalness: 0.1, roughness: 0.6, + flatShading: false, + }); + const mesh = new THREE.Mesh(geom, mat); + mesh.userData.linkName = name; + applyTransform(mesh, link.visualOrigin); + this.linkMeshes[name] = mesh; + this.linkGroups[name].add(mesh); + resolve(); + }, undefined, (err) => { + console.warn('STL load failed:', url, err); + resolve(); + }); + })); + } + await Promise.all(tasks); + } + + _placeFloor() { + // position grid at model's feet (min z of bounding box). + const box = new THREE.Box3().setFromObject(this.robotRoot); + if (isFinite(box.min.z)) this.grid.position.z = box.min.z; + } + + setShowGrid(v) { this.grid.visible = v; } + setShowSpheres(v) { + this.showSpheres = v; + for (const s of Object.values(this.jointIndicators)) s.visible = v; + } + setShowMeshTint(v) { + this.showMeshTint = v; + this._applyColors(); + } + + fitView() { + const box = new THREE.Box3().setFromObject(this.robotRoot); + if (!isFinite(box.min.z)) return; + const c = new THREE.Vector3(); + box.getCenter(c); + const s = new THREE.Vector3(); + box.getSize(s); + const d = Math.max(s.x, s.y, s.z) * 1.8; + this.controls.target.copy(c); + const dir = new THREE.Vector3(1, -1, 0.4).normalize(); + this.camera.position.copy(c).addScaledVector(dir, d); + this.controls.update(); + } + resetView() { + this.controls.target.set(0, 0, 0.4); + this.camera.position.set(1.8, -1.8, 1.2); + this.controls.update(); + } + + update(diagData) { + if (!diagData || !Array.isArray(diagData.motors)) return; + this.warnC = Number(diagData.warn_temp_c ?? WARN_C_DEFAULT); + this.critC = Number(diagData.crit_temp_c ?? CRIT_C_DEFAULT); + this.motorByJointName = {}; + for (const m of diagData.motors) { + const jn = m.name + '_joint'; + this.motorByJointName[jn] = m; + // Apply joint angle. + const jg = this.jointMotions[jn]; + if (jg) { + const joint = this.jointGroups[jn].userData.joint; + const ax = new THREE.Vector3(...joint.axis).normalize(); + if (joint.type === 'revolute' || joint.type === 'continuous') { + jg.quaternion.setFromAxisAngle(ax, Number(m.q) || 0); + } else if (joint.type === 'prismatic') { + jg.position.copy(ax.multiplyScalar(Number(m.q) || 0)); + } + } + } + this._applyColors(); + if (this.pinnedJoint) this._renderPinned(); + this._renderSummary(diagData); + } + + _applyColors() { + for (const [jointName, motor] of Object.entries(this.motorByJointName)) { + const joint = this.jointGroups[jointName]; + if (!joint) continue; + const temp = motor.temperature_motor; + const faulted = !!motor.faulted; + const enabled = motor.enabled !== false; + let color = tempToColor(temp, this.warnC, this.critC); + if (!enabled) color = 0x333333; + // sphere + const sph = this.jointIndicators[jointName]; + if (sph) { + sph.material.color.setHex(color); + if (faulted) sph.material.color.setHex(0xe74c3c); + } + // mesh tint on child link + const childLink = joint.userData.joint.child; + const mesh = this.linkMeshes[childLink]; + if (mesh) { + if (this.showMeshTint) { + mesh.material.color.setHex(color); + mesh.material.emissive.setHex(faulted ? 0x330000 : 0x000000); + mesh.material.emissiveIntensity = faulted ? 0.8 : 0; + } else { + mesh.material.color.setHex(0x888888); + mesh.material.emissiveIntensity = 0; + } + } + } + } + + _pickJointAt(clientX, clientY) { + const rect = this.canvas.getBoundingClientRect(); + this.mouseNDC.x = ((clientX - rect.left) / rect.width) * 2 - 1; + this.mouseNDC.y = -((clientY - rect.top) / rect.height) * 2 + 1; + this.raycaster.setFromCamera(this.mouseNDC, this.camera); + // Prefer hits on joint spheres first (small but always on top). + const sphHits = this.raycaster.intersectObjects(Object.values(this.jointIndicators), false); + if (sphHits.length) return sphHits[0].object.userData.jointName; + // Fall back to mesh hits (walk up the tree to find the joint whose motion group is the ancestor). + const meshHits = this.raycaster.intersectObjects(Object.values(this.linkMeshes), false); + if (!meshHits.length) return null; + const linkName = meshHits[0].object.userData.linkName; + // Find the joint whose child == linkName. + const joint = this._urdf.joints.find(j => j.child === linkName && this.motorByJointName[j.name]); + return joint ? joint.name : null; + } + + _onHover(ev) { + const tt = document.getElementById('diag3dTooltip'); + const joint = this._pickJointAt(ev.clientX, ev.clientY); + if (!joint) { tt.classList.add('hidden'); return; } + const m = this.motorByJointName[joint]; + if (!m) { tt.classList.add('hidden'); return; } + const cls = m.faulted ? 'err' : (m.temperature_motor >= this.critC ? 'err' : + m.temperature_motor >= this.warnC ? 'warn' : ''); + tt.className = 'diag3d-tooltip ' + cls; + tt.innerHTML = this._tooltipHTML(m); + const rect = this.canvas.getBoundingClientRect(); + tt.style.left = (ev.clientX - rect.left + 14) + 'px'; + tt.style.top = (ev.clientY - rect.top + 14) + 'px'; + } + + _onClick(ev) { + const joint = this._pickJointAt(ev.clientX, ev.clientY); + if (!joint) return; + this.pinnedJoint = joint; + this._renderPinned(); + } + + _tooltipHTML(m) { + const rows = [ + ['T motore', `${m.temperature_motor}°C`], + ['T ctrl', `${m.temperature_ctrl}°C`], + ['q', Number(m.q).toFixed(3) + ' rad'], + ['dq', Number(m.dq).toFixed(3) + ' rad/s'], + ['tau_est', Number(m.tau_est).toFixed(2) + ' Nm'], + ['V', Number(m.voltage).toFixed(2) + ' V'], + ['mode', m.mode + (m.enabled === false ? ' (OFF)' : '')], + ['fault', m.faulted ? ('0x' + Number(m.motorstate).toString(16)) : 'no'], + ]; + const body = rows.map(([k, v]) => `
    ${k}${v}
    `).join(''); + return `
    #${m.index} · ${m.name}
    ${body}`; + } + + _renderPinned() { + const host = document.getElementById('diag3dPinned'); + if (!host) return; + if (!this.pinnedJoint) return; + const m = this.motorByJointName[this.pinnedJoint]; + if (!m) { + host.innerHTML = `
    giunto ${this.pinnedJoint}: nessun motore associato
    `; + return; + } + const statusCls = m.faulted ? 'err' : + m.temperature_motor >= this.critC ? 'err' : + m.temperature_motor >= this.warnC ? 'warn' : ''; + const rows = [ + ['nome', m.name], + ['indice', m.index], + ['T motore (°C)', m.temperature_motor], + ['T ctrl (°C)', m.temperature_ctrl], + ['q (rad)', Number(m.q).toFixed(4)], + ['dq (rad/s)', Number(m.dq).toFixed(4)], + ['tau_est (Nm)', Number(m.tau_est).toFixed(3)], + ['voltaggio (V)', Number(m.voltage).toFixed(3)], + ['mode', m.mode], + ['enabled', m.enabled ? 'sì' : 'no'], + ['motorstate raw', '0x' + Number(m.motorstate).toString(16)], + ['faulted', m.faulted ? 'SÌ' : 'no'], + ['derating', m.derating ? 'sì' : 'no'], + ]; + host.innerHTML = + `
    #${m.index} · ${m.name} (giunto: ${this.pinnedJoint})
    ` + + `${rows.map(([k,v]) => + ``).join('')}
    ${k}${v}
    `; + } + + _renderSummary(d) { + const host = document.getElementById('diag3dSummary'); + if (!host) return; + const s = d.summary || {}; + const fmt = (arr) => (arr && arr.length) ? arr.join(', ') : '—'; + const rows = [ + ['lowstate', d.stale ? 'STALE' : (d.tick != null ? `tick ${d.tick}` : 'ok')], + ['max temp (°C)', s.max_motor_temp_c != null ? `${s.max_motor_temp_c} @ ${s.max_motor_temp_joint}` : '—'], + ['warn / crit (°C)', `${d.warn_temp_c} / ${d.crit_temp_c}`], + ['derating', fmt(s.derating_joints)], + ['critical', fmt(s.critical_joints)], + ['faulted', fmt(s.faulted_joints)], + ['disabled', fmt(s.disabled_joints)], + ['min V', s.min_voltage != null ? Number(s.min_voltage).toFixed(2) + ' V' : '—'], + ]; + host.innerHTML = `${rows.map(([k,v]) => + ``).join('')}
    ${k}${v}
    `; + } +} + +// Expose the viewer class so other modules (Auto-Calibrazione) can +// instantiate a second canvas over the same URDF pipeline. +export { G1Viewer }; + + +// ---- Boot and expose global hook. ---- + +const canvas = document.getElementById('diag3dCanvas'); +const statusEl = document.getElementById('diag3dStatus'); +let viewer = null; + +async function boot() { + if (!canvas) return; + try { + statusEl.textContent = 'caricamento URDF + mesh…'; + viewer = new G1Viewer(canvas); + await viewer.load(); + statusEl.textContent = 'URDF caricato · in attesa di /diagnostics…'; + // Wire up toolbar controls. + const by = (id) => document.getElementById(id); + by('diag3dMeshTint').addEventListener('change', (e) => viewer.setShowMeshTint(e.target.checked)); + by('diag3dSpheres').addEventListener('change', (e) => viewer.setShowSpheres(e.target.checked)); + by('diag3dGrid').addEventListener('change', (e) => viewer.setShowGrid(e.target.checked)); + by('diag3dResetBtn').addEventListener('click', () => viewer.resetView()); + by('diag3dFitBtn').addEventListener('click', () => viewer.fitView()); + // Re-size when the diagnostic tab becomes active (canvas may have 0 size while hidden). + document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab === 'diagnostic') setTimeout(() => viewer && viewer.resize(), 50); + })); + // Global hook for app.js to push diagnostic updates. + window.g1Diag3d = { + update: (d) => { + try { viewer.update(d); statusEl.textContent = + d.stale ? 'lowstate STALE' : + d.available === false ? (d.reason || '/diagnostics non disponibile') : + `motori aggiornati · tick ${d.tick ?? '?'}`; } + catch (e) { console.warn('g1Diag3d.update:', e); } + }, + }; + } catch (e) { + console.error('diag3d boot failed:', e); + statusEl.textContent = 'errore caricamento: ' + e.message; + } +} + +// Defer boot until the tab is first opened — avoids eager CDN fetch and STL load +// for users who never visit this tab. +let booted = false; +document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => { + if (btn.dataset.tab === 'diagnostic' && !booted) { booted = true; boot(); } +})); diff --git a/web/index.html b/web/index.html new file mode 100644 index 0000000..b78c969 --- /dev/null +++ b/web/index.html @@ -0,0 +1,579 @@ + + + + + +presa-mano + + + +
    +

    presa-mano

    + +
    + robot: — +
    + +
    + + +
    +
    + + + + + +
    + +
    + Stato di comunicazione con i microservizi upstream. Il selettore sopra cambia il robot attivo (G1 o H1) e aggiorna config.yaml a runtime; le chiamate /api/wrist, /api/posture, /api/robot useranno il robot selezionato. +
    + +

    Stato dispositivi

    + + + + + + + + + + + + + +
    ServizioURLStatoLatenzaDettagli
    caricamento…
    + +

    Ultimo esito

    + 
    —
    +
    + + +
    +
    + — + robot: — + +
    + +
    + +
    +

    Chat

    +
    +
    Ciao. Dimmi cosa vuoi fare con il robot. Es: "muovi il braccio destro 200 mm in X+", "calibra il braccio destro", "mostra lo stato dei dispositivi".
    +
    +
    + + +
    +
    —
    +
    + + +
    +

    Task salvati

    +
    + Salva un prompt usato spesso (es. "calibra braccio dx") per riutilizzarlo con un click. Il prompt corrente nella textarea viene salvato. +
    +
    + + +
    +
    + + +
    +
      +
    • caricamento…
      • +
    + +

    Tool trace ultima risposta

    + 
    (nessuna chiamata)
    +
    +
    +
    + + +
    +
    + Parametri del client OpenRouter usato dall'Assistente AI. Le modifiche vengono persistite in config.yaml via PUT /api/config e applicate alla chat successiva (non c'è bisogno di restart). Il prompt aggiuntivo viene appeso al prompt di sistema dinamico — non sostituisce le regole base (frame, tool, sicurezza). +
    + +
    +
    +

    Modello e parametri

    +
    +
    + + + + + +
    +
    + + + +
    +
    —
    +
    + +

    Prompt aggiuntivo

    +
    +
    + Testo che viene appeso al system prompt dinamico (sezione "Istruzioni aggiuntive dell'operatore"). Usa per personalizzare lo stile, aggiungere contesto specifico al tuo setup, o regole custom. Lascia vuoto per non aggiungere nulla. +
    + +
    +
    + +
    +

    Anteprima system prompt corrente

    +
    + Quello che il modello riceve davvero al prossimo messaggio (include lo stato corrente: robot attivo, marker, ecc., più l'eventuale addendum sopra dopo che lo salvi). +
    +
    + + +
    + 
    (premi 'Aggiorna anteprima')
    +
    +
    +
    + + +
    +
    +
    +

    Vista camera

    +
    + +
    +
    + + + + + + +
    +
    marker: —
    +
    +
    +

    Sample e matrice

    +
    + + + +
    +
    +
    + Sample acquisiti + 0 +
    +
      +
      +
      + Tbase ← camera + 
      (non ancora calcolata)
      +
      +
      +
      +
      + +
      + Auto-grid (future update) — 3×3 × 3 altezze +
      + + + + + + + + + + + +
      + 
      
+  
      
+
      
+
+
+
      
+  
      
+    
+    
+    
+    —
+  
      
+  
      
+    
      
+      
      
+        
+      
      
+      
      drag = ruota · wheel = zoom · shift+drag = pan
      
+      
      
+        
       raggiungibile
      
+        
       non raggiungibile (skip)
      
+        
       corrente
      
+        
       campione acquisito
      
+        
       fallito
      
+      
      
+    
      
+    
      
+      
      Parametri griglia
      
+      
      
+        
      
+          Parti dalla posizione corrente del polso (letta dal G1). La griglia copre ±delta/2 su ciascun asse. Le divisioni sono i punti per asse: 3 significa [start-Δ/2, start, start+Δ/2].
+        
      
+        
      
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+        
      
+        
      
+          
+          
+          
+          
+          
+          
+        
      
+        
      
+          
+        
      
+      
      
+
+      
      Stato
      
+      
      
+        
      nessuna griglia calcolata
      
+      
      
+
+      
      Tentativi per punto
      
+      
+
+      
      Risultato calibrazione
      
+      
      —
      
+    
      
+  
      
+
      
+
+
+
      
+  
      
+    
      
+      
      RGB + detection — click per misurare
      
+      
      
+        
+      
      
+      
      click sull'immagine per la distanza
      
+      
      
+        
+        
+        
+      
      
+      
      
+      
      
+        
+        
+        
+        
+        
+      
      
+    
      
+    
      
+      
      Crop utensile
      
+      
      
+        
+      
      
+
+      
      Nuvola punti oggetto (base frame)
      
+      
      
+        
      
+          
      Top-down (X-Y)
      
+          
+        
      
+        
      
+          
      Laterale (X-Z)
      
+          
+        
      
+      
      
+
+      
      Precisione (ultime 5 detection)
      
+      
+        
+          
+        
+        
+          
+          
+          
+        
+      
      assemedia [m]σ [mm]range [mm]minmax
      x—————
      y—————
      z—————
      
+      
      loop: inattivo
      
+
+      
      Dettagli
      
+      
      (nessuna detection)
      
+    
      
+  
      
+
      
+
+
+
      
+  
      
+    —
+  
      
+  
      
+    
      
+      
      
+        
      
+          Nuwa RGB
+          
+        
      
+      
      
+      
      RGB live · ciano = marker · giallo = oggetto · wheel zoom · drag pan · doppio click reset
      
+      
      Vista 3D (frame camera)
      
+      
      
+        
+      
      
+      
      origine = camera · piano viola · marker ciano · oggetto giallo · proiezioni più chiare · drag ruota · wheel zoom
      
+      
      
+        
       marker polso
      
+        
       oggetto (centro bbox)
      
+      
      
+    
      
+    
      
+      
      Parametri
      
+      
      
+        
      
+          Avvicinamento marker-relativo senza hand-eye calibration: la camera vede marker e oggetto nello stesso frame, ogni step sposta il polso della frazione indicata della distanza rimanente. Si ferma a min_distance_m.
+        
      
+        
      
+          
+          
+          
+          
+          
+          
+          
+        
      
+        
      
+          Orientazione marker rispetto al polso (rvec in gradi). Se non allineato al frame polso il target risulta spostato: tuna finché marker, oggetto e target sono coerenti.
+        
      
+        
      
+          
+          
+          
+          
+        
      
+        
      
+          
+          
+          
+        
      
+        
      
+          Piano di lavoro. Clicca "Seleziona area", poi traccia un rettangolo sull'immagine con shift+drag: il backend calcola il piano dalla depth in quell'area. Marker e oggetto vengono poi proiettati su questo piano.
+        
      
+        
      
+          
+          
+          
+        
      
+        
      piano: —
      
+      
      
+
+      
      Stato
      
+      
      
+        
      nessun piano calcolato
      
+      
      
+
+      
      Dettagli piano
      
+      
      —
      
+    
      
+  
      
+
      
+
+
+
      
+  
      
+    
      
+      
      Scena 3D — frame base robot
      
+      
      
+        
+      
      
+      
      drag = ruota · wheel = zoom · doppio click = reset vista · shift+drag = pan
      
+      
      —
      
+    
      
+    
      
+      
      Dati
      
+      
      
+        
+        
+        
+        
+        
+        
+      
      
+      
      
+        
+        
+        
+        
+      
      
+      
      
+        
       X (rosso) — base
      
+        
       Y (verde) — base
      
+        
       Z (blu) — base
      
+        
       Polso destro
      
+        
       Polso sinistro
      
+        
       Punti oggetto
      
+        
       Centroide oggetto
      
+        
       Punto di presa
      
+        
       Pre-grasp + traiettoria
      
+      
      
+      
      Stato
      
+      
      (nessun dato — premi "Aggiorna scena")
      
+    
      
+  
      
+
      
+
+
+
      
+  
      
+    
      
+      
      Polso corrente
      
+      
      —
      
+      
+
+      
      Posa assoluta
      
+      
      
+        
+        
+        
+        
+        
+        
+        
+        
+        
+      
      
+      
+
+      
      Delta relativo
      
+      
      
+        
+        
+        
+      
      
+      
+    
      
+
+    
      
+      
      Mano + sicurezza
      
+      
      
+        
+        
+        
+        
+      
      
+      
      
+        
+        
+      
      
+      
      Ultimo esito
      
+      
      —
      
+    
      
+  
      
+
      
+
+
      
+
      
+
+
+
+
+
+
diff --git a/web/servo.js b/web/servo.js
new file mode 100644
index 0000000..7194f1a
--- /dev/null
+++ b/web/servo.js
@@ -0,0 +1,669 @@
+/* Visual-servo tab: live Nuwa RGB with marker + object-centre overlays.
+ * Each click: plan → render overlay + stats → user confirms → step → wait →
+ * re-plan → render. No 3D viewer in this tab — it's an image-space tool.
+ */
+
+import * as THREE from 'three';
+import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
+
+const $ = (id) => document.getElementById(id);
+const LS_KEY = 'presaMano.servoParams.v1';
+const DEG = Math.PI / 180;
+
+// ----- 3D scene (camera-frame) ----------------------------------------------
+let scene3d = null, cam3d = null, renderer3d = null, controls3d = null;
+let scene3dObjs = {};   // named overlays to clear/update on each plan
+
+function boot3d() {
+  if (scene3d) return;
+  const canvas = $('servo3dCanvas');
+  if (!canvas) return;
+  scene3d = new THREE.Scene();
+  scene3d.background = new THREE.Color(0x0a0d11);
+  // Camera looks from outside the scene; world frame == Nuwa camera frame
+  // (OpenCV: +X right, +Y down, +Z forward). We orbit around the origin.
+  cam3d = new THREE.PerspectiveCamera(45, canvas.width / canvas.height, 0.05, 20);
+  cam3d.position.set(0.8, -0.6, -0.2);
+  cam3d.up.set(0, -1, 0);                // Y-down so CV axes match visually
+  renderer3d = new THREE.WebGLRenderer({ canvas, antialias: true });
+  renderer3d.setPixelRatio(window.devicePixelRatio || 1);
+  renderer3d.setSize(canvas.width, canvas.height, false);
+  controls3d = new OrbitControls(cam3d, canvas);
+  controls3d.target.set(0, 0, 1.2);
+  controls3d.update();
+
+  scene3d.add(new THREE.AmbientLight(0xffffff, 0.6));
+  const dir = new THREE.DirectionalLight(0xffffff, 0.6);
+  dir.position.set(1, -1, 1);
+  scene3d.add(dir);
+
+  // Camera-origin marker (small axes triad)
+  const ax = new THREE.AxesHelper(0.2);
+  scene3d.add(ax);
+  // Small grid at Z=1.5 to anchor the eye when there's no plane yet.
+  const grid = new THREE.GridHelper(2, 10, 0x222a33, 0x1a2029);
+  grid.rotation.x = Math.PI / 2;
+  grid.position.z = 1.5;
+  scene3d.add(grid);
+
+  // Frustum wireframe (approximate FOV lines up to 2 m depth).
+  const fh = 0.7, fw = 1.0, fz = 2.0;
+  const frPts = [
+    0,0,0,  fw,  fh, fz,
+    0,0,0, -fw,  fh, fz,
+    0,0,0,  fw, -fh, fz,
+    0,0,0, -fw, -fh, fz,
+    fw,  fh, fz,  fw, -fh, fz,
+    fw, -fh, fz, -fw, -fh, fz,
+   -fw, -fh, fz, -fw,  fh, fz,
+   -fw,  fh, fz,  fw,  fh, fz,
+  ];
+  const frGeo = new THREE.BufferGeometry();
+  frGeo.setAttribute('position', new THREE.Float32BufferAttribute(frPts, 3));
+  const frMat = new THREE.LineBasicMaterial({ color: 0x2a3340 });
+  scene3d.add(new THREE.LineSegments(frGeo, frMat));
+
+  animate3d();
+}
+
+function animate3d() {
+  requestAnimationFrame(animate3d);
+  if (controls3d) controls3d.update();
+  if (renderer3d && scene3d && cam3d) renderer3d.render(scene3d, cam3d);
+}
+
+function clear3dOverlays() {
+  for (const k of Object.keys(scene3dObjs)) {
+    const o = scene3dObjs[k];
+    if (!o) continue;
+    scene3d.remove(o);
+    if (o.geometry) o.geometry.dispose();
+    if (o.material) (Array.isArray(o.material) ? o.material : [o.material]).forEach(m => m.dispose());
+    scene3dObjs[k] = null;
+  }
+}
+
+function addSphere3d(key, xyz, color, radius = 0.025) {
+  const geom = new THREE.SphereGeometry(radius, 24, 16);
+  const mat = new THREE.MeshStandardMaterial({ color, emissive: color, emissiveIntensity: 0.25 });
+  const m = new THREE.Mesh(geom, mat);
+  m.position.set(xyz[0], xyz[1], xyz[2]);
+  scene3d.add(m);
+  scene3dObjs[key] = m;
+}
+
+function addLine3d(key, a, b, color) {
+  const g = new THREE.BufferGeometry().setFromPoints([
+    new THREE.Vector3(...a), new THREE.Vector3(...b),
+  ]);
+  const m = new THREE.Line(g, new THREE.LineBasicMaterial({ color }));
+  scene3d.add(m);
+  scene3dObjs[key] = m;
+}
+
+function addPlaneMesh3d(key, normal, offset, anchor, size = 1.2, color = 0x9b6dff) {
+  const n = new THREE.Vector3(...normal).normalize();
+  // Build two in-plane orthonormal vectors.
+  const up = Math.abs(n.y) < 0.9 ? new THREE.Vector3(0, 1, 0) : new THREE.Vector3(1, 0, 0);
+  const u = new THREE.Vector3().crossVectors(up, n).normalize();
+  const v = new THREE.Vector3().crossVectors(n, u).normalize();
+  // Centre the mesh on the anchor point (foot of camera onto plane if given).
+  const anchorVec = new THREE.Vector3(...anchor);
+  // Pull anchor onto the plane to be safe.
+  const s = anchorVec.dot(n) + offset;
+  anchorVec.addScaledVector(n, -s);
+  const geom = new THREE.BufferGeometry();
+  const h = size / 2;
+  const corners = [
+    anchorVec.clone().addScaledVector(u, -h).addScaledVector(v, -h),
+    anchorVec.clone().addScaledVector(u,  h).addScaledVector(v, -h),
+    anchorVec.clone().addScaledVector(u,  h).addScaledVector(v,  h),
+    anchorVec.clone().addScaledVector(u, -h).addScaledVector(v,  h),
+  ];
+  const pos = [];
+  for (const c of corners) pos.push(c.x, c.y, c.z);
+  geom.setAttribute('position', new THREE.Float32BufferAttribute(pos, 3));
+  geom.setIndex([0, 1, 2, 0, 2, 3]);
+  geom.computeVertexNormals();
+  const mat = new THREE.MeshStandardMaterial({
+    color, opacity: 0.35, transparent: true, side: THREE.DoubleSide,
+  });
+  const mesh = new THREE.Mesh(geom, mat);
+  scene3d.add(mesh);
+  scene3dObjs[key] = mesh;
+  // Edges
+  const edgeGeom = new THREE.EdgesGeometry(geom);
+  const edgeMat = new THREE.LineBasicMaterial({ color });
+  const edges = new THREE.LineSegments(edgeGeom, edgeMat);
+  scene3d.add(edges);
+  scene3dObjs[key + '_edges'] = edges;
+}
+
+function redraw3d() {
+  if (!scene3d) return;
+  clear3dOverlays();
+  const p = lastPlan && lastPlan.plan;
+  // Plane (from stored planeInfo, independent of current plan)
+  if (planeInfo) {
+    const anchor = planeInfo.centroid || [0, 0, 1.5];
+    addPlaneMesh3d('plane', planeInfo.normal, planeInfo.offset, anchor);
+  }
+  if (!p) return;
+  addSphere3d('marker', p.marker_position_cam, 0x4dd0e1, 0.022);
+  addSphere3d('object', p.object_position_cam, 0xffd54f, 0.028);
+  addLine3d('mo_line', p.marker_position_cam, p.object_position_cam, 0xbbbbbb);
+  if (p.plane) {
+    addSphere3d('marker_foot', p.plane.marker_foot_cam, 0x80ecf7, 0.018);
+    addSphere3d('object_foot', p.plane.object_foot_cam, 0xffe998, 0.020);
+    addLine3d('m_drop', p.marker_position_cam, p.plane.marker_foot_cam, 0x4dd0e1);
+    addLine3d('o_drop', p.object_position_cam, p.plane.object_foot_cam, 0xffd54f);
+    addLine3d('foot_line', p.plane.marker_foot_cam, p.plane.object_foot_cam, 0x9b6dff);
+  }
+}
+
+let lastPlan = null;
+let busy = false;
+let imgRefreshTimer = null;
+// Image native dimensions (from /api/intrinsics or from the first load).
+let imgW = 0, imgH = 0;
+// Pan/zoom state: scale and translate applied to the inner pan-zoom wrapper.
+const view = { scale: 1, tx: 0, ty: 0 };
+let drag = null;
+// Work plane selection state.
+let planeInfo = null;             // last response from /plane/fit or /plane GET
+let roiMode = false;              // true when user clicked "Seleziona area"
+let roi = null;                   // {u0,v0,u1,v1} in image coords (committed)
+let roiDrag = null;               // in-progress drag
+
+function setStatus(msg, cls) {
+  const el = $('servoStatus');
+  if (!el) return;
+  el.textContent = msg;
+  el.style.color = cls === 'err' ? 'var(--danger)' : cls === 'ok' ? 'var(--ok)' : 'var(--dim)';
+}
+
+function readParams() {
+  const side = $('svSide').value || null;
+  const cls = $('svClass').value.trim();
+  const conf = $('svConf').value.trim();
+  const body = {
+    min_distance_m: (+$('svMinDist').value) / 1000,
+    step_fraction: +$('svStepFrac').value,
+  };
+  if (cls) body.class_name = cls;
+  if (conf) body.conf = +conf;
+  if (side) body.side = side;
+  const rx = +$('svRx').value, ry = +$('svRy').value, rz = +$('svRz').value;
+  if (rx || ry || rz) {
+    body.wrist_marker_rvec = [rx * DEG, ry * DEG, rz * DEG];
+  }
+  return body;
+}
+
+function persistParams() {
+  try {
+    localStorage.setItem(LS_KEY, JSON.stringify({
+      cls: $('svClass').value, conf: $('svConf').value,
+      minDist: $('svMinDist').value, step: $('svStepFrac').value,
+      timeout: $('svTimeout').value, side: $('svSide').value,
+      dryRun: $('svDryRun').checked,
+      rx: $('svRx').value, ry: $('svRy').value, rz: $('svRz').value,
+    }));
+  } catch {}
+}
+
+function restoreParams() {
+  try {
+    const raw = localStorage.getItem(LS_KEY);
+    if (!raw) return;
+    const p = JSON.parse(raw);
+    const setV = (id, v) => { if ($(id) && v != null) $(id).value = v; };
+    setV('svClass', p.cls); setV('svConf', p.conf);
+    setV('svMinDist', p.minDist); setV('svStepFrac', p.step);
+    setV('svTimeout', p.timeout); setV('svSide', p.side);
+    setV('svRx', p.rx); setV('svRy', p.ry); setV('svRz', p.rz);
+    if ($('svDryRun') && p.dryRun != null) $('svDryRun').checked = !!p.dryRun;
+  } catch {}
+}
+
+async function api(method, path, body = null) {
+  const opts = { method, headers: {} };
+  if (body !== null) {
+    opts.headers['Content-Type'] = 'application/json';
+    opts.body = JSON.stringify(body);
+  }
+  const r = await fetch(path, opts);
+  const text = await r.text();
+  let data; try { data = JSON.parse(text); } catch { data = text; }
+  if (!r.ok) throw new Error(`${r.status} ${(data && data.detail) || text}`);
+  return data;
+}
+
+async function saveRvecToConfig() {
+  const rx = +$('svRx').value, ry = +$('svRy').value, rz = +$('svRz').value;
+  const rvec = [rx * DEG, ry * DEG, rz * DEG];
+  try {
+    await api('PUT', '/api/config', {
+      grasp: { visual_servo: { wrist_marker_rvec: rvec } },
+    });
+    setStatus(`rvec salvato: [${rx}°, ${ry}°, ${rz}°]`, 'ok');
+  } catch (e) {
+    setStatus('salvataggio rvec fallito: ' + e.message, 'err');
+  }
+}
+
+function refreshImg() {
+  const img = $('servoImg');
+  if (!img) return;
+  // Cache-bust so we always see the current frame.
+  img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`;
+}
+
+function resizeOverlay() {
+  const img = $('servoImg');
+  const cvs = $('servoOverlay');
+  if (!img || !cvs) return;
+  if (img.naturalWidth) { imgW = img.naturalWidth; imgH = img.naturalHeight; }
+  if (!imgW || !imgH) return;
+  // Match canvas pixel size to the native image size; CSS transform on the
+  // wrapper handles zoom/pan, keeping overlay and image perfectly aligned.
+  const dpr = window.devicePixelRatio || 1;
+  cvs.width = Math.round(imgW * dpr);
+  cvs.height = Math.round(imgH * dpr);
+  cvs.style.width = imgW + 'px';
+  cvs.style.height = imgH + 'px';
+  img.style.width = imgW + 'px';
+  img.style.height = imgH + 'px';
+  // Fit-to-viewport on first sizing.
+  if (view.scale === 1 && view.tx === 0 && view.ty === 0) fitView();
+  else applyTransform();
+  redrawOverlay();
+}
+
+function applyTransform() {
+  const wrap = $('servoPanZoom');
+  if (!wrap) return;
+  wrap.style.transform = `translate(${view.tx}px, ${view.ty}px) scale(${view.scale})`;
+}
+
+function fitView() {
+  const vp = $('servoViewport');
+  if (!vp || !imgW || !imgH) return;
+  const r = vp.getBoundingClientRect();
+  const s = Math.min(r.width / imgW, r.height / imgH);
+  view.scale = s;
+  view.tx = (r.width - imgW * s) / 2;
+  view.ty = (r.height - imgH * s) / 2;
+  applyTransform();
+}
+
+function zoomAt(clientX, clientY, factor) {
+  const vp = $('servoViewport');
+  const r = vp.getBoundingClientRect();
+  const px = clientX - r.left, py = clientY - r.top;
+  // Image coords under the cursor BEFORE scaling:
+  const ix = (px - view.tx) / view.scale;
+  const iy = (py - view.ty) / view.scale;
+  const newScale = Math.min(16, Math.max(0.1, view.scale * factor));
+  // Keep (ix, iy) under the cursor after the new scale.
+  view.tx = px - ix * newScale;
+  view.ty = py - iy * newScale;
+  view.scale = newScale;
+  applyTransform();
+}
+
+function clientToImage(clientX, clientY) {
+  const vp = $('servoViewport');
+  const r = vp.getBoundingClientRect();
+  const px = clientX - r.left, py = clientY - r.top;
+  return [(px - view.tx) / view.scale, (py - view.ty) / view.scale];
+}
+
+function wireViewport() {
+  const vp = $('servoViewport');
+  if (!vp) return;
+  vp.addEventListener('wheel', (e) => {
+    e.preventDefault();
+    const factor = e.deltaY < 0 ? 1.15 : 1 / 1.15;
+    zoomAt(e.clientX, e.clientY, factor);
+  }, { passive: false });
+  vp.addEventListener('pointerdown', (e) => {
+    // ROI selection takes priority when enabled, OR when user holds Shift.
+    if (roiMode || e.shiftKey) {
+      const [ix, iy] = clientToImage(e.clientX, e.clientY);
+      roiDrag = { u0: ix, v0: iy, u1: ix, v1: iy, id: e.pointerId };
+      vp.setPointerCapture(e.pointerId);
+      redrawOverlay();
+      return;
+    }
+    drag = { x: e.clientX, y: e.clientY, tx: view.tx, ty: view.ty };
+    vp.setPointerCapture(e.pointerId);
+    vp.style.cursor = 'grabbing';
+  });
+  vp.addEventListener('pointermove', (e) => {
+    if (roiDrag) {
+      const [ix, iy] = clientToImage(e.clientX, e.clientY);
+      roiDrag.u1 = ix; roiDrag.v1 = iy;
+      redrawOverlay();
+      return;
+    }
+    if (!drag) return;
+    view.tx = drag.tx + (e.clientX - drag.x);
+    view.ty = drag.ty + (e.clientY - drag.y);
+    applyTransform();
+  });
+  const endDrag = (e) => {
+    if (roiDrag) {
+      try { vp.releasePointerCapture(e.pointerId); } catch {}
+      const r = roiDrag;
+      const u0 = Math.max(0, Math.min(r.u0, r.u1));
+      const v0 = Math.max(0, Math.min(r.v0, r.v1));
+      const u1 = Math.min(imgW || r.u1, Math.max(r.u0, r.u1));
+      const v1 = Math.min(imgH || r.v1, Math.max(r.v0, r.v1));
+      if (u1 - u0 > 5 && v1 - v0 > 5) {
+        roi = { u0: u0|0, v0: v0|0, u1: u1|0, v1: v1|0 };
+      }
+      roiDrag = null;
+      roiMode = false;
+      vp.style.cursor = 'grab';
+      setStatus(roi ? `ROI ${roi.u1-roi.u0}x${roi.v1-roi.v0} px · premi "Calcola piano"` : 'ROI troppo piccola', roi ? 'ok' : 'err');
+      redrawOverlay();
+      return;
+    }
+    if (drag) { try { vp.releasePointerCapture(e.pointerId); } catch {} }
+    drag = null;
+    vp.style.cursor = 'grab';
+  };
+  vp.addEventListener('pointerup', endDrag);
+  vp.addEventListener('pointercancel', endDrag);
+  vp.addEventListener('dblclick', () => fitView());
+}
+
+function drawCross(ctx, x, y, color) {
+  // Sizes expressed in IMAGE pixels so they stay legible after CSS zoom.
+  const r = 18;
+  ctx.strokeStyle = color;
+  ctx.lineWidth = 3;
+  ctx.beginPath();
+  ctx.arc(x, y, r, 0, Math.PI * 2);
+  ctx.stroke();
+  ctx.beginPath();
+  ctx.moveTo(x - r - 6, y); ctx.lineTo(x + r + 6, y);
+  ctx.moveTo(x, y - r - 6); ctx.lineTo(x, y + r + 6);
+  ctx.stroke();
+}
+
+function drawRect(ctx, u0, v0, u1, v1, color, label) {
+  ctx.strokeStyle = color;
+  ctx.lineWidth = 2;
+  ctx.setLineDash([6, 4]);
+  ctx.strokeRect(u0, v0, u1 - u0, v1 - v0);
+  ctx.setLineDash([]);
+  ctx.fillStyle = 'rgba(0,0,0,0.35)';
+  ctx.fillRect(u0, v0, u1 - u0, v1 - v0);
+  if (label) {
+    ctx.font = 'bold 16px ui-monospace, monospace';
+    const w = ctx.measureText(label).width + 10;
+    ctx.fillStyle = color;
+    ctx.fillRect(u0, v0, w, 20);
+    ctx.fillStyle = '#000';
+    ctx.fillText(label, u0 + 5, v0 + 15);
+  }
+}
+
+function redrawOverlay() {
+  const cvs = $('servoOverlay');
+  if (!cvs) return;
+  const ctx = cvs.getContext('2d');
+  const dpr = window.devicePixelRatio || 1;
+  ctx.setTransform(dpr, 0, 0, dpr, 0, 0);
+  ctx.clearRect(0, 0, imgW || cvs.width, imgH || cvs.height);
+  if (!imgW || !imgH) return;
+
+  // Committed ROI
+  if (roi) drawRect(ctx, roi.u0, roi.v0, roi.u1, roi.v1, '#9b6dff', 'ROI piano');
+  // In-progress drag
+  if (roiDrag) {
+    const u0 = Math.min(roiDrag.u0, roiDrag.u1);
+    const v0 = Math.min(roiDrag.v0, roiDrag.v1);
+    const u1 = Math.max(roiDrag.u0, roiDrag.u1);
+    const v1 = Math.max(roiDrag.v0, roiDrag.v1);
+    drawRect(ctx, u0, v0, u1, v1, '#9b6dff', null);
+  }
+
+  if (!lastPlan) return;
+  const p = lastPlan.plan;
+  const mx = p.marker_pixel[0], my = p.marker_pixel[1];
+  const ox = p.object_pixel[0], oy = p.object_pixel[1];
+  ctx.strokeStyle = 'rgba(255,255,255,0.6)';
+  ctx.setLineDash([8, 6]);
+  ctx.lineWidth = 2;
+  ctx.beginPath(); ctx.moveTo(mx, my); ctx.lineTo(ox, oy); ctx.stroke();
+  ctx.setLineDash([]);
+  drawCross(ctx, mx, my, '#4dd0e1');
+  drawCross(ctx, ox, oy, '#ffd54f');
+}
+
+async function planeSelectStart() {
+  roiMode = true;
+  setStatus('traccia un rettangolo sull\'immagine (shift+drag o dopo questo click, drag)', 'ok');
+}
+
+async function planeFit() {
+  if (!roi) { setStatus('seleziona prima un\'area', 'err'); return; }
+  try {
+    setStatus('fit piano…');
+    const body = {
+      u_min: roi.u0, v_min: roi.v0,
+      u_max: roi.u1, v_max: roi.v1,
+    };
+    const r = await api('POST', '/api/grasp/visual_servo/plane/fit', body);
+    planeInfo = r.plane;
+    updatePlaneInfo();
+    redraw3d();
+    setStatus(`piano OK · rms=${r.plane.fit_rms_mm.toFixed(1)} mm · ${r.plane.n_inliers} punti`, 'ok');
+  } catch (e) {
+    setStatus('fit fallito: ' + e.message, 'err');
+  }
+}
+
+async function planeClear() {
+  try {
+    await api('DELETE', '/api/grasp/visual_servo/plane');
+    planeInfo = null;
+    roi = null;
+    updatePlaneInfo();
+    redrawOverlay();
+    redraw3d();
+    setStatus('piano rimosso', 'ok');
+  } catch (e) {
+    setStatus('rimozione piano fallita: ' + e.message, 'err');
+  }
+}
+
+function updatePlaneInfo() {
+  const el = $('svPlaneInfo');
+  if (!el) return;
+  if (!planeInfo) { el.textContent = 'piano: —'; return; }
+  const n = planeInfo.normal.map(v => v.toFixed(3)).join(', ');
+  el.innerHTML = `piano: n=[${n}] · offset=${planeInfo.offset.toFixed(3)} m · rms=${planeInfo.fit_rms_mm.toFixed(1)} mm · ${planeInfo.n_inliers} pts`;
+}
+
+async function planeLoadCurrent() {
+  try {
+    const r = await api('GET', '/api/grasp/visual_servo/plane');
+    if (r.set) {
+      planeInfo = r.plane;
+      roi = { u0: r.plane.roi[0], v0: r.plane.roi[1], u1: r.plane.roi[2], v1: r.plane.roi[3] };
+      updatePlaneInfo();
+      redrawOverlay();
+      redraw3d();
+    }
+  } catch {}
+}
+
+function fmtMm(m) { return (m * 1000).toFixed(1) + ' mm'; }
+
+function renderStats(resp) {
+  const p = resp.plan;
+  const cls = p.detection && p.detection.class;
+  const conf = p.detection && p.detection.confidence;
+  const reproj = p.marker_reprojection_error_px;
+  const doneBadge = p.done
+    ? 'RAGGIUNTO'
+    : 'in avvicinamento';
+  $('servoStats').innerHTML = `
+    
+      
+        
+        
+        
+        
+        
+        
+        ${p.plane ? `
+          
+          
+          
+          
+          
+          
+        ` : ''}
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+      
+    
      stato${doneBadge}
      marker · pixel(${p.marker_pixel[0].toFixed(0)}, ${p.marker_pixel[1].toFixed(0)})
      marker · Z / dist / scala${fmtMm(p.marker_depth_z_m)} · ${fmtMm(p.marker_distance_cam_m)} · ${p.marker_mm_per_px ? p.marker_mm_per_px.toFixed(2) + ' mm/px' : '—'}
      oggetto · pixel(${p.object_pixel[0].toFixed(0)}, ${p.object_pixel[1].toFixed(0)})
      oggetto · Z / dist / scala${fmtMm(p.object_depth_z_m)} · ${fmtMm(p.object_distance_cam_m)} · ${p.object_mm_per_px ? p.object_mm_per_px.toFixed(2) + ' mm/px' : '—'}
      marker ↔ oggetto (3D)${fmtMm(p.distance_m)}
      piano · rms / punti${p.plane.fit_rms_mm.toFixed(1)} mm · ${planeInfo ? planeInfo.n_inliers : '—'}
      marker · altezza dal piano${(p.plane.marker_signed_distance_m >= 0 ? '+' : '−')}${fmtMm(Math.abs(p.plane.marker_signed_distance_m))} (${p.plane.marker_signed_distance_m >= 0 ? 'sopra' : 'sotto'})
      oggetto · altezza dal piano${(p.plane.object_signed_distance_m >= 0 ? '+' : '−')}${fmtMm(Math.abs(p.plane.object_signed_distance_m))} (${p.plane.object_signed_distance_m >= 0 ? 'sopra' : 'sotto'})
      Δ altezza marker−oggetto${fmtMm(Math.abs(p.plane.marker_signed_distance_m - p.plane.object_signed_distance_m))}
      in-piano (perp-foot)${fmtMm(p.plane.in_plane_distance_m)}
      in-piano (pixel-hit)${fmtMm(p.plane.in_plane_pixel_distance_m)}
      prossimo step (base)${p.target_position_base ? fmtMm(p.planned_step_m) : '—'}
      limite stop${fmtMm(resp.min_distance_m)}
      frazione step${resp.step_fraction}
      lato${resp.side}
      oggetto · classe${cls || '—'} ${conf != null ? `(${(conf*100).toFixed(0)}%)` : ''}
      punti bbox${p.n_object_points}
      reproj err marker${reproj != null ? reproj.toFixed(2) + ' px' : '—'}
      sorgente posizione marker${p.marker_translation_source || '—'}
      sorgente punto oggetto${p.object_point_source || '—'}
      note${p.reason || '—'}
      `;
+  $('servoResult').textContent = JSON.stringify({
+    wrist_position_base: p.wrist_position_base,
+    marker_position_cam: p.marker_position_cam,
+    object_position_cam: p.object_position_cam,
+    target_position_base: p.target_position_base,
+    distance_m: p.distance_m,
+  }, null, 2);
+}
+
+async function doPlan() {
+  if (busy) return;
+  busy = true;
+  persistParams();
+  try {
+    setStatus('rilevamento…');
+    refreshImg();
+    const body = readParams();
+    const resp = await api('POST', '/api/grasp/visual_servo/plan', body);
+    lastPlan = resp;
+    renderStats(resp);
+    redrawOverlay();
+    redraw3d();
+    setStatus(resp.plan.done ? 'target raggiunto' : 'piano pronto · premi "Vai al prossimo"', 'ok');
+  } catch (e) {
+    setStatus('errore plan: ' + e.message, 'err');
+  } finally { busy = false; }
+}
+
+async function doStep() {
+  if (busy) return;
+  busy = true;
+  persistParams();
+  const dryRun = $('svDryRun').checked;
+  try {
+    setStatus(dryRun ? 'step (dry-run)…' : 'movimento in corso…');
+    refreshImg();
+    const body = readParams();
+    body.dry_run = dryRun;
+    body.timeout_s = +$('svTimeout').value;
+    const resp = await api('POST', '/api/grasp/visual_servo/step', body);
+    lastPlan = resp;
+    renderStats(resp);
+    redrawOverlay();
+    if (!resp.moved) {
+      setStatus('target raggiunto, nessun moto', 'ok');
+      return;
+    }
+    setStatus('ricalcolo post-moto…');
+    refreshImg();
+    const replan = await api('POST', '/api/grasp/visual_servo/plan', readParams());
+    lastPlan = replan;
+    renderStats(replan);
+    redrawOverlay();
+    redraw3d();
+    setStatus(replan.plan.done ? 'target raggiunto' : 'pronto per il prossimo step', 'ok');
+  } catch (e) {
+    setStatus('errore step: ' + e.message, 'err');
+  } finally { busy = false; }
+}
+
+function doReset() {
+  lastPlan = null;
+  const ctx = $('servoOverlay').getContext('2d');
+  ctx.clearRect(0, 0, $('servoOverlay').width, $('servoOverlay').height);
+  $('servoStats').innerHTML = '
      nessun piano calcolato
      ';
+  $('servoResult').textContent = '—';
+  setStatus('reset');
+}
+
+function startLiveImg() {
+  stopLiveImg();
+  imgRefreshTimer = setInterval(refreshImg, 500);
+  refreshImg();
+}
+function stopLiveImg() {
+  if (imgRefreshTimer) { clearInterval(imgRefreshTimer); imgRefreshTimer = null; }
+}
+
+document.addEventListener('DOMContentLoaded', () => {
+  if (!$('servoImg')) return;
+  restoreParams();
+  ['svClass','svConf','svMinDist','svStepFrac','svTimeout','svSide','svDryRun',
+   'svRx','svRy','svRz']
+    .forEach(id => { const el = $(id); if (el) el.addEventListener('change', persistParams); });
+  $('svPlanBtn').addEventListener('click', doPlan);
+  $('svStepBtn').addEventListener('click', doStep);
+  $('svResetBtn').addEventListener('click', doReset);
+  $('svSaveRvecBtn').addEventListener('click', saveRvecToConfig);
+  $('svPlaneSelBtn').addEventListener('click', planeSelectStart);
+  $('svPlaneFitBtn').addEventListener('click', planeFit);
+  $('svPlaneClearBtn').addEventListener('click', planeClear);
+  boot3d();
+  planeLoadCurrent();
+
+  const img = $('servoImg');
+  img.addEventListener('load', () => {
+    imgW = img.naturalWidth; imgH = img.naturalHeight;
+    resizeOverlay();
+  });
+  wireViewport();
+  window.addEventListener('resize', () => { resizeOverlay(); });
+});
+
+function resize3d() {
+  const canvas = $('servo3dCanvas');
+  if (!canvas || !renderer3d || !cam3d) return;
+  const rect = canvas.getBoundingClientRect();
+  const w = Math.max(100, Math.round(rect.width));
+  const h = Math.max(60, Math.round(rect.height));
+  renderer3d.setSize(w, h, false);
+  cam3d.aspect = w / h;
+  cam3d.updateProjectionMatrix();
+}
+
+// Only stream the RGB while the servo tab is active (avoid hammering Nuwa).
+document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
+  const active = btn.dataset.tab === 'servo';
+  if (active) {
+    startLiveImg();
+    // The 3D canvas may have rendered at 0x0 while the panel was display:none.
+    // Re-boot (no-op if already ready) and resize once visible.
+    boot3d();
+    setTimeout(() => { resizeOverlay(); resize3d(); redraw3d(); }, 100);
+  } else { stopLiveImg(); }
+}));
+window.addEventListener('resize', () => { resize3d(); });
diff --git a/web/style.css b/web/style.css
new file mode 100644
index 0000000..bcb2493
--- /dev/null
+++ b/web/style.css
@@ -0,0 +1,745 @@
+:root {
+  --bg: #111418;
+  --panel: #191d23;
+  --border: #2a2f37;
+  --fg: #e6e6e6;
+  --dim: #9aa0a6;
+  --accent: #4da3ff;
+  --ok: #3ecf8e;
+  --warn: #f0ad4e;
+  --danger: #e74c3c;
+}
+
+* { box-sizing: border-box; }
+body {
+  margin: 0;
+  font: 14px/1.4 -apple-system, "Segoe UI", system-ui, sans-serif;
+  background: var(--bg);
+  color: var(--fg);
+}
+header {
+  padding: 12px 20px 0 20px;
+  border-bottom: 1px solid var(--border);
+  background: var(--panel);
+}
+header h1 {
+  margin: 0 0 10px 0;
+  font-size: 18px;
+  letter-spacing: 0.5px;
+}
+.tabs { display: flex; gap: 4px; }
+.tab {
+  background: none;
+  border: 1px solid transparent;
+  border-bottom: 0;
+  color: var(--dim);
+  padding: 8px 14px;
+  cursor: pointer;
+  border-top-left-radius: 6px;
+  border-top-right-radius: 6px;
+  font-weight: 600;
+}
+.tab.active {
+  color: var(--fg);
+  background: var(--bg);
+  border-color: var(--border);
+}
+.status-strip { min-height: 22px; padding: 4px 0 8px 0; color: var(--dim); font-size: 12px; }
+main { padding: 20px; }
+.panel { display: none; }
+.panel.active { display: block; }
+
+h2 { font-size: 15px; margin: 0 0 10px 0; }
+h3 { font-size: 13px; margin: 16px 0 6px 0; color: var(--dim); }
+
+.grid-2 {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 20px;
+}
+@media (max-width: 1100px) {
+  .grid-2 { grid-template-columns: 1fr; }
+}
+
+.canvas-wrap {
+  background: #000;
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  overflow: hidden;
+  display: flex;
+  justify-content: center;
+}
+canvas { display: block; max-width: 100%; height: auto; }
+
+.kv {
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(170px, 1fr));
+  gap: 8px;
+  margin: 8px 0 10px 0;
+}
+.kv label {
+  display: flex;
+  flex-direction: column;
+  gap: 4px;
+  color: var(--dim);
+  font-size: 12px;
+}
+.kv label.inline {
+  flex-direction: row;
+  align-items: center;
+  gap: 6px;
+  color: var(--fg);
+}
+.kv input, .kv select {
+  background: var(--bg);
+  border: 1px solid var(--border);
+  color: var(--fg);
+  padding: 6px;
+  border-radius: 4px;
+}
+
+button {
+  background: var(--border);
+  border: 1px solid var(--border);
+  color: var(--fg);
+  padding: 7px 14px;
+  border-radius: 4px;
+  cursor: pointer;
+  font-weight: 600;
+}
+button:hover { background: #343a43; }
+button.primary { background: var(--accent); border-color: var(--accent); color: #000; }
+button.danger { background: var(--danger); border-color: var(--danger); color: #fff; }
+.actions { display: flex; flex-wrap: wrap; gap: 8px; margin: 8px 0; }
+
+.marker-info { margin-top: 6px; font-size: 12px; color: var(--dim); }
+
+.samples {
+  border: 1px solid var(--border);
+  background: var(--panel);
+  border-radius: 4px;
+  padding: 10px;
+  max-height: 260px;
+  overflow: auto;
+}
+.samples-head { display: flex; justify-content: space-between; margin-bottom: 6px; }
+.samples ul { list-style: none; padding: 0; margin: 0; font-size: 12px; }
+.samples li {
+  padding: 4px 0;
+  border-top: 1px solid var(--border);
+  font-family: ui-monospace, monospace;
+  color: var(--dim);
+}
+.samples li.sample-dropped {
+  color: var(--danger);
+  background: rgba(231, 76, 60, 0.08);
+}
+
+.result { margin-top: 16px; }
+pre.log, #calibMatrix, #graspOut {
+  background: #0d1014;
+  border: 1px solid var(--border);
+  padding: 10px;
+  border-radius: 4px;
+  font-size: 12px;
+  overflow: auto;
+  max-height: 380px;
+  white-space: pre;
+  color: var(--fg);
+}
+
+details.auto-grid {
+  margin-top: 20px;
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 12px;
+}
+details.auto-grid summary { cursor: pointer; font-weight: 600; }
+
+.canvas-wrap.small { max-width: 340px; }
+.measure-strip {
+  margin-top: 6px;
+  font-size: 12px;
+  font-family: ui-monospace, monospace;
+  color: var(--dim);
+}
+.scatter-row {
+  display: flex;
+  gap: 10px;
+  flex-wrap: wrap;
+}
+.scatter-row canvas {
+  background: #0d1014;
+  border: 1px solid var(--border);
+  border-radius: 4px;
+}
+.scatter-title { font-size: 12px; color: var(--dim); margin-bottom: 4px; }
+#graspCanvas { cursor: crosshair; }
+
+table.stats {
+  width: 100%;
+  border-collapse: collapse;
+  font-size: 12px;
+  font-family: ui-monospace, monospace;
+  margin: 6px 0 4px 0;
+}
+table.stats th, table.stats td {
+  border: 1px solid var(--border);
+  padding: 4px 8px;
+  text-align: right;
+}
+table.stats th { background: var(--panel); color: var(--dim); font-weight: 600; }
+table.stats td:first-child, table.stats th:first-child { text-align: center; color: var(--dim); }
+
+button.running { background: var(--danger); border-color: var(--danger); color: #fff; }
+
+.legend {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 4px 12px;
+  font-size: 12px;
+  color: var(--dim);
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 4px;
+  padding: 8px 10px;
+  margin-top: 8px;
+}
+.legend-row { display: flex; align-items: center; gap: 6px; }
+.legend .dot {
+  display: inline-block;
+  width: 10px; height: 10px;
+  border-radius: 50%;
+}
+#view3dCanvas { cursor: grab; background: #0d1014; }
+#view3dCanvas:active { cursor: grabbing; }
+
+.grasp-legend {
+  display: flex; flex-wrap: wrap; gap: 10px 14px;
+  margin-top: 6px; font-size: 12px; color: var(--dim);
+}
+.grasp-legend .item { display: inline-flex; align-items: center; gap: 6px; }
+.grasp-legend .sw {
+  display: inline-block; width: 12px; height: 12px;
+  border-radius: 2px; border: 1px solid rgba(255,255,255,.15);
+}
+.grasp-legend .item.selected { color: var(--fg); font-weight: 600; }
+.grasp-legend .item.missing { opacity: 0.4; }
+
+/* ---- Posture & Stati ---- */
+.posture-toolbar {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 14px;
+  align-items: center;
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 8px 12px;
+  margin-bottom: 16px;
+}
+.post-health {
+  margin-left: auto;
+  font-family: ui-monospace, monospace;
+  font-size: 12px;
+  color: var(--dim);
+}
+.pose-table {
+  width: 100%;
+  border-collapse: collapse;
+  font: 12px ui-monospace, monospace;
+  margin-bottom: 4px;
+}
+.pose-table th {
+  text-align: left;
+  color: var(--dim);
+  font-weight: 600;
+  padding: 4px 8px;
+  border: 1px solid var(--border);
+  background: var(--panel);
+  width: 90px;
+}
+.pose-table td {
+  padding: 4px 8px;
+  border: 1px solid var(--border);
+  text-align: right;
+  background: #0d1014;
+}
+.link-btn {
+  background: none;
+  border: 0;
+  color: var(--accent);
+  cursor: pointer;
+  font-size: 12px;
+  padding: 2px 0;
+  margin: 0 0 8px 0;
+}
+.finger-grid {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 4px 12px;
+  margin-bottom: 8px;
+}
+.finger-row {
+  display: grid;
+  grid-template-columns: 100px 1fr 40px;
+  align-items: center;
+  gap: 6px;
+  font-size: 12px;
+  color: var(--dim);
+}
+.finger-row input[type="range"] { width: 100%; }
+.finger-row .v {
+  font-family: ui-monospace, monospace;
+  text-align: right;
+  color: var(--fg);
+}
+.ctrl-block {
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 10px 12px;
+  margin-bottom: 14px;
+}
+.kv.compact {
+  grid-template-columns: repeat(auto-fill, minmax(110px, 1fr));
+  gap: 6px;
+}
+.info-box {
+  background: #1e2530;
+  border: 1px solid var(--border);
+  border-left: 3px solid var(--warn);
+  border-radius: 4px;
+  padding: 8px 10px;
+  font-size: 12px;
+  color: var(--dim);
+  margin-bottom: 8px;
+}
+.info-box code {
+  background: #0d1014;
+  padding: 1px 4px;
+  border-radius: 3px;
+  color: var(--fg);
+}
+pre.log.small { max-height: 180px; font-size: 11px; }
+.preset-table {
+  width: 100%;
+  border-collapse: collapse;
+  font-size: 12px;
+  margin-top: 10px;
+}
+.preset-table th, .preset-table td {
+  border: 1px solid var(--border);
+  padding: 6px 8px;
+  text-align: left;
+}
+.preset-table th { background: var(--panel); color: var(--dim); font-weight: 600; }
+.preset-table td.actions-cell { text-align: right; white-space: nowrap; }
+.preset-table td.dim { color: var(--dim); text-align: center; }
+.preset-table .pose-cell {
+  font-family: ui-monospace, monospace;
+  font-size: 11px;
+  color: var(--dim);
+}
+
+/* ---- Accensione e Stati ---- */
+.power-state-table {
+  width: 100%;
+  border-collapse: collapse;
+  font: 12px ui-monospace, monospace;
+  margin-bottom: 14px;
+}
+.power-state-table th {
+  text-align: left;
+  color: var(--dim);
+  font-weight: 600;
+  padding: 6px 10px;
+  border: 1px solid var(--border);
+  background: var(--panel);
+  width: 110px;
+}
+.power-state-table td {
+  padding: 6px 10px;
+  border: 1px solid var(--border);
+  background: #0d1014;
+}
+.badge {
+  display: inline-block;
+  background: var(--border);
+  color: var(--fg);
+  padding: 2px 8px;
+  border-radius: 10px;
+  font-weight: 700;
+  margin-right: 8px;
+}
+.badge.ok { background: var(--ok); color: #000; }
+.badge.warn { background: var(--warn); color: #000; }
+.badge.danger { background: var(--danger); color: #fff; }
+.state-desc { color: var(--dim); font-size: 11px; }
+.wiz-step { position: relative; }
+.wiz-step.done { border-left: 3px solid var(--ok); }
+.wiz-step.current { border-left: 3px solid var(--accent); }
+.wiz-step.blocked { opacity: 0.55; }
+.wiz-hint { font-size: 11px; color: var(--dim); margin-left: 8px; }
+.wiz-hint.warn { color: var(--warn); }
+.cmd-desc { font-size: 12px; color: var(--dim); margin-bottom: 8px; }
+.cmd-desc.warn { color: var(--warn); }
+.cmd-desc code, .info-box code {
+  background: #0d1014;
+  padding: 1px 5px;
+  border-radius: 3px;
+  color: var(--fg);
+}
+.cmd-row {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  gap: 10px;
+  padding: 6px 0;
+  border-top: 1px solid var(--border);
+}
+.cmd-row:first-child { border-top: 0; }
+.cmd-row > div:first-child { flex: 1; min-width: 0; }
+.cmd-row strong { display: block; margin-bottom: 2px; }
+.cmd-row-right { display: flex; gap: 6px; align-items: center; }
+.cmd-row-right input {
+  background: var(--bg);
+  border: 1px solid var(--border);
+  color: var(--fg);
+  padding: 5px 6px;
+  border-radius: 4px;
+}
+.fsm-grid {
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(220px, 1fr));
+  gap: 8px;
+  margin-bottom: 14px;
+}
+.fsm-cell {
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 8px 10px;
+}
+.fsm-cell .fsm-head {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  gap: 6px;
+}
+.fsm-cell .fsm-head strong { font-size: 13px; }
+.fsm-cell .fsm-id { font-family: ui-monospace, monospace; color: var(--dim); font-size: 11px; }
+.fsm-cell .cmd-desc { margin: 4px 0 6px 0; }
+.fsm-cell button { width: 100%; }
+.fsm-cell.current { border-color: var(--ok); }
+.fsm-cell.current .fsm-id::before { content: "● "; color: var(--ok); }
+.gated.disabled-group {
+  opacity: 0.45;
+  pointer-events: none;
+  position: relative;
+}
+.gated.disabled-group::after {
+  content: "🔒 Disponibile solo con FSM = start";
+  position: absolute;
+  top: 4px; right: 8px;
+  font-size: 11px;
+  color: var(--warn);
+  pointer-events: none;
+}
+pre.log.err {
+  border-color: var(--danger);
+  color: var(--danger);
+}
+
+/* Diagnostic 3D tab */
+.diag3d-toolbar {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 14px;
+  align-items: center;
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 8px 12px;
+  margin-bottom: 16px;
+}
+#diag3dStatus { margin-left: auto; font: 12px ui-monospace, monospace; color: var(--dim); }
+.diag3d-layout .canvas-wrap { position: relative; }
+#diag3dCanvas { cursor: grab; background: #0d1014; width: 100%; height: auto; }
+#diag3dCanvas:active { cursor: grabbing; }
+.diag3d-tooltip {
+  position: absolute;
+  background: rgba(13,16,20,.95);
+  border: 1px solid var(--border);
+  border-radius: 4px;
+  color: var(--fg);
+  padding: 6px 8px;
+  font: 11px ui-monospace, monospace;
+  pointer-events: none;
+  z-index: 10;
+  min-width: 160px;
+  max-width: 260px;
+}
+.diag3d-tooltip.hidden { display: none; }
+.diag3d-tooltip .tt-title { font-weight: 700; margin-bottom: 4px; color: var(--accent); }
+.diag3d-tooltip .tt-row { display: flex; justify-content: space-between; gap: 10px; }
+.diag3d-tooltip .tt-row .k { color: var(--dim); }
+.diag3d-tooltip.warn .tt-title { color: var(--warn); }
+.diag3d-tooltip.err  .tt-title { color: var(--danger); }
+
+.diag3d-legend {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 10px 18px;
+  margin-top: 10px;
+  font-size: 12px;
+  color: var(--dim);
+}
+.diag3d-legend .legend-sw {
+  display: inline-block;
+  width: 14px; height: 14px;
+  border-radius: 3px;
+  margin-right: 6px;
+  vertical-align: middle;
+}
+#diag3dPinned table, #diag3dSummary table {
+  width: 100%;
+  border-collapse: collapse;
+  font: 12px ui-monospace, monospace;
+}
+#diag3dPinned td, #diag3dSummary td {
+  padding: 3px 8px;
+  border-top: 1px solid var(--border);
+}
+#diag3dPinned td:first-child, #diag3dSummary td:first-child { color: var(--dim); width: 130px; }
+#diag3dPinned tr.warn td { color: var(--warn); }
+#diag3dPinned tr.err  td { color: var(--danger); }
+
+.autocal-chart {
+  width: 100%;
+  background: #0d1014;
+  border: 1px solid var(--border);
+  border-radius: 4px;
+  display: block;
+  margin-bottom: 10px;
+}
+
+/* Button feedback flash */
+button.flash-ok {
+  animation: flashOk 0.8s ease-out;
+}
+button.flash-err {
+  animation: flashErr 1.2s ease-out;
+}
+@keyframes flashOk {
+  0%   { background: var(--ok); color: #000; box-shadow: 0 0 0 3px rgba(62,207,142,.6); }
+  100% {}
+}
+@keyframes flashErr {
+  0%, 30% { background: var(--danger); color: #fff; box-shadow: 0 0 0 3px rgba(231,76,60,.6); }
+  100%    {}
+}
+
+/* Global alert banner (visible across all tabs) */
+.global-alert {
+  display: block;
+  width: 100%;
+  text-align: left;
+  background: var(--panel);
+  color: var(--dim);
+  border: 0;
+  border-top: 1px solid var(--border);
+  border-bottom: 1px solid var(--border);
+  padding: 6px 20px;
+  font: 600 12px ui-monospace, monospace;
+  cursor: pointer;
+  margin: 0 -20px;
+}
+.global-alert.hidden { display: none; }
+.global-alert.warn { background: rgba(240,173,78,.18); color: var(--warn); border-color: var(--warn); }
+.global-alert.err  { background: rgba(231,76,60,.22);  color: var(--danger); border-color: var(--danger); animation: alertPulse 1.4s infinite; }
+@keyframes alertPulse { 50% { background: rgba(231,76,60,.40); } }
+
+/* Diagnostica panel on Accensione tab */
+.diag-banner {
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-left: 4px solid var(--dim);
+  border-radius: 6px;
+  padding: 8px 12px;
+  font-size: 12px;
+  margin-bottom: 10px;
+}
+.diag-banner.hidden { display: none; }
+.diag-banner.warn { border-left-color: var(--warn); color: var(--warn); }
+.diag-banner.err  { border-left-color: var(--danger); color: var(--danger); }
+.diag-banner.ok   { border-left-color: var(--ok); color: var(--ok); }
+.diag-table {
+  display: grid;
+  grid-template-columns: 28px 170px 1fr auto;
+  gap: 4px 10px;
+  align-items: center;
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 8px 10px;
+  font-size: 12px;
+  margin-bottom: 14px;
+}
+.diag-row {
+  display: contents;
+}
+.diag-row > * {
+  padding: 3px 0;
+  border-top: 1px solid var(--border);
+}
+.diag-row:first-child > * { border-top: 0; }
+.diag-pill {
+  display: inline-block;
+  width: 18px; height: 18px;
+  border-radius: 50%;
+  text-align: center;
+  line-height: 18px;
+  font-size: 11px;
+  background: var(--border);
+  color: var(--dim);
+  font-weight: 700;
+}
+.diag-row.ok  .diag-pill { background: var(--ok); color: #000; }
+.diag-row.warn .diag-pill { background: var(--warn); color: #000; }
+.diag-row.err  .diag-pill { background: var(--danger); color: #fff; }
+.diag-row.na   .diag-pill { background: transparent; color: var(--dim); border: 1px dashed var(--border); }
+.diag-label { color: var(--fg); font-weight: 600; }
+.diag-value { font-family: ui-monospace, monospace; color: var(--dim); overflow: hidden; text-overflow: ellipsis; }
+.diag-row.ok  .diag-value { color: var(--ok); }
+.diag-row.warn .diag-value { color: var(--warn); }
+.diag-row.err  .diag-value { color: var(--danger); }
+.diag-hint { color: var(--dim); font-size: 11px; text-align: right; }
+
+/* Per-joint temperature grid */
+details.joint-temps {
+  background: var(--panel);
+  border: 1px solid var(--border);
+  border-radius: 6px;
+  padding: 8px 12px;
+  margin-bottom: 14px;
+}
+details.joint-temps summary { cursor: pointer; font-weight: 600; font-size: 12px; color: var(--fg); }
+.joint-temps-grid {
+  display: grid;
+  grid-template-columns: repeat(auto-fill, minmax(230px, 1fr));
+  gap: 4px 14px;
+  margin-top: 10px;
+  font: 11px ui-monospace, monospace;
+}
+.joint-row {
+  display: grid;
+  grid-template-columns: 28px 1fr 44px 90px;
+  align-items: center;
+  gap: 6px;
+  padding: 2px 0;
+}
+.joint-row .j-idx { color: var(--dim); text-align: right; }
+.joint-row .j-name { color: var(--fg); overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
+.joint-row .j-temp { color: var(--dim); text-align: right; }
+.joint-row .j-bar {
+  background: #0d1014;
+  border: 1px solid var(--border);
+  border-radius: 3px;
+  height: 12px;
+  position: relative;
+  overflow: hidden;
+}
+.joint-row .j-fill {
+  position: absolute; top: 0; left: 0; bottom: 0;
+  background: var(--ok);
+  transition: width .2s ease, background .2s ease;
+}
+.joint-row .j-mark {
+  position: absolute; top: -1px; bottom: -1px;
+  width: 2px;
+  margin-left: -1px;
+  background: var(--fg);
+  opacity: 0.85;
+  pointer-events: none;
+  transition: left .2s ease;
+}
+.joint-row.warn .j-fill { background: var(--warn); }
+.joint-row.err  .j-fill { background: var(--danger); }
+.joint-row.warn .j-temp { color: var(--warn); }
+.joint-row.err  .j-temp { color: var(--danger); }
+.joint-row.faulted { outline: 1px solid var(--danger); border-radius: 3px; }
+.joint-row.disabled .j-name { color: var(--dim); }
+
+/* Toast shown globally on each command outcome */
+.toast-host {
+  position: fixed;
+  right: 16px;
+  bottom: 16px;
+  display: flex;
+  flex-direction: column;
+  gap: 6px;
+  z-index: 10000;
+  pointer-events: none;
+}
+.toast {
+  background: var(--panel);
+  color: var(--fg);
+  border: 1px solid var(--border);
+  border-left: 4px solid var(--dim);
+  padding: 8px 12px;
+  border-radius: 6px;
+  font-size: 12px;
+  min-width: 260px;
+  max-width: 520px;
+  box-shadow: 0 4px 14px rgba(0,0,0,.4);
+  animation: toastIn 0.2s ease-out;
+}
+.toast.ok  { border-left-color: var(--ok); }
+.toast.err { border-left-color: var(--danger); color: var(--danger); }
+.toast.fade { transition: opacity 0.4s ease-in; opacity: 0; }
+.toast .t-title { font-weight: 700; margin-bottom: 2px; }
+.toast .t-body { font-family: ui-monospace, monospace; color: var(--dim); white-space: pre-wrap; }
+@keyframes toastIn { from { transform: translateY(8px); opacity: 0; } to { transform: none; opacity: 1; } }
+
+/* ---------- Home tab ---------- */
+.device-status-table { width: 100%; border-collapse: collapse; margin-top: 8px; font-size: 13px; }
+.device-status-table th, .device-status-table td { padding: 8px 10px; border-bottom: 1px solid var(--border); text-align: left; vertical-align: middle; }
+.device-status-table th { font-weight: 600; color: var(--dim); background: rgba(255,255,255,0.02); }
+.device-status-table code { font-size: 12px; color: var(--dim); }
+.device-pill { display: inline-block; padding: 2px 8px; border-radius: 999px; font-size: 12px; font-weight: 600; }
+.device-pill.ok  { background: rgba(62,207,142,0.15); color: var(--ok); border: 1px solid var(--ok); }
+.device-pill.err { background: rgba(231,76,60,0.15); color: var(--danger); border: 1px solid var(--danger); }
+.active-robot-pill { font-size: 12px; padding: 4px 10px; border-radius: 999px; background: rgba(77,163,255,0.15); color: var(--accent); border: 1px solid var(--accent); margin-left: 12px; }
+
+/* ---------- Assistente AI tab ---------- */
+.agent-layout > div { display: flex; flex-direction: column; }
+.agent-chat {
+  border: 1px solid var(--border);
+  border-radius: 4px;
+  padding: 10px;
+  height: 420px;
+  overflow-y: auto;
+  background: rgba(0,0,0,0.15);
+  display: flex;
+  flex-direction: column;
+  gap: 8px;
+}
+.agent-msg { padding: 8px 12px; border-radius: 6px; max-width: 90%; line-height: 1.4; font-size: 13px; white-space: pre-wrap; word-wrap: break-word; }
+.agent-msg.user      { align-self: flex-end; background: rgba(77,163,255,0.15); border: 1px solid var(--accent); }
+.agent-msg.assistant { align-self: flex-start; background: rgba(255,255,255,0.04); border: 1px solid var(--border); }
+.agent-msg.system    { align-self: stretch; background: rgba(240,173,78,0.08); border: 1px dashed var(--warn); color: var(--dim); font-style: italic; }
+.agent-msg.error     { align-self: stretch; background: rgba(231,76,60,0.10); border: 1px solid var(--danger); color: var(--danger); }
+.agent-msg .meta { font-size: 10px; color: var(--dim); margin-top: 4px; }
+.agent-tool-pill { display: inline-block; padding: 1px 8px; margin: 2px 2px 0 0; font-size: 11px; border-radius: 999px; background: rgba(62,207,142,0.12); border: 1px solid var(--ok); color: var(--ok); }
+.agent-tool-pill.err { background: rgba(231,76,60,0.12); border-color: var(--danger); color: var(--danger); }
+.agent-input-row { display: flex; gap: 8px; align-items: stretch; margin-top: 8px; }
+.agent-input-row textarea { flex: 1; resize: vertical; font-family: ui-monospace, monospace; font-size: 13px; padding: 8px; background: #0e1116; color: inherit; border: 1px solid var(--border); border-radius: 4px; }
+.agent-input-row button { white-space: nowrap; }
+.agent-task-list { list-style: none; padding: 0; margin: 8px 0; max-height: 260px; overflow-y: auto; }
+.agent-task-list li { display: flex; gap: 6px; align-items: center; padding: 6px 8px; border-bottom: 1px solid var(--border); font-size: 12px; }
+.agent-task-list li:hover { background: rgba(255,255,255,0.03); }
+.agent-task-list .task-name { font-weight: 600; flex: 0 0 auto; }
+.agent-task-list .task-desc { color: var(--dim); flex: 1; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
+.agent-task-list button.link-btn { font-size: 11px; padding: 2px 6px; }
diff --git a/web/vendor/three/addons/controls/OrbitControls.js b/web/vendor/three/addons/controls/OrbitControls.js
new file mode 100644
index 0000000..f29e7fe
--- /dev/null
+++ b/web/vendor/three/addons/controls/OrbitControls.js
@@ -0,0 +1,1417 @@
+import {
+	EventDispatcher,
+	MOUSE,
+	Quaternion,
+	Spherical,
+	TOUCH,
+	Vector2,
+	Vector3,
+	Plane,
+	Ray,
+	MathUtils
+} from 'three';
+
+// OrbitControls performs orbiting, dollying (zooming), and panning.
+// Unlike TrackballControls, it maintains the "up" direction object.up (+Y by default).
+//
+//    Orbit - left mouse / touch: one-finger move
+//    Zoom - middle mouse, or mousewheel / touch: two-finger spread or squish
+//    Pan - right mouse, or left mouse + ctrl/meta/shiftKey, or arrow keys / touch: two-finger move
+
+const _changeEvent = { type: 'change' };
+const _startEvent = { type: 'start' };
+const _endEvent = { type: 'end' };
+const _ray = new Ray();
+const _plane = new Plane();
+const TILT_LIMIT = Math.cos( 70 * MathUtils.DEG2RAD );
+
+class OrbitControls extends EventDispatcher {
+
+	constructor( object, domElement ) {
+
+		super();
+
+		this.object = object;
+		this.domElement = domElement;
+		this.domElement.style.touchAction = 'none'; // disable touch scroll
+
+		// Set to false to disable this control
+		this.enabled = true;
+
+		// "target" sets the location of focus, where the object orbits around
+		this.target = new Vector3();
+
+		// Sets the 3D cursor (similar to Blender), from which the maxTargetRadius takes effect
+		this.cursor = new Vector3();
+
+		// How far you can dolly in and out ( PerspectiveCamera only )
+		this.minDistance = 0;
+		this.maxDistance = Infinity;
+
+		// How far you can zoom in and out ( OrthographicCamera only )
+		this.minZoom = 0;
+		this.maxZoom = Infinity;
+
+		// Limit camera target within a spherical area around the cursor
+		this.minTargetRadius = 0;
+		this.maxTargetRadius = Infinity;
+
+		// How far you can orbit vertically, upper and lower limits.
+		// Range is 0 to Math.PI radians.
+		this.minPolarAngle = 0; // radians
+		this.maxPolarAngle = Math.PI; // radians
+
+		// How far you can orbit horizontally, upper and lower limits.
+		// If set, the interval [ min, max ] must be a sub-interval of [ - 2 PI, 2 PI ], with ( max - min < 2 PI )
+		this.minAzimuthAngle = - Infinity; // radians
+		this.maxAzimuthAngle = Infinity; // radians
+
+		// Set to true to enable damping (inertia)
+		// If damping is enabled, you must call controls.update() in your animation loop
+		this.enableDamping = false;
+		this.dampingFactor = 0.05;
+
+		// This option actually enables dollying in and out; left as "zoom" for backwards compatibility.
+		// Set to false to disable zooming
+		this.enableZoom = true;
+		this.zoomSpeed = 1.0;
+
+		// Set to false to disable rotating
+		this.enableRotate = true;
+		this.rotateSpeed = 1.0;
+
+		// Set to false to disable panning
+		this.enablePan = true;
+		this.panSpeed = 1.0;
+		this.screenSpacePanning = true; // if false, pan orthogonal to world-space direction camera.up
+		this.keyPanSpeed = 7.0;	// pixels moved per arrow key push
+		this.zoomToCursor = false;
+
+		// Set to true to automatically rotate around the target
+		// If auto-rotate is enabled, you must call controls.update() in your animation loop
+		this.autoRotate = false;
+		this.autoRotateSpeed = 2.0; // 30 seconds per orbit when fps is 60
+
+		// The four arrow keys
+		this.keys = { LEFT: 'ArrowLeft', UP: 'ArrowUp', RIGHT: 'ArrowRight', BOTTOM: 'ArrowDown' };
+
+		// Mouse buttons
+		this.mouseButtons = { LEFT: MOUSE.ROTATE, MIDDLE: MOUSE.DOLLY, RIGHT: MOUSE.PAN };
+
+		// Touch fingers
+		this.touches = { ONE: TOUCH.ROTATE, TWO: TOUCH.DOLLY_PAN };
+
+		// for reset
+		this.target0 = this.target.clone();
+		this.position0 = this.object.position.clone();
+		this.zoom0 = this.object.zoom;
+
+		// the target DOM element for key events
+		this._domElementKeyEvents = null;
+
+		//
+		// public methods
+		//
+
+		this.getPolarAngle = function () {
+
+			return spherical.phi;
+
+		};
+
+		this.getAzimuthalAngle = function () {
+
+			return spherical.theta;
+
+		};
+
+		this.getDistance = function () {
+
+			return this.object.position.distanceTo( this.target );
+
+		};
+
+		this.listenToKeyEvents = function ( domElement ) {
+
+			domElement.addEventListener( 'keydown', onKeyDown );
+			this._domElementKeyEvents = domElement;
+
+		};
+
+		this.stopListenToKeyEvents = function () {
+
+			this._domElementKeyEvents.removeEventListener( 'keydown', onKeyDown );
+			this._domElementKeyEvents = null;
+
+		};
+
+		this.saveState = function () {
+
+			scope.target0.copy( scope.target );
+			scope.position0.copy( scope.object.position );
+			scope.zoom0 = scope.object.zoom;
+
+		};
+
+		this.reset = function () {
+
+			scope.target.copy( scope.target0 );
+			scope.object.position.copy( scope.position0 );
+			scope.object.zoom = scope.zoom0;
+
+			scope.object.updateProjectionMatrix();
+			scope.dispatchEvent( _changeEvent );
+
+			scope.update();
+
+			state = STATE.NONE;
+
+		};
+
+		// this method is exposed, but perhaps it would be better if we can make it private...
+		this.update = function () {
+
+			const offset = new Vector3();
+
+			// so camera.up is the orbit axis
+			const quat = new Quaternion().setFromUnitVectors( object.up, new Vector3( 0, 1, 0 ) );
+			const quatInverse = quat.clone().invert();
+
+			const lastPosition = new Vector3();
+			const lastQuaternion = new Quaternion();
+			const lastTargetPosition = new Vector3();
+
+			const twoPI = 2 * Math.PI;
+
+			return function update( deltaTime = null ) {
+
+				const position = scope.object.position;
+
+				offset.copy( position ).sub( scope.target );
+
+				// rotate offset to "y-axis-is-up" space
+				offset.applyQuaternion( quat );
+
+				// angle from z-axis around y-axis
+				spherical.setFromVector3( offset );
+
+				if ( scope.autoRotate && state === STATE.NONE ) {
+
+					rotateLeft( getAutoRotationAngle( deltaTime ) );
+
+				}
+
+				if ( scope.enableDamping ) {
+
+					spherical.theta += sphericalDelta.theta * scope.dampingFactor;
+					spherical.phi += sphericalDelta.phi * scope.dampingFactor;
+
+				} else {
+
+					spherical.theta += sphericalDelta.theta;
+					spherical.phi += sphericalDelta.phi;
+
+				}
+
+				// restrict theta to be between desired limits
+
+				let min = scope.minAzimuthAngle;
+				let max = scope.maxAzimuthAngle;
+
+				if ( isFinite( min ) && isFinite( max ) ) {
+
+					if ( min < - Math.PI ) min += twoPI; else if ( min > Math.PI ) min -= twoPI;
+
+					if ( max < - Math.PI ) max += twoPI; else if ( max > Math.PI ) max -= twoPI;
+
+					if ( min <= max ) {
+
+						spherical.theta = Math.max( min, Math.min( max, spherical.theta ) );
+
+					} else {
+
+						spherical.theta = ( spherical.theta > ( min + max ) / 2 ) ?
+							Math.max( min, spherical.theta ) :
+							Math.min( max, spherical.theta );
+
+					}
+
+				}
+
+				// restrict phi to be between desired limits
+				spherical.phi = Math.max( scope.minPolarAngle, Math.min( scope.maxPolarAngle, spherical.phi ) );
+
+				spherical.makeSafe();
+
+
+				// move target to panned location
+
+				if ( scope.enableDamping === true ) {
+
+					scope.target.addScaledVector( panOffset, scope.dampingFactor );
+
+				} else {
+
+					scope.target.add( panOffset );
+
+				}
+
+				// Limit the target distance from the cursor to create a sphere around the center of interest
+				scope.target.sub( scope.cursor );
+				scope.target.clampLength( scope.minTargetRadius, scope.maxTargetRadius );
+				scope.target.add( scope.cursor );
+
+				// adjust the camera position based on zoom only if we're not zooming to the cursor or if it's an ortho camera
+				// we adjust zoom later in these cases
+				if ( scope.zoomToCursor && performCursorZoom || scope.object.isOrthographicCamera ) {
+
+					spherical.radius = clampDistance( spherical.radius );
+
+				} else {
+
+					spherical.radius = clampDistance( spherical.radius * scale );
+
+				}
+
+				offset.setFromSpherical( spherical );
+
+				// rotate offset back to "camera-up-vector-is-up" space
+				offset.applyQuaternion( quatInverse );
+
+				position.copy( scope.target ).add( offset );
+
+				scope.object.lookAt( scope.target );
+
+				if ( scope.enableDamping === true ) {
+
+					sphericalDelta.theta *= ( 1 - scope.dampingFactor );
+					sphericalDelta.phi *= ( 1 - scope.dampingFactor );
+
+					panOffset.multiplyScalar( 1 - scope.dampingFactor );
+
+				} else {
+
+					sphericalDelta.set( 0, 0, 0 );
+
+					panOffset.set( 0, 0, 0 );
+
+				}
+
+				// adjust camera position
+				let zoomChanged = false;
+				if ( scope.zoomToCursor && performCursorZoom ) {
+
+					let newRadius = null;
+					if ( scope.object.isPerspectiveCamera ) {
+
+						// move the camera down the pointer ray
+						// this method avoids floating point error
+						const prevRadius = offset.length();
+						newRadius = clampDistance( prevRadius * scale );
+
+						const radiusDelta = prevRadius - newRadius;
+						scope.object.position.addScaledVector( dollyDirection, radiusDelta );
+						scope.object.updateMatrixWorld();
+
+					} else if ( scope.object.isOrthographicCamera ) {
+
+						// adjust the ortho camera position based on zoom changes
+						const mouseBefore = new Vector3( mouse.x, mouse.y, 0 );
+						mouseBefore.unproject( scope.object );
+
+						scope.object.zoom = Math.max( scope.minZoom, Math.min( scope.maxZoom, scope.object.zoom / scale ) );
+						scope.object.updateProjectionMatrix();
+						zoomChanged = true;
+
+						const mouseAfter = new Vector3( mouse.x, mouse.y, 0 );
+						mouseAfter.unproject( scope.object );
+
+						scope.object.position.sub( mouseAfter ).add( mouseBefore );
+						scope.object.updateMatrixWorld();
+
+						newRadius = offset.length();
+
+					} else {
+
+						console.warn( 'WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled.' );
+						scope.zoomToCursor = false;
+
+					}
+
+					// handle the placement of the target
+					if ( newRadius !== null ) {
+
+						if ( this.screenSpacePanning ) {
+
+							// position the orbit target in front of the new camera position
+							scope.target.set( 0, 0, - 1 )
+								.transformDirection( scope.object.matrix )
+								.multiplyScalar( newRadius )
+								.add( scope.object.position );
+
+						} else {
+
+							// get the ray and translation plane to compute target
+							_ray.origin.copy( scope.object.position );
+							_ray.direction.set( 0, 0, - 1 ).transformDirection( scope.object.matrix );
+
+							// if the camera is 20 degrees above the horizon then don't adjust the focus target to avoid
+							// extremely large values
+							if ( Math.abs( scope.object.up.dot( _ray.direction ) ) < TILT_LIMIT ) {
+
+								object.lookAt( scope.target );
+
+							} else {
+
+								_plane.setFromNormalAndCoplanarPoint( scope.object.up, scope.target );
+								_ray.intersectPlane( _plane, scope.target );
+
+							}
+
+						}
+
+					}
+
+				} else if ( scope.object.isOrthographicCamera ) {
+
+					scope.object.zoom = Math.max( scope.minZoom, Math.min( scope.maxZoom, scope.object.zoom / scale ) );
+					scope.object.updateProjectionMatrix();
+					zoomChanged = true;
+
+				}
+
+				scale = 1;
+				performCursorZoom = false;
+
+				// update condition is:
+				// min(camera displacement, camera rotation in radians)^2 > EPS
+				// using small-angle approximation cos(x/2) = 1 - x^2 / 8
+
+				if ( zoomChanged ||
+					lastPosition.distanceToSquared( scope.object.position ) > EPS ||
+					8 * ( 1 - lastQuaternion.dot( scope.object.quaternion ) ) > EPS ||
+					lastTargetPosition.distanceToSquared( scope.target ) > 0 ) {
+
+					scope.dispatchEvent( _changeEvent );
+
+					lastPosition.copy( scope.object.position );
+					lastQuaternion.copy( scope.object.quaternion );
+					lastTargetPosition.copy( scope.target );
+
+					return true;
+
+				}
+
+				return false;
+
+			};
+
+		}();
+
+		this.dispose = function () {
+
+			scope.domElement.removeEventListener( 'contextmenu', onContextMenu );
+
+			scope.domElement.removeEventListener( 'pointerdown', onPointerDown );
+			scope.domElement.removeEventListener( 'pointercancel', onPointerUp );
+			scope.domElement.removeEventListener( 'wheel', onMouseWheel );
+
+			scope.domElement.removeEventListener( 'pointermove', onPointerMove );
+			scope.domElement.removeEventListener( 'pointerup', onPointerUp );
+
+
+			if ( scope._domElementKeyEvents !== null ) {
+
+				scope._domElementKeyEvents.removeEventListener( 'keydown', onKeyDown );
+				scope._domElementKeyEvents = null;
+
+			}
+
+			//scope.dispatchEvent( { type: 'dispose' } ); // should this be added here?
+
+		};
+
+		//
+		// internals
+		//
+
+		const scope = this;
+
+		const STATE = {
+			NONE: - 1,
+			ROTATE: 0,
+			DOLLY: 1,
+			PAN: 2,
+			TOUCH_ROTATE: 3,
+			TOUCH_PAN: 4,
+			TOUCH_DOLLY_PAN: 5,
+			TOUCH_DOLLY_ROTATE: 6
+		};
+
+		let state = STATE.NONE;
+
+		const EPS = 0.000001;
+
+		// current position in spherical coordinates
+		const spherical = new Spherical();
+		const sphericalDelta = new Spherical();
+
+		let scale = 1;
+		const panOffset = new Vector3();
+
+		const rotateStart = new Vector2();
+		const rotateEnd = new Vector2();
+		const rotateDelta = new Vector2();
+
+		const panStart = new Vector2();
+		const panEnd = new Vector2();
+		const panDelta = new Vector2();
+
+		const dollyStart = new Vector2();
+		const dollyEnd = new Vector2();
+		const dollyDelta = new Vector2();
+
+		const dollyDirection = new Vector3();
+		const mouse = new Vector2();
+		let performCursorZoom = false;
+
+		const pointers = [];
+		const pointerPositions = {};
+
+		function getAutoRotationAngle( deltaTime ) {
+
+			if ( deltaTime !== null ) {
+
+				return ( 2 * Math.PI / 60 * scope.autoRotateSpeed ) * deltaTime;
+
+			} else {
+
+				return 2 * Math.PI / 60 / 60 * scope.autoRotateSpeed;
+
+			}
+
+		}
+
+		function getZoomScale( delta ) {
+
+			const normalized_delta = Math.abs( delta ) / ( 100 * ( window.devicePixelRatio | 0 ) );
+			return Math.pow( 0.95, scope.zoomSpeed * normalized_delta );
+
+		}
+
+		function rotateLeft( angle ) {
+
+			sphericalDelta.theta -= angle;
+
+		}
+
+		function rotateUp( angle ) {
+
+			sphericalDelta.phi -= angle;
+
+		}
+
+		const panLeft = function () {
+
+			const v = new Vector3();
+
+			return function panLeft( distance, objectMatrix ) {
+
+				v.setFromMatrixColumn( objectMatrix, 0 ); // get X column of objectMatrix
+				v.multiplyScalar( - distance );
+
+				panOffset.add( v );
+
+			};
+
+		}();
+
+		const panUp = function () {
+
+			const v = new Vector3();
+
+			return function panUp( distance, objectMatrix ) {
+
+				if ( scope.screenSpacePanning === true ) {
+
+					v.setFromMatrixColumn( objectMatrix, 1 );
+
+				} else {
+
+					v.setFromMatrixColumn( objectMatrix, 0 );
+					v.crossVectors( scope.object.up, v );
+
+				}
+
+				v.multiplyScalar( distance );
+
+				panOffset.add( v );
+
+			};
+
+		}();
+
+		// deltaX and deltaY are in pixels; right and down are positive
+		const pan = function () {
+
+			const offset = new Vector3();
+
+			return function pan( deltaX, deltaY ) {
+
+				const element = scope.domElement;
+
+				if ( scope.object.isPerspectiveCamera ) {
+
+					// perspective
+					const position = scope.object.position;
+					offset.copy( position ).sub( scope.target );
+					let targetDistance = offset.length();
+
+					// half of the fov is center to top of screen
+					targetDistance *= Math.tan( ( scope.object.fov / 2 ) * Math.PI / 180.0 );
+
+					// we use only clientHeight here so aspect ratio does not distort speed
+					panLeft( 2 * deltaX * targetDistance / element.clientHeight, scope.object.matrix );
+					panUp( 2 * deltaY * targetDistance / element.clientHeight, scope.object.matrix );
+
+				} else if ( scope.object.isOrthographicCamera ) {
+
+					// orthographic
+					panLeft( deltaX * ( scope.object.right - scope.object.left ) / scope.object.zoom / element.clientWidth, scope.object.matrix );
+					panUp( deltaY * ( scope.object.top - scope.object.bottom ) / scope.object.zoom / element.clientHeight, scope.object.matrix );
+
+				} else {
+
+					// camera neither orthographic nor perspective
+					console.warn( 'WARNING: OrbitControls.js encountered an unknown camera type - pan disabled.' );
+					scope.enablePan = false;
+
+				}
+
+			};
+
+		}();
+
+		function dollyOut( dollyScale ) {
+
+			if ( scope.object.isPerspectiveCamera || scope.object.isOrthographicCamera ) {
+
+				scale /= dollyScale;
+
+			} else {
+
+				console.warn( 'WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.' );
+				scope.enableZoom = false;
+
+			}
+
+		}
+
+		function dollyIn( dollyScale ) {
+
+			if ( scope.object.isPerspectiveCamera || scope.object.isOrthographicCamera ) {
+
+				scale *= dollyScale;
+
+			} else {
+
+				console.warn( 'WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.' );
+				scope.enableZoom = false;
+
+			}
+
+		}
+
+		function updateZoomParameters( x, y ) {
+
+			if ( ! scope.zoomToCursor ) {
+
+				return;
+
+			}
+
+			performCursorZoom = true;
+
+			const rect = scope.domElement.getBoundingClientRect();
+			const dx = x - rect.left;
+			const dy = y - rect.top;
+			const w = rect.width;
+			const h = rect.height;
+
+			mouse.x = ( dx / w ) * 2 - 1;
+			mouse.y = - ( dy / h ) * 2 + 1;
+
+			dollyDirection.set( mouse.x, mouse.y, 1 ).unproject( scope.object ).sub( scope.object.position ).normalize();
+
+		}
+
+		function clampDistance( dist ) {
+
+			return Math.max( scope.minDistance, Math.min( scope.maxDistance, dist ) );
+
+		}
+
+		//
+		// event callbacks - update the object state
+		//
+
+		function handleMouseDownRotate( event ) {
+
+			rotateStart.set( event.clientX, event.clientY );
+
+		}
+
+		function handleMouseDownDolly( event ) {
+
+			updateZoomParameters( event.clientX, event.clientX );
+			dollyStart.set( event.clientX, event.clientY );
+
+		}
+
+		function handleMouseDownPan( event ) {
+
+			panStart.set( event.clientX, event.clientY );
+
+		}
+
+		function handleMouseMoveRotate( event ) {
+
+			rotateEnd.set( event.clientX, event.clientY );
+
+			rotateDelta.subVectors( rotateEnd, rotateStart ).multiplyScalar( scope.rotateSpeed );
+
+			const element = scope.domElement;
+
+			rotateLeft( 2 * Math.PI * rotateDelta.x / element.clientHeight ); // yes, height
+
+			rotateUp( 2 * Math.PI * rotateDelta.y / element.clientHeight );
+
+			rotateStart.copy( rotateEnd );
+
+			scope.update();
+
+		}
+
+		function handleMouseMoveDolly( event ) {
+
+			dollyEnd.set( event.clientX, event.clientY );
+
+			dollyDelta.subVectors( dollyEnd, dollyStart );
+
+			if ( dollyDelta.y > 0 ) {
+
+				dollyOut( getZoomScale( dollyDelta.y ) );
+
+			} else if ( dollyDelta.y < 0 ) {
+
+				dollyIn( getZoomScale( dollyDelta.y ) );
+
+			}
+
+			dollyStart.copy( dollyEnd );
+
+			scope.update();
+
+		}
+
+		function handleMouseMovePan( event ) {
+
+			panEnd.set( event.clientX, event.clientY );
+
+			panDelta.subVectors( panEnd, panStart ).multiplyScalar( scope.panSpeed );
+
+			pan( panDelta.x, panDelta.y );
+
+			panStart.copy( panEnd );
+
+			scope.update();
+
+		}
+
+		function handleMouseWheel( event ) {
+
+			updateZoomParameters( event.clientX, event.clientY );
+
+			if ( event.deltaY < 0 ) {
+
+				dollyIn( getZoomScale( event.deltaY ) );
+
+			} else if ( event.deltaY > 0 ) {
+
+				dollyOut( getZoomScale( event.deltaY ) );
+
+			}
+
+			scope.update();
+
+		}
+
+		function handleKeyDown( event ) {
+
+			let needsUpdate = false;
+
+			switch ( event.code ) {
+
+				case scope.keys.UP:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						rotateUp( 2 * Math.PI * scope.rotateSpeed / scope.domElement.clientHeight );
+
+					} else {
+
+						pan( 0, scope.keyPanSpeed );
+
+					}
+
+					needsUpdate = true;
+					break;
+
+				case scope.keys.BOTTOM:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						rotateUp( - 2 * Math.PI * scope.rotateSpeed / scope.domElement.clientHeight );
+
+					} else {
+
+						pan( 0, - scope.keyPanSpeed );
+
+					}
+
+					needsUpdate = true;
+					break;
+
+				case scope.keys.LEFT:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						rotateLeft( 2 * Math.PI * scope.rotateSpeed / scope.domElement.clientHeight );
+
+					} else {
+
+						pan( scope.keyPanSpeed, 0 );
+
+					}
+
+					needsUpdate = true;
+					break;
+
+				case scope.keys.RIGHT:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						rotateLeft( - 2 * Math.PI * scope.rotateSpeed / scope.domElement.clientHeight );
+
+					} else {
+
+						pan( - scope.keyPanSpeed, 0 );
+
+					}
+
+					needsUpdate = true;
+					break;
+
+			}
+
+			if ( needsUpdate ) {
+
+				// prevent the browser from scrolling on cursor keys
+				event.preventDefault();
+
+				scope.update();
+
+			}
+
+
+		}
+
+		function handleTouchStartRotate( event ) {
+
+			if ( pointers.length === 1 ) {
+
+				rotateStart.set( event.pageX, event.pageY );
+
+			} else {
+
+				const position = getSecondPointerPosition( event );
+
+				const x = 0.5 * ( event.pageX + position.x );
+				const y = 0.5 * ( event.pageY + position.y );
+
+				rotateStart.set( x, y );
+
+			}
+
+		}
+
+		function handleTouchStartPan( event ) {
+
+			if ( pointers.length === 1 ) {
+
+				panStart.set( event.pageX, event.pageY );
+
+			} else {
+
+				const position = getSecondPointerPosition( event );
+
+				const x = 0.5 * ( event.pageX + position.x );
+				const y = 0.5 * ( event.pageY + position.y );
+
+				panStart.set( x, y );
+
+			}
+
+		}
+
+		function handleTouchStartDolly( event ) {
+
+			const position = getSecondPointerPosition( event );
+
+			const dx = event.pageX - position.x;
+			const dy = event.pageY - position.y;
+
+			const distance = Math.sqrt( dx * dx + dy * dy );
+
+			dollyStart.set( 0, distance );
+
+		}
+
+		function handleTouchStartDollyPan( event ) {
+
+			if ( scope.enableZoom ) handleTouchStartDolly( event );
+
+			if ( scope.enablePan ) handleTouchStartPan( event );
+
+		}
+
+		function handleTouchStartDollyRotate( event ) {
+
+			if ( scope.enableZoom ) handleTouchStartDolly( event );
+
+			if ( scope.enableRotate ) handleTouchStartRotate( event );
+
+		}
+
+		function handleTouchMoveRotate( event ) {
+
+			if ( pointers.length == 1 ) {
+
+				rotateEnd.set( event.pageX, event.pageY );
+
+			} else {
+
+				const position = getSecondPointerPosition( event );
+
+				const x = 0.5 * ( event.pageX + position.x );
+				const y = 0.5 * ( event.pageY + position.y );
+
+				rotateEnd.set( x, y );
+
+			}
+
+			rotateDelta.subVectors( rotateEnd, rotateStart ).multiplyScalar( scope.rotateSpeed );
+
+			const element = scope.domElement;
+
+			rotateLeft( 2 * Math.PI * rotateDelta.x / element.clientHeight ); // yes, height
+
+			rotateUp( 2 * Math.PI * rotateDelta.y / element.clientHeight );
+
+			rotateStart.copy( rotateEnd );
+
+		}
+
+		function handleTouchMovePan( event ) {
+
+			if ( pointers.length === 1 ) {
+
+				panEnd.set( event.pageX, event.pageY );
+
+			} else {
+
+				const position = getSecondPointerPosition( event );
+
+				const x = 0.5 * ( event.pageX + position.x );
+				const y = 0.5 * ( event.pageY + position.y );
+
+				panEnd.set( x, y );
+
+			}
+
+			panDelta.subVectors( panEnd, panStart ).multiplyScalar( scope.panSpeed );
+
+			pan( panDelta.x, panDelta.y );
+
+			panStart.copy( panEnd );
+
+		}
+
+		function handleTouchMoveDolly( event ) {
+
+			const position = getSecondPointerPosition( event );
+
+			const dx = event.pageX - position.x;
+			const dy = event.pageY - position.y;
+
+			const distance = Math.sqrt( dx * dx + dy * dy );
+
+			dollyEnd.set( 0, distance );
+
+			dollyDelta.set( 0, Math.pow( dollyEnd.y / dollyStart.y, scope.zoomSpeed ) );
+
+			dollyOut( dollyDelta.y );
+
+			dollyStart.copy( dollyEnd );
+
+			const centerX = ( event.pageX + position.x ) * 0.5;
+			const centerY = ( event.pageY + position.y ) * 0.5;
+
+			updateZoomParameters( centerX, centerY );
+
+		}
+
+		function handleTouchMoveDollyPan( event ) {
+
+			if ( scope.enableZoom ) handleTouchMoveDolly( event );
+
+			if ( scope.enablePan ) handleTouchMovePan( event );
+
+		}
+
+		function handleTouchMoveDollyRotate( event ) {
+
+			if ( scope.enableZoom ) handleTouchMoveDolly( event );
+
+			if ( scope.enableRotate ) handleTouchMoveRotate( event );
+
+		}
+
+		//
+		// event handlers - FSM: listen for events and reset state
+		//
+
+		function onPointerDown( event ) {
+
+			if ( scope.enabled === false ) return;
+
+			if ( pointers.length === 0 ) {
+
+				scope.domElement.setPointerCapture( event.pointerId );
+
+				scope.domElement.addEventListener( 'pointermove', onPointerMove );
+				scope.domElement.addEventListener( 'pointerup', onPointerUp );
+
+			}
+
+			//
+
+			addPointer( event );
+
+			if ( event.pointerType === 'touch' ) {
+
+				onTouchStart( event );
+
+			} else {
+
+				onMouseDown( event );
+
+			}
+
+		}
+
+		function onPointerMove( event ) {
+
+			if ( scope.enabled === false ) return;
+
+			if ( event.pointerType === 'touch' ) {
+
+				onTouchMove( event );
+
+			} else {
+
+				onMouseMove( event );
+
+			}
+
+		}
+
+		function onPointerUp( event ) {
+
+			removePointer( event );
+
+			if ( pointers.length === 0 ) {
+
+				scope.domElement.releasePointerCapture( event.pointerId );
+
+				scope.domElement.removeEventListener( 'pointermove', onPointerMove );
+				scope.domElement.removeEventListener( 'pointerup', onPointerUp );
+
+			}
+
+			scope.dispatchEvent( _endEvent );
+
+			state = STATE.NONE;
+
+		}
+
+		function onMouseDown( event ) {
+
+			let mouseAction;
+
+			switch ( event.button ) {
+
+				case 0:
+
+					mouseAction = scope.mouseButtons.LEFT;
+					break;
+
+				case 1:
+
+					mouseAction = scope.mouseButtons.MIDDLE;
+					break;
+
+				case 2:
+
+					mouseAction = scope.mouseButtons.RIGHT;
+					break;
+
+				default:
+
+					mouseAction = - 1;
+
+			}
+
+			switch ( mouseAction ) {
+
+				case MOUSE.DOLLY:
+
+					if ( scope.enableZoom === false ) return;
+
+					handleMouseDownDolly( event );
+
+					state = STATE.DOLLY;
+
+					break;
+
+				case MOUSE.ROTATE:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						if ( scope.enablePan === false ) return;
+
+						handleMouseDownPan( event );
+
+						state = STATE.PAN;
+
+					} else {
+
+						if ( scope.enableRotate === false ) return;
+
+						handleMouseDownRotate( event );
+
+						state = STATE.ROTATE;
+
+					}
+
+					break;
+
+				case MOUSE.PAN:
+
+					if ( event.ctrlKey || event.metaKey || event.shiftKey ) {
+
+						if ( scope.enableRotate === false ) return;
+
+						handleMouseDownRotate( event );
+
+						state = STATE.ROTATE;
+
+					} else {
+
+						if ( scope.enablePan === false ) return;
+
+						handleMouseDownPan( event );
+
+						state = STATE.PAN;
+
+					}
+
+					break;
+
+				default:
+
+					state = STATE.NONE;
+
+			}
+
+			if ( state !== STATE.NONE ) {
+
+				scope.dispatchEvent( _startEvent );
+
+			}
+
+		}
+
+		function onMouseMove( event ) {
+
+			switch ( state ) {
+
+				case STATE.ROTATE:
+
+					if ( scope.enableRotate === false ) return;
+
+					handleMouseMoveRotate( event );
+
+					break;
+
+				case STATE.DOLLY:
+
+					if ( scope.enableZoom === false ) return;
+
+					handleMouseMoveDolly( event );
+
+					break;
+
+				case STATE.PAN:
+
+					if ( scope.enablePan === false ) return;
+
+					handleMouseMovePan( event );
+
+					break;
+
+			}
+
+		}
+
+		function onMouseWheel( event ) {
+
+			if ( scope.enabled === false || scope.enableZoom === false || state !== STATE.NONE ) return;
+
+			event.preventDefault();
+
+			scope.dispatchEvent( _startEvent );
+
+			handleMouseWheel( event );
+
+			scope.dispatchEvent( _endEvent );
+
+		}
+
+		function onKeyDown( event ) {
+
+			if ( scope.enabled === false || scope.enablePan === false ) return;
+
+			handleKeyDown( event );
+
+		}
+
+		function onTouchStart( event ) {
+
+			trackPointer( event );
+
+			switch ( pointers.length ) {
+
+				case 1:
+
+					switch ( scope.touches.ONE ) {
+
+						case TOUCH.ROTATE:
+
+							if ( scope.enableRotate === false ) return;
+
+							handleTouchStartRotate( event );
+
+							state = STATE.TOUCH_ROTATE;
+
+							break;
+
+						case TOUCH.PAN:
+
+							if ( scope.enablePan === false ) return;
+
+							handleTouchStartPan( event );
+
+							state = STATE.TOUCH_PAN;
+
+							break;
+
+						default:
+
+							state = STATE.NONE;
+
+					}
+
+					break;
+
+				case 2:
+
+					switch ( scope.touches.TWO ) {
+
+						case TOUCH.DOLLY_PAN:
+
+							if ( scope.enableZoom === false && scope.enablePan === false ) return;
+
+							handleTouchStartDollyPan( event );
+
+							state = STATE.TOUCH_DOLLY_PAN;
+
+							break;
+
+						case TOUCH.DOLLY_ROTATE:
+
+							if ( scope.enableZoom === false && scope.enableRotate === false ) return;
+
+							handleTouchStartDollyRotate( event );
+
+							state = STATE.TOUCH_DOLLY_ROTATE;
+
+							break;
+
+						default:
+
+							state = STATE.NONE;
+
+					}
+
+					break;
+
+				default:
+
+					state = STATE.NONE;
+
+			}
+
+			if ( state !== STATE.NONE ) {
+
+				scope.dispatchEvent( _startEvent );
+
+			}
+
+		}
+
+		function onTouchMove( event ) {
+
+			trackPointer( event );
+
+			switch ( state ) {
+
+				case STATE.TOUCH_ROTATE:
+
+					if ( scope.enableRotate === false ) return;
+
+					handleTouchMoveRotate( event );
+
+					scope.update();
+
+					break;
+
+				case STATE.TOUCH_PAN:
+
+					if ( scope.enablePan === false ) return;
+
+					handleTouchMovePan( event );
+
+					scope.update();
+
+					break;
+
+				case STATE.TOUCH_DOLLY_PAN:
+
+					if ( scope.enableZoom === false && scope.enablePan === false ) return;
+
+					handleTouchMoveDollyPan( event );
+
+					scope.update();
+
+					break;
+
+				case STATE.TOUCH_DOLLY_ROTATE:
+
+					if ( scope.enableZoom === false && scope.enableRotate === false ) return;
+
+					handleTouchMoveDollyRotate( event );
+
+					scope.update();
+
+					break;
+
+				default:
+
+					state = STATE.NONE;
+
+			}
+
+		}
+
+		function onContextMenu( event ) {
+
+			if ( scope.enabled === false ) return;
+
+			event.preventDefault();
+
+		}
+
+		function addPointer( event ) {
+
+			pointers.push( event.pointerId );
+
+		}
+
+		function removePointer( event ) {
+
+			delete pointerPositions[ event.pointerId ];
+
+			for ( let i = 0; i < pointers.length; i ++ ) {
+
+				if ( pointers[ i ] == event.pointerId ) {
+
+					pointers.splice( i, 1 );
+					return;
+
+				}
+
+			}
+
+		}
+
+		function trackPointer( event ) {
+
+			let position = pointerPositions[ event.pointerId ];
+
+			if ( position === undefined ) {
+
+				position = new Vector2();
+				pointerPositions[ event.pointerId ] = position;
+
+			}
+
+			position.set( event.pageX, event.pageY );
+
+		}
+
+		function getSecondPointerPosition( event ) {
+
+			const pointerId = ( event.pointerId === pointers[ 0 ] ) ? pointers[ 1 ] : pointers[ 0 ];
+
+			return pointerPositions[ pointerId ];
+
+		}
+
+		//
+
+		scope.domElement.addEventListener( 'contextmenu', onContextMenu );
+
+		scope.domElement.addEventListener( 'pointerdown', onPointerDown );
+		scope.domElement.addEventListener( 'pointercancel', onPointerUp );
+		scope.domElement.addEventListener( 'wheel', onMouseWheel, { passive: false } );
+
+		// force an update at start
+
+		this.update();
+
+	}
+
+}
+
+export { OrbitControls };
diff --git a/web/vendor/three/addons/loaders/STLLoader.js b/web/vendor/three/addons/loaders/STLLoader.js
new file mode 100644
index 0000000..75d4f84
--- /dev/null
+++ b/web/vendor/three/addons/loaders/STLLoader.js
@@ -0,0 +1,410 @@
+import {
+	BufferAttribute,
+	BufferGeometry,
+	Color,
+	FileLoader,
+	Float32BufferAttribute,
+	Loader,
+	Vector3
+} from 'three';
+
+/**
+ * Description: A THREE loader for STL ASCII files, as created by Solidworks and other CAD programs.
+ *
+ * Supports both binary and ASCII encoded files, with automatic detection of type.
+ *
+ * The loader returns a non-indexed buffer geometry.
+ *
+ * Limitations:
+ *  Binary decoding supports "Magics" color format (http://en.wikipedia.org/wiki/STL_(file_format)#Color_in_binary_STL).
+ *  There is perhaps some question as to how valid it is to always assume little-endian-ness.
+ *  ASCII decoding assumes file is UTF-8.
+ *
+ * Usage:
+ *  const loader = new STLLoader();
+ *  loader.load( './models/stl/slotted_disk.stl', function ( geometry ) {
+ *    scene.add( new THREE.Mesh( geometry ) );
+ *  });
+ *
+ * For binary STLs geometry might contain colors for vertices. To use it:
+ *  // use the same code to load STL as above
+ *  if (geometry.hasColors) {
+ *    material = new THREE.MeshPhongMaterial({ opacity: geometry.alpha, vertexColors: true });
+ *  } else { .... }
+ *  const mesh = new THREE.Mesh( geometry, material );
+ *
+ * For ASCII STLs containing multiple solids, each solid is assigned to a different group.
+ * Groups can be used to assign a different color by defining an array of materials with the same length of
+ * geometry.groups and passing it to the Mesh constructor:
+ *
+ * const mesh = new THREE.Mesh( geometry, material );
+ *
+ * For example:
+ *
+ *  const materials = [];
+ *  const nGeometryGroups = geometry.groups.length;
+ *
+ *  const colorMap = ...; // Some logic to index colors.
+ *
+ *  for (let i = 0; i < nGeometryGroups; i++) {
+ *
+ *		const material = new THREE.MeshPhongMaterial({
+ *			color: colorMap[i],
+ *			wireframe: false
+ *		});
+ *
+ *  }
+ *
+ *  materials.push(material);
+ *  const mesh = new THREE.Mesh(geometry, materials);
+ */
+
+
+class STLLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+
+		loader.load( url, function ( text ) {
+
+			try {
+
+				onLoad( scope.parse( text ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	parse( data ) {
+
+		function isBinary( data ) {
+
+			const reader = new DataView( data );
+			const face_size = ( 32 / 8 * 3 ) + ( ( 32 / 8 * 3 ) * 3 ) + ( 16 / 8 );
+			const n_faces = reader.getUint32( 80, true );
+			const expect = 80 + ( 32 / 8 ) + ( n_faces * face_size );
+
+			if ( expect === reader.byteLength ) {
+
+				return true;
+
+			}
+
+			// An ASCII STL data must begin with 'solid ' as the first six bytes.
+			// However, ASCII STLs lacking the SPACE after the 'd' are known to be
+			// plentiful.  So, check the first 5 bytes for 'solid'.
+
+			// Several encodings, such as UTF-8, precede the text with up to 5 bytes:
+			// https://en.wikipedia.org/wiki/Byte_order_mark#Byte_order_marks_by_encoding
+			// Search for "solid" to start anywhere after those prefixes.
+
+			// US-ASCII ordinal values for 's', 'o', 'l', 'i', 'd'
+
+			const solid = [ 115, 111, 108, 105, 100 ];
+
+			for ( let off = 0; off < 5; off ++ ) {
+
+				// If "solid" text is matched to the current offset, declare it to be an ASCII STL.
+
+				if ( matchDataViewAt( solid, reader, off ) ) return false;
+
+			}
+
+			// Couldn't find "solid" text at the beginning; it is binary STL.
+
+			return true;
+
+		}
+
+		function matchDataViewAt( query, reader, offset ) {
+
+			// Check if each byte in query matches the corresponding byte from the current offset
+
+			for ( let i = 0, il = query.length; i < il; i ++ ) {
+
+				if ( query[ i ] !== reader.getUint8( offset + i ) ) return false;
+
+			}
+
+			return true;
+
+		}
+
+		function parseBinary( data ) {
+
+			const reader = new DataView( data );
+			const faces = reader.getUint32( 80, true );
+
+			let r, g, b, hasColors = false, colors;
+			let defaultR, defaultG, defaultB, alpha;
+
+			// process STL header
+			// check for default color in header ("COLOR=rgba" sequence).
+
+			for ( let index = 0; index < 80 - 10; index ++ ) {
+
+				if ( ( reader.getUint32( index, false ) == 0x434F4C4F /*COLO*/ ) &&
+					( reader.getUint8( index + 4 ) == 0x52 /*'R'*/ ) &&
+					( reader.getUint8( index + 5 ) == 0x3D /*'='*/ ) ) {
+
+					hasColors = true;
+					colors = new Float32Array( faces * 3 * 3 );
+
+					defaultR = reader.getUint8( index + 6 ) / 255;
+					defaultG = reader.getUint8( index + 7 ) / 255;
+					defaultB = reader.getUint8( index + 8 ) / 255;
+					alpha = reader.getUint8( index + 9 ) / 255;
+
+				}
+
+			}
+
+			const dataOffset = 84;
+			const faceLength = 12 * 4 + 2;
+
+			const geometry = new BufferGeometry();
+
+			const vertices = new Float32Array( faces * 3 * 3 );
+			const normals = new Float32Array( faces * 3 * 3 );
+
+			const color = new Color();
+
+			for ( let face = 0; face < faces; face ++ ) {
+
+				const start = dataOffset + face * faceLength;
+				const normalX = reader.getFloat32( start, true );
+				const normalY = reader.getFloat32( start + 4, true );
+				const normalZ = reader.getFloat32( start + 8, true );
+
+				if ( hasColors ) {
+
+					const packedColor = reader.getUint16( start + 48, true );
+
+					if ( ( packedColor & 0x8000 ) === 0 ) {
+
+						// facet has its own unique color
+
+						r = ( packedColor & 0x1F ) / 31;
+						g = ( ( packedColor >> 5 ) & 0x1F ) / 31;
+						b = ( ( packedColor >> 10 ) & 0x1F ) / 31;
+
+					} else {
+
+						r = defaultR;
+						g = defaultG;
+						b = defaultB;
+
+					}
+
+				}
+
+				for ( let i = 1; i <= 3; i ++ ) {
+
+					const vertexstart = start + i * 12;
+					const componentIdx = ( face * 3 * 3 ) + ( ( i - 1 ) * 3 );
+
+					vertices[ componentIdx ] = reader.getFloat32( vertexstart, true );
+					vertices[ componentIdx + 1 ] = reader.getFloat32( vertexstart + 4, true );
+					vertices[ componentIdx + 2 ] = reader.getFloat32( vertexstart + 8, true );
+
+					normals[ componentIdx ] = normalX;
+					normals[ componentIdx + 1 ] = normalY;
+					normals[ componentIdx + 2 ] = normalZ;
+
+					if ( hasColors ) {
+
+						color.set( r, g, b ).convertSRGBToLinear();
+
+						colors[ componentIdx ] = color.r;
+						colors[ componentIdx + 1 ] = color.g;
+						colors[ componentIdx + 2 ] = color.b;
+
+					}
+
+				}
+
+			}
+
+			geometry.setAttribute( 'position', new BufferAttribute( vertices, 3 ) );
+			geometry.setAttribute( 'normal', new BufferAttribute( normals, 3 ) );
+
+			if ( hasColors ) {
+
+				geometry.setAttribute( 'color', new BufferAttribute( colors, 3 ) );
+				geometry.hasColors = true;
+				geometry.alpha = alpha;
+
+			}
+
+			return geometry;
+
+		}
+
+		function parseASCII( data ) {
+
+			const geometry = new BufferGeometry();
+			const patternSolid = /solid([\s\S]*?)endsolid/g;
+			const patternFace = /facet([\s\S]*?)endfacet/g;
+			const patternName = /solid\s(.+)/;
+			let faceCounter = 0;
+
+			const patternFloat = /[\s]+([+-]?(?:\d*)(?:\.\d*)?(?:[eE][+-]?\d+)?)/.source;
+			const patternVertex = new RegExp( 'vertex' + patternFloat + patternFloat + patternFloat, 'g' );
+			const patternNormal = new RegExp( 'normal' + patternFloat + patternFloat + patternFloat, 'g' );
+
+			const vertices = [];
+			const normals = [];
+			const groupNames = [];
+
+			const normal = new Vector3();
+
+			let result;
+
+			let groupCount = 0;
+			let startVertex = 0;
+			let endVertex = 0;
+
+			while ( ( result = patternSolid.exec( data ) ) !== null ) {
+
+				startVertex = endVertex;
+
+				const solid = result[ 0 ];
+
+				const name = ( result = patternName.exec( solid ) ) !== null ? result[ 1 ] : '';
+				groupNames.push( name );
+
+				while ( ( result = patternFace.exec( solid ) ) !== null ) {
+
+					let vertexCountPerFace = 0;
+					let normalCountPerFace = 0;
+
+					const text = result[ 0 ];
+
+					while ( ( result = patternNormal.exec( text ) ) !== null ) {
+
+						normal.x = parseFloat( result[ 1 ] );
+						normal.y = parseFloat( result[ 2 ] );
+						normal.z = parseFloat( result[ 3 ] );
+						normalCountPerFace ++;
+
+					}
+
+					while ( ( result = patternVertex.exec( text ) ) !== null ) {
+
+						vertices.push( parseFloat( result[ 1 ] ), parseFloat( result[ 2 ] ), parseFloat( result[ 3 ] ) );
+						normals.push( normal.x, normal.y, normal.z );
+						vertexCountPerFace ++;
+						endVertex ++;
+
+					}
+
+					// every face have to own ONE valid normal
+
+					if ( normalCountPerFace !== 1 ) {
+
+						console.error( 'THREE.STLLoader: Something isn\'t right with the normal of face number ' + faceCounter );
+
+					}
+
+					// each face have to own THREE valid vertices
+
+					if ( vertexCountPerFace !== 3 ) {
+
+						console.error( 'THREE.STLLoader: Something isn\'t right with the vertices of face number ' + faceCounter );
+
+					}
+
+					faceCounter ++;
+
+				}
+
+				const start = startVertex;
+				const count = endVertex - startVertex;
+
+				geometry.userData.groupNames = groupNames;
+
+				geometry.addGroup( start, count, groupCount );
+				groupCount ++;
+
+			}
+
+			geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+			geometry.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+
+			return geometry;
+
+		}
+
+		function ensureString( buffer ) {
+
+			if ( typeof buffer !== 'string' ) {
+
+				return new TextDecoder().decode( buffer );
+
+			}
+
+			return buffer;
+
+		}
+
+		function ensureBinary( buffer ) {
+
+			if ( typeof buffer === 'string' ) {
+
+				const array_buffer = new Uint8Array( buffer.length );
+				for ( let i = 0; i < buffer.length; i ++ ) {
+
+					array_buffer[ i ] = buffer.charCodeAt( i ) & 0xff; // implicitly assumes little-endian
+
+				}
+
+				return array_buffer.buffer || array_buffer;
+
+			} else {
+
+				return buffer;
+
+			}
+
+		}
+
+		// start
+
+		const binData = ensureBinary( data );
+
+		return isBinary( binData ) ? parseBinary( binData ) : parseASCII( ensureString( data ) );
+
+	}
+
+}
+
+export { STLLoader };
diff --git a/web/vendor/three/build/three.module.js b/web/vendor/three/build/three.module.js
new file mode 100644
index 0000000..0bcc7a2
--- /dev/null
+++ b/web/vendor/three/build/three.module.js
@@ -0,0 +1,53044 @@
+/**
+ * @license
+ * Copyright 2010-2023 Three.js Authors
+ * SPDX-License-Identifier: MIT
+ */
+const REVISION = '160';
+
+const MOUSE = { LEFT: 0, MIDDLE: 1, RIGHT: 2, ROTATE: 0, DOLLY: 1, PAN: 2 };
+const TOUCH = { ROTATE: 0, PAN: 1, DOLLY_PAN: 2, DOLLY_ROTATE: 3 };
+const CullFaceNone = 0;
+const CullFaceBack = 1;
+const CullFaceFront = 2;
+const CullFaceFrontBack = 3;
+const BasicShadowMap = 0;
+const PCFShadowMap = 1;
+const PCFSoftShadowMap = 2;
+const VSMShadowMap = 3;
+const FrontSide = 0;
+const BackSide = 1;
+const DoubleSide = 2;
+const TwoPassDoubleSide = 2; // r149
+const NoBlending = 0;
+const NormalBlending = 1;
+const AdditiveBlending = 2;
+const SubtractiveBlending = 3;
+const MultiplyBlending = 4;
+const CustomBlending = 5;
+const AddEquation = 100;
+const SubtractEquation = 101;
+const ReverseSubtractEquation = 102;
+const MinEquation = 103;
+const MaxEquation = 104;
+const ZeroFactor = 200;
+const OneFactor = 201;
+const SrcColorFactor = 202;
+const OneMinusSrcColorFactor = 203;
+const SrcAlphaFactor = 204;
+const OneMinusSrcAlphaFactor = 205;
+const DstAlphaFactor = 206;
+const OneMinusDstAlphaFactor = 207;
+const DstColorFactor = 208;
+const OneMinusDstColorFactor = 209;
+const SrcAlphaSaturateFactor = 210;
+const ConstantColorFactor = 211;
+const OneMinusConstantColorFactor = 212;
+const ConstantAlphaFactor = 213;
+const OneMinusConstantAlphaFactor = 214;
+const NeverDepth = 0;
+const AlwaysDepth = 1;
+const LessDepth = 2;
+const LessEqualDepth = 3;
+const EqualDepth = 4;
+const GreaterEqualDepth = 5;
+const GreaterDepth = 6;
+const NotEqualDepth = 7;
+const MultiplyOperation = 0;
+const MixOperation = 1;
+const AddOperation = 2;
+const NoToneMapping = 0;
+const LinearToneMapping = 1;
+const ReinhardToneMapping = 2;
+const CineonToneMapping = 3;
+const ACESFilmicToneMapping = 4;
+const CustomToneMapping = 5;
+const AgXToneMapping = 6;
+const AttachedBindMode = 'attached';
+const DetachedBindMode = 'detached';
+
+const UVMapping = 300;
+const CubeReflectionMapping = 301;
+const CubeRefractionMapping = 302;
+const EquirectangularReflectionMapping = 303;
+const EquirectangularRefractionMapping = 304;
+const CubeUVReflectionMapping = 306;
+const RepeatWrapping = 1000;
+const ClampToEdgeWrapping = 1001;
+const MirroredRepeatWrapping = 1002;
+const NearestFilter = 1003;
+const NearestMipmapNearestFilter = 1004;
+const NearestMipMapNearestFilter = 1004;
+const NearestMipmapLinearFilter = 1005;
+const NearestMipMapLinearFilter = 1005;
+const LinearFilter = 1006;
+const LinearMipmapNearestFilter = 1007;
+const LinearMipMapNearestFilter = 1007;
+const LinearMipmapLinearFilter = 1008;
+const LinearMipMapLinearFilter = 1008;
+const UnsignedByteType = 1009;
+const ByteType = 1010;
+const ShortType = 1011;
+const UnsignedShortType = 1012;
+const IntType = 1013;
+const UnsignedIntType = 1014;
+const FloatType = 1015;
+const HalfFloatType = 1016;
+const UnsignedShort4444Type = 1017;
+const UnsignedShort5551Type = 1018;
+const UnsignedInt248Type = 1020;
+const AlphaFormat = 1021;
+const RGBAFormat = 1023;
+const LuminanceFormat = 1024;
+const LuminanceAlphaFormat = 1025;
+const DepthFormat = 1026;
+const DepthStencilFormat = 1027;
+const RedFormat = 1028;
+const RedIntegerFormat = 1029;
+const RGFormat = 1030;
+const RGIntegerFormat = 1031;
+const RGBAIntegerFormat = 1033;
+
+const RGB_S3TC_DXT1_Format = 33776;
+const RGBA_S3TC_DXT1_Format = 33777;
+const RGBA_S3TC_DXT3_Format = 33778;
+const RGBA_S3TC_DXT5_Format = 33779;
+const RGB_PVRTC_4BPPV1_Format = 35840;
+const RGB_PVRTC_2BPPV1_Format = 35841;
+const RGBA_PVRTC_4BPPV1_Format = 35842;
+const RGBA_PVRTC_2BPPV1_Format = 35843;
+const RGB_ETC1_Format = 36196;
+const RGB_ETC2_Format = 37492;
+const RGBA_ETC2_EAC_Format = 37496;
+const RGBA_ASTC_4x4_Format = 37808;
+const RGBA_ASTC_5x4_Format = 37809;
+const RGBA_ASTC_5x5_Format = 37810;
+const RGBA_ASTC_6x5_Format = 37811;
+const RGBA_ASTC_6x6_Format = 37812;
+const RGBA_ASTC_8x5_Format = 37813;
+const RGBA_ASTC_8x6_Format = 37814;
+const RGBA_ASTC_8x8_Format = 37815;
+const RGBA_ASTC_10x5_Format = 37816;
+const RGBA_ASTC_10x6_Format = 37817;
+const RGBA_ASTC_10x8_Format = 37818;
+const RGBA_ASTC_10x10_Format = 37819;
+const RGBA_ASTC_12x10_Format = 37820;
+const RGBA_ASTC_12x12_Format = 37821;
+const RGBA_BPTC_Format = 36492;
+const RGB_BPTC_SIGNED_Format = 36494;
+const RGB_BPTC_UNSIGNED_Format = 36495;
+const RED_RGTC1_Format = 36283;
+const SIGNED_RED_RGTC1_Format = 36284;
+const RED_GREEN_RGTC2_Format = 36285;
+const SIGNED_RED_GREEN_RGTC2_Format = 36286;
+const LoopOnce = 2200;
+const LoopRepeat = 2201;
+const LoopPingPong = 2202;
+const InterpolateDiscrete = 2300;
+const InterpolateLinear = 2301;
+const InterpolateSmooth = 2302;
+const ZeroCurvatureEnding = 2400;
+const ZeroSlopeEnding = 2401;
+const WrapAroundEnding = 2402;
+const NormalAnimationBlendMode = 2500;
+const AdditiveAnimationBlendMode = 2501;
+const TrianglesDrawMode = 0;
+const TriangleStripDrawMode = 1;
+const TriangleFanDrawMode = 2;
+/** @deprecated Use LinearSRGBColorSpace or NoColorSpace in three.js r152+. */
+const LinearEncoding = 3000;
+/** @deprecated Use SRGBColorSpace in three.js r152+. */
+const sRGBEncoding = 3001;
+const BasicDepthPacking = 3200;
+const RGBADepthPacking = 3201;
+const TangentSpaceNormalMap = 0;
+const ObjectSpaceNormalMap = 1;
+
+// Color space string identifiers, matching CSS Color Module Level 4 and WebGPU names where available.
+const NoColorSpace = '';
+const SRGBColorSpace = 'srgb';
+const LinearSRGBColorSpace = 'srgb-linear';
+const DisplayP3ColorSpace = 'display-p3';
+const LinearDisplayP3ColorSpace = 'display-p3-linear';
+
+const LinearTransfer = 'linear';
+const SRGBTransfer = 'srgb';
+
+const Rec709Primaries = 'rec709';
+const P3Primaries = 'p3';
+
+const ZeroStencilOp = 0;
+const KeepStencilOp = 7680;
+const ReplaceStencilOp = 7681;
+const IncrementStencilOp = 7682;
+const DecrementStencilOp = 7683;
+const IncrementWrapStencilOp = 34055;
+const DecrementWrapStencilOp = 34056;
+const InvertStencilOp = 5386;
+
+const NeverStencilFunc = 512;
+const LessStencilFunc = 513;
+const EqualStencilFunc = 514;
+const LessEqualStencilFunc = 515;
+const GreaterStencilFunc = 516;
+const NotEqualStencilFunc = 517;
+const GreaterEqualStencilFunc = 518;
+const AlwaysStencilFunc = 519;
+
+const NeverCompare = 512;
+const LessCompare = 513;
+const EqualCompare = 514;
+const LessEqualCompare = 515;
+const GreaterCompare = 516;
+const NotEqualCompare = 517;
+const GreaterEqualCompare = 518;
+const AlwaysCompare = 519;
+
+const StaticDrawUsage = 35044;
+const DynamicDrawUsage = 35048;
+const StreamDrawUsage = 35040;
+const StaticReadUsage = 35045;
+const DynamicReadUsage = 35049;
+const StreamReadUsage = 35041;
+const StaticCopyUsage = 35046;
+const DynamicCopyUsage = 35050;
+const StreamCopyUsage = 35042;
+
+const GLSL1 = '100';
+const GLSL3 = '300 es';
+
+const _SRGBAFormat = 1035; // fallback for WebGL 1
+
+const WebGLCoordinateSystem = 2000;
+const WebGPUCoordinateSystem = 2001;
+
+/**
+ * https://github.com/mrdoob/eventdispatcher.js/
+ */
+
+class EventDispatcher {
+
+	addEventListener( type, listener ) {
+
+		if ( this._listeners === undefined ) this._listeners = {};
+
+		const listeners = this._listeners;
+
+		if ( listeners[ type ] === undefined ) {
+
+			listeners[ type ] = [];
+
+		}
+
+		if ( listeners[ type ].indexOf( listener ) === - 1 ) {
+
+			listeners[ type ].push( listener );
+
+		}
+
+	}
+
+	hasEventListener( type, listener ) {
+
+		if ( this._listeners === undefined ) return false;
+
+		const listeners = this._listeners;
+
+		return listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== - 1;
+
+	}
+
+	removeEventListener( type, listener ) {
+
+		if ( this._listeners === undefined ) return;
+
+		const listeners = this._listeners;
+		const listenerArray = listeners[ type ];
+
+		if ( listenerArray !== undefined ) {
+
+			const index = listenerArray.indexOf( listener );
+
+			if ( index !== - 1 ) {
+
+				listenerArray.splice( index, 1 );
+
+			}
+
+		}
+
+	}
+
+	dispatchEvent( event ) {
+
+		if ( this._listeners === undefined ) return;
+
+		const listeners = this._listeners;
+		const listenerArray = listeners[ event.type ];
+
+		if ( listenerArray !== undefined ) {
+
+			event.target = this;
+
+			// Make a copy, in case listeners are removed while iterating.
+			const array = listenerArray.slice( 0 );
+
+			for ( let i = 0, l = array.length; i < l; i ++ ) {
+
+				array[ i ].call( this, event );
+
+			}
+
+			event.target = null;
+
+		}
+
+	}
+
+}
+
+const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ];
+
+let _seed = 1234567;
+
+
+const DEG2RAD = Math.PI / 180;
+const RAD2DEG = 180 / Math.PI;
+
+// http://stackoverflow.com/questions/105034/how-to-create-a-guid-uuid-in-javascript/21963136#21963136
+function generateUUID() {
+
+	const d0 = Math.random() * 0xffffffff | 0;
+	const d1 = Math.random() * 0xffffffff | 0;
+	const d2 = Math.random() * 0xffffffff | 0;
+	const d3 = Math.random() * 0xffffffff | 0;
+	const uuid = _lut[ d0 & 0xff ] + _lut[ d0 >> 8 & 0xff ] + _lut[ d0 >> 16 & 0xff ] + _lut[ d0 >> 24 & 0xff ] + '-' +
+			_lut[ d1 & 0xff ] + _lut[ d1 >> 8 & 0xff ] + '-' + _lut[ d1 >> 16 & 0x0f | 0x40 ] + _lut[ d1 >> 24 & 0xff ] + '-' +
+			_lut[ d2 & 0x3f | 0x80 ] + _lut[ d2 >> 8 & 0xff ] + '-' + _lut[ d2 >> 16 & 0xff ] + _lut[ d2 >> 24 & 0xff ] +
+			_lut[ d3 & 0xff ] + _lut[ d3 >> 8 & 0xff ] + _lut[ d3 >> 16 & 0xff ] + _lut[ d3 >> 24 & 0xff ];
+
+	// .toLowerCase() here flattens concatenated strings to save heap memory space.
+	return uuid.toLowerCase();
+
+}
+
+function clamp( value, min, max ) {
+
+	return Math.max( min, Math.min( max, value ) );
+
+}
+
+// compute euclidean modulo of m % n
+// https://en.wikipedia.org/wiki/Modulo_operation
+function euclideanModulo( n, m ) {
+
+	return ( ( n % m ) + m ) % m;
+
+}
+
+// Linear mapping from range  to range 
+function mapLinear( x, a1, a2, b1, b2 ) {
+
+	return b1 + ( x - a1 ) * ( b2 - b1 ) / ( a2 - a1 );
+
+}
+
+// https://www.gamedev.net/tutorials/programming/general-and-gameplay-programming/inverse-lerp-a-super-useful-yet-often-overlooked-function-r5230/
+function inverseLerp( x, y, value ) {
+
+	if ( x !== y ) {
+
+		return ( value - x ) / ( y - x );
+
+	} else {
+
+		return 0;
+
+	}
+
+}
+
+// https://en.wikipedia.org/wiki/Linear_interpolation
+function lerp( x, y, t ) {
+
+	return ( 1 - t ) * x + t * y;
+
+}
+
+// http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/
+function damp( x, y, lambda, dt ) {
+
+	return lerp( x, y, 1 - Math.exp( - lambda * dt ) );
+
+}
+
+// https://www.desmos.com/calculator/vcsjnyz7x4
+function pingpong( x, length = 1 ) {
+
+	return length - Math.abs( euclideanModulo( x, length * 2 ) - length );
+
+}
+
+// http://en.wikipedia.org/wiki/Smoothstep
+function smoothstep( x, min, max ) {
+
+	if ( x <= min ) return 0;
+	if ( x >= max ) return 1;
+
+	x = ( x - min ) / ( max - min );
+
+	return x * x * ( 3 - 2 * x );
+
+}
+
+function smootherstep( x, min, max ) {
+
+	if ( x <= min ) return 0;
+	if ( x >= max ) return 1;
+
+	x = ( x - min ) / ( max - min );
+
+	return x * x * x * ( x * ( x * 6 - 15 ) + 10 );
+
+}
+
+// Random integer from  interval
+function randInt( low, high ) {
+
+	return low + Math.floor( Math.random() * ( high - low + 1 ) );
+
+}
+
+// Random float from  interval
+function randFloat( low, high ) {
+
+	return low + Math.random() * ( high - low );
+
+}
+
+// Random float from <-range/2, range/2> interval
+function randFloatSpread( range ) {
+
+	return range * ( 0.5 - Math.random() );
+
+}
+
+// Deterministic pseudo-random float in the interval [ 0, 1 ]
+function seededRandom( s ) {
+
+	if ( s !== undefined ) _seed = s;
+
+	// Mulberry32 generator
+
+	let t = _seed += 0x6D2B79F5;
+
+	t = Math.imul( t ^ t >>> 15, t | 1 );
+
+	t ^= t + Math.imul( t ^ t >>> 7, t | 61 );
+
+	return ( ( t ^ t >>> 14 ) >>> 0 ) / 4294967296;
+
+}
+
+function degToRad( degrees ) {
+
+	return degrees * DEG2RAD;
+
+}
+
+function radToDeg( radians ) {
+
+	return radians * RAD2DEG;
+
+}
+
+function isPowerOfTwo( value ) {
+
+	return ( value & ( value - 1 ) ) === 0 && value !== 0;
+
+}
+
+function ceilPowerOfTwo( value ) {
+
+	return Math.pow( 2, Math.ceil( Math.log( value ) / Math.LN2 ) );
+
+}
+
+function floorPowerOfTwo( value ) {
+
+	return Math.pow( 2, Math.floor( Math.log( value ) / Math.LN2 ) );
+
+}
+
+function setQuaternionFromProperEuler( q, a, b, c, order ) {
+
+	// Intrinsic Proper Euler Angles - see https://en.wikipedia.org/wiki/Euler_angles
+
+	// rotations are applied to the axes in the order specified by 'order'
+	// rotation by angle 'a' is applied first, then by angle 'b', then by angle 'c'
+	// angles are in radians
+
+	const cos = Math.cos;
+	const sin = Math.sin;
+
+	const c2 = cos( b / 2 );
+	const s2 = sin( b / 2 );
+
+	const c13 = cos( ( a + c ) / 2 );
+	const s13 = sin( ( a + c ) / 2 );
+
+	const c1_3 = cos( ( a - c ) / 2 );
+	const s1_3 = sin( ( a - c ) / 2 );
+
+	const c3_1 = cos( ( c - a ) / 2 );
+	const s3_1 = sin( ( c - a ) / 2 );
+
+	switch ( order ) {
+
+		case 'XYX':
+			q.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 );
+			break;
+
+		case 'YZY':
+			q.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 );
+			break;
+
+		case 'ZXZ':
+			q.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 );
+			break;
+
+		case 'XZX':
+			q.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 );
+			break;
+
+		case 'YXY':
+			q.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 );
+			break;
+
+		case 'ZYZ':
+			q.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 );
+			break;
+
+		default:
+			console.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );
+
+	}
+
+}
+
+function denormalize( value, array ) {
+
+	switch ( array.constructor ) {
+
+		case Float32Array:
+
+			return value;
+
+		case Uint32Array:
+
+			return value / 4294967295.0;
+
+		case Uint16Array:
+
+			return value / 65535.0;
+
+		case Uint8Array:
+
+			return value / 255.0;
+
+		case Int32Array:
+
+			return Math.max( value / 2147483647.0, - 1.0 );
+
+		case Int16Array:
+
+			return Math.max( value / 32767.0, - 1.0 );
+
+		case Int8Array:
+
+			return Math.max( value / 127.0, - 1.0 );
+
+		default:
+
+			throw new Error( 'Invalid component type.' );
+
+	}
+
+}
+
+function normalize( value, array ) {
+
+	switch ( array.constructor ) {
+
+		case Float32Array:
+
+			return value;
+
+		case Uint32Array:
+
+			return Math.round( value * 4294967295.0 );
+
+		case Uint16Array:
+
+			return Math.round( value * 65535.0 );
+
+		case Uint8Array:
+
+			return Math.round( value * 255.0 );
+
+		case Int32Array:
+
+			return Math.round( value * 2147483647.0 );
+
+		case Int16Array:
+
+			return Math.round( value * 32767.0 );
+
+		case Int8Array:
+
+			return Math.round( value * 127.0 );
+
+		default:
+
+			throw new Error( 'Invalid component type.' );
+
+	}
+
+}
+
+const MathUtils = {
+	DEG2RAD: DEG2RAD,
+	RAD2DEG: RAD2DEG,
+	generateUUID: generateUUID,
+	clamp: clamp,
+	euclideanModulo: euclideanModulo,
+	mapLinear: mapLinear,
+	inverseLerp: inverseLerp,
+	lerp: lerp,
+	damp: damp,
+	pingpong: pingpong,
+	smoothstep: smoothstep,
+	smootherstep: smootherstep,
+	randInt: randInt,
+	randFloat: randFloat,
+	randFloatSpread: randFloatSpread,
+	seededRandom: seededRandom,
+	degToRad: degToRad,
+	radToDeg: radToDeg,
+	isPowerOfTwo: isPowerOfTwo,
+	ceilPowerOfTwo: ceilPowerOfTwo,
+	floorPowerOfTwo: floorPowerOfTwo,
+	setQuaternionFromProperEuler: setQuaternionFromProperEuler,
+	normalize: normalize,
+	denormalize: denormalize
+};
+
+class Vector2 {
+
+	constructor( x = 0, y = 0 ) {
+
+		Vector2.prototype.isVector2 = true;
+
+		this.x = x;
+		this.y = y;
+
+	}
+
+	get width() {
+
+		return this.x;
+
+	}
+
+	set width( value ) {
+
+		this.x = value;
+
+	}
+
+	get height() {
+
+		return this.y;
+
+	}
+
+	set height( value ) {
+
+		this.y = value;
+
+	}
+
+	set( x, y ) {
+
+		this.x = x;
+		this.y = y;
+
+		return this;
+
+	}
+
+	setScalar( scalar ) {
+
+		this.x = scalar;
+		this.y = scalar;
+
+		return this;
+
+	}
+
+	setX( x ) {
+
+		this.x = x;
+
+		return this;
+
+	}
+
+	setY( y ) {
+
+		this.y = y;
+
+		return this;
+
+	}
+
+	setComponent( index, value ) {
+
+		switch ( index ) {
+
+			case 0: this.x = value; break;
+			case 1: this.y = value; break;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+		return this;
+
+	}
+
+	getComponent( index ) {
+
+		switch ( index ) {
+
+			case 0: return this.x;
+			case 1: return this.y;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.x, this.y );
+
+	}
+
+	copy( v ) {
+
+		this.x = v.x;
+		this.y = v.y;
+
+		return this;
+
+	}
+
+	add( v ) {
+
+		this.x += v.x;
+		this.y += v.y;
+
+		return this;
+
+	}
+
+	addScalar( s ) {
+
+		this.x += s;
+		this.y += s;
+
+		return this;
+
+	}
+
+	addVectors( a, b ) {
+
+		this.x = a.x + b.x;
+		this.y = a.y + b.y;
+
+		return this;
+
+	}
+
+	addScaledVector( v, s ) {
+
+		this.x += v.x * s;
+		this.y += v.y * s;
+
+		return this;
+
+	}
+
+	sub( v ) {
+
+		this.x -= v.x;
+		this.y -= v.y;
+
+		return this;
+
+	}
+
+	subScalar( s ) {
+
+		this.x -= s;
+		this.y -= s;
+
+		return this;
+
+	}
+
+	subVectors( a, b ) {
+
+		this.x = a.x - b.x;
+		this.y = a.y - b.y;
+
+		return this;
+
+	}
+
+	multiply( v ) {
+
+		this.x *= v.x;
+		this.y *= v.y;
+
+		return this;
+
+	}
+
+	multiplyScalar( scalar ) {
+
+		this.x *= scalar;
+		this.y *= scalar;
+
+		return this;
+
+	}
+
+	divide( v ) {
+
+		this.x /= v.x;
+		this.y /= v.y;
+
+		return this;
+
+	}
+
+	divideScalar( scalar ) {
+
+		return this.multiplyScalar( 1 / scalar );
+
+	}
+
+	applyMatrix3( m ) {
+
+		const x = this.x, y = this.y;
+		const e = m.elements;
+
+		this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ];
+		this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ];
+
+		return this;
+
+	}
+
+	min( v ) {
+
+		this.x = Math.min( this.x, v.x );
+		this.y = Math.min( this.y, v.y );
+
+		return this;
+
+	}
+
+	max( v ) {
+
+		this.x = Math.max( this.x, v.x );
+		this.y = Math.max( this.y, v.y );
+
+		return this;
+
+	}
+
+	clamp( min, max ) {
+
+		// assumes min < max, componentwise
+
+		this.x = Math.max( min.x, Math.min( max.x, this.x ) );
+		this.y = Math.max( min.y, Math.min( max.y, this.y ) );
+
+		return this;
+
+	}
+
+	clampScalar( minVal, maxVal ) {
+
+		this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
+		this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
+
+		return this;
+
+	}
+
+	clampLength( min, max ) {
+
+		const length = this.length();
+
+		return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
+
+	}
+
+	floor() {
+
+		this.x = Math.floor( this.x );
+		this.y = Math.floor( this.y );
+
+		return this;
+
+	}
+
+	ceil() {
+
+		this.x = Math.ceil( this.x );
+		this.y = Math.ceil( this.y );
+
+		return this;
+
+	}
+
+	round() {
+
+		this.x = Math.round( this.x );
+		this.y = Math.round( this.y );
+
+		return this;
+
+	}
+
+	roundToZero() {
+
+		this.x = Math.trunc( this.x );
+		this.y = Math.trunc( this.y );
+
+		return this;
+
+	}
+
+	negate() {
+
+		this.x = - this.x;
+		this.y = - this.y;
+
+		return this;
+
+	}
+
+	dot( v ) {
+
+		return this.x * v.x + this.y * v.y;
+
+	}
+
+	cross( v ) {
+
+		return this.x * v.y - this.y * v.x;
+
+	}
+
+	lengthSq() {
+
+		return this.x * this.x + this.y * this.y;
+
+	}
+
+	length() {
+
+		return Math.sqrt( this.x * this.x + this.y * this.y );
+
+	}
+
+	manhattanLength() {
+
+		return Math.abs( this.x ) + Math.abs( this.y );
+
+	}
+
+	normalize() {
+
+		return this.divideScalar( this.length() || 1 );
+
+	}
+
+	angle() {
+
+		// computes the angle in radians with respect to the positive x-axis
+
+		const angle = Math.atan2( - this.y, - this.x ) + Math.PI;
+
+		return angle;
+
+	}
+
+	angleTo( v ) {
+
+		const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );
+
+		if ( denominator === 0 ) return Math.PI / 2;
+
+		const theta = this.dot( v ) / denominator;
+
+		// clamp, to handle numerical problems
+
+		return Math.acos( clamp( theta, - 1, 1 ) );
+
+	}
+
+	distanceTo( v ) {
+
+		return Math.sqrt( this.distanceToSquared( v ) );
+
+	}
+
+	distanceToSquared( v ) {
+
+		const dx = this.x - v.x, dy = this.y - v.y;
+		return dx * dx + dy * dy;
+
+	}
+
+	manhattanDistanceTo( v ) {
+
+		return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y );
+
+	}
+
+	setLength( length ) {
+
+		return this.normalize().multiplyScalar( length );
+
+	}
+
+	lerp( v, alpha ) {
+
+		this.x += ( v.x - this.x ) * alpha;
+		this.y += ( v.y - this.y ) * alpha;
+
+		return this;
+
+	}
+
+	lerpVectors( v1, v2, alpha ) {
+
+		this.x = v1.x + ( v2.x - v1.x ) * alpha;
+		this.y = v1.y + ( v2.y - v1.y ) * alpha;
+
+		return this;
+
+	}
+
+	equals( v ) {
+
+		return ( ( v.x === this.x ) && ( v.y === this.y ) );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this.x = array[ offset ];
+		this.y = array[ offset + 1 ];
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this.x;
+		array[ offset + 1 ] = this.y;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this.x = attribute.getX( index );
+		this.y = attribute.getY( index );
+
+		return this;
+
+	}
+
+	rotateAround( center, angle ) {
+
+		const c = Math.cos( angle ), s = Math.sin( angle );
+
+		const x = this.x - center.x;
+		const y = this.y - center.y;
+
+		this.x = x * c - y * s + center.x;
+		this.y = x * s + y * c + center.y;
+
+		return this;
+
+	}
+
+	random() {
+
+		this.x = Math.random();
+		this.y = Math.random();
+
+		return this;
+
+	}
+
+	*[ Symbol.iterator ]() {
+
+		yield this.x;
+		yield this.y;
+
+	}
+
+}
+
+class Matrix3 {
+
+	constructor( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {
+
+		Matrix3.prototype.isMatrix3 = true;
+
+		this.elements = [
+
+			1, 0, 0,
+			0, 1, 0,
+			0, 0, 1
+
+		];
+
+		if ( n11 !== undefined ) {
+
+			this.set( n11, n12, n13, n21, n22, n23, n31, n32, n33 );
+
+		}
+
+	}
+
+	set( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {
+
+		const te = this.elements;
+
+		te[ 0 ] = n11; te[ 1 ] = n21; te[ 2 ] = n31;
+		te[ 3 ] = n12; te[ 4 ] = n22; te[ 5 ] = n32;
+		te[ 6 ] = n13; te[ 7 ] = n23; te[ 8 ] = n33;
+
+		return this;
+
+	}
+
+	identity() {
+
+		this.set(
+
+			1, 0, 0,
+			0, 1, 0,
+			0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	copy( m ) {
+
+		const te = this.elements;
+		const me = m.elements;
+
+		te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ];
+		te[ 3 ] = me[ 3 ]; te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ];
+		te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ]; te[ 8 ] = me[ 8 ];
+
+		return this;
+
+	}
+
+	extractBasis( xAxis, yAxis, zAxis ) {
+
+		xAxis.setFromMatrix3Column( this, 0 );
+		yAxis.setFromMatrix3Column( this, 1 );
+		zAxis.setFromMatrix3Column( this, 2 );
+
+		return this;
+
+	}
+
+	setFromMatrix4( m ) {
+
+		const me = m.elements;
+
+		this.set(
+
+			me[ 0 ], me[ 4 ], me[ 8 ],
+			me[ 1 ], me[ 5 ], me[ 9 ],
+			me[ 2 ], me[ 6 ], me[ 10 ]
+
+		);
+
+		return this;
+
+	}
+
+	multiply( m ) {
+
+		return this.multiplyMatrices( this, m );
+
+	}
+
+	premultiply( m ) {
+
+		return this.multiplyMatrices( m, this );
+
+	}
+
+	multiplyMatrices( a, b ) {
+
+		const ae = a.elements;
+		const be = b.elements;
+		const te = this.elements;
+
+		const a11 = ae[ 0 ], a12 = ae[ 3 ], a13 = ae[ 6 ];
+		const a21 = ae[ 1 ], a22 = ae[ 4 ], a23 = ae[ 7 ];
+		const a31 = ae[ 2 ], a32 = ae[ 5 ], a33 = ae[ 8 ];
+
+		const b11 = be[ 0 ], b12 = be[ 3 ], b13 = be[ 6 ];
+		const b21 = be[ 1 ], b22 = be[ 4 ], b23 = be[ 7 ];
+		const b31 = be[ 2 ], b32 = be[ 5 ], b33 = be[ 8 ];
+
+		te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31;
+		te[ 3 ] = a11 * b12 + a12 * b22 + a13 * b32;
+		te[ 6 ] = a11 * b13 + a12 * b23 + a13 * b33;
+
+		te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31;
+		te[ 4 ] = a21 * b12 + a22 * b22 + a23 * b32;
+		te[ 7 ] = a21 * b13 + a22 * b23 + a23 * b33;
+
+		te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31;
+		te[ 5 ] = a31 * b12 + a32 * b22 + a33 * b32;
+		te[ 8 ] = a31 * b13 + a32 * b23 + a33 * b33;
+
+		return this;
+
+	}
+
+	multiplyScalar( s ) {
+
+		const te = this.elements;
+
+		te[ 0 ] *= s; te[ 3 ] *= s; te[ 6 ] *= s;
+		te[ 1 ] *= s; te[ 4 ] *= s; te[ 7 ] *= s;
+		te[ 2 ] *= s; te[ 5 ] *= s; te[ 8 ] *= s;
+
+		return this;
+
+	}
+
+	determinant() {
+
+		const te = this.elements;
+
+		const a = te[ 0 ], b = te[ 1 ], c = te[ 2 ],
+			d = te[ 3 ], e = te[ 4 ], f = te[ 5 ],
+			g = te[ 6 ], h = te[ 7 ], i = te[ 8 ];
+
+		return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g;
+
+	}
+
+	invert() {
+
+		const te = this.elements,
+
+			n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ],
+			n12 = te[ 3 ], n22 = te[ 4 ], n32 = te[ 5 ],
+			n13 = te[ 6 ], n23 = te[ 7 ], n33 = te[ 8 ],
+
+			t11 = n33 * n22 - n32 * n23,
+			t12 = n32 * n13 - n33 * n12,
+			t13 = n23 * n12 - n22 * n13,
+
+			det = n11 * t11 + n21 * t12 + n31 * t13;
+
+		if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0 );
+
+		const detInv = 1 / det;
+
+		te[ 0 ] = t11 * detInv;
+		te[ 1 ] = ( n31 * n23 - n33 * n21 ) * detInv;
+		te[ 2 ] = ( n32 * n21 - n31 * n22 ) * detInv;
+
+		te[ 3 ] = t12 * detInv;
+		te[ 4 ] = ( n33 * n11 - n31 * n13 ) * detInv;
+		te[ 5 ] = ( n31 * n12 - n32 * n11 ) * detInv;
+
+		te[ 6 ] = t13 * detInv;
+		te[ 7 ] = ( n21 * n13 - n23 * n11 ) * detInv;
+		te[ 8 ] = ( n22 * n11 - n21 * n12 ) * detInv;
+
+		return this;
+
+	}
+
+	transpose() {
+
+		let tmp;
+		const m = this.elements;
+
+		tmp = m[ 1 ]; m[ 1 ] = m[ 3 ]; m[ 3 ] = tmp;
+		tmp = m[ 2 ]; m[ 2 ] = m[ 6 ]; m[ 6 ] = tmp;
+		tmp = m[ 5 ]; m[ 5 ] = m[ 7 ]; m[ 7 ] = tmp;
+
+		return this;
+
+	}
+
+	getNormalMatrix( matrix4 ) {
+
+		return this.setFromMatrix4( matrix4 ).invert().transpose();
+
+	}
+
+	transposeIntoArray( r ) {
+
+		const m = this.elements;
+
+		r[ 0 ] = m[ 0 ];
+		r[ 1 ] = m[ 3 ];
+		r[ 2 ] = m[ 6 ];
+		r[ 3 ] = m[ 1 ];
+		r[ 4 ] = m[ 4 ];
+		r[ 5 ] = m[ 7 ];
+		r[ 6 ] = m[ 2 ];
+		r[ 7 ] = m[ 5 ];
+		r[ 8 ] = m[ 8 ];
+
+		return this;
+
+	}
+
+	setUvTransform( tx, ty, sx, sy, rotation, cx, cy ) {
+
+		const c = Math.cos( rotation );
+		const s = Math.sin( rotation );
+
+		this.set(
+			sx * c, sx * s, - sx * ( c * cx + s * cy ) + cx + tx,
+			- sy * s, sy * c, - sy * ( - s * cx + c * cy ) + cy + ty,
+			0, 0, 1
+		);
+
+		return this;
+
+	}
+
+	//
+
+	scale( sx, sy ) {
+
+		this.premultiply( _m3.makeScale( sx, sy ) );
+
+		return this;
+
+	}
+
+	rotate( theta ) {
+
+		this.premultiply( _m3.makeRotation( - theta ) );
+
+		return this;
+
+	}
+
+	translate( tx, ty ) {
+
+		this.premultiply( _m3.makeTranslation( tx, ty ) );
+
+		return this;
+
+	}
+
+	// for 2D Transforms
+
+	makeTranslation( x, y ) {
+
+		if ( x.isVector2 ) {
+
+			this.set(
+
+				1, 0, x.x,
+				0, 1, x.y,
+				0, 0, 1
+
+			);
+
+		} else {
+
+			this.set(
+
+				1, 0, x,
+				0, 1, y,
+				0, 0, 1
+
+			);
+
+		}
+
+		return this;
+
+	}
+
+	makeRotation( theta ) {
+
+		// counterclockwise
+
+		const c = Math.cos( theta );
+		const s = Math.sin( theta );
+
+		this.set(
+
+			c, - s, 0,
+			s, c, 0,
+			0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeScale( x, y ) {
+
+		this.set(
+
+			x, 0, 0,
+			0, y, 0,
+			0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	//
+
+	equals( matrix ) {
+
+		const te = this.elements;
+		const me = matrix.elements;
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			if ( te[ i ] !== me[ i ] ) return false;
+
+		}
+
+		return true;
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.elements[ i ] = array[ i + offset ];
+
+		}
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		const te = this.elements;
+
+		array[ offset ] = te[ 0 ];
+		array[ offset + 1 ] = te[ 1 ];
+		array[ offset + 2 ] = te[ 2 ];
+
+		array[ offset + 3 ] = te[ 3 ];
+		array[ offset + 4 ] = te[ 4 ];
+		array[ offset + 5 ] = te[ 5 ];
+
+		array[ offset + 6 ] = te[ 6 ];
+		array[ offset + 7 ] = te[ 7 ];
+		array[ offset + 8 ] = te[ 8 ];
+
+		return array;
+
+	}
+
+	clone() {
+
+		return new this.constructor().fromArray( this.elements );
+
+	}
+
+}
+
+const _m3 = /*@__PURE__*/ new Matrix3();
+
+function arrayNeedsUint32( array ) {
+
+	// assumes larger values usually on last
+
+	for ( let i = array.length - 1; i >= 0; -- i ) {
+
+		if ( array[ i ] >= 65535 ) return true; // account for PRIMITIVE_RESTART_FIXED_INDEX, #24565
+
+	}
+
+	return false;
+
+}
+
+const TYPED_ARRAYS = {
+	Int8Array: Int8Array,
+	Uint8Array: Uint8Array,
+	Uint8ClampedArray: Uint8ClampedArray,
+	Int16Array: Int16Array,
+	Uint16Array: Uint16Array,
+	Int32Array: Int32Array,
+	Uint32Array: Uint32Array,
+	Float32Array: Float32Array,
+	Float64Array: Float64Array
+};
+
+function getTypedArray( type, buffer ) {
+
+	return new TYPED_ARRAYS[ type ]( buffer );
+
+}
+
+function createElementNS( name ) {
+
+	return document.createElementNS( 'http://www.w3.org/1999/xhtml', name );
+
+}
+
+function createCanvasElement() {
+
+	const canvas = createElementNS( 'canvas' );
+	canvas.style.display = 'block';
+	return canvas;
+
+}
+
+const _cache = {};
+
+function warnOnce( message ) {
+
+	if ( message in _cache ) return;
+
+	_cache[ message ] = true;
+
+	console.warn( message );
+
+}
+
+/**
+ * Matrices converting P3 <-> Rec. 709 primaries, without gamut mapping
+ * or clipping. Based on W3C specifications for sRGB and Display P3,
+ * and ICC specifications for the D50 connection space. Values in/out
+ * are _linear_ sRGB and _linear_ Display P3.
+ *
+ * Note that both sRGB and Display P3 use the sRGB transfer functions.
+ *
+ * Reference:
+ * - http://www.russellcottrell.com/photo/matrixCalculator.htm
+ */
+
+const LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 = /*@__PURE__*/ new Matrix3().set(
+	0.8224621, 0.177538, 0.0,
+	0.0331941, 0.9668058, 0.0,
+	0.0170827, 0.0723974, 0.9105199,
+);
+
+const LINEAR_DISPLAY_P3_TO_LINEAR_SRGB = /*@__PURE__*/ new Matrix3().set(
+	1.2249401, - 0.2249404, 0.0,
+	- 0.0420569, 1.0420571, 0.0,
+	- 0.0196376, - 0.0786361, 1.0982735
+);
+
+/**
+ * Defines supported color spaces by transfer function and primaries,
+ * and provides conversions to/from the Linear-sRGB reference space.
+ */
+const COLOR_SPACES = {
+	[ LinearSRGBColorSpace ]: {
+		transfer: LinearTransfer,
+		primaries: Rec709Primaries,
+		toReference: ( color ) => color,
+		fromReference: ( color ) => color,
+	},
+	[ SRGBColorSpace ]: {
+		transfer: SRGBTransfer,
+		primaries: Rec709Primaries,
+		toReference: ( color ) => color.convertSRGBToLinear(),
+		fromReference: ( color ) => color.convertLinearToSRGB(),
+	},
+	[ LinearDisplayP3ColorSpace ]: {
+		transfer: LinearTransfer,
+		primaries: P3Primaries,
+		toReference: ( color ) => color.applyMatrix3( LINEAR_DISPLAY_P3_TO_LINEAR_SRGB ),
+		fromReference: ( color ) => color.applyMatrix3( LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 ),
+	},
+	[ DisplayP3ColorSpace ]: {
+		transfer: SRGBTransfer,
+		primaries: P3Primaries,
+		toReference: ( color ) => color.convertSRGBToLinear().applyMatrix3( LINEAR_DISPLAY_P3_TO_LINEAR_SRGB ),
+		fromReference: ( color ) => color.applyMatrix3( LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 ).convertLinearToSRGB(),
+	},
+};
+
+const SUPPORTED_WORKING_COLOR_SPACES = new Set( [ LinearSRGBColorSpace, LinearDisplayP3ColorSpace ] );
+
+const ColorManagement = {
+
+	enabled: true,
+
+	_workingColorSpace: LinearSRGBColorSpace,
+
+	get workingColorSpace() {
+
+		return this._workingColorSpace;
+
+	},
+
+	set workingColorSpace( colorSpace ) {
+
+		if ( ! SUPPORTED_WORKING_COLOR_SPACES.has( colorSpace ) ) {
+
+			throw new Error( `Unsupported working color space, "${ colorSpace }".` );
+
+		}
+
+		this._workingColorSpace = colorSpace;
+
+	},
+
+	convert: function ( color, sourceColorSpace, targetColorSpace ) {
+
+		if ( this.enabled === false || sourceColorSpace === targetColorSpace || ! sourceColorSpace || ! targetColorSpace ) {
+
+			return color;
+
+		}
+
+		const sourceToReference = COLOR_SPACES[ sourceColorSpace ].toReference;
+		const targetFromReference = COLOR_SPACES[ targetColorSpace ].fromReference;
+
+		return targetFromReference( sourceToReference( color ) );
+
+	},
+
+	fromWorkingColorSpace: function ( color, targetColorSpace ) {
+
+		return this.convert( color, this._workingColorSpace, targetColorSpace );
+
+	},
+
+	toWorkingColorSpace: function ( color, sourceColorSpace ) {
+
+		return this.convert( color, sourceColorSpace, this._workingColorSpace );
+
+	},
+
+	getPrimaries: function ( colorSpace ) {
+
+		return COLOR_SPACES[ colorSpace ].primaries;
+
+	},
+
+	getTransfer: function ( colorSpace ) {
+
+		if ( colorSpace === NoColorSpace ) return LinearTransfer;
+
+		return COLOR_SPACES[ colorSpace ].transfer;
+
+	},
+
+};
+
+
+function SRGBToLinear( c ) {
+
+	return ( c < 0.04045 ) ? c * 0.0773993808 : Math.pow( c * 0.9478672986 + 0.0521327014, 2.4 );
+
+}
+
+function LinearToSRGB( c ) {
+
+	return ( c < 0.0031308 ) ? c * 12.92 : 1.055 * ( Math.pow( c, 0.41666 ) ) - 0.055;
+
+}
+
+let _canvas;
+
+class ImageUtils {
+
+	static getDataURL( image ) {
+
+		if ( /^data:/i.test( image.src ) ) {
+
+			return image.src;
+
+		}
+
+		if ( typeof HTMLCanvasElement === 'undefined' ) {
+
+			return image.src;
+
+		}
+
+		let canvas;
+
+		if ( image instanceof HTMLCanvasElement ) {
+
+			canvas = image;
+
+		} else {
+
+			if ( _canvas === undefined ) _canvas = createElementNS( 'canvas' );
+
+			_canvas.width = image.width;
+			_canvas.height = image.height;
+
+			const context = _canvas.getContext( '2d' );
+
+			if ( image instanceof ImageData ) {
+
+				context.putImageData( image, 0, 0 );
+
+			} else {
+
+				context.drawImage( image, 0, 0, image.width, image.height );
+
+			}
+
+			canvas = _canvas;
+
+		}
+
+		if ( canvas.width > 2048 || canvas.height > 2048 ) {
+
+			console.warn( 'THREE.ImageUtils.getDataURL: Image converted to jpg for performance reasons', image );
+
+			return canvas.toDataURL( 'image/jpeg', 0.6 );
+
+		} else {
+
+			return canvas.toDataURL( 'image/png' );
+
+		}
+
+	}
+
+	static sRGBToLinear( image ) {
+
+		if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||
+			( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||
+			( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {
+
+			const canvas = createElementNS( 'canvas' );
+
+			canvas.width = image.width;
+			canvas.height = image.height;
+
+			const context = canvas.getContext( '2d' );
+			context.drawImage( image, 0, 0, image.width, image.height );
+
+			const imageData = context.getImageData( 0, 0, image.width, image.height );
+			const data = imageData.data;
+
+			for ( let i = 0; i < data.length; i ++ ) {
+
+				data[ i ] = SRGBToLinear( data[ i ] / 255 ) * 255;
+
+			}
+
+			context.putImageData( imageData, 0, 0 );
+
+			return canvas;
+
+		} else if ( image.data ) {
+
+			const data = image.data.slice( 0 );
+
+			for ( let i = 0; i < data.length; i ++ ) {
+
+				if ( data instanceof Uint8Array || data instanceof Uint8ClampedArray ) {
+
+					data[ i ] = Math.floor( SRGBToLinear( data[ i ] / 255 ) * 255 );
+
+				} else {
+
+					// assuming float
+
+					data[ i ] = SRGBToLinear( data[ i ] );
+
+				}
+
+			}
+
+			return {
+				data: data,
+				width: image.width,
+				height: image.height
+			};
+
+		} else {
+
+			console.warn( 'THREE.ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.' );
+			return image;
+
+		}
+
+	}
+
+}
+
+let _sourceId = 0;
+
+class Source {
+
+	constructor( data = null ) {
+
+		this.isSource = true;
+
+		Object.defineProperty( this, 'id', { value: _sourceId ++ } );
+
+		this.uuid = generateUUID();
+
+		this.data = data;
+
+		this.version = 0;
+
+	}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) this.version ++;
+
+	}
+
+	toJSON( meta ) {
+
+		const isRootObject = ( meta === undefined || typeof meta === 'string' );
+
+		if ( ! isRootObject && meta.images[ this.uuid ] !== undefined ) {
+
+			return meta.images[ this.uuid ];
+
+		}
+
+		const output = {
+			uuid: this.uuid,
+			url: ''
+		};
+
+		const data = this.data;
+
+		if ( data !== null ) {
+
+			let url;
+
+			if ( Array.isArray( data ) ) {
+
+				// cube texture
+
+				url = [];
+
+				for ( let i = 0, l = data.length; i < l; i ++ ) {
+
+					if ( data[ i ].isDataTexture ) {
+
+						url.push( serializeImage( data[ i ].image ) );
+
+					} else {
+
+						url.push( serializeImage( data[ i ] ) );
+
+					}
+
+				}
+
+			} else {
+
+				// texture
+
+				url = serializeImage( data );
+
+			}
+
+			output.url = url;
+
+		}
+
+		if ( ! isRootObject ) {
+
+			meta.images[ this.uuid ] = output;
+
+		}
+
+		return output;
+
+	}
+
+}
+
+function serializeImage( image ) {
+
+	if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||
+		( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||
+		( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {
+
+		// default images
+
+		return ImageUtils.getDataURL( image );
+
+	} else {
+
+		if ( image.data ) {
+
+			// images of DataTexture
+
+			return {
+				data: Array.from( image.data ),
+				width: image.width,
+				height: image.height,
+				type: image.data.constructor.name
+			};
+
+		} else {
+
+			console.warn( 'THREE.Texture: Unable to serialize Texture.' );
+			return {};
+
+		}
+
+	}
+
+}
+
+let _textureId = 0;
+
+class Texture extends EventDispatcher {
+
+	constructor( image = Texture.DEFAULT_IMAGE, mapping = Texture.DEFAULT_MAPPING, wrapS = ClampToEdgeWrapping, wrapT = ClampToEdgeWrapping, magFilter = LinearFilter, minFilter = LinearMipmapLinearFilter, format = RGBAFormat, type = UnsignedByteType, anisotropy = Texture.DEFAULT_ANISOTROPY, colorSpace = NoColorSpace ) {
+
+		super();
+
+		this.isTexture = true;
+
+		Object.defineProperty( this, 'id', { value: _textureId ++ } );
+
+		this.uuid = generateUUID();
+
+		this.name = '';
+
+		this.source = new Source( image );
+		this.mipmaps = [];
+
+		this.mapping = mapping;
+		this.channel = 0;
+
+		this.wrapS = wrapS;
+		this.wrapT = wrapT;
+
+		this.magFilter = magFilter;
+		this.minFilter = minFilter;
+
+		this.anisotropy = anisotropy;
+
+		this.format = format;
+		this.internalFormat = null;
+		this.type = type;
+
+		this.offset = new Vector2( 0, 0 );
+		this.repeat = new Vector2( 1, 1 );
+		this.center = new Vector2( 0, 0 );
+		this.rotation = 0;
+
+		this.matrixAutoUpdate = true;
+		this.matrix = new Matrix3();
+
+		this.generateMipmaps = true;
+		this.premultiplyAlpha = false;
+		this.flipY = true;
+		this.unpackAlignment = 4;	// valid values: 1, 2, 4, 8 (see http://www.khronos.org/opengles/sdk/docs/man/xhtml/glPixelStorei.xml)
+
+		if ( typeof colorSpace === 'string' ) {
+
+			this.colorSpace = colorSpace;
+
+		} else { // @deprecated, r152
+
+			warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );
+			this.colorSpace = colorSpace === sRGBEncoding ? SRGBColorSpace : NoColorSpace;
+
+		}
+
+
+		this.userData = {};
+
+		this.version = 0;
+		this.onUpdate = null;
+
+		this.isRenderTargetTexture = false; // indicates whether a texture belongs to a render target or not
+		this.needsPMREMUpdate = false; // indicates whether this texture should be processed by PMREMGenerator or not (only relevant for render target textures)
+
+	}
+
+	get image() {
+
+		return this.source.data;
+
+	}
+
+	set image( value = null ) {
+
+		this.source.data = value;
+
+	}
+
+	updateMatrix() {
+
+		this.matrix.setUvTransform( this.offset.x, this.offset.y, this.repeat.x, this.repeat.y, this.rotation, this.center.x, this.center.y );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( source ) {
+
+		this.name = source.name;
+
+		this.source = source.source;
+		this.mipmaps = source.mipmaps.slice( 0 );
+
+		this.mapping = source.mapping;
+		this.channel = source.channel;
+
+		this.wrapS = source.wrapS;
+		this.wrapT = source.wrapT;
+
+		this.magFilter = source.magFilter;
+		this.minFilter = source.minFilter;
+
+		this.anisotropy = source.anisotropy;
+
+		this.format = source.format;
+		this.internalFormat = source.internalFormat;
+		this.type = source.type;
+
+		this.offset.copy( source.offset );
+		this.repeat.copy( source.repeat );
+		this.center.copy( source.center );
+		this.rotation = source.rotation;
+
+		this.matrixAutoUpdate = source.matrixAutoUpdate;
+		this.matrix.copy( source.matrix );
+
+		this.generateMipmaps = source.generateMipmaps;
+		this.premultiplyAlpha = source.premultiplyAlpha;
+		this.flipY = source.flipY;
+		this.unpackAlignment = source.unpackAlignment;
+		this.colorSpace = source.colorSpace;
+
+		this.userData = JSON.parse( JSON.stringify( source.userData ) );
+
+		this.needsUpdate = true;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const isRootObject = ( meta === undefined || typeof meta === 'string' );
+
+		if ( ! isRootObject && meta.textures[ this.uuid ] !== undefined ) {
+
+			return meta.textures[ this.uuid ];
+
+		}
+
+		const output = {
+
+			metadata: {
+				version: 4.6,
+				type: 'Texture',
+				generator: 'Texture.toJSON'
+			},
+
+			uuid: this.uuid,
+			name: this.name,
+
+			image: this.source.toJSON( meta ).uuid,
+
+			mapping: this.mapping,
+			channel: this.channel,
+
+			repeat: [ this.repeat.x, this.repeat.y ],
+			offset: [ this.offset.x, this.offset.y ],
+			center: [ this.center.x, this.center.y ],
+			rotation: this.rotation,
+
+			wrap: [ this.wrapS, this.wrapT ],
+
+			format: this.format,
+			internalFormat: this.internalFormat,
+			type: this.type,
+			colorSpace: this.colorSpace,
+
+			minFilter: this.minFilter,
+			magFilter: this.magFilter,
+			anisotropy: this.anisotropy,
+
+			flipY: this.flipY,
+
+			generateMipmaps: this.generateMipmaps,
+			premultiplyAlpha: this.premultiplyAlpha,
+			unpackAlignment: this.unpackAlignment
+
+		};
+
+		if ( Object.keys( this.userData ).length > 0 ) output.userData = this.userData;
+
+		if ( ! isRootObject ) {
+
+			meta.textures[ this.uuid ] = output;
+
+		}
+
+		return output;
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+	}
+
+	transformUv( uv ) {
+
+		if ( this.mapping !== UVMapping ) return uv;
+
+		uv.applyMatrix3( this.matrix );
+
+		if ( uv.x < 0 || uv.x > 1 ) {
+
+			switch ( this.wrapS ) {
+
+				case RepeatWrapping:
+
+					uv.x = uv.x - Math.floor( uv.x );
+					break;
+
+				case ClampToEdgeWrapping:
+
+					uv.x = uv.x < 0 ? 0 : 1;
+					break;
+
+				case MirroredRepeatWrapping:
+
+					if ( Math.abs( Math.floor( uv.x ) % 2 ) === 1 ) {
+
+						uv.x = Math.ceil( uv.x ) - uv.x;
+
+					} else {
+
+						uv.x = uv.x - Math.floor( uv.x );
+
+					}
+
+					break;
+
+			}
+
+		}
+
+		if ( uv.y < 0 || uv.y > 1 ) {
+
+			switch ( this.wrapT ) {
+
+				case RepeatWrapping:
+
+					uv.y = uv.y - Math.floor( uv.y );
+					break;
+
+				case ClampToEdgeWrapping:
+
+					uv.y = uv.y < 0 ? 0 : 1;
+					break;
+
+				case MirroredRepeatWrapping:
+
+					if ( Math.abs( Math.floor( uv.y ) % 2 ) === 1 ) {
+
+						uv.y = Math.ceil( uv.y ) - uv.y;
+
+					} else {
+
+						uv.y = uv.y - Math.floor( uv.y );
+
+					}
+
+					break;
+
+			}
+
+		}
+
+		if ( this.flipY ) {
+
+			uv.y = 1 - uv.y;
+
+		}
+
+		return uv;
+
+	}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) {
+
+			this.version ++;
+			this.source.needsUpdate = true;
+
+		}
+
+	}
+
+	get encoding() { // @deprecated, r152
+
+		warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );
+		return this.colorSpace === SRGBColorSpace ? sRGBEncoding : LinearEncoding;
+
+	}
+
+	set encoding( encoding ) { // @deprecated, r152
+
+		warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );
+		this.colorSpace = encoding === sRGBEncoding ? SRGBColorSpace : NoColorSpace;
+
+	}
+
+}
+
+Texture.DEFAULT_IMAGE = null;
+Texture.DEFAULT_MAPPING = UVMapping;
+Texture.DEFAULT_ANISOTROPY = 1;
+
+class Vector4 {
+
+	constructor( x = 0, y = 0, z = 0, w = 1 ) {
+
+		Vector4.prototype.isVector4 = true;
+
+		this.x = x;
+		this.y = y;
+		this.z = z;
+		this.w = w;
+
+	}
+
+	get width() {
+
+		return this.z;
+
+	}
+
+	set width( value ) {
+
+		this.z = value;
+
+	}
+
+	get height() {
+
+		return this.w;
+
+	}
+
+	set height( value ) {
+
+		this.w = value;
+
+	}
+
+	set( x, y, z, w ) {
+
+		this.x = x;
+		this.y = y;
+		this.z = z;
+		this.w = w;
+
+		return this;
+
+	}
+
+	setScalar( scalar ) {
+
+		this.x = scalar;
+		this.y = scalar;
+		this.z = scalar;
+		this.w = scalar;
+
+		return this;
+
+	}
+
+	setX( x ) {
+
+		this.x = x;
+
+		return this;
+
+	}
+
+	setY( y ) {
+
+		this.y = y;
+
+		return this;
+
+	}
+
+	setZ( z ) {
+
+		this.z = z;
+
+		return this;
+
+	}
+
+	setW( w ) {
+
+		this.w = w;
+
+		return this;
+
+	}
+
+	setComponent( index, value ) {
+
+		switch ( index ) {
+
+			case 0: this.x = value; break;
+			case 1: this.y = value; break;
+			case 2: this.z = value; break;
+			case 3: this.w = value; break;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+		return this;
+
+	}
+
+	getComponent( index ) {
+
+		switch ( index ) {
+
+			case 0: return this.x;
+			case 1: return this.y;
+			case 2: return this.z;
+			case 3: return this.w;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.x, this.y, this.z, this.w );
+
+	}
+
+	copy( v ) {
+
+		this.x = v.x;
+		this.y = v.y;
+		this.z = v.z;
+		this.w = ( v.w !== undefined ) ? v.w : 1;
+
+		return this;
+
+	}
+
+	add( v ) {
+
+		this.x += v.x;
+		this.y += v.y;
+		this.z += v.z;
+		this.w += v.w;
+
+		return this;
+
+	}
+
+	addScalar( s ) {
+
+		this.x += s;
+		this.y += s;
+		this.z += s;
+		this.w += s;
+
+		return this;
+
+	}
+
+	addVectors( a, b ) {
+
+		this.x = a.x + b.x;
+		this.y = a.y + b.y;
+		this.z = a.z + b.z;
+		this.w = a.w + b.w;
+
+		return this;
+
+	}
+
+	addScaledVector( v, s ) {
+
+		this.x += v.x * s;
+		this.y += v.y * s;
+		this.z += v.z * s;
+		this.w += v.w * s;
+
+		return this;
+
+	}
+
+	sub( v ) {
+
+		this.x -= v.x;
+		this.y -= v.y;
+		this.z -= v.z;
+		this.w -= v.w;
+
+		return this;
+
+	}
+
+	subScalar( s ) {
+
+		this.x -= s;
+		this.y -= s;
+		this.z -= s;
+		this.w -= s;
+
+		return this;
+
+	}
+
+	subVectors( a, b ) {
+
+		this.x = a.x - b.x;
+		this.y = a.y - b.y;
+		this.z = a.z - b.z;
+		this.w = a.w - b.w;
+
+		return this;
+
+	}
+
+	multiply( v ) {
+
+		this.x *= v.x;
+		this.y *= v.y;
+		this.z *= v.z;
+		this.w *= v.w;
+
+		return this;
+
+	}
+
+	multiplyScalar( scalar ) {
+
+		this.x *= scalar;
+		this.y *= scalar;
+		this.z *= scalar;
+		this.w *= scalar;
+
+		return this;
+
+	}
+
+	applyMatrix4( m ) {
+
+		const x = this.x, y = this.y, z = this.z, w = this.w;
+		const e = m.elements;
+
+		this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] * w;
+		this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] * w;
+		this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] * w;
+		this.w = e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] * w;
+
+		return this;
+
+	}
+
+	divideScalar( scalar ) {
+
+		return this.multiplyScalar( 1 / scalar );
+
+	}
+
+	setAxisAngleFromQuaternion( q ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm
+
+		// q is assumed to be normalized
+
+		this.w = 2 * Math.acos( q.w );
+
+		const s = Math.sqrt( 1 - q.w * q.w );
+
+		if ( s < 0.0001 ) {
+
+			this.x = 1;
+			this.y = 0;
+			this.z = 0;
+
+		} else {
+
+			this.x = q.x / s;
+			this.y = q.y / s;
+			this.z = q.z / s;
+
+		}
+
+		return this;
+
+	}
+
+	setAxisAngleFromRotationMatrix( m ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		let angle, x, y, z; // variables for result
+		const epsilon = 0.01,		// margin to allow for rounding errors
+			epsilon2 = 0.1,		// margin to distinguish between 0 and 180 degrees
+
+			te = m.elements,
+
+			m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
+			m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
+			m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];
+
+		if ( ( Math.abs( m12 - m21 ) < epsilon ) &&
+		     ( Math.abs( m13 - m31 ) < epsilon ) &&
+		     ( Math.abs( m23 - m32 ) < epsilon ) ) {
+
+			// singularity found
+			// first check for identity matrix which must have +1 for all terms
+			// in leading diagonal and zero in other terms
+
+			if ( ( Math.abs( m12 + m21 ) < epsilon2 ) &&
+			     ( Math.abs( m13 + m31 ) < epsilon2 ) &&
+			     ( Math.abs( m23 + m32 ) < epsilon2 ) &&
+			     ( Math.abs( m11 + m22 + m33 - 3 ) < epsilon2 ) ) {
+
+				// this singularity is identity matrix so angle = 0
+
+				this.set( 1, 0, 0, 0 );
+
+				return this; // zero angle, arbitrary axis
+
+			}
+
+			// otherwise this singularity is angle = 180
+
+			angle = Math.PI;
+
+			const xx = ( m11 + 1 ) / 2;
+			const yy = ( m22 + 1 ) / 2;
+			const zz = ( m33 + 1 ) / 2;
+			const xy = ( m12 + m21 ) / 4;
+			const xz = ( m13 + m31 ) / 4;
+			const yz = ( m23 + m32 ) / 4;
+
+			if ( ( xx > yy ) && ( xx > zz ) ) {
+
+				// m11 is the largest diagonal term
+
+				if ( xx < epsilon ) {
+
+					x = 0;
+					y = 0.707106781;
+					z = 0.707106781;
+
+				} else {
+
+					x = Math.sqrt( xx );
+					y = xy / x;
+					z = xz / x;
+
+				}
+
+			} else if ( yy > zz ) {
+
+				// m22 is the largest diagonal term
+
+				if ( yy < epsilon ) {
+
+					x = 0.707106781;
+					y = 0;
+					z = 0.707106781;
+
+				} else {
+
+					y = Math.sqrt( yy );
+					x = xy / y;
+					z = yz / y;
+
+				}
+
+			} else {
+
+				// m33 is the largest diagonal term so base result on this
+
+				if ( zz < epsilon ) {
+
+					x = 0.707106781;
+					y = 0.707106781;
+					z = 0;
+
+				} else {
+
+					z = Math.sqrt( zz );
+					x = xz / z;
+					y = yz / z;
+
+				}
+
+			}
+
+			this.set( x, y, z, angle );
+
+			return this; // return 180 deg rotation
+
+		}
+
+		// as we have reached here there are no singularities so we can handle normally
+
+		let s = Math.sqrt( ( m32 - m23 ) * ( m32 - m23 ) +
+			( m13 - m31 ) * ( m13 - m31 ) +
+			( m21 - m12 ) * ( m21 - m12 ) ); // used to normalize
+
+		if ( Math.abs( s ) < 0.001 ) s = 1;
+
+		// prevent divide by zero, should not happen if matrix is orthogonal and should be
+		// caught by singularity test above, but I've left it in just in case
+
+		this.x = ( m32 - m23 ) / s;
+		this.y = ( m13 - m31 ) / s;
+		this.z = ( m21 - m12 ) / s;
+		this.w = Math.acos( ( m11 + m22 + m33 - 1 ) / 2 );
+
+		return this;
+
+	}
+
+	min( v ) {
+
+		this.x = Math.min( this.x, v.x );
+		this.y = Math.min( this.y, v.y );
+		this.z = Math.min( this.z, v.z );
+		this.w = Math.min( this.w, v.w );
+
+		return this;
+
+	}
+
+	max( v ) {
+
+		this.x = Math.max( this.x, v.x );
+		this.y = Math.max( this.y, v.y );
+		this.z = Math.max( this.z, v.z );
+		this.w = Math.max( this.w, v.w );
+
+		return this;
+
+	}
+
+	clamp( min, max ) {
+
+		// assumes min < max, componentwise
+
+		this.x = Math.max( min.x, Math.min( max.x, this.x ) );
+		this.y = Math.max( min.y, Math.min( max.y, this.y ) );
+		this.z = Math.max( min.z, Math.min( max.z, this.z ) );
+		this.w = Math.max( min.w, Math.min( max.w, this.w ) );
+
+		return this;
+
+	}
+
+	clampScalar( minVal, maxVal ) {
+
+		this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
+		this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
+		this.z = Math.max( minVal, Math.min( maxVal, this.z ) );
+		this.w = Math.max( minVal, Math.min( maxVal, this.w ) );
+
+		return this;
+
+	}
+
+	clampLength( min, max ) {
+
+		const length = this.length();
+
+		return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
+
+	}
+
+	floor() {
+
+		this.x = Math.floor( this.x );
+		this.y = Math.floor( this.y );
+		this.z = Math.floor( this.z );
+		this.w = Math.floor( this.w );
+
+		return this;
+
+	}
+
+	ceil() {
+
+		this.x = Math.ceil( this.x );
+		this.y = Math.ceil( this.y );
+		this.z = Math.ceil( this.z );
+		this.w = Math.ceil( this.w );
+
+		return this;
+
+	}
+
+	round() {
+
+		this.x = Math.round( this.x );
+		this.y = Math.round( this.y );
+		this.z = Math.round( this.z );
+		this.w = Math.round( this.w );
+
+		return this;
+
+	}
+
+	roundToZero() {
+
+		this.x = Math.trunc( this.x );
+		this.y = Math.trunc( this.y );
+		this.z = Math.trunc( this.z );
+		this.w = Math.trunc( this.w );
+
+		return this;
+
+	}
+
+	negate() {
+
+		this.x = - this.x;
+		this.y = - this.y;
+		this.z = - this.z;
+		this.w = - this.w;
+
+		return this;
+
+	}
+
+	dot( v ) {
+
+		return this.x * v.x + this.y * v.y + this.z * v.z + this.w * v.w;
+
+	}
+
+	lengthSq() {
+
+		return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
+
+	}
+
+	length() {
+
+		return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w );
+
+	}
+
+	manhattanLength() {
+
+		return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z ) + Math.abs( this.w );
+
+	}
+
+	normalize() {
+
+		return this.divideScalar( this.length() || 1 );
+
+	}
+
+	setLength( length ) {
+
+		return this.normalize().multiplyScalar( length );
+
+	}
+
+	lerp( v, alpha ) {
+
+		this.x += ( v.x - this.x ) * alpha;
+		this.y += ( v.y - this.y ) * alpha;
+		this.z += ( v.z - this.z ) * alpha;
+		this.w += ( v.w - this.w ) * alpha;
+
+		return this;
+
+	}
+
+	lerpVectors( v1, v2, alpha ) {
+
+		this.x = v1.x + ( v2.x - v1.x ) * alpha;
+		this.y = v1.y + ( v2.y - v1.y ) * alpha;
+		this.z = v1.z + ( v2.z - v1.z ) * alpha;
+		this.w = v1.w + ( v2.w - v1.w ) * alpha;
+
+		return this;
+
+	}
+
+	equals( v ) {
+
+		return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) && ( v.w === this.w ) );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this.x = array[ offset ];
+		this.y = array[ offset + 1 ];
+		this.z = array[ offset + 2 ];
+		this.w = array[ offset + 3 ];
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this.x;
+		array[ offset + 1 ] = this.y;
+		array[ offset + 2 ] = this.z;
+		array[ offset + 3 ] = this.w;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this.x = attribute.getX( index );
+		this.y = attribute.getY( index );
+		this.z = attribute.getZ( index );
+		this.w = attribute.getW( index );
+
+		return this;
+
+	}
+
+	random() {
+
+		this.x = Math.random();
+		this.y = Math.random();
+		this.z = Math.random();
+		this.w = Math.random();
+
+		return this;
+
+	}
+
+	*[ Symbol.iterator ]() {
+
+		yield this.x;
+		yield this.y;
+		yield this.z;
+		yield this.w;
+
+	}
+
+}
+
+/*
+ In options, we can specify:
+ * Texture parameters for an auto-generated target texture
+ * depthBuffer/stencilBuffer: Booleans to indicate if we should generate these buffers
+*/
+class RenderTarget extends EventDispatcher {
+
+	constructor( width = 1, height = 1, options = {} ) {
+
+		super();
+
+		this.isRenderTarget = true;
+
+		this.width = width;
+		this.height = height;
+		this.depth = 1;
+
+		this.scissor = new Vector4( 0, 0, width, height );
+		this.scissorTest = false;
+
+		this.viewport = new Vector4( 0, 0, width, height );
+
+		const image = { width: width, height: height, depth: 1 };
+
+		if ( options.encoding !== undefined ) {
+
+			// @deprecated, r152
+			warnOnce( 'THREE.WebGLRenderTarget: option.encoding has been replaced by option.colorSpace.' );
+			options.colorSpace = options.encoding === sRGBEncoding ? SRGBColorSpace : NoColorSpace;
+
+		}
+
+		options = Object.assign( {
+			generateMipmaps: false,
+			internalFormat: null,
+			minFilter: LinearFilter,
+			depthBuffer: true,
+			stencilBuffer: false,
+			depthTexture: null,
+			samples: 0
+		}, options );
+
+		this.texture = new Texture( image, options.mapping, options.wrapS, options.wrapT, options.magFilter, options.minFilter, options.format, options.type, options.anisotropy, options.colorSpace );
+		this.texture.isRenderTargetTexture = true;
+
+		this.texture.flipY = false;
+		this.texture.generateMipmaps = options.generateMipmaps;
+		this.texture.internalFormat = options.internalFormat;
+
+		this.depthBuffer = options.depthBuffer;
+		this.stencilBuffer = options.stencilBuffer;
+
+		this.depthTexture = options.depthTexture;
+
+		this.samples = options.samples;
+
+	}
+
+	setSize( width, height, depth = 1 ) {
+
+		if ( this.width !== width || this.height !== height || this.depth !== depth ) {
+
+			this.width = width;
+			this.height = height;
+			this.depth = depth;
+
+			this.texture.image.width = width;
+			this.texture.image.height = height;
+			this.texture.image.depth = depth;
+
+			this.dispose();
+
+		}
+
+		this.viewport.set( 0, 0, width, height );
+		this.scissor.set( 0, 0, width, height );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( source ) {
+
+		this.width = source.width;
+		this.height = source.height;
+		this.depth = source.depth;
+
+		this.scissor.copy( source.scissor );
+		this.scissorTest = source.scissorTest;
+
+		this.viewport.copy( source.viewport );
+
+		this.texture = source.texture.clone();
+		this.texture.isRenderTargetTexture = true;
+
+		// ensure image object is not shared, see #20328
+
+		const image = Object.assign( {}, source.texture.image );
+		this.texture.source = new Source( image );
+
+		this.depthBuffer = source.depthBuffer;
+		this.stencilBuffer = source.stencilBuffer;
+
+		if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();
+
+		this.samples = source.samples;
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+	}
+
+}
+
+class WebGLRenderTarget extends RenderTarget {
+
+	constructor( width = 1, height = 1, options = {} ) {
+
+		super( width, height, options );
+
+		this.isWebGLRenderTarget = true;
+
+	}
+
+}
+
+class DataArrayTexture extends Texture {
+
+	constructor( data = null, width = 1, height = 1, depth = 1 ) {
+
+		super( null );
+
+		this.isDataArrayTexture = true;
+
+		this.image = { data, width, height, depth };
+
+		this.magFilter = NearestFilter;
+		this.minFilter = NearestFilter;
+
+		this.wrapR = ClampToEdgeWrapping;
+
+		this.generateMipmaps = false;
+		this.flipY = false;
+		this.unpackAlignment = 1;
+
+	}
+
+}
+
+class WebGLArrayRenderTarget extends WebGLRenderTarget {
+
+	constructor( width = 1, height = 1, depth = 1, options = {} ) {
+
+		super( width, height, options );
+
+		this.isWebGLArrayRenderTarget = true;
+
+		this.depth = depth;
+
+		this.texture = new DataArrayTexture( null, width, height, depth );
+
+		this.texture.isRenderTargetTexture = true;
+
+	}
+
+}
+
+class Data3DTexture extends Texture {
+
+	constructor( data = null, width = 1, height = 1, depth = 1 ) {
+
+		// We're going to add .setXXX() methods for setting properties later.
+		// Users can still set in DataTexture3D directly.
+		//
+		//	const texture = new THREE.DataTexture3D( data, width, height, depth );
+		// 	texture.anisotropy = 16;
+		//
+		// See #14839
+
+		super( null );
+
+		this.isData3DTexture = true;
+
+		this.image = { data, width, height, depth };
+
+		this.magFilter = NearestFilter;
+		this.minFilter = NearestFilter;
+
+		this.wrapR = ClampToEdgeWrapping;
+
+		this.generateMipmaps = false;
+		this.flipY = false;
+		this.unpackAlignment = 1;
+
+	}
+
+}
+
+class WebGL3DRenderTarget extends WebGLRenderTarget {
+
+	constructor( width = 1, height = 1, depth = 1, options = {} ) {
+
+		super( width, height, options );
+
+		this.isWebGL3DRenderTarget = true;
+
+		this.depth = depth;
+
+		this.texture = new Data3DTexture( null, width, height, depth );
+
+		this.texture.isRenderTargetTexture = true;
+
+	}
+
+}
+
+class WebGLMultipleRenderTargets extends WebGLRenderTarget {
+
+	constructor( width = 1, height = 1, count = 1, options = {} ) {
+
+		super( width, height, options );
+
+		this.isWebGLMultipleRenderTargets = true;
+
+		const texture = this.texture;
+
+		this.texture = [];
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			this.texture[ i ] = texture.clone();
+			this.texture[ i ].isRenderTargetTexture = true;
+
+		}
+
+	}
+
+	setSize( width, height, depth = 1 ) {
+
+		if ( this.width !== width || this.height !== height || this.depth !== depth ) {
+
+			this.width = width;
+			this.height = height;
+			this.depth = depth;
+
+			for ( let i = 0, il = this.texture.length; i < il; i ++ ) {
+
+				this.texture[ i ].image.width = width;
+				this.texture[ i ].image.height = height;
+				this.texture[ i ].image.depth = depth;
+
+			}
+
+			this.dispose();
+
+		}
+
+		this.viewport.set( 0, 0, width, height );
+		this.scissor.set( 0, 0, width, height );
+
+	}
+
+	copy( source ) {
+
+		this.dispose();
+
+		this.width = source.width;
+		this.height = source.height;
+		this.depth = source.depth;
+
+		this.scissor.copy( source.scissor );
+		this.scissorTest = source.scissorTest;
+
+		this.viewport.copy( source.viewport );
+
+		this.depthBuffer = source.depthBuffer;
+		this.stencilBuffer = source.stencilBuffer;
+
+		if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();
+
+		this.texture.length = 0;
+
+		for ( let i = 0, il = source.texture.length; i < il; i ++ ) {
+
+			this.texture[ i ] = source.texture[ i ].clone();
+			this.texture[ i ].isRenderTargetTexture = true;
+
+		}
+
+		return this;
+
+	}
+
+}
+
+class Quaternion {
+
+	constructor( x = 0, y = 0, z = 0, w = 1 ) {
+
+		this.isQuaternion = true;
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+	}
+
+	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
+
+		// fuzz-free, array-based Quaternion SLERP operation
+
+		let x0 = src0[ srcOffset0 + 0 ],
+			y0 = src0[ srcOffset0 + 1 ],
+			z0 = src0[ srcOffset0 + 2 ],
+			w0 = src0[ srcOffset0 + 3 ];
+
+		const x1 = src1[ srcOffset1 + 0 ],
+			y1 = src1[ srcOffset1 + 1 ],
+			z1 = src1[ srcOffset1 + 2 ],
+			w1 = src1[ srcOffset1 + 3 ];
+
+		if ( t === 0 ) {
+
+			dst[ dstOffset + 0 ] = x0;
+			dst[ dstOffset + 1 ] = y0;
+			dst[ dstOffset + 2 ] = z0;
+			dst[ dstOffset + 3 ] = w0;
+			return;
+
+		}
+
+		if ( t === 1 ) {
+
+			dst[ dstOffset + 0 ] = x1;
+			dst[ dstOffset + 1 ] = y1;
+			dst[ dstOffset + 2 ] = z1;
+			dst[ dstOffset + 3 ] = w1;
+			return;
+
+		}
+
+		if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {
+
+			let s = 1 - t;
+			const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,
+				dir = ( cos >= 0 ? 1 : - 1 ),
+				sqrSin = 1 - cos * cos;
+
+			// Skip the Slerp for tiny steps to avoid numeric problems:
+			if ( sqrSin > Number.EPSILON ) {
+
+				const sin = Math.sqrt( sqrSin ),
+					len = Math.atan2( sin, cos * dir );
+
+				s = Math.sin( s * len ) / sin;
+				t = Math.sin( t * len ) / sin;
+
+			}
+
+			const tDir = t * dir;
+
+			x0 = x0 * s + x1 * tDir;
+			y0 = y0 * s + y1 * tDir;
+			z0 = z0 * s + z1 * tDir;
+			w0 = w0 * s + w1 * tDir;
+
+			// Normalize in case we just did a lerp:
+			if ( s === 1 - t ) {
+
+				const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );
+
+				x0 *= f;
+				y0 *= f;
+				z0 *= f;
+				w0 *= f;
+
+			}
+
+		}
+
+		dst[ dstOffset ] = x0;
+		dst[ dstOffset + 1 ] = y0;
+		dst[ dstOffset + 2 ] = z0;
+		dst[ dstOffset + 3 ] = w0;
+
+	}
+
+	static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
+
+		const x0 = src0[ srcOffset0 ];
+		const y0 = src0[ srcOffset0 + 1 ];
+		const z0 = src0[ srcOffset0 + 2 ];
+		const w0 = src0[ srcOffset0 + 3 ];
+
+		const x1 = src1[ srcOffset1 ];
+		const y1 = src1[ srcOffset1 + 1 ];
+		const z1 = src1[ srcOffset1 + 2 ];
+		const w1 = src1[ srcOffset1 + 3 ];
+
+		dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
+		dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
+		dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
+		dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
+
+		return dst;
+
+	}
+
+	get x() {
+
+		return this._x;
+
+	}
+
+	set x( value ) {
+
+		this._x = value;
+		this._onChangeCallback();
+
+	}
+
+	get y() {
+
+		return this._y;
+
+	}
+
+	set y( value ) {
+
+		this._y = value;
+		this._onChangeCallback();
+
+	}
+
+	get z() {
+
+		return this._z;
+
+	}
+
+	set z( value ) {
+
+		this._z = value;
+		this._onChangeCallback();
+
+	}
+
+	get w() {
+
+		return this._w;
+
+	}
+
+	set w( value ) {
+
+		this._w = value;
+		this._onChangeCallback();
+
+	}
+
+	set( x, y, z, w ) {
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor( this._x, this._y, this._z, this._w );
+
+	}
+
+	copy( quaternion ) {
+
+		this._x = quaternion.x;
+		this._y = quaternion.y;
+		this._z = quaternion.z;
+		this._w = quaternion.w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromEuler( euler, update = true ) {
+
+		const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
+
+		// http://www.mathworks.com/matlabcentral/fileexchange/
+		// 	20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
+		//	content/SpinCalc.m
+
+		const cos = Math.cos;
+		const sin = Math.sin;
+
+		const c1 = cos( x / 2 );
+		const c2 = cos( y / 2 );
+		const c3 = cos( z / 2 );
+
+		const s1 = sin( x / 2 );
+		const s2 = sin( y / 2 );
+		const s3 = sin( z / 2 );
+
+		switch ( order ) {
+
+			case 'XYZ':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'YXZ':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			case 'ZXY':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'ZYX':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			case 'YZX':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'XZY':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			default:
+				console.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );
+
+		}
+
+		if ( update === true ) this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromAxisAngle( axis, angle ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
+
+		// assumes axis is normalized
+
+		const halfAngle = angle / 2, s = Math.sin( halfAngle );
+
+		this._x = axis.x * s;
+		this._y = axis.y * s;
+		this._z = axis.z * s;
+		this._w = Math.cos( halfAngle );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromRotationMatrix( m ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		const te = m.elements,
+
+			m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
+			m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
+			m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],
+
+			trace = m11 + m22 + m33;
+
+		if ( trace > 0 ) {
+
+			const s = 0.5 / Math.sqrt( trace + 1.0 );
+
+			this._w = 0.25 / s;
+			this._x = ( m32 - m23 ) * s;
+			this._y = ( m13 - m31 ) * s;
+			this._z = ( m21 - m12 ) * s;
+
+		} else if ( m11 > m22 && m11 > m33 ) {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
+
+			this._w = ( m32 - m23 ) / s;
+			this._x = 0.25 * s;
+			this._y = ( m12 + m21 ) / s;
+			this._z = ( m13 + m31 ) / s;
+
+		} else if ( m22 > m33 ) {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
+
+			this._w = ( m13 - m31 ) / s;
+			this._x = ( m12 + m21 ) / s;
+			this._y = 0.25 * s;
+			this._z = ( m23 + m32 ) / s;
+
+		} else {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
+
+			this._w = ( m21 - m12 ) / s;
+			this._x = ( m13 + m31 ) / s;
+			this._y = ( m23 + m32 ) / s;
+			this._z = 0.25 * s;
+
+		}
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromUnitVectors( vFrom, vTo ) {
+
+		// assumes direction vectors vFrom and vTo are normalized
+
+		let r = vFrom.dot( vTo ) + 1;
+
+		if ( r < Number.EPSILON ) {
+
+			// vFrom and vTo point in opposite directions
+
+			r = 0;
+
+			if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {
+
+				this._x = - vFrom.y;
+				this._y = vFrom.x;
+				this._z = 0;
+				this._w = r;
+
+			} else {
+
+				this._x = 0;
+				this._y = - vFrom.z;
+				this._z = vFrom.y;
+				this._w = r;
+
+			}
+
+		} else {
+
+			// crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3
+
+			this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
+			this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
+			this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
+			this._w = r;
+
+		}
+
+		return this.normalize();
+
+	}
+
+	angleTo( q ) {
+
+		return 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );
+
+	}
+
+	rotateTowards( q, step ) {
+
+		const angle = this.angleTo( q );
+
+		if ( angle === 0 ) return this;
+
+		const t = Math.min( 1, step / angle );
+
+		this.slerp( q, t );
+
+		return this;
+
+	}
+
+	identity() {
+
+		return this.set( 0, 0, 0, 1 );
+
+	}
+
+	invert() {
+
+		// quaternion is assumed to have unit length
+
+		return this.conjugate();
+
+	}
+
+	conjugate() {
+
+		this._x *= - 1;
+		this._y *= - 1;
+		this._z *= - 1;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	dot( v ) {
+
+		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
+
+	}
+
+	lengthSq() {
+
+		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
+
+	}
+
+	length() {
+
+		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
+
+	}
+
+	normalize() {
+
+		let l = this.length();
+
+		if ( l === 0 ) {
+
+			this._x = 0;
+			this._y = 0;
+			this._z = 0;
+			this._w = 1;
+
+		} else {
+
+			l = 1 / l;
+
+			this._x = this._x * l;
+			this._y = this._y * l;
+			this._z = this._z * l;
+			this._w = this._w * l;
+
+		}
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	multiply( q ) {
+
+		return this.multiplyQuaternions( this, q );
+
+	}
+
+	premultiply( q ) {
+
+		return this.multiplyQuaternions( q, this );
+
+	}
+
+	multiplyQuaternions( a, b ) {
+
+		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+
+		const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
+		const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
+
+		this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+		this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+		this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+		this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	slerp( qb, t ) {
+
+		if ( t === 0 ) return this;
+		if ( t === 1 ) return this.copy( qb );
+
+		const x = this._x, y = this._y, z = this._z, w = this._w;
+
+		// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
+
+		let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
+
+		if ( cosHalfTheta < 0 ) {
+
+			this._w = - qb._w;
+			this._x = - qb._x;
+			this._y = - qb._y;
+			this._z = - qb._z;
+
+			cosHalfTheta = - cosHalfTheta;
+
+		} else {
+
+			this.copy( qb );
+
+		}
+
+		if ( cosHalfTheta >= 1.0 ) {
+
+			this._w = w;
+			this._x = x;
+			this._y = y;
+			this._z = z;
+
+			return this;
+
+		}
+
+		const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;
+
+		if ( sqrSinHalfTheta <= Number.EPSILON ) {
+
+			const s = 1 - t;
+			this._w = s * w + t * this._w;
+			this._x = s * x + t * this._x;
+			this._y = s * y + t * this._y;
+			this._z = s * z + t * this._z;
+
+			this.normalize(); // normalize calls _onChangeCallback()
+
+			return this;
+
+		}
+
+		const sinHalfTheta = Math.sqrt( sqrSinHalfTheta );
+		const halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );
+		const ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,
+			ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;
+
+		this._w = ( w * ratioA + this._w * ratioB );
+		this._x = ( x * ratioA + this._x * ratioB );
+		this._y = ( y * ratioA + this._y * ratioB );
+		this._z = ( z * ratioA + this._z * ratioB );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	slerpQuaternions( qa, qb, t ) {
+
+		return this.copy( qa ).slerp( qb, t );
+
+	}
+
+	random() {
+
+		// Derived from http://planning.cs.uiuc.edu/node198.html
+		// Note, this source uses w, x, y, z ordering,
+		// so we swap the order below.
+
+		const u1 = Math.random();
+		const sqrt1u1 = Math.sqrt( 1 - u1 );
+		const sqrtu1 = Math.sqrt( u1 );
+
+		const u2 = 2 * Math.PI * Math.random();
+
+		const u3 = 2 * Math.PI * Math.random();
+
+		return this.set(
+			sqrt1u1 * Math.cos( u2 ),
+			sqrtu1 * Math.sin( u3 ),
+			sqrtu1 * Math.cos( u3 ),
+			sqrt1u1 * Math.sin( u2 ),
+		);
+
+	}
+
+	equals( quaternion ) {
+
+		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this._x = array[ offset ];
+		this._y = array[ offset + 1 ];
+		this._z = array[ offset + 2 ];
+		this._w = array[ offset + 3 ];
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this._x;
+		array[ offset + 1 ] = this._y;
+		array[ offset + 2 ] = this._z;
+		array[ offset + 3 ] = this._w;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this._x = attribute.getX( index );
+		this._y = attribute.getY( index );
+		this._z = attribute.getZ( index );
+		this._w = attribute.getW( index );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		return this.toArray();
+
+	}
+
+	_onChange( callback ) {
+
+		this._onChangeCallback = callback;
+
+		return this;
+
+	}
+
+	_onChangeCallback() {}
+
+	*[ Symbol.iterator ]() {
+
+		yield this._x;
+		yield this._y;
+		yield this._z;
+		yield this._w;
+
+	}
+
+}
+
+class Vector3 {
+
+	constructor( x = 0, y = 0, z = 0 ) {
+
+		Vector3.prototype.isVector3 = true;
+
+		this.x = x;
+		this.y = y;
+		this.z = z;
+
+	}
+
+	set( x, y, z ) {
+
+		if ( z === undefined ) z = this.z; // sprite.scale.set(x,y)
+
+		this.x = x;
+		this.y = y;
+		this.z = z;
+
+		return this;
+
+	}
+
+	setScalar( scalar ) {
+
+		this.x = scalar;
+		this.y = scalar;
+		this.z = scalar;
+
+		return this;
+
+	}
+
+	setX( x ) {
+
+		this.x = x;
+
+		return this;
+
+	}
+
+	setY( y ) {
+
+		this.y = y;
+
+		return this;
+
+	}
+
+	setZ( z ) {
+
+		this.z = z;
+
+		return this;
+
+	}
+
+	setComponent( index, value ) {
+
+		switch ( index ) {
+
+			case 0: this.x = value; break;
+			case 1: this.y = value; break;
+			case 2: this.z = value; break;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+		return this;
+
+	}
+
+	getComponent( index ) {
+
+		switch ( index ) {
+
+			case 0: return this.x;
+			case 1: return this.y;
+			case 2: return this.z;
+			default: throw new Error( 'index is out of range: ' + index );
+
+		}
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.x, this.y, this.z );
+
+	}
+
+	copy( v ) {
+
+		this.x = v.x;
+		this.y = v.y;
+		this.z = v.z;
+
+		return this;
+
+	}
+
+	add( v ) {
+
+		this.x += v.x;
+		this.y += v.y;
+		this.z += v.z;
+
+		return this;
+
+	}
+
+	addScalar( s ) {
+
+		this.x += s;
+		this.y += s;
+		this.z += s;
+
+		return this;
+
+	}
+
+	addVectors( a, b ) {
+
+		this.x = a.x + b.x;
+		this.y = a.y + b.y;
+		this.z = a.z + b.z;
+
+		return this;
+
+	}
+
+	addScaledVector( v, s ) {
+
+		this.x += v.x * s;
+		this.y += v.y * s;
+		this.z += v.z * s;
+
+		return this;
+
+	}
+
+	sub( v ) {
+
+		this.x -= v.x;
+		this.y -= v.y;
+		this.z -= v.z;
+
+		return this;
+
+	}
+
+	subScalar( s ) {
+
+		this.x -= s;
+		this.y -= s;
+		this.z -= s;
+
+		return this;
+
+	}
+
+	subVectors( a, b ) {
+
+		this.x = a.x - b.x;
+		this.y = a.y - b.y;
+		this.z = a.z - b.z;
+
+		return this;
+
+	}
+
+	multiply( v ) {
+
+		this.x *= v.x;
+		this.y *= v.y;
+		this.z *= v.z;
+
+		return this;
+
+	}
+
+	multiplyScalar( scalar ) {
+
+		this.x *= scalar;
+		this.y *= scalar;
+		this.z *= scalar;
+
+		return this;
+
+	}
+
+	multiplyVectors( a, b ) {
+
+		this.x = a.x * b.x;
+		this.y = a.y * b.y;
+		this.z = a.z * b.z;
+
+		return this;
+
+	}
+
+	applyEuler( euler ) {
+
+		return this.applyQuaternion( _quaternion$4.setFromEuler( euler ) );
+
+	}
+
+	applyAxisAngle( axis, angle ) {
+
+		return this.applyQuaternion( _quaternion$4.setFromAxisAngle( axis, angle ) );
+
+	}
+
+	applyMatrix3( m ) {
+
+		const x = this.x, y = this.y, z = this.z;
+		const e = m.elements;
+
+		this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ] * z;
+		this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ] * z;
+		this.z = e[ 2 ] * x + e[ 5 ] * y + e[ 8 ] * z;
+
+		return this;
+
+	}
+
+	applyNormalMatrix( m ) {
+
+		return this.applyMatrix3( m ).normalize();
+
+	}
+
+	applyMatrix4( m ) {
+
+		const x = this.x, y = this.y, z = this.z;
+		const e = m.elements;
+
+		const w = 1 / ( e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] );
+
+		this.x = ( e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] ) * w;
+		this.y = ( e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] ) * w;
+		this.z = ( e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] ) * w;
+
+		return this;
+
+	}
+
+	applyQuaternion( q ) {
+
+		// quaternion q is assumed to have unit length
+
+		const vx = this.x, vy = this.y, vz = this.z;
+		const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
+
+		// t = 2 * cross( q.xyz, v );
+		const tx = 2 * ( qy * vz - qz * vy );
+		const ty = 2 * ( qz * vx - qx * vz );
+		const tz = 2 * ( qx * vy - qy * vx );
+
+		// v + q.w * t + cross( q.xyz, t );
+		this.x = vx + qw * tx + qy * tz - qz * ty;
+		this.y = vy + qw * ty + qz * tx - qx * tz;
+		this.z = vz + qw * tz + qx * ty - qy * tx;
+
+		return this;
+
+	}
+
+	project( camera ) {
+
+		return this.applyMatrix4( camera.matrixWorldInverse ).applyMatrix4( camera.projectionMatrix );
+
+	}
+
+	unproject( camera ) {
+
+		return this.applyMatrix4( camera.projectionMatrixInverse ).applyMatrix4( camera.matrixWorld );
+
+	}
+
+	transformDirection( m ) {
+
+		// input: THREE.Matrix4 affine matrix
+		// vector interpreted as a direction
+
+		const x = this.x, y = this.y, z = this.z;
+		const e = m.elements;
+
+		this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z;
+		this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z;
+		this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z;
+
+		return this.normalize();
+
+	}
+
+	divide( v ) {
+
+		this.x /= v.x;
+		this.y /= v.y;
+		this.z /= v.z;
+
+		return this;
+
+	}
+
+	divideScalar( scalar ) {
+
+		return this.multiplyScalar( 1 / scalar );
+
+	}
+
+	min( v ) {
+
+		this.x = Math.min( this.x, v.x );
+		this.y = Math.min( this.y, v.y );
+		this.z = Math.min( this.z, v.z );
+
+		return this;
+
+	}
+
+	max( v ) {
+
+		this.x = Math.max( this.x, v.x );
+		this.y = Math.max( this.y, v.y );
+		this.z = Math.max( this.z, v.z );
+
+		return this;
+
+	}
+
+	clamp( min, max ) {
+
+		// assumes min < max, componentwise
+
+		this.x = Math.max( min.x, Math.min( max.x, this.x ) );
+		this.y = Math.max( min.y, Math.min( max.y, this.y ) );
+		this.z = Math.max( min.z, Math.min( max.z, this.z ) );
+
+		return this;
+
+	}
+
+	clampScalar( minVal, maxVal ) {
+
+		this.x = Math.max( minVal, Math.min( maxVal, this.x ) );
+		this.y = Math.max( minVal, Math.min( maxVal, this.y ) );
+		this.z = Math.max( minVal, Math.min( maxVal, this.z ) );
+
+		return this;
+
+	}
+
+	clampLength( min, max ) {
+
+		const length = this.length();
+
+		return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );
+
+	}
+
+	floor() {
+
+		this.x = Math.floor( this.x );
+		this.y = Math.floor( this.y );
+		this.z = Math.floor( this.z );
+
+		return this;
+
+	}
+
+	ceil() {
+
+		this.x = Math.ceil( this.x );
+		this.y = Math.ceil( this.y );
+		this.z = Math.ceil( this.z );
+
+		return this;
+
+	}
+
+	round() {
+
+		this.x = Math.round( this.x );
+		this.y = Math.round( this.y );
+		this.z = Math.round( this.z );
+
+		return this;
+
+	}
+
+	roundToZero() {
+
+		this.x = Math.trunc( this.x );
+		this.y = Math.trunc( this.y );
+		this.z = Math.trunc( this.z );
+
+		return this;
+
+	}
+
+	negate() {
+
+		this.x = - this.x;
+		this.y = - this.y;
+		this.z = - this.z;
+
+		return this;
+
+	}
+
+	dot( v ) {
+
+		return this.x * v.x + this.y * v.y + this.z * v.z;
+
+	}
+
+	// TODO lengthSquared?
+
+	lengthSq() {
+
+		return this.x * this.x + this.y * this.y + this.z * this.z;
+
+	}
+
+	length() {
+
+		return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z );
+
+	}
+
+	manhattanLength() {
+
+		return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z );
+
+	}
+
+	normalize() {
+
+		return this.divideScalar( this.length() || 1 );
+
+	}
+
+	setLength( length ) {
+
+		return this.normalize().multiplyScalar( length );
+
+	}
+
+	lerp( v, alpha ) {
+
+		this.x += ( v.x - this.x ) * alpha;
+		this.y += ( v.y - this.y ) * alpha;
+		this.z += ( v.z - this.z ) * alpha;
+
+		return this;
+
+	}
+
+	lerpVectors( v1, v2, alpha ) {
+
+		this.x = v1.x + ( v2.x - v1.x ) * alpha;
+		this.y = v1.y + ( v2.y - v1.y ) * alpha;
+		this.z = v1.z + ( v2.z - v1.z ) * alpha;
+
+		return this;
+
+	}
+
+	cross( v ) {
+
+		return this.crossVectors( this, v );
+
+	}
+
+	crossVectors( a, b ) {
+
+		const ax = a.x, ay = a.y, az = a.z;
+		const bx = b.x, by = b.y, bz = b.z;
+
+		this.x = ay * bz - az * by;
+		this.y = az * bx - ax * bz;
+		this.z = ax * by - ay * bx;
+
+		return this;
+
+	}
+
+	projectOnVector( v ) {
+
+		const denominator = v.lengthSq();
+
+		if ( denominator === 0 ) return this.set( 0, 0, 0 );
+
+		const scalar = v.dot( this ) / denominator;
+
+		return this.copy( v ).multiplyScalar( scalar );
+
+	}
+
+	projectOnPlane( planeNormal ) {
+
+		_vector$c.copy( this ).projectOnVector( planeNormal );
+
+		return this.sub( _vector$c );
+
+	}
+
+	reflect( normal ) {
+
+		// reflect incident vector off plane orthogonal to normal
+		// normal is assumed to have unit length
+
+		return this.sub( _vector$c.copy( normal ).multiplyScalar( 2 * this.dot( normal ) ) );
+
+	}
+
+	angleTo( v ) {
+
+		const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );
+
+		if ( denominator === 0 ) return Math.PI / 2;
+
+		const theta = this.dot( v ) / denominator;
+
+		// clamp, to handle numerical problems
+
+		return Math.acos( clamp( theta, - 1, 1 ) );
+
+	}
+
+	distanceTo( v ) {
+
+		return Math.sqrt( this.distanceToSquared( v ) );
+
+	}
+
+	distanceToSquared( v ) {
+
+		const dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z;
+
+		return dx * dx + dy * dy + dz * dz;
+
+	}
+
+	manhattanDistanceTo( v ) {
+
+		return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ) + Math.abs( this.z - v.z );
+
+	}
+
+	setFromSpherical( s ) {
+
+		return this.setFromSphericalCoords( s.radius, s.phi, s.theta );
+
+	}
+
+	setFromSphericalCoords( radius, phi, theta ) {
+
+		const sinPhiRadius = Math.sin( phi ) * radius;
+
+		this.x = sinPhiRadius * Math.sin( theta );
+		this.y = Math.cos( phi ) * radius;
+		this.z = sinPhiRadius * Math.cos( theta );
+
+		return this;
+
+	}
+
+	setFromCylindrical( c ) {
+
+		return this.setFromCylindricalCoords( c.radius, c.theta, c.y );
+
+	}
+
+	setFromCylindricalCoords( radius, theta, y ) {
+
+		this.x = radius * Math.sin( theta );
+		this.y = y;
+		this.z = radius * Math.cos( theta );
+
+		return this;
+
+	}
+
+	setFromMatrixPosition( m ) {
+
+		const e = m.elements;
+
+		this.x = e[ 12 ];
+		this.y = e[ 13 ];
+		this.z = e[ 14 ];
+
+		return this;
+
+	}
+
+	setFromMatrixScale( m ) {
+
+		const sx = this.setFromMatrixColumn( m, 0 ).length();
+		const sy = this.setFromMatrixColumn( m, 1 ).length();
+		const sz = this.setFromMatrixColumn( m, 2 ).length();
+
+		this.x = sx;
+		this.y = sy;
+		this.z = sz;
+
+		return this;
+
+	}
+
+	setFromMatrixColumn( m, index ) {
+
+		return this.fromArray( m.elements, index * 4 );
+
+	}
+
+	setFromMatrix3Column( m, index ) {
+
+		return this.fromArray( m.elements, index * 3 );
+
+	}
+
+	setFromEuler( e ) {
+
+		this.x = e._x;
+		this.y = e._y;
+		this.z = e._z;
+
+		return this;
+
+	}
+
+	setFromColor( c ) {
+
+		this.x = c.r;
+		this.y = c.g;
+		this.z = c.b;
+
+		return this;
+
+	}
+
+	equals( v ) {
+
+		return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this.x = array[ offset ];
+		this.y = array[ offset + 1 ];
+		this.z = array[ offset + 2 ];
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this.x;
+		array[ offset + 1 ] = this.y;
+		array[ offset + 2 ] = this.z;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this.x = attribute.getX( index );
+		this.y = attribute.getY( index );
+		this.z = attribute.getZ( index );
+
+		return this;
+
+	}
+
+	random() {
+
+		this.x = Math.random();
+		this.y = Math.random();
+		this.z = Math.random();
+
+		return this;
+
+	}
+
+	randomDirection() {
+
+		// Derived from https://mathworld.wolfram.com/SpherePointPicking.html
+
+		const u = ( Math.random() - 0.5 ) * 2;
+		const t = Math.random() * Math.PI * 2;
+		const f = Math.sqrt( 1 - u ** 2 );
+
+		this.x = f * Math.cos( t );
+		this.y = f * Math.sin( t );
+		this.z = u;
+
+		return this;
+
+	}
+
+	*[ Symbol.iterator ]() {
+
+		yield this.x;
+		yield this.y;
+		yield this.z;
+
+	}
+
+}
+
+const _vector$c = /*@__PURE__*/ new Vector3();
+const _quaternion$4 = /*@__PURE__*/ new Quaternion();
+
+class Box3 {
+
+	constructor( min = new Vector3( + Infinity, + Infinity, + Infinity ), max = new Vector3( - Infinity, - Infinity, - Infinity ) ) {
+
+		this.isBox3 = true;
+
+		this.min = min;
+		this.max = max;
+
+	}
+
+	set( min, max ) {
+
+		this.min.copy( min );
+		this.max.copy( max );
+
+		return this;
+
+	}
+
+	setFromArray( array ) {
+
+		this.makeEmpty();
+
+		for ( let i = 0, il = array.length; i < il; i += 3 ) {
+
+			this.expandByPoint( _vector$b.fromArray( array, i ) );
+
+		}
+
+		return this;
+
+	}
+
+	setFromBufferAttribute( attribute ) {
+
+		this.makeEmpty();
+
+		for ( let i = 0, il = attribute.count; i < il; i ++ ) {
+
+			this.expandByPoint( _vector$b.fromBufferAttribute( attribute, i ) );
+
+		}
+
+		return this;
+
+	}
+
+	setFromPoints( points ) {
+
+		this.makeEmpty();
+
+		for ( let i = 0, il = points.length; i < il; i ++ ) {
+
+			this.expandByPoint( points[ i ] );
+
+		}
+
+		return this;
+
+	}
+
+	setFromCenterAndSize( center, size ) {
+
+		const halfSize = _vector$b.copy( size ).multiplyScalar( 0.5 );
+
+		this.min.copy( center ).sub( halfSize );
+		this.max.copy( center ).add( halfSize );
+
+		return this;
+
+	}
+
+	setFromObject( object, precise = false ) {
+
+		this.makeEmpty();
+
+		return this.expandByObject( object, precise );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( box ) {
+
+		this.min.copy( box.min );
+		this.max.copy( box.max );
+
+		return this;
+
+	}
+
+	makeEmpty() {
+
+		this.min.x = this.min.y = this.min.z = + Infinity;
+		this.max.x = this.max.y = this.max.z = - Infinity;
+
+		return this;
+
+	}
+
+	isEmpty() {
+
+		// this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes
+
+		return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y ) || ( this.max.z < this.min.z );
+
+	}
+
+	getCenter( target ) {
+
+		return this.isEmpty() ? target.set( 0, 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 );
+
+	}
+
+	getSize( target ) {
+
+		return this.isEmpty() ? target.set( 0, 0, 0 ) : target.subVectors( this.max, this.min );
+
+	}
+
+	expandByPoint( point ) {
+
+		this.min.min( point );
+		this.max.max( point );
+
+		return this;
+
+	}
+
+	expandByVector( vector ) {
+
+		this.min.sub( vector );
+		this.max.add( vector );
+
+		return this;
+
+	}
+
+	expandByScalar( scalar ) {
+
+		this.min.addScalar( - scalar );
+		this.max.addScalar( scalar );
+
+		return this;
+
+	}
+
+	expandByObject( object, precise = false ) {
+
+		// Computes the world-axis-aligned bounding box of an object (including its children),
+		// accounting for both the object's, and children's, world transforms
+
+		object.updateWorldMatrix( false, false );
+
+		const geometry = object.geometry;
+
+		if ( geometry !== undefined ) {
+
+			const positionAttribute = geometry.getAttribute( 'position' );
+
+			// precise AABB computation based on vertex data requires at least a position attribute.
+			// instancing isn't supported so far and uses the normal (conservative) code path.
+
+			if ( precise === true && positionAttribute !== undefined && object.isInstancedMesh !== true ) {
+
+				for ( let i = 0, l = positionAttribute.count; i < l; i ++ ) {
+
+					if ( object.isMesh === true ) {
+
+						object.getVertexPosition( i, _vector$b );
+
+					} else {
+
+						_vector$b.fromBufferAttribute( positionAttribute, i );
+
+					}
+
+					_vector$b.applyMatrix4( object.matrixWorld );
+					this.expandByPoint( _vector$b );
+
+				}
+
+			} else {
+
+				if ( object.boundingBox !== undefined ) {
+
+					// object-level bounding box
+
+					if ( object.boundingBox === null ) {
+
+						object.computeBoundingBox();
+
+					}
+
+					_box$4.copy( object.boundingBox );
+
+
+				} else {
+
+					// geometry-level bounding box
+
+					if ( geometry.boundingBox === null ) {
+
+						geometry.computeBoundingBox();
+
+					}
+
+					_box$4.copy( geometry.boundingBox );
+
+				}
+
+				_box$4.applyMatrix4( object.matrixWorld );
+
+				this.union( _box$4 );
+
+			}
+
+		}
+
+		const children = object.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			this.expandByObject( children[ i ], precise );
+
+		}
+
+		return this;
+
+	}
+
+	containsPoint( point ) {
+
+		return point.x < this.min.x || point.x > this.max.x ||
+			point.y < this.min.y || point.y > this.max.y ||
+			point.z < this.min.z || point.z > this.max.z ? false : true;
+
+	}
+
+	containsBox( box ) {
+
+		return this.min.x <= box.min.x && box.max.x <= this.max.x &&
+			this.min.y <= box.min.y && box.max.y <= this.max.y &&
+			this.min.z <= box.min.z && box.max.z <= this.max.z;
+
+	}
+
+	getParameter( point, target ) {
+
+		// This can potentially have a divide by zero if the box
+		// has a size dimension of 0.
+
+		return target.set(
+			( point.x - this.min.x ) / ( this.max.x - this.min.x ),
+			( point.y - this.min.y ) / ( this.max.y - this.min.y ),
+			( point.z - this.min.z ) / ( this.max.z - this.min.z )
+		);
+
+	}
+
+	intersectsBox( box ) {
+
+		// using 6 splitting planes to rule out intersections.
+		return box.max.x < this.min.x || box.min.x > this.max.x ||
+			box.max.y < this.min.y || box.min.y > this.max.y ||
+			box.max.z < this.min.z || box.min.z > this.max.z ? false : true;
+
+	}
+
+	intersectsSphere( sphere ) {
+
+		// Find the point on the AABB closest to the sphere center.
+		this.clampPoint( sphere.center, _vector$b );
+
+		// If that point is inside the sphere, the AABB and sphere intersect.
+		return _vector$b.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius );
+
+	}
+
+	intersectsPlane( plane ) {
+
+		// We compute the minimum and maximum dot product values. If those values
+		// are on the same side (back or front) of the plane, then there is no intersection.
+
+		let min, max;
+
+		if ( plane.normal.x > 0 ) {
+
+			min = plane.normal.x * this.min.x;
+			max = plane.normal.x * this.max.x;
+
+		} else {
+
+			min = plane.normal.x * this.max.x;
+			max = plane.normal.x * this.min.x;
+
+		}
+
+		if ( plane.normal.y > 0 ) {
+
+			min += plane.normal.y * this.min.y;
+			max += plane.normal.y * this.max.y;
+
+		} else {
+
+			min += plane.normal.y * this.max.y;
+			max += plane.normal.y * this.min.y;
+
+		}
+
+		if ( plane.normal.z > 0 ) {
+
+			min += plane.normal.z * this.min.z;
+			max += plane.normal.z * this.max.z;
+
+		} else {
+
+			min += plane.normal.z * this.max.z;
+			max += plane.normal.z * this.min.z;
+
+		}
+
+		return ( min <= - plane.constant && max >= - plane.constant );
+
+	}
+
+	intersectsTriangle( triangle ) {
+
+		if ( this.isEmpty() ) {
+
+			return false;
+
+		}
+
+		// compute box center and extents
+		this.getCenter( _center );
+		_extents.subVectors( this.max, _center );
+
+		// translate triangle to aabb origin
+		_v0$2.subVectors( triangle.a, _center );
+		_v1$7.subVectors( triangle.b, _center );
+		_v2$4.subVectors( triangle.c, _center );
+
+		// compute edge vectors for triangle
+		_f0.subVectors( _v1$7, _v0$2 );
+		_f1.subVectors( _v2$4, _v1$7 );
+		_f2.subVectors( _v0$2, _v2$4 );
+
+		// test against axes that are given by cross product combinations of the edges of the triangle and the edges of the aabb
+		// make an axis testing of each of the 3 sides of the aabb against each of the 3 sides of the triangle = 9 axis of separation
+		// axis_ij = u_i x f_j (u0, u1, u2 = face normals of aabb = x,y,z axes vectors since aabb is axis aligned)
+		let axes = [
+			0, - _f0.z, _f0.y, 0, - _f1.z, _f1.y, 0, - _f2.z, _f2.y,
+			_f0.z, 0, - _f0.x, _f1.z, 0, - _f1.x, _f2.z, 0, - _f2.x,
+			- _f0.y, _f0.x, 0, - _f1.y, _f1.x, 0, - _f2.y, _f2.x, 0
+		];
+		if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {
+
+			return false;
+
+		}
+
+		// test 3 face normals from the aabb
+		axes = [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ];
+		if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {
+
+			return false;
+
+		}
+
+		// finally testing the face normal of the triangle
+		// use already existing triangle edge vectors here
+		_triangleNormal.crossVectors( _f0, _f1 );
+		axes = [ _triangleNormal.x, _triangleNormal.y, _triangleNormal.z ];
+
+		return satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents );
+
+	}
+
+	clampPoint( point, target ) {
+
+		return target.copy( point ).clamp( this.min, this.max );
+
+	}
+
+	distanceToPoint( point ) {
+
+		return this.clampPoint( point, _vector$b ).distanceTo( point );
+
+	}
+
+	getBoundingSphere( target ) {
+
+		if ( this.isEmpty() ) {
+
+			target.makeEmpty();
+
+		} else {
+
+			this.getCenter( target.center );
+
+			target.radius = this.getSize( _vector$b ).length() * 0.5;
+
+		}
+
+		return target;
+
+	}
+
+	intersect( box ) {
+
+		this.min.max( box.min );
+		this.max.min( box.max );
+
+		// ensure that if there is no overlap, the result is fully empty, not slightly empty with non-inf/+inf values that will cause subsequence intersects to erroneously return valid values.
+		if ( this.isEmpty() ) this.makeEmpty();
+
+		return this;
+
+	}
+
+	union( box ) {
+
+		this.min.min( box.min );
+		this.max.max( box.max );
+
+		return this;
+
+	}
+
+	applyMatrix4( matrix ) {
+
+		// transform of empty box is an empty box.
+		if ( this.isEmpty() ) return this;
+
+		// NOTE: I am using a binary pattern to specify all 2^3 combinations below
+		_points[ 0 ].set( this.min.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 000
+		_points[ 1 ].set( this.min.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 001
+		_points[ 2 ].set( this.min.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 010
+		_points[ 3 ].set( this.min.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 011
+		_points[ 4 ].set( this.max.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 100
+		_points[ 5 ].set( this.max.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 101
+		_points[ 6 ].set( this.max.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 110
+		_points[ 7 ].set( this.max.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 111
+
+		this.setFromPoints( _points );
+
+		return this;
+
+	}
+
+	translate( offset ) {
+
+		this.min.add( offset );
+		this.max.add( offset );
+
+		return this;
+
+	}
+
+	equals( box ) {
+
+		return box.min.equals( this.min ) && box.max.equals( this.max );
+
+	}
+
+}
+
+const _points = [
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3(),
+	/*@__PURE__*/ new Vector3()
+];
+
+const _vector$b = /*@__PURE__*/ new Vector3();
+
+const _box$4 = /*@__PURE__*/ new Box3();
+
+// triangle centered vertices
+
+const _v0$2 = /*@__PURE__*/ new Vector3();
+const _v1$7 = /*@__PURE__*/ new Vector3();
+const _v2$4 = /*@__PURE__*/ new Vector3();
+
+// triangle edge vectors
+
+const _f0 = /*@__PURE__*/ new Vector3();
+const _f1 = /*@__PURE__*/ new Vector3();
+const _f2 = /*@__PURE__*/ new Vector3();
+
+const _center = /*@__PURE__*/ new Vector3();
+const _extents = /*@__PURE__*/ new Vector3();
+const _triangleNormal = /*@__PURE__*/ new Vector3();
+const _testAxis = /*@__PURE__*/ new Vector3();
+
+function satForAxes( axes, v0, v1, v2, extents ) {
+
+	for ( let i = 0, j = axes.length - 3; i <= j; i += 3 ) {
+
+		_testAxis.fromArray( axes, i );
+		// project the aabb onto the separating axis
+		const r = extents.x * Math.abs( _testAxis.x ) + extents.y * Math.abs( _testAxis.y ) + extents.z * Math.abs( _testAxis.z );
+		// project all 3 vertices of the triangle onto the separating axis
+		const p0 = v0.dot( _testAxis );
+		const p1 = v1.dot( _testAxis );
+		const p2 = v2.dot( _testAxis );
+		// actual test, basically see if either of the most extreme of the triangle points intersects r
+		if ( Math.max( - Math.max( p0, p1, p2 ), Math.min( p0, p1, p2 ) ) > r ) {
+
+			// points of the projected triangle are outside the projected half-length of the aabb
+			// the axis is separating and we can exit
+			return false;
+
+		}
+
+	}
+
+	return true;
+
+}
+
+const _box$3 = /*@__PURE__*/ new Box3();
+const _v1$6 = /*@__PURE__*/ new Vector3();
+const _v2$3 = /*@__PURE__*/ new Vector3();
+
+class Sphere {
+
+	constructor( center = new Vector3(), radius = - 1 ) {
+
+		this.isSphere = true;
+
+		this.center = center;
+		this.radius = radius;
+
+	}
+
+	set( center, radius ) {
+
+		this.center.copy( center );
+		this.radius = radius;
+
+		return this;
+
+	}
+
+	setFromPoints( points, optionalCenter ) {
+
+		const center = this.center;
+
+		if ( optionalCenter !== undefined ) {
+
+			center.copy( optionalCenter );
+
+		} else {
+
+			_box$3.setFromPoints( points ).getCenter( center );
+
+		}
+
+		let maxRadiusSq = 0;
+
+		for ( let i = 0, il = points.length; i < il; i ++ ) {
+
+			maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( points[ i ] ) );
+
+		}
+
+		this.radius = Math.sqrt( maxRadiusSq );
+
+		return this;
+
+	}
+
+	copy( sphere ) {
+
+		this.center.copy( sphere.center );
+		this.radius = sphere.radius;
+
+		return this;
+
+	}
+
+	isEmpty() {
+
+		return ( this.radius < 0 );
+
+	}
+
+	makeEmpty() {
+
+		this.center.set( 0, 0, 0 );
+		this.radius = - 1;
+
+		return this;
+
+	}
+
+	containsPoint( point ) {
+
+		return ( point.distanceToSquared( this.center ) <= ( this.radius * this.radius ) );
+
+	}
+
+	distanceToPoint( point ) {
+
+		return ( point.distanceTo( this.center ) - this.radius );
+
+	}
+
+	intersectsSphere( sphere ) {
+
+		const radiusSum = this.radius + sphere.radius;
+
+		return sphere.center.distanceToSquared( this.center ) <= ( radiusSum * radiusSum );
+
+	}
+
+	intersectsBox( box ) {
+
+		return box.intersectsSphere( this );
+
+	}
+
+	intersectsPlane( plane ) {
+
+		return Math.abs( plane.distanceToPoint( this.center ) ) <= this.radius;
+
+	}
+
+	clampPoint( point, target ) {
+
+		const deltaLengthSq = this.center.distanceToSquared( point );
+
+		target.copy( point );
+
+		if ( deltaLengthSq > ( this.radius * this.radius ) ) {
+
+			target.sub( this.center ).normalize();
+			target.multiplyScalar( this.radius ).add( this.center );
+
+		}
+
+		return target;
+
+	}
+
+	getBoundingBox( target ) {
+
+		if ( this.isEmpty() ) {
+
+			// Empty sphere produces empty bounding box
+			target.makeEmpty();
+			return target;
+
+		}
+
+		target.set( this.center, this.center );
+		target.expandByScalar( this.radius );
+
+		return target;
+
+	}
+
+	applyMatrix4( matrix ) {
+
+		this.center.applyMatrix4( matrix );
+		this.radius = this.radius * matrix.getMaxScaleOnAxis();
+
+		return this;
+
+	}
+
+	translate( offset ) {
+
+		this.center.add( offset );
+
+		return this;
+
+	}
+
+	expandByPoint( point ) {
+
+		if ( this.isEmpty() ) {
+
+			this.center.copy( point );
+
+			this.radius = 0;
+
+			return this;
+
+		}
+
+		_v1$6.subVectors( point, this.center );
+
+		const lengthSq = _v1$6.lengthSq();
+
+		if ( lengthSq > ( this.radius * this.radius ) ) {
+
+			// calculate the minimal sphere
+
+			const length = Math.sqrt( lengthSq );
+
+			const delta = ( length - this.radius ) * 0.5;
+
+			this.center.addScaledVector( _v1$6, delta / length );
+
+			this.radius += delta;
+
+		}
+
+		return this;
+
+	}
+
+	union( sphere ) {
+
+		if ( sphere.isEmpty() ) {
+
+			return this;
+
+		}
+
+		if ( this.isEmpty() ) {
+
+			this.copy( sphere );
+
+			return this;
+
+		}
+
+		if ( this.center.equals( sphere.center ) === true ) {
+
+			 this.radius = Math.max( this.radius, sphere.radius );
+
+		} else {
+
+			_v2$3.subVectors( sphere.center, this.center ).setLength( sphere.radius );
+
+			this.expandByPoint( _v1$6.copy( sphere.center ).add( _v2$3 ) );
+
+			this.expandByPoint( _v1$6.copy( sphere.center ).sub( _v2$3 ) );
+
+		}
+
+		return this;
+
+	}
+
+	equals( sphere ) {
+
+		return sphere.center.equals( this.center ) && ( sphere.radius === this.radius );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+const _vector$a = /*@__PURE__*/ new Vector3();
+const _segCenter = /*@__PURE__*/ new Vector3();
+const _segDir = /*@__PURE__*/ new Vector3();
+const _diff = /*@__PURE__*/ new Vector3();
+
+const _edge1 = /*@__PURE__*/ new Vector3();
+const _edge2 = /*@__PURE__*/ new Vector3();
+const _normal$1 = /*@__PURE__*/ new Vector3();
+
+class Ray {
+
+	constructor( origin = new Vector3(), direction = new Vector3( 0, 0, - 1 ) ) {
+
+		this.origin = origin;
+		this.direction = direction;
+
+	}
+
+	set( origin, direction ) {
+
+		this.origin.copy( origin );
+		this.direction.copy( direction );
+
+		return this;
+
+	}
+
+	copy( ray ) {
+
+		this.origin.copy( ray.origin );
+		this.direction.copy( ray.direction );
+
+		return this;
+
+	}
+
+	at( t, target ) {
+
+		return target.copy( this.origin ).addScaledVector( this.direction, t );
+
+	}
+
+	lookAt( v ) {
+
+		this.direction.copy( v ).sub( this.origin ).normalize();
+
+		return this;
+
+	}
+
+	recast( t ) {
+
+		this.origin.copy( this.at( t, _vector$a ) );
+
+		return this;
+
+	}
+
+	closestPointToPoint( point, target ) {
+
+		target.subVectors( point, this.origin );
+
+		const directionDistance = target.dot( this.direction );
+
+		if ( directionDistance < 0 ) {
+
+			return target.copy( this.origin );
+
+		}
+
+		return target.copy( this.origin ).addScaledVector( this.direction, directionDistance );
+
+	}
+
+	distanceToPoint( point ) {
+
+		return Math.sqrt( this.distanceSqToPoint( point ) );
+
+	}
+
+	distanceSqToPoint( point ) {
+
+		const directionDistance = _vector$a.subVectors( point, this.origin ).dot( this.direction );
+
+		// point behind the ray
+
+		if ( directionDistance < 0 ) {
+
+			return this.origin.distanceToSquared( point );
+
+		}
+
+		_vector$a.copy( this.origin ).addScaledVector( this.direction, directionDistance );
+
+		return _vector$a.distanceToSquared( point );
+
+	}
+
+	distanceSqToSegment( v0, v1, optionalPointOnRay, optionalPointOnSegment ) {
+
+		// from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteDistRaySegment.h
+		// It returns the min distance between the ray and the segment
+		// defined by v0 and v1
+		// It can also set two optional targets :
+		// - The closest point on the ray
+		// - The closest point on the segment
+
+		_segCenter.copy( v0 ).add( v1 ).multiplyScalar( 0.5 );
+		_segDir.copy( v1 ).sub( v0 ).normalize();
+		_diff.copy( this.origin ).sub( _segCenter );
+
+		const segExtent = v0.distanceTo( v1 ) * 0.5;
+		const a01 = - this.direction.dot( _segDir );
+		const b0 = _diff.dot( this.direction );
+		const b1 = - _diff.dot( _segDir );
+		const c = _diff.lengthSq();
+		const det = Math.abs( 1 - a01 * a01 );
+		let s0, s1, sqrDist, extDet;
+
+		if ( det > 0 ) {
+
+			// The ray and segment are not parallel.
+
+			s0 = a01 * b1 - b0;
+			s1 = a01 * b0 - b1;
+			extDet = segExtent * det;
+
+			if ( s0 >= 0 ) {
+
+				if ( s1 >= - extDet ) {
+
+					if ( s1 <= extDet ) {
+
+						// region 0
+						// Minimum at interior points of ray and segment.
+
+						const invDet = 1 / det;
+						s0 *= invDet;
+						s1 *= invDet;
+						sqrDist = s0 * ( s0 + a01 * s1 + 2 * b0 ) + s1 * ( a01 * s0 + s1 + 2 * b1 ) + c;
+
+					} else {
+
+						// region 1
+
+						s1 = segExtent;
+						s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
+						sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
+
+					}
+
+				} else {
+
+					// region 5
+
+					s1 = - segExtent;
+					s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
+					sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
+
+				}
+
+			} else {
+
+				if ( s1 <= - extDet ) {
+
+					// region 4
+
+					s0 = Math.max( 0, - ( - a01 * segExtent + b0 ) );
+					s1 = ( s0 > 0 ) ? - segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );
+					sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
+
+				} else if ( s1 <= extDet ) {
+
+					// region 3
+
+					s0 = 0;
+					s1 = Math.min( Math.max( - segExtent, - b1 ), segExtent );
+					sqrDist = s1 * ( s1 + 2 * b1 ) + c;
+
+				} else {
+
+					// region 2
+
+					s0 = Math.max( 0, - ( a01 * segExtent + b0 ) );
+					s1 = ( s0 > 0 ) ? segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );
+					sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
+
+				}
+
+			}
+
+		} else {
+
+			// Ray and segment are parallel.
+
+			s1 = ( a01 > 0 ) ? - segExtent : segExtent;
+			s0 = Math.max( 0, - ( a01 * s1 + b0 ) );
+			sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;
+
+		}
+
+		if ( optionalPointOnRay ) {
+
+			optionalPointOnRay.copy( this.origin ).addScaledVector( this.direction, s0 );
+
+		}
+
+		if ( optionalPointOnSegment ) {
+
+			optionalPointOnSegment.copy( _segCenter ).addScaledVector( _segDir, s1 );
+
+		}
+
+		return sqrDist;
+
+	}
+
+	intersectSphere( sphere, target ) {
+
+		_vector$a.subVectors( sphere.center, this.origin );
+		const tca = _vector$a.dot( this.direction );
+		const d2 = _vector$a.dot( _vector$a ) - tca * tca;
+		const radius2 = sphere.radius * sphere.radius;
+
+		if ( d2 > radius2 ) return null;
+
+		const thc = Math.sqrt( radius2 - d2 );
+
+		// t0 = first intersect point - entrance on front of sphere
+		const t0 = tca - thc;
+
+		// t1 = second intersect point - exit point on back of sphere
+		const t1 = tca + thc;
+
+		// test to see if t1 is behind the ray - if so, return null
+		if ( t1 < 0 ) return null;
+
+		// test to see if t0 is behind the ray:
+		// if it is, the ray is inside the sphere, so return the second exit point scaled by t1,
+		// in order to always return an intersect point that is in front of the ray.
+		if ( t0 < 0 ) return this.at( t1, target );
+
+		// else t0 is in front of the ray, so return the first collision point scaled by t0
+		return this.at( t0, target );
+
+	}
+
+	intersectsSphere( sphere ) {
+
+		return this.distanceSqToPoint( sphere.center ) <= ( sphere.radius * sphere.radius );
+
+	}
+
+	distanceToPlane( plane ) {
+
+		const denominator = plane.normal.dot( this.direction );
+
+		if ( denominator === 0 ) {
+
+			// line is coplanar, return origin
+			if ( plane.distanceToPoint( this.origin ) === 0 ) {
+
+				return 0;
+
+			}
+
+			// Null is preferable to undefined since undefined means.... it is undefined
+
+			return null;
+
+		}
+
+		const t = - ( this.origin.dot( plane.normal ) + plane.constant ) / denominator;
+
+		// Return if the ray never intersects the plane
+
+		return t >= 0 ? t : null;
+
+	}
+
+	intersectPlane( plane, target ) {
+
+		const t = this.distanceToPlane( plane );
+
+		if ( t === null ) {
+
+			return null;
+
+		}
+
+		return this.at( t, target );
+
+	}
+
+	intersectsPlane( plane ) {
+
+		// check if the ray lies on the plane first
+
+		const distToPoint = plane.distanceToPoint( this.origin );
+
+		if ( distToPoint === 0 ) {
+
+			return true;
+
+		}
+
+		const denominator = plane.normal.dot( this.direction );
+
+		if ( denominator * distToPoint < 0 ) {
+
+			return true;
+
+		}
+
+		// ray origin is behind the plane (and is pointing behind it)
+
+		return false;
+
+	}
+
+	intersectBox( box, target ) {
+
+		let tmin, tmax, tymin, tymax, tzmin, tzmax;
+
+		const invdirx = 1 / this.direction.x,
+			invdiry = 1 / this.direction.y,
+			invdirz = 1 / this.direction.z;
+
+		const origin = this.origin;
+
+		if ( invdirx >= 0 ) {
+
+			tmin = ( box.min.x - origin.x ) * invdirx;
+			tmax = ( box.max.x - origin.x ) * invdirx;
+
+		} else {
+
+			tmin = ( box.max.x - origin.x ) * invdirx;
+			tmax = ( box.min.x - origin.x ) * invdirx;
+
+		}
+
+		if ( invdiry >= 0 ) {
+
+			tymin = ( box.min.y - origin.y ) * invdiry;
+			tymax = ( box.max.y - origin.y ) * invdiry;
+
+		} else {
+
+			tymin = ( box.max.y - origin.y ) * invdiry;
+			tymax = ( box.min.y - origin.y ) * invdiry;
+
+		}
+
+		if ( ( tmin > tymax ) || ( tymin > tmax ) ) return null;
+
+		if ( tymin > tmin || isNaN( tmin ) ) tmin = tymin;
+
+		if ( tymax < tmax || isNaN( tmax ) ) tmax = tymax;
+
+		if ( invdirz >= 0 ) {
+
+			tzmin = ( box.min.z - origin.z ) * invdirz;
+			tzmax = ( box.max.z - origin.z ) * invdirz;
+
+		} else {
+
+			tzmin = ( box.max.z - origin.z ) * invdirz;
+			tzmax = ( box.min.z - origin.z ) * invdirz;
+
+		}
+
+		if ( ( tmin > tzmax ) || ( tzmin > tmax ) ) return null;
+
+		if ( tzmin > tmin || tmin !== tmin ) tmin = tzmin;
+
+		if ( tzmax < tmax || tmax !== tmax ) tmax = tzmax;
+
+		//return point closest to the ray (positive side)
+
+		if ( tmax < 0 ) return null;
+
+		return this.at( tmin >= 0 ? tmin : tmax, target );
+
+	}
+
+	intersectsBox( box ) {
+
+		return this.intersectBox( box, _vector$a ) !== null;
+
+	}
+
+	intersectTriangle( a, b, c, backfaceCulling, target ) {
+
+		// Compute the offset origin, edges, and normal.
+
+		// from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteIntrRay3Triangle3.h
+
+		_edge1.subVectors( b, a );
+		_edge2.subVectors( c, a );
+		_normal$1.crossVectors( _edge1, _edge2 );
+
+		// Solve Q + t*D = b1*E1 + b2*E2 (Q = kDiff, D = ray direction,
+		// E1 = kEdge1, E2 = kEdge2, N = Cross(E1,E2)) by
+		//   |Dot(D,N)|*b1 = sign(Dot(D,N))*Dot(D,Cross(Q,E2))
+		//   |Dot(D,N)|*b2 = sign(Dot(D,N))*Dot(D,Cross(E1,Q))
+		//   |Dot(D,N)|*t = -sign(Dot(D,N))*Dot(Q,N)
+		let DdN = this.direction.dot( _normal$1 );
+		let sign;
+
+		if ( DdN > 0 ) {
+
+			if ( backfaceCulling ) return null;
+			sign = 1;
+
+		} else if ( DdN < 0 ) {
+
+			sign = - 1;
+			DdN = - DdN;
+
+		} else {
+
+			return null;
+
+		}
+
+		_diff.subVectors( this.origin, a );
+		const DdQxE2 = sign * this.direction.dot( _edge2.crossVectors( _diff, _edge2 ) );
+
+		// b1 < 0, no intersection
+		if ( DdQxE2 < 0 ) {
+
+			return null;
+
+		}
+
+		const DdE1xQ = sign * this.direction.dot( _edge1.cross( _diff ) );
+
+		// b2 < 0, no intersection
+		if ( DdE1xQ < 0 ) {
+
+			return null;
+
+		}
+
+		// b1+b2 > 1, no intersection
+		if ( DdQxE2 + DdE1xQ > DdN ) {
+
+			return null;
+
+		}
+
+		// Line intersects triangle, check if ray does.
+		const QdN = - sign * _diff.dot( _normal$1 );
+
+		// t < 0, no intersection
+		if ( QdN < 0 ) {
+
+			return null;
+
+		}
+
+		// Ray intersects triangle.
+		return this.at( QdN / DdN, target );
+
+	}
+
+	applyMatrix4( matrix4 ) {
+
+		this.origin.applyMatrix4( matrix4 );
+		this.direction.transformDirection( matrix4 );
+
+		return this;
+
+	}
+
+	equals( ray ) {
+
+		return ray.origin.equals( this.origin ) && ray.direction.equals( this.direction );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+class Matrix4 {
+
+	constructor( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {
+
+		Matrix4.prototype.isMatrix4 = true;
+
+		this.elements = [
+
+			1, 0, 0, 0,
+			0, 1, 0, 0,
+			0, 0, 1, 0,
+			0, 0, 0, 1
+
+		];
+
+		if ( n11 !== undefined ) {
+
+			this.set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 );
+
+		}
+
+	}
+
+	set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {
+
+		const te = this.elements;
+
+		te[ 0 ] = n11; te[ 4 ] = n12; te[ 8 ] = n13; te[ 12 ] = n14;
+		te[ 1 ] = n21; te[ 5 ] = n22; te[ 9 ] = n23; te[ 13 ] = n24;
+		te[ 2 ] = n31; te[ 6 ] = n32; te[ 10 ] = n33; te[ 14 ] = n34;
+		te[ 3 ] = n41; te[ 7 ] = n42; te[ 11 ] = n43; te[ 15 ] = n44;
+
+		return this;
+
+	}
+
+	identity() {
+
+		this.set(
+
+			1, 0, 0, 0,
+			0, 1, 0, 0,
+			0, 0, 1, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new Matrix4().fromArray( this.elements );
+
+	}
+
+	copy( m ) {
+
+		const te = this.elements;
+		const me = m.elements;
+
+		te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ]; te[ 3 ] = me[ 3 ];
+		te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ]; te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ];
+		te[ 8 ] = me[ 8 ]; te[ 9 ] = me[ 9 ]; te[ 10 ] = me[ 10 ]; te[ 11 ] = me[ 11 ];
+		te[ 12 ] = me[ 12 ]; te[ 13 ] = me[ 13 ]; te[ 14 ] = me[ 14 ]; te[ 15 ] = me[ 15 ];
+
+		return this;
+
+	}
+
+	copyPosition( m ) {
+
+		const te = this.elements, me = m.elements;
+
+		te[ 12 ] = me[ 12 ];
+		te[ 13 ] = me[ 13 ];
+		te[ 14 ] = me[ 14 ];
+
+		return this;
+
+	}
+
+	setFromMatrix3( m ) {
+
+		const me = m.elements;
+
+		this.set(
+
+			me[ 0 ], me[ 3 ], me[ 6 ], 0,
+			me[ 1 ], me[ 4 ], me[ 7 ], 0,
+			me[ 2 ], me[ 5 ], me[ 8 ], 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	extractBasis( xAxis, yAxis, zAxis ) {
+
+		xAxis.setFromMatrixColumn( this, 0 );
+		yAxis.setFromMatrixColumn( this, 1 );
+		zAxis.setFromMatrixColumn( this, 2 );
+
+		return this;
+
+	}
+
+	makeBasis( xAxis, yAxis, zAxis ) {
+
+		this.set(
+			xAxis.x, yAxis.x, zAxis.x, 0,
+			xAxis.y, yAxis.y, zAxis.y, 0,
+			xAxis.z, yAxis.z, zAxis.z, 0,
+			0, 0, 0, 1
+		);
+
+		return this;
+
+	}
+
+	extractRotation( m ) {
+
+		// this method does not support reflection matrices
+
+		const te = this.elements;
+		const me = m.elements;
+
+		const scaleX = 1 / _v1$5.setFromMatrixColumn( m, 0 ).length();
+		const scaleY = 1 / _v1$5.setFromMatrixColumn( m, 1 ).length();
+		const scaleZ = 1 / _v1$5.setFromMatrixColumn( m, 2 ).length();
+
+		te[ 0 ] = me[ 0 ] * scaleX;
+		te[ 1 ] = me[ 1 ] * scaleX;
+		te[ 2 ] = me[ 2 ] * scaleX;
+		te[ 3 ] = 0;
+
+		te[ 4 ] = me[ 4 ] * scaleY;
+		te[ 5 ] = me[ 5 ] * scaleY;
+		te[ 6 ] = me[ 6 ] * scaleY;
+		te[ 7 ] = 0;
+
+		te[ 8 ] = me[ 8 ] * scaleZ;
+		te[ 9 ] = me[ 9 ] * scaleZ;
+		te[ 10 ] = me[ 10 ] * scaleZ;
+		te[ 11 ] = 0;
+
+		te[ 12 ] = 0;
+		te[ 13 ] = 0;
+		te[ 14 ] = 0;
+		te[ 15 ] = 1;
+
+		return this;
+
+	}
+
+	makeRotationFromEuler( euler ) {
+
+		const te = this.elements;
+
+		const x = euler.x, y = euler.y, z = euler.z;
+		const a = Math.cos( x ), b = Math.sin( x );
+		const c = Math.cos( y ), d = Math.sin( y );
+		const e = Math.cos( z ), f = Math.sin( z );
+
+		if ( euler.order === 'XYZ' ) {
+
+			const ae = a * e, af = a * f, be = b * e, bf = b * f;
+
+			te[ 0 ] = c * e;
+			te[ 4 ] = - c * f;
+			te[ 8 ] = d;
+
+			te[ 1 ] = af + be * d;
+			te[ 5 ] = ae - bf * d;
+			te[ 9 ] = - b * c;
+
+			te[ 2 ] = bf - ae * d;
+			te[ 6 ] = be + af * d;
+			te[ 10 ] = a * c;
+
+		} else if ( euler.order === 'YXZ' ) {
+
+			const ce = c * e, cf = c * f, de = d * e, df = d * f;
+
+			te[ 0 ] = ce + df * b;
+			te[ 4 ] = de * b - cf;
+			te[ 8 ] = a * d;
+
+			te[ 1 ] = a * f;
+			te[ 5 ] = a * e;
+			te[ 9 ] = - b;
+
+			te[ 2 ] = cf * b - de;
+			te[ 6 ] = df + ce * b;
+			te[ 10 ] = a * c;
+
+		} else if ( euler.order === 'ZXY' ) {
+
+			const ce = c * e, cf = c * f, de = d * e, df = d * f;
+
+			te[ 0 ] = ce - df * b;
+			te[ 4 ] = - a * f;
+			te[ 8 ] = de + cf * b;
+
+			te[ 1 ] = cf + de * b;
+			te[ 5 ] = a * e;
+			te[ 9 ] = df - ce * b;
+
+			te[ 2 ] = - a * d;
+			te[ 6 ] = b;
+			te[ 10 ] = a * c;
+
+		} else if ( euler.order === 'ZYX' ) {
+
+			const ae = a * e, af = a * f, be = b * e, bf = b * f;
+
+			te[ 0 ] = c * e;
+			te[ 4 ] = be * d - af;
+			te[ 8 ] = ae * d + bf;
+
+			te[ 1 ] = c * f;
+			te[ 5 ] = bf * d + ae;
+			te[ 9 ] = af * d - be;
+
+			te[ 2 ] = - d;
+			te[ 6 ] = b * c;
+			te[ 10 ] = a * c;
+
+		} else if ( euler.order === 'YZX' ) {
+
+			const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+
+			te[ 0 ] = c * e;
+			te[ 4 ] = bd - ac * f;
+			te[ 8 ] = bc * f + ad;
+
+			te[ 1 ] = f;
+			te[ 5 ] = a * e;
+			te[ 9 ] = - b * e;
+
+			te[ 2 ] = - d * e;
+			te[ 6 ] = ad * f + bc;
+			te[ 10 ] = ac - bd * f;
+
+		} else if ( euler.order === 'XZY' ) {
+
+			const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+
+			te[ 0 ] = c * e;
+			te[ 4 ] = - f;
+			te[ 8 ] = d * e;
+
+			te[ 1 ] = ac * f + bd;
+			te[ 5 ] = a * e;
+			te[ 9 ] = ad * f - bc;
+
+			te[ 2 ] = bc * f - ad;
+			te[ 6 ] = b * e;
+			te[ 10 ] = bd * f + ac;
+
+		}
+
+		// bottom row
+		te[ 3 ] = 0;
+		te[ 7 ] = 0;
+		te[ 11 ] = 0;
+
+		// last column
+		te[ 12 ] = 0;
+		te[ 13 ] = 0;
+		te[ 14 ] = 0;
+		te[ 15 ] = 1;
+
+		return this;
+
+	}
+
+	makeRotationFromQuaternion( q ) {
+
+		return this.compose( _zero, q, _one );
+
+	}
+
+	lookAt( eye, target, up ) {
+
+		const te = this.elements;
+
+		_z.subVectors( eye, target );
+
+		if ( _z.lengthSq() === 0 ) {
+
+			// eye and target are in the same position
+
+			_z.z = 1;
+
+		}
+
+		_z.normalize();
+		_x.crossVectors( up, _z );
+
+		if ( _x.lengthSq() === 0 ) {
+
+			// up and z are parallel
+
+			if ( Math.abs( up.z ) === 1 ) {
+
+				_z.x += 0.0001;
+
+			} else {
+
+				_z.z += 0.0001;
+
+			}
+
+			_z.normalize();
+			_x.crossVectors( up, _z );
+
+		}
+
+		_x.normalize();
+		_y.crossVectors( _z, _x );
+
+		te[ 0 ] = _x.x; te[ 4 ] = _y.x; te[ 8 ] = _z.x;
+		te[ 1 ] = _x.y; te[ 5 ] = _y.y; te[ 9 ] = _z.y;
+		te[ 2 ] = _x.z; te[ 6 ] = _y.z; te[ 10 ] = _z.z;
+
+		return this;
+
+	}
+
+	multiply( m ) {
+
+		return this.multiplyMatrices( this, m );
+
+	}
+
+	premultiply( m ) {
+
+		return this.multiplyMatrices( m, this );
+
+	}
+
+	multiplyMatrices( a, b ) {
+
+		const ae = a.elements;
+		const be = b.elements;
+		const te = this.elements;
+
+		const a11 = ae[ 0 ], a12 = ae[ 4 ], a13 = ae[ 8 ], a14 = ae[ 12 ];
+		const a21 = ae[ 1 ], a22 = ae[ 5 ], a23 = ae[ 9 ], a24 = ae[ 13 ];
+		const a31 = ae[ 2 ], a32 = ae[ 6 ], a33 = ae[ 10 ], a34 = ae[ 14 ];
+		const a41 = ae[ 3 ], a42 = ae[ 7 ], a43 = ae[ 11 ], a44 = ae[ 15 ];
+
+		const b11 = be[ 0 ], b12 = be[ 4 ], b13 = be[ 8 ], b14 = be[ 12 ];
+		const b21 = be[ 1 ], b22 = be[ 5 ], b23 = be[ 9 ], b24 = be[ 13 ];
+		const b31 = be[ 2 ], b32 = be[ 6 ], b33 = be[ 10 ], b34 = be[ 14 ];
+		const b41 = be[ 3 ], b42 = be[ 7 ], b43 = be[ 11 ], b44 = be[ 15 ];
+
+		te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
+		te[ 4 ] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
+		te[ 8 ] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
+		te[ 12 ] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
+
+		te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
+		te[ 5 ] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
+		te[ 9 ] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
+		te[ 13 ] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
+
+		te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
+		te[ 6 ] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
+		te[ 10 ] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
+		te[ 14 ] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
+
+		te[ 3 ] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
+		te[ 7 ] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
+		te[ 11 ] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
+		te[ 15 ] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
+
+		return this;
+
+	}
+
+	multiplyScalar( s ) {
+
+		const te = this.elements;
+
+		te[ 0 ] *= s; te[ 4 ] *= s; te[ 8 ] *= s; te[ 12 ] *= s;
+		te[ 1 ] *= s; te[ 5 ] *= s; te[ 9 ] *= s; te[ 13 ] *= s;
+		te[ 2 ] *= s; te[ 6 ] *= s; te[ 10 ] *= s; te[ 14 ] *= s;
+		te[ 3 ] *= s; te[ 7 ] *= s; te[ 11 ] *= s; te[ 15 ] *= s;
+
+		return this;
+
+	}
+
+	determinant() {
+
+		const te = this.elements;
+
+		const n11 = te[ 0 ], n12 = te[ 4 ], n13 = te[ 8 ], n14 = te[ 12 ];
+		const n21 = te[ 1 ], n22 = te[ 5 ], n23 = te[ 9 ], n24 = te[ 13 ];
+		const n31 = te[ 2 ], n32 = te[ 6 ], n33 = te[ 10 ], n34 = te[ 14 ];
+		const n41 = te[ 3 ], n42 = te[ 7 ], n43 = te[ 11 ], n44 = te[ 15 ];
+
+		//TODO: make this more efficient
+		//( based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm )
+
+		return (
+			n41 * (
+				+ n14 * n23 * n32
+				 - n13 * n24 * n32
+				 - n14 * n22 * n33
+				 + n12 * n24 * n33
+				 + n13 * n22 * n34
+				 - n12 * n23 * n34
+			) +
+			n42 * (
+				+ n11 * n23 * n34
+				 - n11 * n24 * n33
+				 + n14 * n21 * n33
+				 - n13 * n21 * n34
+				 + n13 * n24 * n31
+				 - n14 * n23 * n31
+			) +
+			n43 * (
+				+ n11 * n24 * n32
+				 - n11 * n22 * n34
+				 - n14 * n21 * n32
+				 + n12 * n21 * n34
+				 + n14 * n22 * n31
+				 - n12 * n24 * n31
+			) +
+			n44 * (
+				- n13 * n22 * n31
+				 - n11 * n23 * n32
+				 + n11 * n22 * n33
+				 + n13 * n21 * n32
+				 - n12 * n21 * n33
+				 + n12 * n23 * n31
+			)
+
+		);
+
+	}
+
+	transpose() {
+
+		const te = this.elements;
+		let tmp;
+
+		tmp = te[ 1 ]; te[ 1 ] = te[ 4 ]; te[ 4 ] = tmp;
+		tmp = te[ 2 ]; te[ 2 ] = te[ 8 ]; te[ 8 ] = tmp;
+		tmp = te[ 6 ]; te[ 6 ] = te[ 9 ]; te[ 9 ] = tmp;
+
+		tmp = te[ 3 ]; te[ 3 ] = te[ 12 ]; te[ 12 ] = tmp;
+		tmp = te[ 7 ]; te[ 7 ] = te[ 13 ]; te[ 13 ] = tmp;
+		tmp = te[ 11 ]; te[ 11 ] = te[ 14 ]; te[ 14 ] = tmp;
+
+		return this;
+
+	}
+
+	setPosition( x, y, z ) {
+
+		const te = this.elements;
+
+		if ( x.isVector3 ) {
+
+			te[ 12 ] = x.x;
+			te[ 13 ] = x.y;
+			te[ 14 ] = x.z;
+
+		} else {
+
+			te[ 12 ] = x;
+			te[ 13 ] = y;
+			te[ 14 ] = z;
+
+		}
+
+		return this;
+
+	}
+
+	invert() {
+
+		// based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
+		const te = this.elements,
+
+			n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
+			n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ],
+			n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
+			n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],
+
+			t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
+			t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
+			t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
+			t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
+
+		const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+
+		if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );
+
+		const detInv = 1 / det;
+
+		te[ 0 ] = t11 * detInv;
+		te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
+		te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
+		te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;
+
+		te[ 4 ] = t12 * detInv;
+		te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
+		te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
+		te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;
+
+		te[ 8 ] = t13 * detInv;
+		te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
+		te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
+		te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;
+
+		te[ 12 ] = t14 * detInv;
+		te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
+		te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
+		te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
+
+		return this;
+
+	}
+
+	scale( v ) {
+
+		const te = this.elements;
+		const x = v.x, y = v.y, z = v.z;
+
+		te[ 0 ] *= x; te[ 4 ] *= y; te[ 8 ] *= z;
+		te[ 1 ] *= x; te[ 5 ] *= y; te[ 9 ] *= z;
+		te[ 2 ] *= x; te[ 6 ] *= y; te[ 10 ] *= z;
+		te[ 3 ] *= x; te[ 7 ] *= y; te[ 11 ] *= z;
+
+		return this;
+
+	}
+
+	getMaxScaleOnAxis() {
+
+		const te = this.elements;
+
+		const scaleXSq = te[ 0 ] * te[ 0 ] + te[ 1 ] * te[ 1 ] + te[ 2 ] * te[ 2 ];
+		const scaleYSq = te[ 4 ] * te[ 4 ] + te[ 5 ] * te[ 5 ] + te[ 6 ] * te[ 6 ];
+		const scaleZSq = te[ 8 ] * te[ 8 ] + te[ 9 ] * te[ 9 ] + te[ 10 ] * te[ 10 ];
+
+		return Math.sqrt( Math.max( scaleXSq, scaleYSq, scaleZSq ) );
+
+	}
+
+	makeTranslation( x, y, z ) {
+
+		if ( x.isVector3 ) {
+
+			this.set(
+
+				1, 0, 0, x.x,
+				0, 1, 0, x.y,
+				0, 0, 1, x.z,
+				0, 0, 0, 1
+
+			);
+
+		} else {
+
+			this.set(
+
+				1, 0, 0, x,
+				0, 1, 0, y,
+				0, 0, 1, z,
+				0, 0, 0, 1
+
+			);
+
+		}
+
+		return this;
+
+	}
+
+	makeRotationX( theta ) {
+
+		const c = Math.cos( theta ), s = Math.sin( theta );
+
+		this.set(
+
+			1, 0, 0, 0,
+			0, c, - s, 0,
+			0, s, c, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeRotationY( theta ) {
+
+		const c = Math.cos( theta ), s = Math.sin( theta );
+
+		this.set(
+
+			 c, 0, s, 0,
+			 0, 1, 0, 0,
+			- s, 0, c, 0,
+			 0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeRotationZ( theta ) {
+
+		const c = Math.cos( theta ), s = Math.sin( theta );
+
+		this.set(
+
+			c, - s, 0, 0,
+			s, c, 0, 0,
+			0, 0, 1, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeRotationAxis( axis, angle ) {
+
+		// Based on http://www.gamedev.net/reference/articles/article1199.asp
+
+		const c = Math.cos( angle );
+		const s = Math.sin( angle );
+		const t = 1 - c;
+		const x = axis.x, y = axis.y, z = axis.z;
+		const tx = t * x, ty = t * y;
+
+		this.set(
+
+			tx * x + c, tx * y - s * z, tx * z + s * y, 0,
+			tx * y + s * z, ty * y + c, ty * z - s * x, 0,
+			tx * z - s * y, ty * z + s * x, t * z * z + c, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeScale( x, y, z ) {
+
+		this.set(
+
+			x, 0, 0, 0,
+			0, y, 0, 0,
+			0, 0, z, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	makeShear( xy, xz, yx, yz, zx, zy ) {
+
+		this.set(
+
+			1, yx, zx, 0,
+			xy, 1, zy, 0,
+			xz, yz, 1, 0,
+			0, 0, 0, 1
+
+		);
+
+		return this;
+
+	}
+
+	compose( position, quaternion, scale ) {
+
+		const te = this.elements;
+
+		const x = quaternion._x, y = quaternion._y, z = quaternion._z, w = quaternion._w;
+		const x2 = x + x,	y2 = y + y, z2 = z + z;
+		const xx = x * x2, xy = x * y2, xz = x * z2;
+		const yy = y * y2, yz = y * z2, zz = z * z2;
+		const wx = w * x2, wy = w * y2, wz = w * z2;
+
+		const sx = scale.x, sy = scale.y, sz = scale.z;
+
+		te[ 0 ] = ( 1 - ( yy + zz ) ) * sx;
+		te[ 1 ] = ( xy + wz ) * sx;
+		te[ 2 ] = ( xz - wy ) * sx;
+		te[ 3 ] = 0;
+
+		te[ 4 ] = ( xy - wz ) * sy;
+		te[ 5 ] = ( 1 - ( xx + zz ) ) * sy;
+		te[ 6 ] = ( yz + wx ) * sy;
+		te[ 7 ] = 0;
+
+		te[ 8 ] = ( xz + wy ) * sz;
+		te[ 9 ] = ( yz - wx ) * sz;
+		te[ 10 ] = ( 1 - ( xx + yy ) ) * sz;
+		te[ 11 ] = 0;
+
+		te[ 12 ] = position.x;
+		te[ 13 ] = position.y;
+		te[ 14 ] = position.z;
+		te[ 15 ] = 1;
+
+		return this;
+
+	}
+
+	decompose( position, quaternion, scale ) {
+
+		const te = this.elements;
+
+		let sx = _v1$5.set( te[ 0 ], te[ 1 ], te[ 2 ] ).length();
+		const sy = _v1$5.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length();
+		const sz = _v1$5.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length();
+
+		// if determine is negative, we need to invert one scale
+		const det = this.determinant();
+		if ( det < 0 ) sx = - sx;
+
+		position.x = te[ 12 ];
+		position.y = te[ 13 ];
+		position.z = te[ 14 ];
+
+		// scale the rotation part
+		_m1$2.copy( this );
+
+		const invSX = 1 / sx;
+		const invSY = 1 / sy;
+		const invSZ = 1 / sz;
+
+		_m1$2.elements[ 0 ] *= invSX;
+		_m1$2.elements[ 1 ] *= invSX;
+		_m1$2.elements[ 2 ] *= invSX;
+
+		_m1$2.elements[ 4 ] *= invSY;
+		_m1$2.elements[ 5 ] *= invSY;
+		_m1$2.elements[ 6 ] *= invSY;
+
+		_m1$2.elements[ 8 ] *= invSZ;
+		_m1$2.elements[ 9 ] *= invSZ;
+		_m1$2.elements[ 10 ] *= invSZ;
+
+		quaternion.setFromRotationMatrix( _m1$2 );
+
+		scale.x = sx;
+		scale.y = sy;
+		scale.z = sz;
+
+		return this;
+
+	}
+
+	makePerspective( left, right, top, bottom, near, far, coordinateSystem = WebGLCoordinateSystem ) {
+
+		const te = this.elements;
+		const x = 2 * near / ( right - left );
+		const y = 2 * near / ( top - bottom );
+
+		const a = ( right + left ) / ( right - left );
+		const b = ( top + bottom ) / ( top - bottom );
+
+		let c, d;
+
+		if ( coordinateSystem === WebGLCoordinateSystem ) {
+
+			c = - ( far + near ) / ( far - near );
+			d = ( - 2 * far * near ) / ( far - near );
+
+		} else if ( coordinateSystem === WebGPUCoordinateSystem ) {
+
+			c = - far / ( far - near );
+			d = ( - far * near ) / ( far - near );
+
+		} else {
+
+			throw new Error( 'THREE.Matrix4.makePerspective(): Invalid coordinate system: ' + coordinateSystem );
+
+		}
+
+		te[ 0 ] = x;	te[ 4 ] = 0;	te[ 8 ] = a; 	te[ 12 ] = 0;
+		te[ 1 ] = 0;	te[ 5 ] = y;	te[ 9 ] = b; 	te[ 13 ] = 0;
+		te[ 2 ] = 0;	te[ 6 ] = 0;	te[ 10 ] = c; 	te[ 14 ] = d;
+		te[ 3 ] = 0;	te[ 7 ] = 0;	te[ 11 ] = - 1;	te[ 15 ] = 0;
+
+		return this;
+
+	}
+
+	makeOrthographic( left, right, top, bottom, near, far, coordinateSystem = WebGLCoordinateSystem ) {
+
+		const te = this.elements;
+		const w = 1.0 / ( right - left );
+		const h = 1.0 / ( top - bottom );
+		const p = 1.0 / ( far - near );
+
+		const x = ( right + left ) * w;
+		const y = ( top + bottom ) * h;
+
+		let z, zInv;
+
+		if ( coordinateSystem === WebGLCoordinateSystem ) {
+
+			z = ( far + near ) * p;
+			zInv = - 2 * p;
+
+		} else if ( coordinateSystem === WebGPUCoordinateSystem ) {
+
+			z = near * p;
+			zInv = - 1 * p;
+
+		} else {
+
+			throw new Error( 'THREE.Matrix4.makeOrthographic(): Invalid coordinate system: ' + coordinateSystem );
+
+		}
+
+		te[ 0 ] = 2 * w;	te[ 4 ] = 0;		te[ 8 ] = 0; 		te[ 12 ] = - x;
+		te[ 1 ] = 0; 		te[ 5 ] = 2 * h;	te[ 9 ] = 0; 		te[ 13 ] = - y;
+		te[ 2 ] = 0; 		te[ 6 ] = 0;		te[ 10 ] = zInv;	te[ 14 ] = - z;
+		te[ 3 ] = 0; 		te[ 7 ] = 0;		te[ 11 ] = 0;		te[ 15 ] = 1;
+
+		return this;
+
+	}
+
+	equals( matrix ) {
+
+		const te = this.elements;
+		const me = matrix.elements;
+
+		for ( let i = 0; i < 16; i ++ ) {
+
+			if ( te[ i ] !== me[ i ] ) return false;
+
+		}
+
+		return true;
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		for ( let i = 0; i < 16; i ++ ) {
+
+			this.elements[ i ] = array[ i + offset ];
+
+		}
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		const te = this.elements;
+
+		array[ offset ] = te[ 0 ];
+		array[ offset + 1 ] = te[ 1 ];
+		array[ offset + 2 ] = te[ 2 ];
+		array[ offset + 3 ] = te[ 3 ];
+
+		array[ offset + 4 ] = te[ 4 ];
+		array[ offset + 5 ] = te[ 5 ];
+		array[ offset + 6 ] = te[ 6 ];
+		array[ offset + 7 ] = te[ 7 ];
+
+		array[ offset + 8 ] = te[ 8 ];
+		array[ offset + 9 ] = te[ 9 ];
+		array[ offset + 10 ] = te[ 10 ];
+		array[ offset + 11 ] = te[ 11 ];
+
+		array[ offset + 12 ] = te[ 12 ];
+		array[ offset + 13 ] = te[ 13 ];
+		array[ offset + 14 ] = te[ 14 ];
+		array[ offset + 15 ] = te[ 15 ];
+
+		return array;
+
+	}
+
+}
+
+const _v1$5 = /*@__PURE__*/ new Vector3();
+const _m1$2 = /*@__PURE__*/ new Matrix4();
+const _zero = /*@__PURE__*/ new Vector3( 0, 0, 0 );
+const _one = /*@__PURE__*/ new Vector3( 1, 1, 1 );
+const _x = /*@__PURE__*/ new Vector3();
+const _y = /*@__PURE__*/ new Vector3();
+const _z = /*@__PURE__*/ new Vector3();
+
+const _matrix$1 = /*@__PURE__*/ new Matrix4();
+const _quaternion$3 = /*@__PURE__*/ new Quaternion();
+
+class Euler {
+
+	constructor( x = 0, y = 0, z = 0, order = Euler.DEFAULT_ORDER ) {
+
+		this.isEuler = true;
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._order = order;
+
+	}
+
+	get x() {
+
+		return this._x;
+
+	}
+
+	set x( value ) {
+
+		this._x = value;
+		this._onChangeCallback();
+
+	}
+
+	get y() {
+
+		return this._y;
+
+	}
+
+	set y( value ) {
+
+		this._y = value;
+		this._onChangeCallback();
+
+	}
+
+	get z() {
+
+		return this._z;
+
+	}
+
+	set z( value ) {
+
+		this._z = value;
+		this._onChangeCallback();
+
+	}
+
+	get order() {
+
+		return this._order;
+
+	}
+
+	set order( value ) {
+
+		this._order = value;
+		this._onChangeCallback();
+
+	}
+
+	set( x, y, z, order = this._order ) {
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._order = order;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor( this._x, this._y, this._z, this._order );
+
+	}
+
+	copy( euler ) {
+
+		this._x = euler._x;
+		this._y = euler._y;
+		this._z = euler._z;
+		this._order = euler._order;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromRotationMatrix( m, order = this._order, update = true ) {
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		const te = m.elements;
+		const m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ];
+		const m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ];
+		const m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];
+
+		switch ( order ) {
+
+			case 'XYZ':
+
+				this._y = Math.asin( clamp( m13, - 1, 1 ) );
+
+				if ( Math.abs( m13 ) < 0.9999999 ) {
+
+					this._x = Math.atan2( - m23, m33 );
+					this._z = Math.atan2( - m12, m11 );
+
+				} else {
+
+					this._x = Math.atan2( m32, m22 );
+					this._z = 0;
+
+				}
+
+				break;
+
+			case 'YXZ':
+
+				this._x = Math.asin( - clamp( m23, - 1, 1 ) );
+
+				if ( Math.abs( m23 ) < 0.9999999 ) {
+
+					this._y = Math.atan2( m13, m33 );
+					this._z = Math.atan2( m21, m22 );
+
+				} else {
+
+					this._y = Math.atan2( - m31, m11 );
+					this._z = 0;
+
+				}
+
+				break;
+
+			case 'ZXY':
+
+				this._x = Math.asin( clamp( m32, - 1, 1 ) );
+
+				if ( Math.abs( m32 ) < 0.9999999 ) {
+
+					this._y = Math.atan2( - m31, m33 );
+					this._z = Math.atan2( - m12, m22 );
+
+				} else {
+
+					this._y = 0;
+					this._z = Math.atan2( m21, m11 );
+
+				}
+
+				break;
+
+			case 'ZYX':
+
+				this._y = Math.asin( - clamp( m31, - 1, 1 ) );
+
+				if ( Math.abs( m31 ) < 0.9999999 ) {
+
+					this._x = Math.atan2( m32, m33 );
+					this._z = Math.atan2( m21, m11 );
+
+				} else {
+
+					this._x = 0;
+					this._z = Math.atan2( - m12, m22 );
+
+				}
+
+				break;
+
+			case 'YZX':
+
+				this._z = Math.asin( clamp( m21, - 1, 1 ) );
+
+				if ( Math.abs( m21 ) < 0.9999999 ) {
+
+					this._x = Math.atan2( - m23, m22 );
+					this._y = Math.atan2( - m31, m11 );
+
+				} else {
+
+					this._x = 0;
+					this._y = Math.atan2( m13, m33 );
+
+				}
+
+				break;
+
+			case 'XZY':
+
+				this._z = Math.asin( - clamp( m12, - 1, 1 ) );
+
+				if ( Math.abs( m12 ) < 0.9999999 ) {
+
+					this._x = Math.atan2( m32, m22 );
+					this._y = Math.atan2( m13, m11 );
+
+				} else {
+
+					this._x = Math.atan2( - m23, m33 );
+					this._y = 0;
+
+				}
+
+				break;
+
+			default:
+
+				console.warn( 'THREE.Euler: .setFromRotationMatrix() encountered an unknown order: ' + order );
+
+		}
+
+		this._order = order;
+
+		if ( update === true ) this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromQuaternion( q, order, update ) {
+
+		_matrix$1.makeRotationFromQuaternion( q );
+
+		return this.setFromRotationMatrix( _matrix$1, order, update );
+
+	}
+
+	setFromVector3( v, order = this._order ) {
+
+		return this.set( v.x, v.y, v.z, order );
+
+	}
+
+	reorder( newOrder ) {
+
+		// WARNING: this discards revolution information -bhouston
+
+		_quaternion$3.setFromEuler( this );
+
+		return this.setFromQuaternion( _quaternion$3, newOrder );
+
+	}
+
+	equals( euler ) {
+
+		return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order );
+
+	}
+
+	fromArray( array ) {
+
+		this._x = array[ 0 ];
+		this._y = array[ 1 ];
+		this._z = array[ 2 ];
+		if ( array[ 3 ] !== undefined ) this._order = array[ 3 ];
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this._x;
+		array[ offset + 1 ] = this._y;
+		array[ offset + 2 ] = this._z;
+		array[ offset + 3 ] = this._order;
+
+		return array;
+
+	}
+
+	_onChange( callback ) {
+
+		this._onChangeCallback = callback;
+
+		return this;
+
+	}
+
+	_onChangeCallback() {}
+
+	*[ Symbol.iterator ]() {
+
+		yield this._x;
+		yield this._y;
+		yield this._z;
+		yield this._order;
+
+	}
+
+}
+
+Euler.DEFAULT_ORDER = 'XYZ';
+
+class Layers {
+
+	constructor() {
+
+		this.mask = 1 | 0;
+
+	}
+
+	set( channel ) {
+
+		this.mask = ( 1 << channel | 0 ) >>> 0;
+
+	}
+
+	enable( channel ) {
+
+		this.mask |= 1 << channel | 0;
+
+	}
+
+	enableAll() {
+
+		this.mask = 0xffffffff | 0;
+
+	}
+
+	toggle( channel ) {
+
+		this.mask ^= 1 << channel | 0;
+
+	}
+
+	disable( channel ) {
+
+		this.mask &= ~ ( 1 << channel | 0 );
+
+	}
+
+	disableAll() {
+
+		this.mask = 0;
+
+	}
+
+	test( layers ) {
+
+		return ( this.mask & layers.mask ) !== 0;
+
+	}
+
+	isEnabled( channel ) {
+
+		return ( this.mask & ( 1 << channel | 0 ) ) !== 0;
+
+	}
+
+}
+
+let _object3DId = 0;
+
+const _v1$4 = /*@__PURE__*/ new Vector3();
+const _q1 = /*@__PURE__*/ new Quaternion();
+const _m1$1 = /*@__PURE__*/ new Matrix4();
+const _target = /*@__PURE__*/ new Vector3();
+
+const _position$3 = /*@__PURE__*/ new Vector3();
+const _scale$2 = /*@__PURE__*/ new Vector3();
+const _quaternion$2 = /*@__PURE__*/ new Quaternion();
+
+const _xAxis = /*@__PURE__*/ new Vector3( 1, 0, 0 );
+const _yAxis = /*@__PURE__*/ new Vector3( 0, 1, 0 );
+const _zAxis = /*@__PURE__*/ new Vector3( 0, 0, 1 );
+
+const _addedEvent = { type: 'added' };
+const _removedEvent = { type: 'removed' };
+
+class Object3D extends EventDispatcher {
+
+	constructor() {
+
+		super();
+
+		this.isObject3D = true;
+
+		Object.defineProperty( this, 'id', { value: _object3DId ++ } );
+
+		this.uuid = generateUUID();
+
+		this.name = '';
+		this.type = 'Object3D';
+
+		this.parent = null;
+		this.children = [];
+
+		this.up = Object3D.DEFAULT_UP.clone();
+
+		const position = new Vector3();
+		const rotation = new Euler();
+		const quaternion = new Quaternion();
+		const scale = new Vector3( 1, 1, 1 );
+
+		function onRotationChange() {
+
+			quaternion.setFromEuler( rotation, false );
+
+		}
+
+		function onQuaternionChange() {
+
+			rotation.setFromQuaternion( quaternion, undefined, false );
+
+		}
+
+		rotation._onChange( onRotationChange );
+		quaternion._onChange( onQuaternionChange );
+
+		Object.defineProperties( this, {
+			position: {
+				configurable: true,
+				enumerable: true,
+				value: position
+			},
+			rotation: {
+				configurable: true,
+				enumerable: true,
+				value: rotation
+			},
+			quaternion: {
+				configurable: true,
+				enumerable: true,
+				value: quaternion
+			},
+			scale: {
+				configurable: true,
+				enumerable: true,
+				value: scale
+			},
+			modelViewMatrix: {
+				value: new Matrix4()
+			},
+			normalMatrix: {
+				value: new Matrix3()
+			}
+		} );
+
+		this.matrix = new Matrix4();
+		this.matrixWorld = new Matrix4();
+
+		this.matrixAutoUpdate = Object3D.DEFAULT_MATRIX_AUTO_UPDATE;
+
+		this.matrixWorldAutoUpdate = Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE; // checked by the renderer
+		this.matrixWorldNeedsUpdate = false;
+
+		this.layers = new Layers();
+		this.visible = true;
+
+		this.castShadow = false;
+		this.receiveShadow = false;
+
+		this.frustumCulled = true;
+		this.renderOrder = 0;
+
+		this.animations = [];
+
+		this.userData = {};
+
+	}
+
+	onBeforeShadow( /* renderer, object, camera, shadowCamera, geometry, depthMaterial, group */ ) {}
+
+	onAfterShadow( /* renderer, object, camera, shadowCamera, geometry, depthMaterial, group */ ) {}
+
+	onBeforeRender( /* renderer, scene, camera, geometry, material, group */ ) {}
+
+	onAfterRender( /* renderer, scene, camera, geometry, material, group */ ) {}
+
+	applyMatrix4( matrix ) {
+
+		if ( this.matrixAutoUpdate ) this.updateMatrix();
+
+		this.matrix.premultiply( matrix );
+
+		this.matrix.decompose( this.position, this.quaternion, this.scale );
+
+	}
+
+	applyQuaternion( q ) {
+
+		this.quaternion.premultiply( q );
+
+		return this;
+
+	}
+
+	setRotationFromAxisAngle( axis, angle ) {
+
+		// assumes axis is normalized
+
+		this.quaternion.setFromAxisAngle( axis, angle );
+
+	}
+
+	setRotationFromEuler( euler ) {
+
+		this.quaternion.setFromEuler( euler, true );
+
+	}
+
+	setRotationFromMatrix( m ) {
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		this.quaternion.setFromRotationMatrix( m );
+
+	}
+
+	setRotationFromQuaternion( q ) {
+
+		// assumes q is normalized
+
+		this.quaternion.copy( q );
+
+	}
+
+	rotateOnAxis( axis, angle ) {
+
+		// rotate object on axis in object space
+		// axis is assumed to be normalized
+
+		_q1.setFromAxisAngle( axis, angle );
+
+		this.quaternion.multiply( _q1 );
+
+		return this;
+
+	}
+
+	rotateOnWorldAxis( axis, angle ) {
+
+		// rotate object on axis in world space
+		// axis is assumed to be normalized
+		// method assumes no rotated parent
+
+		_q1.setFromAxisAngle( axis, angle );
+
+		this.quaternion.premultiply( _q1 );
+
+		return this;
+
+	}
+
+	rotateX( angle ) {
+
+		return this.rotateOnAxis( _xAxis, angle );
+
+	}
+
+	rotateY( angle ) {
+
+		return this.rotateOnAxis( _yAxis, angle );
+
+	}
+
+	rotateZ( angle ) {
+
+		return this.rotateOnAxis( _zAxis, angle );
+
+	}
+
+	translateOnAxis( axis, distance ) {
+
+		// translate object by distance along axis in object space
+		// axis is assumed to be normalized
+
+		_v1$4.copy( axis ).applyQuaternion( this.quaternion );
+
+		this.position.add( _v1$4.multiplyScalar( distance ) );
+
+		return this;
+
+	}
+
+	translateX( distance ) {
+
+		return this.translateOnAxis( _xAxis, distance );
+
+	}
+
+	translateY( distance ) {
+
+		return this.translateOnAxis( _yAxis, distance );
+
+	}
+
+	translateZ( distance ) {
+
+		return this.translateOnAxis( _zAxis, distance );
+
+	}
+
+	localToWorld( vector ) {
+
+		this.updateWorldMatrix( true, false );
+
+		return vector.applyMatrix4( this.matrixWorld );
+
+	}
+
+	worldToLocal( vector ) {
+
+		this.updateWorldMatrix( true, false );
+
+		return vector.applyMatrix4( _m1$1.copy( this.matrixWorld ).invert() );
+
+	}
+
+	lookAt( x, y, z ) {
+
+		// This method does not support objects having non-uniformly-scaled parent(s)
+
+		if ( x.isVector3 ) {
+
+			_target.copy( x );
+
+		} else {
+
+			_target.set( x, y, z );
+
+		}
+
+		const parent = this.parent;
+
+		this.updateWorldMatrix( true, false );
+
+		_position$3.setFromMatrixPosition( this.matrixWorld );
+
+		if ( this.isCamera || this.isLight ) {
+
+			_m1$1.lookAt( _position$3, _target, this.up );
+
+		} else {
+
+			_m1$1.lookAt( _target, _position$3, this.up );
+
+		}
+
+		this.quaternion.setFromRotationMatrix( _m1$1 );
+
+		if ( parent ) {
+
+			_m1$1.extractRotation( parent.matrixWorld );
+			_q1.setFromRotationMatrix( _m1$1 );
+			this.quaternion.premultiply( _q1.invert() );
+
+		}
+
+	}
+
+	add( object ) {
+
+		if ( arguments.length > 1 ) {
+
+			for ( let i = 0; i < arguments.length; i ++ ) {
+
+				this.add( arguments[ i ] );
+
+			}
+
+			return this;
+
+		}
+
+		if ( object === this ) {
+
+			console.error( 'THREE.Object3D.add: object can\'t be added as a child of itself.', object );
+			return this;
+
+		}
+
+		if ( object && object.isObject3D ) {
+
+			if ( object.parent !== null ) {
+
+				object.parent.remove( object );
+
+			}
+
+			object.parent = this;
+			this.children.push( object );
+
+			object.dispatchEvent( _addedEvent );
+
+		} else {
+
+			console.error( 'THREE.Object3D.add: object not an instance of THREE.Object3D.', object );
+
+		}
+
+		return this;
+
+	}
+
+	remove( object ) {
+
+		if ( arguments.length > 1 ) {
+
+			for ( let i = 0; i < arguments.length; i ++ ) {
+
+				this.remove( arguments[ i ] );
+
+			}
+
+			return this;
+
+		}
+
+		const index = this.children.indexOf( object );
+
+		if ( index !== - 1 ) {
+
+			object.parent = null;
+			this.children.splice( index, 1 );
+
+			object.dispatchEvent( _removedEvent );
+
+		}
+
+		return this;
+
+	}
+
+	removeFromParent() {
+
+		const parent = this.parent;
+
+		if ( parent !== null ) {
+
+			parent.remove( this );
+
+		}
+
+		return this;
+
+	}
+
+	clear() {
+
+		return this.remove( ... this.children );
+
+	}
+
+	attach( object ) {
+
+		// adds object as a child of this, while maintaining the object's world transform
+
+		// Note: This method does not support scene graphs having non-uniformly-scaled nodes(s)
+
+		this.updateWorldMatrix( true, false );
+
+		_m1$1.copy( this.matrixWorld ).invert();
+
+		if ( object.parent !== null ) {
+
+			object.parent.updateWorldMatrix( true, false );
+
+			_m1$1.multiply( object.parent.matrixWorld );
+
+		}
+
+		object.applyMatrix4( _m1$1 );
+
+		this.add( object );
+
+		object.updateWorldMatrix( false, true );
+
+		return this;
+
+	}
+
+	getObjectById( id ) {
+
+		return this.getObjectByProperty( 'id', id );
+
+	}
+
+	getObjectByName( name ) {
+
+		return this.getObjectByProperty( 'name', name );
+
+	}
+
+	getObjectByProperty( name, value ) {
+
+		if ( this[ name ] === value ) return this;
+
+		for ( let i = 0, l = this.children.length; i < l; i ++ ) {
+
+			const child = this.children[ i ];
+			const object = child.getObjectByProperty( name, value );
+
+			if ( object !== undefined ) {
+
+				return object;
+
+			}
+
+		}
+
+		return undefined;
+
+	}
+
+	getObjectsByProperty( name, value, result = [] ) {
+
+		if ( this[ name ] === value ) result.push( this );
+
+		const children = this.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			children[ i ].getObjectsByProperty( name, value, result );
+
+		}
+
+		return result;
+
+	}
+
+	getWorldPosition( target ) {
+
+		this.updateWorldMatrix( true, false );
+
+		return target.setFromMatrixPosition( this.matrixWorld );
+
+	}
+
+	getWorldQuaternion( target ) {
+
+		this.updateWorldMatrix( true, false );
+
+		this.matrixWorld.decompose( _position$3, target, _scale$2 );
+
+		return target;
+
+	}
+
+	getWorldScale( target ) {
+
+		this.updateWorldMatrix( true, false );
+
+		this.matrixWorld.decompose( _position$3, _quaternion$2, target );
+
+		return target;
+
+	}
+
+	getWorldDirection( target ) {
+
+		this.updateWorldMatrix( true, false );
+
+		const e = this.matrixWorld.elements;
+
+		return target.set( e[ 8 ], e[ 9 ], e[ 10 ] ).normalize();
+
+	}
+
+	raycast( /* raycaster, intersects */ ) {}
+
+	traverse( callback ) {
+
+		callback( this );
+
+		const children = this.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			children[ i ].traverse( callback );
+
+		}
+
+	}
+
+	traverseVisible( callback ) {
+
+		if ( this.visible === false ) return;
+
+		callback( this );
+
+		const children = this.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			children[ i ].traverseVisible( callback );
+
+		}
+
+	}
+
+	traverseAncestors( callback ) {
+
+		const parent = this.parent;
+
+		if ( parent !== null ) {
+
+			callback( parent );
+
+			parent.traverseAncestors( callback );
+
+		}
+
+	}
+
+	updateMatrix() {
+
+		this.matrix.compose( this.position, this.quaternion, this.scale );
+
+		this.matrixWorldNeedsUpdate = true;
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		if ( this.matrixAutoUpdate ) this.updateMatrix();
+
+		if ( this.matrixWorldNeedsUpdate || force ) {
+
+			if ( this.parent === null ) {
+
+				this.matrixWorld.copy( this.matrix );
+
+			} else {
+
+				this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix );
+
+			}
+
+			this.matrixWorldNeedsUpdate = false;
+
+			force = true;
+
+		}
+
+		// update children
+
+		const children = this.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			const child = children[ i ];
+
+			if ( child.matrixWorldAutoUpdate === true || force === true ) {
+
+				child.updateMatrixWorld( force );
+
+			}
+
+		}
+
+	}
+
+	updateWorldMatrix( updateParents, updateChildren ) {
+
+		const parent = this.parent;
+
+		if ( updateParents === true && parent !== null && parent.matrixWorldAutoUpdate === true ) {
+
+			parent.updateWorldMatrix( true, false );
+
+		}
+
+		if ( this.matrixAutoUpdate ) this.updateMatrix();
+
+		if ( this.parent === null ) {
+
+			this.matrixWorld.copy( this.matrix );
+
+		} else {
+
+			this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix );
+
+		}
+
+		// update children
+
+		if ( updateChildren === true ) {
+
+			const children = this.children;
+
+			for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+				const child = children[ i ];
+
+				if ( child.matrixWorldAutoUpdate === true ) {
+
+					child.updateWorldMatrix( false, true );
+
+				}
+
+			}
+
+		}
+
+	}
+
+	toJSON( meta ) {
+
+		// meta is a string when called from JSON.stringify
+		const isRootObject = ( meta === undefined || typeof meta === 'string' );
+
+		const output = {};
+
+		// meta is a hash used to collect geometries, materials.
+		// not providing it implies that this is the root object
+		// being serialized.
+		if ( isRootObject ) {
+
+			// initialize meta obj
+			meta = {
+				geometries: {},
+				materials: {},
+				textures: {},
+				images: {},
+				shapes: {},
+				skeletons: {},
+				animations: {},
+				nodes: {}
+			};
+
+			output.metadata = {
+				version: 4.6,
+				type: 'Object',
+				generator: 'Object3D.toJSON'
+			};
+
+		}
+
+		// standard Object3D serialization
+
+		const object = {};
+
+		object.uuid = this.uuid;
+		object.type = this.type;
+
+		if ( this.name !== '' ) object.name = this.name;
+		if ( this.castShadow === true ) object.castShadow = true;
+		if ( this.receiveShadow === true ) object.receiveShadow = true;
+		if ( this.visible === false ) object.visible = false;
+		if ( this.frustumCulled === false ) object.frustumCulled = false;
+		if ( this.renderOrder !== 0 ) object.renderOrder = this.renderOrder;
+		if ( Object.keys( this.userData ).length > 0 ) object.userData = this.userData;
+
+		object.layers = this.layers.mask;
+		object.matrix = this.matrix.toArray();
+		object.up = this.up.toArray();
+
+		if ( this.matrixAutoUpdate === false ) object.matrixAutoUpdate = false;
+
+		// object specific properties
+
+		if ( this.isInstancedMesh ) {
+
+			object.type = 'InstancedMesh';
+			object.count = this.count;
+			object.instanceMatrix = this.instanceMatrix.toJSON();
+			if ( this.instanceColor !== null ) object.instanceColor = this.instanceColor.toJSON();
+
+		}
+
+		if ( this.isBatchedMesh ) {
+
+			object.type = 'BatchedMesh';
+			object.perObjectFrustumCulled = this.perObjectFrustumCulled;
+			object.sortObjects = this.sortObjects;
+
+			object.drawRanges = this._drawRanges;
+			object.reservedRanges = this._reservedRanges;
+
+			object.visibility = this._visibility;
+			object.active = this._active;
+			object.bounds = this._bounds.map( bound => ( {
+				boxInitialized: bound.boxInitialized,
+				boxMin: bound.box.min.toArray(),
+				boxMax: bound.box.max.toArray(),
+
+				sphereInitialized: bound.sphereInitialized,
+				sphereRadius: bound.sphere.radius,
+				sphereCenter: bound.sphere.center.toArray()
+			} ) );
+
+			object.maxGeometryCount = this._maxGeometryCount;
+			object.maxVertexCount = this._maxVertexCount;
+			object.maxIndexCount = this._maxIndexCount;
+
+			object.geometryInitialized = this._geometryInitialized;
+			object.geometryCount = this._geometryCount;
+
+			object.matricesTexture = this._matricesTexture.toJSON( meta );
+
+			if ( this.boundingSphere !== null ) {
+
+				object.boundingSphere = {
+					center: object.boundingSphere.center.toArray(),
+					radius: object.boundingSphere.radius
+				};
+
+			}
+
+			if ( this.boundingBox !== null ) {
+
+				object.boundingBox = {
+					min: object.boundingBox.min.toArray(),
+					max: object.boundingBox.max.toArray()
+				};
+
+			}
+
+		}
+
+		//
+
+		function serialize( library, element ) {
+
+			if ( library[ element.uuid ] === undefined ) {
+
+				library[ element.uuid ] = element.toJSON( meta );
+
+			}
+
+			return element.uuid;
+
+		}
+
+		if ( this.isScene ) {
+
+			if ( this.background ) {
+
+				if ( this.background.isColor ) {
+
+					object.background = this.background.toJSON();
+
+				} else if ( this.background.isTexture ) {
+
+					object.background = this.background.toJSON( meta ).uuid;
+
+				}
+
+			}
+
+			if ( this.environment && this.environment.isTexture && this.environment.isRenderTargetTexture !== true ) {
+
+				object.environment = this.environment.toJSON( meta ).uuid;
+
+			}
+
+		} else if ( this.isMesh || this.isLine || this.isPoints ) {
+
+			object.geometry = serialize( meta.geometries, this.geometry );
+
+			const parameters = this.geometry.parameters;
+
+			if ( parameters !== undefined && parameters.shapes !== undefined ) {
+
+				const shapes = parameters.shapes;
+
+				if ( Array.isArray( shapes ) ) {
+
+					for ( let i = 0, l = shapes.length; i < l; i ++ ) {
+
+						const shape = shapes[ i ];
+
+						serialize( meta.shapes, shape );
+
+					}
+
+				} else {
+
+					serialize( meta.shapes, shapes );
+
+				}
+
+			}
+
+		}
+
+		if ( this.isSkinnedMesh ) {
+
+			object.bindMode = this.bindMode;
+			object.bindMatrix = this.bindMatrix.toArray();
+
+			if ( this.skeleton !== undefined ) {
+
+				serialize( meta.skeletons, this.skeleton );
+
+				object.skeleton = this.skeleton.uuid;
+
+			}
+
+		}
+
+		if ( this.material !== undefined ) {
+
+			if ( Array.isArray( this.material ) ) {
+
+				const uuids = [];
+
+				for ( let i = 0, l = this.material.length; i < l; i ++ ) {
+
+					uuids.push( serialize( meta.materials, this.material[ i ] ) );
+
+				}
+
+				object.material = uuids;
+
+			} else {
+
+				object.material = serialize( meta.materials, this.material );
+
+			}
+
+		}
+
+		//
+
+		if ( this.children.length > 0 ) {
+
+			object.children = [];
+
+			for ( let i = 0; i < this.children.length; i ++ ) {
+
+				object.children.push( this.children[ i ].toJSON( meta ).object );
+
+			}
+
+		}
+
+		//
+
+		if ( this.animations.length > 0 ) {
+
+			object.animations = [];
+
+			for ( let i = 0; i < this.animations.length; i ++ ) {
+
+				const animation = this.animations[ i ];
+
+				object.animations.push( serialize( meta.animations, animation ) );
+
+			}
+
+		}
+
+		if ( isRootObject ) {
+
+			const geometries = extractFromCache( meta.geometries );
+			const materials = extractFromCache( meta.materials );
+			const textures = extractFromCache( meta.textures );
+			const images = extractFromCache( meta.images );
+			const shapes = extractFromCache( meta.shapes );
+			const skeletons = extractFromCache( meta.skeletons );
+			const animations = extractFromCache( meta.animations );
+			const nodes = extractFromCache( meta.nodes );
+
+			if ( geometries.length > 0 ) output.geometries = geometries;
+			if ( materials.length > 0 ) output.materials = materials;
+			if ( textures.length > 0 ) output.textures = textures;
+			if ( images.length > 0 ) output.images = images;
+			if ( shapes.length > 0 ) output.shapes = shapes;
+			if ( skeletons.length > 0 ) output.skeletons = skeletons;
+			if ( animations.length > 0 ) output.animations = animations;
+			if ( nodes.length > 0 ) output.nodes = nodes;
+
+		}
+
+		output.object = object;
+
+		return output;
+
+		// extract data from the cache hash
+		// remove metadata on each item
+		// and return as array
+		function extractFromCache( cache ) {
+
+			const values = [];
+			for ( const key in cache ) {
+
+				const data = cache[ key ];
+				delete data.metadata;
+				values.push( data );
+
+			}
+
+			return values;
+
+		}
+
+	}
+
+	clone( recursive ) {
+
+		return new this.constructor().copy( this, recursive );
+
+	}
+
+	copy( source, recursive = true ) {
+
+		this.name = source.name;
+
+		this.up.copy( source.up );
+
+		this.position.copy( source.position );
+		this.rotation.order = source.rotation.order;
+		this.quaternion.copy( source.quaternion );
+		this.scale.copy( source.scale );
+
+		this.matrix.copy( source.matrix );
+		this.matrixWorld.copy( source.matrixWorld );
+
+		this.matrixAutoUpdate = source.matrixAutoUpdate;
+
+		this.matrixWorldAutoUpdate = source.matrixWorldAutoUpdate;
+		this.matrixWorldNeedsUpdate = source.matrixWorldNeedsUpdate;
+
+		this.layers.mask = source.layers.mask;
+		this.visible = source.visible;
+
+		this.castShadow = source.castShadow;
+		this.receiveShadow = source.receiveShadow;
+
+		this.frustumCulled = source.frustumCulled;
+		this.renderOrder = source.renderOrder;
+
+		this.animations = source.animations.slice();
+
+		this.userData = JSON.parse( JSON.stringify( source.userData ) );
+
+		if ( recursive === true ) {
+
+			for ( let i = 0; i < source.children.length; i ++ ) {
+
+				const child = source.children[ i ];
+				this.add( child.clone() );
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+}
+
+Object3D.DEFAULT_UP = /*@__PURE__*/ new Vector3( 0, 1, 0 );
+Object3D.DEFAULT_MATRIX_AUTO_UPDATE = true;
+Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE = true;
+
+const _v0$1 = /*@__PURE__*/ new Vector3();
+const _v1$3 = /*@__PURE__*/ new Vector3();
+const _v2$2 = /*@__PURE__*/ new Vector3();
+const _v3$1 = /*@__PURE__*/ new Vector3();
+
+const _vab = /*@__PURE__*/ new Vector3();
+const _vac = /*@__PURE__*/ new Vector3();
+const _vbc = /*@__PURE__*/ new Vector3();
+const _vap = /*@__PURE__*/ new Vector3();
+const _vbp = /*@__PURE__*/ new Vector3();
+const _vcp = /*@__PURE__*/ new Vector3();
+
+let warnedGetUV = false;
+
+class Triangle {
+
+	constructor( a = new Vector3(), b = new Vector3(), c = new Vector3() ) {
+
+		this.a = a;
+		this.b = b;
+		this.c = c;
+
+	}
+
+	static getNormal( a, b, c, target ) {
+
+		target.subVectors( c, b );
+		_v0$1.subVectors( a, b );
+		target.cross( _v0$1 );
+
+		const targetLengthSq = target.lengthSq();
+		if ( targetLengthSq > 0 ) {
+
+			return target.multiplyScalar( 1 / Math.sqrt( targetLengthSq ) );
+
+		}
+
+		return target.set( 0, 0, 0 );
+
+	}
+
+	// static/instance method to calculate barycentric coordinates
+	// based on: http://www.blackpawn.com/texts/pointinpoly/default.html
+	static getBarycoord( point, a, b, c, target ) {
+
+		_v0$1.subVectors( c, a );
+		_v1$3.subVectors( b, a );
+		_v2$2.subVectors( point, a );
+
+		const dot00 = _v0$1.dot( _v0$1 );
+		const dot01 = _v0$1.dot( _v1$3 );
+		const dot02 = _v0$1.dot( _v2$2 );
+		const dot11 = _v1$3.dot( _v1$3 );
+		const dot12 = _v1$3.dot( _v2$2 );
+
+		const denom = ( dot00 * dot11 - dot01 * dot01 );
+
+		// collinear or singular triangle
+		if ( denom === 0 ) {
+
+			target.set( 0, 0, 0 );
+			return null;
+
+		}
+
+		const invDenom = 1 / denom;
+		const u = ( dot11 * dot02 - dot01 * dot12 ) * invDenom;
+		const v = ( dot00 * dot12 - dot01 * dot02 ) * invDenom;
+
+		// barycentric coordinates must always sum to 1
+		return target.set( 1 - u - v, v, u );
+
+	}
+
+	static containsPoint( point, a, b, c ) {
+
+		// if the triangle is degenerate then we can't contain a point
+		if ( this.getBarycoord( point, a, b, c, _v3$1 ) === null ) {
+
+			return false;
+
+		}
+
+		return ( _v3$1.x >= 0 ) && ( _v3$1.y >= 0 ) && ( ( _v3$1.x + _v3$1.y ) <= 1 );
+
+	}
+
+	static getUV( point, p1, p2, p3, uv1, uv2, uv3, target ) { // @deprecated, r151
+
+		if ( warnedGetUV === false ) {
+
+			console.warn( 'THREE.Triangle.getUV() has been renamed to THREE.Triangle.getInterpolation().' );
+
+			warnedGetUV = true;
+
+		}
+
+		return this.getInterpolation( point, p1, p2, p3, uv1, uv2, uv3, target );
+
+	}
+
+	static getInterpolation( point, p1, p2, p3, v1, v2, v3, target ) {
+
+		if ( this.getBarycoord( point, p1, p2, p3, _v3$1 ) === null ) {
+
+			target.x = 0;
+			target.y = 0;
+			if ( 'z' in target ) target.z = 0;
+			if ( 'w' in target ) target.w = 0;
+			return null;
+
+		}
+
+		target.setScalar( 0 );
+		target.addScaledVector( v1, _v3$1.x );
+		target.addScaledVector( v2, _v3$1.y );
+		target.addScaledVector( v3, _v3$1.z );
+
+		return target;
+
+	}
+
+	static isFrontFacing( a, b, c, direction ) {
+
+		_v0$1.subVectors( c, b );
+		_v1$3.subVectors( a, b );
+
+		// strictly front facing
+		return ( _v0$1.cross( _v1$3 ).dot( direction ) < 0 ) ? true : false;
+
+	}
+
+	set( a, b, c ) {
+
+		this.a.copy( a );
+		this.b.copy( b );
+		this.c.copy( c );
+
+		return this;
+
+	}
+
+	setFromPointsAndIndices( points, i0, i1, i2 ) {
+
+		this.a.copy( points[ i0 ] );
+		this.b.copy( points[ i1 ] );
+		this.c.copy( points[ i2 ] );
+
+		return this;
+
+	}
+
+	setFromAttributeAndIndices( attribute, i0, i1, i2 ) {
+
+		this.a.fromBufferAttribute( attribute, i0 );
+		this.b.fromBufferAttribute( attribute, i1 );
+		this.c.fromBufferAttribute( attribute, i2 );
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( triangle ) {
+
+		this.a.copy( triangle.a );
+		this.b.copy( triangle.b );
+		this.c.copy( triangle.c );
+
+		return this;
+
+	}
+
+	getArea() {
+
+		_v0$1.subVectors( this.c, this.b );
+		_v1$3.subVectors( this.a, this.b );
+
+		return _v0$1.cross( _v1$3 ).length() * 0.5;
+
+	}
+
+	getMidpoint( target ) {
+
+		return target.addVectors( this.a, this.b ).add( this.c ).multiplyScalar( 1 / 3 );
+
+	}
+
+	getNormal( target ) {
+
+		return Triangle.getNormal( this.a, this.b, this.c, target );
+
+	}
+
+	getPlane( target ) {
+
+		return target.setFromCoplanarPoints( this.a, this.b, this.c );
+
+	}
+
+	getBarycoord( point, target ) {
+
+		return Triangle.getBarycoord( point, this.a, this.b, this.c, target );
+
+	}
+
+	getUV( point, uv1, uv2, uv3, target ) { // @deprecated, r151
+
+		if ( warnedGetUV === false ) {
+
+			console.warn( 'THREE.Triangle.getUV() has been renamed to THREE.Triangle.getInterpolation().' );
+
+			warnedGetUV = true;
+
+		}
+
+		return Triangle.getInterpolation( point, this.a, this.b, this.c, uv1, uv2, uv3, target );
+
+	}
+
+	getInterpolation( point, v1, v2, v3, target ) {
+
+		return Triangle.getInterpolation( point, this.a, this.b, this.c, v1, v2, v3, target );
+
+	}
+
+	containsPoint( point ) {
+
+		return Triangle.containsPoint( point, this.a, this.b, this.c );
+
+	}
+
+	isFrontFacing( direction ) {
+
+		return Triangle.isFrontFacing( this.a, this.b, this.c, direction );
+
+	}
+
+	intersectsBox( box ) {
+
+		return box.intersectsTriangle( this );
+
+	}
+
+	closestPointToPoint( p, target ) {
+
+		const a = this.a, b = this.b, c = this.c;
+		let v, w;
+
+		// algorithm thanks to Real-Time Collision Detection by Christer Ericson,
+		// published by Morgan Kaufmann Publishers, (c) 2005 Elsevier Inc.,
+		// under the accompanying license; see chapter 5.1.5 for detailed explanation.
+		// basically, we're distinguishing which of the voronoi regions of the triangle
+		// the point lies in with the minimum amount of redundant computation.
+
+		_vab.subVectors( b, a );
+		_vac.subVectors( c, a );
+		_vap.subVectors( p, a );
+		const d1 = _vab.dot( _vap );
+		const d2 = _vac.dot( _vap );
+		if ( d1 <= 0 && d2 <= 0 ) {
+
+			// vertex region of A; barycentric coords (1, 0, 0)
+			return target.copy( a );
+
+		}
+
+		_vbp.subVectors( p, b );
+		const d3 = _vab.dot( _vbp );
+		const d4 = _vac.dot( _vbp );
+		if ( d3 >= 0 && d4 <= d3 ) {
+
+			// vertex region of B; barycentric coords (0, 1, 0)
+			return target.copy( b );
+
+		}
+
+		const vc = d1 * d4 - d3 * d2;
+		if ( vc <= 0 && d1 >= 0 && d3 <= 0 ) {
+
+			v = d1 / ( d1 - d3 );
+			// edge region of AB; barycentric coords (1-v, v, 0)
+			return target.copy( a ).addScaledVector( _vab, v );
+
+		}
+
+		_vcp.subVectors( p, c );
+		const d5 = _vab.dot( _vcp );
+		const d6 = _vac.dot( _vcp );
+		if ( d6 >= 0 && d5 <= d6 ) {
+
+			// vertex region of C; barycentric coords (0, 0, 1)
+			return target.copy( c );
+
+		}
+
+		const vb = d5 * d2 - d1 * d6;
+		if ( vb <= 0 && d2 >= 0 && d6 <= 0 ) {
+
+			w = d2 / ( d2 - d6 );
+			// edge region of AC; barycentric coords (1-w, 0, w)
+			return target.copy( a ).addScaledVector( _vac, w );
+
+		}
+
+		const va = d3 * d6 - d5 * d4;
+		if ( va <= 0 && ( d4 - d3 ) >= 0 && ( d5 - d6 ) >= 0 ) {
+
+			_vbc.subVectors( c, b );
+			w = ( d4 - d3 ) / ( ( d4 - d3 ) + ( d5 - d6 ) );
+			// edge region of BC; barycentric coords (0, 1-w, w)
+			return target.copy( b ).addScaledVector( _vbc, w ); // edge region of BC
+
+		}
+
+		// face region
+		const denom = 1 / ( va + vb + vc );
+		// u = va * denom
+		v = vb * denom;
+		w = vc * denom;
+
+		return target.copy( a ).addScaledVector( _vab, v ).addScaledVector( _vac, w );
+
+	}
+
+	equals( triangle ) {
+
+		return triangle.a.equals( this.a ) && triangle.b.equals( this.b ) && triangle.c.equals( this.c );
+
+	}
+
+}
+
+const _colorKeywords = { 'aliceblue': 0xF0F8FF, 'antiquewhite': 0xFAEBD7, 'aqua': 0x00FFFF, 'aquamarine': 0x7FFFD4, 'azure': 0xF0FFFF,
+	'beige': 0xF5F5DC, 'bisque': 0xFFE4C4, 'black': 0x000000, 'blanchedalmond': 0xFFEBCD, 'blue': 0x0000FF, 'blueviolet': 0x8A2BE2,
+	'brown': 0xA52A2A, 'burlywood': 0xDEB887, 'cadetblue': 0x5F9EA0, 'chartreuse': 0x7FFF00, 'chocolate': 0xD2691E, 'coral': 0xFF7F50,
+	'cornflowerblue': 0x6495ED, 'cornsilk': 0xFFF8DC, 'crimson': 0xDC143C, 'cyan': 0x00FFFF, 'darkblue': 0x00008B, 'darkcyan': 0x008B8B,
+	'darkgoldenrod': 0xB8860B, 'darkgray': 0xA9A9A9, 'darkgreen': 0x006400, 'darkgrey': 0xA9A9A9, 'darkkhaki': 0xBDB76B, 'darkmagenta': 0x8B008B,
+	'darkolivegreen': 0x556B2F, 'darkorange': 0xFF8C00, 'darkorchid': 0x9932CC, 'darkred': 0x8B0000, 'darksalmon': 0xE9967A, 'darkseagreen': 0x8FBC8F,
+	'darkslateblue': 0x483D8B, 'darkslategray': 0x2F4F4F, 'darkslategrey': 0x2F4F4F, 'darkturquoise': 0x00CED1, 'darkviolet': 0x9400D3,
+	'deeppink': 0xFF1493, 'deepskyblue': 0x00BFFF, 'dimgray': 0x696969, 'dimgrey': 0x696969, 'dodgerblue': 0x1E90FF, 'firebrick': 0xB22222,
+	'floralwhite': 0xFFFAF0, 'forestgreen': 0x228B22, 'fuchsia': 0xFF00FF, 'gainsboro': 0xDCDCDC, 'ghostwhite': 0xF8F8FF, 'gold': 0xFFD700,
+	'goldenrod': 0xDAA520, 'gray': 0x808080, 'green': 0x008000, 'greenyellow': 0xADFF2F, 'grey': 0x808080, 'honeydew': 0xF0FFF0, 'hotpink': 0xFF69B4,
+	'indianred': 0xCD5C5C, 'indigo': 0x4B0082, 'ivory': 0xFFFFF0, 'khaki': 0xF0E68C, 'lavender': 0xE6E6FA, 'lavenderblush': 0xFFF0F5, 'lawngreen': 0x7CFC00,
+	'lemonchiffon': 0xFFFACD, 'lightblue': 0xADD8E6, 'lightcoral': 0xF08080, 'lightcyan': 0xE0FFFF, 'lightgoldenrodyellow': 0xFAFAD2, 'lightgray': 0xD3D3D3,
+	'lightgreen': 0x90EE90, 'lightgrey': 0xD3D3D3, 'lightpink': 0xFFB6C1, 'lightsalmon': 0xFFA07A, 'lightseagreen': 0x20B2AA, 'lightskyblue': 0x87CEFA,
+	'lightslategray': 0x778899, 'lightslategrey': 0x778899, 'lightsteelblue': 0xB0C4DE, 'lightyellow': 0xFFFFE0, 'lime': 0x00FF00, 'limegreen': 0x32CD32,
+	'linen': 0xFAF0E6, 'magenta': 0xFF00FF, 'maroon': 0x800000, 'mediumaquamarine': 0x66CDAA, 'mediumblue': 0x0000CD, 'mediumorchid': 0xBA55D3,
+	'mediumpurple': 0x9370DB, 'mediumseagreen': 0x3CB371, 'mediumslateblue': 0x7B68EE, 'mediumspringgreen': 0x00FA9A, 'mediumturquoise': 0x48D1CC,
+	'mediumvioletred': 0xC71585, 'midnightblue': 0x191970, 'mintcream': 0xF5FFFA, 'mistyrose': 0xFFE4E1, 'moccasin': 0xFFE4B5, 'navajowhite': 0xFFDEAD,
+	'navy': 0x000080, 'oldlace': 0xFDF5E6, 'olive': 0x808000, 'olivedrab': 0x6B8E23, 'orange': 0xFFA500, 'orangered': 0xFF4500, 'orchid': 0xDA70D6,
+	'palegoldenrod': 0xEEE8AA, 'palegreen': 0x98FB98, 'paleturquoise': 0xAFEEEE, 'palevioletred': 0xDB7093, 'papayawhip': 0xFFEFD5, 'peachpuff': 0xFFDAB9,
+	'peru': 0xCD853F, 'pink': 0xFFC0CB, 'plum': 0xDDA0DD, 'powderblue': 0xB0E0E6, 'purple': 0x800080, 'rebeccapurple': 0x663399, 'red': 0xFF0000, 'rosybrown': 0xBC8F8F,
+	'royalblue': 0x4169E1, 'saddlebrown': 0x8B4513, 'salmon': 0xFA8072, 'sandybrown': 0xF4A460, 'seagreen': 0x2E8B57, 'seashell': 0xFFF5EE,
+	'sienna': 0xA0522D, 'silver': 0xC0C0C0, 'skyblue': 0x87CEEB, 'slateblue': 0x6A5ACD, 'slategray': 0x708090, 'slategrey': 0x708090, 'snow': 0xFFFAFA,
+	'springgreen': 0x00FF7F, 'steelblue': 0x4682B4, 'tan': 0xD2B48C, 'teal': 0x008080, 'thistle': 0xD8BFD8, 'tomato': 0xFF6347, 'turquoise': 0x40E0D0,
+	'violet': 0xEE82EE, 'wheat': 0xF5DEB3, 'white': 0xFFFFFF, 'whitesmoke': 0xF5F5F5, 'yellow': 0xFFFF00, 'yellowgreen': 0x9ACD32 };
+
+const _hslA = { h: 0, s: 0, l: 0 };
+const _hslB = { h: 0, s: 0, l: 0 };
+
+function hue2rgb( p, q, t ) {
+
+	if ( t < 0 ) t += 1;
+	if ( t > 1 ) t -= 1;
+	if ( t < 1 / 6 ) return p + ( q - p ) * 6 * t;
+	if ( t < 1 / 2 ) return q;
+	if ( t < 2 / 3 ) return p + ( q - p ) * 6 * ( 2 / 3 - t );
+	return p;
+
+}
+
+class Color {
+
+	constructor( r, g, b ) {
+
+		this.isColor = true;
+
+		this.r = 1;
+		this.g = 1;
+		this.b = 1;
+
+		return this.set( r, g, b );
+
+	}
+
+	set( r, g, b ) {
+
+		if ( g === undefined && b === undefined ) {
+
+			// r is THREE.Color, hex or string
+
+			const value = r;
+
+			if ( value && value.isColor ) {
+
+				this.copy( value );
+
+			} else if ( typeof value === 'number' ) {
+
+				this.setHex( value );
+
+			} else if ( typeof value === 'string' ) {
+
+				this.setStyle( value );
+
+			}
+
+		} else {
+
+			this.setRGB( r, g, b );
+
+		}
+
+		return this;
+
+	}
+
+	setScalar( scalar ) {
+
+		this.r = scalar;
+		this.g = scalar;
+		this.b = scalar;
+
+		return this;
+
+	}
+
+	setHex( hex, colorSpace = SRGBColorSpace ) {
+
+		hex = Math.floor( hex );
+
+		this.r = ( hex >> 16 & 255 ) / 255;
+		this.g = ( hex >> 8 & 255 ) / 255;
+		this.b = ( hex & 255 ) / 255;
+
+		ColorManagement.toWorkingColorSpace( this, colorSpace );
+
+		return this;
+
+	}
+
+	setRGB( r, g, b, colorSpace = ColorManagement.workingColorSpace ) {
+
+		this.r = r;
+		this.g = g;
+		this.b = b;
+
+		ColorManagement.toWorkingColorSpace( this, colorSpace );
+
+		return this;
+
+	}
+
+	setHSL( h, s, l, colorSpace = ColorManagement.workingColorSpace ) {
+
+		// h,s,l ranges are in 0.0 - 1.0
+		h = euclideanModulo( h, 1 );
+		s = clamp( s, 0, 1 );
+		l = clamp( l, 0, 1 );
+
+		if ( s === 0 ) {
+
+			this.r = this.g = this.b = l;
+
+		} else {
+
+			const p = l <= 0.5 ? l * ( 1 + s ) : l + s - ( l * s );
+			const q = ( 2 * l ) - p;
+
+			this.r = hue2rgb( q, p, h + 1 / 3 );
+			this.g = hue2rgb( q, p, h );
+			this.b = hue2rgb( q, p, h - 1 / 3 );
+
+		}
+
+		ColorManagement.toWorkingColorSpace( this, colorSpace );
+
+		return this;
+
+	}
+
+	setStyle( style, colorSpace = SRGBColorSpace ) {
+
+		function handleAlpha( string ) {
+
+			if ( string === undefined ) return;
+
+			if ( parseFloat( string ) < 1 ) {
+
+				console.warn( 'THREE.Color: Alpha component of ' + style + ' will be ignored.' );
+
+			}
+
+		}
+
+
+		let m;
+
+		if ( m = /^(\w+)\(([^\)]*)\)/.exec( style ) ) {
+
+			// rgb / hsl
+
+			let color;
+			const name = m[ 1 ];
+			const components = m[ 2 ];
+
+			switch ( name ) {
+
+				case 'rgb':
+				case 'rgba':
+
+					if ( color = /^\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
+
+						// rgb(255,0,0) rgba(255,0,0,0.5)
+
+						handleAlpha( color[ 4 ] );
+
+						return this.setRGB(
+							Math.min( 255, parseInt( color[ 1 ], 10 ) ) / 255,
+							Math.min( 255, parseInt( color[ 2 ], 10 ) ) / 255,
+							Math.min( 255, parseInt( color[ 3 ], 10 ) ) / 255,
+							colorSpace
+						);
+
+					}
+
+					if ( color = /^\s*(\d+)\%\s*,\s*(\d+)\%\s*,\s*(\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
+
+						// rgb(100%,0%,0%) rgba(100%,0%,0%,0.5)
+
+						handleAlpha( color[ 4 ] );
+
+						return this.setRGB(
+							Math.min( 100, parseInt( color[ 1 ], 10 ) ) / 100,
+							Math.min( 100, parseInt( color[ 2 ], 10 ) ) / 100,
+							Math.min( 100, parseInt( color[ 3 ], 10 ) ) / 100,
+							colorSpace
+						);
+
+					}
+
+					break;
+
+				case 'hsl':
+				case 'hsla':
+
+					if ( color = /^\s*(\d*\.?\d+)\s*,\s*(\d*\.?\d+)\%\s*,\s*(\d*\.?\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) {
+
+						// hsl(120,50%,50%) hsla(120,50%,50%,0.5)
+
+						handleAlpha( color[ 4 ] );
+
+						return this.setHSL(
+							parseFloat( color[ 1 ] ) / 360,
+							parseFloat( color[ 2 ] ) / 100,
+							parseFloat( color[ 3 ] ) / 100,
+							colorSpace
+						);
+
+					}
+
+					break;
+
+				default:
+
+					console.warn( 'THREE.Color: Unknown color model ' + style );
+
+			}
+
+		} else if ( m = /^\#([A-Fa-f\d]+)$/.exec( style ) ) {
+
+			// hex color
+
+			const hex = m[ 1 ];
+			const size = hex.length;
+
+			if ( size === 3 ) {
+
+				// #ff0
+				return this.setRGB(
+					parseInt( hex.charAt( 0 ), 16 ) / 15,
+					parseInt( hex.charAt( 1 ), 16 ) / 15,
+					parseInt( hex.charAt( 2 ), 16 ) / 15,
+					colorSpace
+				);
+
+			} else if ( size === 6 ) {
+
+				// #ff0000
+				return this.setHex( parseInt( hex, 16 ), colorSpace );
+
+			} else {
+
+				console.warn( 'THREE.Color: Invalid hex color ' + style );
+
+			}
+
+		} else if ( style && style.length > 0 ) {
+
+			return this.setColorName( style, colorSpace );
+
+		}
+
+		return this;
+
+	}
+
+	setColorName( style, colorSpace = SRGBColorSpace ) {
+
+		// color keywords
+		const hex = _colorKeywords[ style.toLowerCase() ];
+
+		if ( hex !== undefined ) {
+
+			// red
+			this.setHex( hex, colorSpace );
+
+		} else {
+
+			// unknown color
+			console.warn( 'THREE.Color: Unknown color ' + style );
+
+		}
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.r, this.g, this.b );
+
+	}
+
+	copy( color ) {
+
+		this.r = color.r;
+		this.g = color.g;
+		this.b = color.b;
+
+		return this;
+
+	}
+
+	copySRGBToLinear( color ) {
+
+		this.r = SRGBToLinear( color.r );
+		this.g = SRGBToLinear( color.g );
+		this.b = SRGBToLinear( color.b );
+
+		return this;
+
+	}
+
+	copyLinearToSRGB( color ) {
+
+		this.r = LinearToSRGB( color.r );
+		this.g = LinearToSRGB( color.g );
+		this.b = LinearToSRGB( color.b );
+
+		return this;
+
+	}
+
+	convertSRGBToLinear() {
+
+		this.copySRGBToLinear( this );
+
+		return this;
+
+	}
+
+	convertLinearToSRGB() {
+
+		this.copyLinearToSRGB( this );
+
+		return this;
+
+	}
+
+	getHex( colorSpace = SRGBColorSpace ) {
+
+		ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
+
+		return Math.round( clamp( _color.r * 255, 0, 255 ) ) * 65536 + Math.round( clamp( _color.g * 255, 0, 255 ) ) * 256 + Math.round( clamp( _color.b * 255, 0, 255 ) );
+
+	}
+
+	getHexString( colorSpace = SRGBColorSpace ) {
+
+		return ( '000000' + this.getHex( colorSpace ).toString( 16 ) ).slice( - 6 );
+
+	}
+
+	getHSL( target, colorSpace = ColorManagement.workingColorSpace ) {
+
+		// h,s,l ranges are in 0.0 - 1.0
+
+		ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
+
+		const r = _color.r, g = _color.g, b = _color.b;
+
+		const max = Math.max( r, g, b );
+		const min = Math.min( r, g, b );
+
+		let hue, saturation;
+		const lightness = ( min + max ) / 2.0;
+
+		if ( min === max ) {
+
+			hue = 0;
+			saturation = 0;
+
+		} else {
+
+			const delta = max - min;
+
+			saturation = lightness <= 0.5 ? delta / ( max + min ) : delta / ( 2 - max - min );
+
+			switch ( max ) {
+
+				case r: hue = ( g - b ) / delta + ( g < b ? 6 : 0 ); break;
+				case g: hue = ( b - r ) / delta + 2; break;
+				case b: hue = ( r - g ) / delta + 4; break;
+
+			}
+
+			hue /= 6;
+
+		}
+
+		target.h = hue;
+		target.s = saturation;
+		target.l = lightness;
+
+		return target;
+
+	}
+
+	getRGB( target, colorSpace = ColorManagement.workingColorSpace ) {
+
+		ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
+
+		target.r = _color.r;
+		target.g = _color.g;
+		target.b = _color.b;
+
+		return target;
+
+	}
+
+	getStyle( colorSpace = SRGBColorSpace ) {
+
+		ColorManagement.fromWorkingColorSpace( _color.copy( this ), colorSpace );
+
+		const r = _color.r, g = _color.g, b = _color.b;
+
+		if ( colorSpace !== SRGBColorSpace ) {
+
+			// Requires CSS Color Module Level 4 (https://www.w3.org/TR/css-color-4/).
+			return `color(${ colorSpace } ${ r.toFixed( 3 ) } ${ g.toFixed( 3 ) } ${ b.toFixed( 3 ) })`;
+
+		}
+
+		return `rgb(${ Math.round( r * 255 ) },${ Math.round( g * 255 ) },${ Math.round( b * 255 ) })`;
+
+	}
+
+	offsetHSL( h, s, l ) {
+
+		this.getHSL( _hslA );
+
+		return this.setHSL( _hslA.h + h, _hslA.s + s, _hslA.l + l );
+
+	}
+
+	add( color ) {
+
+		this.r += color.r;
+		this.g += color.g;
+		this.b += color.b;
+
+		return this;
+
+	}
+
+	addColors( color1, color2 ) {
+
+		this.r = color1.r + color2.r;
+		this.g = color1.g + color2.g;
+		this.b = color1.b + color2.b;
+
+		return this;
+
+	}
+
+	addScalar( s ) {
+
+		this.r += s;
+		this.g += s;
+		this.b += s;
+
+		return this;
+
+	}
+
+	sub( color ) {
+
+		this.r = Math.max( 0, this.r - color.r );
+		this.g = Math.max( 0, this.g - color.g );
+		this.b = Math.max( 0, this.b - color.b );
+
+		return this;
+
+	}
+
+	multiply( color ) {
+
+		this.r *= color.r;
+		this.g *= color.g;
+		this.b *= color.b;
+
+		return this;
+
+	}
+
+	multiplyScalar( s ) {
+
+		this.r *= s;
+		this.g *= s;
+		this.b *= s;
+
+		return this;
+
+	}
+
+	lerp( color, alpha ) {
+
+		this.r += ( color.r - this.r ) * alpha;
+		this.g += ( color.g - this.g ) * alpha;
+		this.b += ( color.b - this.b ) * alpha;
+
+		return this;
+
+	}
+
+	lerpColors( color1, color2, alpha ) {
+
+		this.r = color1.r + ( color2.r - color1.r ) * alpha;
+		this.g = color1.g + ( color2.g - color1.g ) * alpha;
+		this.b = color1.b + ( color2.b - color1.b ) * alpha;
+
+		return this;
+
+	}
+
+	lerpHSL( color, alpha ) {
+
+		this.getHSL( _hslA );
+		color.getHSL( _hslB );
+
+		const h = lerp( _hslA.h, _hslB.h, alpha );
+		const s = lerp( _hslA.s, _hslB.s, alpha );
+		const l = lerp( _hslA.l, _hslB.l, alpha );
+
+		this.setHSL( h, s, l );
+
+		return this;
+
+	}
+
+	setFromVector3( v ) {
+
+		this.r = v.x;
+		this.g = v.y;
+		this.b = v.z;
+
+		return this;
+
+	}
+
+	applyMatrix3( m ) {
+
+		const r = this.r, g = this.g, b = this.b;
+		const e = m.elements;
+
+		this.r = e[ 0 ] * r + e[ 3 ] * g + e[ 6 ] * b;
+		this.g = e[ 1 ] * r + e[ 4 ] * g + e[ 7 ] * b;
+		this.b = e[ 2 ] * r + e[ 5 ] * g + e[ 8 ] * b;
+
+		return this;
+
+	}
+
+	equals( c ) {
+
+		return ( c.r === this.r ) && ( c.g === this.g ) && ( c.b === this.b );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this.r = array[ offset ];
+		this.g = array[ offset + 1 ];
+		this.b = array[ offset + 2 ];
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this.r;
+		array[ offset + 1 ] = this.g;
+		array[ offset + 2 ] = this.b;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this.r = attribute.getX( index );
+		this.g = attribute.getY( index );
+		this.b = attribute.getZ( index );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		return this.getHex();
+
+	}
+
+	*[ Symbol.iterator ]() {
+
+		yield this.r;
+		yield this.g;
+		yield this.b;
+
+	}
+
+}
+
+const _color = /*@__PURE__*/ new Color();
+
+Color.NAMES = _colorKeywords;
+
+let _materialId = 0;
+
+class Material extends EventDispatcher {
+
+	constructor() {
+
+		super();
+
+		this.isMaterial = true;
+
+		Object.defineProperty( this, 'id', { value: _materialId ++ } );
+
+		this.uuid = generateUUID();
+
+		this.name = '';
+		this.type = 'Material';
+
+		this.blending = NormalBlending;
+		this.side = FrontSide;
+		this.vertexColors = false;
+
+		this.opacity = 1;
+		this.transparent = false;
+		this.alphaHash = false;
+
+		this.blendSrc = SrcAlphaFactor;
+		this.blendDst = OneMinusSrcAlphaFactor;
+		this.blendEquation = AddEquation;
+		this.blendSrcAlpha = null;
+		this.blendDstAlpha = null;
+		this.blendEquationAlpha = null;
+		this.blendColor = new Color( 0, 0, 0 );
+		this.blendAlpha = 0;
+
+		this.depthFunc = LessEqualDepth;
+		this.depthTest = true;
+		this.depthWrite = true;
+
+		this.stencilWriteMask = 0xff;
+		this.stencilFunc = AlwaysStencilFunc;
+		this.stencilRef = 0;
+		this.stencilFuncMask = 0xff;
+		this.stencilFail = KeepStencilOp;
+		this.stencilZFail = KeepStencilOp;
+		this.stencilZPass = KeepStencilOp;
+		this.stencilWrite = false;
+
+		this.clippingPlanes = null;
+		this.clipIntersection = false;
+		this.clipShadows = false;
+
+		this.shadowSide = null;
+
+		this.colorWrite = true;
+
+		this.precision = null; // override the renderer's default precision for this material
+
+		this.polygonOffset = false;
+		this.polygonOffsetFactor = 0;
+		this.polygonOffsetUnits = 0;
+
+		this.dithering = false;
+
+		this.alphaToCoverage = false;
+		this.premultipliedAlpha = false;
+		this.forceSinglePass = false;
+
+		this.visible = true;
+
+		this.toneMapped = true;
+
+		this.userData = {};
+
+		this.version = 0;
+
+		this._alphaTest = 0;
+
+	}
+
+	get alphaTest() {
+
+		return this._alphaTest;
+
+	}
+
+	set alphaTest( value ) {
+
+		if ( this._alphaTest > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._alphaTest = value;
+
+	}
+
+	onBuild( /* shaderobject, renderer */ ) {}
+
+	onBeforeRender( /* renderer, scene, camera, geometry, object, group */ ) {}
+
+	onBeforeCompile( /* shaderobject, renderer */ ) {}
+
+	customProgramCacheKey() {
+
+		return this.onBeforeCompile.toString();
+
+	}
+
+	setValues( values ) {
+
+		if ( values === undefined ) return;
+
+		for ( const key in values ) {
+
+			const newValue = values[ key ];
+
+			if ( newValue === undefined ) {
+
+				console.warn( `THREE.Material: parameter '${ key }' has value of undefined.` );
+				continue;
+
+			}
+
+			const currentValue = this[ key ];
+
+			if ( currentValue === undefined ) {
+
+				console.warn( `THREE.Material: '${ key }' is not a property of THREE.${ this.type }.` );
+				continue;
+
+			}
+
+			if ( currentValue && currentValue.isColor ) {
+
+				currentValue.set( newValue );
+
+			} else if ( ( currentValue && currentValue.isVector3 ) && ( newValue && newValue.isVector3 ) ) {
+
+				currentValue.copy( newValue );
+
+			} else {
+
+				this[ key ] = newValue;
+
+			}
+
+		}
+
+	}
+
+	toJSON( meta ) {
+
+		const isRootObject = ( meta === undefined || typeof meta === 'string' );
+
+		if ( isRootObject ) {
+
+			meta = {
+				textures: {},
+				images: {}
+			};
+
+		}
+
+		const data = {
+			metadata: {
+				version: 4.6,
+				type: 'Material',
+				generator: 'Material.toJSON'
+			}
+		};
+
+		// standard Material serialization
+		data.uuid = this.uuid;
+		data.type = this.type;
+
+		if ( this.name !== '' ) data.name = this.name;
+
+		if ( this.color && this.color.isColor ) data.color = this.color.getHex();
+
+		if ( this.roughness !== undefined ) data.roughness = this.roughness;
+		if ( this.metalness !== undefined ) data.metalness = this.metalness;
+
+		if ( this.sheen !== undefined ) data.sheen = this.sheen;
+		if ( this.sheenColor && this.sheenColor.isColor ) data.sheenColor = this.sheenColor.getHex();
+		if ( this.sheenRoughness !== undefined ) data.sheenRoughness = this.sheenRoughness;
+		if ( this.emissive && this.emissive.isColor ) data.emissive = this.emissive.getHex();
+		if ( this.emissiveIntensity && this.emissiveIntensity !== 1 ) data.emissiveIntensity = this.emissiveIntensity;
+
+		if ( this.specular && this.specular.isColor ) data.specular = this.specular.getHex();
+		if ( this.specularIntensity !== undefined ) data.specularIntensity = this.specularIntensity;
+		if ( this.specularColor && this.specularColor.isColor ) data.specularColor = this.specularColor.getHex();
+		if ( this.shininess !== undefined ) data.shininess = this.shininess;
+		if ( this.clearcoat !== undefined ) data.clearcoat = this.clearcoat;
+		if ( this.clearcoatRoughness !== undefined ) data.clearcoatRoughness = this.clearcoatRoughness;
+
+		if ( this.clearcoatMap && this.clearcoatMap.isTexture ) {
+
+			data.clearcoatMap = this.clearcoatMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.clearcoatRoughnessMap && this.clearcoatRoughnessMap.isTexture ) {
+
+			data.clearcoatRoughnessMap = this.clearcoatRoughnessMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.clearcoatNormalMap && this.clearcoatNormalMap.isTexture ) {
+
+			data.clearcoatNormalMap = this.clearcoatNormalMap.toJSON( meta ).uuid;
+			data.clearcoatNormalScale = this.clearcoatNormalScale.toArray();
+
+		}
+
+		if ( this.iridescence !== undefined ) data.iridescence = this.iridescence;
+		if ( this.iridescenceIOR !== undefined ) data.iridescenceIOR = this.iridescenceIOR;
+		if ( this.iridescenceThicknessRange !== undefined ) data.iridescenceThicknessRange = this.iridescenceThicknessRange;
+
+		if ( this.iridescenceMap && this.iridescenceMap.isTexture ) {
+
+			data.iridescenceMap = this.iridescenceMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.iridescenceThicknessMap && this.iridescenceThicknessMap.isTexture ) {
+
+			data.iridescenceThicknessMap = this.iridescenceThicknessMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.anisotropy !== undefined ) data.anisotropy = this.anisotropy;
+		if ( this.anisotropyRotation !== undefined ) data.anisotropyRotation = this.anisotropyRotation;
+
+		if ( this.anisotropyMap && this.anisotropyMap.isTexture ) {
+
+			data.anisotropyMap = this.anisotropyMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.map && this.map.isTexture ) data.map = this.map.toJSON( meta ).uuid;
+		if ( this.matcap && this.matcap.isTexture ) data.matcap = this.matcap.toJSON( meta ).uuid;
+		if ( this.alphaMap && this.alphaMap.isTexture ) data.alphaMap = this.alphaMap.toJSON( meta ).uuid;
+
+		if ( this.lightMap && this.lightMap.isTexture ) {
+
+			data.lightMap = this.lightMap.toJSON( meta ).uuid;
+			data.lightMapIntensity = this.lightMapIntensity;
+
+		}
+
+		if ( this.aoMap && this.aoMap.isTexture ) {
+
+			data.aoMap = this.aoMap.toJSON( meta ).uuid;
+			data.aoMapIntensity = this.aoMapIntensity;
+
+		}
+
+		if ( this.bumpMap && this.bumpMap.isTexture ) {
+
+			data.bumpMap = this.bumpMap.toJSON( meta ).uuid;
+			data.bumpScale = this.bumpScale;
+
+		}
+
+		if ( this.normalMap && this.normalMap.isTexture ) {
+
+			data.normalMap = this.normalMap.toJSON( meta ).uuid;
+			data.normalMapType = this.normalMapType;
+			data.normalScale = this.normalScale.toArray();
+
+		}
+
+		if ( this.displacementMap && this.displacementMap.isTexture ) {
+
+			data.displacementMap = this.displacementMap.toJSON( meta ).uuid;
+			data.displacementScale = this.displacementScale;
+			data.displacementBias = this.displacementBias;
+
+		}
+
+		if ( this.roughnessMap && this.roughnessMap.isTexture ) data.roughnessMap = this.roughnessMap.toJSON( meta ).uuid;
+		if ( this.metalnessMap && this.metalnessMap.isTexture ) data.metalnessMap = this.metalnessMap.toJSON( meta ).uuid;
+
+		if ( this.emissiveMap && this.emissiveMap.isTexture ) data.emissiveMap = this.emissiveMap.toJSON( meta ).uuid;
+		if ( this.specularMap && this.specularMap.isTexture ) data.specularMap = this.specularMap.toJSON( meta ).uuid;
+		if ( this.specularIntensityMap && this.specularIntensityMap.isTexture ) data.specularIntensityMap = this.specularIntensityMap.toJSON( meta ).uuid;
+		if ( this.specularColorMap && this.specularColorMap.isTexture ) data.specularColorMap = this.specularColorMap.toJSON( meta ).uuid;
+
+		if ( this.envMap && this.envMap.isTexture ) {
+
+			data.envMap = this.envMap.toJSON( meta ).uuid;
+
+			if ( this.combine !== undefined ) data.combine = this.combine;
+
+		}
+
+		if ( this.envMapIntensity !== undefined ) data.envMapIntensity = this.envMapIntensity;
+		if ( this.reflectivity !== undefined ) data.reflectivity = this.reflectivity;
+		if ( this.refractionRatio !== undefined ) data.refractionRatio = this.refractionRatio;
+
+		if ( this.gradientMap && this.gradientMap.isTexture ) {
+
+			data.gradientMap = this.gradientMap.toJSON( meta ).uuid;
+
+		}
+
+		if ( this.transmission !== undefined ) data.transmission = this.transmission;
+		if ( this.transmissionMap && this.transmissionMap.isTexture ) data.transmissionMap = this.transmissionMap.toJSON( meta ).uuid;
+		if ( this.thickness !== undefined ) data.thickness = this.thickness;
+		if ( this.thicknessMap && this.thicknessMap.isTexture ) data.thicknessMap = this.thicknessMap.toJSON( meta ).uuid;
+		if ( this.attenuationDistance !== undefined && this.attenuationDistance !== Infinity ) data.attenuationDistance = this.attenuationDistance;
+		if ( this.attenuationColor !== undefined ) data.attenuationColor = this.attenuationColor.getHex();
+
+		if ( this.size !== undefined ) data.size = this.size;
+		if ( this.shadowSide !== null ) data.shadowSide = this.shadowSide;
+		if ( this.sizeAttenuation !== undefined ) data.sizeAttenuation = this.sizeAttenuation;
+
+		if ( this.blending !== NormalBlending ) data.blending = this.blending;
+		if ( this.side !== FrontSide ) data.side = this.side;
+		if ( this.vertexColors === true ) data.vertexColors = true;
+
+		if ( this.opacity < 1 ) data.opacity = this.opacity;
+		if ( this.transparent === true ) data.transparent = true;
+
+		if ( this.blendSrc !== SrcAlphaFactor ) data.blendSrc = this.blendSrc;
+		if ( this.blendDst !== OneMinusSrcAlphaFactor ) data.blendDst = this.blendDst;
+		if ( this.blendEquation !== AddEquation ) data.blendEquation = this.blendEquation;
+		if ( this.blendSrcAlpha !== null ) data.blendSrcAlpha = this.blendSrcAlpha;
+		if ( this.blendDstAlpha !== null ) data.blendDstAlpha = this.blendDstAlpha;
+		if ( this.blendEquationAlpha !== null ) data.blendEquationAlpha = this.blendEquationAlpha;
+		if ( this.blendColor && this.blendColor.isColor ) data.blendColor = this.blendColor.getHex();
+		if ( this.blendAlpha !== 0 ) data.blendAlpha = this.blendAlpha;
+
+		if ( this.depthFunc !== LessEqualDepth ) data.depthFunc = this.depthFunc;
+		if ( this.depthTest === false ) data.depthTest = this.depthTest;
+		if ( this.depthWrite === false ) data.depthWrite = this.depthWrite;
+		if ( this.colorWrite === false ) data.colorWrite = this.colorWrite;
+
+		if ( this.stencilWriteMask !== 0xff ) data.stencilWriteMask = this.stencilWriteMask;
+		if ( this.stencilFunc !== AlwaysStencilFunc ) data.stencilFunc = this.stencilFunc;
+		if ( this.stencilRef !== 0 ) data.stencilRef = this.stencilRef;
+		if ( this.stencilFuncMask !== 0xff ) data.stencilFuncMask = this.stencilFuncMask;
+		if ( this.stencilFail !== KeepStencilOp ) data.stencilFail = this.stencilFail;
+		if ( this.stencilZFail !== KeepStencilOp ) data.stencilZFail = this.stencilZFail;
+		if ( this.stencilZPass !== KeepStencilOp ) data.stencilZPass = this.stencilZPass;
+		if ( this.stencilWrite === true ) data.stencilWrite = this.stencilWrite;
+
+		// rotation (SpriteMaterial)
+		if ( this.rotation !== undefined && this.rotation !== 0 ) data.rotation = this.rotation;
+
+		if ( this.polygonOffset === true ) data.polygonOffset = true;
+		if ( this.polygonOffsetFactor !== 0 ) data.polygonOffsetFactor = this.polygonOffsetFactor;
+		if ( this.polygonOffsetUnits !== 0 ) data.polygonOffsetUnits = this.polygonOffsetUnits;
+
+		if ( this.linewidth !== undefined && this.linewidth !== 1 ) data.linewidth = this.linewidth;
+		if ( this.dashSize !== undefined ) data.dashSize = this.dashSize;
+		if ( this.gapSize !== undefined ) data.gapSize = this.gapSize;
+		if ( this.scale !== undefined ) data.scale = this.scale;
+
+		if ( this.dithering === true ) data.dithering = true;
+
+		if ( this.alphaTest > 0 ) data.alphaTest = this.alphaTest;
+		if ( this.alphaHash === true ) data.alphaHash = true;
+		if ( this.alphaToCoverage === true ) data.alphaToCoverage = true;
+		if ( this.premultipliedAlpha === true ) data.premultipliedAlpha = true;
+		if ( this.forceSinglePass === true ) data.forceSinglePass = true;
+
+		if ( this.wireframe === true ) data.wireframe = true;
+		if ( this.wireframeLinewidth > 1 ) data.wireframeLinewidth = this.wireframeLinewidth;
+		if ( this.wireframeLinecap !== 'round' ) data.wireframeLinecap = this.wireframeLinecap;
+		if ( this.wireframeLinejoin !== 'round' ) data.wireframeLinejoin = this.wireframeLinejoin;
+
+		if ( this.flatShading === true ) data.flatShading = true;
+
+		if ( this.visible === false ) data.visible = false;
+
+		if ( this.toneMapped === false ) data.toneMapped = false;
+
+		if ( this.fog === false ) data.fog = false;
+
+		if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData;
+
+		// TODO: Copied from Object3D.toJSON
+
+		function extractFromCache( cache ) {
+
+			const values = [];
+
+			for ( const key in cache ) {
+
+				const data = cache[ key ];
+				delete data.metadata;
+				values.push( data );
+
+			}
+
+			return values;
+
+		}
+
+		if ( isRootObject ) {
+
+			const textures = extractFromCache( meta.textures );
+			const images = extractFromCache( meta.images );
+
+			if ( textures.length > 0 ) data.textures = textures;
+			if ( images.length > 0 ) data.images = images;
+
+		}
+
+		return data;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( source ) {
+
+		this.name = source.name;
+
+		this.blending = source.blending;
+		this.side = source.side;
+		this.vertexColors = source.vertexColors;
+
+		this.opacity = source.opacity;
+		this.transparent = source.transparent;
+
+		this.blendSrc = source.blendSrc;
+		this.blendDst = source.blendDst;
+		this.blendEquation = source.blendEquation;
+		this.blendSrcAlpha = source.blendSrcAlpha;
+		this.blendDstAlpha = source.blendDstAlpha;
+		this.blendEquationAlpha = source.blendEquationAlpha;
+		this.blendColor.copy( source.blendColor );
+		this.blendAlpha = source.blendAlpha;
+
+		this.depthFunc = source.depthFunc;
+		this.depthTest = source.depthTest;
+		this.depthWrite = source.depthWrite;
+
+		this.stencilWriteMask = source.stencilWriteMask;
+		this.stencilFunc = source.stencilFunc;
+		this.stencilRef = source.stencilRef;
+		this.stencilFuncMask = source.stencilFuncMask;
+		this.stencilFail = source.stencilFail;
+		this.stencilZFail = source.stencilZFail;
+		this.stencilZPass = source.stencilZPass;
+		this.stencilWrite = source.stencilWrite;
+
+		const srcPlanes = source.clippingPlanes;
+		let dstPlanes = null;
+
+		if ( srcPlanes !== null ) {
+
+			const n = srcPlanes.length;
+			dstPlanes = new Array( n );
+
+			for ( let i = 0; i !== n; ++ i ) {
+
+				dstPlanes[ i ] = srcPlanes[ i ].clone();
+
+			}
+
+		}
+
+		this.clippingPlanes = dstPlanes;
+		this.clipIntersection = source.clipIntersection;
+		this.clipShadows = source.clipShadows;
+
+		this.shadowSide = source.shadowSide;
+
+		this.colorWrite = source.colorWrite;
+
+		this.precision = source.precision;
+
+		this.polygonOffset = source.polygonOffset;
+		this.polygonOffsetFactor = source.polygonOffsetFactor;
+		this.polygonOffsetUnits = source.polygonOffsetUnits;
+
+		this.dithering = source.dithering;
+
+		this.alphaTest = source.alphaTest;
+		this.alphaHash = source.alphaHash;
+		this.alphaToCoverage = source.alphaToCoverage;
+		this.premultipliedAlpha = source.premultipliedAlpha;
+		this.forceSinglePass = source.forceSinglePass;
+
+		this.visible = source.visible;
+
+		this.toneMapped = source.toneMapped;
+
+		this.userData = JSON.parse( JSON.stringify( source.userData ) );
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+	}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) this.version ++;
+
+	}
+
+}
+
+class MeshBasicMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshBasicMaterial = true;
+
+		this.type = 'MeshBasicMaterial';
+
+		this.color = new Color( 0xffffff ); // emissive
+
+		this.map = null;
+
+		this.lightMap = null;
+		this.lightMapIntensity = 1.0;
+
+		this.aoMap = null;
+		this.aoMapIntensity = 1.0;
+
+		this.specularMap = null;
+
+		this.alphaMap = null;
+
+		this.envMap = null;
+		this.combine = MultiplyOperation;
+		this.reflectivity = 1;
+		this.refractionRatio = 0.98;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+		this.wireframeLinecap = 'round';
+		this.wireframeLinejoin = 'round';
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+
+		this.lightMap = source.lightMap;
+		this.lightMapIntensity = source.lightMapIntensity;
+
+		this.aoMap = source.aoMap;
+		this.aoMapIntensity = source.aoMapIntensity;
+
+		this.specularMap = source.specularMap;
+
+		this.alphaMap = source.alphaMap;
+
+		this.envMap = source.envMap;
+		this.combine = source.combine;
+		this.reflectivity = source.reflectivity;
+		this.refractionRatio = source.refractionRatio;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+		this.wireframeLinecap = source.wireframeLinecap;
+		this.wireframeLinejoin = source.wireframeLinejoin;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+// Fast Half Float Conversions, http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf
+
+const _tables = /*@__PURE__*/ _generateTables();
+
+function _generateTables() {
+
+	// float32 to float16 helpers
+
+	const buffer = new ArrayBuffer( 4 );
+	const floatView = new Float32Array( buffer );
+	const uint32View = new Uint32Array( buffer );
+
+	const baseTable = new Uint32Array( 512 );
+	const shiftTable = new Uint32Array( 512 );
+
+	for ( let i = 0; i < 256; ++ i ) {
+
+		const e = i - 127;
+
+		// very small number (0, -0)
+
+		if ( e < - 27 ) {
+
+			baseTable[ i ] = 0x0000;
+			baseTable[ i | 0x100 ] = 0x8000;
+			shiftTable[ i ] = 24;
+			shiftTable[ i | 0x100 ] = 24;
+
+			// small number (denorm)
+
+		} else if ( e < - 14 ) {
+
+			baseTable[ i ] = 0x0400 >> ( - e - 14 );
+			baseTable[ i | 0x100 ] = ( 0x0400 >> ( - e - 14 ) ) | 0x8000;
+			shiftTable[ i ] = - e - 1;
+			shiftTable[ i | 0x100 ] = - e - 1;
+
+			// normal number
+
+		} else if ( e <= 15 ) {
+
+			baseTable[ i ] = ( e + 15 ) << 10;
+			baseTable[ i | 0x100 ] = ( ( e + 15 ) << 10 ) | 0x8000;
+			shiftTable[ i ] = 13;
+			shiftTable[ i | 0x100 ] = 13;
+
+			// large number (Infinity, -Infinity)
+
+		} else if ( e < 128 ) {
+
+			baseTable[ i ] = 0x7c00;
+			baseTable[ i | 0x100 ] = 0xfc00;
+			shiftTable[ i ] = 24;
+			shiftTable[ i | 0x100 ] = 24;
+
+			// stay (NaN, Infinity, -Infinity)
+
+		} else {
+
+			baseTable[ i ] = 0x7c00;
+			baseTable[ i | 0x100 ] = 0xfc00;
+			shiftTable[ i ] = 13;
+			shiftTable[ i | 0x100 ] = 13;
+
+		}
+
+	}
+
+	// float16 to float32 helpers
+
+	const mantissaTable = new Uint32Array( 2048 );
+	const exponentTable = new Uint32Array( 64 );
+	const offsetTable = new Uint32Array( 64 );
+
+	for ( let i = 1; i < 1024; ++ i ) {
+
+		let m = i << 13; // zero pad mantissa bits
+		let e = 0; // zero exponent
+
+		// normalized
+		while ( ( m & 0x00800000 ) === 0 ) {
+
+			m <<= 1;
+			e -= 0x00800000; // decrement exponent
+
+		}
+
+		m &= ~ 0x00800000; // clear leading 1 bit
+		e += 0x38800000; // adjust bias
+
+		mantissaTable[ i ] = m | e;
+
+	}
+
+	for ( let i = 1024; i < 2048; ++ i ) {
+
+		mantissaTable[ i ] = 0x38000000 + ( ( i - 1024 ) << 13 );
+
+	}
+
+	for ( let i = 1; i < 31; ++ i ) {
+
+		exponentTable[ i ] = i << 23;
+
+	}
+
+	exponentTable[ 31 ] = 0x47800000;
+	exponentTable[ 32 ] = 0x80000000;
+
+	for ( let i = 33; i < 63; ++ i ) {
+
+		exponentTable[ i ] = 0x80000000 + ( ( i - 32 ) << 23 );
+
+	}
+
+	exponentTable[ 63 ] = 0xc7800000;
+
+	for ( let i = 1; i < 64; ++ i ) {
+
+		if ( i !== 32 ) {
+
+			offsetTable[ i ] = 1024;
+
+		}
+
+	}
+
+	return {
+		floatView: floatView,
+		uint32View: uint32View,
+		baseTable: baseTable,
+		shiftTable: shiftTable,
+		mantissaTable: mantissaTable,
+		exponentTable: exponentTable,
+		offsetTable: offsetTable
+	};
+
+}
+
+// float32 to float16
+
+function toHalfFloat( val ) {
+
+	if ( Math.abs( val ) > 65504 ) console.warn( 'THREE.DataUtils.toHalfFloat(): Value out of range.' );
+
+	val = clamp( val, - 65504, 65504 );
+
+	_tables.floatView[ 0 ] = val;
+	const f = _tables.uint32View[ 0 ];
+	const e = ( f >> 23 ) & 0x1ff;
+	return _tables.baseTable[ e ] + ( ( f & 0x007fffff ) >> _tables.shiftTable[ e ] );
+
+}
+
+// float16 to float32
+
+function fromHalfFloat( val ) {
+
+	const m = val >> 10;
+	_tables.uint32View[ 0 ] = _tables.mantissaTable[ _tables.offsetTable[ m ] + ( val & 0x3ff ) ] + _tables.exponentTable[ m ];
+	return _tables.floatView[ 0 ];
+
+}
+
+const DataUtils = {
+	toHalfFloat: toHalfFloat,
+	fromHalfFloat: fromHalfFloat,
+};
+
+const _vector$9 = /*@__PURE__*/ new Vector3();
+const _vector2$1 = /*@__PURE__*/ new Vector2();
+
+class BufferAttribute {
+
+	constructor( array, itemSize, normalized = false ) {
+
+		if ( Array.isArray( array ) ) {
+
+			throw new TypeError( 'THREE.BufferAttribute: array should be a Typed Array.' );
+
+		}
+
+		this.isBufferAttribute = true;
+
+		this.name = '';
+
+		this.array = array;
+		this.itemSize = itemSize;
+		this.count = array !== undefined ? array.length / itemSize : 0;
+		this.normalized = normalized;
+
+		this.usage = StaticDrawUsage;
+		this._updateRange = { offset: 0, count: - 1 };
+		this.updateRanges = [];
+		this.gpuType = FloatType;
+
+		this.version = 0;
+
+	}
+
+	onUploadCallback() {}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) this.version ++;
+
+	}
+
+	get updateRange() {
+
+		console.warn( 'THREE.BufferAttribute: updateRange() is deprecated and will be removed in r169. Use addUpdateRange() instead.' ); // @deprecated, r159
+		return this._updateRange;
+
+	}
+
+	setUsage( value ) {
+
+		this.usage = value;
+
+		return this;
+
+	}
+
+	addUpdateRange( start, count ) {
+
+		this.updateRanges.push( { start, count } );
+
+	}
+
+	clearUpdateRanges() {
+
+		this.updateRanges.length = 0;
+
+	}
+
+	copy( source ) {
+
+		this.name = source.name;
+		this.array = new source.array.constructor( source.array );
+		this.itemSize = source.itemSize;
+		this.count = source.count;
+		this.normalized = source.normalized;
+
+		this.usage = source.usage;
+		this.gpuType = source.gpuType;
+
+		return this;
+
+	}
+
+	copyAt( index1, attribute, index2 ) {
+
+		index1 *= this.itemSize;
+		index2 *= attribute.itemSize;
+
+		for ( let i = 0, l = this.itemSize; i < l; i ++ ) {
+
+			this.array[ index1 + i ] = attribute.array[ index2 + i ];
+
+		}
+
+		return this;
+
+	}
+
+	copyArray( array ) {
+
+		this.array.set( array );
+
+		return this;
+
+	}
+
+	applyMatrix3( m ) {
+
+		if ( this.itemSize === 2 ) {
+
+			for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+				_vector2$1.fromBufferAttribute( this, i );
+				_vector2$1.applyMatrix3( m );
+
+				this.setXY( i, _vector2$1.x, _vector2$1.y );
+
+			}
+
+		} else if ( this.itemSize === 3 ) {
+
+			for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+				_vector$9.fromBufferAttribute( this, i );
+				_vector$9.applyMatrix3( m );
+
+				this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	applyMatrix4( m ) {
+
+		for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+			_vector$9.fromBufferAttribute( this, i );
+
+			_vector$9.applyMatrix4( m );
+
+			this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
+
+		}
+
+		return this;
+
+	}
+
+	applyNormalMatrix( m ) {
+
+		for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+			_vector$9.fromBufferAttribute( this, i );
+
+			_vector$9.applyNormalMatrix( m );
+
+			this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
+
+		}
+
+		return this;
+
+	}
+
+	transformDirection( m ) {
+
+		for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+			_vector$9.fromBufferAttribute( this, i );
+
+			_vector$9.transformDirection( m );
+
+			this.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z );
+
+		}
+
+		return this;
+
+	}
+
+	set( value, offset = 0 ) {
+
+		// Matching BufferAttribute constructor, do not normalize the array.
+		this.array.set( value, offset );
+
+		return this;
+
+	}
+
+	getComponent( index, component ) {
+
+		let value = this.array[ index * this.itemSize + component ];
+
+		if ( this.normalized ) value = denormalize( value, this.array );
+
+		return value;
+
+	}
+
+	setComponent( index, component, value ) {
+
+		if ( this.normalized ) value = normalize( value, this.array );
+
+		this.array[ index * this.itemSize + component ] = value;
+
+		return this;
+
+	}
+
+	getX( index ) {
+
+		let x = this.array[ index * this.itemSize ];
+
+		if ( this.normalized ) x = denormalize( x, this.array );
+
+		return x;
+
+	}
+
+	setX( index, x ) {
+
+		if ( this.normalized ) x = normalize( x, this.array );
+
+		this.array[ index * this.itemSize ] = x;
+
+		return this;
+
+	}
+
+	getY( index ) {
+
+		let y = this.array[ index * this.itemSize + 1 ];
+
+		if ( this.normalized ) y = denormalize( y, this.array );
+
+		return y;
+
+	}
+
+	setY( index, y ) {
+
+		if ( this.normalized ) y = normalize( y, this.array );
+
+		this.array[ index * this.itemSize + 1 ] = y;
+
+		return this;
+
+	}
+
+	getZ( index ) {
+
+		let z = this.array[ index * this.itemSize + 2 ];
+
+		if ( this.normalized ) z = denormalize( z, this.array );
+
+		return z;
+
+	}
+
+	setZ( index, z ) {
+
+		if ( this.normalized ) z = normalize( z, this.array );
+
+		this.array[ index * this.itemSize + 2 ] = z;
+
+		return this;
+
+	}
+
+	getW( index ) {
+
+		let w = this.array[ index * this.itemSize + 3 ];
+
+		if ( this.normalized ) w = denormalize( w, this.array );
+
+		return w;
+
+	}
+
+	setW( index, w ) {
+
+		if ( this.normalized ) w = normalize( w, this.array );
+
+		this.array[ index * this.itemSize + 3 ] = w;
+
+		return this;
+
+	}
+
+	setXY( index, x, y ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+
+		}
+
+		this.array[ index + 0 ] = x;
+		this.array[ index + 1 ] = y;
+
+		return this;
+
+	}
+
+	setXYZ( index, x, y, z ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+
+		}
+
+		this.array[ index + 0 ] = x;
+		this.array[ index + 1 ] = y;
+		this.array[ index + 2 ] = z;
+
+		return this;
+
+	}
+
+	setXYZW( index, x, y, z, w ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+			w = normalize( w, this.array );
+
+		}
+
+		this.array[ index + 0 ] = x;
+		this.array[ index + 1 ] = y;
+		this.array[ index + 2 ] = z;
+		this.array[ index + 3 ] = w;
+
+		return this;
+
+	}
+
+	onUpload( callback ) {
+
+		this.onUploadCallback = callback;
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.array, this.itemSize ).copy( this );
+
+	}
+
+	toJSON() {
+
+		const data = {
+			itemSize: this.itemSize,
+			type: this.array.constructor.name,
+			array: Array.from( this.array ),
+			normalized: this.normalized
+		};
+
+		if ( this.name !== '' ) data.name = this.name;
+		if ( this.usage !== StaticDrawUsage ) data.usage = this.usage;
+
+		return data;
+
+	}
+
+}
+
+//
+
+class Int8BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Int8Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Uint8BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Uint8Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Uint8ClampedBufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Uint8ClampedArray( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Int16BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Int16Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Uint16BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Uint16Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Int32BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Int32Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Uint32BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Uint32Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Float16BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Uint16Array( array ), itemSize, normalized );
+
+		this.isFloat16BufferAttribute = true;
+
+	}
+
+	getX( index ) {
+
+		let x = fromHalfFloat( this.array[ index * this.itemSize ] );
+
+		if ( this.normalized ) x = denormalize( x, this.array );
+
+		return x;
+
+	}
+
+	setX( index, x ) {
+
+		if ( this.normalized ) x = normalize( x, this.array );
+
+		this.array[ index * this.itemSize ] = toHalfFloat( x );
+
+		return this;
+
+	}
+
+	getY( index ) {
+
+		let y = fromHalfFloat( this.array[ index * this.itemSize + 1 ] );
+
+		if ( this.normalized ) y = denormalize( y, this.array );
+
+		return y;
+
+	}
+
+	setY( index, y ) {
+
+		if ( this.normalized ) y = normalize( y, this.array );
+
+		this.array[ index * this.itemSize + 1 ] = toHalfFloat( y );
+
+		return this;
+
+	}
+
+	getZ( index ) {
+
+		let z = fromHalfFloat( this.array[ index * this.itemSize + 2 ] );
+
+		if ( this.normalized ) z = denormalize( z, this.array );
+
+		return z;
+
+	}
+
+	setZ( index, z ) {
+
+		if ( this.normalized ) z = normalize( z, this.array );
+
+		this.array[ index * this.itemSize + 2 ] = toHalfFloat( z );
+
+		return this;
+
+	}
+
+	getW( index ) {
+
+		let w = fromHalfFloat( this.array[ index * this.itemSize + 3 ] );
+
+		if ( this.normalized ) w = denormalize( w, this.array );
+
+		return w;
+
+	}
+
+	setW( index, w ) {
+
+		if ( this.normalized ) w = normalize( w, this.array );
+
+		this.array[ index * this.itemSize + 3 ] = toHalfFloat( w );
+
+		return this;
+
+	}
+
+	setXY( index, x, y ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+
+		}
+
+		this.array[ index + 0 ] = toHalfFloat( x );
+		this.array[ index + 1 ] = toHalfFloat( y );
+
+		return this;
+
+	}
+
+	setXYZ( index, x, y, z ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+
+		}
+
+		this.array[ index + 0 ] = toHalfFloat( x );
+		this.array[ index + 1 ] = toHalfFloat( y );
+		this.array[ index + 2 ] = toHalfFloat( z );
+
+		return this;
+
+	}
+
+	setXYZW( index, x, y, z, w ) {
+
+		index *= this.itemSize;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+			w = normalize( w, this.array );
+
+		}
+
+		this.array[ index + 0 ] = toHalfFloat( x );
+		this.array[ index + 1 ] = toHalfFloat( y );
+		this.array[ index + 2 ] = toHalfFloat( z );
+		this.array[ index + 3 ] = toHalfFloat( w );
+
+		return this;
+
+	}
+
+}
+
+
+class Float32BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Float32Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+class Float64BufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized ) {
+
+		super( new Float64Array( array ), itemSize, normalized );
+
+	}
+
+}
+
+let _id$2 = 0;
+
+const _m1 = /*@__PURE__*/ new Matrix4();
+const _obj = /*@__PURE__*/ new Object3D();
+const _offset = /*@__PURE__*/ new Vector3();
+const _box$2 = /*@__PURE__*/ new Box3();
+const _boxMorphTargets = /*@__PURE__*/ new Box3();
+const _vector$8 = /*@__PURE__*/ new Vector3();
+
+class BufferGeometry extends EventDispatcher {
+
+	constructor() {
+
+		super();
+
+		this.isBufferGeometry = true;
+
+		Object.defineProperty( this, 'id', { value: _id$2 ++ } );
+
+		this.uuid = generateUUID();
+
+		this.name = '';
+		this.type = 'BufferGeometry';
+
+		this.index = null;
+		this.attributes = {};
+
+		this.morphAttributes = {};
+		this.morphTargetsRelative = false;
+
+		this.groups = [];
+
+		this.boundingBox = null;
+		this.boundingSphere = null;
+
+		this.drawRange = { start: 0, count: Infinity };
+
+		this.userData = {};
+
+	}
+
+	getIndex() {
+
+		return this.index;
+
+	}
+
+	setIndex( index ) {
+
+		if ( Array.isArray( index ) ) {
+
+			this.index = new ( arrayNeedsUint32( index ) ? Uint32BufferAttribute : Uint16BufferAttribute )( index, 1 );
+
+		} else {
+
+			this.index = index;
+
+		}
+
+		return this;
+
+	}
+
+	getAttribute( name ) {
+
+		return this.attributes[ name ];
+
+	}
+
+	setAttribute( name, attribute ) {
+
+		this.attributes[ name ] = attribute;
+
+		return this;
+
+	}
+
+	deleteAttribute( name ) {
+
+		delete this.attributes[ name ];
+
+		return this;
+
+	}
+
+	hasAttribute( name ) {
+
+		return this.attributes[ name ] !== undefined;
+
+	}
+
+	addGroup( start, count, materialIndex = 0 ) {
+
+		this.groups.push( {
+
+			start: start,
+			count: count,
+			materialIndex: materialIndex
+
+		} );
+
+	}
+
+	clearGroups() {
+
+		this.groups = [];
+
+	}
+
+	setDrawRange( start, count ) {
+
+		this.drawRange.start = start;
+		this.drawRange.count = count;
+
+	}
+
+	applyMatrix4( matrix ) {
+
+		const position = this.attributes.position;
+
+		if ( position !== undefined ) {
+
+			position.applyMatrix4( matrix );
+
+			position.needsUpdate = true;
+
+		}
+
+		const normal = this.attributes.normal;
+
+		if ( normal !== undefined ) {
+
+			const normalMatrix = new Matrix3().getNormalMatrix( matrix );
+
+			normal.applyNormalMatrix( normalMatrix );
+
+			normal.needsUpdate = true;
+
+		}
+
+		const tangent = this.attributes.tangent;
+
+		if ( tangent !== undefined ) {
+
+			tangent.transformDirection( matrix );
+
+			tangent.needsUpdate = true;
+
+		}
+
+		if ( this.boundingBox !== null ) {
+
+			this.computeBoundingBox();
+
+		}
+
+		if ( this.boundingSphere !== null ) {
+
+			this.computeBoundingSphere();
+
+		}
+
+		return this;
+
+	}
+
+	applyQuaternion( q ) {
+
+		_m1.makeRotationFromQuaternion( q );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	rotateX( angle ) {
+
+		// rotate geometry around world x-axis
+
+		_m1.makeRotationX( angle );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	rotateY( angle ) {
+
+		// rotate geometry around world y-axis
+
+		_m1.makeRotationY( angle );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	rotateZ( angle ) {
+
+		// rotate geometry around world z-axis
+
+		_m1.makeRotationZ( angle );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	translate( x, y, z ) {
+
+		// translate geometry
+
+		_m1.makeTranslation( x, y, z );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	scale( x, y, z ) {
+
+		// scale geometry
+
+		_m1.makeScale( x, y, z );
+
+		this.applyMatrix4( _m1 );
+
+		return this;
+
+	}
+
+	lookAt( vector ) {
+
+		_obj.lookAt( vector );
+
+		_obj.updateMatrix();
+
+		this.applyMatrix4( _obj.matrix );
+
+		return this;
+
+	}
+
+	center() {
+
+		this.computeBoundingBox();
+
+		this.boundingBox.getCenter( _offset ).negate();
+
+		this.translate( _offset.x, _offset.y, _offset.z );
+
+		return this;
+
+	}
+
+	setFromPoints( points ) {
+
+		const position = [];
+
+		for ( let i = 0, l = points.length; i < l; i ++ ) {
+
+			const point = points[ i ];
+			position.push( point.x, point.y, point.z || 0 );
+
+		}
+
+		this.setAttribute( 'position', new Float32BufferAttribute( position, 3 ) );
+
+		return this;
+
+	}
+
+	computeBoundingBox() {
+
+		if ( this.boundingBox === null ) {
+
+			this.boundingBox = new Box3();
+
+		}
+
+		const position = this.attributes.position;
+		const morphAttributesPosition = this.morphAttributes.position;
+
+		if ( position && position.isGLBufferAttribute ) {
+
+			console.error( 'THREE.BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box. Alternatively set "mesh.frustumCulled" to "false".', this );
+
+			this.boundingBox.set(
+				new Vector3( - Infinity, - Infinity, - Infinity ),
+				new Vector3( + Infinity, + Infinity, + Infinity )
+			);
+
+			return;
+
+		}
+
+		if ( position !== undefined ) {
+
+			this.boundingBox.setFromBufferAttribute( position );
+
+			// process morph attributes if present
+
+			if ( morphAttributesPosition ) {
+
+				for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
+
+					const morphAttribute = morphAttributesPosition[ i ];
+					_box$2.setFromBufferAttribute( morphAttribute );
+
+					if ( this.morphTargetsRelative ) {
+
+						_vector$8.addVectors( this.boundingBox.min, _box$2.min );
+						this.boundingBox.expandByPoint( _vector$8 );
+
+						_vector$8.addVectors( this.boundingBox.max, _box$2.max );
+						this.boundingBox.expandByPoint( _vector$8 );
+
+					} else {
+
+						this.boundingBox.expandByPoint( _box$2.min );
+						this.boundingBox.expandByPoint( _box$2.max );
+
+					}
+
+				}
+
+			}
+
+		} else {
+
+			this.boundingBox.makeEmpty();
+
+		}
+
+		if ( isNaN( this.boundingBox.min.x ) || isNaN( this.boundingBox.min.y ) || isNaN( this.boundingBox.min.z ) ) {
+
+			console.error( 'THREE.BufferGeometry.computeBoundingBox(): Computed min/max have NaN values. The "position" attribute is likely to have NaN values.', this );
+
+		}
+
+	}
+
+	computeBoundingSphere() {
+
+		if ( this.boundingSphere === null ) {
+
+			this.boundingSphere = new Sphere();
+
+		}
+
+		const position = this.attributes.position;
+		const morphAttributesPosition = this.morphAttributes.position;
+
+		if ( position && position.isGLBufferAttribute ) {
+
+			console.error( 'THREE.BufferGeometry.computeBoundingSphere(): GLBufferAttribute requires a manual bounding sphere. Alternatively set "mesh.frustumCulled" to "false".', this );
+
+			this.boundingSphere.set( new Vector3(), Infinity );
+
+			return;
+
+		}
+
+		if ( position ) {
+
+			// first, find the center of the bounding sphere
+
+			const center = this.boundingSphere.center;
+
+			_box$2.setFromBufferAttribute( position );
+
+			// process morph attributes if present
+
+			if ( morphAttributesPosition ) {
+
+				for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
+
+					const morphAttribute = morphAttributesPosition[ i ];
+					_boxMorphTargets.setFromBufferAttribute( morphAttribute );
+
+					if ( this.morphTargetsRelative ) {
+
+						_vector$8.addVectors( _box$2.min, _boxMorphTargets.min );
+						_box$2.expandByPoint( _vector$8 );
+
+						_vector$8.addVectors( _box$2.max, _boxMorphTargets.max );
+						_box$2.expandByPoint( _vector$8 );
+
+					} else {
+
+						_box$2.expandByPoint( _boxMorphTargets.min );
+						_box$2.expandByPoint( _boxMorphTargets.max );
+
+					}
+
+				}
+
+			}
+
+			_box$2.getCenter( center );
+
+			// second, try to find a boundingSphere with a radius smaller than the
+			// boundingSphere of the boundingBox: sqrt(3) smaller in the best case
+
+			let maxRadiusSq = 0;
+
+			for ( let i = 0, il = position.count; i < il; i ++ ) {
+
+				_vector$8.fromBufferAttribute( position, i );
+
+				maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$8 ) );
+
+			}
+
+			// process morph attributes if present
+
+			if ( morphAttributesPosition ) {
+
+				for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) {
+
+					const morphAttribute = morphAttributesPosition[ i ];
+					const morphTargetsRelative = this.morphTargetsRelative;
+
+					for ( let j = 0, jl = morphAttribute.count; j < jl; j ++ ) {
+
+						_vector$8.fromBufferAttribute( morphAttribute, j );
+
+						if ( morphTargetsRelative ) {
+
+							_offset.fromBufferAttribute( position, j );
+							_vector$8.add( _offset );
+
+						}
+
+						maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$8 ) );
+
+					}
+
+				}
+
+			}
+
+			this.boundingSphere.radius = Math.sqrt( maxRadiusSq );
+
+			if ( isNaN( this.boundingSphere.radius ) ) {
+
+				console.error( 'THREE.BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values.', this );
+
+			}
+
+		}
+
+	}
+
+	computeTangents() {
+
+		const index = this.index;
+		const attributes = this.attributes;
+
+		// based on http://www.terathon.com/code/tangent.html
+		// (per vertex tangents)
+
+		if ( index === null ||
+			 attributes.position === undefined ||
+			 attributes.normal === undefined ||
+			 attributes.uv === undefined ) {
+
+			console.error( 'THREE.BufferGeometry: .computeTangents() failed. Missing required attributes (index, position, normal or uv)' );
+			return;
+
+		}
+
+		const indices = index.array;
+		const positions = attributes.position.array;
+		const normals = attributes.normal.array;
+		const uvs = attributes.uv.array;
+
+		const nVertices = positions.length / 3;
+
+		if ( this.hasAttribute( 'tangent' ) === false ) {
+
+			this.setAttribute( 'tangent', new BufferAttribute( new Float32Array( 4 * nVertices ), 4 ) );
+
+		}
+
+		const tangents = this.getAttribute( 'tangent' ).array;
+
+		const tan1 = [], tan2 = [];
+
+		for ( let i = 0; i < nVertices; i ++ ) {
+
+			tan1[ i ] = new Vector3();
+			tan2[ i ] = new Vector3();
+
+		}
+
+		const vA = new Vector3(),
+			vB = new Vector3(),
+			vC = new Vector3(),
+
+			uvA = new Vector2(),
+			uvB = new Vector2(),
+			uvC = new Vector2(),
+
+			sdir = new Vector3(),
+			tdir = new Vector3();
+
+		function handleTriangle( a, b, c ) {
+
+			vA.fromArray( positions, a * 3 );
+			vB.fromArray( positions, b * 3 );
+			vC.fromArray( positions, c * 3 );
+
+			uvA.fromArray( uvs, a * 2 );
+			uvB.fromArray( uvs, b * 2 );
+			uvC.fromArray( uvs, c * 2 );
+
+			vB.sub( vA );
+			vC.sub( vA );
+
+			uvB.sub( uvA );
+			uvC.sub( uvA );
+
+			const r = 1.0 / ( uvB.x * uvC.y - uvC.x * uvB.y );
+
+			// silently ignore degenerate uv triangles having coincident or colinear vertices
+
+			if ( ! isFinite( r ) ) return;
+
+			sdir.copy( vB ).multiplyScalar( uvC.y ).addScaledVector( vC, - uvB.y ).multiplyScalar( r );
+			tdir.copy( vC ).multiplyScalar( uvB.x ).addScaledVector( vB, - uvC.x ).multiplyScalar( r );
+
+			tan1[ a ].add( sdir );
+			tan1[ b ].add( sdir );
+			tan1[ c ].add( sdir );
+
+			tan2[ a ].add( tdir );
+			tan2[ b ].add( tdir );
+			tan2[ c ].add( tdir );
+
+		}
+
+		let groups = this.groups;
+
+		if ( groups.length === 0 ) {
+
+			groups = [ {
+				start: 0,
+				count: indices.length
+			} ];
+
+		}
+
+		for ( let i = 0, il = groups.length; i < il; ++ i ) {
+
+			const group = groups[ i ];
+
+			const start = group.start;
+			const count = group.count;
+
+			for ( let j = start, jl = start + count; j < jl; j += 3 ) {
+
+				handleTriangle(
+					indices[ j + 0 ],
+					indices[ j + 1 ],
+					indices[ j + 2 ]
+				);
+
+			}
+
+		}
+
+		const tmp = new Vector3(), tmp2 = new Vector3();
+		const n = new Vector3(), n2 = new Vector3();
+
+		function handleVertex( v ) {
+
+			n.fromArray( normals, v * 3 );
+			n2.copy( n );
+
+			const t = tan1[ v ];
+
+			// Gram-Schmidt orthogonalize
+
+			tmp.copy( t );
+			tmp.sub( n.multiplyScalar( n.dot( t ) ) ).normalize();
+
+			// Calculate handedness
+
+			tmp2.crossVectors( n2, t );
+			const test = tmp2.dot( tan2[ v ] );
+			const w = ( test < 0.0 ) ? - 1.0 : 1.0;
+
+			tangents[ v * 4 ] = tmp.x;
+			tangents[ v * 4 + 1 ] = tmp.y;
+			tangents[ v * 4 + 2 ] = tmp.z;
+			tangents[ v * 4 + 3 ] = w;
+
+		}
+
+		for ( let i = 0, il = groups.length; i < il; ++ i ) {
+
+			const group = groups[ i ];
+
+			const start = group.start;
+			const count = group.count;
+
+			for ( let j = start, jl = start + count; j < jl; j += 3 ) {
+
+				handleVertex( indices[ j + 0 ] );
+				handleVertex( indices[ j + 1 ] );
+				handleVertex( indices[ j + 2 ] );
+
+			}
+
+		}
+
+	}
+
+	computeVertexNormals() {
+
+		const index = this.index;
+		const positionAttribute = this.getAttribute( 'position' );
+
+		if ( positionAttribute !== undefined ) {
+
+			let normalAttribute = this.getAttribute( 'normal' );
+
+			if ( normalAttribute === undefined ) {
+
+				normalAttribute = new BufferAttribute( new Float32Array( positionAttribute.count * 3 ), 3 );
+				this.setAttribute( 'normal', normalAttribute );
+
+			} else {
+
+				// reset existing normals to zero
+
+				for ( let i = 0, il = normalAttribute.count; i < il; i ++ ) {
+
+					normalAttribute.setXYZ( i, 0, 0, 0 );
+
+				}
+
+			}
+
+			const pA = new Vector3(), pB = new Vector3(), pC = new Vector3();
+			const nA = new Vector3(), nB = new Vector3(), nC = new Vector3();
+			const cb = new Vector3(), ab = new Vector3();
+
+			// indexed elements
+
+			if ( index ) {
+
+				for ( let i = 0, il = index.count; i < il; i += 3 ) {
+
+					const vA = index.getX( i + 0 );
+					const vB = index.getX( i + 1 );
+					const vC = index.getX( i + 2 );
+
+					pA.fromBufferAttribute( positionAttribute, vA );
+					pB.fromBufferAttribute( positionAttribute, vB );
+					pC.fromBufferAttribute( positionAttribute, vC );
+
+					cb.subVectors( pC, pB );
+					ab.subVectors( pA, pB );
+					cb.cross( ab );
+
+					nA.fromBufferAttribute( normalAttribute, vA );
+					nB.fromBufferAttribute( normalAttribute, vB );
+					nC.fromBufferAttribute( normalAttribute, vC );
+
+					nA.add( cb );
+					nB.add( cb );
+					nC.add( cb );
+
+					normalAttribute.setXYZ( vA, nA.x, nA.y, nA.z );
+					normalAttribute.setXYZ( vB, nB.x, nB.y, nB.z );
+					normalAttribute.setXYZ( vC, nC.x, nC.y, nC.z );
+
+				}
+
+			} else {
+
+				// non-indexed elements (unconnected triangle soup)
+
+				for ( let i = 0, il = positionAttribute.count; i < il; i += 3 ) {
+
+					pA.fromBufferAttribute( positionAttribute, i + 0 );
+					pB.fromBufferAttribute( positionAttribute, i + 1 );
+					pC.fromBufferAttribute( positionAttribute, i + 2 );
+
+					cb.subVectors( pC, pB );
+					ab.subVectors( pA, pB );
+					cb.cross( ab );
+
+					normalAttribute.setXYZ( i + 0, cb.x, cb.y, cb.z );
+					normalAttribute.setXYZ( i + 1, cb.x, cb.y, cb.z );
+					normalAttribute.setXYZ( i + 2, cb.x, cb.y, cb.z );
+
+				}
+
+			}
+
+			this.normalizeNormals();
+
+			normalAttribute.needsUpdate = true;
+
+		}
+
+	}
+
+	normalizeNormals() {
+
+		const normals = this.attributes.normal;
+
+		for ( let i = 0, il = normals.count; i < il; i ++ ) {
+
+			_vector$8.fromBufferAttribute( normals, i );
+
+			_vector$8.normalize();
+
+			normals.setXYZ( i, _vector$8.x, _vector$8.y, _vector$8.z );
+
+		}
+
+	}
+
+	toNonIndexed() {
+
+		function convertBufferAttribute( attribute, indices ) {
+
+			const array = attribute.array;
+			const itemSize = attribute.itemSize;
+			const normalized = attribute.normalized;
+
+			const array2 = new array.constructor( indices.length * itemSize );
+
+			let index = 0, index2 = 0;
+
+			for ( let i = 0, l = indices.length; i < l; i ++ ) {
+
+				if ( attribute.isInterleavedBufferAttribute ) {
+
+					index = indices[ i ] * attribute.data.stride + attribute.offset;
+
+				} else {
+
+					index = indices[ i ] * itemSize;
+
+				}
+
+				for ( let j = 0; j < itemSize; j ++ ) {
+
+					array2[ index2 ++ ] = array[ index ++ ];
+
+				}
+
+			}
+
+			return new BufferAttribute( array2, itemSize, normalized );
+
+		}
+
+		//
+
+		if ( this.index === null ) {
+
+			console.warn( 'THREE.BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.' );
+			return this;
+
+		}
+
+		const geometry2 = new BufferGeometry();
+
+		const indices = this.index.array;
+		const attributes = this.attributes;
+
+		// attributes
+
+		for ( const name in attributes ) {
+
+			const attribute = attributes[ name ];
+
+			const newAttribute = convertBufferAttribute( attribute, indices );
+
+			geometry2.setAttribute( name, newAttribute );
+
+		}
+
+		// morph attributes
+
+		const morphAttributes = this.morphAttributes;
+
+		for ( const name in morphAttributes ) {
+
+			const morphArray = [];
+			const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes
+
+			for ( let i = 0, il = morphAttribute.length; i < il; i ++ ) {
+
+				const attribute = morphAttribute[ i ];
+
+				const newAttribute = convertBufferAttribute( attribute, indices );
+
+				morphArray.push( newAttribute );
+
+			}
+
+			geometry2.morphAttributes[ name ] = morphArray;
+
+		}
+
+		geometry2.morphTargetsRelative = this.morphTargetsRelative;
+
+		// groups
+
+		const groups = this.groups;
+
+		for ( let i = 0, l = groups.length; i < l; i ++ ) {
+
+			const group = groups[ i ];
+			geometry2.addGroup( group.start, group.count, group.materialIndex );
+
+		}
+
+		return geometry2;
+
+	}
+
+	toJSON() {
+
+		const data = {
+			metadata: {
+				version: 4.6,
+				type: 'BufferGeometry',
+				generator: 'BufferGeometry.toJSON'
+			}
+		};
+
+		// standard BufferGeometry serialization
+
+		data.uuid = this.uuid;
+		data.type = this.type;
+		if ( this.name !== '' ) data.name = this.name;
+		if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData;
+
+		if ( this.parameters !== undefined ) {
+
+			const parameters = this.parameters;
+
+			for ( const key in parameters ) {
+
+				if ( parameters[ key ] !== undefined ) data[ key ] = parameters[ key ];
+
+			}
+
+			return data;
+
+		}
+
+		// for simplicity the code assumes attributes are not shared across geometries, see #15811
+
+		data.data = { attributes: {} };
+
+		const index = this.index;
+
+		if ( index !== null ) {
+
+			data.data.index = {
+				type: index.array.constructor.name,
+				array: Array.prototype.slice.call( index.array )
+			};
+
+		}
+
+		const attributes = this.attributes;
+
+		for ( const key in attributes ) {
+
+			const attribute = attributes[ key ];
+
+			data.data.attributes[ key ] = attribute.toJSON( data.data );
+
+		}
+
+		const morphAttributes = {};
+		let hasMorphAttributes = false;
+
+		for ( const key in this.morphAttributes ) {
+
+			const attributeArray = this.morphAttributes[ key ];
+
+			const array = [];
+
+			for ( let i = 0, il = attributeArray.length; i < il; i ++ ) {
+
+				const attribute = attributeArray[ i ];
+
+				array.push( attribute.toJSON( data.data ) );
+
+			}
+
+			if ( array.length > 0 ) {
+
+				morphAttributes[ key ] = array;
+
+				hasMorphAttributes = true;
+
+			}
+
+		}
+
+		if ( hasMorphAttributes ) {
+
+			data.data.morphAttributes = morphAttributes;
+			data.data.morphTargetsRelative = this.morphTargetsRelative;
+
+		}
+
+		const groups = this.groups;
+
+		if ( groups.length > 0 ) {
+
+			data.data.groups = JSON.parse( JSON.stringify( groups ) );
+
+		}
+
+		const boundingSphere = this.boundingSphere;
+
+		if ( boundingSphere !== null ) {
+
+			data.data.boundingSphere = {
+				center: boundingSphere.center.toArray(),
+				radius: boundingSphere.radius
+			};
+
+		}
+
+		return data;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( source ) {
+
+		// reset
+
+		this.index = null;
+		this.attributes = {};
+		this.morphAttributes = {};
+		this.groups = [];
+		this.boundingBox = null;
+		this.boundingSphere = null;
+
+		// used for storing cloned, shared data
+
+		const data = {};
+
+		// name
+
+		this.name = source.name;
+
+		// index
+
+		const index = source.index;
+
+		if ( index !== null ) {
+
+			this.setIndex( index.clone( data ) );
+
+		}
+
+		// attributes
+
+		const attributes = source.attributes;
+
+		for ( const name in attributes ) {
+
+			const attribute = attributes[ name ];
+			this.setAttribute( name, attribute.clone( data ) );
+
+		}
+
+		// morph attributes
+
+		const morphAttributes = source.morphAttributes;
+
+		for ( const name in morphAttributes ) {
+
+			const array = [];
+			const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes
+
+			for ( let i = 0, l = morphAttribute.length; i < l; i ++ ) {
+
+				array.push( morphAttribute[ i ].clone( data ) );
+
+			}
+
+			this.morphAttributes[ name ] = array;
+
+		}
+
+		this.morphTargetsRelative = source.morphTargetsRelative;
+
+		// groups
+
+		const groups = source.groups;
+
+		for ( let i = 0, l = groups.length; i < l; i ++ ) {
+
+			const group = groups[ i ];
+			this.addGroup( group.start, group.count, group.materialIndex );
+
+		}
+
+		// bounding box
+
+		const boundingBox = source.boundingBox;
+
+		if ( boundingBox !== null ) {
+
+			this.boundingBox = boundingBox.clone();
+
+		}
+
+		// bounding sphere
+
+		const boundingSphere = source.boundingSphere;
+
+		if ( boundingSphere !== null ) {
+
+			this.boundingSphere = boundingSphere.clone();
+
+		}
+
+		// draw range
+
+		this.drawRange.start = source.drawRange.start;
+		this.drawRange.count = source.drawRange.count;
+
+		// user data
+
+		this.userData = source.userData;
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+	}
+
+}
+
+const _inverseMatrix$3 = /*@__PURE__*/ new Matrix4();
+const _ray$3 = /*@__PURE__*/ new Ray();
+const _sphere$6 = /*@__PURE__*/ new Sphere();
+const _sphereHitAt = /*@__PURE__*/ new Vector3();
+
+const _vA$1 = /*@__PURE__*/ new Vector3();
+const _vB$1 = /*@__PURE__*/ new Vector3();
+const _vC$1 = /*@__PURE__*/ new Vector3();
+
+const _tempA = /*@__PURE__*/ new Vector3();
+const _morphA = /*@__PURE__*/ new Vector3();
+
+const _uvA$1 = /*@__PURE__*/ new Vector2();
+const _uvB$1 = /*@__PURE__*/ new Vector2();
+const _uvC$1 = /*@__PURE__*/ new Vector2();
+
+const _normalA = /*@__PURE__*/ new Vector3();
+const _normalB = /*@__PURE__*/ new Vector3();
+const _normalC = /*@__PURE__*/ new Vector3();
+
+const _intersectionPoint = /*@__PURE__*/ new Vector3();
+const _intersectionPointWorld = /*@__PURE__*/ new Vector3();
+
+class Mesh extends Object3D {
+
+	constructor( geometry = new BufferGeometry(), material = new MeshBasicMaterial() ) {
+
+		super();
+
+		this.isMesh = true;
+
+		this.type = 'Mesh';
+
+		this.geometry = geometry;
+		this.material = material;
+
+		this.updateMorphTargets();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		if ( source.morphTargetInfluences !== undefined ) {
+
+			this.morphTargetInfluences = source.morphTargetInfluences.slice();
+
+		}
+
+		if ( source.morphTargetDictionary !== undefined ) {
+
+			this.morphTargetDictionary = Object.assign( {}, source.morphTargetDictionary );
+
+		}
+
+		this.material = Array.isArray( source.material ) ? source.material.slice() : source.material;
+		this.geometry = source.geometry;
+
+		return this;
+
+	}
+
+	updateMorphTargets() {
+
+		const geometry = this.geometry;
+
+		const morphAttributes = geometry.morphAttributes;
+		const keys = Object.keys( morphAttributes );
+
+		if ( keys.length > 0 ) {
+
+			const morphAttribute = morphAttributes[ keys[ 0 ] ];
+
+			if ( morphAttribute !== undefined ) {
+
+				this.morphTargetInfluences = [];
+				this.morphTargetDictionary = {};
+
+				for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) {
+
+					const name = morphAttribute[ m ].name || String( m );
+
+					this.morphTargetInfluences.push( 0 );
+					this.morphTargetDictionary[ name ] = m;
+
+				}
+
+			}
+
+		}
+
+	}
+
+	getVertexPosition( index, target ) {
+
+		const geometry = this.geometry;
+		const position = geometry.attributes.position;
+		const morphPosition = geometry.morphAttributes.position;
+		const morphTargetsRelative = geometry.morphTargetsRelative;
+
+		target.fromBufferAttribute( position, index );
+
+		const morphInfluences = this.morphTargetInfluences;
+
+		if ( morphPosition && morphInfluences ) {
+
+			_morphA.set( 0, 0, 0 );
+
+			for ( let i = 0, il = morphPosition.length; i < il; i ++ ) {
+
+				const influence = morphInfluences[ i ];
+				const morphAttribute = morphPosition[ i ];
+
+				if ( influence === 0 ) continue;
+
+				_tempA.fromBufferAttribute( morphAttribute, index );
+
+				if ( morphTargetsRelative ) {
+
+					_morphA.addScaledVector( _tempA, influence );
+
+				} else {
+
+					_morphA.addScaledVector( _tempA.sub( target ), influence );
+
+				}
+
+			}
+
+			target.add( _morphA );
+
+		}
+
+		return target;
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const geometry = this.geometry;
+		const material = this.material;
+		const matrixWorld = this.matrixWorld;
+
+		if ( material === undefined ) return;
+
+		// test with bounding sphere in world space
+
+		if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
+
+		_sphere$6.copy( geometry.boundingSphere );
+		_sphere$6.applyMatrix4( matrixWorld );
+
+		// check distance from ray origin to bounding sphere
+
+		_ray$3.copy( raycaster.ray ).recast( raycaster.near );
+
+		if ( _sphere$6.containsPoint( _ray$3.origin ) === false ) {
+
+			if ( _ray$3.intersectSphere( _sphere$6, _sphereHitAt ) === null ) return;
+
+			if ( _ray$3.origin.distanceToSquared( _sphereHitAt ) > ( raycaster.far - raycaster.near ) ** 2 ) return;
+
+		}
+
+		// convert ray to local space of mesh
+
+		_inverseMatrix$3.copy( matrixWorld ).invert();
+		_ray$3.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$3 );
+
+		// test with bounding box in local space
+
+		if ( geometry.boundingBox !== null ) {
+
+			if ( _ray$3.intersectsBox( geometry.boundingBox ) === false ) return;
+
+		}
+
+		// test for intersections with geometry
+
+		this._computeIntersections( raycaster, intersects, _ray$3 );
+
+	}
+
+	_computeIntersections( raycaster, intersects, rayLocalSpace ) {
+
+		let intersection;
+
+		const geometry = this.geometry;
+		const material = this.material;
+
+		const index = geometry.index;
+		const position = geometry.attributes.position;
+		const uv = geometry.attributes.uv;
+		const uv1 = geometry.attributes.uv1;
+		const normal = geometry.attributes.normal;
+		const groups = geometry.groups;
+		const drawRange = geometry.drawRange;
+
+		if ( index !== null ) {
+
+			// indexed buffer geometry
+
+			if ( Array.isArray( material ) ) {
+
+				for ( let i = 0, il = groups.length; i < il; i ++ ) {
+
+					const group = groups[ i ];
+					const groupMaterial = material[ group.materialIndex ];
+
+					const start = Math.max( group.start, drawRange.start );
+					const end = Math.min( index.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) );
+
+					for ( let j = start, jl = end; j < jl; j += 3 ) {
+
+						const a = index.getX( j );
+						const b = index.getX( j + 1 );
+						const c = index.getX( j + 2 );
+
+						intersection = checkGeometryIntersection( this, groupMaterial, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c );
+
+						if ( intersection ) {
+
+							intersection.faceIndex = Math.floor( j / 3 ); // triangle number in indexed buffer semantics
+							intersection.face.materialIndex = group.materialIndex;
+							intersects.push( intersection );
+
+						}
+
+					}
+
+				}
+
+			} else {
+
+				const start = Math.max( 0, drawRange.start );
+				const end = Math.min( index.count, ( drawRange.start + drawRange.count ) );
+
+				for ( let i = start, il = end; i < il; i += 3 ) {
+
+					const a = index.getX( i );
+					const b = index.getX( i + 1 );
+					const c = index.getX( i + 2 );
+
+					intersection = checkGeometryIntersection( this, material, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c );
+
+					if ( intersection ) {
+
+						intersection.faceIndex = Math.floor( i / 3 ); // triangle number in indexed buffer semantics
+						intersects.push( intersection );
+
+					}
+
+				}
+
+			}
+
+		} else if ( position !== undefined ) {
+
+			// non-indexed buffer geometry
+
+			if ( Array.isArray( material ) ) {
+
+				for ( let i = 0, il = groups.length; i < il; i ++ ) {
+
+					const group = groups[ i ];
+					const groupMaterial = material[ group.materialIndex ];
+
+					const start = Math.max( group.start, drawRange.start );
+					const end = Math.min( position.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) );
+
+					for ( let j = start, jl = end; j < jl; j += 3 ) {
+
+						const a = j;
+						const b = j + 1;
+						const c = j + 2;
+
+						intersection = checkGeometryIntersection( this, groupMaterial, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c );
+
+						if ( intersection ) {
+
+							intersection.faceIndex = Math.floor( j / 3 ); // triangle number in non-indexed buffer semantics
+							intersection.face.materialIndex = group.materialIndex;
+							intersects.push( intersection );
+
+						}
+
+					}
+
+				}
+
+			} else {
+
+				const start = Math.max( 0, drawRange.start );
+				const end = Math.min( position.count, ( drawRange.start + drawRange.count ) );
+
+				for ( let i = start, il = end; i < il; i += 3 ) {
+
+					const a = i;
+					const b = i + 1;
+					const c = i + 2;
+
+					intersection = checkGeometryIntersection( this, material, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c );
+
+					if ( intersection ) {
+
+						intersection.faceIndex = Math.floor( i / 3 ); // triangle number in non-indexed buffer semantics
+						intersects.push( intersection );
+
+					}
+
+				}
+
+			}
+
+		}
+
+	}
+
+}
+
+function checkIntersection( object, material, raycaster, ray, pA, pB, pC, point ) {
+
+	let intersect;
+
+	if ( material.side === BackSide ) {
+
+		intersect = ray.intersectTriangle( pC, pB, pA, true, point );
+
+	} else {
+
+		intersect = ray.intersectTriangle( pA, pB, pC, ( material.side === FrontSide ), point );
+
+	}
+
+	if ( intersect === null ) return null;
+
+	_intersectionPointWorld.copy( point );
+	_intersectionPointWorld.applyMatrix4( object.matrixWorld );
+
+	const distance = raycaster.ray.origin.distanceTo( _intersectionPointWorld );
+
+	if ( distance < raycaster.near || distance > raycaster.far ) return null;
+
+	return {
+		distance: distance,
+		point: _intersectionPointWorld.clone(),
+		object: object
+	};
+
+}
+
+function checkGeometryIntersection( object, material, raycaster, ray, uv, uv1, normal, a, b, c ) {
+
+	object.getVertexPosition( a, _vA$1 );
+	object.getVertexPosition( b, _vB$1 );
+	object.getVertexPosition( c, _vC$1 );
+
+	const intersection = checkIntersection( object, material, raycaster, ray, _vA$1, _vB$1, _vC$1, _intersectionPoint );
+
+	if ( intersection ) {
+
+		if ( uv ) {
+
+			_uvA$1.fromBufferAttribute( uv, a );
+			_uvB$1.fromBufferAttribute( uv, b );
+			_uvC$1.fromBufferAttribute( uv, c );
+
+			intersection.uv = Triangle.getInterpolation( _intersectionPoint, _vA$1, _vB$1, _vC$1, _uvA$1, _uvB$1, _uvC$1, new Vector2() );
+
+		}
+
+		if ( uv1 ) {
+
+			_uvA$1.fromBufferAttribute( uv1, a );
+			_uvB$1.fromBufferAttribute( uv1, b );
+			_uvC$1.fromBufferAttribute( uv1, c );
+
+			intersection.uv1 = Triangle.getInterpolation( _intersectionPoint, _vA$1, _vB$1, _vC$1, _uvA$1, _uvB$1, _uvC$1, new Vector2() );
+			intersection.uv2 = intersection.uv1; // @deprecated, r152
+
+		}
+
+		if ( normal ) {
+
+			_normalA.fromBufferAttribute( normal, a );
+			_normalB.fromBufferAttribute( normal, b );
+			_normalC.fromBufferAttribute( normal, c );
+
+			intersection.normal = Triangle.getInterpolation( _intersectionPoint, _vA$1, _vB$1, _vC$1, _normalA, _normalB, _normalC, new Vector3() );
+
+			if ( intersection.normal.dot( ray.direction ) > 0 ) {
+
+				intersection.normal.multiplyScalar( - 1 );
+
+			}
+
+		}
+
+		const face = {
+			a: a,
+			b: b,
+			c: c,
+			normal: new Vector3(),
+			materialIndex: 0
+		};
+
+		Triangle.getNormal( _vA$1, _vB$1, _vC$1, face.normal );
+
+		intersection.face = face;
+
+	}
+
+	return intersection;
+
+}
+
+class BoxGeometry extends BufferGeometry {
+
+	constructor( width = 1, height = 1, depth = 1, widthSegments = 1, heightSegments = 1, depthSegments = 1 ) {
+
+		super();
+
+		this.type = 'BoxGeometry';
+
+		this.parameters = {
+			width: width,
+			height: height,
+			depth: depth,
+			widthSegments: widthSegments,
+			heightSegments: heightSegments,
+			depthSegments: depthSegments
+		};
+
+		const scope = this;
+
+		// segments
+
+		widthSegments = Math.floor( widthSegments );
+		heightSegments = Math.floor( heightSegments );
+		depthSegments = Math.floor( depthSegments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		let numberOfVertices = 0;
+		let groupStart = 0;
+
+		// build each side of the box geometry
+
+		buildPlane( 'z', 'y', 'x', - 1, - 1, depth, height, width, depthSegments, heightSegments, 0 ); // px
+		buildPlane( 'z', 'y', 'x', 1, - 1, depth, height, - width, depthSegments, heightSegments, 1 ); // nx
+		buildPlane( 'x', 'z', 'y', 1, 1, width, depth, height, widthSegments, depthSegments, 2 ); // py
+		buildPlane( 'x', 'z', 'y', 1, - 1, width, depth, - height, widthSegments, depthSegments, 3 ); // ny
+		buildPlane( 'x', 'y', 'z', 1, - 1, width, height, depth, widthSegments, heightSegments, 4 ); // pz
+		buildPlane( 'x', 'y', 'z', - 1, - 1, width, height, - depth, widthSegments, heightSegments, 5 ); // nz
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+		function buildPlane( u, v, w, udir, vdir, width, height, depth, gridX, gridY, materialIndex ) {
+
+			const segmentWidth = width / gridX;
+			const segmentHeight = height / gridY;
+
+			const widthHalf = width / 2;
+			const heightHalf = height / 2;
+			const depthHalf = depth / 2;
+
+			const gridX1 = gridX + 1;
+			const gridY1 = gridY + 1;
+
+			let vertexCounter = 0;
+			let groupCount = 0;
+
+			const vector = new Vector3();
+
+			// generate vertices, normals and uvs
+
+			for ( let iy = 0; iy < gridY1; iy ++ ) {
+
+				const y = iy * segmentHeight - heightHalf;
+
+				for ( let ix = 0; ix < gridX1; ix ++ ) {
+
+					const x = ix * segmentWidth - widthHalf;
+
+					// set values to correct vector component
+
+					vector[ u ] = x * udir;
+					vector[ v ] = y * vdir;
+					vector[ w ] = depthHalf;
+
+					// now apply vector to vertex buffer
+
+					vertices.push( vector.x, vector.y, vector.z );
+
+					// set values to correct vector component
+
+					vector[ u ] = 0;
+					vector[ v ] = 0;
+					vector[ w ] = depth > 0 ? 1 : - 1;
+
+					// now apply vector to normal buffer
+
+					normals.push( vector.x, vector.y, vector.z );
+
+					// uvs
+
+					uvs.push( ix / gridX );
+					uvs.push( 1 - ( iy / gridY ) );
+
+					// counters
+
+					vertexCounter += 1;
+
+				}
+
+			}
+
+			// indices
+
+			// 1. you need three indices to draw a single face
+			// 2. a single segment consists of two faces
+			// 3. so we need to generate six (2*3) indices per segment
+
+			for ( let iy = 0; iy < gridY; iy ++ ) {
+
+				for ( let ix = 0; ix < gridX; ix ++ ) {
+
+					const a = numberOfVertices + ix + gridX1 * iy;
+					const b = numberOfVertices + ix + gridX1 * ( iy + 1 );
+					const c = numberOfVertices + ( ix + 1 ) + gridX1 * ( iy + 1 );
+					const d = numberOfVertices + ( ix + 1 ) + gridX1 * iy;
+
+					// faces
+
+					indices.push( a, b, d );
+					indices.push( b, c, d );
+
+					// increase counter
+
+					groupCount += 6;
+
+				}
+
+			}
+
+			// add a group to the geometry. this will ensure multi material support
+
+			scope.addGroup( groupStart, groupCount, materialIndex );
+
+			// calculate new start value for groups
+
+			groupStart += groupCount;
+
+			// update total number of vertices
+
+			numberOfVertices += vertexCounter;
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new BoxGeometry( data.width, data.height, data.depth, data.widthSegments, data.heightSegments, data.depthSegments );
+
+	}
+
+}
+
+/**
+ * Uniform Utilities
+ */
+
+function cloneUniforms( src ) {
+
+	const dst = {};
+
+	for ( const u in src ) {
+
+		dst[ u ] = {};
+
+		for ( const p in src[ u ] ) {
+
+			const property = src[ u ][ p ];
+
+			if ( property && ( property.isColor ||
+				property.isMatrix3 || property.isMatrix4 ||
+				property.isVector2 || property.isVector3 || property.isVector4 ||
+				property.isTexture || property.isQuaternion ) ) {
+
+				if ( property.isRenderTargetTexture ) {
+
+					console.warn( 'UniformsUtils: Textures of render targets cannot be cloned via cloneUniforms() or mergeUniforms().' );
+					dst[ u ][ p ] = null;
+
+				} else {
+
+					dst[ u ][ p ] = property.clone();
+
+				}
+
+			} else if ( Array.isArray( property ) ) {
+
+				dst[ u ][ p ] = property.slice();
+
+			} else {
+
+				dst[ u ][ p ] = property;
+
+			}
+
+		}
+
+	}
+
+	return dst;
+
+}
+
+function mergeUniforms( uniforms ) {
+
+	const merged = {};
+
+	for ( let u = 0; u < uniforms.length; u ++ ) {
+
+		const tmp = cloneUniforms( uniforms[ u ] );
+
+		for ( const p in tmp ) {
+
+			merged[ p ] = tmp[ p ];
+
+		}
+
+	}
+
+	return merged;
+
+}
+
+function cloneUniformsGroups( src ) {
+
+	const dst = [];
+
+	for ( let u = 0; u < src.length; u ++ ) {
+
+		dst.push( src[ u ].clone() );
+
+	}
+
+	return dst;
+
+}
+
+function getUnlitUniformColorSpace( renderer ) {
+
+	if ( renderer.getRenderTarget() === null ) {
+
+		// https://github.com/mrdoob/three.js/pull/23937#issuecomment-1111067398
+		return renderer.outputColorSpace;
+
+	}
+
+	return ColorManagement.workingColorSpace;
+
+}
+
+// Legacy
+
+const UniformsUtils = { clone: cloneUniforms, merge: mergeUniforms };
+
+var default_vertex = "void main() {\n\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\n}";
+
+var default_fragment = "void main() {\n\tgl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );\n}";
+
+class ShaderMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isShaderMaterial = true;
+
+		this.type = 'ShaderMaterial';
+
+		this.defines = {};
+		this.uniforms = {};
+		this.uniformsGroups = [];
+
+		this.vertexShader = default_vertex;
+		this.fragmentShader = default_fragment;
+
+		this.linewidth = 1;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+
+		this.fog = false; // set to use scene fog
+		this.lights = false; // set to use scene lights
+		this.clipping = false; // set to use user-defined clipping planes
+
+		this.forceSinglePass = true;
+
+		this.extensions = {
+			derivatives: false, // set to use derivatives
+			fragDepth: false, // set to use fragment depth values
+			drawBuffers: false, // set to use draw buffers
+			shaderTextureLOD: false, // set to use shader texture LOD
+			clipCullDistance: false // set to use vertex shader clipping
+		};
+
+		// When rendered geometry doesn't include these attributes but the material does,
+		// use these default values in WebGL. This avoids errors when buffer data is missing.
+		this.defaultAttributeValues = {
+			'color': [ 1, 1, 1 ],
+			'uv': [ 0, 0 ],
+			'uv1': [ 0, 0 ]
+		};
+
+		this.index0AttributeName = undefined;
+		this.uniformsNeedUpdate = false;
+
+		this.glslVersion = null;
+
+		if ( parameters !== undefined ) {
+
+			this.setValues( parameters );
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.fragmentShader = source.fragmentShader;
+		this.vertexShader = source.vertexShader;
+
+		this.uniforms = cloneUniforms( source.uniforms );
+		this.uniformsGroups = cloneUniformsGroups( source.uniformsGroups );
+
+		this.defines = Object.assign( {}, source.defines );
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+
+		this.fog = source.fog;
+		this.lights = source.lights;
+		this.clipping = source.clipping;
+
+		this.extensions = Object.assign( {}, source.extensions );
+
+		this.glslVersion = source.glslVersion;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.glslVersion = this.glslVersion;
+		data.uniforms = {};
+
+		for ( const name in this.uniforms ) {
+
+			const uniform = this.uniforms[ name ];
+			const value = uniform.value;
+
+			if ( value && value.isTexture ) {
+
+				data.uniforms[ name ] = {
+					type: 't',
+					value: value.toJSON( meta ).uuid
+				};
+
+			} else if ( value && value.isColor ) {
+
+				data.uniforms[ name ] = {
+					type: 'c',
+					value: value.getHex()
+				};
+
+			} else if ( value && value.isVector2 ) {
+
+				data.uniforms[ name ] = {
+					type: 'v2',
+					value: value.toArray()
+				};
+
+			} else if ( value && value.isVector3 ) {
+
+				data.uniforms[ name ] = {
+					type: 'v3',
+					value: value.toArray()
+				};
+
+			} else if ( value && value.isVector4 ) {
+
+				data.uniforms[ name ] = {
+					type: 'v4',
+					value: value.toArray()
+				};
+
+			} else if ( value && value.isMatrix3 ) {
+
+				data.uniforms[ name ] = {
+					type: 'm3',
+					value: value.toArray()
+				};
+
+			} else if ( value && value.isMatrix4 ) {
+
+				data.uniforms[ name ] = {
+					type: 'm4',
+					value: value.toArray()
+				};
+
+			} else {
+
+				data.uniforms[ name ] = {
+					value: value
+				};
+
+				// note: the array variants v2v, v3v, v4v, m4v and tv are not supported so far
+
+			}
+
+		}
+
+		if ( Object.keys( this.defines ).length > 0 ) data.defines = this.defines;
+
+		data.vertexShader = this.vertexShader;
+		data.fragmentShader = this.fragmentShader;
+
+		data.lights = this.lights;
+		data.clipping = this.clipping;
+
+		const extensions = {};
+
+		for ( const key in this.extensions ) {
+
+			if ( this.extensions[ key ] === true ) extensions[ key ] = true;
+
+		}
+
+		if ( Object.keys( extensions ).length > 0 ) data.extensions = extensions;
+
+		return data;
+
+	}
+
+}
+
+class Camera extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this.isCamera = true;
+
+		this.type = 'Camera';
+
+		this.matrixWorldInverse = new Matrix4();
+
+		this.projectionMatrix = new Matrix4();
+		this.projectionMatrixInverse = new Matrix4();
+
+		this.coordinateSystem = WebGLCoordinateSystem;
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.matrixWorldInverse.copy( source.matrixWorldInverse );
+
+		this.projectionMatrix.copy( source.projectionMatrix );
+		this.projectionMatrixInverse.copy( source.projectionMatrixInverse );
+
+		this.coordinateSystem = source.coordinateSystem;
+
+		return this;
+
+	}
+
+	getWorldDirection( target ) {
+
+		return super.getWorldDirection( target ).negate();
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		super.updateMatrixWorld( force );
+
+		this.matrixWorldInverse.copy( this.matrixWorld ).invert();
+
+	}
+
+	updateWorldMatrix( updateParents, updateChildren ) {
+
+		super.updateWorldMatrix( updateParents, updateChildren );
+
+		this.matrixWorldInverse.copy( this.matrixWorld ).invert();
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+class PerspectiveCamera extends Camera {
+
+	constructor( fov = 50, aspect = 1, near = 0.1, far = 2000 ) {
+
+		super();
+
+		this.isPerspectiveCamera = true;
+
+		this.type = 'PerspectiveCamera';
+
+		this.fov = fov;
+		this.zoom = 1;
+
+		this.near = near;
+		this.far = far;
+		this.focus = 10;
+
+		this.aspect = aspect;
+		this.view = null;
+
+		this.filmGauge = 35;	// width of the film (default in millimeters)
+		this.filmOffset = 0;	// horizontal film offset (same unit as gauge)
+
+		this.updateProjectionMatrix();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.fov = source.fov;
+		this.zoom = source.zoom;
+
+		this.near = source.near;
+		this.far = source.far;
+		this.focus = source.focus;
+
+		this.aspect = source.aspect;
+		this.view = source.view === null ? null : Object.assign( {}, source.view );
+
+		this.filmGauge = source.filmGauge;
+		this.filmOffset = source.filmOffset;
+
+		return this;
+
+	}
+
+	/**
+	 * Sets the FOV by focal length in respect to the current .filmGauge.
+	 *
+	 * The default film gauge is 35, so that the focal length can be specified for
+	 * a 35mm (full frame) camera.
+	 *
+	 * Values for focal length and film gauge must have the same unit.
+	 */
+	setFocalLength( focalLength ) {
+
+		/** see {@link http://www.bobatkins.com/photography/technical/field_of_view.html} */
+		const vExtentSlope = 0.5 * this.getFilmHeight() / focalLength;
+
+		this.fov = RAD2DEG * 2 * Math.atan( vExtentSlope );
+		this.updateProjectionMatrix();
+
+	}
+
+	/**
+	 * Calculates the focal length from the current .fov and .filmGauge.
+	 */
+	getFocalLength() {
+
+		const vExtentSlope = Math.tan( DEG2RAD * 0.5 * this.fov );
+
+		return 0.5 * this.getFilmHeight() / vExtentSlope;
+
+	}
+
+	getEffectiveFOV() {
+
+		return RAD2DEG * 2 * Math.atan(
+			Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom );
+
+	}
+
+	getFilmWidth() {
+
+		// film not completely covered in portrait format (aspect < 1)
+		return this.filmGauge * Math.min( this.aspect, 1 );
+
+	}
+
+	getFilmHeight() {
+
+		// film not completely covered in landscape format (aspect > 1)
+		return this.filmGauge / Math.max( this.aspect, 1 );
+
+	}
+
+	/**
+	 * Sets an offset in a larger frustum. This is useful for multi-window or
+	 * multi-monitor/multi-machine setups.
+	 *
+	 * For example, if you have 3x2 monitors and each monitor is 1920x1080 and
+	 * the monitors are in grid like this
+	 *
+	 *   +---+---+---+
+	 *   | A | B | C |
+	 *   +---+---+---+
+	 *   | D | E | F |
+	 *   +---+---+---+
+	 *
+	 * then for each monitor you would call it like this
+	 *
+	 *   const w = 1920;
+	 *   const h = 1080;
+	 *   const fullWidth = w * 3;
+	 *   const fullHeight = h * 2;
+	 *
+	 *   --A--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 0, w, h );
+	 *   --B--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 0, w, h );
+	 *   --C--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 0, w, h );
+	 *   --D--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 1, w, h );
+	 *   --E--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 1, w, h );
+	 *   --F--
+	 *   camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 1, w, h );
+	 *
+	 *   Note there is no reason monitors have to be the same size or in a grid.
+	 */
+	setViewOffset( fullWidth, fullHeight, x, y, width, height ) {
+
+		this.aspect = fullWidth / fullHeight;
+
+		if ( this.view === null ) {
+
+			this.view = {
+				enabled: true,
+				fullWidth: 1,
+				fullHeight: 1,
+				offsetX: 0,
+				offsetY: 0,
+				width: 1,
+				height: 1
+			};
+
+		}
+
+		this.view.enabled = true;
+		this.view.fullWidth = fullWidth;
+		this.view.fullHeight = fullHeight;
+		this.view.offsetX = x;
+		this.view.offsetY = y;
+		this.view.width = width;
+		this.view.height = height;
+
+		this.updateProjectionMatrix();
+
+	}
+
+	clearViewOffset() {
+
+		if ( this.view !== null ) {
+
+			this.view.enabled = false;
+
+		}
+
+		this.updateProjectionMatrix();
+
+	}
+
+	updateProjectionMatrix() {
+
+		const near = this.near;
+		let top = near * Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom;
+		let height = 2 * top;
+		let width = this.aspect * height;
+		let left = - 0.5 * width;
+		const view = this.view;
+
+		if ( this.view !== null && this.view.enabled ) {
+
+			const fullWidth = view.fullWidth,
+				fullHeight = view.fullHeight;
+
+			left += view.offsetX * width / fullWidth;
+			top -= view.offsetY * height / fullHeight;
+			width *= view.width / fullWidth;
+			height *= view.height / fullHeight;
+
+		}
+
+		const skew = this.filmOffset;
+		if ( skew !== 0 ) left += near * skew / this.getFilmWidth();
+
+		this.projectionMatrix.makePerspective( left, left + width, top, top - height, near, this.far, this.coordinateSystem );
+
+		this.projectionMatrixInverse.copy( this.projectionMatrix ).invert();
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.object.fov = this.fov;
+		data.object.zoom = this.zoom;
+
+		data.object.near = this.near;
+		data.object.far = this.far;
+		data.object.focus = this.focus;
+
+		data.object.aspect = this.aspect;
+
+		if ( this.view !== null ) data.object.view = Object.assign( {}, this.view );
+
+		data.object.filmGauge = this.filmGauge;
+		data.object.filmOffset = this.filmOffset;
+
+		return data;
+
+	}
+
+}
+
+const fov = - 90; // negative fov is not an error
+const aspect = 1;
+
+class CubeCamera extends Object3D {
+
+	constructor( near, far, renderTarget ) {
+
+		super();
+
+		this.type = 'CubeCamera';
+
+		this.renderTarget = renderTarget;
+		this.coordinateSystem = null;
+		this.activeMipmapLevel = 0;
+
+		const cameraPX = new PerspectiveCamera( fov, aspect, near, far );
+		cameraPX.layers = this.layers;
+		this.add( cameraPX );
+
+		const cameraNX = new PerspectiveCamera( fov, aspect, near, far );
+		cameraNX.layers = this.layers;
+		this.add( cameraNX );
+
+		const cameraPY = new PerspectiveCamera( fov, aspect, near, far );
+		cameraPY.layers = this.layers;
+		this.add( cameraPY );
+
+		const cameraNY = new PerspectiveCamera( fov, aspect, near, far );
+		cameraNY.layers = this.layers;
+		this.add( cameraNY );
+
+		const cameraPZ = new PerspectiveCamera( fov, aspect, near, far );
+		cameraPZ.layers = this.layers;
+		this.add( cameraPZ );
+
+		const cameraNZ = new PerspectiveCamera( fov, aspect, near, far );
+		cameraNZ.layers = this.layers;
+		this.add( cameraNZ );
+
+	}
+
+	updateCoordinateSystem() {
+
+		const coordinateSystem = this.coordinateSystem;
+
+		const cameras = this.children.concat();
+
+		const [ cameraPX, cameraNX, cameraPY, cameraNY, cameraPZ, cameraNZ ] = cameras;
+
+		for ( const camera of cameras ) this.remove( camera );
+
+		if ( coordinateSystem === WebGLCoordinateSystem ) {
+
+			cameraPX.up.set( 0, 1, 0 );
+			cameraPX.lookAt( 1, 0, 0 );
+
+			cameraNX.up.set( 0, 1, 0 );
+			cameraNX.lookAt( - 1, 0, 0 );
+
+			cameraPY.up.set( 0, 0, - 1 );
+			cameraPY.lookAt( 0, 1, 0 );
+
+			cameraNY.up.set( 0, 0, 1 );
+			cameraNY.lookAt( 0, - 1, 0 );
+
+			cameraPZ.up.set( 0, 1, 0 );
+			cameraPZ.lookAt( 0, 0, 1 );
+
+			cameraNZ.up.set( 0, 1, 0 );
+			cameraNZ.lookAt( 0, 0, - 1 );
+
+		} else if ( coordinateSystem === WebGPUCoordinateSystem ) {
+
+			cameraPX.up.set( 0, - 1, 0 );
+			cameraPX.lookAt( - 1, 0, 0 );
+
+			cameraNX.up.set( 0, - 1, 0 );
+			cameraNX.lookAt( 1, 0, 0 );
+
+			cameraPY.up.set( 0, 0, 1 );
+			cameraPY.lookAt( 0, 1, 0 );
+
+			cameraNY.up.set( 0, 0, - 1 );
+			cameraNY.lookAt( 0, - 1, 0 );
+
+			cameraPZ.up.set( 0, - 1, 0 );
+			cameraPZ.lookAt( 0, 0, 1 );
+
+			cameraNZ.up.set( 0, - 1, 0 );
+			cameraNZ.lookAt( 0, 0, - 1 );
+
+		} else {
+
+			throw new Error( 'THREE.CubeCamera.updateCoordinateSystem(): Invalid coordinate system: ' + coordinateSystem );
+
+		}
+
+		for ( const camera of cameras ) {
+
+			this.add( camera );
+
+			camera.updateMatrixWorld();
+
+		}
+
+	}
+
+	update( renderer, scene ) {
+
+		if ( this.parent === null ) this.updateMatrixWorld();
+
+		const { renderTarget, activeMipmapLevel } = this;
+
+		if ( this.coordinateSystem !== renderer.coordinateSystem ) {
+
+			this.coordinateSystem = renderer.coordinateSystem;
+
+			this.updateCoordinateSystem();
+
+		}
+
+		const [ cameraPX, cameraNX, cameraPY, cameraNY, cameraPZ, cameraNZ ] = this.children;
+
+		const currentRenderTarget = renderer.getRenderTarget();
+		const currentActiveCubeFace = renderer.getActiveCubeFace();
+		const currentActiveMipmapLevel = renderer.getActiveMipmapLevel();
+
+		const currentXrEnabled = renderer.xr.enabled;
+
+		renderer.xr.enabled = false;
+
+		const generateMipmaps = renderTarget.texture.generateMipmaps;
+
+		renderTarget.texture.generateMipmaps = false;
+
+		renderer.setRenderTarget( renderTarget, 0, activeMipmapLevel );
+		renderer.render( scene, cameraPX );
+
+		renderer.setRenderTarget( renderTarget, 1, activeMipmapLevel );
+		renderer.render( scene, cameraNX );
+
+		renderer.setRenderTarget( renderTarget, 2, activeMipmapLevel );
+		renderer.render( scene, cameraPY );
+
+		renderer.setRenderTarget( renderTarget, 3, activeMipmapLevel );
+		renderer.render( scene, cameraNY );
+
+		renderer.setRenderTarget( renderTarget, 4, activeMipmapLevel );
+		renderer.render( scene, cameraPZ );
+
+		// mipmaps are generated during the last call of render()
+		// at this point, all sides of the cube render target are defined
+
+		renderTarget.texture.generateMipmaps = generateMipmaps;
+
+		renderer.setRenderTarget( renderTarget, 5, activeMipmapLevel );
+		renderer.render( scene, cameraNZ );
+
+		renderer.setRenderTarget( currentRenderTarget, currentActiveCubeFace, currentActiveMipmapLevel );
+
+		renderer.xr.enabled = currentXrEnabled;
+
+		renderTarget.texture.needsPMREMUpdate = true;
+
+	}
+
+}
+
+class CubeTexture extends Texture {
+
+	constructor( images, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace ) {
+
+		images = images !== undefined ? images : [];
+		mapping = mapping !== undefined ? mapping : CubeReflectionMapping;
+
+		super( images, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace );
+
+		this.isCubeTexture = true;
+
+		this.flipY = false;
+
+	}
+
+	get images() {
+
+		return this.image;
+
+	}
+
+	set images( value ) {
+
+		this.image = value;
+
+	}
+
+}
+
+class WebGLCubeRenderTarget extends WebGLRenderTarget {
+
+	constructor( size = 1, options = {} ) {
+
+		super( size, size, options );
+
+		this.isWebGLCubeRenderTarget = true;
+
+		const image = { width: size, height: size, depth: 1 };
+		const images = [ image, image, image, image, image, image ];
+
+		if ( options.encoding !== undefined ) {
+
+			// @deprecated, r152
+			warnOnce( 'THREE.WebGLCubeRenderTarget: option.encoding has been replaced by option.colorSpace.' );
+			options.colorSpace = options.encoding === sRGBEncoding ? SRGBColorSpace : NoColorSpace;
+
+		}
+
+		this.texture = new CubeTexture( images, options.mapping, options.wrapS, options.wrapT, options.magFilter, options.minFilter, options.format, options.type, options.anisotropy, options.colorSpace );
+
+		// By convention -- likely based on the RenderMan spec from the 1990's -- cube maps are specified by WebGL (and three.js)
+		// in a coordinate system in which positive-x is to the right when looking up the positive-z axis -- in other words,
+		// in a left-handed coordinate system. By continuing this convention, preexisting cube maps continued to render correctly.
+
+		// three.js uses a right-handed coordinate system. So environment maps used in three.js appear to have px and nx swapped
+		// and the flag isRenderTargetTexture controls this conversion. The flip is not required when using WebGLCubeRenderTarget.texture
+		// as a cube texture (this is detected when isRenderTargetTexture is set to true for cube textures).
+
+		this.texture.isRenderTargetTexture = true;
+
+		this.texture.generateMipmaps = options.generateMipmaps !== undefined ? options.generateMipmaps : false;
+		this.texture.minFilter = options.minFilter !== undefined ? options.minFilter : LinearFilter;
+
+	}
+
+	fromEquirectangularTexture( renderer, texture ) {
+
+		this.texture.type = texture.type;
+		this.texture.colorSpace = texture.colorSpace;
+
+		this.texture.generateMipmaps = texture.generateMipmaps;
+		this.texture.minFilter = texture.minFilter;
+		this.texture.magFilter = texture.magFilter;
+
+		const shader = {
+
+			uniforms: {
+				tEquirect: { value: null },
+			},
+
+			vertexShader: /* glsl */`
+
+				varying vec3 vWorldDirection;
+
+				vec3 transformDirection( in vec3 dir, in mat4 matrix ) {
+
+					return normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );
+
+				}
+
+				void main() {
+
+					vWorldDirection = transformDirection( position, modelMatrix );
+
+					#include 
+					#include 
+
+				}
+			`,
+
+			fragmentShader: /* glsl */`
+
+				uniform sampler2D tEquirect;
+
+				varying vec3 vWorldDirection;
+
+				#include 
+
+				void main() {
+
+					vec3 direction = normalize( vWorldDirection );
+
+					vec2 sampleUV = equirectUv( direction );
+
+					gl_FragColor = texture2D( tEquirect, sampleUV );
+
+				}
+			`
+		};
+
+		const geometry = new BoxGeometry( 5, 5, 5 );
+
+		const material = new ShaderMaterial( {
+
+			name: 'CubemapFromEquirect',
+
+			uniforms: cloneUniforms( shader.uniforms ),
+			vertexShader: shader.vertexShader,
+			fragmentShader: shader.fragmentShader,
+			side: BackSide,
+			blending: NoBlending
+
+		} );
+
+		material.uniforms.tEquirect.value = texture;
+
+		const mesh = new Mesh( geometry, material );
+
+		const currentMinFilter = texture.minFilter;
+
+		// Avoid blurred poles
+		if ( texture.minFilter === LinearMipmapLinearFilter ) texture.minFilter = LinearFilter;
+
+		const camera = new CubeCamera( 1, 10, this );
+		camera.update( renderer, mesh );
+
+		texture.minFilter = currentMinFilter;
+
+		mesh.geometry.dispose();
+		mesh.material.dispose();
+
+		return this;
+
+	}
+
+	clear( renderer, color, depth, stencil ) {
+
+		const currentRenderTarget = renderer.getRenderTarget();
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			renderer.setRenderTarget( this, i );
+
+			renderer.clear( color, depth, stencil );
+
+		}
+
+		renderer.setRenderTarget( currentRenderTarget );
+
+	}
+
+}
+
+const _vector1 = /*@__PURE__*/ new Vector3();
+const _vector2 = /*@__PURE__*/ new Vector3();
+const _normalMatrix = /*@__PURE__*/ new Matrix3();
+
+class Plane {
+
+	constructor( normal = new Vector3( 1, 0, 0 ), constant = 0 ) {
+
+		this.isPlane = true;
+
+		// normal is assumed to be normalized
+
+		this.normal = normal;
+		this.constant = constant;
+
+	}
+
+	set( normal, constant ) {
+
+		this.normal.copy( normal );
+		this.constant = constant;
+
+		return this;
+
+	}
+
+	setComponents( x, y, z, w ) {
+
+		this.normal.set( x, y, z );
+		this.constant = w;
+
+		return this;
+
+	}
+
+	setFromNormalAndCoplanarPoint( normal, point ) {
+
+		this.normal.copy( normal );
+		this.constant = - point.dot( this.normal );
+
+		return this;
+
+	}
+
+	setFromCoplanarPoints( a, b, c ) {
+
+		const normal = _vector1.subVectors( c, b ).cross( _vector2.subVectors( a, b ) ).normalize();
+
+		// Q: should an error be thrown if normal is zero (e.g. degenerate plane)?
+
+		this.setFromNormalAndCoplanarPoint( normal, a );
+
+		return this;
+
+	}
+
+	copy( plane ) {
+
+		this.normal.copy( plane.normal );
+		this.constant = plane.constant;
+
+		return this;
+
+	}
+
+	normalize() {
+
+		// Note: will lead to a divide by zero if the plane is invalid.
+
+		const inverseNormalLength = 1.0 / this.normal.length();
+		this.normal.multiplyScalar( inverseNormalLength );
+		this.constant *= inverseNormalLength;
+
+		return this;
+
+	}
+
+	negate() {
+
+		this.constant *= - 1;
+		this.normal.negate();
+
+		return this;
+
+	}
+
+	distanceToPoint( point ) {
+
+		return this.normal.dot( point ) + this.constant;
+
+	}
+
+	distanceToSphere( sphere ) {
+
+		return this.distanceToPoint( sphere.center ) - sphere.radius;
+
+	}
+
+	projectPoint( point, target ) {
+
+		return target.copy( point ).addScaledVector( this.normal, - this.distanceToPoint( point ) );
+
+	}
+
+	intersectLine( line, target ) {
+
+		const direction = line.delta( _vector1 );
+
+		const denominator = this.normal.dot( direction );
+
+		if ( denominator === 0 ) {
+
+			// line is coplanar, return origin
+			if ( this.distanceToPoint( line.start ) === 0 ) {
+
+				return target.copy( line.start );
+
+			}
+
+			// Unsure if this is the correct method to handle this case.
+			return null;
+
+		}
+
+		const t = - ( line.start.dot( this.normal ) + this.constant ) / denominator;
+
+		if ( t < 0 || t > 1 ) {
+
+			return null;
+
+		}
+
+		return target.copy( line.start ).addScaledVector( direction, t );
+
+	}
+
+	intersectsLine( line ) {
+
+		// Note: this tests if a line intersects the plane, not whether it (or its end-points) are coplanar with it.
+
+		const startSign = this.distanceToPoint( line.start );
+		const endSign = this.distanceToPoint( line.end );
+
+		return ( startSign < 0 && endSign > 0 ) || ( endSign < 0 && startSign > 0 );
+
+	}
+
+	intersectsBox( box ) {
+
+		return box.intersectsPlane( this );
+
+	}
+
+	intersectsSphere( sphere ) {
+
+		return sphere.intersectsPlane( this );
+
+	}
+
+	coplanarPoint( target ) {
+
+		return target.copy( this.normal ).multiplyScalar( - this.constant );
+
+	}
+
+	applyMatrix4( matrix, optionalNormalMatrix ) {
+
+		const normalMatrix = optionalNormalMatrix || _normalMatrix.getNormalMatrix( matrix );
+
+		const referencePoint = this.coplanarPoint( _vector1 ).applyMatrix4( matrix );
+
+		const normal = this.normal.applyMatrix3( normalMatrix ).normalize();
+
+		this.constant = - referencePoint.dot( normal );
+
+		return this;
+
+	}
+
+	translate( offset ) {
+
+		this.constant -= offset.dot( this.normal );
+
+		return this;
+
+	}
+
+	equals( plane ) {
+
+		return plane.normal.equals( this.normal ) && ( plane.constant === this.constant );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+const _sphere$5 = /*@__PURE__*/ new Sphere();
+const _vector$7 = /*@__PURE__*/ new Vector3();
+
+class Frustum {
+
+	constructor( p0 = new Plane(), p1 = new Plane(), p2 = new Plane(), p3 = new Plane(), p4 = new Plane(), p5 = new Plane() ) {
+
+		this.planes = [ p0, p1, p2, p3, p4, p5 ];
+
+	}
+
+	set( p0, p1, p2, p3, p4, p5 ) {
+
+		const planes = this.planes;
+
+		planes[ 0 ].copy( p0 );
+		planes[ 1 ].copy( p1 );
+		planes[ 2 ].copy( p2 );
+		planes[ 3 ].copy( p3 );
+		planes[ 4 ].copy( p4 );
+		planes[ 5 ].copy( p5 );
+
+		return this;
+
+	}
+
+	copy( frustum ) {
+
+		const planes = this.planes;
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			planes[ i ].copy( frustum.planes[ i ] );
+
+		}
+
+		return this;
+
+	}
+
+	setFromProjectionMatrix( m, coordinateSystem = WebGLCoordinateSystem ) {
+
+		const planes = this.planes;
+		const me = m.elements;
+		const me0 = me[ 0 ], me1 = me[ 1 ], me2 = me[ 2 ], me3 = me[ 3 ];
+		const me4 = me[ 4 ], me5 = me[ 5 ], me6 = me[ 6 ], me7 = me[ 7 ];
+		const me8 = me[ 8 ], me9 = me[ 9 ], me10 = me[ 10 ], me11 = me[ 11 ];
+		const me12 = me[ 12 ], me13 = me[ 13 ], me14 = me[ 14 ], me15 = me[ 15 ];
+
+		planes[ 0 ].setComponents( me3 - me0, me7 - me4, me11 - me8, me15 - me12 ).normalize();
+		planes[ 1 ].setComponents( me3 + me0, me7 + me4, me11 + me8, me15 + me12 ).normalize();
+		planes[ 2 ].setComponents( me3 + me1, me7 + me5, me11 + me9, me15 + me13 ).normalize();
+		planes[ 3 ].setComponents( me3 - me1, me7 - me5, me11 - me9, me15 - me13 ).normalize();
+		planes[ 4 ].setComponents( me3 - me2, me7 - me6, me11 - me10, me15 - me14 ).normalize();
+
+		if ( coordinateSystem === WebGLCoordinateSystem ) {
+
+			planes[ 5 ].setComponents( me3 + me2, me7 + me6, me11 + me10, me15 + me14 ).normalize();
+
+		} else if ( coordinateSystem === WebGPUCoordinateSystem ) {
+
+			planes[ 5 ].setComponents( me2, me6, me10, me14 ).normalize();
+
+		} else {
+
+			throw new Error( 'THREE.Frustum.setFromProjectionMatrix(): Invalid coordinate system: ' + coordinateSystem );
+
+		}
+
+		return this;
+
+	}
+
+	intersectsObject( object ) {
+
+		if ( object.boundingSphere !== undefined ) {
+
+			if ( object.boundingSphere === null ) object.computeBoundingSphere();
+
+			_sphere$5.copy( object.boundingSphere ).applyMatrix4( object.matrixWorld );
+
+		} else {
+
+			const geometry = object.geometry;
+
+			if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
+
+			_sphere$5.copy( geometry.boundingSphere ).applyMatrix4( object.matrixWorld );
+
+		}
+
+		return this.intersectsSphere( _sphere$5 );
+
+	}
+
+	intersectsSprite( sprite ) {
+
+		_sphere$5.center.set( 0, 0, 0 );
+		_sphere$5.radius = 0.7071067811865476;
+		_sphere$5.applyMatrix4( sprite.matrixWorld );
+
+		return this.intersectsSphere( _sphere$5 );
+
+	}
+
+	intersectsSphere( sphere ) {
+
+		const planes = this.planes;
+		const center = sphere.center;
+		const negRadius = - sphere.radius;
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			const distance = planes[ i ].distanceToPoint( center );
+
+			if ( distance < negRadius ) {
+
+				return false;
+
+			}
+
+		}
+
+		return true;
+
+	}
+
+	intersectsBox( box ) {
+
+		const planes = this.planes;
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			const plane = planes[ i ];
+
+			// corner at max distance
+
+			_vector$7.x = plane.normal.x > 0 ? box.max.x : box.min.x;
+			_vector$7.y = plane.normal.y > 0 ? box.max.y : box.min.y;
+			_vector$7.z = plane.normal.z > 0 ? box.max.z : box.min.z;
+
+			if ( plane.distanceToPoint( _vector$7 ) < 0 ) {
+
+				return false;
+
+			}
+
+		}
+
+		return true;
+
+	}
+
+	containsPoint( point ) {
+
+		const planes = this.planes;
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			if ( planes[ i ].distanceToPoint( point ) < 0 ) {
+
+				return false;
+
+			}
+
+		}
+
+		return true;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+function WebGLAnimation() {
+
+	let context = null;
+	let isAnimating = false;
+	let animationLoop = null;
+	let requestId = null;
+
+	function onAnimationFrame( time, frame ) {
+
+		animationLoop( time, frame );
+
+		requestId = context.requestAnimationFrame( onAnimationFrame );
+
+	}
+
+	return {
+
+		start: function () {
+
+			if ( isAnimating === true ) return;
+			if ( animationLoop === null ) return;
+
+			requestId = context.requestAnimationFrame( onAnimationFrame );
+
+			isAnimating = true;
+
+		},
+
+		stop: function () {
+
+			context.cancelAnimationFrame( requestId );
+
+			isAnimating = false;
+
+		},
+
+		setAnimationLoop: function ( callback ) {
+
+			animationLoop = callback;
+
+		},
+
+		setContext: function ( value ) {
+
+			context = value;
+
+		}
+
+	};
+
+}
+
+function WebGLAttributes( gl, capabilities ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+
+	const buffers = new WeakMap();
+
+	function createBuffer( attribute, bufferType ) {
+
+		const array = attribute.array;
+		const usage = attribute.usage;
+		const size = array.byteLength;
+
+		const buffer = gl.createBuffer();
+
+		gl.bindBuffer( bufferType, buffer );
+		gl.bufferData( bufferType, array, usage );
+
+		attribute.onUploadCallback();
+
+		let type;
+
+		if ( array instanceof Float32Array ) {
+
+			type = gl.FLOAT;
+
+		} else if ( array instanceof Uint16Array ) {
+
+			if ( attribute.isFloat16BufferAttribute ) {
+
+				if ( isWebGL2 ) {
+
+					type = gl.HALF_FLOAT;
+
+				} else {
+
+					throw new Error( 'THREE.WebGLAttributes: Usage of Float16BufferAttribute requires WebGL2.' );
+
+				}
+
+			} else {
+
+				type = gl.UNSIGNED_SHORT;
+
+			}
+
+		} else if ( array instanceof Int16Array ) {
+
+			type = gl.SHORT;
+
+		} else if ( array instanceof Uint32Array ) {
+
+			type = gl.UNSIGNED_INT;
+
+		} else if ( array instanceof Int32Array ) {
+
+			type = gl.INT;
+
+		} else if ( array instanceof Int8Array ) {
+
+			type = gl.BYTE;
+
+		} else if ( array instanceof Uint8Array ) {
+
+			type = gl.UNSIGNED_BYTE;
+
+		} else if ( array instanceof Uint8ClampedArray ) {
+
+			type = gl.UNSIGNED_BYTE;
+
+		} else {
+
+			throw new Error( 'THREE.WebGLAttributes: Unsupported buffer data format: ' + array );
+
+		}
+
+		return {
+			buffer: buffer,
+			type: type,
+			bytesPerElement: array.BYTES_PER_ELEMENT,
+			version: attribute.version,
+			size: size
+		};
+
+	}
+
+	function updateBuffer( buffer, attribute, bufferType ) {
+
+		const array = attribute.array;
+		const updateRange = attribute._updateRange; // deprecated
+		const updateRanges = attribute.updateRanges;
+
+		gl.bindBuffer( bufferType, buffer );
+
+		if ( updateRange.count === - 1 && updateRanges.length === 0 ) {
+
+			// Not using update ranges
+			gl.bufferSubData( bufferType, 0, array );
+
+		}
+
+		if ( updateRanges.length !== 0 ) {
+
+			for ( let i = 0, l = updateRanges.length; i < l; i ++ ) {
+
+				const range = updateRanges[ i ];
+				if ( isWebGL2 ) {
+
+					gl.bufferSubData( bufferType, range.start * array.BYTES_PER_ELEMENT,
+						array, range.start, range.count );
+
+				} else {
+
+					gl.bufferSubData( bufferType, range.start * array.BYTES_PER_ELEMENT,
+						array.subarray( range.start, range.start + range.count ) );
+
+				}
+
+			}
+
+			attribute.clearUpdateRanges();
+
+		}
+
+		// deprecated
+		if ( updateRange.count !== - 1 ) {
+
+			if ( isWebGL2 ) {
+
+				gl.bufferSubData( bufferType, updateRange.offset * array.BYTES_PER_ELEMENT,
+					array, updateRange.offset, updateRange.count );
+
+			} else {
+
+				gl.bufferSubData( bufferType, updateRange.offset * array.BYTES_PER_ELEMENT,
+					array.subarray( updateRange.offset, updateRange.offset + updateRange.count ) );
+
+			}
+
+			updateRange.count = - 1; // reset range
+
+		}
+
+		attribute.onUploadCallback();
+
+	}
+
+	//
+
+	function get( attribute ) {
+
+		if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
+
+		return buffers.get( attribute );
+
+	}
+
+	function remove( attribute ) {
+
+		if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
+
+		const data = buffers.get( attribute );
+
+		if ( data ) {
+
+			gl.deleteBuffer( data.buffer );
+
+			buffers.delete( attribute );
+
+		}
+
+	}
+
+	function update( attribute, bufferType ) {
+
+		if ( attribute.isGLBufferAttribute ) {
+
+			const cached = buffers.get( attribute );
+
+			if ( ! cached || cached.version < attribute.version ) {
+
+				buffers.set( attribute, {
+					buffer: attribute.buffer,
+					type: attribute.type,
+					bytesPerElement: attribute.elementSize,
+					version: attribute.version
+				} );
+
+			}
+
+			return;
+
+		}
+
+		if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data;
+
+		const data = buffers.get( attribute );
+
+		if ( data === undefined ) {
+
+			buffers.set( attribute, createBuffer( attribute, bufferType ) );
+
+		} else if ( data.version < attribute.version ) {
+
+			if ( data.size !== attribute.array.byteLength ) {
+
+				throw new Error( 'THREE.WebGLAttributes: The size of the buffer attribute\'s array buffer does not match the original size. Resizing buffer attributes is not supported.' );
+
+			}
+
+			updateBuffer( data.buffer, attribute, bufferType );
+
+			data.version = attribute.version;
+
+		}
+
+	}
+
+	return {
+
+		get: get,
+		remove: remove,
+		update: update
+
+	};
+
+}
+
+class PlaneGeometry extends BufferGeometry {
+
+	constructor( width = 1, height = 1, widthSegments = 1, heightSegments = 1 ) {
+
+		super();
+
+		this.type = 'PlaneGeometry';
+
+		this.parameters = {
+			width: width,
+			height: height,
+			widthSegments: widthSegments,
+			heightSegments: heightSegments
+		};
+
+		const width_half = width / 2;
+		const height_half = height / 2;
+
+		const gridX = Math.floor( widthSegments );
+		const gridY = Math.floor( heightSegments );
+
+		const gridX1 = gridX + 1;
+		const gridY1 = gridY + 1;
+
+		const segment_width = width / gridX;
+		const segment_height = height / gridY;
+
+		//
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		for ( let iy = 0; iy < gridY1; iy ++ ) {
+
+			const y = iy * segment_height - height_half;
+
+			for ( let ix = 0; ix < gridX1; ix ++ ) {
+
+				const x = ix * segment_width - width_half;
+
+				vertices.push( x, - y, 0 );
+
+				normals.push( 0, 0, 1 );
+
+				uvs.push( ix / gridX );
+				uvs.push( 1 - ( iy / gridY ) );
+
+			}
+
+		}
+
+		for ( let iy = 0; iy < gridY; iy ++ ) {
+
+			for ( let ix = 0; ix < gridX; ix ++ ) {
+
+				const a = ix + gridX1 * iy;
+				const b = ix + gridX1 * ( iy + 1 );
+				const c = ( ix + 1 ) + gridX1 * ( iy + 1 );
+				const d = ( ix + 1 ) + gridX1 * iy;
+
+				indices.push( a, b, d );
+				indices.push( b, c, d );
+
+			}
+
+		}
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new PlaneGeometry( data.width, data.height, data.widthSegments, data.heightSegments );
+
+	}
+
+}
+
+var alphahash_fragment = "#ifdef USE_ALPHAHASH\n\tif ( diffuseColor.a < getAlphaHashThreshold( vPosition ) ) discard;\n#endif";
+
+var alphahash_pars_fragment = "#ifdef USE_ALPHAHASH\n\tconst float ALPHA_HASH_SCALE = 0.05;\n\tfloat hash2D( vec2 value ) {\n\t\treturn fract( 1.0e4 * sin( 17.0 * value.x + 0.1 * value.y ) * ( 0.1 + abs( sin( 13.0 * value.y + value.x ) ) ) );\n\t}\n\tfloat hash3D( vec3 value ) {\n\t\treturn hash2D( vec2( hash2D( value.xy ), value.z ) );\n\t}\n\tfloat getAlphaHashThreshold( vec3 position ) {\n\t\tfloat maxDeriv = max(\n\t\t\tlength( dFdx( position.xyz ) ),\n\t\t\tlength( dFdy( position.xyz ) )\n\t\t);\n\t\tfloat pixScale = 1.0 / ( ALPHA_HASH_SCALE * maxDeriv );\n\t\tvec2 pixScales = vec2(\n\t\t\texp2( floor( log2( pixScale ) ) ),\n\t\t\texp2( ceil( log2( pixScale ) ) )\n\t\t);\n\t\tvec2 alpha = vec2(\n\t\t\thash3D( floor( pixScales.x * position.xyz ) ),\n\t\t\thash3D( floor( pixScales.y * position.xyz ) )\n\t\t);\n\t\tfloat lerpFactor = fract( log2( pixScale ) );\n\t\tfloat x = ( 1.0 - lerpFactor ) * alpha.x + lerpFactor * alpha.y;\n\t\tfloat a = min( lerpFactor, 1.0 - lerpFactor );\n\t\tvec3 cases = vec3(\n\t\t\tx * x / ( 2.0 * a * ( 1.0 - a ) ),\n\t\t\t( x - 0.5 * a ) / ( 1.0 - a ),\n\t\t\t1.0 - ( ( 1.0 - x ) * ( 1.0 - x ) / ( 2.0 * a * ( 1.0 - a ) ) )\n\t\t);\n\t\tfloat threshold = ( x < ( 1.0 - a ) )\n\t\t\t? ( ( x < a ) ? cases.x : cases.y )\n\t\t\t: cases.z;\n\t\treturn clamp( threshold , 1.0e-6, 1.0 );\n\t}\n#endif";
+
+var alphamap_fragment = "#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, vAlphaMapUv ).g;\n#endif";
+
+var alphamap_pars_fragment = "#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif";
+
+var alphatest_fragment = "#ifdef USE_ALPHATEST\n\tif ( diffuseColor.a < alphaTest ) discard;\n#endif";
+
+var alphatest_pars_fragment = "#ifdef USE_ALPHATEST\n\tuniform float alphaTest;\n#endif";
+
+var aomap_fragment = "#ifdef USE_AOMAP\n\tfloat ambientOcclusion = ( texture2D( aoMap, vAoMapUv ).r - 1.0 ) * aoMapIntensity + 1.0;\n\treflectedLight.indirectDiffuse *= ambientOcclusion;\n\t#if defined( USE_CLEARCOAT ) \n\t\tclearcoatSpecularIndirect *= ambientOcclusion;\n\t#endif\n\t#if defined( USE_SHEEN ) \n\t\tsheenSpecularIndirect *= ambientOcclusion;\n\t#endif\n\t#if defined( USE_ENVMAP ) && defined( STANDARD )\n\t\tfloat dotNV = saturate( dot( geometryNormal, geometryViewDir ) );\n\t\treflectedLight.indirectSpecular *= computeSpecularOcclusion( dotNV, ambientOcclusion, material.roughness );\n\t#endif\n#endif";
+
+var aomap_pars_fragment = "#ifdef USE_AOMAP\n\tuniform sampler2D aoMap;\n\tuniform float aoMapIntensity;\n#endif";
+
+var batching_pars_vertex = "#ifdef USE_BATCHING\n\tattribute float batchId;\n\tuniform highp sampler2D batchingTexture;\n\tmat4 getBatchingMatrix( const in float i ) {\n\t\tint size = textureSize( batchingTexture, 0 ).x;\n\t\tint j = int( i ) * 4;\n\t\tint x = j % size;\n\t\tint y = j / size;\n\t\tvec4 v1 = texelFetch( batchingTexture, ivec2( x, y ), 0 );\n\t\tvec4 v2 = texelFetch( batchingTexture, ivec2( x + 1, y ), 0 );\n\t\tvec4 v3 = texelFetch( batchingTexture, ivec2( x + 2, y ), 0 );\n\t\tvec4 v4 = texelFetch( batchingTexture, ivec2( x + 3, y ), 0 );\n\t\treturn mat4( v1, v2, v3, v4 );\n\t}\n#endif";
+
+var batching_vertex = "#ifdef USE_BATCHING\n\tmat4 batchingMatrix = getBatchingMatrix( batchId );\n#endif";
+
+var begin_vertex = "vec3 transformed = vec3( position );\n#ifdef USE_ALPHAHASH\n\tvPosition = vec3( position );\n#endif";
+
+var beginnormal_vertex = "vec3 objectNormal = vec3( normal );\n#ifdef USE_TANGENT\n\tvec3 objectTangent = vec3( tangent.xyz );\n#endif";
+
+var bsdfs = "float G_BlinnPhong_Implicit( ) {\n\treturn 0.25;\n}\nfloat D_BlinnPhong( const in float shininess, const in float dotNH ) {\n\treturn RECIPROCAL_PI * ( shininess * 0.5 + 1.0 ) * pow( dotNH, shininess );\n}\nvec3 BRDF_BlinnPhong( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 specularColor, const in float shininess ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( specularColor, 1.0, dotVH );\n\tfloat G = G_BlinnPhong_Implicit( );\n\tfloat D = D_BlinnPhong( shininess, dotNH );\n\treturn F * ( G * D );\n} // validated";
+
+var iridescence_fragment = "#ifdef USE_IRIDESCENCE\n\tconst mat3 XYZ_TO_REC709 = mat3(\n\t\t 3.2404542, -0.9692660,  0.0556434,\n\t\t-1.5371385,  1.8760108, -0.2040259,\n\t\t-0.4985314,  0.0415560,  1.0572252\n\t);\n\tvec3 Fresnel0ToIor( vec3 fresnel0 ) {\n\t\tvec3 sqrtF0 = sqrt( fresnel0 );\n\t\treturn ( vec3( 1.0 ) + sqrtF0 ) / ( vec3( 1.0 ) - sqrtF0 );\n\t}\n\tvec3 IorToFresnel0( vec3 transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - vec3( incidentIor ) ) / ( transmittedIor + vec3( incidentIor ) ) );\n\t}\n\tfloat IorToFresnel0( float transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - incidentIor ) / ( transmittedIor + incidentIor ));\n\t}\n\tvec3 evalSensitivity( float OPD, vec3 shift ) {\n\t\tfloat phase = 2.0 * PI * OPD * 1.0e-9;\n\t\tvec3 val = vec3( 5.4856e-13, 4.4201e-13, 5.2481e-13 );\n\t\tvec3 pos = vec3( 1.6810e+06, 1.7953e+06, 2.2084e+06 );\n\t\tvec3 var = vec3( 4.3278e+09, 9.3046e+09, 6.6121e+09 );\n\t\tvec3 xyz = val * sqrt( 2.0 * PI * var ) * cos( pos * phase + shift ) * exp( - pow2( phase ) * var );\n\t\txyz.x += 9.7470e-14 * sqrt( 2.0 * PI * 4.5282e+09 ) * cos( 2.2399e+06 * phase + shift[ 0 ] ) * exp( - 4.5282e+09 * pow2( phase ) );\n\t\txyz /= 1.0685e-7;\n\t\tvec3 rgb = XYZ_TO_REC709 * xyz;\n\t\treturn rgb;\n\t}\n\tvec3 evalIridescence( float outsideIOR, float eta2, float cosTheta1, float thinFilmThickness, vec3 baseF0 ) {\n\t\tvec3 I;\n\t\tfloat iridescenceIOR = mix( outsideIOR, eta2, smoothstep( 0.0, 0.03, thinFilmThickness ) );\n\t\tfloat sinTheta2Sq = pow2( outsideIOR / iridescenceIOR ) * ( 1.0 - pow2( cosTheta1 ) );\n\t\tfloat cosTheta2Sq = 1.0 - sinTheta2Sq;\n\t\tif ( cosTheta2Sq < 0.0 ) {\n\t\t\treturn vec3( 1.0 );\n\t\t}\n\t\tfloat cosTheta2 = sqrt( cosTheta2Sq );\n\t\tfloat R0 = IorToFresnel0( iridescenceIOR, outsideIOR );\n\t\tfloat R12 = F_Schlick( R0, 1.0, cosTheta1 );\n\t\tfloat T121 = 1.0 - R12;\n\t\tfloat phi12 = 0.0;\n\t\tif ( iridescenceIOR < outsideIOR ) phi12 = PI;\n\t\tfloat phi21 = PI - phi12;\n\t\tvec3 baseIOR = Fresnel0ToIor( clamp( baseF0, 0.0, 0.9999 ) );\t\tvec3 R1 = IorToFresnel0( baseIOR, iridescenceIOR );\n\t\tvec3 R23 = F_Schlick( R1, 1.0, cosTheta2 );\n\t\tvec3 phi23 = vec3( 0.0 );\n\t\tif ( baseIOR[ 0 ] < iridescenceIOR ) phi23[ 0 ] = PI;\n\t\tif ( baseIOR[ 1 ] < iridescenceIOR ) phi23[ 1 ] = PI;\n\t\tif ( baseIOR[ 2 ] < iridescenceIOR ) phi23[ 2 ] = PI;\n\t\tfloat OPD = 2.0 * iridescenceIOR * thinFilmThickness * cosTheta2;\n\t\tvec3 phi = vec3( phi21 ) + phi23;\n\t\tvec3 R123 = clamp( R12 * R23, 1e-5, 0.9999 );\n\t\tvec3 r123 = sqrt( R123 );\n\t\tvec3 Rs = pow2( T121 ) * R23 / ( vec3( 1.0 ) - R123 );\n\t\tvec3 C0 = R12 + Rs;\n\t\tI = C0;\n\t\tvec3 Cm = Rs - T121;\n\t\tfor ( int m = 1; m <= 2; ++ m ) {\n\t\t\tCm *= r123;\n\t\t\tvec3 Sm = 2.0 * evalSensitivity( float( m ) * OPD, float( m ) * phi );\n\t\t\tI += Cm * Sm;\n\t\t}\n\t\treturn max( I, vec3( 0.0 ) );\n\t}\n#endif";
+
+var bumpmap_pars_fragment = "#ifdef USE_BUMPMAP\n\tuniform sampler2D bumpMap;\n\tuniform float bumpScale;\n\tvec2 dHdxy_fwd() {\n\t\tvec2 dSTdx = dFdx( vBumpMapUv );\n\t\tvec2 dSTdy = dFdy( vBumpMapUv );\n\t\tfloat Hll = bumpScale * texture2D( bumpMap, vBumpMapUv ).x;\n\t\tfloat dBx = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdx ).x - Hll;\n\t\tfloat dBy = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdy ).x - Hll;\n\t\treturn vec2( dBx, dBy );\n\t}\n\tvec3 perturbNormalArb( vec3 surf_pos, vec3 surf_norm, vec2 dHdxy, float faceDirection ) {\n\t\tvec3 vSigmaX = normalize( dFdx( surf_pos.xyz ) );\n\t\tvec3 vSigmaY = normalize( dFdy( surf_pos.xyz ) );\n\t\tvec3 vN = surf_norm;\n\t\tvec3 R1 = cross( vSigmaY, vN );\n\t\tvec3 R2 = cross( vN, vSigmaX );\n\t\tfloat fDet = dot( vSigmaX, R1 ) * faceDirection;\n\t\tvec3 vGrad = sign( fDet ) * ( dHdxy.x * R1 + dHdxy.y * R2 );\n\t\treturn normalize( abs( fDet ) * surf_norm - vGrad );\n\t}\n#endif";
+
+var clipping_planes_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvec4 plane;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {\n\t\tplane = clippingPlanes[ i ];\n\t\tif ( dot( vClipPosition, plane.xyz ) > plane.w ) discard;\n\t}\n\t#pragma unroll_loop_end\n\t#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES\n\t\tbool clipped = true;\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {\n\t\t\tplane = clippingPlanes[ i ];\n\t\t\tclipped = ( dot( vClipPosition, plane.xyz ) > plane.w ) && clipped;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t\tif ( clipped ) discard;\n\t#endif\n#endif";
+
+var clipping_planes_pars_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n\tuniform vec4 clippingPlanes[ NUM_CLIPPING_PLANES ];\n#endif";
+
+var clipping_planes_pars_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n#endif";
+
+var clipping_planes_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvClipPosition = - mvPosition.xyz;\n#endif";
+
+var color_fragment = "#if defined( USE_COLOR_ALPHA )\n\tdiffuseColor *= vColor;\n#elif defined( USE_COLOR )\n\tdiffuseColor.rgb *= vColor;\n#endif";
+
+var color_pars_fragment = "#if defined( USE_COLOR_ALPHA )\n\tvarying vec4 vColor;\n#elif defined( USE_COLOR )\n\tvarying vec3 vColor;\n#endif";
+
+var color_pars_vertex = "#if defined( USE_COLOR_ALPHA )\n\tvarying vec4 vColor;\n#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR )\n\tvarying vec3 vColor;\n#endif";
+
+var color_vertex = "#if defined( USE_COLOR_ALPHA )\n\tvColor = vec4( 1.0 );\n#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR )\n\tvColor = vec3( 1.0 );\n#endif\n#ifdef USE_COLOR\n\tvColor *= color;\n#endif\n#ifdef USE_INSTANCING_COLOR\n\tvColor.xyz *= instanceColor.xyz;\n#endif";
+
+var common = "#define PI 3.141592653589793\n#define PI2 6.283185307179586\n#define PI_HALF 1.5707963267948966\n#define RECIPROCAL_PI 0.3183098861837907\n#define RECIPROCAL_PI2 0.15915494309189535\n#define EPSILON 1e-6\n#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\n#define whiteComplement( a ) ( 1.0 - saturate( a ) )\nfloat pow2( const in float x ) { return x*x; }\nvec3 pow2( const in vec3 x ) { return x*x; }\nfloat pow3( const in float x ) { return x*x*x; }\nfloat pow4( const in float x ) { float x2 = x*x; return x2*x2; }\nfloat max3( const in vec3 v ) { return max( max( v.x, v.y ), v.z ); }\nfloat average( const in vec3 v ) { return dot( v, vec3( 0.3333333 ) ); }\nhighp float rand( const in vec2 uv ) {\n\tconst highp float a = 12.9898, b = 78.233, c = 43758.5453;\n\thighp float dt = dot( uv.xy, vec2( a,b ) ), sn = mod( dt, PI );\n\treturn fract( sin( sn ) * c );\n}\n#ifdef HIGH_PRECISION\n\tfloat precisionSafeLength( vec3 v ) { return length( v ); }\n#else\n\tfloat precisionSafeLength( vec3 v ) {\n\t\tfloat maxComponent = max3( abs( v ) );\n\t\treturn length( v / maxComponent ) * maxComponent;\n\t}\n#endif\nstruct IncidentLight {\n\tvec3 color;\n\tvec3 direction;\n\tbool visible;\n};\nstruct ReflectedLight {\n\tvec3 directDiffuse;\n\tvec3 directSpecular;\n\tvec3 indirectDiffuse;\n\tvec3 indirectSpecular;\n};\n#ifdef USE_ALPHAHASH\n\tvarying vec3 vPosition;\n#endif\nvec3 transformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );\n}\nvec3 inverseTransformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( vec4( dir, 0.0 ) * matrix ).xyz );\n}\nmat3 transposeMat3( const in mat3 m ) {\n\tmat3 tmp;\n\ttmp[ 0 ] = vec3( m[ 0 ].x, m[ 1 ].x, m[ 2 ].x );\n\ttmp[ 1 ] = vec3( m[ 0 ].y, m[ 1 ].y, m[ 2 ].y );\n\ttmp[ 2 ] = vec3( m[ 0 ].z, m[ 1 ].z, m[ 2 ].z );\n\treturn tmp;\n}\nfloat luminance( const in vec3 rgb ) {\n\tconst vec3 weights = vec3( 0.2126729, 0.7151522, 0.0721750 );\n\treturn dot( weights, rgb );\n}\nbool isPerspectiveMatrix( mat4 m ) {\n\treturn m[ 2 ][ 3 ] == - 1.0;\n}\nvec2 equirectUv( in vec3 dir ) {\n\tfloat u = atan( dir.z, dir.x ) * RECIPROCAL_PI2 + 0.5;\n\tfloat v = asin( clamp( dir.y, - 1.0, 1.0 ) ) * RECIPROCAL_PI + 0.5;\n\treturn vec2( u, v );\n}\nvec3 BRDF_Lambert( const in vec3 diffuseColor ) {\n\treturn RECIPROCAL_PI * diffuseColor;\n}\nvec3 F_Schlick( const in vec3 f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n}\nfloat F_Schlick( const in float f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n} // validated";
+
+var cube_uv_reflection_fragment = "#ifdef ENVMAP_TYPE_CUBE_UV\n\t#define cubeUV_minMipLevel 4.0\n\t#define cubeUV_minTileSize 16.0\n\tfloat getFace( vec3 direction ) {\n\t\tvec3 absDirection = abs( direction );\n\t\tfloat face = - 1.0;\n\t\tif ( absDirection.x > absDirection.z ) {\n\t\t\tif ( absDirection.x > absDirection.y )\n\t\t\t\tface = direction.x > 0.0 ? 0.0 : 3.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t} else {\n\t\t\tif ( absDirection.z > absDirection.y )\n\t\t\t\tface = direction.z > 0.0 ? 2.0 : 5.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t}\n\t\treturn face;\n\t}\n\tvec2 getUV( vec3 direction, float face ) {\n\t\tvec2 uv;\n\t\tif ( face == 0.0 ) {\n\t\t\tuv = vec2( direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 1.0 ) {\n\t\t\tuv = vec2( - direction.x, - direction.z ) / abs( direction.y );\n\t\t} else if ( face == 2.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.y ) / abs( direction.z );\n\t\t} else if ( face == 3.0 ) {\n\t\t\tuv = vec2( - direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 4.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.z ) / abs( direction.y );\n\t\t} else {\n\t\t\tuv = vec2( direction.x, direction.y ) / abs( direction.z );\n\t\t}\n\t\treturn 0.5 * ( uv + 1.0 );\n\t}\n\tvec3 bilinearCubeUV( sampler2D envMap, vec3 direction, float mipInt ) {\n\t\tfloat face = getFace( direction );\n\t\tfloat filterInt = max( cubeUV_minMipLevel - mipInt, 0.0 );\n\t\tmipInt = max( mipInt, cubeUV_minMipLevel );\n\t\tfloat faceSize = exp2( mipInt );\n\t\thighp vec2 uv = getUV( direction, face ) * ( faceSize - 2.0 ) + 1.0;\n\t\tif ( face > 2.0 ) {\n\t\t\tuv.y += faceSize;\n\t\t\tface -= 3.0;\n\t\t}\n\t\tuv.x += face * faceSize;\n\t\tuv.x += filterInt * 3.0 * cubeUV_minTileSize;\n\t\tuv.y += 4.0 * ( exp2( CUBEUV_MAX_MIP ) - faceSize );\n\t\tuv.x *= CUBEUV_TEXEL_WIDTH;\n\t\tuv.y *= CUBEUV_TEXEL_HEIGHT;\n\t\t#ifdef texture2DGradEXT\n\t\t\treturn texture2DGradEXT( envMap, uv, vec2( 0.0 ), vec2( 0.0 ) ).rgb;\n\t\t#else\n\t\t\treturn texture2D( envMap, uv ).rgb;\n\t\t#endif\n\t}\n\t#define cubeUV_r0 1.0\n\t#define cubeUV_m0 - 2.0\n\t#define cubeUV_r1 0.8\n\t#define cubeUV_m1 - 1.0\n\t#define cubeUV_r4 0.4\n\t#define cubeUV_m4 2.0\n\t#define cubeUV_r5 0.305\n\t#define cubeUV_m5 3.0\n\t#define cubeUV_r6 0.21\n\t#define cubeUV_m6 4.0\n\tfloat roughnessToMip( float roughness ) {\n\t\tfloat mip = 0.0;\n\t\tif ( roughness >= cubeUV_r1 ) {\n\t\t\tmip = ( cubeUV_r0 - roughness ) * ( cubeUV_m1 - cubeUV_m0 ) / ( cubeUV_r0 - cubeUV_r1 ) + cubeUV_m0;\n\t\t} else if ( roughness >= cubeUV_r4 ) {\n\t\t\tmip = ( cubeUV_r1 - roughness ) * ( cubeUV_m4 - cubeUV_m1 ) / ( cubeUV_r1 - cubeUV_r4 ) + cubeUV_m1;\n\t\t} else if ( roughness >= cubeUV_r5 ) {\n\t\t\tmip = ( cubeUV_r4 - roughness ) * ( cubeUV_m5 - cubeUV_m4 ) / ( cubeUV_r4 - cubeUV_r5 ) + cubeUV_m4;\n\t\t} else if ( roughness >= cubeUV_r6 ) {\n\t\t\tmip = ( cubeUV_r5 - roughness ) * ( cubeUV_m6 - cubeUV_m5 ) / ( cubeUV_r5 - cubeUV_r6 ) + cubeUV_m5;\n\t\t} else {\n\t\t\tmip = - 2.0 * log2( 1.16 * roughness );\t\t}\n\t\treturn mip;\n\t}\n\tvec4 textureCubeUV( sampler2D envMap, vec3 sampleDir, float roughness ) {\n\t\tfloat mip = clamp( roughnessToMip( roughness ), cubeUV_m0, CUBEUV_MAX_MIP );\n\t\tfloat mipF = fract( mip );\n\t\tfloat mipInt = floor( mip );\n\t\tvec3 color0 = bilinearCubeUV( envMap, sampleDir, mipInt );\n\t\tif ( mipF == 0.0 ) {\n\t\t\treturn vec4( color0, 1.0 );\n\t\t} else {\n\t\t\tvec3 color1 = bilinearCubeUV( envMap, sampleDir, mipInt + 1.0 );\n\t\t\treturn vec4( mix( color0, color1, mipF ), 1.0 );\n\t\t}\n\t}\n#endif";
+
+var defaultnormal_vertex = "vec3 transformedNormal = objectNormal;\n#ifdef USE_TANGENT\n\tvec3 transformedTangent = objectTangent;\n#endif\n#ifdef USE_BATCHING\n\tmat3 bm = mat3( batchingMatrix );\n\ttransformedNormal /= vec3( dot( bm[ 0 ], bm[ 0 ] ), dot( bm[ 1 ], bm[ 1 ] ), dot( bm[ 2 ], bm[ 2 ] ) );\n\ttransformedNormal = bm * transformedNormal;\n\t#ifdef USE_TANGENT\n\t\ttransformedTangent = bm * transformedTangent;\n\t#endif\n#endif\n#ifdef USE_INSTANCING\n\tmat3 im = mat3( instanceMatrix );\n\ttransformedNormal /= vec3( dot( im[ 0 ], im[ 0 ] ), dot( im[ 1 ], im[ 1 ] ), dot( im[ 2 ], im[ 2 ] ) );\n\ttransformedNormal = im * transformedNormal;\n\t#ifdef USE_TANGENT\n\t\ttransformedTangent = im * transformedTangent;\n\t#endif\n#endif\ntransformedNormal = normalMatrix * transformedNormal;\n#ifdef FLIP_SIDED\n\ttransformedNormal = - transformedNormal;\n#endif\n#ifdef USE_TANGENT\n\ttransformedTangent = ( modelViewMatrix * vec4( transformedTangent, 0.0 ) ).xyz;\n\t#ifdef FLIP_SIDED\n\t\ttransformedTangent = - transformedTangent;\n\t#endif\n#endif";
+
+var displacementmap_pars_vertex = "#ifdef USE_DISPLACEMENTMAP\n\tuniform sampler2D displacementMap;\n\tuniform float displacementScale;\n\tuniform float displacementBias;\n#endif";
+
+var displacementmap_vertex = "#ifdef USE_DISPLACEMENTMAP\n\ttransformed += normalize( objectNormal ) * ( texture2D( displacementMap, vDisplacementMapUv ).x * displacementScale + displacementBias );\n#endif";
+
+var emissivemap_fragment = "#ifdef USE_EMISSIVEMAP\n\tvec4 emissiveColor = texture2D( emissiveMap, vEmissiveMapUv );\n\ttotalEmissiveRadiance *= emissiveColor.rgb;\n#endif";
+
+var emissivemap_pars_fragment = "#ifdef USE_EMISSIVEMAP\n\tuniform sampler2D emissiveMap;\n#endif";
+
+var colorspace_fragment = "gl_FragColor = linearToOutputTexel( gl_FragColor );";
+
+var colorspace_pars_fragment = "\nconst mat3 LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 = mat3(\n\tvec3( 0.8224621, 0.177538, 0.0 ),\n\tvec3( 0.0331941, 0.9668058, 0.0 ),\n\tvec3( 0.0170827, 0.0723974, 0.9105199 )\n);\nconst mat3 LINEAR_DISPLAY_P3_TO_LINEAR_SRGB = mat3(\n\tvec3( 1.2249401, - 0.2249404, 0.0 ),\n\tvec3( - 0.0420569, 1.0420571, 0.0 ),\n\tvec3( - 0.0196376, - 0.0786361, 1.0982735 )\n);\nvec4 LinearSRGBToLinearDisplayP3( in vec4 value ) {\n\treturn vec4( value.rgb * LINEAR_SRGB_TO_LINEAR_DISPLAY_P3, value.a );\n}\nvec4 LinearDisplayP3ToLinearSRGB( in vec4 value ) {\n\treturn vec4( value.rgb * LINEAR_DISPLAY_P3_TO_LINEAR_SRGB, value.a );\n}\nvec4 LinearTransferOETF( in vec4 value ) {\n\treturn value;\n}\nvec4 sRGBTransferOETF( in vec4 value ) {\n\treturn vec4( mix( pow( value.rgb, vec3( 0.41666 ) ) * 1.055 - vec3( 0.055 ), value.rgb * 12.92, vec3( lessThanEqual( value.rgb, vec3( 0.0031308 ) ) ) ), value.a );\n}\nvec4 LinearToLinear( in vec4 value ) {\n\treturn value;\n}\nvec4 LinearTosRGB( in vec4 value ) {\n\treturn sRGBTransferOETF( value );\n}";
+
+var envmap_fragment = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvec3 cameraToFrag;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToFrag = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToFrag = normalize( vWorldPosition - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvec3 reflectVec = reflect( cameraToFrag, worldNormal );\n\t\t#else\n\t\t\tvec3 reflectVec = refract( cameraToFrag, worldNormal, refractionRatio );\n\t\t#endif\n\t#else\n\t\tvec3 reflectVec = vReflect;\n\t#endif\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 envColor = textureCube( envMap, vec3( flipEnvMap * reflectVec.x, reflectVec.yz ) );\n\t#else\n\t\tvec4 envColor = vec4( 0.0 );\n\t#endif\n\t#ifdef ENVMAP_BLENDING_MULTIPLY\n\t\toutgoingLight = mix( outgoingLight, outgoingLight * envColor.xyz, specularStrength * reflectivity );\n\t#elif defined( ENVMAP_BLENDING_MIX )\n\t\toutgoingLight = mix( outgoingLight, envColor.xyz, specularStrength * reflectivity );\n\t#elif defined( ENVMAP_BLENDING_ADD )\n\t\toutgoingLight += envColor.xyz * specularStrength * reflectivity;\n\t#endif\n#endif";
+
+var envmap_common_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float envMapIntensity;\n\tuniform float flipEnvMap;\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tuniform samplerCube envMap;\n\t#else\n\t\tuniform sampler2D envMap;\n\t#endif\n\t\n#endif";
+
+var envmap_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float reflectivity;\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\tvarying vec3 vWorldPosition;\n\t\tuniform float refractionRatio;\n\t#else\n\t\tvarying vec3 vReflect;\n\t#endif\n#endif";
+
+var envmap_pars_vertex = "#ifdef USE_ENVMAP\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\t\n\t\tvarying vec3 vWorldPosition;\n\t#else\n\t\tvarying vec3 vReflect;\n\t\tuniform float refractionRatio;\n\t#endif\n#endif";
+
+var envmap_vertex = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvWorldPosition = worldPosition.xyz;\n\t#else\n\t\tvec3 cameraToVertex;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToVertex = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToVertex = normalize( worldPosition.xyz - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvReflect = reflect( cameraToVertex, worldNormal );\n\t\t#else\n\t\t\tvReflect = refract( cameraToVertex, worldNormal, refractionRatio );\n\t\t#endif\n\t#endif\n#endif";
+
+var fog_vertex = "#ifdef USE_FOG\n\tvFogDepth = - mvPosition.z;\n#endif";
+
+var fog_pars_vertex = "#ifdef USE_FOG\n\tvarying float vFogDepth;\n#endif";
+
+var fog_fragment = "#ifdef USE_FOG\n\t#ifdef FOG_EXP2\n\t\tfloat fogFactor = 1.0 - exp( - fogDensity * fogDensity * vFogDepth * vFogDepth );\n\t#else\n\t\tfloat fogFactor = smoothstep( fogNear, fogFar, vFogDepth );\n\t#endif\n\tgl_FragColor.rgb = mix( gl_FragColor.rgb, fogColor, fogFactor );\n#endif";
+
+var fog_pars_fragment = "#ifdef USE_FOG\n\tuniform vec3 fogColor;\n\tvarying float vFogDepth;\n\t#ifdef FOG_EXP2\n\t\tuniform float fogDensity;\n\t#else\n\t\tuniform float fogNear;\n\t\tuniform float fogFar;\n\t#endif\n#endif";
+
+var gradientmap_pars_fragment = "#ifdef USE_GRADIENTMAP\n\tuniform sampler2D gradientMap;\n#endif\nvec3 getGradientIrradiance( vec3 normal, vec3 lightDirection ) {\n\tfloat dotNL = dot( normal, lightDirection );\n\tvec2 coord = vec2( dotNL * 0.5 + 0.5, 0.0 );\n\t#ifdef USE_GRADIENTMAP\n\t\treturn vec3( texture2D( gradientMap, coord ).r );\n\t#else\n\t\tvec2 fw = fwidth( coord ) * 0.5;\n\t\treturn mix( vec3( 0.7 ), vec3( 1.0 ), smoothstep( 0.7 - fw.x, 0.7 + fw.x, coord.x ) );\n\t#endif\n}";
+
+var lightmap_fragment = "#ifdef USE_LIGHTMAP\n\tvec4 lightMapTexel = texture2D( lightMap, vLightMapUv );\n\tvec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;\n\treflectedLight.indirectDiffuse += lightMapIrradiance;\n#endif";
+
+var lightmap_pars_fragment = "#ifdef USE_LIGHTMAP\n\tuniform sampler2D lightMap;\n\tuniform float lightMapIntensity;\n#endif";
+
+var lights_lambert_fragment = "LambertMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularStrength = specularStrength;";
+
+var lights_lambert_pars_fragment = "varying vec3 vViewPosition;\nstruct LambertMaterial {\n\tvec3 diffuseColor;\n\tfloat specularStrength;\n};\nvoid RE_Direct_Lambert( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Lambert( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Lambert\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Lambert";
+
+var lights_pars_begin = "uniform bool receiveShadow;\nuniform vec3 ambientLightColor;\n#if defined( USE_LIGHT_PROBES )\n\tuniform vec3 lightProbe[ 9 ];\n#endif\nvec3 shGetIrradianceAt( in vec3 normal, in vec3 shCoefficients[ 9 ] ) {\n\tfloat x = normal.x, y = normal.y, z = normal.z;\n\tvec3 result = shCoefficients[ 0 ] * 0.886227;\n\tresult += shCoefficients[ 1 ] * 2.0 * 0.511664 * y;\n\tresult += shCoefficients[ 2 ] * 2.0 * 0.511664 * z;\n\tresult += shCoefficients[ 3 ] * 2.0 * 0.511664 * x;\n\tresult += shCoefficients[ 4 ] * 2.0 * 0.429043 * x * y;\n\tresult += shCoefficients[ 5 ] * 2.0 * 0.429043 * y * z;\n\tresult += shCoefficients[ 6 ] * ( 0.743125 * z * z - 0.247708 );\n\tresult += shCoefficients[ 7 ] * 2.0 * 0.429043 * x * z;\n\tresult += shCoefficients[ 8 ] * 0.429043 * ( x * x - y * y );\n\treturn result;\n}\nvec3 getLightProbeIrradiance( const in vec3 lightProbe[ 9 ], const in vec3 normal ) {\n\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\tvec3 irradiance = shGetIrradianceAt( worldNormal, lightProbe );\n\treturn irradiance;\n}\nvec3 getAmbientLightIrradiance( const in vec3 ambientLightColor ) {\n\tvec3 irradiance = ambientLightColor;\n\treturn irradiance;\n}\nfloat getDistanceAttenuation( const in float lightDistance, const in float cutoffDistance, const in float decayExponent ) {\n\t#if defined ( LEGACY_LIGHTS )\n\t\tif ( cutoffDistance > 0.0 && decayExponent > 0.0 ) {\n\t\t\treturn pow( saturate( - lightDistance / cutoffDistance + 1.0 ), decayExponent );\n\t\t}\n\t\treturn 1.0;\n\t#else\n\t\tfloat distanceFalloff = 1.0 / max( pow( lightDistance, decayExponent ), 0.01 );\n\t\tif ( cutoffDistance > 0.0 ) {\n\t\t\tdistanceFalloff *= pow2( saturate( 1.0 - pow4( lightDistance / cutoffDistance ) ) );\n\t\t}\n\t\treturn distanceFalloff;\n\t#endif\n}\nfloat getSpotAttenuation( const in float coneCosine, const in float penumbraCosine, const in float angleCosine ) {\n\treturn smoothstep( coneCosine, penumbraCosine, angleCosine );\n}\n#if NUM_DIR_LIGHTS > 0\n\tstruct DirectionalLight {\n\t\tvec3 direction;\n\t\tvec3 color;\n\t};\n\tuniform DirectionalLight directionalLights[ NUM_DIR_LIGHTS ];\n\tvoid getDirectionalLightInfo( const in DirectionalLight directionalLight, out IncidentLight light ) {\n\t\tlight.color = directionalLight.color;\n\t\tlight.direction = directionalLight.direction;\n\t\tlight.visible = true;\n\t}\n#endif\n#if NUM_POINT_LIGHTS > 0\n\tstruct PointLight {\n\t\tvec3 position;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t};\n\tuniform PointLight pointLights[ NUM_POINT_LIGHTS ];\n\tvoid getPointLightInfo( const in PointLight pointLight, const in vec3 geometryPosition, out IncidentLight light ) {\n\t\tvec3 lVector = pointLight.position - geometryPosition;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat lightDistance = length( lVector );\n\t\tlight.color = pointLight.color;\n\t\tlight.color *= getDistanceAttenuation( lightDistance, pointLight.distance, pointLight.decay );\n\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t}\n#endif\n#if NUM_SPOT_LIGHTS > 0\n\tstruct SpotLight {\n\t\tvec3 position;\n\t\tvec3 direction;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t\tfloat coneCos;\n\t\tfloat penumbraCos;\n\t};\n\tuniform SpotLight spotLights[ NUM_SPOT_LIGHTS ];\n\tvoid getSpotLightInfo( const in SpotLight spotLight, const in vec3 geometryPosition, out IncidentLight light ) {\n\t\tvec3 lVector = spotLight.position - geometryPosition;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat angleCos = dot( light.direction, spotLight.direction );\n\t\tfloat spotAttenuation = getSpotAttenuation( spotLight.coneCos, spotLight.penumbraCos, angleCos );\n\t\tif ( spotAttenuation > 0.0 ) {\n\t\t\tfloat lightDistance = length( lVector );\n\t\t\tlight.color = spotLight.color * spotAttenuation;\n\t\t\tlight.color *= getDistanceAttenuation( lightDistance, spotLight.distance, spotLight.decay );\n\t\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t\t} else {\n\t\t\tlight.color = vec3( 0.0 );\n\t\t\tlight.visible = false;\n\t\t}\n\t}\n#endif\n#if NUM_RECT_AREA_LIGHTS > 0\n\tstruct RectAreaLight {\n\t\tvec3 color;\n\t\tvec3 position;\n\t\tvec3 halfWidth;\n\t\tvec3 halfHeight;\n\t};\n\tuniform sampler2D ltc_1;\tuniform sampler2D ltc_2;\n\tuniform RectAreaLight rectAreaLights[ NUM_RECT_AREA_LIGHTS ];\n#endif\n#if NUM_HEMI_LIGHTS > 0\n\tstruct HemisphereLight {\n\t\tvec3 direction;\n\t\tvec3 skyColor;\n\t\tvec3 groundColor;\n\t};\n\tuniform HemisphereLight hemisphereLights[ NUM_HEMI_LIGHTS ];\n\tvec3 getHemisphereLightIrradiance( const in HemisphereLight hemiLight, const in vec3 normal ) {\n\t\tfloat dotNL = dot( normal, hemiLight.direction );\n\t\tfloat hemiDiffuseWeight = 0.5 * dotNL + 0.5;\n\t\tvec3 irradiance = mix( hemiLight.groundColor, hemiLight.skyColor, hemiDiffuseWeight );\n\t\treturn irradiance;\n\t}\n#endif";
+
+var envmap_physical_pars_fragment = "#ifdef USE_ENVMAP\n\tvec3 getIBLIrradiance( const in vec3 normal ) {\n\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, worldNormal, 1.0 );\n\t\t\treturn PI * envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n\tvec3 getIBLRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness ) {\n\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\tvec3 reflectVec = reflect( - viewDir, normal );\n\t\t\treflectVec = normalize( mix( reflectVec, normal, roughness * roughness) );\n\t\t\treflectVec = inverseTransformDirection( reflectVec, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, reflectVec, roughness );\n\t\t\treturn envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n\t#ifdef USE_ANISOTROPY\n\t\tvec3 getIBLAnisotropyRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness, const in vec3 bitangent, const in float anisotropy ) {\n\t\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\t\tvec3 bentNormal = cross( bitangent, viewDir );\n\t\t\t\tbentNormal = normalize( cross( bentNormal, bitangent ) );\n\t\t\t\tbentNormal = normalize( mix( bentNormal, normal, pow2( pow2( 1.0 - anisotropy * ( 1.0 - roughness ) ) ) ) );\n\t\t\t\treturn getIBLRadiance( viewDir, bentNormal, roughness );\n\t\t\t#else\n\t\t\t\treturn vec3( 0.0 );\n\t\t\t#endif\n\t\t}\n\t#endif\n#endif";
+
+var lights_toon_fragment = "ToonMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;";
+
+var lights_toon_pars_fragment = "varying vec3 vViewPosition;\nstruct ToonMaterial {\n\tvec3 diffuseColor;\n};\nvoid RE_Direct_Toon( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\tvec3 irradiance = getGradientIrradiance( geometryNormal, directLight.direction ) * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Toon( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Toon\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Toon";
+
+var lights_phong_fragment = "BlinnPhongMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularColor = specular;\nmaterial.specularShininess = shininess;\nmaterial.specularStrength = specularStrength;";
+
+var lights_phong_pars_fragment = "varying vec3 vViewPosition;\nstruct BlinnPhongMaterial {\n\tvec3 diffuseColor;\n\tvec3 specularColor;\n\tfloat specularShininess;\n\tfloat specularStrength;\n};\nvoid RE_Direct_BlinnPhong( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n\treflectedLight.directSpecular += irradiance * BRDF_BlinnPhong( directLight.direction, geometryViewDir, geometryNormal, material.specularColor, material.specularShininess ) * material.specularStrength;\n}\nvoid RE_IndirectDiffuse_BlinnPhong( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_BlinnPhong\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_BlinnPhong";
+
+var lights_physical_fragment = "PhysicalMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb * ( 1.0 - metalnessFactor );\nvec3 dxy = max( abs( dFdx( nonPerturbedNormal ) ), abs( dFdy( nonPerturbedNormal ) ) );\nfloat geometryRoughness = max( max( dxy.x, dxy.y ), dxy.z );\nmaterial.roughness = max( roughnessFactor, 0.0525 );material.roughness += geometryRoughness;\nmaterial.roughness = min( material.roughness, 1.0 );\n#ifdef IOR\n\tmaterial.ior = ior;\n\t#ifdef USE_SPECULAR\n\t\tfloat specularIntensityFactor = specularIntensity;\n\t\tvec3 specularColorFactor = specularColor;\n\t\t#ifdef USE_SPECULAR_COLORMAP\n\t\t\tspecularColorFactor *= texture2D( specularColorMap, vSpecularColorMapUv ).rgb;\n\t\t#endif\n\t\t#ifdef USE_SPECULAR_INTENSITYMAP\n\t\t\tspecularIntensityFactor *= texture2D( specularIntensityMap, vSpecularIntensityMapUv ).a;\n\t\t#endif\n\t\tmaterial.specularF90 = mix( specularIntensityFactor, 1.0, metalnessFactor );\n\t#else\n\t\tfloat specularIntensityFactor = 1.0;\n\t\tvec3 specularColorFactor = vec3( 1.0 );\n\t\tmaterial.specularF90 = 1.0;\n\t#endif\n\tmaterial.specularColor = mix( min( pow2( ( material.ior - 1.0 ) / ( material.ior + 1.0 ) ) * specularColorFactor, vec3( 1.0 ) ) * specularIntensityFactor, diffuseColor.rgb, metalnessFactor );\n#else\n\tmaterial.specularColor = mix( vec3( 0.04 ), diffuseColor.rgb, metalnessFactor );\n\tmaterial.specularF90 = 1.0;\n#endif\n#ifdef USE_CLEARCOAT\n\tmaterial.clearcoat = clearcoat;\n\tmaterial.clearcoatRoughness = clearcoatRoughness;\n\tmaterial.clearcoatF0 = vec3( 0.04 );\n\tmaterial.clearcoatF90 = 1.0;\n\t#ifdef USE_CLEARCOATMAP\n\t\tmaterial.clearcoat *= texture2D( clearcoatMap, vClearcoatMapUv ).x;\n\t#endif\n\t#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\t\tmaterial.clearcoatRoughness *= texture2D( clearcoatRoughnessMap, vClearcoatRoughnessMapUv ).y;\n\t#endif\n\tmaterial.clearcoat = saturate( material.clearcoat );\tmaterial.clearcoatRoughness = max( material.clearcoatRoughness, 0.0525 );\n\tmaterial.clearcoatRoughness += geometryRoughness;\n\tmaterial.clearcoatRoughness = min( material.clearcoatRoughness, 1.0 );\n#endif\n#ifdef USE_IRIDESCENCE\n\tmaterial.iridescence = iridescence;\n\tmaterial.iridescenceIOR = iridescenceIOR;\n\t#ifdef USE_IRIDESCENCEMAP\n\t\tmaterial.iridescence *= texture2D( iridescenceMap, vIridescenceMapUv ).r;\n\t#endif\n\t#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\t\tmaterial.iridescenceThickness = (iridescenceThicknessMaximum - iridescenceThicknessMinimum) * texture2D( iridescenceThicknessMap, vIridescenceThicknessMapUv ).g + iridescenceThicknessMinimum;\n\t#else\n\t\tmaterial.iridescenceThickness = iridescenceThicknessMaximum;\n\t#endif\n#endif\n#ifdef USE_SHEEN\n\tmaterial.sheenColor = sheenColor;\n\t#ifdef USE_SHEEN_COLORMAP\n\t\tmaterial.sheenColor *= texture2D( sheenColorMap, vSheenColorMapUv ).rgb;\n\t#endif\n\tmaterial.sheenRoughness = clamp( sheenRoughness, 0.07, 1.0 );\n\t#ifdef USE_SHEEN_ROUGHNESSMAP\n\t\tmaterial.sheenRoughness *= texture2D( sheenRoughnessMap, vSheenRoughnessMapUv ).a;\n\t#endif\n#endif\n#ifdef USE_ANISOTROPY\n\t#ifdef USE_ANISOTROPYMAP\n\t\tmat2 anisotropyMat = mat2( anisotropyVector.x, anisotropyVector.y, - anisotropyVector.y, anisotropyVector.x );\n\t\tvec3 anisotropyPolar = texture2D( anisotropyMap, vAnisotropyMapUv ).rgb;\n\t\tvec2 anisotropyV = anisotropyMat * normalize( 2.0 * anisotropyPolar.rg - vec2( 1.0 ) ) * anisotropyPolar.b;\n\t#else\n\t\tvec2 anisotropyV = anisotropyVector;\n\t#endif\n\tmaterial.anisotropy = length( anisotropyV );\n\tif( material.anisotropy == 0.0 ) {\n\t\tanisotropyV = vec2( 1.0, 0.0 );\n\t} else {\n\t\tanisotropyV /= material.anisotropy;\n\t\tmaterial.anisotropy = saturate( material.anisotropy );\n\t}\n\tmaterial.alphaT = mix( pow2( material.roughness ), 1.0, pow2( material.anisotropy ) );\n\tmaterial.anisotropyT = tbn[ 0 ] * anisotropyV.x + tbn[ 1 ] * anisotropyV.y;\n\tmaterial.anisotropyB = tbn[ 1 ] * anisotropyV.x - tbn[ 0 ] * anisotropyV.y;\n#endif";
+
+var lights_physical_pars_fragment = "struct PhysicalMaterial {\n\tvec3 diffuseColor;\n\tfloat roughness;\n\tvec3 specularColor;\n\tfloat specularF90;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat clearcoat;\n\t\tfloat clearcoatRoughness;\n\t\tvec3 clearcoatF0;\n\t\tfloat clearcoatF90;\n\t#endif\n\t#ifdef USE_IRIDESCENCE\n\t\tfloat iridescence;\n\t\tfloat iridescenceIOR;\n\t\tfloat iridescenceThickness;\n\t\tvec3 iridescenceFresnel;\n\t\tvec3 iridescenceF0;\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tvec3 sheenColor;\n\t\tfloat sheenRoughness;\n\t#endif\n\t#ifdef IOR\n\t\tfloat ior;\n\t#endif\n\t#ifdef USE_TRANSMISSION\n\t\tfloat transmission;\n\t\tfloat transmissionAlpha;\n\t\tfloat thickness;\n\t\tfloat attenuationDistance;\n\t\tvec3 attenuationColor;\n\t#endif\n\t#ifdef USE_ANISOTROPY\n\t\tfloat anisotropy;\n\t\tfloat alphaT;\n\t\tvec3 anisotropyT;\n\t\tvec3 anisotropyB;\n\t#endif\n};\nvec3 clearcoatSpecularDirect = vec3( 0.0 );\nvec3 clearcoatSpecularIndirect = vec3( 0.0 );\nvec3 sheenSpecularDirect = vec3( 0.0 );\nvec3 sheenSpecularIndirect = vec3(0.0 );\nvec3 Schlick_to_F0( const in vec3 f, const in float f90, const in float dotVH ) {\n    float x = clamp( 1.0 - dotVH, 0.0, 1.0 );\n    float x2 = x * x;\n    float x5 = clamp( x * x2 * x2, 0.0, 0.9999 );\n    return ( f - vec3( f90 ) * x5 ) / ( 1.0 - x5 );\n}\nfloat V_GGX_SmithCorrelated( const in float alpha, const in float dotNL, const in float dotNV ) {\n\tfloat a2 = pow2( alpha );\n\tfloat gv = dotNL * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );\n\tfloat gl = dotNV * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );\n\treturn 0.5 / max( gv + gl, EPSILON );\n}\nfloat D_GGX( const in float alpha, const in float dotNH ) {\n\tfloat a2 = pow2( alpha );\n\tfloat denom = pow2( dotNH ) * ( a2 - 1.0 ) + 1.0;\n\treturn RECIPROCAL_PI * a2 / pow2( denom );\n}\n#ifdef USE_ANISOTROPY\n\tfloat V_GGX_SmithCorrelated_Anisotropic( const in float alphaT, const in float alphaB, const in float dotTV, const in float dotBV, const in float dotTL, const in float dotBL, const in float dotNV, const in float dotNL ) {\n\t\tfloat gv = dotNL * length( vec3( alphaT * dotTV, alphaB * dotBV, dotNV ) );\n\t\tfloat gl = dotNV * length( vec3( alphaT * dotTL, alphaB * dotBL, dotNL ) );\n\t\tfloat v = 0.5 / ( gv + gl );\n\t\treturn saturate(v);\n\t}\n\tfloat D_GGX_Anisotropic( const in float alphaT, const in float alphaB, const in float dotNH, const in float dotTH, const in float dotBH ) {\n\t\tfloat a2 = alphaT * alphaB;\n\t\thighp vec3 v = vec3( alphaB * dotTH, alphaT * dotBH, a2 * dotNH );\n\t\thighp float v2 = dot( v, v );\n\t\tfloat w2 = a2 / v2;\n\t\treturn RECIPROCAL_PI * a2 * pow2 ( w2 );\n\t}\n#endif\n#ifdef USE_CLEARCOAT\n\tvec3 BRDF_GGX_Clearcoat( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material) {\n\t\tvec3 f0 = material.clearcoatF0;\n\t\tfloat f90 = material.clearcoatF90;\n\t\tfloat roughness = material.clearcoatRoughness;\n\t\tfloat alpha = pow2( roughness );\n\t\tvec3 halfDir = normalize( lightDir + viewDir );\n\t\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\t\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\t\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\t\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\t\tvec3 F = F_Schlick( f0, f90, dotVH );\n\t\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\t\tfloat D = D_GGX( alpha, dotNH );\n\t\treturn F * ( V * D );\n\t}\n#endif\nvec3 BRDF_GGX( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material ) {\n\tvec3 f0 = material.specularColor;\n\tfloat f90 = material.specularF90;\n\tfloat roughness = material.roughness;\n\tfloat alpha = pow2( roughness );\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( f0, f90, dotVH );\n\t#ifdef USE_IRIDESCENCE\n\t\tF = mix( F, material.iridescenceFresnel, material.iridescence );\n\t#endif\n\t#ifdef USE_ANISOTROPY\n\t\tfloat dotTL = dot( material.anisotropyT, lightDir );\n\t\tfloat dotTV = dot( material.anisotropyT, viewDir );\n\t\tfloat dotTH = dot( material.anisotropyT, halfDir );\n\t\tfloat dotBL = dot( material.anisotropyB, lightDir );\n\t\tfloat dotBV = dot( material.anisotropyB, viewDir );\n\t\tfloat dotBH = dot( material.anisotropyB, halfDir );\n\t\tfloat V = V_GGX_SmithCorrelated_Anisotropic( material.alphaT, alpha, dotTV, dotBV, dotTL, dotBL, dotNV, dotNL );\n\t\tfloat D = D_GGX_Anisotropic( material.alphaT, alpha, dotNH, dotTH, dotBH );\n\t#else\n\t\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\t\tfloat D = D_GGX( alpha, dotNH );\n\t#endif\n\treturn F * ( V * D );\n}\nvec2 LTC_Uv( const in vec3 N, const in vec3 V, const in float roughness ) {\n\tconst float LUT_SIZE = 64.0;\n\tconst float LUT_SCALE = ( LUT_SIZE - 1.0 ) / LUT_SIZE;\n\tconst float LUT_BIAS = 0.5 / LUT_SIZE;\n\tfloat dotNV = saturate( dot( N, V ) );\n\tvec2 uv = vec2( roughness, sqrt( 1.0 - dotNV ) );\n\tuv = uv * LUT_SCALE + LUT_BIAS;\n\treturn uv;\n}\nfloat LTC_ClippedSphereFormFactor( const in vec3 f ) {\n\tfloat l = length( f );\n\treturn max( ( l * l + f.z ) / ( l + 1.0 ), 0.0 );\n}\nvec3 LTC_EdgeVectorFormFactor( const in vec3 v1, const in vec3 v2 ) {\n\tfloat x = dot( v1, v2 );\n\tfloat y = abs( x );\n\tfloat a = 0.8543985 + ( 0.4965155 + 0.0145206 * y ) * y;\n\tfloat b = 3.4175940 + ( 4.1616724 + y ) * y;\n\tfloat v = a / b;\n\tfloat theta_sintheta = ( x > 0.0 ) ? v : 0.5 * inversesqrt( max( 1.0 - x * x, 1e-7 ) ) - v;\n\treturn cross( v1, v2 ) * theta_sintheta;\n}\nvec3 LTC_Evaluate( const in vec3 N, const in vec3 V, const in vec3 P, const in mat3 mInv, const in vec3 rectCoords[ 4 ] ) {\n\tvec3 v1 = rectCoords[ 1 ] - rectCoords[ 0 ];\n\tvec3 v2 = rectCoords[ 3 ] - rectCoords[ 0 ];\n\tvec3 lightNormal = cross( v1, v2 );\n\tif( dot( lightNormal, P - rectCoords[ 0 ] ) < 0.0 ) return vec3( 0.0 );\n\tvec3 T1, T2;\n\tT1 = normalize( V - N * dot( V, N ) );\n\tT2 = - cross( N, T1 );\n\tmat3 mat = mInv * transposeMat3( mat3( T1, T2, N ) );\n\tvec3 coords[ 4 ];\n\tcoords[ 0 ] = mat * ( rectCoords[ 0 ] - P );\n\tcoords[ 1 ] = mat * ( rectCoords[ 1 ] - P );\n\tcoords[ 2 ] = mat * ( rectCoords[ 2 ] - P );\n\tcoords[ 3 ] = mat * ( rectCoords[ 3 ] - P );\n\tcoords[ 0 ] = normalize( coords[ 0 ] );\n\tcoords[ 1 ] = normalize( coords[ 1 ] );\n\tcoords[ 2 ] = normalize( coords[ 2 ] );\n\tcoords[ 3 ] = normalize( coords[ 3 ] );\n\tvec3 vectorFormFactor = vec3( 0.0 );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 0 ], coords[ 1 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 1 ], coords[ 2 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 2 ], coords[ 3 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 3 ], coords[ 0 ] );\n\tfloat result = LTC_ClippedSphereFormFactor( vectorFormFactor );\n\treturn vec3( result );\n}\n#if defined( USE_SHEEN )\nfloat D_Charlie( float roughness, float dotNH ) {\n\tfloat alpha = pow2( roughness );\n\tfloat invAlpha = 1.0 / alpha;\n\tfloat cos2h = dotNH * dotNH;\n\tfloat sin2h = max( 1.0 - cos2h, 0.0078125 );\n\treturn ( 2.0 + invAlpha ) * pow( sin2h, invAlpha * 0.5 ) / ( 2.0 * PI );\n}\nfloat V_Neubelt( float dotNV, float dotNL ) {\n\treturn saturate( 1.0 / ( 4.0 * ( dotNL + dotNV - dotNL * dotNV ) ) );\n}\nvec3 BRDF_Sheen( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, vec3 sheenColor, const in float sheenRoughness ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat D = D_Charlie( sheenRoughness, dotNH );\n\tfloat V = V_Neubelt( dotNV, dotNL );\n\treturn sheenColor * ( D * V );\n}\n#endif\nfloat IBLSheenBRDF( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat r2 = roughness * roughness;\n\tfloat a = roughness < 0.25 ? -339.2 * r2 + 161.4 * roughness - 25.9 : -8.48 * r2 + 14.3 * roughness - 9.95;\n\tfloat b = roughness < 0.25 ? 44.0 * r2 - 23.7 * roughness + 3.26 : 1.97 * r2 - 3.27 * roughness + 0.72;\n\tfloat DG = exp( a * dotNV + b ) + ( roughness < 0.25 ? 0.0 : 0.1 * ( roughness - 0.25 ) );\n\treturn saturate( DG * RECIPROCAL_PI );\n}\nvec2 DFGApprox( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tconst vec4 c0 = vec4( - 1, - 0.0275, - 0.572, 0.022 );\n\tconst vec4 c1 = vec4( 1, 0.0425, 1.04, - 0.04 );\n\tvec4 r = roughness * c0 + c1;\n\tfloat a004 = min( r.x * r.x, exp2( - 9.28 * dotNV ) ) * r.x + r.y;\n\tvec2 fab = vec2( - 1.04, 1.04 ) * a004 + r.zw;\n\treturn fab;\n}\nvec3 EnvironmentBRDF( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness ) {\n\tvec2 fab = DFGApprox( normal, viewDir, roughness );\n\treturn specularColor * fab.x + specularF90 * fab.y;\n}\n#ifdef USE_IRIDESCENCE\nvoid computeMultiscatteringIridescence( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float iridescence, const in vec3 iridescenceF0, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#else\nvoid computeMultiscattering( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#endif\n\tvec2 fab = DFGApprox( normal, viewDir, roughness );\n\t#ifdef USE_IRIDESCENCE\n\t\tvec3 Fr = mix( specularColor, iridescenceF0, iridescence );\n\t#else\n\t\tvec3 Fr = specularColor;\n\t#endif\n\tvec3 FssEss = Fr * fab.x + specularF90 * fab.y;\n\tfloat Ess = fab.x + fab.y;\n\tfloat Ems = 1.0 - Ess;\n\tvec3 Favg = Fr + ( 1.0 - Fr ) * 0.047619;\tvec3 Fms = FssEss * Favg / ( 1.0 - Ems * Favg );\n\tsingleScatter += FssEss;\n\tmultiScatter += Fms * Ems;\n}\n#if NUM_RECT_AREA_LIGHTS > 0\n\tvoid RE_Direct_RectArea_Physical( const in RectAreaLight rectAreaLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\t\tvec3 normal = geometryNormal;\n\t\tvec3 viewDir = geometryViewDir;\n\t\tvec3 position = geometryPosition;\n\t\tvec3 lightPos = rectAreaLight.position;\n\t\tvec3 halfWidth = rectAreaLight.halfWidth;\n\t\tvec3 halfHeight = rectAreaLight.halfHeight;\n\t\tvec3 lightColor = rectAreaLight.color;\n\t\tfloat roughness = material.roughness;\n\t\tvec3 rectCoords[ 4 ];\n\t\trectCoords[ 0 ] = lightPos + halfWidth - halfHeight;\t\trectCoords[ 1 ] = lightPos - halfWidth - halfHeight;\n\t\trectCoords[ 2 ] = lightPos - halfWidth + halfHeight;\n\t\trectCoords[ 3 ] = lightPos + halfWidth + halfHeight;\n\t\tvec2 uv = LTC_Uv( normal, viewDir, roughness );\n\t\tvec4 t1 = texture2D( ltc_1, uv );\n\t\tvec4 t2 = texture2D( ltc_2, uv );\n\t\tmat3 mInv = mat3(\n\t\t\tvec3( t1.x, 0, t1.y ),\n\t\t\tvec3(    0, 1,    0 ),\n\t\t\tvec3( t1.z, 0, t1.w )\n\t\t);\n\t\tvec3 fresnel = ( material.specularColor * t2.x + ( vec3( 1.0 ) - material.specularColor ) * t2.y );\n\t\treflectedLight.directSpecular += lightColor * fresnel * LTC_Evaluate( normal, viewDir, position, mInv, rectCoords );\n\t\treflectedLight.directDiffuse += lightColor * material.diffuseColor * LTC_Evaluate( normal, viewDir, position, mat3( 1.0 ), rectCoords );\n\t}\n#endif\nvoid RE_Direct_Physical( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat dotNLcc = saturate( dot( geometryClearcoatNormal, directLight.direction ) );\n\t\tvec3 ccIrradiance = dotNLcc * directLight.color;\n\t\tclearcoatSpecularDirect += ccIrradiance * BRDF_GGX_Clearcoat( directLight.direction, geometryViewDir, geometryClearcoatNormal, material );\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tsheenSpecularDirect += irradiance * BRDF_Sheen( directLight.direction, geometryViewDir, geometryNormal, material.sheenColor, material.sheenRoughness );\n\t#endif\n\treflectedLight.directSpecular += irradiance * BRDF_GGX( directLight.direction, geometryViewDir, geometryNormal, material );\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Physical( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectSpecular_Physical( const in vec3 radiance, const in vec3 irradiance, const in vec3 clearcoatRadiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight) {\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatSpecularIndirect += clearcoatRadiance * EnvironmentBRDF( geometryClearcoatNormal, geometryViewDir, material.clearcoatF0, material.clearcoatF90, material.clearcoatRoughness );\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tsheenSpecularIndirect += irradiance * material.sheenColor * IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness );\n\t#endif\n\tvec3 singleScattering = vec3( 0.0 );\n\tvec3 multiScattering = vec3( 0.0 );\n\tvec3 cosineWeightedIrradiance = irradiance * RECIPROCAL_PI;\n\t#ifdef USE_IRIDESCENCE\n\t\tcomputeMultiscatteringIridescence( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.iridescence, material.iridescenceFresnel, material.roughness, singleScattering, multiScattering );\n\t#else\n\t\tcomputeMultiscattering( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.roughness, singleScattering, multiScattering );\n\t#endif\n\tvec3 totalScattering = singleScattering + multiScattering;\n\tvec3 diffuse = material.diffuseColor * ( 1.0 - max( max( totalScattering.r, totalScattering.g ), totalScattering.b ) );\n\treflectedLight.indirectSpecular += radiance * singleScattering;\n\treflectedLight.indirectSpecular += multiScattering * cosineWeightedIrradiance;\n\treflectedLight.indirectDiffuse += diffuse * cosineWeightedIrradiance;\n}\n#define RE_Direct\t\t\t\tRE_Direct_Physical\n#define RE_Direct_RectArea\t\tRE_Direct_RectArea_Physical\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Physical\n#define RE_IndirectSpecular\t\tRE_IndirectSpecular_Physical\nfloat computeSpecularOcclusion( const in float dotNV, const in float ambientOcclusion, const in float roughness ) {\n\treturn saturate( pow( dotNV + ambientOcclusion, exp2( - 16.0 * roughness - 1.0 ) ) - 1.0 + ambientOcclusion );\n}";
+
+var lights_fragment_begin = "\nvec3 geometryPosition = - vViewPosition;\nvec3 geometryNormal = normal;\nvec3 geometryViewDir = ( isOrthographic ) ? vec3( 0, 0, 1 ) : normalize( vViewPosition );\nvec3 geometryClearcoatNormal = vec3( 0.0 );\n#ifdef USE_CLEARCOAT\n\tgeometryClearcoatNormal = clearcoatNormal;\n#endif\n#ifdef USE_IRIDESCENCE\n\tfloat dotNVi = saturate( dot( normal, geometryViewDir ) );\n\tif ( material.iridescenceThickness == 0.0 ) {\n\t\tmaterial.iridescence = 0.0;\n\t} else {\n\t\tmaterial.iridescence = saturate( material.iridescence );\n\t}\n\tif ( material.iridescence > 0.0 ) {\n\t\tmaterial.iridescenceFresnel = evalIridescence( 1.0, material.iridescenceIOR, dotNVi, material.iridescenceThickness, material.specularColor );\n\t\tmaterial.iridescenceF0 = Schlick_to_F0( material.iridescenceFresnel, 1.0, dotNVi );\n\t}\n#endif\nIncidentLight directLight;\n#if ( NUM_POINT_LIGHTS > 0 ) && defined( RE_Direct )\n\tPointLight pointLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_POINT_LIGHT_SHADOWS > 0\n\tPointLightShadow pointLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\n\t\tpointLight = pointLights[ i ];\n\t\tgetPointLightInfo( pointLight, geometryPosition, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_POINT_LIGHT_SHADOWS )\n\t\tpointLightShadow = pointLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getPointShadow( pointShadowMap[ i ], pointLightShadow.shadowMapSize, pointLightShadow.shadowBias, pointLightShadow.shadowRadius, vPointShadowCoord[ i ], pointLightShadow.shadowCameraNear, pointLightShadow.shadowCameraFar ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_SPOT_LIGHTS > 0 ) && defined( RE_Direct )\n\tSpotLight spotLight;\n\tvec4 spotColor;\n\tvec3 spotLightCoord;\n\tbool inSpotLightMap;\n\t#if defined( USE_SHADOWMAP ) && NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\n\t\tspotLight = spotLights[ i ];\n\t\tgetSpotLightInfo( spotLight, geometryPosition, directLight );\n\t\t#if ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#define SPOT_LIGHT_MAP_INDEX UNROLLED_LOOP_INDEX\n\t\t#elif ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t#define SPOT_LIGHT_MAP_INDEX NUM_SPOT_LIGHT_MAPS\n\t\t#else\n\t\t#define SPOT_LIGHT_MAP_INDEX ( UNROLLED_LOOP_INDEX - NUM_SPOT_LIGHT_SHADOWS + NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#endif\n\t\t#if ( SPOT_LIGHT_MAP_INDEX < NUM_SPOT_LIGHT_MAPS )\n\t\t\tspotLightCoord = vSpotLightCoord[ i ].xyz / vSpotLightCoord[ i ].w;\n\t\t\tinSpotLightMap = all( lessThan( abs( spotLightCoord * 2. - 1. ), vec3( 1.0 ) ) );\n\t\t\tspotColor = texture2D( spotLightMap[ SPOT_LIGHT_MAP_INDEX ], spotLightCoord.xy );\n\t\t\tdirectLight.color = inSpotLightMap ? directLight.color * spotColor.rgb : directLight.color;\n\t\t#endif\n\t\t#undef SPOT_LIGHT_MAP_INDEX\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\tspotLightShadow = spotLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( spotShadowMap[ i ], spotLightShadow.shadowMapSize, spotLightShadow.shadowBias, spotLightShadow.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_DIR_LIGHTS > 0 ) && defined( RE_Direct )\n\tDirectionalLight directionalLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\n\t\tdirectionalLight = directionalLights[ i ];\n\t\tgetDirectionalLightInfo( directionalLight, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_DIR_LIGHT_SHADOWS )\n\t\tdirectionalLightShadow = directionalLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( directionalShadowMap[ i ], directionalLightShadow.shadowMapSize, directionalLightShadow.shadowBias, directionalLightShadow.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_RECT_AREA_LIGHTS > 0 ) && defined( RE_Direct_RectArea )\n\tRectAreaLight rectAreaLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_RECT_AREA_LIGHTS; i ++ ) {\n\t\trectAreaLight = rectAreaLights[ i ];\n\t\tRE_Direct_RectArea( rectAreaLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if defined( RE_IndirectDiffuse )\n\tvec3 iblIrradiance = vec3( 0.0 );\n\tvec3 irradiance = getAmbientLightIrradiance( ambientLightColor );\n\t#if defined( USE_LIGHT_PROBES )\n\t\tirradiance += getLightProbeIrradiance( lightProbe, geometryNormal );\n\t#endif\n\t#if ( NUM_HEMI_LIGHTS > 0 )\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {\n\t\t\tirradiance += getHemisphereLightIrradiance( hemisphereLights[ i ], geometryNormal );\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if defined( RE_IndirectSpecular )\n\tvec3 radiance = vec3( 0.0 );\n\tvec3 clearcoatRadiance = vec3( 0.0 );\n#endif";
+
+var lights_fragment_maps = "#if defined( RE_IndirectDiffuse )\n\t#ifdef USE_LIGHTMAP\n\t\tvec4 lightMapTexel = texture2D( lightMap, vLightMapUv );\n\t\tvec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;\n\t\tirradiance += lightMapIrradiance;\n\t#endif\n\t#if defined( USE_ENVMAP ) && defined( STANDARD ) && defined( ENVMAP_TYPE_CUBE_UV )\n\t\tiblIrradiance += getIBLIrradiance( geometryNormal );\n\t#endif\n#endif\n#if defined( USE_ENVMAP ) && defined( RE_IndirectSpecular )\n\t#ifdef USE_ANISOTROPY\n\t\tradiance += getIBLAnisotropyRadiance( geometryViewDir, geometryNormal, material.roughness, material.anisotropyB, material.anisotropy );\n\t#else\n\t\tradiance += getIBLRadiance( geometryViewDir, geometryNormal, material.roughness );\n\t#endif\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatRadiance += getIBLRadiance( geometryViewDir, geometryClearcoatNormal, material.clearcoatRoughness );\n\t#endif\n#endif";
+
+var lights_fragment_end = "#if defined( RE_IndirectDiffuse )\n\tRE_IndirectDiffuse( irradiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n#endif\n#if defined( RE_IndirectSpecular )\n\tRE_IndirectSpecular( radiance, iblIrradiance, clearcoatRadiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n#endif";
+
+var logdepthbuf_fragment = "#if defined( USE_LOGDEPTHBUF ) && defined( USE_LOGDEPTHBUF_EXT )\n\tgl_FragDepthEXT = vIsPerspective == 0.0 ? gl_FragCoord.z : log2( vFragDepth ) * logDepthBufFC * 0.5;\n#endif";
+
+var logdepthbuf_pars_fragment = "#if defined( USE_LOGDEPTHBUF ) && defined( USE_LOGDEPTHBUF_EXT )\n\tuniform float logDepthBufFC;\n\tvarying float vFragDepth;\n\tvarying float vIsPerspective;\n#endif";
+
+var logdepthbuf_pars_vertex = "#ifdef USE_LOGDEPTHBUF\n\t#ifdef USE_LOGDEPTHBUF_EXT\n\t\tvarying float vFragDepth;\n\t\tvarying float vIsPerspective;\n\t#else\n\t\tuniform float logDepthBufFC;\n\t#endif\n#endif";
+
+var logdepthbuf_vertex = "#ifdef USE_LOGDEPTHBUF\n\t#ifdef USE_LOGDEPTHBUF_EXT\n\t\tvFragDepth = 1.0 + gl_Position.w;\n\t\tvIsPerspective = float( isPerspectiveMatrix( projectionMatrix ) );\n\t#else\n\t\tif ( isPerspectiveMatrix( projectionMatrix ) ) {\n\t\t\tgl_Position.z = log2( max( EPSILON, gl_Position.w + 1.0 ) ) * logDepthBufFC - 1.0;\n\t\t\tgl_Position.z *= gl_Position.w;\n\t\t}\n\t#endif\n#endif";
+
+var map_fragment = "#ifdef USE_MAP\n\tvec4 sampledDiffuseColor = texture2D( map, vMapUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\tsampledDiffuseColor = vec4( mix( pow( sampledDiffuseColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), sampledDiffuseColor.rgb * 0.0773993808, vec3( lessThanEqual( sampledDiffuseColor.rgb, vec3( 0.04045 ) ) ) ), sampledDiffuseColor.w );\n\t\n\t#endif\n\tdiffuseColor *= sampledDiffuseColor;\n#endif";
+
+var map_pars_fragment = "#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif";
+
+var map_particle_fragment = "#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\t#if defined( USE_POINTS_UV )\n\t\tvec2 uv = vUv;\n\t#else\n\t\tvec2 uv = ( uvTransform * vec3( gl_PointCoord.x, 1.0 - gl_PointCoord.y, 1 ) ).xy;\n\t#endif\n#endif\n#ifdef USE_MAP\n\tdiffuseColor *= texture2D( map, uv );\n#endif\n#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, uv ).g;\n#endif";
+
+var map_particle_pars_fragment = "#if defined( USE_POINTS_UV )\n\tvarying vec2 vUv;\n#else\n\t#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\t\tuniform mat3 uvTransform;\n\t#endif\n#endif\n#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif\n#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif";
+
+var metalnessmap_fragment = "float metalnessFactor = metalness;\n#ifdef USE_METALNESSMAP\n\tvec4 texelMetalness = texture2D( metalnessMap, vMetalnessMapUv );\n\tmetalnessFactor *= texelMetalness.b;\n#endif";
+
+var metalnessmap_pars_fragment = "#ifdef USE_METALNESSMAP\n\tuniform sampler2D metalnessMap;\n#endif";
+
+var morphcolor_vertex = "#if defined( USE_MORPHCOLORS ) && defined( MORPHTARGETS_TEXTURE )\n\tvColor *= morphTargetBaseInfluence;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t#if defined( USE_COLOR_ALPHA )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ) * morphTargetInfluences[ i ];\n\t\t#elif defined( USE_COLOR )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ).rgb * morphTargetInfluences[ i ];\n\t\t#endif\n\t}\n#endif";
+
+var morphnormal_vertex = "#ifdef USE_MORPHNORMALS\n\tobjectNormal *= morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) objectNormal += getMorph( gl_VertexID, i, 1 ).xyz * morphTargetInfluences[ i ];\n\t\t}\n\t#else\n\t\tobjectNormal += morphNormal0 * morphTargetInfluences[ 0 ];\n\t\tobjectNormal += morphNormal1 * morphTargetInfluences[ 1 ];\n\t\tobjectNormal += morphNormal2 * morphTargetInfluences[ 2 ];\n\t\tobjectNormal += morphNormal3 * morphTargetInfluences[ 3 ];\n\t#endif\n#endif";
+
+var morphtarget_pars_vertex = "#ifdef USE_MORPHTARGETS\n\tuniform float morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tuniform float morphTargetInfluences[ MORPHTARGETS_COUNT ];\n\t\tuniform sampler2DArray morphTargetsTexture;\n\t\tuniform ivec2 morphTargetsTextureSize;\n\t\tvec4 getMorph( const in int vertexIndex, const in int morphTargetIndex, const in int offset ) {\n\t\t\tint texelIndex = vertexIndex * MORPHTARGETS_TEXTURE_STRIDE + offset;\n\t\t\tint y = texelIndex / morphTargetsTextureSize.x;\n\t\t\tint x = texelIndex - y * morphTargetsTextureSize.x;\n\t\t\tivec3 morphUV = ivec3( x, y, morphTargetIndex );\n\t\t\treturn texelFetch( morphTargetsTexture, morphUV, 0 );\n\t\t}\n\t#else\n\t\t#ifndef USE_MORPHNORMALS\n\t\t\tuniform float morphTargetInfluences[ 8 ];\n\t\t#else\n\t\t\tuniform float morphTargetInfluences[ 4 ];\n\t\t#endif\n\t#endif\n#endif";
+
+var morphtarget_vertex = "#ifdef USE_MORPHTARGETS\n\ttransformed *= morphTargetBaseInfluence;\n\t#ifdef MORPHTARGETS_TEXTURE\n\t\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) transformed += getMorph( gl_VertexID, i, 0 ).xyz * morphTargetInfluences[ i ];\n\t\t}\n\t#else\n\t\ttransformed += morphTarget0 * morphTargetInfluences[ 0 ];\n\t\ttransformed += morphTarget1 * morphTargetInfluences[ 1 ];\n\t\ttransformed += morphTarget2 * morphTargetInfluences[ 2 ];\n\t\ttransformed += morphTarget3 * morphTargetInfluences[ 3 ];\n\t\t#ifndef USE_MORPHNORMALS\n\t\t\ttransformed += morphTarget4 * morphTargetInfluences[ 4 ];\n\t\t\ttransformed += morphTarget5 * morphTargetInfluences[ 5 ];\n\t\t\ttransformed += morphTarget6 * morphTargetInfluences[ 6 ];\n\t\t\ttransformed += morphTarget7 * morphTargetInfluences[ 7 ];\n\t\t#endif\n\t#endif\n#endif";
+
+var normal_fragment_begin = "float faceDirection = gl_FrontFacing ? 1.0 : - 1.0;\n#ifdef FLAT_SHADED\n\tvec3 fdx = dFdx( vViewPosition );\n\tvec3 fdy = dFdy( vViewPosition );\n\tvec3 normal = normalize( cross( fdx, fdy ) );\n#else\n\tvec3 normal = normalize( vNormal );\n\t#ifdef DOUBLE_SIDED\n\t\tnormal *= faceDirection;\n\t#endif\n#endif\n#if defined( USE_NORMALMAP_TANGENTSPACE ) || defined( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY )\n\t#ifdef USE_TANGENT\n\t\tmat3 tbn = mat3( normalize( vTangent ), normalize( vBitangent ), normal );\n\t#else\n\t\tmat3 tbn = getTangentFrame( - vViewPosition, normal,\n\t\t#if defined( USE_NORMALMAP )\n\t\t\tvNormalMapUv\n\t\t#elif defined( USE_CLEARCOAT_NORMALMAP )\n\t\t\tvClearcoatNormalMapUv\n\t\t#else\n\t\t\tvUv\n\t\t#endif\n\t\t);\n\t#endif\n\t#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )\n\t\ttbn[0] *= faceDirection;\n\t\ttbn[1] *= faceDirection;\n\t#endif\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\t#ifdef USE_TANGENT\n\t\tmat3 tbn2 = mat3( normalize( vTangent ), normalize( vBitangent ), normal );\n\t#else\n\t\tmat3 tbn2 = getTangentFrame( - vViewPosition, normal, vClearcoatNormalMapUv );\n\t#endif\n\t#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )\n\t\ttbn2[0] *= faceDirection;\n\t\ttbn2[1] *= faceDirection;\n\t#endif\n#endif\nvec3 nonPerturbedNormal = normal;";
+
+var normal_fragment_maps = "#ifdef USE_NORMALMAP_OBJECTSPACE\n\tnormal = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;\n\t#ifdef FLIP_SIDED\n\t\tnormal = - normal;\n\t#endif\n\t#ifdef DOUBLE_SIDED\n\t\tnormal = normal * faceDirection;\n\t#endif\n\tnormal = normalize( normalMatrix * normal );\n#elif defined( USE_NORMALMAP_TANGENTSPACE )\n\tvec3 mapN = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;\n\tmapN.xy *= normalScale;\n\tnormal = normalize( tbn * mapN );\n#elif defined( USE_BUMPMAP )\n\tnormal = perturbNormalArb( - vViewPosition, normal, dHdxy_fwd(), faceDirection );\n#endif";
+
+var normal_pars_fragment = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif";
+
+var normal_pars_vertex = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif";
+
+var normal_vertex = "#ifndef FLAT_SHADED\n\tvNormal = normalize( transformedNormal );\n\t#ifdef USE_TANGENT\n\t\tvTangent = normalize( transformedTangent );\n\t\tvBitangent = normalize( cross( vNormal, vTangent ) * tangent.w );\n\t#endif\n#endif";
+
+var normalmap_pars_fragment = "#ifdef USE_NORMALMAP\n\tuniform sampler2D normalMap;\n\tuniform vec2 normalScale;\n#endif\n#ifdef USE_NORMALMAP_OBJECTSPACE\n\tuniform mat3 normalMatrix;\n#endif\n#if ! defined ( USE_TANGENT ) && ( defined ( USE_NORMALMAP_TANGENTSPACE ) || defined ( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY ) )\n\tmat3 getTangentFrame( vec3 eye_pos, vec3 surf_norm, vec2 uv ) {\n\t\tvec3 q0 = dFdx( eye_pos.xyz );\n\t\tvec3 q1 = dFdy( eye_pos.xyz );\n\t\tvec2 st0 = dFdx( uv.st );\n\t\tvec2 st1 = dFdy( uv.st );\n\t\tvec3 N = surf_norm;\n\t\tvec3 q1perp = cross( q1, N );\n\t\tvec3 q0perp = cross( N, q0 );\n\t\tvec3 T = q1perp * st0.x + q0perp * st1.x;\n\t\tvec3 B = q1perp * st0.y + q0perp * st1.y;\n\t\tfloat det = max( dot( T, T ), dot( B, B ) );\n\t\tfloat scale = ( det == 0.0 ) ? 0.0 : inversesqrt( det );\n\t\treturn mat3( T * scale, B * scale, N );\n\t}\n#endif";
+
+var clearcoat_normal_fragment_begin = "#ifdef USE_CLEARCOAT\n\tvec3 clearcoatNormal = nonPerturbedNormal;\n#endif";
+
+var clearcoat_normal_fragment_maps = "#ifdef USE_CLEARCOAT_NORMALMAP\n\tvec3 clearcoatMapN = texture2D( clearcoatNormalMap, vClearcoatNormalMapUv ).xyz * 2.0 - 1.0;\n\tclearcoatMapN.xy *= clearcoatNormalScale;\n\tclearcoatNormal = normalize( tbn2 * clearcoatMapN );\n#endif";
+
+var clearcoat_pars_fragment = "#ifdef USE_CLEARCOATMAP\n\tuniform sampler2D clearcoatMap;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tuniform sampler2D clearcoatNormalMap;\n\tuniform vec2 clearcoatNormalScale;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tuniform sampler2D clearcoatRoughnessMap;\n#endif";
+
+var iridescence_pars_fragment = "#ifdef USE_IRIDESCENCEMAP\n\tuniform sampler2D iridescenceMap;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tuniform sampler2D iridescenceThicknessMap;\n#endif";
+
+var opaque_fragment = "#ifdef OPAQUE\ndiffuseColor.a = 1.0;\n#endif\n#ifdef USE_TRANSMISSION\ndiffuseColor.a *= material.transmissionAlpha;\n#endif\ngl_FragColor = vec4( outgoingLight, diffuseColor.a );";
+
+var packing = "vec3 packNormalToRGB( const in vec3 normal ) {\n\treturn normalize( normal ) * 0.5 + 0.5;\n}\nvec3 unpackRGBToNormal( const in vec3 rgb ) {\n\treturn 2.0 * rgb.xyz - 1.0;\n}\nconst float PackUpscale = 256. / 255.;const float UnpackDownscale = 255. / 256.;\nconst vec3 PackFactors = vec3( 256. * 256. * 256., 256. * 256., 256. );\nconst vec4 UnpackFactors = UnpackDownscale / vec4( PackFactors, 1. );\nconst float ShiftRight8 = 1. / 256.;\nvec4 packDepthToRGBA( const in float v ) {\n\tvec4 r = vec4( fract( v * PackFactors ), v );\n\tr.yzw -= r.xyz * ShiftRight8;\treturn r * PackUpscale;\n}\nfloat unpackRGBAToDepth( const in vec4 v ) {\n\treturn dot( v, UnpackFactors );\n}\nvec2 packDepthToRG( in highp float v ) {\n\treturn packDepthToRGBA( v ).yx;\n}\nfloat unpackRGToDepth( const in highp vec2 v ) {\n\treturn unpackRGBAToDepth( vec4( v.xy, 0.0, 0.0 ) );\n}\nvec4 pack2HalfToRGBA( vec2 v ) {\n\tvec4 r = vec4( v.x, fract( v.x * 255.0 ), v.y, fract( v.y * 255.0 ) );\n\treturn vec4( r.x - r.y / 255.0, r.y, r.z - r.w / 255.0, r.w );\n}\nvec2 unpackRGBATo2Half( vec4 v ) {\n\treturn vec2( v.x + ( v.y / 255.0 ), v.z + ( v.w / 255.0 ) );\n}\nfloat viewZToOrthographicDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( viewZ + near ) / ( near - far );\n}\nfloat orthographicDepthToViewZ( const in float depth, const in float near, const in float far ) {\n\treturn depth * ( near - far ) - near;\n}\nfloat viewZToPerspectiveDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( ( near + viewZ ) * far ) / ( ( far - near ) * viewZ );\n}\nfloat perspectiveDepthToViewZ( const in float depth, const in float near, const in float far ) {\n\treturn ( near * far ) / ( ( far - near ) * depth - far );\n}";
+
+var premultiplied_alpha_fragment = "#ifdef PREMULTIPLIED_ALPHA\n\tgl_FragColor.rgb *= gl_FragColor.a;\n#endif";
+
+var project_vertex = "vec4 mvPosition = vec4( transformed, 1.0 );\n#ifdef USE_BATCHING\n\tmvPosition = batchingMatrix * mvPosition;\n#endif\n#ifdef USE_INSTANCING\n\tmvPosition = instanceMatrix * mvPosition;\n#endif\nmvPosition = modelViewMatrix * mvPosition;\ngl_Position = projectionMatrix * mvPosition;";
+
+var dithering_fragment = "#ifdef DITHERING\n\tgl_FragColor.rgb = dithering( gl_FragColor.rgb );\n#endif";
+
+var dithering_pars_fragment = "#ifdef DITHERING\n\tvec3 dithering( vec3 color ) {\n\t\tfloat grid_position = rand( gl_FragCoord.xy );\n\t\tvec3 dither_shift_RGB = vec3( 0.25 / 255.0, -0.25 / 255.0, 0.25 / 255.0 );\n\t\tdither_shift_RGB = mix( 2.0 * dither_shift_RGB, -2.0 * dither_shift_RGB, grid_position );\n\t\treturn color + dither_shift_RGB;\n\t}\n#endif";
+
+var roughnessmap_fragment = "float roughnessFactor = roughness;\n#ifdef USE_ROUGHNESSMAP\n\tvec4 texelRoughness = texture2D( roughnessMap, vRoughnessMapUv );\n\troughnessFactor *= texelRoughness.g;\n#endif";
+
+var roughnessmap_pars_fragment = "#ifdef USE_ROUGHNESSMAP\n\tuniform sampler2D roughnessMap;\n#endif";
+
+var shadowmap_pars_fragment = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#if NUM_SPOT_LIGHT_MAPS > 0\n\tuniform sampler2D spotLightMap[ NUM_SPOT_LIGHT_MAPS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D directionalShadowMap[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D spotShadowMap[ NUM_SPOT_LIGHT_SHADOWS ];\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\tuniform sampler2D pointShadowMap[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n\tfloat texture2DCompare( sampler2D depths, vec2 uv, float compare ) {\n\t\treturn step( compare, unpackRGBAToDepth( texture2D( depths, uv ) ) );\n\t}\n\tvec2 texture2DDistribution( sampler2D shadow, vec2 uv ) {\n\t\treturn unpackRGBATo2Half( texture2D( shadow, uv ) );\n\t}\n\tfloat VSMShadow (sampler2D shadow, vec2 uv, float compare ){\n\t\tfloat occlusion = 1.0;\n\t\tvec2 distribution = texture2DDistribution( shadow, uv );\n\t\tfloat hard_shadow = step( compare , distribution.x );\n\t\tif (hard_shadow != 1.0 ) {\n\t\t\tfloat distance = compare - distribution.x ;\n\t\t\tfloat variance = max( 0.00000, distribution.y * distribution.y );\n\t\t\tfloat softness_probability = variance / (variance + distance * distance );\t\t\tsoftness_probability = clamp( ( softness_probability - 0.3 ) / ( 0.95 - 0.3 ), 0.0, 1.0 );\t\t\tocclusion = clamp( max( hard_shadow, softness_probability ), 0.0, 1.0 );\n\t\t}\n\t\treturn occlusion;\n\t}\n\tfloat getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\n\t\tfloat shadow = 1.0;\n\t\tshadowCoord.xyz /= shadowCoord.w;\n\t\tshadowCoord.z += shadowBias;\n\t\tbool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;\n\t\tbool frustumTest = inFrustum && shadowCoord.z <= 1.0;\n\t\tif ( frustumTest ) {\n\t\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\t\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\n\t\t\tfloat dx0 = - texelSize.x * shadowRadius;\n\t\t\tfloat dy0 = - texelSize.y * shadowRadius;\n\t\t\tfloat dx1 = + texelSize.x * shadowRadius;\n\t\t\tfloat dy1 = + texelSize.y * shadowRadius;\n\t\t\tfloat dx2 = dx0 / 2.0;\n\t\t\tfloat dy2 = dy0 / 2.0;\n\t\t\tfloat dx3 = dx1 / 2.0;\n\t\t\tfloat dy3 = dy1 / 2.0;\n\t\t\tshadow = (\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy2 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy3 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy1 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy1 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy1 ), shadowCoord.z )\n\t\t\t) * ( 1.0 / 17.0 );\n\t\t#elif defined( SHADOWMAP_TYPE_PCF_SOFT )\n\t\t\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\n\t\t\tfloat dx = texelSize.x;\n\t\t\tfloat dy = texelSize.y;\n\t\t\tvec2 uv = shadowCoord.xy;\n\t\t\tvec2 f = fract( uv * shadowMapSize + 0.5 );\n\t\t\tuv -= f * texelSize;\n\t\t\tshadow = (\n\t\t\t\ttexture2DCompare( shadowMap, uv, shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + vec2( dx, 0.0 ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + vec2( 0.0, dy ), shadowCoord.z ) +\n\t\t\t\ttexture2DCompare( shadowMap, uv + texelSize, shadowCoord.z ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( -dx, 0.0 ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 0.0 ), shadowCoord.z ),\n\t\t\t\t\t f.x ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( -dx, dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, dy ), shadowCoord.z ),\n\t\t\t\t\t f.x ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( 0.0, -dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( 0.0, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t f.y ) +\n\t\t\t\tmix( texture2DCompare( shadowMap, uv + vec2( dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t texture2DCompare( shadowMap, uv + vec2( dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t f.y ) +\n\t\t\t\tmix( mix( texture2DCompare( shadowMap, uv + vec2( -dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t\t  texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, -dy ), shadowCoord.z ),\n\t\t\t\t\t\t  f.x ),\n\t\t\t\t\t mix( texture2DCompare( shadowMap, uv + vec2( -dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t\t  texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 2.0 * dy ), shadowCoord.z ),\n\t\t\t\t\t\t  f.x ),\n\t\t\t\t\t f.y )\n\t\t\t) * ( 1.0 / 9.0 );\n\t\t#elif defined( SHADOWMAP_TYPE_VSM )\n\t\t\tshadow = VSMShadow( shadowMap, shadowCoord.xy, shadowCoord.z );\n\t\t#else\n\t\t\tshadow = texture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z );\n\t\t#endif\n\t\t}\n\t\treturn shadow;\n\t}\n\tvec2 cubeToUV( vec3 v, float texelSizeY ) {\n\t\tvec3 absV = abs( v );\n\t\tfloat scaleToCube = 1.0 / max( absV.x, max( absV.y, absV.z ) );\n\t\tabsV *= scaleToCube;\n\t\tv *= scaleToCube * ( 1.0 - 2.0 * texelSizeY );\n\t\tvec2 planar = v.xy;\n\t\tfloat almostATexel = 1.5 * texelSizeY;\n\t\tfloat almostOne = 1.0 - almostATexel;\n\t\tif ( absV.z >= almostOne ) {\n\t\t\tif ( v.z > 0.0 )\n\t\t\t\tplanar.x = 4.0 - v.x;\n\t\t} else if ( absV.x >= almostOne ) {\n\t\t\tfloat signX = sign( v.x );\n\t\t\tplanar.x = v.z * signX + 2.0 * signX;\n\t\t} else if ( absV.y >= almostOne ) {\n\t\t\tfloat signY = sign( v.y );\n\t\t\tplanar.x = v.x + 2.0 * signY + 2.0;\n\t\t\tplanar.y = v.z * signY - 2.0;\n\t\t}\n\t\treturn vec2( 0.125, 0.25 ) * planar + vec2( 0.375, 0.75 );\n\t}\n\tfloat getPointShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord, float shadowCameraNear, float shadowCameraFar ) {\n\t\tvec2 texelSize = vec2( 1.0 ) / ( shadowMapSize * vec2( 4.0, 2.0 ) );\n\t\tvec3 lightToPosition = shadowCoord.xyz;\n\t\tfloat dp = ( length( lightToPosition ) - shadowCameraNear ) / ( shadowCameraFar - shadowCameraNear );\t\tdp += shadowBias;\n\t\tvec3 bd3D = normalize( lightToPosition );\n\t\t#if defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_PCF_SOFT ) || defined( SHADOWMAP_TYPE_VSM )\n\t\t\tvec2 offset = vec2( - 1, 1 ) * shadowRadius * texelSize.y;\n\t\t\treturn (\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxy, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxx, texelSize.y ), dp ) +\n\t\t\t\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxx, texelSize.y ), dp )\n\t\t\t) * ( 1.0 / 9.0 );\n\t\t#else\n\t\t\treturn texture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp );\n\t\t#endif\n\t}\n#endif";
+
+var shadowmap_pars_vertex = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tuniform mat4 spotLightMatrix[ NUM_SPOT_LIGHT_COORDS ];\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\tuniform mat4 directionalShadowMatrix[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\tuniform mat4 pointShadowMatrix[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n#endif";
+
+var shadowmap_vertex = "#if ( defined( USE_SHADOWMAP ) && ( NUM_DIR_LIGHT_SHADOWS > 0 || NUM_POINT_LIGHT_SHADOWS > 0 ) ) || ( NUM_SPOT_LIGHT_COORDS > 0 )\n\tvec3 shadowWorldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\tvec4 shadowWorldPosition;\n#endif\n#if defined( USE_SHADOWMAP )\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * directionalLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvDirectionalShadowCoord[ i ] = directionalShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * pointLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvPointShadowCoord[ i ] = pointShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if NUM_SPOT_LIGHT_COORDS > 0\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_COORDS; i ++ ) {\n\t\tshadowWorldPosition = worldPosition;\n\t\t#if ( defined( USE_SHADOWMAP ) && UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t\tshadowWorldPosition.xyz += shadowWorldNormal * spotLightShadows[ i ].shadowNormalBias;\n\t\t#endif\n\t\tvSpotLightCoord[ i ] = spotLightMatrix[ i ] * shadowWorldPosition;\n\t}\n\t#pragma unroll_loop_end\n#endif";
+
+var shadowmask_pars_fragment = "float getShadowMask() {\n\tfloat shadow = 1.0;\n\t#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\tdirectionalLight = directionalLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_SHADOWS; i ++ ) {\n\t\tspotLight = spotLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowBias, spotLight.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\tPointLightShadow pointLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\tpointLight = pointLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ], pointLight.shadowCameraNear, pointLight.shadowCameraFar ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#endif\n\treturn shadow;\n}";
+
+var skinbase_vertex = "#ifdef USE_SKINNING\n\tmat4 boneMatX = getBoneMatrix( skinIndex.x );\n\tmat4 boneMatY = getBoneMatrix( skinIndex.y );\n\tmat4 boneMatZ = getBoneMatrix( skinIndex.z );\n\tmat4 boneMatW = getBoneMatrix( skinIndex.w );\n#endif";
+
+var skinning_pars_vertex = "#ifdef USE_SKINNING\n\tuniform mat4 bindMatrix;\n\tuniform mat4 bindMatrixInverse;\n\tuniform highp sampler2D boneTexture;\n\tmat4 getBoneMatrix( const in float i ) {\n\t\tint size = textureSize( boneTexture, 0 ).x;\n\t\tint j = int( i ) * 4;\n\t\tint x = j % size;\n\t\tint y = j / size;\n\t\tvec4 v1 = texelFetch( boneTexture, ivec2( x, y ), 0 );\n\t\tvec4 v2 = texelFetch( boneTexture, ivec2( x + 1, y ), 0 );\n\t\tvec4 v3 = texelFetch( boneTexture, ivec2( x + 2, y ), 0 );\n\t\tvec4 v4 = texelFetch( boneTexture, ivec2( x + 3, y ), 0 );\n\t\treturn mat4( v1, v2, v3, v4 );\n\t}\n#endif";
+
+var skinning_vertex = "#ifdef USE_SKINNING\n\tvec4 skinVertex = bindMatrix * vec4( transformed, 1.0 );\n\tvec4 skinned = vec4( 0.0 );\n\tskinned += boneMatX * skinVertex * skinWeight.x;\n\tskinned += boneMatY * skinVertex * skinWeight.y;\n\tskinned += boneMatZ * skinVertex * skinWeight.z;\n\tskinned += boneMatW * skinVertex * skinWeight.w;\n\ttransformed = ( bindMatrixInverse * skinned ).xyz;\n#endif";
+
+var skinnormal_vertex = "#ifdef USE_SKINNING\n\tmat4 skinMatrix = mat4( 0.0 );\n\tskinMatrix += skinWeight.x * boneMatX;\n\tskinMatrix += skinWeight.y * boneMatY;\n\tskinMatrix += skinWeight.z * boneMatZ;\n\tskinMatrix += skinWeight.w * boneMatW;\n\tskinMatrix = bindMatrixInverse * skinMatrix * bindMatrix;\n\tobjectNormal = vec4( skinMatrix * vec4( objectNormal, 0.0 ) ).xyz;\n\t#ifdef USE_TANGENT\n\t\tobjectTangent = vec4( skinMatrix * vec4( objectTangent, 0.0 ) ).xyz;\n\t#endif\n#endif";
+
+var specularmap_fragment = "float specularStrength;\n#ifdef USE_SPECULARMAP\n\tvec4 texelSpecular = texture2D( specularMap, vSpecularMapUv );\n\tspecularStrength = texelSpecular.r;\n#else\n\tspecularStrength = 1.0;\n#endif";
+
+var specularmap_pars_fragment = "#ifdef USE_SPECULARMAP\n\tuniform sampler2D specularMap;\n#endif";
+
+var tonemapping_fragment = "#if defined( TONE_MAPPING )\n\tgl_FragColor.rgb = toneMapping( gl_FragColor.rgb );\n#endif";
+
+var tonemapping_pars_fragment = "#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\nuniform float toneMappingExposure;\nvec3 LinearToneMapping( vec3 color ) {\n\treturn saturate( toneMappingExposure * color );\n}\nvec3 ReinhardToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\treturn saturate( color / ( vec3( 1.0 ) + color ) );\n}\nvec3 OptimizedCineonToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\tcolor = max( vec3( 0.0 ), color - 0.004 );\n\treturn pow( ( color * ( 6.2 * color + 0.5 ) ) / ( color * ( 6.2 * color + 1.7 ) + 0.06 ), vec3( 2.2 ) );\n}\nvec3 RRTAndODTFit( vec3 v ) {\n\tvec3 a = v * ( v + 0.0245786 ) - 0.000090537;\n\tvec3 b = v * ( 0.983729 * v + 0.4329510 ) + 0.238081;\n\treturn a / b;\n}\nvec3 ACESFilmicToneMapping( vec3 color ) {\n\tconst mat3 ACESInputMat = mat3(\n\t\tvec3( 0.59719, 0.07600, 0.02840 ),\t\tvec3( 0.35458, 0.90834, 0.13383 ),\n\t\tvec3( 0.04823, 0.01566, 0.83777 )\n\t);\n\tconst mat3 ACESOutputMat = mat3(\n\t\tvec3(  1.60475, -0.10208, -0.00327 ),\t\tvec3( -0.53108,  1.10813, -0.07276 ),\n\t\tvec3( -0.07367, -0.00605,  1.07602 )\n\t);\n\tcolor *= toneMappingExposure / 0.6;\n\tcolor = ACESInputMat * color;\n\tcolor = RRTAndODTFit( color );\n\tcolor = ACESOutputMat * color;\n\treturn saturate( color );\n}\nconst mat3 LINEAR_REC2020_TO_LINEAR_SRGB = mat3(\n\tvec3( 1.6605, - 0.1246, - 0.0182 ),\n\tvec3( - 0.5876, 1.1329, - 0.1006 ),\n\tvec3( - 0.0728, - 0.0083, 1.1187 )\n);\nconst mat3 LINEAR_SRGB_TO_LINEAR_REC2020 = mat3(\n\tvec3( 0.6274, 0.0691, 0.0164 ),\n\tvec3( 0.3293, 0.9195, 0.0880 ),\n\tvec3( 0.0433, 0.0113, 0.8956 )\n);\nvec3 agxDefaultContrastApprox( vec3 x ) {\n\tvec3 x2 = x * x;\n\tvec3 x4 = x2 * x2;\n\treturn + 15.5 * x4 * x2\n\t\t- 40.14 * x4 * x\n\t\t+ 31.96 * x4\n\t\t- 6.868 * x2 * x\n\t\t+ 0.4298 * x2\n\t\t+ 0.1191 * x\n\t\t- 0.00232;\n}\nvec3 AgXToneMapping( vec3 color ) {\n\tconst mat3 AgXInsetMatrix = mat3(\n\t\tvec3( 0.856627153315983, 0.137318972929847, 0.11189821299995 ),\n\t\tvec3( 0.0951212405381588, 0.761241990602591, 0.0767994186031903 ),\n\t\tvec3( 0.0482516061458583, 0.101439036467562, 0.811302368396859 )\n\t);\n\tconst mat3 AgXOutsetMatrix = mat3(\n\t\tvec3( 1.1271005818144368, - 0.1413297634984383, - 0.14132976349843826 ),\n\t\tvec3( - 0.11060664309660323, 1.157823702216272, - 0.11060664309660294 ),\n\t\tvec3( - 0.016493938717834573, - 0.016493938717834257, 1.2519364065950405 )\n\t);\n\tconst float AgxMinEv = - 12.47393;\tconst float AgxMaxEv = 4.026069;\n\tcolor = LINEAR_SRGB_TO_LINEAR_REC2020 * color;\n\tcolor *= toneMappingExposure;\n\tcolor = AgXInsetMatrix * color;\n\tcolor = max( color, 1e-10 );\tcolor = log2( color );\n\tcolor = ( color - AgxMinEv ) / ( AgxMaxEv - AgxMinEv );\n\tcolor = clamp( color, 0.0, 1.0 );\n\tcolor = agxDefaultContrastApprox( color );\n\tcolor = AgXOutsetMatrix * color;\n\tcolor = pow( max( vec3( 0.0 ), color ), vec3( 2.2 ) );\n\tcolor = LINEAR_REC2020_TO_LINEAR_SRGB * color;\n\treturn color;\n}\nvec3 CustomToneMapping( vec3 color ) { return color; }";
+
+var transmission_fragment = "#ifdef USE_TRANSMISSION\n\tmaterial.transmission = transmission;\n\tmaterial.transmissionAlpha = 1.0;\n\tmaterial.thickness = thickness;\n\tmaterial.attenuationDistance = attenuationDistance;\n\tmaterial.attenuationColor = attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tmaterial.transmission *= texture2D( transmissionMap, vTransmissionMapUv ).r;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tmaterial.thickness *= texture2D( thicknessMap, vThicknessMapUv ).g;\n\t#endif\n\tvec3 pos = vWorldPosition;\n\tvec3 v = normalize( cameraPosition - pos );\n\tvec3 n = inverseTransformDirection( normal, viewMatrix );\n\tvec4 transmitted = getIBLVolumeRefraction(\n\t\tn, v, material.roughness, material.diffuseColor, material.specularColor, material.specularF90,\n\t\tpos, modelMatrix, viewMatrix, projectionMatrix, material.ior, material.thickness,\n\t\tmaterial.attenuationColor, material.attenuationDistance );\n\tmaterial.transmissionAlpha = mix( material.transmissionAlpha, transmitted.a, material.transmission );\n\ttotalDiffuse = mix( totalDiffuse, transmitted.rgb, material.transmission );\n#endif";
+
+var transmission_pars_fragment = "#ifdef USE_TRANSMISSION\n\tuniform float transmission;\n\tuniform float thickness;\n\tuniform float attenuationDistance;\n\tuniform vec3 attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tuniform sampler2D transmissionMap;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tuniform sampler2D thicknessMap;\n\t#endif\n\tuniform vec2 transmissionSamplerSize;\n\tuniform sampler2D transmissionSamplerMap;\n\tuniform mat4 modelMatrix;\n\tuniform mat4 projectionMatrix;\n\tvarying vec3 vWorldPosition;\n\tfloat w0( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - a + 3.0 ) - 3.0 ) + 1.0 );\n\t}\n\tfloat w1( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a *  a * ( 3.0 * a - 6.0 ) + 4.0 );\n\t}\n\tfloat w2( float a ){\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - 3.0 * a + 3.0 ) + 3.0 ) + 1.0 );\n\t}\n\tfloat w3( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * a * a );\n\t}\n\tfloat g0( float a ) {\n\t\treturn w0( a ) + w1( a );\n\t}\n\tfloat g1( float a ) {\n\t\treturn w2( a ) + w3( a );\n\t}\n\tfloat h0( float a ) {\n\t\treturn - 1.0 + w1( a ) / ( w0( a ) + w1( a ) );\n\t}\n\tfloat h1( float a ) {\n\t\treturn 1.0 + w3( a ) / ( w2( a ) + w3( a ) );\n\t}\n\tvec4 bicubic( sampler2D tex, vec2 uv, vec4 texelSize, float lod ) {\n\t\tuv = uv * texelSize.zw + 0.5;\n\t\tvec2 iuv = floor( uv );\n\t\tvec2 fuv = fract( uv );\n\t\tfloat g0x = g0( fuv.x );\n\t\tfloat g1x = g1( fuv.x );\n\t\tfloat h0x = h0( fuv.x );\n\t\tfloat h1x = h1( fuv.x );\n\t\tfloat h0y = h0( fuv.y );\n\t\tfloat h1y = h1( fuv.y );\n\t\tvec2 p0 = ( vec2( iuv.x + h0x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p1 = ( vec2( iuv.x + h1x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p2 = ( vec2( iuv.x + h0x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p3 = ( vec2( iuv.x + h1x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\treturn g0( fuv.y ) * ( g0x * textureLod( tex, p0, lod ) + g1x * textureLod( tex, p1, lod ) ) +\n\t\t\tg1( fuv.y ) * ( g0x * textureLod( tex, p2, lod ) + g1x * textureLod( tex, p3, lod ) );\n\t}\n\tvec4 textureBicubic( sampler2D sampler, vec2 uv, float lod ) {\n\t\tvec2 fLodSize = vec2( textureSize( sampler, int( lod ) ) );\n\t\tvec2 cLodSize = vec2( textureSize( sampler, int( lod + 1.0 ) ) );\n\t\tvec2 fLodSizeInv = 1.0 / fLodSize;\n\t\tvec2 cLodSizeInv = 1.0 / cLodSize;\n\t\tvec4 fSample = bicubic( sampler, uv, vec4( fLodSizeInv, fLodSize ), floor( lod ) );\n\t\tvec4 cSample = bicubic( sampler, uv, vec4( cLodSizeInv, cLodSize ), ceil( lod ) );\n\t\treturn mix( fSample, cSample, fract( lod ) );\n\t}\n\tvec3 getVolumeTransmissionRay( const in vec3 n, const in vec3 v, const in float thickness, const in float ior, const in mat4 modelMatrix ) {\n\t\tvec3 refractionVector = refract( - v, normalize( n ), 1.0 / ior );\n\t\tvec3 modelScale;\n\t\tmodelScale.x = length( vec3( modelMatrix[ 0 ].xyz ) );\n\t\tmodelScale.y = length( vec3( modelMatrix[ 1 ].xyz ) );\n\t\tmodelScale.z = length( vec3( modelMatrix[ 2 ].xyz ) );\n\t\treturn normalize( refractionVector ) * thickness * modelScale;\n\t}\n\tfloat applyIorToRoughness( const in float roughness, const in float ior ) {\n\t\treturn roughness * clamp( ior * 2.0 - 2.0, 0.0, 1.0 );\n\t}\n\tvec4 getTransmissionSample( const in vec2 fragCoord, const in float roughness, const in float ior ) {\n\t\tfloat lod = log2( transmissionSamplerSize.x ) * applyIorToRoughness( roughness, ior );\n\t\treturn textureBicubic( transmissionSamplerMap, fragCoord.xy, lod );\n\t}\n\tvec3 volumeAttenuation( const in float transmissionDistance, const in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tif ( isinf( attenuationDistance ) ) {\n\t\t\treturn vec3( 1.0 );\n\t\t} else {\n\t\t\tvec3 attenuationCoefficient = -log( attenuationColor ) / attenuationDistance;\n\t\t\tvec3 transmittance = exp( - attenuationCoefficient * transmissionDistance );\t\t\treturn transmittance;\n\t\t}\n\t}\n\tvec4 getIBLVolumeRefraction( const in vec3 n, const in vec3 v, const in float roughness, const in vec3 diffuseColor,\n\t\tconst in vec3 specularColor, const in float specularF90, const in vec3 position, const in mat4 modelMatrix,\n\t\tconst in mat4 viewMatrix, const in mat4 projMatrix, const in float ior, const in float thickness,\n\t\tconst in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tvec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, ior, modelMatrix );\n\t\tvec3 refractedRayExit = position + transmissionRay;\n\t\tvec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );\n\t\tvec2 refractionCoords = ndcPos.xy / ndcPos.w;\n\t\trefractionCoords += 1.0;\n\t\trefractionCoords /= 2.0;\n\t\tvec4 transmittedLight = getTransmissionSample( refractionCoords, roughness, ior );\n\t\tvec3 transmittance = diffuseColor * volumeAttenuation( length( transmissionRay ), attenuationColor, attenuationDistance );\n\t\tvec3 attenuatedColor = transmittance * transmittedLight.rgb;\n\t\tvec3 F = EnvironmentBRDF( n, v, specularColor, specularF90, roughness );\n\t\tfloat transmittanceFactor = ( transmittance.r + transmittance.g + transmittance.b ) / 3.0;\n\t\treturn vec4( ( 1.0 - F ) * attenuatedColor, 1.0 - ( 1.0 - transmittedLight.a ) * transmittanceFactor );\n\t}\n#endif";
+
+var uv_pars_fragment = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvarying vec2 vUv;\n#endif\n#ifdef USE_MAP\n\tvarying vec2 vMapUv;\n#endif\n#ifdef USE_ALPHAMAP\n\tvarying vec2 vAlphaMapUv;\n#endif\n#ifdef USE_LIGHTMAP\n\tvarying vec2 vLightMapUv;\n#endif\n#ifdef USE_AOMAP\n\tvarying vec2 vAoMapUv;\n#endif\n#ifdef USE_BUMPMAP\n\tvarying vec2 vBumpMapUv;\n#endif\n#ifdef USE_NORMALMAP\n\tvarying vec2 vNormalMapUv;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tvarying vec2 vEmissiveMapUv;\n#endif\n#ifdef USE_METALNESSMAP\n\tvarying vec2 vMetalnessMapUv;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tvarying vec2 vRoughnessMapUv;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tvarying vec2 vAnisotropyMapUv;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tvarying vec2 vClearcoatMapUv;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tvarying vec2 vClearcoatNormalMapUv;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tvarying vec2 vClearcoatRoughnessMapUv;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tvarying vec2 vIridescenceMapUv;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tvarying vec2 vIridescenceThicknessMapUv;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tvarying vec2 vSheenColorMapUv;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tvarying vec2 vSheenRoughnessMapUv;\n#endif\n#ifdef USE_SPECULARMAP\n\tvarying vec2 vSpecularMapUv;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tvarying vec2 vSpecularColorMapUv;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tvarying vec2 vSpecularIntensityMapUv;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tuniform mat3 transmissionMapTransform;\n\tvarying vec2 vTransmissionMapUv;\n#endif\n#ifdef USE_THICKNESSMAP\n\tuniform mat3 thicknessMapTransform;\n\tvarying vec2 vThicknessMapUv;\n#endif";
+
+var uv_pars_vertex = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvarying vec2 vUv;\n#endif\n#ifdef USE_MAP\n\tuniform mat3 mapTransform;\n\tvarying vec2 vMapUv;\n#endif\n#ifdef USE_ALPHAMAP\n\tuniform mat3 alphaMapTransform;\n\tvarying vec2 vAlphaMapUv;\n#endif\n#ifdef USE_LIGHTMAP\n\tuniform mat3 lightMapTransform;\n\tvarying vec2 vLightMapUv;\n#endif\n#ifdef USE_AOMAP\n\tuniform mat3 aoMapTransform;\n\tvarying vec2 vAoMapUv;\n#endif\n#ifdef USE_BUMPMAP\n\tuniform mat3 bumpMapTransform;\n\tvarying vec2 vBumpMapUv;\n#endif\n#ifdef USE_NORMALMAP\n\tuniform mat3 normalMapTransform;\n\tvarying vec2 vNormalMapUv;\n#endif\n#ifdef USE_DISPLACEMENTMAP\n\tuniform mat3 displacementMapTransform;\n\tvarying vec2 vDisplacementMapUv;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tuniform mat3 emissiveMapTransform;\n\tvarying vec2 vEmissiveMapUv;\n#endif\n#ifdef USE_METALNESSMAP\n\tuniform mat3 metalnessMapTransform;\n\tvarying vec2 vMetalnessMapUv;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tuniform mat3 roughnessMapTransform;\n\tvarying vec2 vRoughnessMapUv;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tuniform mat3 anisotropyMapTransform;\n\tvarying vec2 vAnisotropyMapUv;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tuniform mat3 clearcoatMapTransform;\n\tvarying vec2 vClearcoatMapUv;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tuniform mat3 clearcoatNormalMapTransform;\n\tvarying vec2 vClearcoatNormalMapUv;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tuniform mat3 clearcoatRoughnessMapTransform;\n\tvarying vec2 vClearcoatRoughnessMapUv;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tuniform mat3 sheenColorMapTransform;\n\tvarying vec2 vSheenColorMapUv;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tuniform mat3 sheenRoughnessMapTransform;\n\tvarying vec2 vSheenRoughnessMapUv;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tuniform mat3 iridescenceMapTransform;\n\tvarying vec2 vIridescenceMapUv;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tuniform mat3 iridescenceThicknessMapTransform;\n\tvarying vec2 vIridescenceThicknessMapUv;\n#endif\n#ifdef USE_SPECULARMAP\n\tuniform mat3 specularMapTransform;\n\tvarying vec2 vSpecularMapUv;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tuniform mat3 specularColorMapTransform;\n\tvarying vec2 vSpecularColorMapUv;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tuniform mat3 specularIntensityMapTransform;\n\tvarying vec2 vSpecularIntensityMapUv;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tuniform mat3 transmissionMapTransform;\n\tvarying vec2 vTransmissionMapUv;\n#endif\n#ifdef USE_THICKNESSMAP\n\tuniform mat3 thicknessMapTransform;\n\tvarying vec2 vThicknessMapUv;\n#endif";
+
+var uv_vertex = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvUv = vec3( uv, 1 ).xy;\n#endif\n#ifdef USE_MAP\n\tvMapUv = ( mapTransform * vec3( MAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ALPHAMAP\n\tvAlphaMapUv = ( alphaMapTransform * vec3( ALPHAMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_LIGHTMAP\n\tvLightMapUv = ( lightMapTransform * vec3( LIGHTMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_AOMAP\n\tvAoMapUv = ( aoMapTransform * vec3( AOMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_BUMPMAP\n\tvBumpMapUv = ( bumpMapTransform * vec3( BUMPMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_NORMALMAP\n\tvNormalMapUv = ( normalMapTransform * vec3( NORMALMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_DISPLACEMENTMAP\n\tvDisplacementMapUv = ( displacementMapTransform * vec3( DISPLACEMENTMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tvEmissiveMapUv = ( emissiveMapTransform * vec3( EMISSIVEMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_METALNESSMAP\n\tvMetalnessMapUv = ( metalnessMapTransform * vec3( METALNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tvRoughnessMapUv = ( roughnessMapTransform * vec3( ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tvAnisotropyMapUv = ( anisotropyMapTransform * vec3( ANISOTROPYMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tvClearcoatMapUv = ( clearcoatMapTransform * vec3( CLEARCOATMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tvClearcoatNormalMapUv = ( clearcoatNormalMapTransform * vec3( CLEARCOAT_NORMALMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tvClearcoatRoughnessMapUv = ( clearcoatRoughnessMapTransform * vec3( CLEARCOAT_ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tvIridescenceMapUv = ( iridescenceMapTransform * vec3( IRIDESCENCEMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tvIridescenceThicknessMapUv = ( iridescenceThicknessMapTransform * vec3( IRIDESCENCE_THICKNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tvSheenColorMapUv = ( sheenColorMapTransform * vec3( SHEEN_COLORMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tvSheenRoughnessMapUv = ( sheenRoughnessMapTransform * vec3( SHEEN_ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULARMAP\n\tvSpecularMapUv = ( specularMapTransform * vec3( SPECULARMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tvSpecularColorMapUv = ( specularColorMapTransform * vec3( SPECULAR_COLORMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tvSpecularIntensityMapUv = ( specularIntensityMapTransform * vec3( SPECULAR_INTENSITYMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tvTransmissionMapUv = ( transmissionMapTransform * vec3( TRANSMISSIONMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_THICKNESSMAP\n\tvThicknessMapUv = ( thicknessMapTransform * vec3( THICKNESSMAP_UV, 1 ) ).xy;\n#endif";
+
+var worldpos_vertex = "#if defined( USE_ENVMAP ) || defined( DISTANCE ) || defined ( USE_SHADOWMAP ) || defined ( USE_TRANSMISSION ) || NUM_SPOT_LIGHT_COORDS > 0\n\tvec4 worldPosition = vec4( transformed, 1.0 );\n\t#ifdef USE_BATCHING\n\t\tworldPosition = batchingMatrix * worldPosition;\n\t#endif\n\t#ifdef USE_INSTANCING\n\t\tworldPosition = instanceMatrix * worldPosition;\n\t#endif\n\tworldPosition = modelMatrix * worldPosition;\n#endif";
+
+const vertex$h = "varying vec2 vUv;\nuniform mat3 uvTransform;\nvoid main() {\n\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n\tgl_Position = vec4( position.xy, 1.0, 1.0 );\n}";
+
+const fragment$h = "uniform sampler2D t2D;\nuniform float backgroundIntensity;\nvarying vec2 vUv;\nvoid main() {\n\tvec4 texColor = texture2D( t2D, vUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\ttexColor = vec4( mix( pow( texColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), texColor.rgb * 0.0773993808, vec3( lessThanEqual( texColor.rgb, vec3( 0.04045 ) ) ) ), texColor.w );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}";
+
+const vertex$g = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}";
+
+const fragment$g = "#ifdef ENVMAP_TYPE_CUBE\n\tuniform samplerCube envMap;\n#elif defined( ENVMAP_TYPE_CUBE_UV )\n\tuniform sampler2D envMap;\n#endif\nuniform float flipEnvMap;\nuniform float backgroundBlurriness;\nuniform float backgroundIntensity;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 texColor = textureCube( envMap, vec3( flipEnvMap * vWorldDirection.x, vWorldDirection.yz ) );\n\t#elif defined( ENVMAP_TYPE_CUBE_UV )\n\t\tvec4 texColor = textureCubeUV( envMap, vWorldDirection, backgroundBlurriness );\n\t#else\n\t\tvec4 texColor = vec4( 0.0, 0.0, 0.0, 1.0 );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}";
+
+const vertex$f = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}";
+
+const fragment$f = "uniform samplerCube tCube;\nuniform float tFlip;\nuniform float opacity;\nvarying vec3 vWorldDirection;\nvoid main() {\n\tvec4 texColor = textureCube( tCube, vec3( tFlip * vWorldDirection.x, vWorldDirection.yz ) );\n\tgl_FragColor = texColor;\n\tgl_FragColor.a *= opacity;\n\t#include \n\t#include \n}";
+
+const vertex$e = "#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvHighPrecisionZW = gl_Position.zw;\n}";
+
+const fragment$e = "#if DEPTH_PACKING == 3200\n\tuniform float opacity;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( 1.0 );\n\t#if DEPTH_PACKING == 3200\n\t\tdiffuseColor.a = opacity;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tfloat fragCoordZ = 0.5 * vHighPrecisionZW[0] / vHighPrecisionZW[1] + 0.5;\n\t#if DEPTH_PACKING == 3200\n\t\tgl_FragColor = vec4( vec3( 1.0 - fragCoordZ ), opacity );\n\t#elif DEPTH_PACKING == 3201\n\t\tgl_FragColor = packDepthToRGBA( fragCoordZ );\n\t#endif\n}";
+
+const vertex$d = "#define DISTANCE\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvWorldPosition = worldPosition.xyz;\n}";
+
+const fragment$d = "#define DISTANCE\nuniform vec3 referencePosition;\nuniform float nearDistance;\nuniform float farDistance;\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main () {\n\t#include \n\tvec4 diffuseColor = vec4( 1.0 );\n\t#include \n\t#include \n\t#include \n\t#include \n\tfloat dist = length( vWorldPosition - referencePosition );\n\tdist = ( dist - nearDistance ) / ( farDistance - nearDistance );\n\tdist = saturate( dist );\n\tgl_FragColor = packDepthToRGBA( dist );\n}";
+
+const vertex$c = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n}";
+
+const fragment$c = "uniform sampler2D tEquirect;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvec3 direction = normalize( vWorldDirection );\n\tvec2 sampleUV = equirectUv( direction );\n\tgl_FragColor = texture2D( tEquirect, sampleUV );\n\t#include \n\t#include \n}";
+
+const vertex$b = "uniform float scale;\nattribute float lineDistance;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvLineDistance = scale * lineDistance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$b = "uniform vec3 diffuse;\nuniform float opacity;\nuniform float dashSize;\nuniform float totalSize;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tif ( mod( vLineDistance, totalSize ) > dashSize ) {\n\t\tdiscard;\n\t}\n\tvec3 outgoingLight = vec3( 0.0 );\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$a = "#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#if defined ( USE_ENVMAP ) || defined ( USE_SKINNING )\n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$a = "uniform vec3 diffuse;\nuniform float opacity;\n#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\t#ifdef USE_LIGHTMAP\n\t\tvec4 lightMapTexel = texture2D( lightMap, vLightMapUv );\n\t\treflectedLight.indirectDiffuse += lightMapTexel.rgb * lightMapIntensity * RECIPROCAL_PI;\n\t#else\n\t\treflectedLight.indirectDiffuse += vec3( 1.0 );\n\t#endif\n\t#include \n\treflectedLight.indirectDiffuse *= diffuseColor.rgb;\n\tvec3 outgoingLight = reflectedLight.indirectDiffuse;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$9 = "#define LAMBERT\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$9 = "#define LAMBERT\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$8 = "#define MATCAP\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n}";
+
+const fragment$8 = "#define MATCAP\nuniform vec3 diffuse;\nuniform float opacity;\nuniform sampler2D matcap;\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 viewDir = normalize( vViewPosition );\n\tvec3 x = normalize( vec3( viewDir.z, 0.0, - viewDir.x ) );\n\tvec3 y = cross( viewDir, x );\n\tvec2 uv = vec2( dot( x, normal ), dot( y, normal ) ) * 0.495 + 0.5;\n\t#ifdef USE_MATCAP\n\t\tvec4 matcapColor = texture2D( matcap, uv );\n\t#else\n\t\tvec4 matcapColor = vec4( vec3( mix( 0.2, 0.8, uv.y ) ), 1.0 );\n\t#endif\n\tvec3 outgoingLight = diffuseColor.rgb * matcapColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$7 = "#define NORMAL\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvarying vec3 vViewPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvViewPosition = - mvPosition.xyz;\n#endif\n}";
+
+const fragment$7 = "#define NORMAL\nuniform float opacity;\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvarying vec3 vViewPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\tgl_FragColor = vec4( packNormalToRGB( normal ), opacity );\n\t#ifdef OPAQUE\n\t\tgl_FragColor.a = 1.0;\n\t#endif\n}";
+
+const vertex$6 = "#define PHONG\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$6 = "#define PHONG\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform vec3 specular;\nuniform float shininess;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + reflectedLight.directSpecular + reflectedLight.indirectSpecular + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$5 = "#define STANDARD\nvarying vec3 vViewPosition;\n#ifdef USE_TRANSMISSION\n\tvarying vec3 vWorldPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n#ifdef USE_TRANSMISSION\n\tvWorldPosition = worldPosition.xyz;\n#endif\n}";
+
+const fragment$5 = "#define STANDARD\n#ifdef PHYSICAL\n\t#define IOR\n\t#define USE_SPECULAR\n#endif\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float roughness;\nuniform float metalness;\nuniform float opacity;\n#ifdef IOR\n\tuniform float ior;\n#endif\n#ifdef USE_SPECULAR\n\tuniform float specularIntensity;\n\tuniform vec3 specularColor;\n\t#ifdef USE_SPECULAR_COLORMAP\n\t\tuniform sampler2D specularColorMap;\n\t#endif\n\t#ifdef USE_SPECULAR_INTENSITYMAP\n\t\tuniform sampler2D specularIntensityMap;\n\t#endif\n#endif\n#ifdef USE_CLEARCOAT\n\tuniform float clearcoat;\n\tuniform float clearcoatRoughness;\n#endif\n#ifdef USE_IRIDESCENCE\n\tuniform float iridescence;\n\tuniform float iridescenceIOR;\n\tuniform float iridescenceThicknessMinimum;\n\tuniform float iridescenceThicknessMaximum;\n#endif\n#ifdef USE_SHEEN\n\tuniform vec3 sheenColor;\n\tuniform float sheenRoughness;\n\t#ifdef USE_SHEEN_COLORMAP\n\t\tuniform sampler2D sheenColorMap;\n\t#endif\n\t#ifdef USE_SHEEN_ROUGHNESSMAP\n\t\tuniform sampler2D sheenRoughnessMap;\n\t#endif\n#endif\n#ifdef USE_ANISOTROPY\n\tuniform vec2 anisotropyVector;\n\t#ifdef USE_ANISOTROPYMAP\n\t\tuniform sampler2D anisotropyMap;\n\t#endif\n#endif\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 totalDiffuse = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse;\n\tvec3 totalSpecular = reflectedLight.directSpecular + reflectedLight.indirectSpecular;\n\t#include \n\tvec3 outgoingLight = totalDiffuse + totalSpecular + totalEmissiveRadiance;\n\t#ifdef USE_SHEEN\n\t\tfloat sheenEnergyComp = 1.0 - 0.157 * max3( material.sheenColor );\n\t\toutgoingLight = outgoingLight * sheenEnergyComp + sheenSpecularDirect + sheenSpecularIndirect;\n\t#endif\n\t#ifdef USE_CLEARCOAT\n\t\tfloat dotNVcc = saturate( dot( geometryClearcoatNormal, geometryViewDir ) );\n\t\tvec3 Fcc = F_Schlick( material.clearcoatF0, material.clearcoatF90, dotNVcc );\n\t\toutgoingLight = outgoingLight * ( 1.0 - material.clearcoat * Fcc ) + ( clearcoatSpecularDirect + clearcoatSpecularIndirect ) * material.clearcoat;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$4 = "#define TOON\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$4 = "#define TOON\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$3 = "uniform float size;\nuniform float scale;\n#include \n#include \n#include \n#include \n#include \n#include \n#ifdef USE_POINTS_UV\n\tvarying vec2 vUv;\n\tuniform mat3 uvTransform;\n#endif\nvoid main() {\n\t#ifdef USE_POINTS_UV\n\t\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tgl_PointSize = size;\n\t#ifdef USE_SIZEATTENUATION\n\t\tbool isPerspective = isPerspectiveMatrix( projectionMatrix );\n\t\tif ( isPerspective ) gl_PointSize *= ( scale / - mvPosition.z );\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$3 = "uniform vec3 diffuse;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec3 outgoingLight = vec3( 0.0 );\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$2 = "#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$2 = "uniform vec3 color;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tgl_FragColor = vec4( color, opacity * ( 1.0 - getShadowMask() ) );\n\t#include \n\t#include \n\t#include \n}";
+
+const vertex$1 = "uniform float rotation;\nuniform vec2 center;\n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 mvPosition = modelViewMatrix * vec4( 0.0, 0.0, 0.0, 1.0 );\n\tvec2 scale;\n\tscale.x = length( vec3( modelMatrix[ 0 ].x, modelMatrix[ 0 ].y, modelMatrix[ 0 ].z ) );\n\tscale.y = length( vec3( modelMatrix[ 1 ].x, modelMatrix[ 1 ].y, modelMatrix[ 1 ].z ) );\n\t#ifndef USE_SIZEATTENUATION\n\t\tbool isPerspective = isPerspectiveMatrix( projectionMatrix );\n\t\tif ( isPerspective ) scale *= - mvPosition.z;\n\t#endif\n\tvec2 alignedPosition = ( position.xy - ( center - vec2( 0.5 ) ) ) * scale;\n\tvec2 rotatedPosition;\n\trotatedPosition.x = cos( rotation ) * alignedPosition.x - sin( rotation ) * alignedPosition.y;\n\trotatedPosition.y = sin( rotation ) * alignedPosition.x + cos( rotation ) * alignedPosition.y;\n\tmvPosition.xy += rotatedPosition;\n\tgl_Position = projectionMatrix * mvPosition;\n\t#include \n\t#include \n\t#include \n}";
+
+const fragment$1 = "uniform vec3 diffuse;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec3 outgoingLight = vec3( 0.0 );\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n}";
+
+const ShaderChunk = {
+	alphahash_fragment: alphahash_fragment,
+	alphahash_pars_fragment: alphahash_pars_fragment,
+	alphamap_fragment: alphamap_fragment,
+	alphamap_pars_fragment: alphamap_pars_fragment,
+	alphatest_fragment: alphatest_fragment,
+	alphatest_pars_fragment: alphatest_pars_fragment,
+	aomap_fragment: aomap_fragment,
+	aomap_pars_fragment: aomap_pars_fragment,
+	batching_pars_vertex: batching_pars_vertex,
+	batching_vertex: batching_vertex,
+	begin_vertex: begin_vertex,
+	beginnormal_vertex: beginnormal_vertex,
+	bsdfs: bsdfs,
+	iridescence_fragment: iridescence_fragment,
+	bumpmap_pars_fragment: bumpmap_pars_fragment,
+	clipping_planes_fragment: clipping_planes_fragment,
+	clipping_planes_pars_fragment: clipping_planes_pars_fragment,
+	clipping_planes_pars_vertex: clipping_planes_pars_vertex,
+	clipping_planes_vertex: clipping_planes_vertex,
+	color_fragment: color_fragment,
+	color_pars_fragment: color_pars_fragment,
+	color_pars_vertex: color_pars_vertex,
+	color_vertex: color_vertex,
+	common: common,
+	cube_uv_reflection_fragment: cube_uv_reflection_fragment,
+	defaultnormal_vertex: defaultnormal_vertex,
+	displacementmap_pars_vertex: displacementmap_pars_vertex,
+	displacementmap_vertex: displacementmap_vertex,
+	emissivemap_fragment: emissivemap_fragment,
+	emissivemap_pars_fragment: emissivemap_pars_fragment,
+	colorspace_fragment: colorspace_fragment,
+	colorspace_pars_fragment: colorspace_pars_fragment,
+	envmap_fragment: envmap_fragment,
+	envmap_common_pars_fragment: envmap_common_pars_fragment,
+	envmap_pars_fragment: envmap_pars_fragment,
+	envmap_pars_vertex: envmap_pars_vertex,
+	envmap_physical_pars_fragment: envmap_physical_pars_fragment,
+	envmap_vertex: envmap_vertex,
+	fog_vertex: fog_vertex,
+	fog_pars_vertex: fog_pars_vertex,
+	fog_fragment: fog_fragment,
+	fog_pars_fragment: fog_pars_fragment,
+	gradientmap_pars_fragment: gradientmap_pars_fragment,
+	lightmap_fragment: lightmap_fragment,
+	lightmap_pars_fragment: lightmap_pars_fragment,
+	lights_lambert_fragment: lights_lambert_fragment,
+	lights_lambert_pars_fragment: lights_lambert_pars_fragment,
+	lights_pars_begin: lights_pars_begin,
+	lights_toon_fragment: lights_toon_fragment,
+	lights_toon_pars_fragment: lights_toon_pars_fragment,
+	lights_phong_fragment: lights_phong_fragment,
+	lights_phong_pars_fragment: lights_phong_pars_fragment,
+	lights_physical_fragment: lights_physical_fragment,
+	lights_physical_pars_fragment: lights_physical_pars_fragment,
+	lights_fragment_begin: lights_fragment_begin,
+	lights_fragment_maps: lights_fragment_maps,
+	lights_fragment_end: lights_fragment_end,
+	logdepthbuf_fragment: logdepthbuf_fragment,
+	logdepthbuf_pars_fragment: logdepthbuf_pars_fragment,
+	logdepthbuf_pars_vertex: logdepthbuf_pars_vertex,
+	logdepthbuf_vertex: logdepthbuf_vertex,
+	map_fragment: map_fragment,
+	map_pars_fragment: map_pars_fragment,
+	map_particle_fragment: map_particle_fragment,
+	map_particle_pars_fragment: map_particle_pars_fragment,
+	metalnessmap_fragment: metalnessmap_fragment,
+	metalnessmap_pars_fragment: metalnessmap_pars_fragment,
+	morphcolor_vertex: morphcolor_vertex,
+	morphnormal_vertex: morphnormal_vertex,
+	morphtarget_pars_vertex: morphtarget_pars_vertex,
+	morphtarget_vertex: morphtarget_vertex,
+	normal_fragment_begin: normal_fragment_begin,
+	normal_fragment_maps: normal_fragment_maps,
+	normal_pars_fragment: normal_pars_fragment,
+	normal_pars_vertex: normal_pars_vertex,
+	normal_vertex: normal_vertex,
+	normalmap_pars_fragment: normalmap_pars_fragment,
+	clearcoat_normal_fragment_begin: clearcoat_normal_fragment_begin,
+	clearcoat_normal_fragment_maps: clearcoat_normal_fragment_maps,
+	clearcoat_pars_fragment: clearcoat_pars_fragment,
+	iridescence_pars_fragment: iridescence_pars_fragment,
+	opaque_fragment: opaque_fragment,
+	packing: packing,
+	premultiplied_alpha_fragment: premultiplied_alpha_fragment,
+	project_vertex: project_vertex,
+	dithering_fragment: dithering_fragment,
+	dithering_pars_fragment: dithering_pars_fragment,
+	roughnessmap_fragment: roughnessmap_fragment,
+	roughnessmap_pars_fragment: roughnessmap_pars_fragment,
+	shadowmap_pars_fragment: shadowmap_pars_fragment,
+	shadowmap_pars_vertex: shadowmap_pars_vertex,
+	shadowmap_vertex: shadowmap_vertex,
+	shadowmask_pars_fragment: shadowmask_pars_fragment,
+	skinbase_vertex: skinbase_vertex,
+	skinning_pars_vertex: skinning_pars_vertex,
+	skinning_vertex: skinning_vertex,
+	skinnormal_vertex: skinnormal_vertex,
+	specularmap_fragment: specularmap_fragment,
+	specularmap_pars_fragment: specularmap_pars_fragment,
+	tonemapping_fragment: tonemapping_fragment,
+	tonemapping_pars_fragment: tonemapping_pars_fragment,
+	transmission_fragment: transmission_fragment,
+	transmission_pars_fragment: transmission_pars_fragment,
+	uv_pars_fragment: uv_pars_fragment,
+	uv_pars_vertex: uv_pars_vertex,
+	uv_vertex: uv_vertex,
+	worldpos_vertex: worldpos_vertex,
+
+	background_vert: vertex$h,
+	background_frag: fragment$h,
+	backgroundCube_vert: vertex$g,
+	backgroundCube_frag: fragment$g,
+	cube_vert: vertex$f,
+	cube_frag: fragment$f,
+	depth_vert: vertex$e,
+	depth_frag: fragment$e,
+	distanceRGBA_vert: vertex$d,
+	distanceRGBA_frag: fragment$d,
+	equirect_vert: vertex$c,
+	equirect_frag: fragment$c,
+	linedashed_vert: vertex$b,
+	linedashed_frag: fragment$b,
+	meshbasic_vert: vertex$a,
+	meshbasic_frag: fragment$a,
+	meshlambert_vert: vertex$9,
+	meshlambert_frag: fragment$9,
+	meshmatcap_vert: vertex$8,
+	meshmatcap_frag: fragment$8,
+	meshnormal_vert: vertex$7,
+	meshnormal_frag: fragment$7,
+	meshphong_vert: vertex$6,
+	meshphong_frag: fragment$6,
+	meshphysical_vert: vertex$5,
+	meshphysical_frag: fragment$5,
+	meshtoon_vert: vertex$4,
+	meshtoon_frag: fragment$4,
+	points_vert: vertex$3,
+	points_frag: fragment$3,
+	shadow_vert: vertex$2,
+	shadow_frag: fragment$2,
+	sprite_vert: vertex$1,
+	sprite_frag: fragment$1
+};
+
+/**
+ * Uniforms library for shared webgl shaders
+ */
+
+const UniformsLib = {
+
+	common: {
+
+		diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) },
+		opacity: { value: 1.0 },
+
+		map: { value: null },
+		mapTransform: { value: /*@__PURE__*/ new Matrix3() },
+
+		alphaMap: { value: null },
+		alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+
+		alphaTest: { value: 0 }
+
+	},
+
+	specularmap: {
+
+		specularMap: { value: null },
+		specularMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	envmap: {
+
+		envMap: { value: null },
+		flipEnvMap: { value: - 1 },
+		reflectivity: { value: 1.0 }, // basic, lambert, phong
+		ior: { value: 1.5 }, // physical
+		refractionRatio: { value: 0.98 }, // basic, lambert, phong
+
+	},
+
+	aomap: {
+
+		aoMap: { value: null },
+		aoMapIntensity: { value: 1 },
+		aoMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	lightmap: {
+
+		lightMap: { value: null },
+		lightMapIntensity: { value: 1 },
+		lightMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	bumpmap: {
+
+		bumpMap: { value: null },
+		bumpMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		bumpScale: { value: 1 }
+
+	},
+
+	normalmap: {
+
+		normalMap: { value: null },
+		normalMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		normalScale: { value: /*@__PURE__*/ new Vector2( 1, 1 ) }
+
+	},
+
+	displacementmap: {
+
+		displacementMap: { value: null },
+		displacementMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		displacementScale: { value: 1 },
+		displacementBias: { value: 0 }
+
+	},
+
+	emissivemap: {
+
+		emissiveMap: { value: null },
+		emissiveMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	metalnessmap: {
+
+		metalnessMap: { value: null },
+		metalnessMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	roughnessmap: {
+
+		roughnessMap: { value: null },
+		roughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	gradientmap: {
+
+		gradientMap: { value: null }
+
+	},
+
+	fog: {
+
+		fogDensity: { value: 0.00025 },
+		fogNear: { value: 1 },
+		fogFar: { value: 2000 },
+		fogColor: { value: /*@__PURE__*/ new Color( 0xffffff ) }
+
+	},
+
+	lights: {
+
+		ambientLightColor: { value: [] },
+
+		lightProbe: { value: [] },
+
+		directionalLights: { value: [], properties: {
+			direction: {},
+			color: {}
+		} },
+
+		directionalLightShadows: { value: [], properties: {
+			shadowBias: {},
+			shadowNormalBias: {},
+			shadowRadius: {},
+			shadowMapSize: {}
+		} },
+
+		directionalShadowMap: { value: [] },
+		directionalShadowMatrix: { value: [] },
+
+		spotLights: { value: [], properties: {
+			color: {},
+			position: {},
+			direction: {},
+			distance: {},
+			coneCos: {},
+			penumbraCos: {},
+			decay: {}
+		} },
+
+		spotLightShadows: { value: [], properties: {
+			shadowBias: {},
+			shadowNormalBias: {},
+			shadowRadius: {},
+			shadowMapSize: {}
+		} },
+
+		spotLightMap: { value: [] },
+		spotShadowMap: { value: [] },
+		spotLightMatrix: { value: [] },
+
+		pointLights: { value: [], properties: {
+			color: {},
+			position: {},
+			decay: {},
+			distance: {}
+		} },
+
+		pointLightShadows: { value: [], properties: {
+			shadowBias: {},
+			shadowNormalBias: {},
+			shadowRadius: {},
+			shadowMapSize: {},
+			shadowCameraNear: {},
+			shadowCameraFar: {}
+		} },
+
+		pointShadowMap: { value: [] },
+		pointShadowMatrix: { value: [] },
+
+		hemisphereLights: { value: [], properties: {
+			direction: {},
+			skyColor: {},
+			groundColor: {}
+		} },
+
+		// TODO (abelnation): RectAreaLight BRDF data needs to be moved from example to main src
+		rectAreaLights: { value: [], properties: {
+			color: {},
+			position: {},
+			width: {},
+			height: {}
+		} },
+
+		ltc_1: { value: null },
+		ltc_2: { value: null }
+
+	},
+
+	points: {
+
+		diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) },
+		opacity: { value: 1.0 },
+		size: { value: 1.0 },
+		scale: { value: 1.0 },
+		map: { value: null },
+		alphaMap: { value: null },
+		alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		alphaTest: { value: 0 },
+		uvTransform: { value: /*@__PURE__*/ new Matrix3() }
+
+	},
+
+	sprite: {
+
+		diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) },
+		opacity: { value: 1.0 },
+		center: { value: /*@__PURE__*/ new Vector2( 0.5, 0.5 ) },
+		rotation: { value: 0.0 },
+		map: { value: null },
+		mapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		alphaMap: { value: null },
+		alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		alphaTest: { value: 0 }
+
+	}
+
+};
+
+const ShaderLib = {
+
+	basic: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.specularmap,
+			UniformsLib.envmap,
+			UniformsLib.aomap,
+			UniformsLib.lightmap,
+			UniformsLib.fog
+		] ),
+
+		vertexShader: ShaderChunk.meshbasic_vert,
+		fragmentShader: ShaderChunk.meshbasic_frag
+
+	},
+
+	lambert: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.specularmap,
+			UniformsLib.envmap,
+			UniformsLib.aomap,
+			UniformsLib.lightmap,
+			UniformsLib.emissivemap,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			UniformsLib.fog,
+			UniformsLib.lights,
+			{
+				emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshlambert_vert,
+		fragmentShader: ShaderChunk.meshlambert_frag
+
+	},
+
+	phong: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.specularmap,
+			UniformsLib.envmap,
+			UniformsLib.aomap,
+			UniformsLib.lightmap,
+			UniformsLib.emissivemap,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			UniformsLib.fog,
+			UniformsLib.lights,
+			{
+				emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) },
+				specular: { value: /*@__PURE__*/ new Color( 0x111111 ) },
+				shininess: { value: 30 }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshphong_vert,
+		fragmentShader: ShaderChunk.meshphong_frag
+
+	},
+
+	standard: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.envmap,
+			UniformsLib.aomap,
+			UniformsLib.lightmap,
+			UniformsLib.emissivemap,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			UniformsLib.roughnessmap,
+			UniformsLib.metalnessmap,
+			UniformsLib.fog,
+			UniformsLib.lights,
+			{
+				emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) },
+				roughness: { value: 1.0 },
+				metalness: { value: 0.0 },
+				envMapIntensity: { value: 1 } // temporary
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshphysical_vert,
+		fragmentShader: ShaderChunk.meshphysical_frag
+
+	},
+
+	toon: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.aomap,
+			UniformsLib.lightmap,
+			UniformsLib.emissivemap,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			UniformsLib.gradientmap,
+			UniformsLib.fog,
+			UniformsLib.lights,
+			{
+				emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshtoon_vert,
+		fragmentShader: ShaderChunk.meshtoon_frag
+
+	},
+
+	matcap: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			UniformsLib.fog,
+			{
+				matcap: { value: null }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshmatcap_vert,
+		fragmentShader: ShaderChunk.meshmatcap_frag
+
+	},
+
+	points: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.points,
+			UniformsLib.fog
+		] ),
+
+		vertexShader: ShaderChunk.points_vert,
+		fragmentShader: ShaderChunk.points_frag
+
+	},
+
+	dashed: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.fog,
+			{
+				scale: { value: 1 },
+				dashSize: { value: 1 },
+				totalSize: { value: 2 }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.linedashed_vert,
+		fragmentShader: ShaderChunk.linedashed_frag
+
+	},
+
+	depth: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.displacementmap
+		] ),
+
+		vertexShader: ShaderChunk.depth_vert,
+		fragmentShader: ShaderChunk.depth_frag
+
+	},
+
+	normal: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.bumpmap,
+			UniformsLib.normalmap,
+			UniformsLib.displacementmap,
+			{
+				opacity: { value: 1.0 }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.meshnormal_vert,
+		fragmentShader: ShaderChunk.meshnormal_frag
+
+	},
+
+	sprite: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.sprite,
+			UniformsLib.fog
+		] ),
+
+		vertexShader: ShaderChunk.sprite_vert,
+		fragmentShader: ShaderChunk.sprite_frag
+
+	},
+
+	background: {
+
+		uniforms: {
+			uvTransform: { value: /*@__PURE__*/ new Matrix3() },
+			t2D: { value: null },
+			backgroundIntensity: { value: 1 }
+		},
+
+		vertexShader: ShaderChunk.background_vert,
+		fragmentShader: ShaderChunk.background_frag
+
+	},
+
+	backgroundCube: {
+
+		uniforms: {
+			envMap: { value: null },
+			flipEnvMap: { value: - 1 },
+			backgroundBlurriness: { value: 0 },
+			backgroundIntensity: { value: 1 }
+		},
+
+		vertexShader: ShaderChunk.backgroundCube_vert,
+		fragmentShader: ShaderChunk.backgroundCube_frag
+
+	},
+
+	cube: {
+
+		uniforms: {
+			tCube: { value: null },
+			tFlip: { value: - 1 },
+			opacity: { value: 1.0 }
+		},
+
+		vertexShader: ShaderChunk.cube_vert,
+		fragmentShader: ShaderChunk.cube_frag
+
+	},
+
+	equirect: {
+
+		uniforms: {
+			tEquirect: { value: null },
+		},
+
+		vertexShader: ShaderChunk.equirect_vert,
+		fragmentShader: ShaderChunk.equirect_frag
+
+	},
+
+	distanceRGBA: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.common,
+			UniformsLib.displacementmap,
+			{
+				referencePosition: { value: /*@__PURE__*/ new Vector3() },
+				nearDistance: { value: 1 },
+				farDistance: { value: 1000 }
+			}
+		] ),
+
+		vertexShader: ShaderChunk.distanceRGBA_vert,
+		fragmentShader: ShaderChunk.distanceRGBA_frag
+
+	},
+
+	shadow: {
+
+		uniforms: /*@__PURE__*/ mergeUniforms( [
+			UniformsLib.lights,
+			UniformsLib.fog,
+			{
+				color: { value: /*@__PURE__*/ new Color( 0x00000 ) },
+				opacity: { value: 1.0 }
+			},
+		] ),
+
+		vertexShader: ShaderChunk.shadow_vert,
+		fragmentShader: ShaderChunk.shadow_frag
+
+	}
+
+};
+
+ShaderLib.physical = {
+
+	uniforms: /*@__PURE__*/ mergeUniforms( [
+		ShaderLib.standard.uniforms,
+		{
+			clearcoat: { value: 0 },
+			clearcoatMap: { value: null },
+			clearcoatMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			clearcoatNormalMap: { value: null },
+			clearcoatNormalMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			clearcoatNormalScale: { value: /*@__PURE__*/ new Vector2( 1, 1 ) },
+			clearcoatRoughness: { value: 0 },
+			clearcoatRoughnessMap: { value: null },
+			clearcoatRoughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			iridescence: { value: 0 },
+			iridescenceMap: { value: null },
+			iridescenceMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			iridescenceIOR: { value: 1.3 },
+			iridescenceThicknessMinimum: { value: 100 },
+			iridescenceThicknessMaximum: { value: 400 },
+			iridescenceThicknessMap: { value: null },
+			iridescenceThicknessMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			sheen: { value: 0 },
+			sheenColor: { value: /*@__PURE__*/ new Color( 0x000000 ) },
+			sheenColorMap: { value: null },
+			sheenColorMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			sheenRoughness: { value: 1 },
+			sheenRoughnessMap: { value: null },
+			sheenRoughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			transmission: { value: 0 },
+			transmissionMap: { value: null },
+			transmissionMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			transmissionSamplerSize: { value: /*@__PURE__*/ new Vector2() },
+			transmissionSamplerMap: { value: null },
+			thickness: { value: 0 },
+			thicknessMap: { value: null },
+			thicknessMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			attenuationDistance: { value: 0 },
+			attenuationColor: { value: /*@__PURE__*/ new Color( 0x000000 ) },
+			specularColor: { value: /*@__PURE__*/ new Color( 1, 1, 1 ) },
+			specularColorMap: { value: null },
+			specularColorMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			specularIntensity: { value: 1 },
+			specularIntensityMap: { value: null },
+			specularIntensityMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+			anisotropyVector: { value: /*@__PURE__*/ new Vector2() },
+			anisotropyMap: { value: null },
+			anisotropyMapTransform: { value: /*@__PURE__*/ new Matrix3() },
+		}
+	] ),
+
+	vertexShader: ShaderChunk.meshphysical_vert,
+	fragmentShader: ShaderChunk.meshphysical_frag
+
+};
+
+const _rgb = { r: 0, b: 0, g: 0 };
+
+function WebGLBackground( renderer, cubemaps, cubeuvmaps, state, objects, alpha, premultipliedAlpha ) {
+
+	const clearColor = new Color( 0x000000 );
+	let clearAlpha = alpha === true ? 0 : 1;
+
+	let planeMesh;
+	let boxMesh;
+
+	let currentBackground = null;
+	let currentBackgroundVersion = 0;
+	let currentTonemapping = null;
+
+	function render( renderList, scene ) {
+
+		let forceClear = false;
+		let background = scene.isScene === true ? scene.background : null;
+
+		if ( background && background.isTexture ) {
+
+			const usePMREM = scene.backgroundBlurriness > 0; // use PMREM if the user wants to blur the background
+			background = ( usePMREM ? cubeuvmaps : cubemaps ).get( background );
+
+		}
+
+		if ( background === null ) {
+
+			setClear( clearColor, clearAlpha );
+
+		} else if ( background && background.isColor ) {
+
+			setClear( background, 1 );
+			forceClear = true;
+
+		}
+
+		const environmentBlendMode = renderer.xr.getEnvironmentBlendMode();
+
+		if ( environmentBlendMode === 'additive' ) {
+
+			state.buffers.color.setClear( 0, 0, 0, 1, premultipliedAlpha );
+
+		} else if ( environmentBlendMode === 'alpha-blend' ) {
+
+			state.buffers.color.setClear( 0, 0, 0, 0, premultipliedAlpha );
+
+		}
+
+		if ( renderer.autoClear || forceClear ) {
+
+			renderer.clear( renderer.autoClearColor, renderer.autoClearDepth, renderer.autoClearStencil );
+
+		}
+
+		if ( background && ( background.isCubeTexture || background.mapping === CubeUVReflectionMapping ) ) {
+
+			if ( boxMesh === undefined ) {
+
+				boxMesh = new Mesh(
+					new BoxGeometry( 1, 1, 1 ),
+					new ShaderMaterial( {
+						name: 'BackgroundCubeMaterial',
+						uniforms: cloneUniforms( ShaderLib.backgroundCube.uniforms ),
+						vertexShader: ShaderLib.backgroundCube.vertexShader,
+						fragmentShader: ShaderLib.backgroundCube.fragmentShader,
+						side: BackSide,
+						depthTest: false,
+						depthWrite: false,
+						fog: false
+					} )
+				);
+
+				boxMesh.geometry.deleteAttribute( 'normal' );
+				boxMesh.geometry.deleteAttribute( 'uv' );
+
+				boxMesh.onBeforeRender = function ( renderer, scene, camera ) {
+
+					this.matrixWorld.copyPosition( camera.matrixWorld );
+
+				};
+
+				// add "envMap" material property so the renderer can evaluate it like for built-in materials
+				Object.defineProperty( boxMesh.material, 'envMap', {
+
+					get: function () {
+
+						return this.uniforms.envMap.value;
+
+					}
+
+				} );
+
+				objects.update( boxMesh );
+
+			}
+
+			boxMesh.material.uniforms.envMap.value = background;
+			boxMesh.material.uniforms.flipEnvMap.value = ( background.isCubeTexture && background.isRenderTargetTexture === false ) ? - 1 : 1;
+			boxMesh.material.uniforms.backgroundBlurriness.value = scene.backgroundBlurriness;
+			boxMesh.material.uniforms.backgroundIntensity.value = scene.backgroundIntensity;
+			boxMesh.material.toneMapped = ColorManagement.getTransfer( background.colorSpace ) !== SRGBTransfer;
+
+			if ( currentBackground !== background ||
+				currentBackgroundVersion !== background.version ||
+				currentTonemapping !== renderer.toneMapping ) {
+
+				boxMesh.material.needsUpdate = true;
+
+				currentBackground = background;
+				currentBackgroundVersion = background.version;
+				currentTonemapping = renderer.toneMapping;
+
+			}
+
+			boxMesh.layers.enableAll();
+
+			// push to the pre-sorted opaque render list
+			renderList.unshift( boxMesh, boxMesh.geometry, boxMesh.material, 0, 0, null );
+
+		} else if ( background && background.isTexture ) {
+
+			if ( planeMesh === undefined ) {
+
+				planeMesh = new Mesh(
+					new PlaneGeometry( 2, 2 ),
+					new ShaderMaterial( {
+						name: 'BackgroundMaterial',
+						uniforms: cloneUniforms( ShaderLib.background.uniforms ),
+						vertexShader: ShaderLib.background.vertexShader,
+						fragmentShader: ShaderLib.background.fragmentShader,
+						side: FrontSide,
+						depthTest: false,
+						depthWrite: false,
+						fog: false
+					} )
+				);
+
+				planeMesh.geometry.deleteAttribute( 'normal' );
+
+				// add "map" material property so the renderer can evaluate it like for built-in materials
+				Object.defineProperty( planeMesh.material, 'map', {
+
+					get: function () {
+
+						return this.uniforms.t2D.value;
+
+					}
+
+				} );
+
+				objects.update( planeMesh );
+
+			}
+
+			planeMesh.material.uniforms.t2D.value = background;
+			planeMesh.material.uniforms.backgroundIntensity.value = scene.backgroundIntensity;
+			planeMesh.material.toneMapped = ColorManagement.getTransfer( background.colorSpace ) !== SRGBTransfer;
+
+			if ( background.matrixAutoUpdate === true ) {
+
+				background.updateMatrix();
+
+			}
+
+			planeMesh.material.uniforms.uvTransform.value.copy( background.matrix );
+
+			if ( currentBackground !== background ||
+				currentBackgroundVersion !== background.version ||
+				currentTonemapping !== renderer.toneMapping ) {
+
+				planeMesh.material.needsUpdate = true;
+
+				currentBackground = background;
+				currentBackgroundVersion = background.version;
+				currentTonemapping = renderer.toneMapping;
+
+			}
+
+			planeMesh.layers.enableAll();
+
+			// push to the pre-sorted opaque render list
+			renderList.unshift( planeMesh, planeMesh.geometry, planeMesh.material, 0, 0, null );
+
+		}
+
+	}
+
+	function setClear( color, alpha ) {
+
+		color.getRGB( _rgb, getUnlitUniformColorSpace( renderer ) );
+
+		state.buffers.color.setClear( _rgb.r, _rgb.g, _rgb.b, alpha, premultipliedAlpha );
+
+	}
+
+	return {
+
+		getClearColor: function () {
+
+			return clearColor;
+
+		},
+		setClearColor: function ( color, alpha = 1 ) {
+
+			clearColor.set( color );
+			clearAlpha = alpha;
+			setClear( clearColor, clearAlpha );
+
+		},
+		getClearAlpha: function () {
+
+			return clearAlpha;
+
+		},
+		setClearAlpha: function ( alpha ) {
+
+			clearAlpha = alpha;
+			setClear( clearColor, clearAlpha );
+
+		},
+		render: render
+
+	};
+
+}
+
+function WebGLBindingStates( gl, extensions, attributes, capabilities ) {
+
+	const maxVertexAttributes = gl.getParameter( gl.MAX_VERTEX_ATTRIBS );
+
+	const extension = capabilities.isWebGL2 ? null : extensions.get( 'OES_vertex_array_object' );
+	const vaoAvailable = capabilities.isWebGL2 || extension !== null;
+
+	const bindingStates = {};
+
+	const defaultState = createBindingState( null );
+	let currentState = defaultState;
+	let forceUpdate = false;
+
+	function setup( object, material, program, geometry, index ) {
+
+		let updateBuffers = false;
+
+		if ( vaoAvailable ) {
+
+			const state = getBindingState( geometry, program, material );
+
+			if ( currentState !== state ) {
+
+				currentState = state;
+				bindVertexArrayObject( currentState.object );
+
+			}
+
+			updateBuffers = needsUpdate( object, geometry, program, index );
+
+			if ( updateBuffers ) saveCache( object, geometry, program, index );
+
+		} else {
+
+			const wireframe = ( material.wireframe === true );
+
+			if ( currentState.geometry !== geometry.id ||
+				currentState.program !== program.id ||
+				currentState.wireframe !== wireframe ) {
+
+				currentState.geometry = geometry.id;
+				currentState.program = program.id;
+				currentState.wireframe = wireframe;
+
+				updateBuffers = true;
+
+			}
+
+		}
+
+		if ( index !== null ) {
+
+			attributes.update( index, gl.ELEMENT_ARRAY_BUFFER );
+
+		}
+
+		if ( updateBuffers || forceUpdate ) {
+
+			forceUpdate = false;
+
+			setupVertexAttributes( object, material, program, geometry );
+
+			if ( index !== null ) {
+
+				gl.bindBuffer( gl.ELEMENT_ARRAY_BUFFER, attributes.get( index ).buffer );
+
+			}
+
+		}
+
+	}
+
+	function createVertexArrayObject() {
+
+		if ( capabilities.isWebGL2 ) return gl.createVertexArray();
+
+		return extension.createVertexArrayOES();
+
+	}
+
+	function bindVertexArrayObject( vao ) {
+
+		if ( capabilities.isWebGL2 ) return gl.bindVertexArray( vao );
+
+		return extension.bindVertexArrayOES( vao );
+
+	}
+
+	function deleteVertexArrayObject( vao ) {
+
+		if ( capabilities.isWebGL2 ) return gl.deleteVertexArray( vao );
+
+		return extension.deleteVertexArrayOES( vao );
+
+	}
+
+	function getBindingState( geometry, program, material ) {
+
+		const wireframe = ( material.wireframe === true );
+
+		let programMap = bindingStates[ geometry.id ];
+
+		if ( programMap === undefined ) {
+
+			programMap = {};
+			bindingStates[ geometry.id ] = programMap;
+
+		}
+
+		let stateMap = programMap[ program.id ];
+
+		if ( stateMap === undefined ) {
+
+			stateMap = {};
+			programMap[ program.id ] = stateMap;
+
+		}
+
+		let state = stateMap[ wireframe ];
+
+		if ( state === undefined ) {
+
+			state = createBindingState( createVertexArrayObject() );
+			stateMap[ wireframe ] = state;
+
+		}
+
+		return state;
+
+	}
+
+	function createBindingState( vao ) {
+
+		const newAttributes = [];
+		const enabledAttributes = [];
+		const attributeDivisors = [];
+
+		for ( let i = 0; i < maxVertexAttributes; i ++ ) {
+
+			newAttributes[ i ] = 0;
+			enabledAttributes[ i ] = 0;
+			attributeDivisors[ i ] = 0;
+
+		}
+
+		return {
+
+			// for backward compatibility on non-VAO support browser
+			geometry: null,
+			program: null,
+			wireframe: false,
+
+			newAttributes: newAttributes,
+			enabledAttributes: enabledAttributes,
+			attributeDivisors: attributeDivisors,
+			object: vao,
+			attributes: {},
+			index: null
+
+		};
+
+	}
+
+	function needsUpdate( object, geometry, program, index ) {
+
+		const cachedAttributes = currentState.attributes;
+		const geometryAttributes = geometry.attributes;
+
+		let attributesNum = 0;
+
+		const programAttributes = program.getAttributes();
+
+		for ( const name in programAttributes ) {
+
+			const programAttribute = programAttributes[ name ];
+
+			if ( programAttribute.location >= 0 ) {
+
+				const cachedAttribute = cachedAttributes[ name ];
+				let geometryAttribute = geometryAttributes[ name ];
+
+				if ( geometryAttribute === undefined ) {
+
+					if ( name === 'instanceMatrix' && object.instanceMatrix ) geometryAttribute = object.instanceMatrix;
+					if ( name === 'instanceColor' && object.instanceColor ) geometryAttribute = object.instanceColor;
+
+				}
+
+				if ( cachedAttribute === undefined ) return true;
+
+				if ( cachedAttribute.attribute !== geometryAttribute ) return true;
+
+				if ( geometryAttribute && cachedAttribute.data !== geometryAttribute.data ) return true;
+
+				attributesNum ++;
+
+			}
+
+		}
+
+		if ( currentState.attributesNum !== attributesNum ) return true;
+
+		if ( currentState.index !== index ) return true;
+
+		return false;
+
+	}
+
+	function saveCache( object, geometry, program, index ) {
+
+		const cache = {};
+		const attributes = geometry.attributes;
+		let attributesNum = 0;
+
+		const programAttributes = program.getAttributes();
+
+		for ( const name in programAttributes ) {
+
+			const programAttribute = programAttributes[ name ];
+
+			if ( programAttribute.location >= 0 ) {
+
+				let attribute = attributes[ name ];
+
+				if ( attribute === undefined ) {
+
+					if ( name === 'instanceMatrix' && object.instanceMatrix ) attribute = object.instanceMatrix;
+					if ( name === 'instanceColor' && object.instanceColor ) attribute = object.instanceColor;
+
+				}
+
+				const data = {};
+				data.attribute = attribute;
+
+				if ( attribute && attribute.data ) {
+
+					data.data = attribute.data;
+
+				}
+
+				cache[ name ] = data;
+
+				attributesNum ++;
+
+			}
+
+		}
+
+		currentState.attributes = cache;
+		currentState.attributesNum = attributesNum;
+
+		currentState.index = index;
+
+	}
+
+	function initAttributes() {
+
+		const newAttributes = currentState.newAttributes;
+
+		for ( let i = 0, il = newAttributes.length; i < il; i ++ ) {
+
+			newAttributes[ i ] = 0;
+
+		}
+
+	}
+
+	function enableAttribute( attribute ) {
+
+		enableAttributeAndDivisor( attribute, 0 );
+
+	}
+
+	function enableAttributeAndDivisor( attribute, meshPerAttribute ) {
+
+		const newAttributes = currentState.newAttributes;
+		const enabledAttributes = currentState.enabledAttributes;
+		const attributeDivisors = currentState.attributeDivisors;
+
+		newAttributes[ attribute ] = 1;
+
+		if ( enabledAttributes[ attribute ] === 0 ) {
+
+			gl.enableVertexAttribArray( attribute );
+			enabledAttributes[ attribute ] = 1;
+
+		}
+
+		if ( attributeDivisors[ attribute ] !== meshPerAttribute ) {
+
+			const extension = capabilities.isWebGL2 ? gl : extensions.get( 'ANGLE_instanced_arrays' );
+
+			extension[ capabilities.isWebGL2 ? 'vertexAttribDivisor' : 'vertexAttribDivisorANGLE' ]( attribute, meshPerAttribute );
+			attributeDivisors[ attribute ] = meshPerAttribute;
+
+		}
+
+	}
+
+	function disableUnusedAttributes() {
+
+		const newAttributes = currentState.newAttributes;
+		const enabledAttributes = currentState.enabledAttributes;
+
+		for ( let i = 0, il = enabledAttributes.length; i < il; i ++ ) {
+
+			if ( enabledAttributes[ i ] !== newAttributes[ i ] ) {
+
+				gl.disableVertexAttribArray( i );
+				enabledAttributes[ i ] = 0;
+
+			}
+
+		}
+
+	}
+
+	function vertexAttribPointer( index, size, type, normalized, stride, offset, integer ) {
+
+		if ( integer === true ) {
+
+			gl.vertexAttribIPointer( index, size, type, stride, offset );
+
+		} else {
+
+			gl.vertexAttribPointer( index, size, type, normalized, stride, offset );
+
+		}
+
+	}
+
+	function setupVertexAttributes( object, material, program, geometry ) {
+
+		if ( capabilities.isWebGL2 === false && ( object.isInstancedMesh || geometry.isInstancedBufferGeometry ) ) {
+
+			if ( extensions.get( 'ANGLE_instanced_arrays' ) === null ) return;
+
+		}
+
+		initAttributes();
+
+		const geometryAttributes = geometry.attributes;
+
+		const programAttributes = program.getAttributes();
+
+		const materialDefaultAttributeValues = material.defaultAttributeValues;
+
+		for ( const name in programAttributes ) {
+
+			const programAttribute = programAttributes[ name ];
+
+			if ( programAttribute.location >= 0 ) {
+
+				let geometryAttribute = geometryAttributes[ name ];
+
+				if ( geometryAttribute === undefined ) {
+
+					if ( name === 'instanceMatrix' && object.instanceMatrix ) geometryAttribute = object.instanceMatrix;
+					if ( name === 'instanceColor' && object.instanceColor ) geometryAttribute = object.instanceColor;
+
+				}
+
+				if ( geometryAttribute !== undefined ) {
+
+					const normalized = geometryAttribute.normalized;
+					const size = geometryAttribute.itemSize;
+
+					const attribute = attributes.get( geometryAttribute );
+
+					// TODO Attribute may not be available on context restore
+
+					if ( attribute === undefined ) continue;
+
+					const buffer = attribute.buffer;
+					const type = attribute.type;
+					const bytesPerElement = attribute.bytesPerElement;
+
+					// check for integer attributes (WebGL 2 only)
+
+					const integer = ( capabilities.isWebGL2 === true && ( type === gl.INT || type === gl.UNSIGNED_INT || geometryAttribute.gpuType === IntType ) );
+
+					if ( geometryAttribute.isInterleavedBufferAttribute ) {
+
+						const data = geometryAttribute.data;
+						const stride = data.stride;
+						const offset = geometryAttribute.offset;
+
+						if ( data.isInstancedInterleavedBuffer ) {
+
+							for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+								enableAttributeAndDivisor( programAttribute.location + i, data.meshPerAttribute );
+
+							}
+
+							if ( object.isInstancedMesh !== true && geometry._maxInstanceCount === undefined ) {
+
+								geometry._maxInstanceCount = data.meshPerAttribute * data.count;
+
+							}
+
+						} else {
+
+							for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+								enableAttribute( programAttribute.location + i );
+
+							}
+
+						}
+
+						gl.bindBuffer( gl.ARRAY_BUFFER, buffer );
+
+						for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+							vertexAttribPointer(
+								programAttribute.location + i,
+								size / programAttribute.locationSize,
+								type,
+								normalized,
+								stride * bytesPerElement,
+								( offset + ( size / programAttribute.locationSize ) * i ) * bytesPerElement,
+								integer
+							);
+
+						}
+
+					} else {
+
+						if ( geometryAttribute.isInstancedBufferAttribute ) {
+
+							for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+								enableAttributeAndDivisor( programAttribute.location + i, geometryAttribute.meshPerAttribute );
+
+							}
+
+							if ( object.isInstancedMesh !== true && geometry._maxInstanceCount === undefined ) {
+
+								geometry._maxInstanceCount = geometryAttribute.meshPerAttribute * geometryAttribute.count;
+
+							}
+
+						} else {
+
+							for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+								enableAttribute( programAttribute.location + i );
+
+							}
+
+						}
+
+						gl.bindBuffer( gl.ARRAY_BUFFER, buffer );
+
+						for ( let i = 0; i < programAttribute.locationSize; i ++ ) {
+
+							vertexAttribPointer(
+								programAttribute.location + i,
+								size / programAttribute.locationSize,
+								type,
+								normalized,
+								size * bytesPerElement,
+								( size / programAttribute.locationSize ) * i * bytesPerElement,
+								integer
+							);
+
+						}
+
+					}
+
+				} else if ( materialDefaultAttributeValues !== undefined ) {
+
+					const value = materialDefaultAttributeValues[ name ];
+
+					if ( value !== undefined ) {
+
+						switch ( value.length ) {
+
+							case 2:
+								gl.vertexAttrib2fv( programAttribute.location, value );
+								break;
+
+							case 3:
+								gl.vertexAttrib3fv( programAttribute.location, value );
+								break;
+
+							case 4:
+								gl.vertexAttrib4fv( programAttribute.location, value );
+								break;
+
+							default:
+								gl.vertexAttrib1fv( programAttribute.location, value );
+
+						}
+
+					}
+
+				}
+
+			}
+
+		}
+
+		disableUnusedAttributes();
+
+	}
+
+	function dispose() {
+
+		reset();
+
+		for ( const geometryId in bindingStates ) {
+
+			const programMap = bindingStates[ geometryId ];
+
+			for ( const programId in programMap ) {
+
+				const stateMap = programMap[ programId ];
+
+				for ( const wireframe in stateMap ) {
+
+					deleteVertexArrayObject( stateMap[ wireframe ].object );
+
+					delete stateMap[ wireframe ];
+
+				}
+
+				delete programMap[ programId ];
+
+			}
+
+			delete bindingStates[ geometryId ];
+
+		}
+
+	}
+
+	function releaseStatesOfGeometry( geometry ) {
+
+		if ( bindingStates[ geometry.id ] === undefined ) return;
+
+		const programMap = bindingStates[ geometry.id ];
+
+		for ( const programId in programMap ) {
+
+			const stateMap = programMap[ programId ];
+
+			for ( const wireframe in stateMap ) {
+
+				deleteVertexArrayObject( stateMap[ wireframe ].object );
+
+				delete stateMap[ wireframe ];
+
+			}
+
+			delete programMap[ programId ];
+
+		}
+
+		delete bindingStates[ geometry.id ];
+
+	}
+
+	function releaseStatesOfProgram( program ) {
+
+		for ( const geometryId in bindingStates ) {
+
+			const programMap = bindingStates[ geometryId ];
+
+			if ( programMap[ program.id ] === undefined ) continue;
+
+			const stateMap = programMap[ program.id ];
+
+			for ( const wireframe in stateMap ) {
+
+				deleteVertexArrayObject( stateMap[ wireframe ].object );
+
+				delete stateMap[ wireframe ];
+
+			}
+
+			delete programMap[ program.id ];
+
+		}
+
+	}
+
+	function reset() {
+
+		resetDefaultState();
+		forceUpdate = true;
+
+		if ( currentState === defaultState ) return;
+
+		currentState = defaultState;
+		bindVertexArrayObject( currentState.object );
+
+	}
+
+	// for backward-compatibility
+
+	function resetDefaultState() {
+
+		defaultState.geometry = null;
+		defaultState.program = null;
+		defaultState.wireframe = false;
+
+	}
+
+	return {
+
+		setup: setup,
+		reset: reset,
+		resetDefaultState: resetDefaultState,
+		dispose: dispose,
+		releaseStatesOfGeometry: releaseStatesOfGeometry,
+		releaseStatesOfProgram: releaseStatesOfProgram,
+
+		initAttributes: initAttributes,
+		enableAttribute: enableAttribute,
+		disableUnusedAttributes: disableUnusedAttributes
+
+	};
+
+}
+
+function WebGLBufferRenderer( gl, extensions, info, capabilities ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+
+	let mode;
+
+	function setMode( value ) {
+
+		mode = value;
+
+	}
+
+	function render( start, count ) {
+
+		gl.drawArrays( mode, start, count );
+
+		info.update( count, mode, 1 );
+
+	}
+
+	function renderInstances( start, count, primcount ) {
+
+		if ( primcount === 0 ) return;
+
+		let extension, methodName;
+
+		if ( isWebGL2 ) {
+
+			extension = gl;
+			methodName = 'drawArraysInstanced';
+
+		} else {
+
+			extension = extensions.get( 'ANGLE_instanced_arrays' );
+			methodName = 'drawArraysInstancedANGLE';
+
+			if ( extension === null ) {
+
+				console.error( 'THREE.WebGLBufferRenderer: using THREE.InstancedBufferGeometry but hardware does not support extension ANGLE_instanced_arrays.' );
+				return;
+
+			}
+
+		}
+
+		extension[ methodName ]( mode, start, count, primcount );
+
+		info.update( count, mode, primcount );
+
+	}
+
+	function renderMultiDraw( starts, counts, drawCount ) {
+
+		if ( drawCount === 0 ) return;
+
+		const extension = extensions.get( 'WEBGL_multi_draw' );
+		if ( extension === null ) {
+
+			for ( let i = 0; i < drawCount; i ++ ) {
+
+				this.render( starts[ i ], counts[ i ] );
+
+			}
+
+		} else {
+
+			extension.multiDrawArraysWEBGL( mode, starts, 0, counts, 0, drawCount );
+
+			let elementCount = 0;
+			for ( let i = 0; i < drawCount; i ++ ) {
+
+				elementCount += counts[ i ];
+
+			}
+
+			info.update( elementCount, mode, 1 );
+
+		}
+
+	}
+
+	//
+
+	this.setMode = setMode;
+	this.render = render;
+	this.renderInstances = renderInstances;
+	this.renderMultiDraw = renderMultiDraw;
+
+}
+
+function WebGLCapabilities( gl, extensions, parameters ) {
+
+	let maxAnisotropy;
+
+	function getMaxAnisotropy() {
+
+		if ( maxAnisotropy !== undefined ) return maxAnisotropy;
+
+		if ( extensions.has( 'EXT_texture_filter_anisotropic' ) === true ) {
+
+			const extension = extensions.get( 'EXT_texture_filter_anisotropic' );
+
+			maxAnisotropy = gl.getParameter( extension.MAX_TEXTURE_MAX_ANISOTROPY_EXT );
+
+		} else {
+
+			maxAnisotropy = 0;
+
+		}
+
+		return maxAnisotropy;
+
+	}
+
+	function getMaxPrecision( precision ) {
+
+		if ( precision === 'highp' ) {
+
+			if ( gl.getShaderPrecisionFormat( gl.VERTEX_SHADER, gl.HIGH_FLOAT ).precision > 0 &&
+				gl.getShaderPrecisionFormat( gl.FRAGMENT_SHADER, gl.HIGH_FLOAT ).precision > 0 ) {
+
+				return 'highp';
+
+			}
+
+			precision = 'mediump';
+
+		}
+
+		if ( precision === 'mediump' ) {
+
+			if ( gl.getShaderPrecisionFormat( gl.VERTEX_SHADER, gl.MEDIUM_FLOAT ).precision > 0 &&
+				gl.getShaderPrecisionFormat( gl.FRAGMENT_SHADER, gl.MEDIUM_FLOAT ).precision > 0 ) {
+
+				return 'mediump';
+
+			}
+
+		}
+
+		return 'lowp';
+
+	}
+
+	const isWebGL2 = typeof WebGL2RenderingContext !== 'undefined' && gl.constructor.name === 'WebGL2RenderingContext';
+
+	let precision = parameters.precision !== undefined ? parameters.precision : 'highp';
+	const maxPrecision = getMaxPrecision( precision );
+
+	if ( maxPrecision !== precision ) {
+
+		console.warn( 'THREE.WebGLRenderer:', precision, 'not supported, using', maxPrecision, 'instead.' );
+		precision = maxPrecision;
+
+	}
+
+	const drawBuffers = isWebGL2 || extensions.has( 'WEBGL_draw_buffers' );
+
+	const logarithmicDepthBuffer = parameters.logarithmicDepthBuffer === true;
+
+	const maxTextures = gl.getParameter( gl.MAX_TEXTURE_IMAGE_UNITS );
+	const maxVertexTextures = gl.getParameter( gl.MAX_VERTEX_TEXTURE_IMAGE_UNITS );
+	const maxTextureSize = gl.getParameter( gl.MAX_TEXTURE_SIZE );
+	const maxCubemapSize = gl.getParameter( gl.MAX_CUBE_MAP_TEXTURE_SIZE );
+
+	const maxAttributes = gl.getParameter( gl.MAX_VERTEX_ATTRIBS );
+	const maxVertexUniforms = gl.getParameter( gl.MAX_VERTEX_UNIFORM_VECTORS );
+	const maxVaryings = gl.getParameter( gl.MAX_VARYING_VECTORS );
+	const maxFragmentUniforms = gl.getParameter( gl.MAX_FRAGMENT_UNIFORM_VECTORS );
+
+	const vertexTextures = maxVertexTextures > 0;
+	const floatFragmentTextures = isWebGL2 || extensions.has( 'OES_texture_float' );
+	const floatVertexTextures = vertexTextures && floatFragmentTextures;
+
+	const maxSamples = isWebGL2 ? gl.getParameter( gl.MAX_SAMPLES ) : 0;
+
+	return {
+
+		isWebGL2: isWebGL2,
+
+		drawBuffers: drawBuffers,
+
+		getMaxAnisotropy: getMaxAnisotropy,
+		getMaxPrecision: getMaxPrecision,
+
+		precision: precision,
+		logarithmicDepthBuffer: logarithmicDepthBuffer,
+
+		maxTextures: maxTextures,
+		maxVertexTextures: maxVertexTextures,
+		maxTextureSize: maxTextureSize,
+		maxCubemapSize: maxCubemapSize,
+
+		maxAttributes: maxAttributes,
+		maxVertexUniforms: maxVertexUniforms,
+		maxVaryings: maxVaryings,
+		maxFragmentUniforms: maxFragmentUniforms,
+
+		vertexTextures: vertexTextures,
+		floatFragmentTextures: floatFragmentTextures,
+		floatVertexTextures: floatVertexTextures,
+
+		maxSamples: maxSamples
+
+	};
+
+}
+
+function WebGLClipping( properties ) {
+
+	const scope = this;
+
+	let globalState = null,
+		numGlobalPlanes = 0,
+		localClippingEnabled = false,
+		renderingShadows = false;
+
+	const plane = new Plane(),
+		viewNormalMatrix = new Matrix3(),
+
+		uniform = { value: null, needsUpdate: false };
+
+	this.uniform = uniform;
+	this.numPlanes = 0;
+	this.numIntersection = 0;
+
+	this.init = function ( planes, enableLocalClipping ) {
+
+		const enabled =
+			planes.length !== 0 ||
+			enableLocalClipping ||
+			// enable state of previous frame - the clipping code has to
+			// run another frame in order to reset the state:
+			numGlobalPlanes !== 0 ||
+			localClippingEnabled;
+
+		localClippingEnabled = enableLocalClipping;
+
+		numGlobalPlanes = planes.length;
+
+		return enabled;
+
+	};
+
+	this.beginShadows = function () {
+
+		renderingShadows = true;
+		projectPlanes( null );
+
+	};
+
+	this.endShadows = function () {
+
+		renderingShadows = false;
+
+	};
+
+	this.setGlobalState = function ( planes, camera ) {
+
+		globalState = projectPlanes( planes, camera, 0 );
+
+	};
+
+	this.setState = function ( material, camera, useCache ) {
+
+		const planes = material.clippingPlanes,
+			clipIntersection = material.clipIntersection,
+			clipShadows = material.clipShadows;
+
+		const materialProperties = properties.get( material );
+
+		if ( ! localClippingEnabled || planes === null || planes.length === 0 || renderingShadows && ! clipShadows ) {
+
+			// there's no local clipping
+
+			if ( renderingShadows ) {
+
+				// there's no global clipping
+
+				projectPlanes( null );
+
+			} else {
+
+				resetGlobalState();
+
+			}
+
+		} else {
+
+			const nGlobal = renderingShadows ? 0 : numGlobalPlanes,
+				lGlobal = nGlobal * 4;
+
+			let dstArray = materialProperties.clippingState || null;
+
+			uniform.value = dstArray; // ensure unique state
+
+			dstArray = projectPlanes( planes, camera, lGlobal, useCache );
+
+			for ( let i = 0; i !== lGlobal; ++ i ) {
+
+				dstArray[ i ] = globalState[ i ];
+
+			}
+
+			materialProperties.clippingState = dstArray;
+			this.numIntersection = clipIntersection ? this.numPlanes : 0;
+			this.numPlanes += nGlobal;
+
+		}
+
+
+	};
+
+	function resetGlobalState() {
+
+		if ( uniform.value !== globalState ) {
+
+			uniform.value = globalState;
+			uniform.needsUpdate = numGlobalPlanes > 0;
+
+		}
+
+		scope.numPlanes = numGlobalPlanes;
+		scope.numIntersection = 0;
+
+	}
+
+	function projectPlanes( planes, camera, dstOffset, skipTransform ) {
+
+		const nPlanes = planes !== null ? planes.length : 0;
+		let dstArray = null;
+
+		if ( nPlanes !== 0 ) {
+
+			dstArray = uniform.value;
+
+			if ( skipTransform !== true || dstArray === null ) {
+
+				const flatSize = dstOffset + nPlanes * 4,
+					viewMatrix = camera.matrixWorldInverse;
+
+				viewNormalMatrix.getNormalMatrix( viewMatrix );
+
+				if ( dstArray === null || dstArray.length < flatSize ) {
+
+					dstArray = new Float32Array( flatSize );
+
+				}
+
+				for ( let i = 0, i4 = dstOffset; i !== nPlanes; ++ i, i4 += 4 ) {
+
+					plane.copy( planes[ i ] ).applyMatrix4( viewMatrix, viewNormalMatrix );
+
+					plane.normal.toArray( dstArray, i4 );
+					dstArray[ i4 + 3 ] = plane.constant;
+
+				}
+
+			}
+
+			uniform.value = dstArray;
+			uniform.needsUpdate = true;
+
+		}
+
+		scope.numPlanes = nPlanes;
+		scope.numIntersection = 0;
+
+		return dstArray;
+
+	}
+
+}
+
+function WebGLCubeMaps( renderer ) {
+
+	let cubemaps = new WeakMap();
+
+	function mapTextureMapping( texture, mapping ) {
+
+		if ( mapping === EquirectangularReflectionMapping ) {
+
+			texture.mapping = CubeReflectionMapping;
+
+		} else if ( mapping === EquirectangularRefractionMapping ) {
+
+			texture.mapping = CubeRefractionMapping;
+
+		}
+
+		return texture;
+
+	}
+
+	function get( texture ) {
+
+		if ( texture && texture.isTexture ) {
+
+			const mapping = texture.mapping;
+
+			if ( mapping === EquirectangularReflectionMapping || mapping === EquirectangularRefractionMapping ) {
+
+				if ( cubemaps.has( texture ) ) {
+
+					const cubemap = cubemaps.get( texture ).texture;
+					return mapTextureMapping( cubemap, texture.mapping );
+
+				} else {
+
+					const image = texture.image;
+
+					if ( image && image.height > 0 ) {
+
+						const renderTarget = new WebGLCubeRenderTarget( image.height / 2 );
+						renderTarget.fromEquirectangularTexture( renderer, texture );
+						cubemaps.set( texture, renderTarget );
+
+						texture.addEventListener( 'dispose', onTextureDispose );
+
+						return mapTextureMapping( renderTarget.texture, texture.mapping );
+
+					} else {
+
+						// image not yet ready. try the conversion next frame
+
+						return null;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		return texture;
+
+	}
+
+	function onTextureDispose( event ) {
+
+		const texture = event.target;
+
+		texture.removeEventListener( 'dispose', onTextureDispose );
+
+		const cubemap = cubemaps.get( texture );
+
+		if ( cubemap !== undefined ) {
+
+			cubemaps.delete( texture );
+			cubemap.dispose();
+
+		}
+
+	}
+
+	function dispose() {
+
+		cubemaps = new WeakMap();
+
+	}
+
+	return {
+		get: get,
+		dispose: dispose
+	};
+
+}
+
+class OrthographicCamera extends Camera {
+
+	constructor( left = - 1, right = 1, top = 1, bottom = - 1, near = 0.1, far = 2000 ) {
+
+		super();
+
+		this.isOrthographicCamera = true;
+
+		this.type = 'OrthographicCamera';
+
+		this.zoom = 1;
+		this.view = null;
+
+		this.left = left;
+		this.right = right;
+		this.top = top;
+		this.bottom = bottom;
+
+		this.near = near;
+		this.far = far;
+
+		this.updateProjectionMatrix();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.left = source.left;
+		this.right = source.right;
+		this.top = source.top;
+		this.bottom = source.bottom;
+		this.near = source.near;
+		this.far = source.far;
+
+		this.zoom = source.zoom;
+		this.view = source.view === null ? null : Object.assign( {}, source.view );
+
+		return this;
+
+	}
+
+	setViewOffset( fullWidth, fullHeight, x, y, width, height ) {
+
+		if ( this.view === null ) {
+
+			this.view = {
+				enabled: true,
+				fullWidth: 1,
+				fullHeight: 1,
+				offsetX: 0,
+				offsetY: 0,
+				width: 1,
+				height: 1
+			};
+
+		}
+
+		this.view.enabled = true;
+		this.view.fullWidth = fullWidth;
+		this.view.fullHeight = fullHeight;
+		this.view.offsetX = x;
+		this.view.offsetY = y;
+		this.view.width = width;
+		this.view.height = height;
+
+		this.updateProjectionMatrix();
+
+	}
+
+	clearViewOffset() {
+
+		if ( this.view !== null ) {
+
+			this.view.enabled = false;
+
+		}
+
+		this.updateProjectionMatrix();
+
+	}
+
+	updateProjectionMatrix() {
+
+		const dx = ( this.right - this.left ) / ( 2 * this.zoom );
+		const dy = ( this.top - this.bottom ) / ( 2 * this.zoom );
+		const cx = ( this.right + this.left ) / 2;
+		const cy = ( this.top + this.bottom ) / 2;
+
+		let left = cx - dx;
+		let right = cx + dx;
+		let top = cy + dy;
+		let bottom = cy - dy;
+
+		if ( this.view !== null && this.view.enabled ) {
+
+			const scaleW = ( this.right - this.left ) / this.view.fullWidth / this.zoom;
+			const scaleH = ( this.top - this.bottom ) / this.view.fullHeight / this.zoom;
+
+			left += scaleW * this.view.offsetX;
+			right = left + scaleW * this.view.width;
+			top -= scaleH * this.view.offsetY;
+			bottom = top - scaleH * this.view.height;
+
+		}
+
+		this.projectionMatrix.makeOrthographic( left, right, top, bottom, this.near, this.far, this.coordinateSystem );
+
+		this.projectionMatrixInverse.copy( this.projectionMatrix ).invert();
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.object.zoom = this.zoom;
+		data.object.left = this.left;
+		data.object.right = this.right;
+		data.object.top = this.top;
+		data.object.bottom = this.bottom;
+		data.object.near = this.near;
+		data.object.far = this.far;
+
+		if ( this.view !== null ) data.object.view = Object.assign( {}, this.view );
+
+		return data;
+
+	}
+
+}
+
+const LOD_MIN = 4;
+
+// The standard deviations (radians) associated with the extra mips. These are
+// chosen to approximate a Trowbridge-Reitz distribution function times the
+// geometric shadowing function. These sigma values squared must match the
+// variance #defines in cube_uv_reflection_fragment.glsl.js.
+const EXTRA_LOD_SIGMA = [ 0.125, 0.215, 0.35, 0.446, 0.526, 0.582 ];
+
+// The maximum length of the blur for loop. Smaller sigmas will use fewer
+// samples and exit early, but not recompile the shader.
+const MAX_SAMPLES = 20;
+
+const _flatCamera = /*@__PURE__*/ new OrthographicCamera();
+const _clearColor = /*@__PURE__*/ new Color();
+let _oldTarget = null;
+let _oldActiveCubeFace = 0;
+let _oldActiveMipmapLevel = 0;
+
+// Golden Ratio
+const PHI = ( 1 + Math.sqrt( 5 ) ) / 2;
+const INV_PHI = 1 / PHI;
+
+// Vertices of a dodecahedron (except the opposites, which represent the
+// same axis), used as axis directions evenly spread on a sphere.
+const _axisDirections = [
+	/*@__PURE__*/ new Vector3( 1, 1, 1 ),
+	/*@__PURE__*/ new Vector3( - 1, 1, 1 ),
+	/*@__PURE__*/ new Vector3( 1, 1, - 1 ),
+	/*@__PURE__*/ new Vector3( - 1, 1, - 1 ),
+	/*@__PURE__*/ new Vector3( 0, PHI, INV_PHI ),
+	/*@__PURE__*/ new Vector3( 0, PHI, - INV_PHI ),
+	/*@__PURE__*/ new Vector3( INV_PHI, 0, PHI ),
+	/*@__PURE__*/ new Vector3( - INV_PHI, 0, PHI ),
+	/*@__PURE__*/ new Vector3( PHI, INV_PHI, 0 ),
+	/*@__PURE__*/ new Vector3( - PHI, INV_PHI, 0 ) ];
+
+/**
+ * This class generates a Prefiltered, Mipmapped Radiance Environment Map
+ * (PMREM) from a cubeMap environment texture. This allows different levels of
+ * blur to be quickly accessed based on material roughness. It is packed into a
+ * special CubeUV format that allows us to perform custom interpolation so that
+ * we can support nonlinear formats such as RGBE. Unlike a traditional mipmap
+ * chain, it only goes down to the LOD_MIN level (above), and then creates extra
+ * even more filtered 'mips' at the same LOD_MIN resolution, associated with
+ * higher roughness levels. In this way we maintain resolution to smoothly
+ * interpolate diffuse lighting while limiting sampling computation.
+ *
+ * Paper: Fast, Accurate Image-Based Lighting
+ * https://drive.google.com/file/d/15y8r_UpKlU9SvV4ILb0C3qCPecS8pvLz/view
+*/
+
+class PMREMGenerator {
+
+	constructor( renderer ) {
+
+		this._renderer = renderer;
+		this._pingPongRenderTarget = null;
+
+		this._lodMax = 0;
+		this._cubeSize = 0;
+		this._lodPlanes = [];
+		this._sizeLods = [];
+		this._sigmas = [];
+
+		this._blurMaterial = null;
+		this._cubemapMaterial = null;
+		this._equirectMaterial = null;
+
+		this._compileMaterial( this._blurMaterial );
+
+	}
+
+	/**
+	 * Generates a PMREM from a supplied Scene, which can be faster than using an
+	 * image if networking bandwidth is low. Optional sigma specifies a blur radius
+	 * in radians to be applied to the scene before PMREM generation. Optional near
+	 * and far planes ensure the scene is rendered in its entirety (the cubeCamera
+	 * is placed at the origin).
+	 */
+	fromScene( scene, sigma = 0, near = 0.1, far = 100 ) {
+
+		_oldTarget = this._renderer.getRenderTarget();
+		_oldActiveCubeFace = this._renderer.getActiveCubeFace();
+		_oldActiveMipmapLevel = this._renderer.getActiveMipmapLevel();
+
+		this._setSize( 256 );
+
+		const cubeUVRenderTarget = this._allocateTargets();
+		cubeUVRenderTarget.depthBuffer = true;
+
+		this._sceneToCubeUV( scene, near, far, cubeUVRenderTarget );
+
+		if ( sigma > 0 ) {
+
+			this._blur( cubeUVRenderTarget, 0, 0, sigma );
+
+		}
+
+		this._applyPMREM( cubeUVRenderTarget );
+		this._cleanup( cubeUVRenderTarget );
+
+		return cubeUVRenderTarget;
+
+	}
+
+	/**
+	 * Generates a PMREM from an equirectangular texture, which can be either LDR
+	 * or HDR. The ideal input image size is 1k (1024 x 512),
+	 * as this matches best with the 256 x 256 cubemap output.
+	 */
+	fromEquirectangular( equirectangular, renderTarget = null ) {
+
+		return this._fromTexture( equirectangular, renderTarget );
+
+	}
+
+	/**
+	 * Generates a PMREM from an cubemap texture, which can be either LDR
+	 * or HDR. The ideal input cube size is 256 x 256,
+	 * as this matches best with the 256 x 256 cubemap output.
+	 */
+	fromCubemap( cubemap, renderTarget = null ) {
+
+		return this._fromTexture( cubemap, renderTarget );
+
+	}
+
+	/**
+	 * Pre-compiles the cubemap shader. You can get faster start-up by invoking this method during
+	 * your texture's network fetch for increased concurrency.
+	 */
+	compileCubemapShader() {
+
+		if ( this._cubemapMaterial === null ) {
+
+			this._cubemapMaterial = _getCubemapMaterial();
+			this._compileMaterial( this._cubemapMaterial );
+
+		}
+
+	}
+
+	/**
+	 * Pre-compiles the equirectangular shader. You can get faster start-up by invoking this method during
+	 * your texture's network fetch for increased concurrency.
+	 */
+	compileEquirectangularShader() {
+
+		if ( this._equirectMaterial === null ) {
+
+			this._equirectMaterial = _getEquirectMaterial();
+			this._compileMaterial( this._equirectMaterial );
+
+		}
+
+	}
+
+	/**
+	 * Disposes of the PMREMGenerator's internal memory. Note that PMREMGenerator is a static class,
+	 * so you should not need more than one PMREMGenerator object. If you do, calling dispose() on
+	 * one of them will cause any others to also become unusable.
+	 */
+	dispose() {
+
+		this._dispose();
+
+		if ( this._cubemapMaterial !== null ) this._cubemapMaterial.dispose();
+		if ( this._equirectMaterial !== null ) this._equirectMaterial.dispose();
+
+	}
+
+	// private interface
+
+	_setSize( cubeSize ) {
+
+		this._lodMax = Math.floor( Math.log2( cubeSize ) );
+		this._cubeSize = Math.pow( 2, this._lodMax );
+
+	}
+
+	_dispose() {
+
+		if ( this._blurMaterial !== null ) this._blurMaterial.dispose();
+
+		if ( this._pingPongRenderTarget !== null ) this._pingPongRenderTarget.dispose();
+
+		for ( let i = 0; i < this._lodPlanes.length; i ++ ) {
+
+			this._lodPlanes[ i ].dispose();
+
+		}
+
+	}
+
+	_cleanup( outputTarget ) {
+
+		this._renderer.setRenderTarget( _oldTarget, _oldActiveCubeFace, _oldActiveMipmapLevel );
+		outputTarget.scissorTest = false;
+		_setViewport( outputTarget, 0, 0, outputTarget.width, outputTarget.height );
+
+	}
+
+	_fromTexture( texture, renderTarget ) {
+
+		if ( texture.mapping === CubeReflectionMapping || texture.mapping === CubeRefractionMapping ) {
+
+			this._setSize( texture.image.length === 0 ? 16 : ( texture.image[ 0 ].width || texture.image[ 0 ].image.width ) );
+
+		} else { // Equirectangular
+
+			this._setSize( texture.image.width / 4 );
+
+		}
+
+		_oldTarget = this._renderer.getRenderTarget();
+		_oldActiveCubeFace = this._renderer.getActiveCubeFace();
+		_oldActiveMipmapLevel = this._renderer.getActiveMipmapLevel();
+
+		const cubeUVRenderTarget = renderTarget || this._allocateTargets();
+		this._textureToCubeUV( texture, cubeUVRenderTarget );
+		this._applyPMREM( cubeUVRenderTarget );
+		this._cleanup( cubeUVRenderTarget );
+
+		return cubeUVRenderTarget;
+
+	}
+
+	_allocateTargets() {
+
+		const width = 3 * Math.max( this._cubeSize, 16 * 7 );
+		const height = 4 * this._cubeSize;
+
+		const params = {
+			magFilter: LinearFilter,
+			minFilter: LinearFilter,
+			generateMipmaps: false,
+			type: HalfFloatType,
+			format: RGBAFormat,
+			colorSpace: LinearSRGBColorSpace,
+			depthBuffer: false
+		};
+
+		const cubeUVRenderTarget = _createRenderTarget( width, height, params );
+
+		if ( this._pingPongRenderTarget === null || this._pingPongRenderTarget.width !== width || this._pingPongRenderTarget.height !== height ) {
+
+			if ( this._pingPongRenderTarget !== null ) {
+
+				this._dispose();
+
+			}
+
+			this._pingPongRenderTarget = _createRenderTarget( width, height, params );
+
+			const { _lodMax } = this;
+			( { sizeLods: this._sizeLods, lodPlanes: this._lodPlanes, sigmas: this._sigmas } = _createPlanes( _lodMax ) );
+
+			this._blurMaterial = _getBlurShader( _lodMax, width, height );
+
+		}
+
+		return cubeUVRenderTarget;
+
+	}
+
+	_compileMaterial( material ) {
+
+		const tmpMesh = new Mesh( this._lodPlanes[ 0 ], material );
+		this._renderer.compile( tmpMesh, _flatCamera );
+
+	}
+
+	_sceneToCubeUV( scene, near, far, cubeUVRenderTarget ) {
+
+		const fov = 90;
+		const aspect = 1;
+		const cubeCamera = new PerspectiveCamera( fov, aspect, near, far );
+		const upSign = [ 1, - 1, 1, 1, 1, 1 ];
+		const forwardSign = [ 1, 1, 1, - 1, - 1, - 1 ];
+		const renderer = this._renderer;
+
+		const originalAutoClear = renderer.autoClear;
+		const toneMapping = renderer.toneMapping;
+		renderer.getClearColor( _clearColor );
+
+		renderer.toneMapping = NoToneMapping;
+		renderer.autoClear = false;
+
+		const backgroundMaterial = new MeshBasicMaterial( {
+			name: 'PMREM.Background',
+			side: BackSide,
+			depthWrite: false,
+			depthTest: false,
+		} );
+
+		const backgroundBox = new Mesh( new BoxGeometry(), backgroundMaterial );
+
+		let useSolidColor = false;
+		const background = scene.background;
+
+		if ( background ) {
+
+			if ( background.isColor ) {
+
+				backgroundMaterial.color.copy( background );
+				scene.background = null;
+				useSolidColor = true;
+
+			}
+
+		} else {
+
+			backgroundMaterial.color.copy( _clearColor );
+			useSolidColor = true;
+
+		}
+
+		for ( let i = 0; i < 6; i ++ ) {
+
+			const col = i % 3;
+
+			if ( col === 0 ) {
+
+				cubeCamera.up.set( 0, upSign[ i ], 0 );
+				cubeCamera.lookAt( forwardSign[ i ], 0, 0 );
+
+			} else if ( col === 1 ) {
+
+				cubeCamera.up.set( 0, 0, upSign[ i ] );
+				cubeCamera.lookAt( 0, forwardSign[ i ], 0 );
+
+			} else {
+
+				cubeCamera.up.set( 0, upSign[ i ], 0 );
+				cubeCamera.lookAt( 0, 0, forwardSign[ i ] );
+
+			}
+
+			const size = this._cubeSize;
+
+			_setViewport( cubeUVRenderTarget, col * size, i > 2 ? size : 0, size, size );
+
+			renderer.setRenderTarget( cubeUVRenderTarget );
+
+			if ( useSolidColor ) {
+
+				renderer.render( backgroundBox, cubeCamera );
+
+			}
+
+			renderer.render( scene, cubeCamera );
+
+		}
+
+		backgroundBox.geometry.dispose();
+		backgroundBox.material.dispose();
+
+		renderer.toneMapping = toneMapping;
+		renderer.autoClear = originalAutoClear;
+		scene.background = background;
+
+	}
+
+	_textureToCubeUV( texture, cubeUVRenderTarget ) {
+
+		const renderer = this._renderer;
+
+		const isCubeTexture = ( texture.mapping === CubeReflectionMapping || texture.mapping === CubeRefractionMapping );
+
+		if ( isCubeTexture ) {
+
+			if ( this._cubemapMaterial === null ) {
+
+				this._cubemapMaterial = _getCubemapMaterial();
+
+			}
+
+			this._cubemapMaterial.uniforms.flipEnvMap.value = ( texture.isRenderTargetTexture === false ) ? - 1 : 1;
+
+		} else {
+
+			if ( this._equirectMaterial === null ) {
+
+				this._equirectMaterial = _getEquirectMaterial();
+
+			}
+
+		}
+
+		const material = isCubeTexture ? this._cubemapMaterial : this._equirectMaterial;
+		const mesh = new Mesh( this._lodPlanes[ 0 ], material );
+
+		const uniforms = material.uniforms;
+
+		uniforms[ 'envMap' ].value = texture;
+
+		const size = this._cubeSize;
+
+		_setViewport( cubeUVRenderTarget, 0, 0, 3 * size, 2 * size );
+
+		renderer.setRenderTarget( cubeUVRenderTarget );
+		renderer.render( mesh, _flatCamera );
+
+	}
+
+	_applyPMREM( cubeUVRenderTarget ) {
+
+		const renderer = this._renderer;
+		const autoClear = renderer.autoClear;
+		renderer.autoClear = false;
+
+		for ( let i = 1; i < this._lodPlanes.length; i ++ ) {
+
+			const sigma = Math.sqrt( this._sigmas[ i ] * this._sigmas[ i ] - this._sigmas[ i - 1 ] * this._sigmas[ i - 1 ] );
+
+			const poleAxis = _axisDirections[ ( i - 1 ) % _axisDirections.length ];
+
+			this._blur( cubeUVRenderTarget, i - 1, i, sigma, poleAxis );
+
+		}
+
+		renderer.autoClear = autoClear;
+
+	}
+
+	/**
+	 * This is a two-pass Gaussian blur for a cubemap. Normally this is done
+	 * vertically and horizontally, but this breaks down on a cube. Here we apply
+	 * the blur latitudinally (around the poles), and then longitudinally (towards
+	 * the poles) to approximate the orthogonally-separable blur. It is least
+	 * accurate at the poles, but still does a decent job.
+	 */
+	_blur( cubeUVRenderTarget, lodIn, lodOut, sigma, poleAxis ) {
+
+		const pingPongRenderTarget = this._pingPongRenderTarget;
+
+		this._halfBlur(
+			cubeUVRenderTarget,
+			pingPongRenderTarget,
+			lodIn,
+			lodOut,
+			sigma,
+			'latitudinal',
+			poleAxis );
+
+		this._halfBlur(
+			pingPongRenderTarget,
+			cubeUVRenderTarget,
+			lodOut,
+			lodOut,
+			sigma,
+			'longitudinal',
+			poleAxis );
+
+	}
+
+	_halfBlur( targetIn, targetOut, lodIn, lodOut, sigmaRadians, direction, poleAxis ) {
+
+		const renderer = this._renderer;
+		const blurMaterial = this._blurMaterial;
+
+		if ( direction !== 'latitudinal' && direction !== 'longitudinal' ) {
+
+			console.error(
+				'blur direction must be either latitudinal or longitudinal!' );
+
+		}
+
+		// Number of standard deviations at which to cut off the discrete approximation.
+		const STANDARD_DEVIATIONS = 3;
+
+		const blurMesh = new Mesh( this._lodPlanes[ lodOut ], blurMaterial );
+		const blurUniforms = blurMaterial.uniforms;
+
+		const pixels = this._sizeLods[ lodIn ] - 1;
+		const radiansPerPixel = isFinite( sigmaRadians ) ? Math.PI / ( 2 * pixels ) : 2 * Math.PI / ( 2 * MAX_SAMPLES - 1 );
+		const sigmaPixels = sigmaRadians / radiansPerPixel;
+		const samples = isFinite( sigmaRadians ) ? 1 + Math.floor( STANDARD_DEVIATIONS * sigmaPixels ) : MAX_SAMPLES;
+
+		if ( samples > MAX_SAMPLES ) {
+
+			console.warn( `sigmaRadians, ${
+				sigmaRadians}, is too large and will clip, as it requested ${
+				samples} samples when the maximum is set to ${MAX_SAMPLES}` );
+
+		}
+
+		const weights = [];
+		let sum = 0;
+
+		for ( let i = 0; i < MAX_SAMPLES; ++ i ) {
+
+			const x = i / sigmaPixels;
+			const weight = Math.exp( - x * x / 2 );
+			weights.push( weight );
+
+			if ( i === 0 ) {
+
+				sum += weight;
+
+			} else if ( i < samples ) {
+
+				sum += 2 * weight;
+
+			}
+
+		}
+
+		for ( let i = 0; i < weights.length; i ++ ) {
+
+			weights[ i ] = weights[ i ] / sum;
+
+		}
+
+		blurUniforms[ 'envMap' ].value = targetIn.texture;
+		blurUniforms[ 'samples' ].value = samples;
+		blurUniforms[ 'weights' ].value = weights;
+		blurUniforms[ 'latitudinal' ].value = direction === 'latitudinal';
+
+		if ( poleAxis ) {
+
+			blurUniforms[ 'poleAxis' ].value = poleAxis;
+
+		}
+
+		const { _lodMax } = this;
+		blurUniforms[ 'dTheta' ].value = radiansPerPixel;
+		blurUniforms[ 'mipInt' ].value = _lodMax - lodIn;
+
+		const outputSize = this._sizeLods[ lodOut ];
+		const x = 3 * outputSize * ( lodOut > _lodMax - LOD_MIN ? lodOut - _lodMax + LOD_MIN : 0 );
+		const y = 4 * ( this._cubeSize - outputSize );
+
+		_setViewport( targetOut, x, y, 3 * outputSize, 2 * outputSize );
+		renderer.setRenderTarget( targetOut );
+		renderer.render( blurMesh, _flatCamera );
+
+	}
+
+}
+
+
+
+function _createPlanes( lodMax ) {
+
+	const lodPlanes = [];
+	const sizeLods = [];
+	const sigmas = [];
+
+	let lod = lodMax;
+
+	const totalLods = lodMax - LOD_MIN + 1 + EXTRA_LOD_SIGMA.length;
+
+	for ( let i = 0; i < totalLods; i ++ ) {
+
+		const sizeLod = Math.pow( 2, lod );
+		sizeLods.push( sizeLod );
+		let sigma = 1.0 / sizeLod;
+
+		if ( i > lodMax - LOD_MIN ) {
+
+			sigma = EXTRA_LOD_SIGMA[ i - lodMax + LOD_MIN - 1 ];
+
+		} else if ( i === 0 ) {
+
+			sigma = 0;
+
+		}
+
+		sigmas.push( sigma );
+
+		const texelSize = 1.0 / ( sizeLod - 2 );
+		const min = - texelSize;
+		const max = 1 + texelSize;
+		const uv1 = [ min, min, max, min, max, max, min, min, max, max, min, max ];
+
+		const cubeFaces = 6;
+		const vertices = 6;
+		const positionSize = 3;
+		const uvSize = 2;
+		const faceIndexSize = 1;
+
+		const position = new Float32Array( positionSize * vertices * cubeFaces );
+		const uv = new Float32Array( uvSize * vertices * cubeFaces );
+		const faceIndex = new Float32Array( faceIndexSize * vertices * cubeFaces );
+
+		for ( let face = 0; face < cubeFaces; face ++ ) {
+
+			const x = ( face % 3 ) * 2 / 3 - 1;
+			const y = face > 2 ? 0 : - 1;
+			const coordinates = [
+				x, y, 0,
+				x + 2 / 3, y, 0,
+				x + 2 / 3, y + 1, 0,
+				x, y, 0,
+				x + 2 / 3, y + 1, 0,
+				x, y + 1, 0
+			];
+			position.set( coordinates, positionSize * vertices * face );
+			uv.set( uv1, uvSize * vertices * face );
+			const fill = [ face, face, face, face, face, face ];
+			faceIndex.set( fill, faceIndexSize * vertices * face );
+
+		}
+
+		const planes = new BufferGeometry();
+		planes.setAttribute( 'position', new BufferAttribute( position, positionSize ) );
+		planes.setAttribute( 'uv', new BufferAttribute( uv, uvSize ) );
+		planes.setAttribute( 'faceIndex', new BufferAttribute( faceIndex, faceIndexSize ) );
+		lodPlanes.push( planes );
+
+		if ( lod > LOD_MIN ) {
+
+			lod --;
+
+		}
+
+	}
+
+	return { lodPlanes, sizeLods, sigmas };
+
+}
+
+function _createRenderTarget( width, height, params ) {
+
+	const cubeUVRenderTarget = new WebGLRenderTarget( width, height, params );
+	cubeUVRenderTarget.texture.mapping = CubeUVReflectionMapping;
+	cubeUVRenderTarget.texture.name = 'PMREM.cubeUv';
+	cubeUVRenderTarget.scissorTest = true;
+	return cubeUVRenderTarget;
+
+}
+
+function _setViewport( target, x, y, width, height ) {
+
+	target.viewport.set( x, y, width, height );
+	target.scissor.set( x, y, width, height );
+
+}
+
+function _getBlurShader( lodMax, width, height ) {
+
+	const weights = new Float32Array( MAX_SAMPLES );
+	const poleAxis = new Vector3( 0, 1, 0 );
+	const shaderMaterial = new ShaderMaterial( {
+
+		name: 'SphericalGaussianBlur',
+
+		defines: {
+			'n': MAX_SAMPLES,
+			'CUBEUV_TEXEL_WIDTH': 1.0 / width,
+			'CUBEUV_TEXEL_HEIGHT': 1.0 / height,
+			'CUBEUV_MAX_MIP': `${lodMax}.0`,
+		},
+
+		uniforms: {
+			'envMap': { value: null },
+			'samples': { value: 1 },
+			'weights': { value: weights },
+			'latitudinal': { value: false },
+			'dTheta': { value: 0 },
+			'mipInt': { value: 0 },
+			'poleAxis': { value: poleAxis }
+		},
+
+		vertexShader: _getCommonVertexShader(),
+
+		fragmentShader: /* glsl */`
+
+			precision mediump float;
+			precision mediump int;
+
+			varying vec3 vOutputDirection;
+
+			uniform sampler2D envMap;
+			uniform int samples;
+			uniform float weights[ n ];
+			uniform bool latitudinal;
+			uniform float dTheta;
+			uniform float mipInt;
+			uniform vec3 poleAxis;
+
+			#define ENVMAP_TYPE_CUBE_UV
+			#include 
+
+			vec3 getSample( float theta, vec3 axis ) {
+
+				float cosTheta = cos( theta );
+				// Rodrigues' axis-angle rotation
+				vec3 sampleDirection = vOutputDirection * cosTheta
+					+ cross( axis, vOutputDirection ) * sin( theta )
+					+ axis * dot( axis, vOutputDirection ) * ( 1.0 - cosTheta );
+
+				return bilinearCubeUV( envMap, sampleDirection, mipInt );
+
+			}
+
+			void main() {
+
+				vec3 axis = latitudinal ? poleAxis : cross( poleAxis, vOutputDirection );
+
+				if ( all( equal( axis, vec3( 0.0 ) ) ) ) {
+
+					axis = vec3( vOutputDirection.z, 0.0, - vOutputDirection.x );
+
+				}
+
+				axis = normalize( axis );
+
+				gl_FragColor = vec4( 0.0, 0.0, 0.0, 1.0 );
+				gl_FragColor.rgb += weights[ 0 ] * getSample( 0.0, axis );
+
+				for ( int i = 1; i < n; i++ ) {
+
+					if ( i >= samples ) {
+
+						break;
+
+					}
+
+					float theta = dTheta * float( i );
+					gl_FragColor.rgb += weights[ i ] * getSample( -1.0 * theta, axis );
+					gl_FragColor.rgb += weights[ i ] * getSample( theta, axis );
+
+				}
+
+			}
+		`,
+
+		blending: NoBlending,
+		depthTest: false,
+		depthWrite: false
+
+	} );
+
+	return shaderMaterial;
+
+}
+
+function _getEquirectMaterial() {
+
+	return new ShaderMaterial( {
+
+		name: 'EquirectangularToCubeUV',
+
+		uniforms: {
+			'envMap': { value: null }
+		},
+
+		vertexShader: _getCommonVertexShader(),
+
+		fragmentShader: /* glsl */`
+
+			precision mediump float;
+			precision mediump int;
+
+			varying vec3 vOutputDirection;
+
+			uniform sampler2D envMap;
+
+			#include 
+
+			void main() {
+
+				vec3 outputDirection = normalize( vOutputDirection );
+				vec2 uv = equirectUv( outputDirection );
+
+				gl_FragColor = vec4( texture2D ( envMap, uv ).rgb, 1.0 );
+
+			}
+		`,
+
+		blending: NoBlending,
+		depthTest: false,
+		depthWrite: false
+
+	} );
+
+}
+
+function _getCubemapMaterial() {
+
+	return new ShaderMaterial( {
+
+		name: 'CubemapToCubeUV',
+
+		uniforms: {
+			'envMap': { value: null },
+			'flipEnvMap': { value: - 1 }
+		},
+
+		vertexShader: _getCommonVertexShader(),
+
+		fragmentShader: /* glsl */`
+
+			precision mediump float;
+			precision mediump int;
+
+			uniform float flipEnvMap;
+
+			varying vec3 vOutputDirection;
+
+			uniform samplerCube envMap;
+
+			void main() {
+
+				gl_FragColor = textureCube( envMap, vec3( flipEnvMap * vOutputDirection.x, vOutputDirection.yz ) );
+
+			}
+		`,
+
+		blending: NoBlending,
+		depthTest: false,
+		depthWrite: false
+
+	} );
+
+}
+
+function _getCommonVertexShader() {
+
+	return /* glsl */`
+
+		precision mediump float;
+		precision mediump int;
+
+		attribute float faceIndex;
+
+		varying vec3 vOutputDirection;
+
+		// RH coordinate system; PMREM face-indexing convention
+		vec3 getDirection( vec2 uv, float face ) {
+
+			uv = 2.0 * uv - 1.0;
+
+			vec3 direction = vec3( uv, 1.0 );
+
+			if ( face == 0.0 ) {
+
+				direction = direction.zyx; // ( 1, v, u ) pos x
+
+			} else if ( face == 1.0 ) {
+
+				direction = direction.xzy;
+				direction.xz *= -1.0; // ( -u, 1, -v ) pos y
+
+			} else if ( face == 2.0 ) {
+
+				direction.x *= -1.0; // ( -u, v, 1 ) pos z
+
+			} else if ( face == 3.0 ) {
+
+				direction = direction.zyx;
+				direction.xz *= -1.0; // ( -1, v, -u ) neg x
+
+			} else if ( face == 4.0 ) {
+
+				direction = direction.xzy;
+				direction.xy *= -1.0; // ( -u, -1, v ) neg y
+
+			} else if ( face == 5.0 ) {
+
+				direction.z *= -1.0; // ( u, v, -1 ) neg z
+
+			}
+
+			return direction;
+
+		}
+
+		void main() {
+
+			vOutputDirection = getDirection( uv, faceIndex );
+			gl_Position = vec4( position, 1.0 );
+
+		}
+	`;
+
+}
+
+function WebGLCubeUVMaps( renderer ) {
+
+	let cubeUVmaps = new WeakMap();
+
+	let pmremGenerator = null;
+
+	function get( texture ) {
+
+		if ( texture && texture.isTexture ) {
+
+			const mapping = texture.mapping;
+
+			const isEquirectMap = ( mapping === EquirectangularReflectionMapping || mapping === EquirectangularRefractionMapping );
+			const isCubeMap = ( mapping === CubeReflectionMapping || mapping === CubeRefractionMapping );
+
+			// equirect/cube map to cubeUV conversion
+
+			if ( isEquirectMap || isCubeMap ) {
+
+				if ( texture.isRenderTargetTexture && texture.needsPMREMUpdate === true ) {
+
+					texture.needsPMREMUpdate = false;
+
+					let renderTarget = cubeUVmaps.get( texture );
+
+					if ( pmremGenerator === null ) pmremGenerator = new PMREMGenerator( renderer );
+
+					renderTarget = isEquirectMap ? pmremGenerator.fromEquirectangular( texture, renderTarget ) : pmremGenerator.fromCubemap( texture, renderTarget );
+					cubeUVmaps.set( texture, renderTarget );
+
+					return renderTarget.texture;
+
+				} else {
+
+					if ( cubeUVmaps.has( texture ) ) {
+
+						return cubeUVmaps.get( texture ).texture;
+
+					} else {
+
+						const image = texture.image;
+
+						if ( ( isEquirectMap && image && image.height > 0 ) || ( isCubeMap && image && isCubeTextureComplete( image ) ) ) {
+
+							if ( pmremGenerator === null ) pmremGenerator = new PMREMGenerator( renderer );
+
+							const renderTarget = isEquirectMap ? pmremGenerator.fromEquirectangular( texture ) : pmremGenerator.fromCubemap( texture );
+							cubeUVmaps.set( texture, renderTarget );
+
+							texture.addEventListener( 'dispose', onTextureDispose );
+
+							return renderTarget.texture;
+
+						} else {
+
+							// image not yet ready. try the conversion next frame
+
+							return null;
+
+						}
+
+					}
+
+				}
+
+			}
+
+		}
+
+		return texture;
+
+	}
+
+	function isCubeTextureComplete( image ) {
+
+		let count = 0;
+		const length = 6;
+
+		for ( let i = 0; i < length; i ++ ) {
+
+			if ( image[ i ] !== undefined ) count ++;
+
+		}
+
+		return count === length;
+
+
+	}
+
+	function onTextureDispose( event ) {
+
+		const texture = event.target;
+
+		texture.removeEventListener( 'dispose', onTextureDispose );
+
+		const cubemapUV = cubeUVmaps.get( texture );
+
+		if ( cubemapUV !== undefined ) {
+
+			cubeUVmaps.delete( texture );
+			cubemapUV.dispose();
+
+		}
+
+	}
+
+	function dispose() {
+
+		cubeUVmaps = new WeakMap();
+
+		if ( pmremGenerator !== null ) {
+
+			pmremGenerator.dispose();
+			pmremGenerator = null;
+
+		}
+
+	}
+
+	return {
+		get: get,
+		dispose: dispose
+	};
+
+}
+
+function WebGLExtensions( gl ) {
+
+	const extensions = {};
+
+	function getExtension( name ) {
+
+		if ( extensions[ name ] !== undefined ) {
+
+			return extensions[ name ];
+
+		}
+
+		let extension;
+
+		switch ( name ) {
+
+			case 'WEBGL_depth_texture':
+				extension = gl.getExtension( 'WEBGL_depth_texture' ) || gl.getExtension( 'MOZ_WEBGL_depth_texture' ) || gl.getExtension( 'WEBKIT_WEBGL_depth_texture' );
+				break;
+
+			case 'EXT_texture_filter_anisotropic':
+				extension = gl.getExtension( 'EXT_texture_filter_anisotropic' ) || gl.getExtension( 'MOZ_EXT_texture_filter_anisotropic' ) || gl.getExtension( 'WEBKIT_EXT_texture_filter_anisotropic' );
+				break;
+
+			case 'WEBGL_compressed_texture_s3tc':
+				extension = gl.getExtension( 'WEBGL_compressed_texture_s3tc' ) || gl.getExtension( 'MOZ_WEBGL_compressed_texture_s3tc' ) || gl.getExtension( 'WEBKIT_WEBGL_compressed_texture_s3tc' );
+				break;
+
+			case 'WEBGL_compressed_texture_pvrtc':
+				extension = gl.getExtension( 'WEBGL_compressed_texture_pvrtc' ) || gl.getExtension( 'WEBKIT_WEBGL_compressed_texture_pvrtc' );
+				break;
+
+			default:
+				extension = gl.getExtension( name );
+
+		}
+
+		extensions[ name ] = extension;
+
+		return extension;
+
+	}
+
+	return {
+
+		has: function ( name ) {
+
+			return getExtension( name ) !== null;
+
+		},
+
+		init: function ( capabilities ) {
+
+			if ( capabilities.isWebGL2 ) {
+
+				getExtension( 'EXT_color_buffer_float' );
+				getExtension( 'WEBGL_clip_cull_distance' );
+
+			} else {
+
+				getExtension( 'WEBGL_depth_texture' );
+				getExtension( 'OES_texture_float' );
+				getExtension( 'OES_texture_half_float' );
+				getExtension( 'OES_texture_half_float_linear' );
+				getExtension( 'OES_standard_derivatives' );
+				getExtension( 'OES_element_index_uint' );
+				getExtension( 'OES_vertex_array_object' );
+				getExtension( 'ANGLE_instanced_arrays' );
+
+			}
+
+			getExtension( 'OES_texture_float_linear' );
+			getExtension( 'EXT_color_buffer_half_float' );
+			getExtension( 'WEBGL_multisampled_render_to_texture' );
+
+		},
+
+		get: function ( name ) {
+
+			const extension = getExtension( name );
+
+			if ( extension === null ) {
+
+				console.warn( 'THREE.WebGLRenderer: ' + name + ' extension not supported.' );
+
+			}
+
+			return extension;
+
+		}
+
+	};
+
+}
+
+function WebGLGeometries( gl, attributes, info, bindingStates ) {
+
+	const geometries = {};
+	const wireframeAttributes = new WeakMap();
+
+	function onGeometryDispose( event ) {
+
+		const geometry = event.target;
+
+		if ( geometry.index !== null ) {
+
+			attributes.remove( geometry.index );
+
+		}
+
+		for ( const name in geometry.attributes ) {
+
+			attributes.remove( geometry.attributes[ name ] );
+
+		}
+
+		for ( const name in geometry.morphAttributes ) {
+
+			const array = geometry.morphAttributes[ name ];
+
+			for ( let i = 0, l = array.length; i < l; i ++ ) {
+
+				attributes.remove( array[ i ] );
+
+			}
+
+		}
+
+		geometry.removeEventListener( 'dispose', onGeometryDispose );
+
+		delete geometries[ geometry.id ];
+
+		const attribute = wireframeAttributes.get( geometry );
+
+		if ( attribute ) {
+
+			attributes.remove( attribute );
+			wireframeAttributes.delete( geometry );
+
+		}
+
+		bindingStates.releaseStatesOfGeometry( geometry );
+
+		if ( geometry.isInstancedBufferGeometry === true ) {
+
+			delete geometry._maxInstanceCount;
+
+		}
+
+		//
+
+		info.memory.geometries --;
+
+	}
+
+	function get( object, geometry ) {
+
+		if ( geometries[ geometry.id ] === true ) return geometry;
+
+		geometry.addEventListener( 'dispose', onGeometryDispose );
+
+		geometries[ geometry.id ] = true;
+
+		info.memory.geometries ++;
+
+		return geometry;
+
+	}
+
+	function update( geometry ) {
+
+		const geometryAttributes = geometry.attributes;
+
+		// Updating index buffer in VAO now. See WebGLBindingStates.
+
+		for ( const name in geometryAttributes ) {
+
+			attributes.update( geometryAttributes[ name ], gl.ARRAY_BUFFER );
+
+		}
+
+		// morph targets
+
+		const morphAttributes = geometry.morphAttributes;
+
+		for ( const name in morphAttributes ) {
+
+			const array = morphAttributes[ name ];
+
+			for ( let i = 0, l = array.length; i < l; i ++ ) {
+
+				attributes.update( array[ i ], gl.ARRAY_BUFFER );
+
+			}
+
+		}
+
+	}
+
+	function updateWireframeAttribute( geometry ) {
+
+		const indices = [];
+
+		const geometryIndex = geometry.index;
+		const geometryPosition = geometry.attributes.position;
+		let version = 0;
+
+		if ( geometryIndex !== null ) {
+
+			const array = geometryIndex.array;
+			version = geometryIndex.version;
+
+			for ( let i = 0, l = array.length; i < l; i += 3 ) {
+
+				const a = array[ i + 0 ];
+				const b = array[ i + 1 ];
+				const c = array[ i + 2 ];
+
+				indices.push( a, b, b, c, c, a );
+
+			}
+
+		} else if ( geometryPosition !== undefined ) {
+
+			const array = geometryPosition.array;
+			version = geometryPosition.version;
+
+			for ( let i = 0, l = ( array.length / 3 ) - 1; i < l; i += 3 ) {
+
+				const a = i + 0;
+				const b = i + 1;
+				const c = i + 2;
+
+				indices.push( a, b, b, c, c, a );
+
+			}
+
+		} else {
+
+			return;
+
+		}
+
+		const attribute = new ( arrayNeedsUint32( indices ) ? Uint32BufferAttribute : Uint16BufferAttribute )( indices, 1 );
+		attribute.version = version;
+
+		// Updating index buffer in VAO now. See WebGLBindingStates
+
+		//
+
+		const previousAttribute = wireframeAttributes.get( geometry );
+
+		if ( previousAttribute ) attributes.remove( previousAttribute );
+
+		//
+
+		wireframeAttributes.set( geometry, attribute );
+
+	}
+
+	function getWireframeAttribute( geometry ) {
+
+		const currentAttribute = wireframeAttributes.get( geometry );
+
+		if ( currentAttribute ) {
+
+			const geometryIndex = geometry.index;
+
+			if ( geometryIndex !== null ) {
+
+				// if the attribute is obsolete, create a new one
+
+				if ( currentAttribute.version < geometryIndex.version ) {
+
+					updateWireframeAttribute( geometry );
+
+				}
+
+			}
+
+		} else {
+
+			updateWireframeAttribute( geometry );
+
+		}
+
+		return wireframeAttributes.get( geometry );
+
+	}
+
+	return {
+
+		get: get,
+		update: update,
+
+		getWireframeAttribute: getWireframeAttribute
+
+	};
+
+}
+
+function WebGLIndexedBufferRenderer( gl, extensions, info, capabilities ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+
+	let mode;
+
+	function setMode( value ) {
+
+		mode = value;
+
+	}
+
+	let type, bytesPerElement;
+
+	function setIndex( value ) {
+
+		type = value.type;
+		bytesPerElement = value.bytesPerElement;
+
+	}
+
+	function render( start, count ) {
+
+		gl.drawElements( mode, count, type, start * bytesPerElement );
+
+		info.update( count, mode, 1 );
+
+	}
+
+	function renderInstances( start, count, primcount ) {
+
+		if ( primcount === 0 ) return;
+
+		let extension, methodName;
+
+		if ( isWebGL2 ) {
+
+			extension = gl;
+			methodName = 'drawElementsInstanced';
+
+		} else {
+
+			extension = extensions.get( 'ANGLE_instanced_arrays' );
+			methodName = 'drawElementsInstancedANGLE';
+
+			if ( extension === null ) {
+
+				console.error( 'THREE.WebGLIndexedBufferRenderer: using THREE.InstancedBufferGeometry but hardware does not support extension ANGLE_instanced_arrays.' );
+				return;
+
+			}
+
+		}
+
+		extension[ methodName ]( mode, count, type, start * bytesPerElement, primcount );
+
+		info.update( count, mode, primcount );
+
+	}
+
+	function renderMultiDraw( starts, counts, drawCount ) {
+
+		if ( drawCount === 0 ) return;
+
+		const extension = extensions.get( 'WEBGL_multi_draw' );
+		if ( extension === null ) {
+
+			for ( let i = 0; i < drawCount; i ++ ) {
+
+				this.render( starts[ i ] / bytesPerElement, counts[ i ] );
+
+			}
+
+		} else {
+
+			extension.multiDrawElementsWEBGL( mode, counts, 0, type, starts, 0, drawCount );
+
+			let elementCount = 0;
+			for ( let i = 0; i < drawCount; i ++ ) {
+
+				elementCount += counts[ i ];
+
+			}
+
+			info.update( elementCount, mode, 1 );
+
+		}
+
+	}
+
+	//
+
+	this.setMode = setMode;
+	this.setIndex = setIndex;
+	this.render = render;
+	this.renderInstances = renderInstances;
+	this.renderMultiDraw = renderMultiDraw;
+
+}
+
+function WebGLInfo( gl ) {
+
+	const memory = {
+		geometries: 0,
+		textures: 0
+	};
+
+	const render = {
+		frame: 0,
+		calls: 0,
+		triangles: 0,
+		points: 0,
+		lines: 0
+	};
+
+	function update( count, mode, instanceCount ) {
+
+		render.calls ++;
+
+		switch ( mode ) {
+
+			case gl.TRIANGLES:
+				render.triangles += instanceCount * ( count / 3 );
+				break;
+
+			case gl.LINES:
+				render.lines += instanceCount * ( count / 2 );
+				break;
+
+			case gl.LINE_STRIP:
+				render.lines += instanceCount * ( count - 1 );
+				break;
+
+			case gl.LINE_LOOP:
+				render.lines += instanceCount * count;
+				break;
+
+			case gl.POINTS:
+				render.points += instanceCount * count;
+				break;
+
+			default:
+				console.error( 'THREE.WebGLInfo: Unknown draw mode:', mode );
+				break;
+
+		}
+
+	}
+
+	function reset() {
+
+		render.calls = 0;
+		render.triangles = 0;
+		render.points = 0;
+		render.lines = 0;
+
+	}
+
+	return {
+		memory: memory,
+		render: render,
+		programs: null,
+		autoReset: true,
+		reset: reset,
+		update: update
+	};
+
+}
+
+function numericalSort( a, b ) {
+
+	return a[ 0 ] - b[ 0 ];
+
+}
+
+function absNumericalSort( a, b ) {
+
+	return Math.abs( b[ 1 ] ) - Math.abs( a[ 1 ] );
+
+}
+
+function WebGLMorphtargets( gl, capabilities, textures ) {
+
+	const influencesList = {};
+	const morphInfluences = new Float32Array( 8 );
+	const morphTextures = new WeakMap();
+	const morph = new Vector4();
+
+	const workInfluences = [];
+
+	for ( let i = 0; i < 8; i ++ ) {
+
+		workInfluences[ i ] = [ i, 0 ];
+
+	}
+
+	function update( object, geometry, program ) {
+
+		const objectInfluences = object.morphTargetInfluences;
+
+		if ( capabilities.isWebGL2 === true ) {
+
+			// instead of using attributes, the WebGL 2 code path encodes morph targets
+			// into an array of data textures. Each layer represents a single morph target.
+
+			const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color;
+			const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0;
+
+			let entry = morphTextures.get( geometry );
+
+			if ( entry === undefined || entry.count !== morphTargetsCount ) {
+
+				if ( entry !== undefined ) entry.texture.dispose();
+
+				const hasMorphPosition = geometry.morphAttributes.position !== undefined;
+				const hasMorphNormals = geometry.morphAttributes.normal !== undefined;
+				const hasMorphColors = geometry.morphAttributes.color !== undefined;
+
+				const morphTargets = geometry.morphAttributes.position || [];
+				const morphNormals = geometry.morphAttributes.normal || [];
+				const morphColors = geometry.morphAttributes.color || [];
+
+				let vertexDataCount = 0;
+
+				if ( hasMorphPosition === true ) vertexDataCount = 1;
+				if ( hasMorphNormals === true ) vertexDataCount = 2;
+				if ( hasMorphColors === true ) vertexDataCount = 3;
+
+				let width = geometry.attributes.position.count * vertexDataCount;
+				let height = 1;
+
+				if ( width > capabilities.maxTextureSize ) {
+
+					height = Math.ceil( width / capabilities.maxTextureSize );
+					width = capabilities.maxTextureSize;
+
+				}
+
+				const buffer = new Float32Array( width * height * 4 * morphTargetsCount );
+
+				const texture = new DataArrayTexture( buffer, width, height, morphTargetsCount );
+				texture.type = FloatType;
+				texture.needsUpdate = true;
+
+				// fill buffer
+
+				const vertexDataStride = vertexDataCount * 4;
+
+				for ( let i = 0; i < morphTargetsCount; i ++ ) {
+
+					const morphTarget = morphTargets[ i ];
+					const morphNormal = morphNormals[ i ];
+					const morphColor = morphColors[ i ];
+
+					const offset = width * height * 4 * i;
+
+					for ( let j = 0; j < morphTarget.count; j ++ ) {
+
+						const stride = j * vertexDataStride;
+
+						if ( hasMorphPosition === true ) {
+
+							morph.fromBufferAttribute( morphTarget, j );
+
+							buffer[ offset + stride + 0 ] = morph.x;
+							buffer[ offset + stride + 1 ] = morph.y;
+							buffer[ offset + stride + 2 ] = morph.z;
+							buffer[ offset + stride + 3 ] = 0;
+
+						}
+
+						if ( hasMorphNormals === true ) {
+
+							morph.fromBufferAttribute( morphNormal, j );
+
+							buffer[ offset + stride + 4 ] = morph.x;
+							buffer[ offset + stride + 5 ] = morph.y;
+							buffer[ offset + stride + 6 ] = morph.z;
+							buffer[ offset + stride + 7 ] = 0;
+
+						}
+
+						if ( hasMorphColors === true ) {
+
+							morph.fromBufferAttribute( morphColor, j );
+
+							buffer[ offset + stride + 8 ] = morph.x;
+							buffer[ offset + stride + 9 ] = morph.y;
+							buffer[ offset + stride + 10 ] = morph.z;
+							buffer[ offset + stride + 11 ] = ( morphColor.itemSize === 4 ) ? morph.w : 1;
+
+						}
+
+					}
+
+				}
+
+				entry = {
+					count: morphTargetsCount,
+					texture: texture,
+					size: new Vector2( width, height )
+				};
+
+				morphTextures.set( geometry, entry );
+
+				function disposeTexture() {
+
+					texture.dispose();
+
+					morphTextures.delete( geometry );
+
+					geometry.removeEventListener( 'dispose', disposeTexture );
+
+				}
+
+				geometry.addEventListener( 'dispose', disposeTexture );
+
+			}
+
+			//
+
+			let morphInfluencesSum = 0;
+
+			for ( let i = 0; i < objectInfluences.length; i ++ ) {
+
+				morphInfluencesSum += objectInfluences[ i ];
+
+			}
+
+			const morphBaseInfluence = geometry.morphTargetsRelative ? 1 : 1 - morphInfluencesSum;
+
+			program.getUniforms().setValue( gl, 'morphTargetBaseInfluence', morphBaseInfluence );
+			program.getUniforms().setValue( gl, 'morphTargetInfluences', objectInfluences );
+
+			program.getUniforms().setValue( gl, 'morphTargetsTexture', entry.texture, textures );
+			program.getUniforms().setValue( gl, 'morphTargetsTextureSize', entry.size );
+
+
+		} else {
+
+			// When object doesn't have morph target influences defined, we treat it as a 0-length array
+			// This is important to make sure we set up morphTargetBaseInfluence / morphTargetInfluences
+
+			const length = objectInfluences === undefined ? 0 : objectInfluences.length;
+
+			let influences = influencesList[ geometry.id ];
+
+			if ( influences === undefined || influences.length !== length ) {
+
+				// initialise list
+
+				influences = [];
+
+				for ( let i = 0; i < length; i ++ ) {
+
+					influences[ i ] = [ i, 0 ];
+
+				}
+
+				influencesList[ geometry.id ] = influences;
+
+			}
+
+			// Collect influences
+
+			for ( let i = 0; i < length; i ++ ) {
+
+				const influence = influences[ i ];
+
+				influence[ 0 ] = i;
+				influence[ 1 ] = objectInfluences[ i ];
+
+			}
+
+			influences.sort( absNumericalSort );
+
+			for ( let i = 0; i < 8; i ++ ) {
+
+				if ( i < length && influences[ i ][ 1 ] ) {
+
+					workInfluences[ i ][ 0 ] = influences[ i ][ 0 ];
+					workInfluences[ i ][ 1 ] = influences[ i ][ 1 ];
+
+				} else {
+
+					workInfluences[ i ][ 0 ] = Number.MAX_SAFE_INTEGER;
+					workInfluences[ i ][ 1 ] = 0;
+
+				}
+
+			}
+
+			workInfluences.sort( numericalSort );
+
+			const morphTargets = geometry.morphAttributes.position;
+			const morphNormals = geometry.morphAttributes.normal;
+
+			let morphInfluencesSum = 0;
+
+			for ( let i = 0; i < 8; i ++ ) {
+
+				const influence = workInfluences[ i ];
+				const index = influence[ 0 ];
+				const value = influence[ 1 ];
+
+				if ( index !== Number.MAX_SAFE_INTEGER && value ) {
+
+					if ( morphTargets && geometry.getAttribute( 'morphTarget' + i ) !== morphTargets[ index ] ) {
+
+						geometry.setAttribute( 'morphTarget' + i, morphTargets[ index ] );
+
+					}
+
+					if ( morphNormals && geometry.getAttribute( 'morphNormal' + i ) !== morphNormals[ index ] ) {
+
+						geometry.setAttribute( 'morphNormal' + i, morphNormals[ index ] );
+
+					}
+
+					morphInfluences[ i ] = value;
+					morphInfluencesSum += value;
+
+				} else {
+
+					if ( morphTargets && geometry.hasAttribute( 'morphTarget' + i ) === true ) {
+
+						geometry.deleteAttribute( 'morphTarget' + i );
+
+					}
+
+					if ( morphNormals && geometry.hasAttribute( 'morphNormal' + i ) === true ) {
+
+						geometry.deleteAttribute( 'morphNormal' + i );
+
+					}
+
+					morphInfluences[ i ] = 0;
+
+				}
+
+			}
+
+			// GLSL shader uses formula baseinfluence * base + sum(target * influence)
+			// This allows us to switch between absolute morphs and relative morphs without changing shader code
+			// When baseinfluence = 1 - sum(influence), the above is equivalent to sum((target - base) * influence)
+			const morphBaseInfluence = geometry.morphTargetsRelative ? 1 : 1 - morphInfluencesSum;
+
+			program.getUniforms().setValue( gl, 'morphTargetBaseInfluence', morphBaseInfluence );
+			program.getUniforms().setValue( gl, 'morphTargetInfluences', morphInfluences );
+
+		}
+
+	}
+
+	return {
+
+		update: update
+
+	};
+
+}
+
+function WebGLObjects( gl, geometries, attributes, info ) {
+
+	let updateMap = new WeakMap();
+
+	function update( object ) {
+
+		const frame = info.render.frame;
+
+		const geometry = object.geometry;
+		const buffergeometry = geometries.get( object, geometry );
+
+		// Update once per frame
+
+		if ( updateMap.get( buffergeometry ) !== frame ) {
+
+			geometries.update( buffergeometry );
+
+			updateMap.set( buffergeometry, frame );
+
+		}
+
+		if ( object.isInstancedMesh ) {
+
+			if ( object.hasEventListener( 'dispose', onInstancedMeshDispose ) === false ) {
+
+				object.addEventListener( 'dispose', onInstancedMeshDispose );
+
+			}
+
+			if ( updateMap.get( object ) !== frame ) {
+
+				attributes.update( object.instanceMatrix, gl.ARRAY_BUFFER );
+
+				if ( object.instanceColor !== null ) {
+
+					attributes.update( object.instanceColor, gl.ARRAY_BUFFER );
+
+				}
+
+				updateMap.set( object, frame );
+
+			}
+
+		}
+
+		if ( object.isSkinnedMesh ) {
+
+			const skeleton = object.skeleton;
+
+			if ( updateMap.get( skeleton ) !== frame ) {
+
+				skeleton.update();
+
+				updateMap.set( skeleton, frame );
+
+			}
+
+		}
+
+		return buffergeometry;
+
+	}
+
+	function dispose() {
+
+		updateMap = new WeakMap();
+
+	}
+
+	function onInstancedMeshDispose( event ) {
+
+		const instancedMesh = event.target;
+
+		instancedMesh.removeEventListener( 'dispose', onInstancedMeshDispose );
+
+		attributes.remove( instancedMesh.instanceMatrix );
+
+		if ( instancedMesh.instanceColor !== null ) attributes.remove( instancedMesh.instanceColor );
+
+	}
+
+	return {
+
+		update: update,
+		dispose: dispose
+
+	};
+
+}
+
+class DepthTexture extends Texture {
+
+	constructor( width, height, type, mapping, wrapS, wrapT, magFilter, minFilter, anisotropy, format ) {
+
+		format = format !== undefined ? format : DepthFormat;
+
+		if ( format !== DepthFormat && format !== DepthStencilFormat ) {
+
+			throw new Error( 'DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat' );
+
+		}
+
+		if ( type === undefined && format === DepthFormat ) type = UnsignedIntType;
+		if ( type === undefined && format === DepthStencilFormat ) type = UnsignedInt248Type;
+
+		super( null, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy );
+
+		this.isDepthTexture = true;
+
+		this.image = { width: width, height: height };
+
+		this.magFilter = magFilter !== undefined ? magFilter : NearestFilter;
+		this.minFilter = minFilter !== undefined ? minFilter : NearestFilter;
+
+		this.flipY = false;
+		this.generateMipmaps = false;
+
+		this.compareFunction = null;
+
+	}
+
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.compareFunction = source.compareFunction;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		if ( this.compareFunction !== null ) data.compareFunction = this.compareFunction;
+
+		return data;
+
+	}
+
+}
+
+/**
+ * Uniforms of a program.
+ * Those form a tree structure with a special top-level container for the root,
+ * which you get by calling 'new WebGLUniforms( gl, program )'.
+ *
+ *
+ * Properties of inner nodes including the top-level container:
+ *
+ * .seq - array of nested uniforms
+ * .map - nested uniforms by name
+ *
+ *
+ * Methods of all nodes except the top-level container:
+ *
+ * .setValue( gl, value, [textures] )
+ *
+ * 		uploads a uniform value(s)
+ *  	the 'textures' parameter is needed for sampler uniforms
+ *
+ *
+ * Static methods of the top-level container (textures factorizations):
+ *
+ * .upload( gl, seq, values, textures )
+ *
+ * 		sets uniforms in 'seq' to 'values[id].value'
+ *
+ * .seqWithValue( seq, values ) : filteredSeq
+ *
+ * 		filters 'seq' entries with corresponding entry in values
+ *
+ *
+ * Methods of the top-level container (textures factorizations):
+ *
+ * .setValue( gl, name, value, textures )
+ *
+ * 		sets uniform with  name 'name' to 'value'
+ *
+ * .setOptional( gl, obj, prop )
+ *
+ * 		like .set for an optional property of the object
+ *
+ */
+
+
+const emptyTexture = /*@__PURE__*/ new Texture();
+
+const emptyShadowTexture = /*@__PURE__*/ new DepthTexture( 1, 1 );
+emptyShadowTexture.compareFunction = LessEqualCompare;
+
+const emptyArrayTexture = /*@__PURE__*/ new DataArrayTexture();
+const empty3dTexture = /*@__PURE__*/ new Data3DTexture();
+const emptyCubeTexture = /*@__PURE__*/ new CubeTexture();
+
+// --- Utilities ---
+
+// Array Caches (provide typed arrays for temporary by size)
+
+const arrayCacheF32 = [];
+const arrayCacheI32 = [];
+
+// Float32Array caches used for uploading Matrix uniforms
+
+const mat4array = new Float32Array( 16 );
+const mat3array = new Float32Array( 9 );
+const mat2array = new Float32Array( 4 );
+
+// Flattening for arrays of vectors and matrices
+
+function flatten( array, nBlocks, blockSize ) {
+
+	const firstElem = array[ 0 ];
+
+	if ( firstElem <= 0 || firstElem > 0 ) return array;
+	// unoptimized: ! isNaN( firstElem )
+	// see http://jacksondunstan.com/articles/983
+
+	const n = nBlocks * blockSize;
+	let r = arrayCacheF32[ n ];
+
+	if ( r === undefined ) {
+
+		r = new Float32Array( n );
+		arrayCacheF32[ n ] = r;
+
+	}
+
+	if ( nBlocks !== 0 ) {
+
+		firstElem.toArray( r, 0 );
+
+		for ( let i = 1, offset = 0; i !== nBlocks; ++ i ) {
+
+			offset += blockSize;
+			array[ i ].toArray( r, offset );
+
+		}
+
+	}
+
+	return r;
+
+}
+
+function arraysEqual( a, b ) {
+
+	if ( a.length !== b.length ) return false;
+
+	for ( let i = 0, l = a.length; i < l; i ++ ) {
+
+		if ( a[ i ] !== b[ i ] ) return false;
+
+	}
+
+	return true;
+
+}
+
+function copyArray( a, b ) {
+
+	for ( let i = 0, l = b.length; i < l; i ++ ) {
+
+		a[ i ] = b[ i ];
+
+	}
+
+}
+
+// Texture unit allocation
+
+function allocTexUnits( textures, n ) {
+
+	let r = arrayCacheI32[ n ];
+
+	if ( r === undefined ) {
+
+		r = new Int32Array( n );
+		arrayCacheI32[ n ] = r;
+
+	}
+
+	for ( let i = 0; i !== n; ++ i ) {
+
+		r[ i ] = textures.allocateTextureUnit();
+
+	}
+
+	return r;
+
+}
+
+// --- Setters ---
+
+// Note: Defining these methods externally, because they come in a bunch
+// and this way their names minify.
+
+// Single scalar
+
+function setValueV1f( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( cache[ 0 ] === v ) return;
+
+	gl.uniform1f( this.addr, v );
+
+	cache[ 0 ] = v;
+
+}
+
+// Single float vector (from flat array or THREE.VectorN)
+
+function setValueV2f( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) {
+
+			gl.uniform2f( this.addr, v.x, v.y );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform2fv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV3f( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) {
+
+			gl.uniform3f( this.addr, v.x, v.y, v.z );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+
+		}
+
+	} else if ( v.r !== undefined ) {
+
+		if ( cache[ 0 ] !== v.r || cache[ 1 ] !== v.g || cache[ 2 ] !== v.b ) {
+
+			gl.uniform3f( this.addr, v.r, v.g, v.b );
+
+			cache[ 0 ] = v.r;
+			cache[ 1 ] = v.g;
+			cache[ 2 ] = v.b;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform3fv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV4f( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) {
+
+			gl.uniform4f( this.addr, v.x, v.y, v.z, v.w );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+			cache[ 3 ] = v.w;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform4fv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+// Single matrix (from flat array or THREE.MatrixN)
+
+function setValueM2( gl, v ) {
+
+	const cache = this.cache;
+	const elements = v.elements;
+
+	if ( elements === undefined ) {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniformMatrix2fv( this.addr, false, v );
+
+		copyArray( cache, v );
+
+	} else {
+
+		if ( arraysEqual( cache, elements ) ) return;
+
+		mat2array.set( elements );
+
+		gl.uniformMatrix2fv( this.addr, false, mat2array );
+
+		copyArray( cache, elements );
+
+	}
+
+}
+
+function setValueM3( gl, v ) {
+
+	const cache = this.cache;
+	const elements = v.elements;
+
+	if ( elements === undefined ) {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniformMatrix3fv( this.addr, false, v );
+
+		copyArray( cache, v );
+
+	} else {
+
+		if ( arraysEqual( cache, elements ) ) return;
+
+		mat3array.set( elements );
+
+		gl.uniformMatrix3fv( this.addr, false, mat3array );
+
+		copyArray( cache, elements );
+
+	}
+
+}
+
+function setValueM4( gl, v ) {
+
+	const cache = this.cache;
+	const elements = v.elements;
+
+	if ( elements === undefined ) {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniformMatrix4fv( this.addr, false, v );
+
+		copyArray( cache, v );
+
+	} else {
+
+		if ( arraysEqual( cache, elements ) ) return;
+
+		mat4array.set( elements );
+
+		gl.uniformMatrix4fv( this.addr, false, mat4array );
+
+		copyArray( cache, elements );
+
+	}
+
+}
+
+// Single integer / boolean
+
+function setValueV1i( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( cache[ 0 ] === v ) return;
+
+	gl.uniform1i( this.addr, v );
+
+	cache[ 0 ] = v;
+
+}
+
+// Single integer / boolean vector (from flat array or THREE.VectorN)
+
+function setValueV2i( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) {
+
+			gl.uniform2i( this.addr, v.x, v.y );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform2iv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV3i( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) {
+
+			gl.uniform3i( this.addr, v.x, v.y, v.z );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform3iv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV4i( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) {
+
+			gl.uniform4i( this.addr, v.x, v.y, v.z, v.w );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+			cache[ 3 ] = v.w;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform4iv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+// Single unsigned integer
+
+function setValueV1ui( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( cache[ 0 ] === v ) return;
+
+	gl.uniform1ui( this.addr, v );
+
+	cache[ 0 ] = v;
+
+}
+
+// Single unsigned integer vector (from flat array or THREE.VectorN)
+
+function setValueV2ui( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) {
+
+			gl.uniform2ui( this.addr, v.x, v.y );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform2uiv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV3ui( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) {
+
+			gl.uniform3ui( this.addr, v.x, v.y, v.z );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform3uiv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+function setValueV4ui( gl, v ) {
+
+	const cache = this.cache;
+
+	if ( v.x !== undefined ) {
+
+		if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) {
+
+			gl.uniform4ui( this.addr, v.x, v.y, v.z, v.w );
+
+			cache[ 0 ] = v.x;
+			cache[ 1 ] = v.y;
+			cache[ 2 ] = v.z;
+			cache[ 3 ] = v.w;
+
+		}
+
+	} else {
+
+		if ( arraysEqual( cache, v ) ) return;
+
+		gl.uniform4uiv( this.addr, v );
+
+		copyArray( cache, v );
+
+	}
+
+}
+
+
+// Single texture (2D / Cube)
+
+function setValueT1( gl, v, textures ) {
+
+	const cache = this.cache;
+	const unit = textures.allocateTextureUnit();
+
+	if ( cache[ 0 ] !== unit ) {
+
+		gl.uniform1i( this.addr, unit );
+		cache[ 0 ] = unit;
+
+	}
+
+	const emptyTexture2D = ( this.type === gl.SAMPLER_2D_SHADOW ) ? emptyShadowTexture : emptyTexture;
+
+	textures.setTexture2D( v || emptyTexture2D, unit );
+
+}
+
+function setValueT3D1( gl, v, textures ) {
+
+	const cache = this.cache;
+	const unit = textures.allocateTextureUnit();
+
+	if ( cache[ 0 ] !== unit ) {
+
+		gl.uniform1i( this.addr, unit );
+		cache[ 0 ] = unit;
+
+	}
+
+	textures.setTexture3D( v || empty3dTexture, unit );
+
+}
+
+function setValueT6( gl, v, textures ) {
+
+	const cache = this.cache;
+	const unit = textures.allocateTextureUnit();
+
+	if ( cache[ 0 ] !== unit ) {
+
+		gl.uniform1i( this.addr, unit );
+		cache[ 0 ] = unit;
+
+	}
+
+	textures.setTextureCube( v || emptyCubeTexture, unit );
+
+}
+
+function setValueT2DArray1( gl, v, textures ) {
+
+	const cache = this.cache;
+	const unit = textures.allocateTextureUnit();
+
+	if ( cache[ 0 ] !== unit ) {
+
+		gl.uniform1i( this.addr, unit );
+		cache[ 0 ] = unit;
+
+	}
+
+	textures.setTexture2DArray( v || emptyArrayTexture, unit );
+
+}
+
+// Helper to pick the right setter for the singular case
+
+function getSingularSetter( type ) {
+
+	switch ( type ) {
+
+		case 0x1406: return setValueV1f; // FLOAT
+		case 0x8b50: return setValueV2f; // _VEC2
+		case 0x8b51: return setValueV3f; // _VEC3
+		case 0x8b52: return setValueV4f; // _VEC4
+
+		case 0x8b5a: return setValueM2; // _MAT2
+		case 0x8b5b: return setValueM3; // _MAT3
+		case 0x8b5c: return setValueM4; // _MAT4
+
+		case 0x1404: case 0x8b56: return setValueV1i; // INT, BOOL
+		case 0x8b53: case 0x8b57: return setValueV2i; // _VEC2
+		case 0x8b54: case 0x8b58: return setValueV3i; // _VEC3
+		case 0x8b55: case 0x8b59: return setValueV4i; // _VEC4
+
+		case 0x1405: return setValueV1ui; // UINT
+		case 0x8dc6: return setValueV2ui; // _VEC2
+		case 0x8dc7: return setValueV3ui; // _VEC3
+		case 0x8dc8: return setValueV4ui; // _VEC4
+
+		case 0x8b5e: // SAMPLER_2D
+		case 0x8d66: // SAMPLER_EXTERNAL_OES
+		case 0x8dca: // INT_SAMPLER_2D
+		case 0x8dd2: // UNSIGNED_INT_SAMPLER_2D
+		case 0x8b62: // SAMPLER_2D_SHADOW
+			return setValueT1;
+
+		case 0x8b5f: // SAMPLER_3D
+		case 0x8dcb: // INT_SAMPLER_3D
+		case 0x8dd3: // UNSIGNED_INT_SAMPLER_3D
+			return setValueT3D1;
+
+		case 0x8b60: // SAMPLER_CUBE
+		case 0x8dcc: // INT_SAMPLER_CUBE
+		case 0x8dd4: // UNSIGNED_INT_SAMPLER_CUBE
+		case 0x8dc5: // SAMPLER_CUBE_SHADOW
+			return setValueT6;
+
+		case 0x8dc1: // SAMPLER_2D_ARRAY
+		case 0x8dcf: // INT_SAMPLER_2D_ARRAY
+		case 0x8dd7: // UNSIGNED_INT_SAMPLER_2D_ARRAY
+		case 0x8dc4: // SAMPLER_2D_ARRAY_SHADOW
+			return setValueT2DArray1;
+
+	}
+
+}
+
+
+// Array of scalars
+
+function setValueV1fArray( gl, v ) {
+
+	gl.uniform1fv( this.addr, v );
+
+}
+
+// Array of vectors (from flat array or array of THREE.VectorN)
+
+function setValueV2fArray( gl, v ) {
+
+	const data = flatten( v, this.size, 2 );
+
+	gl.uniform2fv( this.addr, data );
+
+}
+
+function setValueV3fArray( gl, v ) {
+
+	const data = flatten( v, this.size, 3 );
+
+	gl.uniform3fv( this.addr, data );
+
+}
+
+function setValueV4fArray( gl, v ) {
+
+	const data = flatten( v, this.size, 4 );
+
+	gl.uniform4fv( this.addr, data );
+
+}
+
+// Array of matrices (from flat array or array of THREE.MatrixN)
+
+function setValueM2Array( gl, v ) {
+
+	const data = flatten( v, this.size, 4 );
+
+	gl.uniformMatrix2fv( this.addr, false, data );
+
+}
+
+function setValueM3Array( gl, v ) {
+
+	const data = flatten( v, this.size, 9 );
+
+	gl.uniformMatrix3fv( this.addr, false, data );
+
+}
+
+function setValueM4Array( gl, v ) {
+
+	const data = flatten( v, this.size, 16 );
+
+	gl.uniformMatrix4fv( this.addr, false, data );
+
+}
+
+// Array of integer / boolean
+
+function setValueV1iArray( gl, v ) {
+
+	gl.uniform1iv( this.addr, v );
+
+}
+
+// Array of integer / boolean vectors (from flat array)
+
+function setValueV2iArray( gl, v ) {
+
+	gl.uniform2iv( this.addr, v );
+
+}
+
+function setValueV3iArray( gl, v ) {
+
+	gl.uniform3iv( this.addr, v );
+
+}
+
+function setValueV4iArray( gl, v ) {
+
+	gl.uniform4iv( this.addr, v );
+
+}
+
+// Array of unsigned integer
+
+function setValueV1uiArray( gl, v ) {
+
+	gl.uniform1uiv( this.addr, v );
+
+}
+
+// Array of unsigned integer vectors (from flat array)
+
+function setValueV2uiArray( gl, v ) {
+
+	gl.uniform2uiv( this.addr, v );
+
+}
+
+function setValueV3uiArray( gl, v ) {
+
+	gl.uniform3uiv( this.addr, v );
+
+}
+
+function setValueV4uiArray( gl, v ) {
+
+	gl.uniform4uiv( this.addr, v );
+
+}
+
+
+// Array of textures (2D / 3D / Cube / 2DArray)
+
+function setValueT1Array( gl, v, textures ) {
+
+	const cache = this.cache;
+
+	const n = v.length;
+
+	const units = allocTexUnits( textures, n );
+
+	if ( ! arraysEqual( cache, units ) ) {
+
+		gl.uniform1iv( this.addr, units );
+
+		copyArray( cache, units );
+
+	}
+
+	for ( let i = 0; i !== n; ++ i ) {
+
+		textures.setTexture2D( v[ i ] || emptyTexture, units[ i ] );
+
+	}
+
+}
+
+function setValueT3DArray( gl, v, textures ) {
+
+	const cache = this.cache;
+
+	const n = v.length;
+
+	const units = allocTexUnits( textures, n );
+
+	if ( ! arraysEqual( cache, units ) ) {
+
+		gl.uniform1iv( this.addr, units );
+
+		copyArray( cache, units );
+
+	}
+
+	for ( let i = 0; i !== n; ++ i ) {
+
+		textures.setTexture3D( v[ i ] || empty3dTexture, units[ i ] );
+
+	}
+
+}
+
+function setValueT6Array( gl, v, textures ) {
+
+	const cache = this.cache;
+
+	const n = v.length;
+
+	const units = allocTexUnits( textures, n );
+
+	if ( ! arraysEqual( cache, units ) ) {
+
+		gl.uniform1iv( this.addr, units );
+
+		copyArray( cache, units );
+
+	}
+
+	for ( let i = 0; i !== n; ++ i ) {
+
+		textures.setTextureCube( v[ i ] || emptyCubeTexture, units[ i ] );
+
+	}
+
+}
+
+function setValueT2DArrayArray( gl, v, textures ) {
+
+	const cache = this.cache;
+
+	const n = v.length;
+
+	const units = allocTexUnits( textures, n );
+
+	if ( ! arraysEqual( cache, units ) ) {
+
+		gl.uniform1iv( this.addr, units );
+
+		copyArray( cache, units );
+
+	}
+
+	for ( let i = 0; i !== n; ++ i ) {
+
+		textures.setTexture2DArray( v[ i ] || emptyArrayTexture, units[ i ] );
+
+	}
+
+}
+
+
+// Helper to pick the right setter for a pure (bottom-level) array
+
+function getPureArraySetter( type ) {
+
+	switch ( type ) {
+
+		case 0x1406: return setValueV1fArray; // FLOAT
+		case 0x8b50: return setValueV2fArray; // _VEC2
+		case 0x8b51: return setValueV3fArray; // _VEC3
+		case 0x8b52: return setValueV4fArray; // _VEC4
+
+		case 0x8b5a: return setValueM2Array; // _MAT2
+		case 0x8b5b: return setValueM3Array; // _MAT3
+		case 0x8b5c: return setValueM4Array; // _MAT4
+
+		case 0x1404: case 0x8b56: return setValueV1iArray; // INT, BOOL
+		case 0x8b53: case 0x8b57: return setValueV2iArray; // _VEC2
+		case 0x8b54: case 0x8b58: return setValueV3iArray; // _VEC3
+		case 0x8b55: case 0x8b59: return setValueV4iArray; // _VEC4
+
+		case 0x1405: return setValueV1uiArray; // UINT
+		case 0x8dc6: return setValueV2uiArray; // _VEC2
+		case 0x8dc7: return setValueV3uiArray; // _VEC3
+		case 0x8dc8: return setValueV4uiArray; // _VEC4
+
+		case 0x8b5e: // SAMPLER_2D
+		case 0x8d66: // SAMPLER_EXTERNAL_OES
+		case 0x8dca: // INT_SAMPLER_2D
+		case 0x8dd2: // UNSIGNED_INT_SAMPLER_2D
+		case 0x8b62: // SAMPLER_2D_SHADOW
+			return setValueT1Array;
+
+		case 0x8b5f: // SAMPLER_3D
+		case 0x8dcb: // INT_SAMPLER_3D
+		case 0x8dd3: // UNSIGNED_INT_SAMPLER_3D
+			return setValueT3DArray;
+
+		case 0x8b60: // SAMPLER_CUBE
+		case 0x8dcc: // INT_SAMPLER_CUBE
+		case 0x8dd4: // UNSIGNED_INT_SAMPLER_CUBE
+		case 0x8dc5: // SAMPLER_CUBE_SHADOW
+			return setValueT6Array;
+
+		case 0x8dc1: // SAMPLER_2D_ARRAY
+		case 0x8dcf: // INT_SAMPLER_2D_ARRAY
+		case 0x8dd7: // UNSIGNED_INT_SAMPLER_2D_ARRAY
+		case 0x8dc4: // SAMPLER_2D_ARRAY_SHADOW
+			return setValueT2DArrayArray;
+
+	}
+
+}
+
+// --- Uniform Classes ---
+
+class SingleUniform {
+
+	constructor( id, activeInfo, addr ) {
+
+		this.id = id;
+		this.addr = addr;
+		this.cache = [];
+		this.type = activeInfo.type;
+		this.setValue = getSingularSetter( activeInfo.type );
+
+		// this.path = activeInfo.name; // DEBUG
+
+	}
+
+}
+
+class PureArrayUniform {
+
+	constructor( id, activeInfo, addr ) {
+
+		this.id = id;
+		this.addr = addr;
+		this.cache = [];
+		this.type = activeInfo.type;
+		this.size = activeInfo.size;
+		this.setValue = getPureArraySetter( activeInfo.type );
+
+		// this.path = activeInfo.name; // DEBUG
+
+	}
+
+}
+
+class StructuredUniform {
+
+	constructor( id ) {
+
+		this.id = id;
+
+		this.seq = [];
+		this.map = {};
+
+	}
+
+	setValue( gl, value, textures ) {
+
+		const seq = this.seq;
+
+		for ( let i = 0, n = seq.length; i !== n; ++ i ) {
+
+			const u = seq[ i ];
+			u.setValue( gl, value[ u.id ], textures );
+
+		}
+
+	}
+
+}
+
+// --- Top-level ---
+
+// Parser - builds up the property tree from the path strings
+
+const RePathPart = /(\w+)(\])?(\[|\.)?/g;
+
+// extracts
+// 	- the identifier (member name or array index)
+//  - followed by an optional right bracket (found when array index)
+//  - followed by an optional left bracket or dot (type of subscript)
+//
+// Note: These portions can be read in a non-overlapping fashion and
+// allow straightforward parsing of the hierarchy that WebGL encodes
+// in the uniform names.
+
+function addUniform( container, uniformObject ) {
+
+	container.seq.push( uniformObject );
+	container.map[ uniformObject.id ] = uniformObject;
+
+}
+
+function parseUniform( activeInfo, addr, container ) {
+
+	const path = activeInfo.name,
+		pathLength = path.length;
+
+	// reset RegExp object, because of the early exit of a previous run
+	RePathPart.lastIndex = 0;
+
+	while ( true ) {
+
+		const match = RePathPart.exec( path ),
+			matchEnd = RePathPart.lastIndex;
+
+		let id = match[ 1 ];
+		const idIsIndex = match[ 2 ] === ']',
+			subscript = match[ 3 ];
+
+		if ( idIsIndex ) id = id | 0; // convert to integer
+
+		if ( subscript === undefined || subscript === '[' && matchEnd + 2 === pathLength ) {
+
+			// bare name or "pure" bottom-level array "[0]" suffix
+
+			addUniform( container, subscript === undefined ?
+				new SingleUniform( id, activeInfo, addr ) :
+				new PureArrayUniform( id, activeInfo, addr ) );
+
+			break;
+
+		} else {
+
+			// step into inner node / create it in case it doesn't exist
+
+			const map = container.map;
+			let next = map[ id ];
+
+			if ( next === undefined ) {
+
+				next = new StructuredUniform( id );
+				addUniform( container, next );
+
+			}
+
+			container = next;
+
+		}
+
+	}
+
+}
+
+// Root Container
+
+class WebGLUniforms {
+
+	constructor( gl, program ) {
+
+		this.seq = [];
+		this.map = {};
+
+		const n = gl.getProgramParameter( program, gl.ACTIVE_UNIFORMS );
+
+		for ( let i = 0; i < n; ++ i ) {
+
+			const info = gl.getActiveUniform( program, i ),
+				addr = gl.getUniformLocation( program, info.name );
+
+			parseUniform( info, addr, this );
+
+		}
+
+	}
+
+	setValue( gl, name, value, textures ) {
+
+		const u = this.map[ name ];
+
+		if ( u !== undefined ) u.setValue( gl, value, textures );
+
+	}
+
+	setOptional( gl, object, name ) {
+
+		const v = object[ name ];
+
+		if ( v !== undefined ) this.setValue( gl, name, v );
+
+	}
+
+	static upload( gl, seq, values, textures ) {
+
+		for ( let i = 0, n = seq.length; i !== n; ++ i ) {
+
+			const u = seq[ i ],
+				v = values[ u.id ];
+
+			if ( v.needsUpdate !== false ) {
+
+				// note: always updating when .needsUpdate is undefined
+				u.setValue( gl, v.value, textures );
+
+			}
+
+		}
+
+	}
+
+	static seqWithValue( seq, values ) {
+
+		const r = [];
+
+		for ( let i = 0, n = seq.length; i !== n; ++ i ) {
+
+			const u = seq[ i ];
+			if ( u.id in values ) r.push( u );
+
+		}
+
+		return r;
+
+	}
+
+}
+
+function WebGLShader( gl, type, string ) {
+
+	const shader = gl.createShader( type );
+
+	gl.shaderSource( shader, string );
+	gl.compileShader( shader );
+
+	return shader;
+
+}
+
+// From https://www.khronos.org/registry/webgl/extensions/KHR_parallel_shader_compile/
+const COMPLETION_STATUS_KHR = 0x91B1;
+
+let programIdCount = 0;
+
+function handleSource( string, errorLine ) {
+
+	const lines = string.split( '\n' );
+	const lines2 = [];
+
+	const from = Math.max( errorLine - 6, 0 );
+	const to = Math.min( errorLine + 6, lines.length );
+
+	for ( let i = from; i < to; i ++ ) {
+
+		const line = i + 1;
+		lines2.push( `${line === errorLine ? '>' : ' '} ${line}: ${lines[ i ]}` );
+
+	}
+
+	return lines2.join( '\n' );
+
+}
+
+function getEncodingComponents( colorSpace ) {
+
+	const workingPrimaries = ColorManagement.getPrimaries( ColorManagement.workingColorSpace );
+	const encodingPrimaries = ColorManagement.getPrimaries( colorSpace );
+
+	let gamutMapping;
+
+	if ( workingPrimaries === encodingPrimaries ) {
+
+		gamutMapping = '';
+
+	} else if ( workingPrimaries === P3Primaries && encodingPrimaries === Rec709Primaries ) {
+
+		gamutMapping = 'LinearDisplayP3ToLinearSRGB';
+
+	} else if ( workingPrimaries === Rec709Primaries && encodingPrimaries === P3Primaries ) {
+
+		gamutMapping = 'LinearSRGBToLinearDisplayP3';
+
+	}
+
+	switch ( colorSpace ) {
+
+		case LinearSRGBColorSpace:
+		case LinearDisplayP3ColorSpace:
+			return [ gamutMapping, 'LinearTransferOETF' ];
+
+		case SRGBColorSpace:
+		case DisplayP3ColorSpace:
+			return [ gamutMapping, 'sRGBTransferOETF' ];
+
+		default:
+			console.warn( 'THREE.WebGLProgram: Unsupported color space:', colorSpace );
+			return [ gamutMapping, 'LinearTransferOETF' ];
+
+	}
+
+}
+
+function getShaderErrors( gl, shader, type ) {
+
+	const status = gl.getShaderParameter( shader, gl.COMPILE_STATUS );
+	const errors = gl.getShaderInfoLog( shader ).trim();
+
+	if ( status && errors === '' ) return '';
+
+	const errorMatches = /ERROR: 0:(\d+)/.exec( errors );
+	if ( errorMatches ) {
+
+		// --enable-privileged-webgl-extension
+		// console.log( '**' + type + '**', gl.getExtension( 'WEBGL_debug_shaders' ).getTranslatedShaderSource( shader ) );
+
+		const errorLine = parseInt( errorMatches[ 1 ] );
+		return type.toUpperCase() + '\n\n' + errors + '\n\n' + handleSource( gl.getShaderSource( shader ), errorLine );
+
+	} else {
+
+		return errors;
+
+	}
+
+}
+
+function getTexelEncodingFunction( functionName, colorSpace ) {
+
+	const components = getEncodingComponents( colorSpace );
+	return `vec4 ${functionName}( vec4 value ) { return ${components[ 0 ]}( ${components[ 1 ]}( value ) ); }`;
+
+}
+
+function getToneMappingFunction( functionName, toneMapping ) {
+
+	let toneMappingName;
+
+	switch ( toneMapping ) {
+
+		case LinearToneMapping:
+			toneMappingName = 'Linear';
+			break;
+
+		case ReinhardToneMapping:
+			toneMappingName = 'Reinhard';
+			break;
+
+		case CineonToneMapping:
+			toneMappingName = 'OptimizedCineon';
+			break;
+
+		case ACESFilmicToneMapping:
+			toneMappingName = 'ACESFilmic';
+			break;
+
+		case AgXToneMapping:
+			toneMappingName = 'AgX';
+			break;
+
+		case CustomToneMapping:
+			toneMappingName = 'Custom';
+			break;
+
+		default:
+			console.warn( 'THREE.WebGLProgram: Unsupported toneMapping:', toneMapping );
+			toneMappingName = 'Linear';
+
+	}
+
+	return 'vec3 ' + functionName + '( vec3 color ) { return ' + toneMappingName + 'ToneMapping( color ); }';
+
+}
+
+function generateExtensions( parameters ) {
+
+	const chunks = [
+		( parameters.extensionDerivatives || !! parameters.envMapCubeUVHeight || parameters.bumpMap || parameters.normalMapTangentSpace || parameters.clearcoatNormalMap || parameters.flatShading || parameters.shaderID === 'physical' ) ? '#extension GL_OES_standard_derivatives : enable' : '',
+		( parameters.extensionFragDepth || parameters.logarithmicDepthBuffer ) && parameters.rendererExtensionFragDepth ? '#extension GL_EXT_frag_depth : enable' : '',
+		( parameters.extensionDrawBuffers && parameters.rendererExtensionDrawBuffers ) ? '#extension GL_EXT_draw_buffers : require' : '',
+		( parameters.extensionShaderTextureLOD || parameters.envMap || parameters.transmission ) && parameters.rendererExtensionShaderTextureLod ? '#extension GL_EXT_shader_texture_lod : enable' : ''
+	];
+
+	return chunks.filter( filterEmptyLine ).join( '\n' );
+
+}
+
+function generateVertexExtensions( parameters ) {
+
+	const chunks = [
+		parameters.extensionClipCullDistance ? '#extension GL_ANGLE_clip_cull_distance : require' : ''
+	];
+
+	return chunks.filter( filterEmptyLine ).join( '\n' );
+
+}
+
+function generateDefines( defines ) {
+
+	const chunks = [];
+
+	for ( const name in defines ) {
+
+		const value = defines[ name ];
+
+		if ( value === false ) continue;
+
+		chunks.push( '#define ' + name + ' ' + value );
+
+	}
+
+	return chunks.join( '\n' );
+
+}
+
+function fetchAttributeLocations( gl, program ) {
+
+	const attributes = {};
+
+	const n = gl.getProgramParameter( program, gl.ACTIVE_ATTRIBUTES );
+
+	for ( let i = 0; i < n; i ++ ) {
+
+		const info = gl.getActiveAttrib( program, i );
+		const name = info.name;
+
+		let locationSize = 1;
+		if ( info.type === gl.FLOAT_MAT2 ) locationSize = 2;
+		if ( info.type === gl.FLOAT_MAT3 ) locationSize = 3;
+		if ( info.type === gl.FLOAT_MAT4 ) locationSize = 4;
+
+		// console.log( 'THREE.WebGLProgram: ACTIVE VERTEX ATTRIBUTE:', name, i );
+
+		attributes[ name ] = {
+			type: info.type,
+			location: gl.getAttribLocation( program, name ),
+			locationSize: locationSize
+		};
+
+	}
+
+	return attributes;
+
+}
+
+function filterEmptyLine( string ) {
+
+	return string !== '';
+
+}
+
+function replaceLightNums( string, parameters ) {
+
+	const numSpotLightCoords = parameters.numSpotLightShadows + parameters.numSpotLightMaps - parameters.numSpotLightShadowsWithMaps;
+
+	return string
+		.replace( /NUM_DIR_LIGHTS/g, parameters.numDirLights )
+		.replace( /NUM_SPOT_LIGHTS/g, parameters.numSpotLights )
+		.replace( /NUM_SPOT_LIGHT_MAPS/g, parameters.numSpotLightMaps )
+		.replace( /NUM_SPOT_LIGHT_COORDS/g, numSpotLightCoords )
+		.replace( /NUM_RECT_AREA_LIGHTS/g, parameters.numRectAreaLights )
+		.replace( /NUM_POINT_LIGHTS/g, parameters.numPointLights )
+		.replace( /NUM_HEMI_LIGHTS/g, parameters.numHemiLights )
+		.replace( /NUM_DIR_LIGHT_SHADOWS/g, parameters.numDirLightShadows )
+		.replace( /NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS/g, parameters.numSpotLightShadowsWithMaps )
+		.replace( /NUM_SPOT_LIGHT_SHADOWS/g, parameters.numSpotLightShadows )
+		.replace( /NUM_POINT_LIGHT_SHADOWS/g, parameters.numPointLightShadows );
+
+}
+
+function replaceClippingPlaneNums( string, parameters ) {
+
+	return string
+		.replace( /NUM_CLIPPING_PLANES/g, parameters.numClippingPlanes )
+		.replace( /UNION_CLIPPING_PLANES/g, ( parameters.numClippingPlanes - parameters.numClipIntersection ) );
+
+}
+
+// Resolve Includes
+
+const includePattern = /^[ \t]*#include +<([\w\d./]+)>/gm;
+
+function resolveIncludes( string ) {
+
+	return string.replace( includePattern, includeReplacer );
+
+}
+
+const shaderChunkMap = new Map( [
+	[ 'encodings_fragment', 'colorspace_fragment' ], // @deprecated, r154
+	[ 'encodings_pars_fragment', 'colorspace_pars_fragment' ], // @deprecated, r154
+	[ 'output_fragment', 'opaque_fragment' ], // @deprecated, r154
+] );
+
+function includeReplacer( match, include ) {
+
+	let string = ShaderChunk[ include ];
+
+	if ( string === undefined ) {
+
+		const newInclude = shaderChunkMap.get( include );
+
+		if ( newInclude !== undefined ) {
+
+			string = ShaderChunk[ newInclude ];
+			console.warn( 'THREE.WebGLRenderer: Shader chunk "%s" has been deprecated. Use "%s" instead.', include, newInclude );
+
+		} else {
+
+			throw new Error( 'Can not resolve #include <' + include + '>' );
+
+		}
+
+	}
+
+	return resolveIncludes( string );
+
+}
+
+// Unroll Loops
+
+const unrollLoopPattern = /#pragma unroll_loop_start\s+for\s*\(\s*int\s+i\s*=\s*(\d+)\s*;\s*i\s*<\s*(\d+)\s*;\s*i\s*\+\+\s*\)\s*{([\s\S]+?)}\s+#pragma unroll_loop_end/g;
+
+function unrollLoops( string ) {
+
+	return string.replace( unrollLoopPattern, loopReplacer );
+
+}
+
+function loopReplacer( match, start, end, snippet ) {
+
+	let string = '';
+
+	for ( let i = parseInt( start ); i < parseInt( end ); i ++ ) {
+
+		string += snippet
+			.replace( /\[\s*i\s*\]/g, '[ ' + i + ' ]' )
+			.replace( /UNROLLED_LOOP_INDEX/g, i );
+
+	}
+
+	return string;
+
+}
+
+//
+
+function generatePrecision( parameters ) {
+
+	let precisionstring = 'precision ' + parameters.precision + ' float;\nprecision ' + parameters.precision + ' int;';
+
+	if ( parameters.precision === 'highp' ) {
+
+		precisionstring += '\n#define HIGH_PRECISION';
+
+	} else if ( parameters.precision === 'mediump' ) {
+
+		precisionstring += '\n#define MEDIUM_PRECISION';
+
+	} else if ( parameters.precision === 'lowp' ) {
+
+		precisionstring += '\n#define LOW_PRECISION';
+
+	}
+
+	return precisionstring;
+
+}
+
+function generateShadowMapTypeDefine( parameters ) {
+
+	let shadowMapTypeDefine = 'SHADOWMAP_TYPE_BASIC';
+
+	if ( parameters.shadowMapType === PCFShadowMap ) {
+
+		shadowMapTypeDefine = 'SHADOWMAP_TYPE_PCF';
+
+	} else if ( parameters.shadowMapType === PCFSoftShadowMap ) {
+
+		shadowMapTypeDefine = 'SHADOWMAP_TYPE_PCF_SOFT';
+
+	} else if ( parameters.shadowMapType === VSMShadowMap ) {
+
+		shadowMapTypeDefine = 'SHADOWMAP_TYPE_VSM';
+
+	}
+
+	return shadowMapTypeDefine;
+
+}
+
+function generateEnvMapTypeDefine( parameters ) {
+
+	let envMapTypeDefine = 'ENVMAP_TYPE_CUBE';
+
+	if ( parameters.envMap ) {
+
+		switch ( parameters.envMapMode ) {
+
+			case CubeReflectionMapping:
+			case CubeRefractionMapping:
+				envMapTypeDefine = 'ENVMAP_TYPE_CUBE';
+				break;
+
+			case CubeUVReflectionMapping:
+				envMapTypeDefine = 'ENVMAP_TYPE_CUBE_UV';
+				break;
+
+		}
+
+	}
+
+	return envMapTypeDefine;
+
+}
+
+function generateEnvMapModeDefine( parameters ) {
+
+	let envMapModeDefine = 'ENVMAP_MODE_REFLECTION';
+
+	if ( parameters.envMap ) {
+
+		switch ( parameters.envMapMode ) {
+
+			case CubeRefractionMapping:
+
+				envMapModeDefine = 'ENVMAP_MODE_REFRACTION';
+				break;
+
+		}
+
+	}
+
+	return envMapModeDefine;
+
+}
+
+function generateEnvMapBlendingDefine( parameters ) {
+
+	let envMapBlendingDefine = 'ENVMAP_BLENDING_NONE';
+
+	if ( parameters.envMap ) {
+
+		switch ( parameters.combine ) {
+
+			case MultiplyOperation:
+				envMapBlendingDefine = 'ENVMAP_BLENDING_MULTIPLY';
+				break;
+
+			case MixOperation:
+				envMapBlendingDefine = 'ENVMAP_BLENDING_MIX';
+				break;
+
+			case AddOperation:
+				envMapBlendingDefine = 'ENVMAP_BLENDING_ADD';
+				break;
+
+		}
+
+	}
+
+	return envMapBlendingDefine;
+
+}
+
+function generateCubeUVSize( parameters ) {
+
+	const imageHeight = parameters.envMapCubeUVHeight;
+
+	if ( imageHeight === null ) return null;
+
+	const maxMip = Math.log2( imageHeight ) - 2;
+
+	const texelHeight = 1.0 / imageHeight;
+
+	const texelWidth = 1.0 / ( 3 * Math.max( Math.pow( 2, maxMip ), 7 * 16 ) );
+
+	return { texelWidth, texelHeight, maxMip };
+
+}
+
+function WebGLProgram( renderer, cacheKey, parameters, bindingStates ) {
+
+	// TODO Send this event to Three.js DevTools
+	// console.log( 'WebGLProgram', cacheKey );
+
+	const gl = renderer.getContext();
+
+	const defines = parameters.defines;
+
+	let vertexShader = parameters.vertexShader;
+	let fragmentShader = parameters.fragmentShader;
+
+	const shadowMapTypeDefine = generateShadowMapTypeDefine( parameters );
+	const envMapTypeDefine = generateEnvMapTypeDefine( parameters );
+	const envMapModeDefine = generateEnvMapModeDefine( parameters );
+	const envMapBlendingDefine = generateEnvMapBlendingDefine( parameters );
+	const envMapCubeUVSize = generateCubeUVSize( parameters );
+
+	const customExtensions = parameters.isWebGL2 ? '' : generateExtensions( parameters );
+
+	const customVertexExtensions = generateVertexExtensions( parameters );
+
+	const customDefines = generateDefines( defines );
+
+	const program = gl.createProgram();
+
+	let prefixVertex, prefixFragment;
+	let versionString = parameters.glslVersion ? '#version ' + parameters.glslVersion + '\n' : '';
+
+	if ( parameters.isRawShaderMaterial ) {
+
+		prefixVertex = [
+
+			'#define SHADER_TYPE ' + parameters.shaderType,
+			'#define SHADER_NAME ' + parameters.shaderName,
+
+			customDefines
+
+		].filter( filterEmptyLine ).join( '\n' );
+
+		if ( prefixVertex.length > 0 ) {
+
+			prefixVertex += '\n';
+
+		}
+
+		prefixFragment = [
+
+			customExtensions,
+
+			'#define SHADER_TYPE ' + parameters.shaderType,
+			'#define SHADER_NAME ' + parameters.shaderName,
+
+			customDefines
+
+		].filter( filterEmptyLine ).join( '\n' );
+
+		if ( prefixFragment.length > 0 ) {
+
+			prefixFragment += '\n';
+
+		}
+
+	} else {
+
+		prefixVertex = [
+
+			generatePrecision( parameters ),
+
+			'#define SHADER_TYPE ' + parameters.shaderType,
+			'#define SHADER_NAME ' + parameters.shaderName,
+
+			customDefines,
+
+			parameters.extensionClipCullDistance ? '#define USE_CLIP_DISTANCE' : '',
+			parameters.batching ? '#define USE_BATCHING' : '',
+			parameters.instancing ? '#define USE_INSTANCING' : '',
+			parameters.instancingColor ? '#define USE_INSTANCING_COLOR' : '',
+
+			parameters.useFog && parameters.fog ? '#define USE_FOG' : '',
+			parameters.useFog && parameters.fogExp2 ? '#define FOG_EXP2' : '',
+
+			parameters.map ? '#define USE_MAP' : '',
+			parameters.envMap ? '#define USE_ENVMAP' : '',
+			parameters.envMap ? '#define ' + envMapModeDefine : '',
+			parameters.lightMap ? '#define USE_LIGHTMAP' : '',
+			parameters.aoMap ? '#define USE_AOMAP' : '',
+			parameters.bumpMap ? '#define USE_BUMPMAP' : '',
+			parameters.normalMap ? '#define USE_NORMALMAP' : '',
+			parameters.normalMapObjectSpace ? '#define USE_NORMALMAP_OBJECTSPACE' : '',
+			parameters.normalMapTangentSpace ? '#define USE_NORMALMAP_TANGENTSPACE' : '',
+			parameters.displacementMap ? '#define USE_DISPLACEMENTMAP' : '',
+			parameters.emissiveMap ? '#define USE_EMISSIVEMAP' : '',
+
+			parameters.anisotropy ? '#define USE_ANISOTROPY' : '',
+			parameters.anisotropyMap ? '#define USE_ANISOTROPYMAP' : '',
+
+			parameters.clearcoatMap ? '#define USE_CLEARCOATMAP' : '',
+			parameters.clearcoatRoughnessMap ? '#define USE_CLEARCOAT_ROUGHNESSMAP' : '',
+			parameters.clearcoatNormalMap ? '#define USE_CLEARCOAT_NORMALMAP' : '',
+
+			parameters.iridescenceMap ? '#define USE_IRIDESCENCEMAP' : '',
+			parameters.iridescenceThicknessMap ? '#define USE_IRIDESCENCE_THICKNESSMAP' : '',
+
+			parameters.specularMap ? '#define USE_SPECULARMAP' : '',
+			parameters.specularColorMap ? '#define USE_SPECULAR_COLORMAP' : '',
+			parameters.specularIntensityMap ? '#define USE_SPECULAR_INTENSITYMAP' : '',
+
+			parameters.roughnessMap ? '#define USE_ROUGHNESSMAP' : '',
+			parameters.metalnessMap ? '#define USE_METALNESSMAP' : '',
+			parameters.alphaMap ? '#define USE_ALPHAMAP' : '',
+			parameters.alphaHash ? '#define USE_ALPHAHASH' : '',
+
+			parameters.transmission ? '#define USE_TRANSMISSION' : '',
+			parameters.transmissionMap ? '#define USE_TRANSMISSIONMAP' : '',
+			parameters.thicknessMap ? '#define USE_THICKNESSMAP' : '',
+
+			parameters.sheenColorMap ? '#define USE_SHEEN_COLORMAP' : '',
+			parameters.sheenRoughnessMap ? '#define USE_SHEEN_ROUGHNESSMAP' : '',
+
+			//
+
+			parameters.mapUv ? '#define MAP_UV ' + parameters.mapUv : '',
+			parameters.alphaMapUv ? '#define ALPHAMAP_UV ' + parameters.alphaMapUv : '',
+			parameters.lightMapUv ? '#define LIGHTMAP_UV ' + parameters.lightMapUv : '',
+			parameters.aoMapUv ? '#define AOMAP_UV ' + parameters.aoMapUv : '',
+			parameters.emissiveMapUv ? '#define EMISSIVEMAP_UV ' + parameters.emissiveMapUv : '',
+			parameters.bumpMapUv ? '#define BUMPMAP_UV ' + parameters.bumpMapUv : '',
+			parameters.normalMapUv ? '#define NORMALMAP_UV ' + parameters.normalMapUv : '',
+			parameters.displacementMapUv ? '#define DISPLACEMENTMAP_UV ' + parameters.displacementMapUv : '',
+
+			parameters.metalnessMapUv ? '#define METALNESSMAP_UV ' + parameters.metalnessMapUv : '',
+			parameters.roughnessMapUv ? '#define ROUGHNESSMAP_UV ' + parameters.roughnessMapUv : '',
+
+			parameters.anisotropyMapUv ? '#define ANISOTROPYMAP_UV ' + parameters.anisotropyMapUv : '',
+
+			parameters.clearcoatMapUv ? '#define CLEARCOATMAP_UV ' + parameters.clearcoatMapUv : '',
+			parameters.clearcoatNormalMapUv ? '#define CLEARCOAT_NORMALMAP_UV ' + parameters.clearcoatNormalMapUv : '',
+			parameters.clearcoatRoughnessMapUv ? '#define CLEARCOAT_ROUGHNESSMAP_UV ' + parameters.clearcoatRoughnessMapUv : '',
+
+			parameters.iridescenceMapUv ? '#define IRIDESCENCEMAP_UV ' + parameters.iridescenceMapUv : '',
+			parameters.iridescenceThicknessMapUv ? '#define IRIDESCENCE_THICKNESSMAP_UV ' + parameters.iridescenceThicknessMapUv : '',
+
+			parameters.sheenColorMapUv ? '#define SHEEN_COLORMAP_UV ' + parameters.sheenColorMapUv : '',
+			parameters.sheenRoughnessMapUv ? '#define SHEEN_ROUGHNESSMAP_UV ' + parameters.sheenRoughnessMapUv : '',
+
+			parameters.specularMapUv ? '#define SPECULARMAP_UV ' + parameters.specularMapUv : '',
+			parameters.specularColorMapUv ? '#define SPECULAR_COLORMAP_UV ' + parameters.specularColorMapUv : '',
+			parameters.specularIntensityMapUv ? '#define SPECULAR_INTENSITYMAP_UV ' + parameters.specularIntensityMapUv : '',
+
+			parameters.transmissionMapUv ? '#define TRANSMISSIONMAP_UV ' + parameters.transmissionMapUv : '',
+			parameters.thicknessMapUv ? '#define THICKNESSMAP_UV ' + parameters.thicknessMapUv : '',
+
+			//
+
+			parameters.vertexTangents && parameters.flatShading === false ? '#define USE_TANGENT' : '',
+			parameters.vertexColors ? '#define USE_COLOR' : '',
+			parameters.vertexAlphas ? '#define USE_COLOR_ALPHA' : '',
+			parameters.vertexUv1s ? '#define USE_UV1' : '',
+			parameters.vertexUv2s ? '#define USE_UV2' : '',
+			parameters.vertexUv3s ? '#define USE_UV3' : '',
+
+			parameters.pointsUvs ? '#define USE_POINTS_UV' : '',
+
+			parameters.flatShading ? '#define FLAT_SHADED' : '',
+
+			parameters.skinning ? '#define USE_SKINNING' : '',
+
+			parameters.morphTargets ? '#define USE_MORPHTARGETS' : '',
+			parameters.morphNormals && parameters.flatShading === false ? '#define USE_MORPHNORMALS' : '',
+			( parameters.morphColors && parameters.isWebGL2 ) ? '#define USE_MORPHCOLORS' : '',
+			( parameters.morphTargetsCount > 0 && parameters.isWebGL2 ) ? '#define MORPHTARGETS_TEXTURE' : '',
+			( parameters.morphTargetsCount > 0 && parameters.isWebGL2 ) ? '#define MORPHTARGETS_TEXTURE_STRIDE ' + parameters.morphTextureStride : '',
+			( parameters.morphTargetsCount > 0 && parameters.isWebGL2 ) ? '#define MORPHTARGETS_COUNT ' + parameters.morphTargetsCount : '',
+			parameters.doubleSided ? '#define DOUBLE_SIDED' : '',
+			parameters.flipSided ? '#define FLIP_SIDED' : '',
+
+			parameters.shadowMapEnabled ? '#define USE_SHADOWMAP' : '',
+			parameters.shadowMapEnabled ? '#define ' + shadowMapTypeDefine : '',
+
+			parameters.sizeAttenuation ? '#define USE_SIZEATTENUATION' : '',
+
+			parameters.numLightProbes > 0 ? '#define USE_LIGHT_PROBES' : '',
+
+			parameters.useLegacyLights ? '#define LEGACY_LIGHTS' : '',
+
+			parameters.logarithmicDepthBuffer ? '#define USE_LOGDEPTHBUF' : '',
+			( parameters.logarithmicDepthBuffer && parameters.rendererExtensionFragDepth ) ? '#define USE_LOGDEPTHBUF_EXT' : '',
+
+			'uniform mat4 modelMatrix;',
+			'uniform mat4 modelViewMatrix;',
+			'uniform mat4 projectionMatrix;',
+			'uniform mat4 viewMatrix;',
+			'uniform mat3 normalMatrix;',
+			'uniform vec3 cameraPosition;',
+			'uniform bool isOrthographic;',
+
+			'#ifdef USE_INSTANCING',
+
+			'	attribute mat4 instanceMatrix;',
+
+			'#endif',
+
+			'#ifdef USE_INSTANCING_COLOR',
+
+			'	attribute vec3 instanceColor;',
+
+			'#endif',
+
+			'attribute vec3 position;',
+			'attribute vec3 normal;',
+			'attribute vec2 uv;',
+
+			'#ifdef USE_UV1',
+
+			'	attribute vec2 uv1;',
+
+			'#endif',
+
+			'#ifdef USE_UV2',
+
+			'	attribute vec2 uv2;',
+
+			'#endif',
+
+			'#ifdef USE_UV3',
+
+			'	attribute vec2 uv3;',
+
+			'#endif',
+
+			'#ifdef USE_TANGENT',
+
+			'	attribute vec4 tangent;',
+
+			'#endif',
+
+			'#if defined( USE_COLOR_ALPHA )',
+
+			'	attribute vec4 color;',
+
+			'#elif defined( USE_COLOR )',
+
+			'	attribute vec3 color;',
+
+			'#endif',
+
+			'#if ( defined( USE_MORPHTARGETS ) && ! defined( MORPHTARGETS_TEXTURE ) )',
+
+			'	attribute vec3 morphTarget0;',
+			'	attribute vec3 morphTarget1;',
+			'	attribute vec3 morphTarget2;',
+			'	attribute vec3 morphTarget3;',
+
+			'	#ifdef USE_MORPHNORMALS',
+
+			'		attribute vec3 morphNormal0;',
+			'		attribute vec3 morphNormal1;',
+			'		attribute vec3 morphNormal2;',
+			'		attribute vec3 morphNormal3;',
+
+			'	#else',
+
+			'		attribute vec3 morphTarget4;',
+			'		attribute vec3 morphTarget5;',
+			'		attribute vec3 morphTarget6;',
+			'		attribute vec3 morphTarget7;',
+
+			'	#endif',
+
+			'#endif',
+
+			'#ifdef USE_SKINNING',
+
+			'	attribute vec4 skinIndex;',
+			'	attribute vec4 skinWeight;',
+
+			'#endif',
+
+			'\n'
+
+		].filter( filterEmptyLine ).join( '\n' );
+
+		prefixFragment = [
+
+			customExtensions,
+
+			generatePrecision( parameters ),
+
+			'#define SHADER_TYPE ' + parameters.shaderType,
+			'#define SHADER_NAME ' + parameters.shaderName,
+
+			customDefines,
+
+			parameters.useFog && parameters.fog ? '#define USE_FOG' : '',
+			parameters.useFog && parameters.fogExp2 ? '#define FOG_EXP2' : '',
+
+			parameters.map ? '#define USE_MAP' : '',
+			parameters.matcap ? '#define USE_MATCAP' : '',
+			parameters.envMap ? '#define USE_ENVMAP' : '',
+			parameters.envMap ? '#define ' + envMapTypeDefine : '',
+			parameters.envMap ? '#define ' + envMapModeDefine : '',
+			parameters.envMap ? '#define ' + envMapBlendingDefine : '',
+			envMapCubeUVSize ? '#define CUBEUV_TEXEL_WIDTH ' + envMapCubeUVSize.texelWidth : '',
+			envMapCubeUVSize ? '#define CUBEUV_TEXEL_HEIGHT ' + envMapCubeUVSize.texelHeight : '',
+			envMapCubeUVSize ? '#define CUBEUV_MAX_MIP ' + envMapCubeUVSize.maxMip + '.0' : '',
+			parameters.lightMap ? '#define USE_LIGHTMAP' : '',
+			parameters.aoMap ? '#define USE_AOMAP' : '',
+			parameters.bumpMap ? '#define USE_BUMPMAP' : '',
+			parameters.normalMap ? '#define USE_NORMALMAP' : '',
+			parameters.normalMapObjectSpace ? '#define USE_NORMALMAP_OBJECTSPACE' : '',
+			parameters.normalMapTangentSpace ? '#define USE_NORMALMAP_TANGENTSPACE' : '',
+			parameters.emissiveMap ? '#define USE_EMISSIVEMAP' : '',
+
+			parameters.anisotropy ? '#define USE_ANISOTROPY' : '',
+			parameters.anisotropyMap ? '#define USE_ANISOTROPYMAP' : '',
+
+			parameters.clearcoat ? '#define USE_CLEARCOAT' : '',
+			parameters.clearcoatMap ? '#define USE_CLEARCOATMAP' : '',
+			parameters.clearcoatRoughnessMap ? '#define USE_CLEARCOAT_ROUGHNESSMAP' : '',
+			parameters.clearcoatNormalMap ? '#define USE_CLEARCOAT_NORMALMAP' : '',
+
+			parameters.iridescence ? '#define USE_IRIDESCENCE' : '',
+			parameters.iridescenceMap ? '#define USE_IRIDESCENCEMAP' : '',
+			parameters.iridescenceThicknessMap ? '#define USE_IRIDESCENCE_THICKNESSMAP' : '',
+
+			parameters.specularMap ? '#define USE_SPECULARMAP' : '',
+			parameters.specularColorMap ? '#define USE_SPECULAR_COLORMAP' : '',
+			parameters.specularIntensityMap ? '#define USE_SPECULAR_INTENSITYMAP' : '',
+
+			parameters.roughnessMap ? '#define USE_ROUGHNESSMAP' : '',
+			parameters.metalnessMap ? '#define USE_METALNESSMAP' : '',
+
+			parameters.alphaMap ? '#define USE_ALPHAMAP' : '',
+			parameters.alphaTest ? '#define USE_ALPHATEST' : '',
+			parameters.alphaHash ? '#define USE_ALPHAHASH' : '',
+
+			parameters.sheen ? '#define USE_SHEEN' : '',
+			parameters.sheenColorMap ? '#define USE_SHEEN_COLORMAP' : '',
+			parameters.sheenRoughnessMap ? '#define USE_SHEEN_ROUGHNESSMAP' : '',
+
+			parameters.transmission ? '#define USE_TRANSMISSION' : '',
+			parameters.transmissionMap ? '#define USE_TRANSMISSIONMAP' : '',
+			parameters.thicknessMap ? '#define USE_THICKNESSMAP' : '',
+
+			parameters.vertexTangents && parameters.flatShading === false ? '#define USE_TANGENT' : '',
+			parameters.vertexColors || parameters.instancingColor ? '#define USE_COLOR' : '',
+			parameters.vertexAlphas ? '#define USE_COLOR_ALPHA' : '',
+			parameters.vertexUv1s ? '#define USE_UV1' : '',
+			parameters.vertexUv2s ? '#define USE_UV2' : '',
+			parameters.vertexUv3s ? '#define USE_UV3' : '',
+
+			parameters.pointsUvs ? '#define USE_POINTS_UV' : '',
+
+			parameters.gradientMap ? '#define USE_GRADIENTMAP' : '',
+
+			parameters.flatShading ? '#define FLAT_SHADED' : '',
+
+			parameters.doubleSided ? '#define DOUBLE_SIDED' : '',
+			parameters.flipSided ? '#define FLIP_SIDED' : '',
+
+			parameters.shadowMapEnabled ? '#define USE_SHADOWMAP' : '',
+			parameters.shadowMapEnabled ? '#define ' + shadowMapTypeDefine : '',
+
+			parameters.premultipliedAlpha ? '#define PREMULTIPLIED_ALPHA' : '',
+
+			parameters.numLightProbes > 0 ? '#define USE_LIGHT_PROBES' : '',
+
+			parameters.useLegacyLights ? '#define LEGACY_LIGHTS' : '',
+
+			parameters.decodeVideoTexture ? '#define DECODE_VIDEO_TEXTURE' : '',
+
+			parameters.logarithmicDepthBuffer ? '#define USE_LOGDEPTHBUF' : '',
+			( parameters.logarithmicDepthBuffer && parameters.rendererExtensionFragDepth ) ? '#define USE_LOGDEPTHBUF_EXT' : '',
+
+			'uniform mat4 viewMatrix;',
+			'uniform vec3 cameraPosition;',
+			'uniform bool isOrthographic;',
+
+			( parameters.toneMapping !== NoToneMapping ) ? '#define TONE_MAPPING' : '',
+			( parameters.toneMapping !== NoToneMapping ) ? ShaderChunk[ 'tonemapping_pars_fragment' ] : '', // this code is required here because it is used by the toneMapping() function defined below
+			( parameters.toneMapping !== NoToneMapping ) ? getToneMappingFunction( 'toneMapping', parameters.toneMapping ) : '',
+
+			parameters.dithering ? '#define DITHERING' : '',
+			parameters.opaque ? '#define OPAQUE' : '',
+
+			ShaderChunk[ 'colorspace_pars_fragment' ], // this code is required here because it is used by the various encoding/decoding function defined below
+			getTexelEncodingFunction( 'linearToOutputTexel', parameters.outputColorSpace ),
+
+			parameters.useDepthPacking ? '#define DEPTH_PACKING ' + parameters.depthPacking : '',
+
+			'\n'
+
+		].filter( filterEmptyLine ).join( '\n' );
+
+	}
+
+	vertexShader = resolveIncludes( vertexShader );
+	vertexShader = replaceLightNums( vertexShader, parameters );
+	vertexShader = replaceClippingPlaneNums( vertexShader, parameters );
+
+	fragmentShader = resolveIncludes( fragmentShader );
+	fragmentShader = replaceLightNums( fragmentShader, parameters );
+	fragmentShader = replaceClippingPlaneNums( fragmentShader, parameters );
+
+	vertexShader = unrollLoops( vertexShader );
+	fragmentShader = unrollLoops( fragmentShader );
+
+	if ( parameters.isWebGL2 && parameters.isRawShaderMaterial !== true ) {
+
+		// GLSL 3.0 conversion for built-in materials and ShaderMaterial
+
+		versionString = '#version 300 es\n';
+
+		prefixVertex = [
+			customVertexExtensions,
+			'precision mediump sampler2DArray;',
+			'#define attribute in',
+			'#define varying out',
+			'#define texture2D texture'
+		].join( '\n' ) + '\n' + prefixVertex;
+
+		prefixFragment = [
+			'precision mediump sampler2DArray;',
+			'#define varying in',
+			( parameters.glslVersion === GLSL3 ) ? '' : 'layout(location = 0) out highp vec4 pc_fragColor;',
+			( parameters.glslVersion === GLSL3 ) ? '' : '#define gl_FragColor pc_fragColor',
+			'#define gl_FragDepthEXT gl_FragDepth',
+			'#define texture2D texture',
+			'#define textureCube texture',
+			'#define texture2DProj textureProj',
+			'#define texture2DLodEXT textureLod',
+			'#define texture2DProjLodEXT textureProjLod',
+			'#define textureCubeLodEXT textureLod',
+			'#define texture2DGradEXT textureGrad',
+			'#define texture2DProjGradEXT textureProjGrad',
+			'#define textureCubeGradEXT textureGrad'
+		].join( '\n' ) + '\n' + prefixFragment;
+
+	}
+
+	const vertexGlsl = versionString + prefixVertex + vertexShader;
+	const fragmentGlsl = versionString + prefixFragment + fragmentShader;
+
+	// console.log( '*VERTEX*', vertexGlsl );
+	// console.log( '*FRAGMENT*', fragmentGlsl );
+
+	const glVertexShader = WebGLShader( gl, gl.VERTEX_SHADER, vertexGlsl );
+	const glFragmentShader = WebGLShader( gl, gl.FRAGMENT_SHADER, fragmentGlsl );
+
+	gl.attachShader( program, glVertexShader );
+	gl.attachShader( program, glFragmentShader );
+
+	// Force a particular attribute to index 0.
+
+	if ( parameters.index0AttributeName !== undefined ) {
+
+		gl.bindAttribLocation( program, 0, parameters.index0AttributeName );
+
+	} else if ( parameters.morphTargets === true ) {
+
+		// programs with morphTargets displace position out of attribute 0
+		gl.bindAttribLocation( program, 0, 'position' );
+
+	}
+
+	gl.linkProgram( program );
+
+	function onFirstUse( self ) {
+
+		// check for link errors
+		if ( renderer.debug.checkShaderErrors ) {
+
+			const programLog = gl.getProgramInfoLog( program ).trim();
+			const vertexLog = gl.getShaderInfoLog( glVertexShader ).trim();
+			const fragmentLog = gl.getShaderInfoLog( glFragmentShader ).trim();
+
+			let runnable = true;
+			let haveDiagnostics = true;
+
+			if ( gl.getProgramParameter( program, gl.LINK_STATUS ) === false ) {
+
+				runnable = false;
+
+				if ( typeof renderer.debug.onShaderError === 'function' ) {
+
+					renderer.debug.onShaderError( gl, program, glVertexShader, glFragmentShader );
+
+				} else {
+
+					// default error reporting
+
+					const vertexErrors = getShaderErrors( gl, glVertexShader, 'vertex' );
+					const fragmentErrors = getShaderErrors( gl, glFragmentShader, 'fragment' );
+
+					console.error(
+						'THREE.WebGLProgram: Shader Error ' + gl.getError() + ' - ' +
+						'VALIDATE_STATUS ' + gl.getProgramParameter( program, gl.VALIDATE_STATUS ) + '\n\n' +
+						'Program Info Log: ' + programLog + '\n' +
+						vertexErrors + '\n' +
+						fragmentErrors
+					);
+
+				}
+
+			} else if ( programLog !== '' ) {
+
+				console.warn( 'THREE.WebGLProgram: Program Info Log:', programLog );
+
+			} else if ( vertexLog === '' || fragmentLog === '' ) {
+
+				haveDiagnostics = false;
+
+			}
+
+			if ( haveDiagnostics ) {
+
+				self.diagnostics = {
+
+					runnable: runnable,
+
+					programLog: programLog,
+
+					vertexShader: {
+
+						log: vertexLog,
+						prefix: prefixVertex
+
+					},
+
+					fragmentShader: {
+
+						log: fragmentLog,
+						prefix: prefixFragment
+
+					}
+
+				};
+
+			}
+
+		}
+
+		// Clean up
+
+		// Crashes in iOS9 and iOS10. #18402
+		// gl.detachShader( program, glVertexShader );
+		// gl.detachShader( program, glFragmentShader );
+
+		gl.deleteShader( glVertexShader );
+		gl.deleteShader( glFragmentShader );
+
+		cachedUniforms = new WebGLUniforms( gl, program );
+		cachedAttributes = fetchAttributeLocations( gl, program );
+
+	}
+
+	// set up caching for uniform locations
+
+	let cachedUniforms;
+
+	this.getUniforms = function () {
+
+		if ( cachedUniforms === undefined ) {
+
+			// Populates cachedUniforms and cachedAttributes
+			onFirstUse( this );
+
+		}
+
+		return cachedUniforms;
+
+	};
+
+	// set up caching for attribute locations
+
+	let cachedAttributes;
+
+	this.getAttributes = function () {
+
+		if ( cachedAttributes === undefined ) {
+
+			// Populates cachedAttributes and cachedUniforms
+			onFirstUse( this );
+
+		}
+
+		return cachedAttributes;
+
+	};
+
+	// indicate when the program is ready to be used. if the KHR_parallel_shader_compile extension isn't supported,
+	// flag the program as ready immediately. It may cause a stall when it's first used.
+
+	let programReady = ( parameters.rendererExtensionParallelShaderCompile === false );
+
+	this.isReady = function () {
+
+		if ( programReady === false ) {
+
+			programReady = gl.getProgramParameter( program, COMPLETION_STATUS_KHR );
+
+		}
+
+		return programReady;
+
+	};
+
+	// free resource
+
+	this.destroy = function () {
+
+		bindingStates.releaseStatesOfProgram( this );
+
+		gl.deleteProgram( program );
+		this.program = undefined;
+
+	};
+
+	//
+
+	this.type = parameters.shaderType;
+	this.name = parameters.shaderName;
+	this.id = programIdCount ++;
+	this.cacheKey = cacheKey;
+	this.usedTimes = 1;
+	this.program = program;
+	this.vertexShader = glVertexShader;
+	this.fragmentShader = glFragmentShader;
+
+	return this;
+
+}
+
+let _id$1 = 0;
+
+class WebGLShaderCache {
+
+	constructor() {
+
+		this.shaderCache = new Map();
+		this.materialCache = new Map();
+
+	}
+
+	update( material ) {
+
+		const vertexShader = material.vertexShader;
+		const fragmentShader = material.fragmentShader;
+
+		const vertexShaderStage = this._getShaderStage( vertexShader );
+		const fragmentShaderStage = this._getShaderStage( fragmentShader );
+
+		const materialShaders = this._getShaderCacheForMaterial( material );
+
+		if ( materialShaders.has( vertexShaderStage ) === false ) {
+
+			materialShaders.add( vertexShaderStage );
+			vertexShaderStage.usedTimes ++;
+
+		}
+
+		if ( materialShaders.has( fragmentShaderStage ) === false ) {
+
+			materialShaders.add( fragmentShaderStage );
+			fragmentShaderStage.usedTimes ++;
+
+		}
+
+		return this;
+
+	}
+
+	remove( material ) {
+
+		const materialShaders = this.materialCache.get( material );
+
+		for ( const shaderStage of materialShaders ) {
+
+			shaderStage.usedTimes --;
+
+			if ( shaderStage.usedTimes === 0 ) this.shaderCache.delete( shaderStage.code );
+
+		}
+
+		this.materialCache.delete( material );
+
+		return this;
+
+	}
+
+	getVertexShaderID( material ) {
+
+		return this._getShaderStage( material.vertexShader ).id;
+
+	}
+
+	getFragmentShaderID( material ) {
+
+		return this._getShaderStage( material.fragmentShader ).id;
+
+	}
+
+	dispose() {
+
+		this.shaderCache.clear();
+		this.materialCache.clear();
+
+	}
+
+	_getShaderCacheForMaterial( material ) {
+
+		const cache = this.materialCache;
+		let set = cache.get( material );
+
+		if ( set === undefined ) {
+
+			set = new Set();
+			cache.set( material, set );
+
+		}
+
+		return set;
+
+	}
+
+	_getShaderStage( code ) {
+
+		const cache = this.shaderCache;
+		let stage = cache.get( code );
+
+		if ( stage === undefined ) {
+
+			stage = new WebGLShaderStage( code );
+			cache.set( code, stage );
+
+		}
+
+		return stage;
+
+	}
+
+}
+
+class WebGLShaderStage {
+
+	constructor( code ) {
+
+		this.id = _id$1 ++;
+
+		this.code = code;
+		this.usedTimes = 0;
+
+	}
+
+}
+
+function WebGLPrograms( renderer, cubemaps, cubeuvmaps, extensions, capabilities, bindingStates, clipping ) {
+
+	const _programLayers = new Layers();
+	const _customShaders = new WebGLShaderCache();
+	const programs = [];
+
+	const IS_WEBGL2 = capabilities.isWebGL2;
+	const logarithmicDepthBuffer = capabilities.logarithmicDepthBuffer;
+	const SUPPORTS_VERTEX_TEXTURES = capabilities.vertexTextures;
+
+	let precision = capabilities.precision;
+
+	const shaderIDs = {
+		MeshDepthMaterial: 'depth',
+		MeshDistanceMaterial: 'distanceRGBA',
+		MeshNormalMaterial: 'normal',
+		MeshBasicMaterial: 'basic',
+		MeshLambertMaterial: 'lambert',
+		MeshPhongMaterial: 'phong',
+		MeshToonMaterial: 'toon',
+		MeshStandardMaterial: 'physical',
+		MeshPhysicalMaterial: 'physical',
+		MeshMatcapMaterial: 'matcap',
+		LineBasicMaterial: 'basic',
+		LineDashedMaterial: 'dashed',
+		PointsMaterial: 'points',
+		ShadowMaterial: 'shadow',
+		SpriteMaterial: 'sprite'
+	};
+
+	function getChannel( value ) {
+
+		if ( value === 0 ) return 'uv';
+
+		return `uv${ value }`;
+
+	}
+
+	function getParameters( material, lights, shadows, scene, object ) {
+
+		const fog = scene.fog;
+		const geometry = object.geometry;
+		const environment = material.isMeshStandardMaterial ? scene.environment : null;
+
+		const envMap = ( material.isMeshStandardMaterial ? cubeuvmaps : cubemaps ).get( material.envMap || environment );
+		const envMapCubeUVHeight = ( !! envMap ) && ( envMap.mapping === CubeUVReflectionMapping ) ? envMap.image.height : null;
+
+		const shaderID = shaderIDs[ material.type ];
+
+		// heuristics to create shader parameters according to lights in the scene
+		// (not to blow over maxLights budget)
+
+		if ( material.precision !== null ) {
+
+			precision = capabilities.getMaxPrecision( material.precision );
+
+			if ( precision !== material.precision ) {
+
+				console.warn( 'THREE.WebGLProgram.getParameters:', material.precision, 'not supported, using', precision, 'instead.' );
+
+			}
+
+		}
+
+		//
+
+		const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color;
+		const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0;
+
+		let morphTextureStride = 0;
+
+		if ( geometry.morphAttributes.position !== undefined ) morphTextureStride = 1;
+		if ( geometry.morphAttributes.normal !== undefined ) morphTextureStride = 2;
+		if ( geometry.morphAttributes.color !== undefined ) morphTextureStride = 3;
+
+		//
+
+		let vertexShader, fragmentShader;
+		let customVertexShaderID, customFragmentShaderID;
+
+		if ( shaderID ) {
+
+			const shader = ShaderLib[ shaderID ];
+
+			vertexShader = shader.vertexShader;
+			fragmentShader = shader.fragmentShader;
+
+		} else {
+
+			vertexShader = material.vertexShader;
+			fragmentShader = material.fragmentShader;
+
+			_customShaders.update( material );
+
+			customVertexShaderID = _customShaders.getVertexShaderID( material );
+			customFragmentShaderID = _customShaders.getFragmentShaderID( material );
+
+		}
+
+		const currentRenderTarget = renderer.getRenderTarget();
+
+		const IS_INSTANCEDMESH = object.isInstancedMesh === true;
+		const IS_BATCHEDMESH = object.isBatchedMesh === true;
+
+		const HAS_MAP = !! material.map;
+		const HAS_MATCAP = !! material.matcap;
+		const HAS_ENVMAP = !! envMap;
+		const HAS_AOMAP = !! material.aoMap;
+		const HAS_LIGHTMAP = !! material.lightMap;
+		const HAS_BUMPMAP = !! material.bumpMap;
+		const HAS_NORMALMAP = !! material.normalMap;
+		const HAS_DISPLACEMENTMAP = !! material.displacementMap;
+		const HAS_EMISSIVEMAP = !! material.emissiveMap;
+
+		const HAS_METALNESSMAP = !! material.metalnessMap;
+		const HAS_ROUGHNESSMAP = !! material.roughnessMap;
+
+		const HAS_ANISOTROPY = material.anisotropy > 0;
+		const HAS_CLEARCOAT = material.clearcoat > 0;
+		const HAS_IRIDESCENCE = material.iridescence > 0;
+		const HAS_SHEEN = material.sheen > 0;
+		const HAS_TRANSMISSION = material.transmission > 0;
+
+		const HAS_ANISOTROPYMAP = HAS_ANISOTROPY && !! material.anisotropyMap;
+
+		const HAS_CLEARCOATMAP = HAS_CLEARCOAT && !! material.clearcoatMap;
+		const HAS_CLEARCOAT_NORMALMAP = HAS_CLEARCOAT && !! material.clearcoatNormalMap;
+		const HAS_CLEARCOAT_ROUGHNESSMAP = HAS_CLEARCOAT && !! material.clearcoatRoughnessMap;
+
+		const HAS_IRIDESCENCEMAP = HAS_IRIDESCENCE && !! material.iridescenceMap;
+		const HAS_IRIDESCENCE_THICKNESSMAP = HAS_IRIDESCENCE && !! material.iridescenceThicknessMap;
+
+		const HAS_SHEEN_COLORMAP = HAS_SHEEN && !! material.sheenColorMap;
+		const HAS_SHEEN_ROUGHNESSMAP = HAS_SHEEN && !! material.sheenRoughnessMap;
+
+		const HAS_SPECULARMAP = !! material.specularMap;
+		const HAS_SPECULAR_COLORMAP = !! material.specularColorMap;
+		const HAS_SPECULAR_INTENSITYMAP = !! material.specularIntensityMap;
+
+		const HAS_TRANSMISSIONMAP = HAS_TRANSMISSION && !! material.transmissionMap;
+		const HAS_THICKNESSMAP = HAS_TRANSMISSION && !! material.thicknessMap;
+
+		const HAS_GRADIENTMAP = !! material.gradientMap;
+
+		const HAS_ALPHAMAP = !! material.alphaMap;
+
+		const HAS_ALPHATEST = material.alphaTest > 0;
+
+		const HAS_ALPHAHASH = !! material.alphaHash;
+
+		const HAS_EXTENSIONS = !! material.extensions;
+
+		const HAS_ATTRIBUTE_UV1 = !! geometry.attributes.uv1;
+		const HAS_ATTRIBUTE_UV2 = !! geometry.attributes.uv2;
+		const HAS_ATTRIBUTE_UV3 = !! geometry.attributes.uv3;
+
+		let toneMapping = NoToneMapping;
+
+		if ( material.toneMapped ) {
+
+			if ( currentRenderTarget === null || currentRenderTarget.isXRRenderTarget === true ) {
+
+				toneMapping = renderer.toneMapping;
+
+			}
+
+		}
+
+		const parameters = {
+
+			isWebGL2: IS_WEBGL2,
+
+			shaderID: shaderID,
+			shaderType: material.type,
+			shaderName: material.name,
+
+			vertexShader: vertexShader,
+			fragmentShader: fragmentShader,
+			defines: material.defines,
+
+			customVertexShaderID: customVertexShaderID,
+			customFragmentShaderID: customFragmentShaderID,
+
+			isRawShaderMaterial: material.isRawShaderMaterial === true,
+			glslVersion: material.glslVersion,
+
+			precision: precision,
+
+			batching: IS_BATCHEDMESH,
+			instancing: IS_INSTANCEDMESH,
+			instancingColor: IS_INSTANCEDMESH && object.instanceColor !== null,
+
+			supportsVertexTextures: SUPPORTS_VERTEX_TEXTURES,
+			outputColorSpace: ( currentRenderTarget === null ) ? renderer.outputColorSpace : ( currentRenderTarget.isXRRenderTarget === true ? currentRenderTarget.texture.colorSpace : LinearSRGBColorSpace ),
+
+			map: HAS_MAP,
+			matcap: HAS_MATCAP,
+			envMap: HAS_ENVMAP,
+			envMapMode: HAS_ENVMAP && envMap.mapping,
+			envMapCubeUVHeight: envMapCubeUVHeight,
+			aoMap: HAS_AOMAP,
+			lightMap: HAS_LIGHTMAP,
+			bumpMap: HAS_BUMPMAP,
+			normalMap: HAS_NORMALMAP,
+			displacementMap: SUPPORTS_VERTEX_TEXTURES && HAS_DISPLACEMENTMAP,
+			emissiveMap: HAS_EMISSIVEMAP,
+
+			normalMapObjectSpace: HAS_NORMALMAP && material.normalMapType === ObjectSpaceNormalMap,
+			normalMapTangentSpace: HAS_NORMALMAP && material.normalMapType === TangentSpaceNormalMap,
+
+			metalnessMap: HAS_METALNESSMAP,
+			roughnessMap: HAS_ROUGHNESSMAP,
+
+			anisotropy: HAS_ANISOTROPY,
+			anisotropyMap: HAS_ANISOTROPYMAP,
+
+			clearcoat: HAS_CLEARCOAT,
+			clearcoatMap: HAS_CLEARCOATMAP,
+			clearcoatNormalMap: HAS_CLEARCOAT_NORMALMAP,
+			clearcoatRoughnessMap: HAS_CLEARCOAT_ROUGHNESSMAP,
+
+			iridescence: HAS_IRIDESCENCE,
+			iridescenceMap: HAS_IRIDESCENCEMAP,
+			iridescenceThicknessMap: HAS_IRIDESCENCE_THICKNESSMAP,
+
+			sheen: HAS_SHEEN,
+			sheenColorMap: HAS_SHEEN_COLORMAP,
+			sheenRoughnessMap: HAS_SHEEN_ROUGHNESSMAP,
+
+			specularMap: HAS_SPECULARMAP,
+			specularColorMap: HAS_SPECULAR_COLORMAP,
+			specularIntensityMap: HAS_SPECULAR_INTENSITYMAP,
+
+			transmission: HAS_TRANSMISSION,
+			transmissionMap: HAS_TRANSMISSIONMAP,
+			thicknessMap: HAS_THICKNESSMAP,
+
+			gradientMap: HAS_GRADIENTMAP,
+
+			opaque: material.transparent === false && material.blending === NormalBlending,
+
+			alphaMap: HAS_ALPHAMAP,
+			alphaTest: HAS_ALPHATEST,
+			alphaHash: HAS_ALPHAHASH,
+
+			combine: material.combine,
+
+			//
+
+			mapUv: HAS_MAP && getChannel( material.map.channel ),
+			aoMapUv: HAS_AOMAP && getChannel( material.aoMap.channel ),
+			lightMapUv: HAS_LIGHTMAP && getChannel( material.lightMap.channel ),
+			bumpMapUv: HAS_BUMPMAP && getChannel( material.bumpMap.channel ),
+			normalMapUv: HAS_NORMALMAP && getChannel( material.normalMap.channel ),
+			displacementMapUv: HAS_DISPLACEMENTMAP && getChannel( material.displacementMap.channel ),
+			emissiveMapUv: HAS_EMISSIVEMAP && getChannel( material.emissiveMap.channel ),
+
+			metalnessMapUv: HAS_METALNESSMAP && getChannel( material.metalnessMap.channel ),
+			roughnessMapUv: HAS_ROUGHNESSMAP && getChannel( material.roughnessMap.channel ),
+
+			anisotropyMapUv: HAS_ANISOTROPYMAP && getChannel( material.anisotropyMap.channel ),
+
+			clearcoatMapUv: HAS_CLEARCOATMAP && getChannel( material.clearcoatMap.channel ),
+			clearcoatNormalMapUv: HAS_CLEARCOAT_NORMALMAP && getChannel( material.clearcoatNormalMap.channel ),
+			clearcoatRoughnessMapUv: HAS_CLEARCOAT_ROUGHNESSMAP && getChannel( material.clearcoatRoughnessMap.channel ),
+
+			iridescenceMapUv: HAS_IRIDESCENCEMAP && getChannel( material.iridescenceMap.channel ),
+			iridescenceThicknessMapUv: HAS_IRIDESCENCE_THICKNESSMAP && getChannel( material.iridescenceThicknessMap.channel ),
+
+			sheenColorMapUv: HAS_SHEEN_COLORMAP && getChannel( material.sheenColorMap.channel ),
+			sheenRoughnessMapUv: HAS_SHEEN_ROUGHNESSMAP && getChannel( material.sheenRoughnessMap.channel ),
+
+			specularMapUv: HAS_SPECULARMAP && getChannel( material.specularMap.channel ),
+			specularColorMapUv: HAS_SPECULAR_COLORMAP && getChannel( material.specularColorMap.channel ),
+			specularIntensityMapUv: HAS_SPECULAR_INTENSITYMAP && getChannel( material.specularIntensityMap.channel ),
+
+			transmissionMapUv: HAS_TRANSMISSIONMAP && getChannel( material.transmissionMap.channel ),
+			thicknessMapUv: HAS_THICKNESSMAP && getChannel( material.thicknessMap.channel ),
+
+			alphaMapUv: HAS_ALPHAMAP && getChannel( material.alphaMap.channel ),
+
+			//
+
+			vertexTangents: !! geometry.attributes.tangent && ( HAS_NORMALMAP || HAS_ANISOTROPY ),
+			vertexColors: material.vertexColors,
+			vertexAlphas: material.vertexColors === true && !! geometry.attributes.color && geometry.attributes.color.itemSize === 4,
+			vertexUv1s: HAS_ATTRIBUTE_UV1,
+			vertexUv2s: HAS_ATTRIBUTE_UV2,
+			vertexUv3s: HAS_ATTRIBUTE_UV3,
+
+			pointsUvs: object.isPoints === true && !! geometry.attributes.uv && ( HAS_MAP || HAS_ALPHAMAP ),
+
+			fog: !! fog,
+			useFog: material.fog === true,
+			fogExp2: ( fog && fog.isFogExp2 ),
+
+			flatShading: material.flatShading === true,
+
+			sizeAttenuation: material.sizeAttenuation === true,
+			logarithmicDepthBuffer: logarithmicDepthBuffer,
+
+			skinning: object.isSkinnedMesh === true,
+
+			morphTargets: geometry.morphAttributes.position !== undefined,
+			morphNormals: geometry.morphAttributes.normal !== undefined,
+			morphColors: geometry.morphAttributes.color !== undefined,
+			morphTargetsCount: morphTargetsCount,
+			morphTextureStride: morphTextureStride,
+
+			numDirLights: lights.directional.length,
+			numPointLights: lights.point.length,
+			numSpotLights: lights.spot.length,
+			numSpotLightMaps: lights.spotLightMap.length,
+			numRectAreaLights: lights.rectArea.length,
+			numHemiLights: lights.hemi.length,
+
+			numDirLightShadows: lights.directionalShadowMap.length,
+			numPointLightShadows: lights.pointShadowMap.length,
+			numSpotLightShadows: lights.spotShadowMap.length,
+			numSpotLightShadowsWithMaps: lights.numSpotLightShadowsWithMaps,
+
+			numLightProbes: lights.numLightProbes,
+
+			numClippingPlanes: clipping.numPlanes,
+			numClipIntersection: clipping.numIntersection,
+
+			dithering: material.dithering,
+
+			shadowMapEnabled: renderer.shadowMap.enabled && shadows.length > 0,
+			shadowMapType: renderer.shadowMap.type,
+
+			toneMapping: toneMapping,
+			useLegacyLights: renderer._useLegacyLights,
+
+			decodeVideoTexture: HAS_MAP && ( material.map.isVideoTexture === true ) && ( ColorManagement.getTransfer( material.map.colorSpace ) === SRGBTransfer ),
+
+			premultipliedAlpha: material.premultipliedAlpha,
+
+			doubleSided: material.side === DoubleSide,
+			flipSided: material.side === BackSide,
+
+			useDepthPacking: material.depthPacking >= 0,
+			depthPacking: material.depthPacking || 0,
+
+			index0AttributeName: material.index0AttributeName,
+
+			extensionDerivatives: HAS_EXTENSIONS && material.extensions.derivatives === true,
+			extensionFragDepth: HAS_EXTENSIONS && material.extensions.fragDepth === true,
+			extensionDrawBuffers: HAS_EXTENSIONS && material.extensions.drawBuffers === true,
+			extensionShaderTextureLOD: HAS_EXTENSIONS && material.extensions.shaderTextureLOD === true,
+			extensionClipCullDistance: HAS_EXTENSIONS && material.extensions.clipCullDistance && extensions.has( 'WEBGL_clip_cull_distance' ),
+
+			rendererExtensionFragDepth: IS_WEBGL2 || extensions.has( 'EXT_frag_depth' ),
+			rendererExtensionDrawBuffers: IS_WEBGL2 || extensions.has( 'WEBGL_draw_buffers' ),
+			rendererExtensionShaderTextureLod: IS_WEBGL2 || extensions.has( 'EXT_shader_texture_lod' ),
+			rendererExtensionParallelShaderCompile: extensions.has( 'KHR_parallel_shader_compile' ),
+
+			customProgramCacheKey: material.customProgramCacheKey()
+
+		};
+
+		return parameters;
+
+	}
+
+	function getProgramCacheKey( parameters ) {
+
+		const array = [];
+
+		if ( parameters.shaderID ) {
+
+			array.push( parameters.shaderID );
+
+		} else {
+
+			array.push( parameters.customVertexShaderID );
+			array.push( parameters.customFragmentShaderID );
+
+		}
+
+		if ( parameters.defines !== undefined ) {
+
+			for ( const name in parameters.defines ) {
+
+				array.push( name );
+				array.push( parameters.defines[ name ] );
+
+			}
+
+		}
+
+		if ( parameters.isRawShaderMaterial === false ) {
+
+			getProgramCacheKeyParameters( array, parameters );
+			getProgramCacheKeyBooleans( array, parameters );
+			array.push( renderer.outputColorSpace );
+
+		}
+
+		array.push( parameters.customProgramCacheKey );
+
+		return array.join();
+
+	}
+
+	function getProgramCacheKeyParameters( array, parameters ) {
+
+		array.push( parameters.precision );
+		array.push( parameters.outputColorSpace );
+		array.push( parameters.envMapMode );
+		array.push( parameters.envMapCubeUVHeight );
+		array.push( parameters.mapUv );
+		array.push( parameters.alphaMapUv );
+		array.push( parameters.lightMapUv );
+		array.push( parameters.aoMapUv );
+		array.push( parameters.bumpMapUv );
+		array.push( parameters.normalMapUv );
+		array.push( parameters.displacementMapUv );
+		array.push( parameters.emissiveMapUv );
+		array.push( parameters.metalnessMapUv );
+		array.push( parameters.roughnessMapUv );
+		array.push( parameters.anisotropyMapUv );
+		array.push( parameters.clearcoatMapUv );
+		array.push( parameters.clearcoatNormalMapUv );
+		array.push( parameters.clearcoatRoughnessMapUv );
+		array.push( parameters.iridescenceMapUv );
+		array.push( parameters.iridescenceThicknessMapUv );
+		array.push( parameters.sheenColorMapUv );
+		array.push( parameters.sheenRoughnessMapUv );
+		array.push( parameters.specularMapUv );
+		array.push( parameters.specularColorMapUv );
+		array.push( parameters.specularIntensityMapUv );
+		array.push( parameters.transmissionMapUv );
+		array.push( parameters.thicknessMapUv );
+		array.push( parameters.combine );
+		array.push( parameters.fogExp2 );
+		array.push( parameters.sizeAttenuation );
+		array.push( parameters.morphTargetsCount );
+		array.push( parameters.morphAttributeCount );
+		array.push( parameters.numDirLights );
+		array.push( parameters.numPointLights );
+		array.push( parameters.numSpotLights );
+		array.push( parameters.numSpotLightMaps );
+		array.push( parameters.numHemiLights );
+		array.push( parameters.numRectAreaLights );
+		array.push( parameters.numDirLightShadows );
+		array.push( parameters.numPointLightShadows );
+		array.push( parameters.numSpotLightShadows );
+		array.push( parameters.numSpotLightShadowsWithMaps );
+		array.push( parameters.numLightProbes );
+		array.push( parameters.shadowMapType );
+		array.push( parameters.toneMapping );
+		array.push( parameters.numClippingPlanes );
+		array.push( parameters.numClipIntersection );
+		array.push( parameters.depthPacking );
+
+	}
+
+	function getProgramCacheKeyBooleans( array, parameters ) {
+
+		_programLayers.disableAll();
+
+		if ( parameters.isWebGL2 )
+			_programLayers.enable( 0 );
+		if ( parameters.supportsVertexTextures )
+			_programLayers.enable( 1 );
+		if ( parameters.instancing )
+			_programLayers.enable( 2 );
+		if ( parameters.instancingColor )
+			_programLayers.enable( 3 );
+		if ( parameters.matcap )
+			_programLayers.enable( 4 );
+		if ( parameters.envMap )
+			_programLayers.enable( 5 );
+		if ( parameters.normalMapObjectSpace )
+			_programLayers.enable( 6 );
+		if ( parameters.normalMapTangentSpace )
+			_programLayers.enable( 7 );
+		if ( parameters.clearcoat )
+			_programLayers.enable( 8 );
+		if ( parameters.iridescence )
+			_programLayers.enable( 9 );
+		if ( parameters.alphaTest )
+			_programLayers.enable( 10 );
+		if ( parameters.vertexColors )
+			_programLayers.enable( 11 );
+		if ( parameters.vertexAlphas )
+			_programLayers.enable( 12 );
+		if ( parameters.vertexUv1s )
+			_programLayers.enable( 13 );
+		if ( parameters.vertexUv2s )
+			_programLayers.enable( 14 );
+		if ( parameters.vertexUv3s )
+			_programLayers.enable( 15 );
+		if ( parameters.vertexTangents )
+			_programLayers.enable( 16 );
+		if ( parameters.anisotropy )
+			_programLayers.enable( 17 );
+		if ( parameters.alphaHash )
+			_programLayers.enable( 18 );
+		if ( parameters.batching )
+			_programLayers.enable( 19 );
+
+		array.push( _programLayers.mask );
+		_programLayers.disableAll();
+
+		if ( parameters.fog )
+			_programLayers.enable( 0 );
+		if ( parameters.useFog )
+			_programLayers.enable( 1 );
+		if ( parameters.flatShading )
+			_programLayers.enable( 2 );
+		if ( parameters.logarithmicDepthBuffer )
+			_programLayers.enable( 3 );
+		if ( parameters.skinning )
+			_programLayers.enable( 4 );
+		if ( parameters.morphTargets )
+			_programLayers.enable( 5 );
+		if ( parameters.morphNormals )
+			_programLayers.enable( 6 );
+		if ( parameters.morphColors )
+			_programLayers.enable( 7 );
+		if ( parameters.premultipliedAlpha )
+			_programLayers.enable( 8 );
+		if ( parameters.shadowMapEnabled )
+			_programLayers.enable( 9 );
+		if ( parameters.useLegacyLights )
+			_programLayers.enable( 10 );
+		if ( parameters.doubleSided )
+			_programLayers.enable( 11 );
+		if ( parameters.flipSided )
+			_programLayers.enable( 12 );
+		if ( parameters.useDepthPacking )
+			_programLayers.enable( 13 );
+		if ( parameters.dithering )
+			_programLayers.enable( 14 );
+		if ( parameters.transmission )
+			_programLayers.enable( 15 );
+		if ( parameters.sheen )
+			_programLayers.enable( 16 );
+		if ( parameters.opaque )
+			_programLayers.enable( 17 );
+		if ( parameters.pointsUvs )
+			_programLayers.enable( 18 );
+		if ( parameters.decodeVideoTexture )
+			_programLayers.enable( 19 );
+
+		array.push( _programLayers.mask );
+
+	}
+
+	function getUniforms( material ) {
+
+		const shaderID = shaderIDs[ material.type ];
+		let uniforms;
+
+		if ( shaderID ) {
+
+			const shader = ShaderLib[ shaderID ];
+			uniforms = UniformsUtils.clone( shader.uniforms );
+
+		} else {
+
+			uniforms = material.uniforms;
+
+		}
+
+		return uniforms;
+
+	}
+
+	function acquireProgram( parameters, cacheKey ) {
+
+		let program;
+
+		// Check if code has been already compiled
+		for ( let p = 0, pl = programs.length; p < pl; p ++ ) {
+
+			const preexistingProgram = programs[ p ];
+
+			if ( preexistingProgram.cacheKey === cacheKey ) {
+
+				program = preexistingProgram;
+				++ program.usedTimes;
+
+				break;
+
+			}
+
+		}
+
+		if ( program === undefined ) {
+
+			program = new WebGLProgram( renderer, cacheKey, parameters, bindingStates );
+			programs.push( program );
+
+		}
+
+		return program;
+
+	}
+
+	function releaseProgram( program ) {
+
+		if ( -- program.usedTimes === 0 ) {
+
+			// Remove from unordered set
+			const i = programs.indexOf( program );
+			programs[ i ] = programs[ programs.length - 1 ];
+			programs.pop();
+
+			// Free WebGL resources
+			program.destroy();
+
+		}
+
+	}
+
+	function releaseShaderCache( material ) {
+
+		_customShaders.remove( material );
+
+	}
+
+	function dispose() {
+
+		_customShaders.dispose();
+
+	}
+
+	return {
+		getParameters: getParameters,
+		getProgramCacheKey: getProgramCacheKey,
+		getUniforms: getUniforms,
+		acquireProgram: acquireProgram,
+		releaseProgram: releaseProgram,
+		releaseShaderCache: releaseShaderCache,
+		// Exposed for resource monitoring & error feedback via renderer.info:
+		programs: programs,
+		dispose: dispose
+	};
+
+}
+
+function WebGLProperties() {
+
+	let properties = new WeakMap();
+
+	function get( object ) {
+
+		let map = properties.get( object );
+
+		if ( map === undefined ) {
+
+			map = {};
+			properties.set( object, map );
+
+		}
+
+		return map;
+
+	}
+
+	function remove( object ) {
+
+		properties.delete( object );
+
+	}
+
+	function update( object, key, value ) {
+
+		properties.get( object )[ key ] = value;
+
+	}
+
+	function dispose() {
+
+		properties = new WeakMap();
+
+	}
+
+	return {
+		get: get,
+		remove: remove,
+		update: update,
+		dispose: dispose
+	};
+
+}
+
+function painterSortStable( a, b ) {
+
+	if ( a.groupOrder !== b.groupOrder ) {
+
+		return a.groupOrder - b.groupOrder;
+
+	} else if ( a.renderOrder !== b.renderOrder ) {
+
+		return a.renderOrder - b.renderOrder;
+
+	} else if ( a.material.id !== b.material.id ) {
+
+		return a.material.id - b.material.id;
+
+	} else if ( a.z !== b.z ) {
+
+		return a.z - b.z;
+
+	} else {
+
+		return a.id - b.id;
+
+	}
+
+}
+
+function reversePainterSortStable( a, b ) {
+
+	if ( a.groupOrder !== b.groupOrder ) {
+
+		return a.groupOrder - b.groupOrder;
+
+	} else if ( a.renderOrder !== b.renderOrder ) {
+
+		return a.renderOrder - b.renderOrder;
+
+	} else if ( a.z !== b.z ) {
+
+		return b.z - a.z;
+
+	} else {
+
+		return a.id - b.id;
+
+	}
+
+}
+
+
+function WebGLRenderList() {
+
+	const renderItems = [];
+	let renderItemsIndex = 0;
+
+	const opaque = [];
+	const transmissive = [];
+	const transparent = [];
+
+	function init() {
+
+		renderItemsIndex = 0;
+
+		opaque.length = 0;
+		transmissive.length = 0;
+		transparent.length = 0;
+
+	}
+
+	function getNextRenderItem( object, geometry, material, groupOrder, z, group ) {
+
+		let renderItem = renderItems[ renderItemsIndex ];
+
+		if ( renderItem === undefined ) {
+
+			renderItem = {
+				id: object.id,
+				object: object,
+				geometry: geometry,
+				material: material,
+				groupOrder: groupOrder,
+				renderOrder: object.renderOrder,
+				z: z,
+				group: group
+			};
+
+			renderItems[ renderItemsIndex ] = renderItem;
+
+		} else {
+
+			renderItem.id = object.id;
+			renderItem.object = object;
+			renderItem.geometry = geometry;
+			renderItem.material = material;
+			renderItem.groupOrder = groupOrder;
+			renderItem.renderOrder = object.renderOrder;
+			renderItem.z = z;
+			renderItem.group = group;
+
+		}
+
+		renderItemsIndex ++;
+
+		return renderItem;
+
+	}
+
+	function push( object, geometry, material, groupOrder, z, group ) {
+
+		const renderItem = getNextRenderItem( object, geometry, material, groupOrder, z, group );
+
+		if ( material.transmission > 0.0 ) {
+
+			transmissive.push( renderItem );
+
+		} else if ( material.transparent === true ) {
+
+			transparent.push( renderItem );
+
+		} else {
+
+			opaque.push( renderItem );
+
+		}
+
+	}
+
+	function unshift( object, geometry, material, groupOrder, z, group ) {
+
+		const renderItem = getNextRenderItem( object, geometry, material, groupOrder, z, group );
+
+		if ( material.transmission > 0.0 ) {
+
+			transmissive.unshift( renderItem );
+
+		} else if ( material.transparent === true ) {
+
+			transparent.unshift( renderItem );
+
+		} else {
+
+			opaque.unshift( renderItem );
+
+		}
+
+	}
+
+	function sort( customOpaqueSort, customTransparentSort ) {
+
+		if ( opaque.length > 1 ) opaque.sort( customOpaqueSort || painterSortStable );
+		if ( transmissive.length > 1 ) transmissive.sort( customTransparentSort || reversePainterSortStable );
+		if ( transparent.length > 1 ) transparent.sort( customTransparentSort || reversePainterSortStable );
+
+	}
+
+	function finish() {
+
+		// Clear references from inactive renderItems in the list
+
+		for ( let i = renderItemsIndex, il = renderItems.length; i < il; i ++ ) {
+
+			const renderItem = renderItems[ i ];
+
+			if ( renderItem.id === null ) break;
+
+			renderItem.id = null;
+			renderItem.object = null;
+			renderItem.geometry = null;
+			renderItem.material = null;
+			renderItem.group = null;
+
+		}
+
+	}
+
+	return {
+
+		opaque: opaque,
+		transmissive: transmissive,
+		transparent: transparent,
+
+		init: init,
+		push: push,
+		unshift: unshift,
+		finish: finish,
+
+		sort: sort
+	};
+
+}
+
+function WebGLRenderLists() {
+
+	let lists = new WeakMap();
+
+	function get( scene, renderCallDepth ) {
+
+		const listArray = lists.get( scene );
+		let list;
+
+		if ( listArray === undefined ) {
+
+			list = new WebGLRenderList();
+			lists.set( scene, [ list ] );
+
+		} else {
+
+			if ( renderCallDepth >= listArray.length ) {
+
+				list = new WebGLRenderList();
+				listArray.push( list );
+
+			} else {
+
+				list = listArray[ renderCallDepth ];
+
+			}
+
+		}
+
+		return list;
+
+	}
+
+	function dispose() {
+
+		lists = new WeakMap();
+
+	}
+
+	return {
+		get: get,
+		dispose: dispose
+	};
+
+}
+
+function UniformsCache() {
+
+	const lights = {};
+
+	return {
+
+		get: function ( light ) {
+
+			if ( lights[ light.id ] !== undefined ) {
+
+				return lights[ light.id ];
+
+			}
+
+			let uniforms;
+
+			switch ( light.type ) {
+
+				case 'DirectionalLight':
+					uniforms = {
+						direction: new Vector3(),
+						color: new Color()
+					};
+					break;
+
+				case 'SpotLight':
+					uniforms = {
+						position: new Vector3(),
+						direction: new Vector3(),
+						color: new Color(),
+						distance: 0,
+						coneCos: 0,
+						penumbraCos: 0,
+						decay: 0
+					};
+					break;
+
+				case 'PointLight':
+					uniforms = {
+						position: new Vector3(),
+						color: new Color(),
+						distance: 0,
+						decay: 0
+					};
+					break;
+
+				case 'HemisphereLight':
+					uniforms = {
+						direction: new Vector3(),
+						skyColor: new Color(),
+						groundColor: new Color()
+					};
+					break;
+
+				case 'RectAreaLight':
+					uniforms = {
+						color: new Color(),
+						position: new Vector3(),
+						halfWidth: new Vector3(),
+						halfHeight: new Vector3()
+					};
+					break;
+
+			}
+
+			lights[ light.id ] = uniforms;
+
+			return uniforms;
+
+		}
+
+	};
+
+}
+
+function ShadowUniformsCache() {
+
+	const lights = {};
+
+	return {
+
+		get: function ( light ) {
+
+			if ( lights[ light.id ] !== undefined ) {
+
+				return lights[ light.id ];
+
+			}
+
+			let uniforms;
+
+			switch ( light.type ) {
+
+				case 'DirectionalLight':
+					uniforms = {
+						shadowBias: 0,
+						shadowNormalBias: 0,
+						shadowRadius: 1,
+						shadowMapSize: new Vector2()
+					};
+					break;
+
+				case 'SpotLight':
+					uniforms = {
+						shadowBias: 0,
+						shadowNormalBias: 0,
+						shadowRadius: 1,
+						shadowMapSize: new Vector2()
+					};
+					break;
+
+				case 'PointLight':
+					uniforms = {
+						shadowBias: 0,
+						shadowNormalBias: 0,
+						shadowRadius: 1,
+						shadowMapSize: new Vector2(),
+						shadowCameraNear: 1,
+						shadowCameraFar: 1000
+					};
+					break;
+
+				// TODO (abelnation): set RectAreaLight shadow uniforms
+
+			}
+
+			lights[ light.id ] = uniforms;
+
+			return uniforms;
+
+		}
+
+	};
+
+}
+
+
+
+let nextVersion = 0;
+
+function shadowCastingAndTexturingLightsFirst( lightA, lightB ) {
+
+	return ( lightB.castShadow ? 2 : 0 ) - ( lightA.castShadow ? 2 : 0 ) + ( lightB.map ? 1 : 0 ) - ( lightA.map ? 1 : 0 );
+
+}
+
+function WebGLLights( extensions, capabilities ) {
+
+	const cache = new UniformsCache();
+
+	const shadowCache = ShadowUniformsCache();
+
+	const state = {
+
+		version: 0,
+
+		hash: {
+			directionalLength: - 1,
+			pointLength: - 1,
+			spotLength: - 1,
+			rectAreaLength: - 1,
+			hemiLength: - 1,
+
+			numDirectionalShadows: - 1,
+			numPointShadows: - 1,
+			numSpotShadows: - 1,
+			numSpotMaps: - 1,
+
+			numLightProbes: - 1
+		},
+
+		ambient: [ 0, 0, 0 ],
+		probe: [],
+		directional: [],
+		directionalShadow: [],
+		directionalShadowMap: [],
+		directionalShadowMatrix: [],
+		spot: [],
+		spotLightMap: [],
+		spotShadow: [],
+		spotShadowMap: [],
+		spotLightMatrix: [],
+		rectArea: [],
+		rectAreaLTC1: null,
+		rectAreaLTC2: null,
+		point: [],
+		pointShadow: [],
+		pointShadowMap: [],
+		pointShadowMatrix: [],
+		hemi: [],
+		numSpotLightShadowsWithMaps: 0,
+		numLightProbes: 0
+
+	};
+
+	for ( let i = 0; i < 9; i ++ ) state.probe.push( new Vector3() );
+
+	const vector3 = new Vector3();
+	const matrix4 = new Matrix4();
+	const matrix42 = new Matrix4();
+
+	function setup( lights, useLegacyLights ) {
+
+		let r = 0, g = 0, b = 0;
+
+		for ( let i = 0; i < 9; i ++ ) state.probe[ i ].set( 0, 0, 0 );
+
+		let directionalLength = 0;
+		let pointLength = 0;
+		let spotLength = 0;
+		let rectAreaLength = 0;
+		let hemiLength = 0;
+
+		let numDirectionalShadows = 0;
+		let numPointShadows = 0;
+		let numSpotShadows = 0;
+		let numSpotMaps = 0;
+		let numSpotShadowsWithMaps = 0;
+
+		let numLightProbes = 0;
+
+		// ordering : [shadow casting + map texturing, map texturing, shadow casting, none ]
+		lights.sort( shadowCastingAndTexturingLightsFirst );
+
+		// artist-friendly light intensity scaling factor
+		const scaleFactor = ( useLegacyLights === true ) ? Math.PI : 1;
+
+		for ( let i = 0, l = lights.length; i < l; i ++ ) {
+
+			const light = lights[ i ];
+
+			const color = light.color;
+			const intensity = light.intensity;
+			const distance = light.distance;
+
+			const shadowMap = ( light.shadow && light.shadow.map ) ? light.shadow.map.texture : null;
+
+			if ( light.isAmbientLight ) {
+
+				r += color.r * intensity * scaleFactor;
+				g += color.g * intensity * scaleFactor;
+				b += color.b * intensity * scaleFactor;
+
+			} else if ( light.isLightProbe ) {
+
+				for ( let j = 0; j < 9; j ++ ) {
+
+					state.probe[ j ].addScaledVector( light.sh.coefficients[ j ], intensity );
+
+				}
+
+				numLightProbes ++;
+
+			} else if ( light.isDirectionalLight ) {
+
+				const uniforms = cache.get( light );
+
+				uniforms.color.copy( light.color ).multiplyScalar( light.intensity * scaleFactor );
+
+				if ( light.castShadow ) {
+
+					const shadow = light.shadow;
+
+					const shadowUniforms = shadowCache.get( light );
+
+					shadowUniforms.shadowBias = shadow.bias;
+					shadowUniforms.shadowNormalBias = shadow.normalBias;
+					shadowUniforms.shadowRadius = shadow.radius;
+					shadowUniforms.shadowMapSize = shadow.mapSize;
+
+					state.directionalShadow[ directionalLength ] = shadowUniforms;
+					state.directionalShadowMap[ directionalLength ] = shadowMap;
+					state.directionalShadowMatrix[ directionalLength ] = light.shadow.matrix;
+
+					numDirectionalShadows ++;
+
+				}
+
+				state.directional[ directionalLength ] = uniforms;
+
+				directionalLength ++;
+
+			} else if ( light.isSpotLight ) {
+
+				const uniforms = cache.get( light );
+
+				uniforms.position.setFromMatrixPosition( light.matrixWorld );
+
+				uniforms.color.copy( color ).multiplyScalar( intensity * scaleFactor );
+				uniforms.distance = distance;
+
+				uniforms.coneCos = Math.cos( light.angle );
+				uniforms.penumbraCos = Math.cos( light.angle * ( 1 - light.penumbra ) );
+				uniforms.decay = light.decay;
+
+				state.spot[ spotLength ] = uniforms;
+
+				const shadow = light.shadow;
+
+				if ( light.map ) {
+
+					state.spotLightMap[ numSpotMaps ] = light.map;
+					numSpotMaps ++;
+
+					// make sure the lightMatrix is up to date
+					// TODO : do it if required only
+					shadow.updateMatrices( light );
+
+					if ( light.castShadow ) numSpotShadowsWithMaps ++;
+
+				}
+
+				state.spotLightMatrix[ spotLength ] = shadow.matrix;
+
+				if ( light.castShadow ) {
+
+					const shadowUniforms = shadowCache.get( light );
+
+					shadowUniforms.shadowBias = shadow.bias;
+					shadowUniforms.shadowNormalBias = shadow.normalBias;
+					shadowUniforms.shadowRadius = shadow.radius;
+					shadowUniforms.shadowMapSize = shadow.mapSize;
+
+					state.spotShadow[ spotLength ] = shadowUniforms;
+					state.spotShadowMap[ spotLength ] = shadowMap;
+
+					numSpotShadows ++;
+
+				}
+
+				spotLength ++;
+
+			} else if ( light.isRectAreaLight ) {
+
+				const uniforms = cache.get( light );
+
+				uniforms.color.copy( color ).multiplyScalar( intensity );
+
+				uniforms.halfWidth.set( light.width * 0.5, 0.0, 0.0 );
+				uniforms.halfHeight.set( 0.0, light.height * 0.5, 0.0 );
+
+				state.rectArea[ rectAreaLength ] = uniforms;
+
+				rectAreaLength ++;
+
+			} else if ( light.isPointLight ) {
+
+				const uniforms = cache.get( light );
+
+				uniforms.color.copy( light.color ).multiplyScalar( light.intensity * scaleFactor );
+				uniforms.distance = light.distance;
+				uniforms.decay = light.decay;
+
+				if ( light.castShadow ) {
+
+					const shadow = light.shadow;
+
+					const shadowUniforms = shadowCache.get( light );
+
+					shadowUniforms.shadowBias = shadow.bias;
+					shadowUniforms.shadowNormalBias = shadow.normalBias;
+					shadowUniforms.shadowRadius = shadow.radius;
+					shadowUniforms.shadowMapSize = shadow.mapSize;
+					shadowUniforms.shadowCameraNear = shadow.camera.near;
+					shadowUniforms.shadowCameraFar = shadow.camera.far;
+
+					state.pointShadow[ pointLength ] = shadowUniforms;
+					state.pointShadowMap[ pointLength ] = shadowMap;
+					state.pointShadowMatrix[ pointLength ] = light.shadow.matrix;
+
+					numPointShadows ++;
+
+				}
+
+				state.point[ pointLength ] = uniforms;
+
+				pointLength ++;
+
+			} else if ( light.isHemisphereLight ) {
+
+				const uniforms = cache.get( light );
+
+				uniforms.skyColor.copy( light.color ).multiplyScalar( intensity * scaleFactor );
+				uniforms.groundColor.copy( light.groundColor ).multiplyScalar( intensity * scaleFactor );
+
+				state.hemi[ hemiLength ] = uniforms;
+
+				hemiLength ++;
+
+			}
+
+		}
+
+		if ( rectAreaLength > 0 ) {
+
+			if ( capabilities.isWebGL2 ) {
+
+				// WebGL 2
+
+				if ( extensions.has( 'OES_texture_float_linear' ) === true ) {
+
+					state.rectAreaLTC1 = UniformsLib.LTC_FLOAT_1;
+					state.rectAreaLTC2 = UniformsLib.LTC_FLOAT_2;
+
+				} else {
+
+					state.rectAreaLTC1 = UniformsLib.LTC_HALF_1;
+					state.rectAreaLTC2 = UniformsLib.LTC_HALF_2;
+
+				}
+
+			} else {
+
+				// WebGL 1
+
+				if ( extensions.has( 'OES_texture_float_linear' ) === true ) {
+
+					state.rectAreaLTC1 = UniformsLib.LTC_FLOAT_1;
+					state.rectAreaLTC2 = UniformsLib.LTC_FLOAT_2;
+
+				} else if ( extensions.has( 'OES_texture_half_float_linear' ) === true ) {
+
+					state.rectAreaLTC1 = UniformsLib.LTC_HALF_1;
+					state.rectAreaLTC2 = UniformsLib.LTC_HALF_2;
+
+				} else {
+
+					console.error( 'THREE.WebGLRenderer: Unable to use RectAreaLight. Missing WebGL extensions.' );
+
+				}
+
+			}
+
+		}
+
+		state.ambient[ 0 ] = r;
+		state.ambient[ 1 ] = g;
+		state.ambient[ 2 ] = b;
+
+		const hash = state.hash;
+
+		if ( hash.directionalLength !== directionalLength ||
+			hash.pointLength !== pointLength ||
+			hash.spotLength !== spotLength ||
+			hash.rectAreaLength !== rectAreaLength ||
+			hash.hemiLength !== hemiLength ||
+			hash.numDirectionalShadows !== numDirectionalShadows ||
+			hash.numPointShadows !== numPointShadows ||
+			hash.numSpotShadows !== numSpotShadows ||
+			hash.numSpotMaps !== numSpotMaps ||
+			hash.numLightProbes !== numLightProbes ) {
+
+			state.directional.length = directionalLength;
+			state.spot.length = spotLength;
+			state.rectArea.length = rectAreaLength;
+			state.point.length = pointLength;
+			state.hemi.length = hemiLength;
+
+			state.directionalShadow.length = numDirectionalShadows;
+			state.directionalShadowMap.length = numDirectionalShadows;
+			state.pointShadow.length = numPointShadows;
+			state.pointShadowMap.length = numPointShadows;
+			state.spotShadow.length = numSpotShadows;
+			state.spotShadowMap.length = numSpotShadows;
+			state.directionalShadowMatrix.length = numDirectionalShadows;
+			state.pointShadowMatrix.length = numPointShadows;
+			state.spotLightMatrix.length = numSpotShadows + numSpotMaps - numSpotShadowsWithMaps;
+			state.spotLightMap.length = numSpotMaps;
+			state.numSpotLightShadowsWithMaps = numSpotShadowsWithMaps;
+			state.numLightProbes = numLightProbes;
+
+			hash.directionalLength = directionalLength;
+			hash.pointLength = pointLength;
+			hash.spotLength = spotLength;
+			hash.rectAreaLength = rectAreaLength;
+			hash.hemiLength = hemiLength;
+
+			hash.numDirectionalShadows = numDirectionalShadows;
+			hash.numPointShadows = numPointShadows;
+			hash.numSpotShadows = numSpotShadows;
+			hash.numSpotMaps = numSpotMaps;
+
+			hash.numLightProbes = numLightProbes;
+
+			state.version = nextVersion ++;
+
+		}
+
+	}
+
+	function setupView( lights, camera ) {
+
+		let directionalLength = 0;
+		let pointLength = 0;
+		let spotLength = 0;
+		let rectAreaLength = 0;
+		let hemiLength = 0;
+
+		const viewMatrix = camera.matrixWorldInverse;
+
+		for ( let i = 0, l = lights.length; i < l; i ++ ) {
+
+			const light = lights[ i ];
+
+			if ( light.isDirectionalLight ) {
+
+				const uniforms = state.directional[ directionalLength ];
+
+				uniforms.direction.setFromMatrixPosition( light.matrixWorld );
+				vector3.setFromMatrixPosition( light.target.matrixWorld );
+				uniforms.direction.sub( vector3 );
+				uniforms.direction.transformDirection( viewMatrix );
+
+				directionalLength ++;
+
+			} else if ( light.isSpotLight ) {
+
+				const uniforms = state.spot[ spotLength ];
+
+				uniforms.position.setFromMatrixPosition( light.matrixWorld );
+				uniforms.position.applyMatrix4( viewMatrix );
+
+				uniforms.direction.setFromMatrixPosition( light.matrixWorld );
+				vector3.setFromMatrixPosition( light.target.matrixWorld );
+				uniforms.direction.sub( vector3 );
+				uniforms.direction.transformDirection( viewMatrix );
+
+				spotLength ++;
+
+			} else if ( light.isRectAreaLight ) {
+
+				const uniforms = state.rectArea[ rectAreaLength ];
+
+				uniforms.position.setFromMatrixPosition( light.matrixWorld );
+				uniforms.position.applyMatrix4( viewMatrix );
+
+				// extract local rotation of light to derive width/height half vectors
+				matrix42.identity();
+				matrix4.copy( light.matrixWorld );
+				matrix4.premultiply( viewMatrix );
+				matrix42.extractRotation( matrix4 );
+
+				uniforms.halfWidth.set( light.width * 0.5, 0.0, 0.0 );
+				uniforms.halfHeight.set( 0.0, light.height * 0.5, 0.0 );
+
+				uniforms.halfWidth.applyMatrix4( matrix42 );
+				uniforms.halfHeight.applyMatrix4( matrix42 );
+
+				rectAreaLength ++;
+
+			} else if ( light.isPointLight ) {
+
+				const uniforms = state.point[ pointLength ];
+
+				uniforms.position.setFromMatrixPosition( light.matrixWorld );
+				uniforms.position.applyMatrix4( viewMatrix );
+
+				pointLength ++;
+
+			} else if ( light.isHemisphereLight ) {
+
+				const uniforms = state.hemi[ hemiLength ];
+
+				uniforms.direction.setFromMatrixPosition( light.matrixWorld );
+				uniforms.direction.transformDirection( viewMatrix );
+
+				hemiLength ++;
+
+			}
+
+		}
+
+	}
+
+	return {
+		setup: setup,
+		setupView: setupView,
+		state: state
+	};
+
+}
+
+function WebGLRenderState( extensions, capabilities ) {
+
+	const lights = new WebGLLights( extensions, capabilities );
+
+	const lightsArray = [];
+	const shadowsArray = [];
+
+	function init() {
+
+		lightsArray.length = 0;
+		shadowsArray.length = 0;
+
+	}
+
+	function pushLight( light ) {
+
+		lightsArray.push( light );
+
+	}
+
+	function pushShadow( shadowLight ) {
+
+		shadowsArray.push( shadowLight );
+
+	}
+
+	function setupLights( useLegacyLights ) {
+
+		lights.setup( lightsArray, useLegacyLights );
+
+	}
+
+	function setupLightsView( camera ) {
+
+		lights.setupView( lightsArray, camera );
+
+	}
+
+	const state = {
+		lightsArray: lightsArray,
+		shadowsArray: shadowsArray,
+
+		lights: lights
+	};
+
+	return {
+		init: init,
+		state: state,
+		setupLights: setupLights,
+		setupLightsView: setupLightsView,
+
+		pushLight: pushLight,
+		pushShadow: pushShadow
+	};
+
+}
+
+function WebGLRenderStates( extensions, capabilities ) {
+
+	let renderStates = new WeakMap();
+
+	function get( scene, renderCallDepth = 0 ) {
+
+		const renderStateArray = renderStates.get( scene );
+		let renderState;
+
+		if ( renderStateArray === undefined ) {
+
+			renderState = new WebGLRenderState( extensions, capabilities );
+			renderStates.set( scene, [ renderState ] );
+
+		} else {
+
+			if ( renderCallDepth >= renderStateArray.length ) {
+
+				renderState = new WebGLRenderState( extensions, capabilities );
+				renderStateArray.push( renderState );
+
+			} else {
+
+				renderState = renderStateArray[ renderCallDepth ];
+
+			}
+
+		}
+
+		return renderState;
+
+	}
+
+	function dispose() {
+
+		renderStates = new WeakMap();
+
+	}
+
+	return {
+		get: get,
+		dispose: dispose
+	};
+
+}
+
+class MeshDepthMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshDepthMaterial = true;
+
+		this.type = 'MeshDepthMaterial';
+
+		this.depthPacking = BasicDepthPacking;
+
+		this.map = null;
+
+		this.alphaMap = null;
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.depthPacking = source.depthPacking;
+
+		this.map = source.map;
+
+		this.alphaMap = source.alphaMap;
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+
+		return this;
+
+	}
+
+}
+
+class MeshDistanceMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshDistanceMaterial = true;
+
+		this.type = 'MeshDistanceMaterial';
+
+		this.map = null;
+
+		this.alphaMap = null;
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.map = source.map;
+
+		this.alphaMap = source.alphaMap;
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		return this;
+
+	}
+
+}
+
+const vertex = "void main() {\n\tgl_Position = vec4( position, 1.0 );\n}";
+
+const fragment = "uniform sampler2D shadow_pass;\nuniform vec2 resolution;\nuniform float radius;\n#include \nvoid main() {\n\tconst float samples = float( VSM_SAMPLES );\n\tfloat mean = 0.0;\n\tfloat squared_mean = 0.0;\n\tfloat uvStride = samples <= 1.0 ? 0.0 : 2.0 / ( samples - 1.0 );\n\tfloat uvStart = samples <= 1.0 ? 0.0 : - 1.0;\n\tfor ( float i = 0.0; i < samples; i ++ ) {\n\t\tfloat uvOffset = uvStart + i * uvStride;\n\t\t#ifdef HORIZONTAL_PASS\n\t\t\tvec2 distribution = unpackRGBATo2Half( texture2D( shadow_pass, ( gl_FragCoord.xy + vec2( uvOffset, 0.0 ) * radius ) / resolution ) );\n\t\t\tmean += distribution.x;\n\t\t\tsquared_mean += distribution.y * distribution.y + distribution.x * distribution.x;\n\t\t#else\n\t\t\tfloat depth = unpackRGBAToDepth( texture2D( shadow_pass, ( gl_FragCoord.xy + vec2( 0.0, uvOffset ) * radius ) / resolution ) );\n\t\t\tmean += depth;\n\t\t\tsquared_mean += depth * depth;\n\t\t#endif\n\t}\n\tmean = mean / samples;\n\tsquared_mean = squared_mean / samples;\n\tfloat std_dev = sqrt( squared_mean - mean * mean );\n\tgl_FragColor = pack2HalfToRGBA( vec2( mean, std_dev ) );\n}";
+
+function WebGLShadowMap( _renderer, _objects, _capabilities ) {
+
+	let _frustum = new Frustum();
+
+	const _shadowMapSize = new Vector2(),
+		_viewportSize = new Vector2(),
+
+		_viewport = new Vector4(),
+
+		_depthMaterial = new MeshDepthMaterial( { depthPacking: RGBADepthPacking } ),
+		_distanceMaterial = new MeshDistanceMaterial(),
+
+		_materialCache = {},
+
+		_maxTextureSize = _capabilities.maxTextureSize;
+
+	const shadowSide = { [ FrontSide ]: BackSide, [ BackSide ]: FrontSide, [ DoubleSide ]: DoubleSide };
+
+	const shadowMaterialVertical = new ShaderMaterial( {
+		defines: {
+			VSM_SAMPLES: 8
+		},
+		uniforms: {
+			shadow_pass: { value: null },
+			resolution: { value: new Vector2() },
+			radius: { value: 4.0 }
+		},
+
+		vertexShader: vertex,
+		fragmentShader: fragment
+
+	} );
+
+	const shadowMaterialHorizontal = shadowMaterialVertical.clone();
+	shadowMaterialHorizontal.defines.HORIZONTAL_PASS = 1;
+
+	const fullScreenTri = new BufferGeometry();
+	fullScreenTri.setAttribute(
+		'position',
+		new BufferAttribute(
+			new Float32Array( [ - 1, - 1, 0.5, 3, - 1, 0.5, - 1, 3, 0.5 ] ),
+			3
+		)
+	);
+
+	const fullScreenMesh = new Mesh( fullScreenTri, shadowMaterialVertical );
+
+	const scope = this;
+
+	this.enabled = false;
+
+	this.autoUpdate = true;
+	this.needsUpdate = false;
+
+	this.type = PCFShadowMap;
+	let _previousType = this.type;
+
+	this.render = function ( lights, scene, camera ) {
+
+		if ( scope.enabled === false ) return;
+		if ( scope.autoUpdate === false && scope.needsUpdate === false ) return;
+
+		if ( lights.length === 0 ) return;
+
+		const currentRenderTarget = _renderer.getRenderTarget();
+		const activeCubeFace = _renderer.getActiveCubeFace();
+		const activeMipmapLevel = _renderer.getActiveMipmapLevel();
+
+		const _state = _renderer.state;
+
+		// Set GL state for depth map.
+		_state.setBlending( NoBlending );
+		_state.buffers.color.setClear( 1, 1, 1, 1 );
+		_state.buffers.depth.setTest( true );
+		_state.setScissorTest( false );
+
+		// check for shadow map type changes
+
+		const toVSM = ( _previousType !== VSMShadowMap && this.type === VSMShadowMap );
+		const fromVSM = ( _previousType === VSMShadowMap && this.type !== VSMShadowMap );
+
+		// render depth map
+
+		for ( let i = 0, il = lights.length; i < il; i ++ ) {
+
+			const light = lights[ i ];
+			const shadow = light.shadow;
+
+			if ( shadow === undefined ) {
+
+				console.warn( 'THREE.WebGLShadowMap:', light, 'has no shadow.' );
+				continue;
+
+			}
+
+			if ( shadow.autoUpdate === false && shadow.needsUpdate === false ) continue;
+
+			_shadowMapSize.copy( shadow.mapSize );
+
+			const shadowFrameExtents = shadow.getFrameExtents();
+
+			_shadowMapSize.multiply( shadowFrameExtents );
+
+			_viewportSize.copy( shadow.mapSize );
+
+			if ( _shadowMapSize.x > _maxTextureSize || _shadowMapSize.y > _maxTextureSize ) {
+
+				if ( _shadowMapSize.x > _maxTextureSize ) {
+
+					_viewportSize.x = Math.floor( _maxTextureSize / shadowFrameExtents.x );
+					_shadowMapSize.x = _viewportSize.x * shadowFrameExtents.x;
+					shadow.mapSize.x = _viewportSize.x;
+
+				}
+
+				if ( _shadowMapSize.y > _maxTextureSize ) {
+
+					_viewportSize.y = Math.floor( _maxTextureSize / shadowFrameExtents.y );
+					_shadowMapSize.y = _viewportSize.y * shadowFrameExtents.y;
+					shadow.mapSize.y = _viewportSize.y;
+
+				}
+
+			}
+
+			if ( shadow.map === null || toVSM === true || fromVSM === true ) {
+
+				const pars = ( this.type !== VSMShadowMap ) ? { minFilter: NearestFilter, magFilter: NearestFilter } : {};
+
+				if ( shadow.map !== null ) {
+
+					shadow.map.dispose();
+
+				}
+
+				shadow.map = new WebGLRenderTarget( _shadowMapSize.x, _shadowMapSize.y, pars );
+				shadow.map.texture.name = light.name + '.shadowMap';
+
+				shadow.camera.updateProjectionMatrix();
+
+			}
+
+			_renderer.setRenderTarget( shadow.map );
+			_renderer.clear();
+
+			const viewportCount = shadow.getViewportCount();
+
+			for ( let vp = 0; vp < viewportCount; vp ++ ) {
+
+				const viewport = shadow.getViewport( vp );
+
+				_viewport.set(
+					_viewportSize.x * viewport.x,
+					_viewportSize.y * viewport.y,
+					_viewportSize.x * viewport.z,
+					_viewportSize.y * viewport.w
+				);
+
+				_state.viewport( _viewport );
+
+				shadow.updateMatrices( light, vp );
+
+				_frustum = shadow.getFrustum();
+
+				renderObject( scene, camera, shadow.camera, light, this.type );
+
+			}
+
+			// do blur pass for VSM
+
+			if ( shadow.isPointLightShadow !== true && this.type === VSMShadowMap ) {
+
+				VSMPass( shadow, camera );
+
+			}
+
+			shadow.needsUpdate = false;
+
+		}
+
+		_previousType = this.type;
+
+		scope.needsUpdate = false;
+
+		_renderer.setRenderTarget( currentRenderTarget, activeCubeFace, activeMipmapLevel );
+
+	};
+
+	function VSMPass( shadow, camera ) {
+
+		const geometry = _objects.update( fullScreenMesh );
+
+		if ( shadowMaterialVertical.defines.VSM_SAMPLES !== shadow.blurSamples ) {
+
+			shadowMaterialVertical.defines.VSM_SAMPLES = shadow.blurSamples;
+			shadowMaterialHorizontal.defines.VSM_SAMPLES = shadow.blurSamples;
+
+			shadowMaterialVertical.needsUpdate = true;
+			shadowMaterialHorizontal.needsUpdate = true;
+
+		}
+
+		if ( shadow.mapPass === null ) {
+
+			shadow.mapPass = new WebGLRenderTarget( _shadowMapSize.x, _shadowMapSize.y );
+
+		}
+
+		// vertical pass
+
+		shadowMaterialVertical.uniforms.shadow_pass.value = shadow.map.texture;
+		shadowMaterialVertical.uniforms.resolution.value = shadow.mapSize;
+		shadowMaterialVertical.uniforms.radius.value = shadow.radius;
+		_renderer.setRenderTarget( shadow.mapPass );
+		_renderer.clear();
+		_renderer.renderBufferDirect( camera, null, geometry, shadowMaterialVertical, fullScreenMesh, null );
+
+		// horizontal pass
+
+		shadowMaterialHorizontal.uniforms.shadow_pass.value = shadow.mapPass.texture;
+		shadowMaterialHorizontal.uniforms.resolution.value = shadow.mapSize;
+		shadowMaterialHorizontal.uniforms.radius.value = shadow.radius;
+		_renderer.setRenderTarget( shadow.map );
+		_renderer.clear();
+		_renderer.renderBufferDirect( camera, null, geometry, shadowMaterialHorizontal, fullScreenMesh, null );
+
+	}
+
+	function getDepthMaterial( object, material, light, type ) {
+
+		let result = null;
+
+		const customMaterial = ( light.isPointLight === true ) ? object.customDistanceMaterial : object.customDepthMaterial;
+
+		if ( customMaterial !== undefined ) {
+
+			result = customMaterial;
+
+		} else {
+
+			result = ( light.isPointLight === true ) ? _distanceMaterial : _depthMaterial;
+
+			if ( ( _renderer.localClippingEnabled && material.clipShadows === true && Array.isArray( material.clippingPlanes ) && material.clippingPlanes.length !== 0 ) ||
+				( material.displacementMap && material.displacementScale !== 0 ) ||
+				( material.alphaMap && material.alphaTest > 0 ) ||
+				( material.map && material.alphaTest > 0 ) ) {
+
+				// in this case we need a unique material instance reflecting the
+				// appropriate state
+
+				const keyA = result.uuid, keyB = material.uuid;
+
+				let materialsForVariant = _materialCache[ keyA ];
+
+				if ( materialsForVariant === undefined ) {
+
+					materialsForVariant = {};
+					_materialCache[ keyA ] = materialsForVariant;
+
+				}
+
+				let cachedMaterial = materialsForVariant[ keyB ];
+
+				if ( cachedMaterial === undefined ) {
+
+					cachedMaterial = result.clone();
+					materialsForVariant[ keyB ] = cachedMaterial;
+					material.addEventListener( 'dispose', onMaterialDispose );
+
+				}
+
+				result = cachedMaterial;
+
+			}
+
+		}
+
+		result.visible = material.visible;
+		result.wireframe = material.wireframe;
+
+		if ( type === VSMShadowMap ) {
+
+			result.side = ( material.shadowSide !== null ) ? material.shadowSide : material.side;
+
+		} else {
+
+			result.side = ( material.shadowSide !== null ) ? material.shadowSide : shadowSide[ material.side ];
+
+		}
+
+		result.alphaMap = material.alphaMap;
+		result.alphaTest = material.alphaTest;
+		result.map = material.map;
+
+		result.clipShadows = material.clipShadows;
+		result.clippingPlanes = material.clippingPlanes;
+		result.clipIntersection = material.clipIntersection;
+
+		result.displacementMap = material.displacementMap;
+		result.displacementScale = material.displacementScale;
+		result.displacementBias = material.displacementBias;
+
+		result.wireframeLinewidth = material.wireframeLinewidth;
+		result.linewidth = material.linewidth;
+
+		if ( light.isPointLight === true && result.isMeshDistanceMaterial === true ) {
+
+			const materialProperties = _renderer.properties.get( result );
+			materialProperties.light = light;
+
+		}
+
+		return result;
+
+	}
+
+	function renderObject( object, camera, shadowCamera, light, type ) {
+
+		if ( object.visible === false ) return;
+
+		const visible = object.layers.test( camera.layers );
+
+		if ( visible && ( object.isMesh || object.isLine || object.isPoints ) ) {
+
+			if ( ( object.castShadow || ( object.receiveShadow && type === VSMShadowMap ) ) && ( ! object.frustumCulled || _frustum.intersectsObject( object ) ) ) {
+
+				object.modelViewMatrix.multiplyMatrices( shadowCamera.matrixWorldInverse, object.matrixWorld );
+
+				const geometry = _objects.update( object );
+				const material = object.material;
+
+				if ( Array.isArray( material ) ) {
+
+					const groups = geometry.groups;
+
+					for ( let k = 0, kl = groups.length; k < kl; k ++ ) {
+
+						const group = groups[ k ];
+						const groupMaterial = material[ group.materialIndex ];
+
+						if ( groupMaterial && groupMaterial.visible ) {
+
+							const depthMaterial = getDepthMaterial( object, groupMaterial, light, type );
+
+							object.onBeforeShadow( _renderer, object, camera, shadowCamera, geometry, depthMaterial, group );
+
+							_renderer.renderBufferDirect( shadowCamera, null, geometry, depthMaterial, object, group );
+
+							object.onAfterShadow( _renderer, object, camera, shadowCamera, geometry, depthMaterial, group );
+
+						}
+
+					}
+
+				} else if ( material.visible ) {
+
+					const depthMaterial = getDepthMaterial( object, material, light, type );
+
+					object.onBeforeShadow( _renderer, object, camera, shadowCamera, geometry, depthMaterial, null );
+
+					_renderer.renderBufferDirect( shadowCamera, null, geometry, depthMaterial, object, null );
+
+					object.onAfterShadow( _renderer, object, camera, shadowCamera, geometry, depthMaterial, null );
+
+				}
+
+			}
+
+		}
+
+		const children = object.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			renderObject( children[ i ], camera, shadowCamera, light, type );
+
+		}
+
+	}
+
+	function onMaterialDispose( event ) {
+
+		const material = event.target;
+
+		material.removeEventListener( 'dispose', onMaterialDispose );
+
+		// make sure to remove the unique distance/depth materials used for shadow map rendering
+
+		for ( const id in _materialCache ) {
+
+			const cache = _materialCache[ id ];
+
+			const uuid = event.target.uuid;
+
+			if ( uuid in cache ) {
+
+				const shadowMaterial = cache[ uuid ];
+				shadowMaterial.dispose();
+				delete cache[ uuid ];
+
+			}
+
+		}
+
+	}
+
+}
+
+function WebGLState( gl, extensions, capabilities ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+
+	function ColorBuffer() {
+
+		let locked = false;
+
+		const color = new Vector4();
+		let currentColorMask = null;
+		const currentColorClear = new Vector4( 0, 0, 0, 0 );
+
+		return {
+
+			setMask: function ( colorMask ) {
+
+				if ( currentColorMask !== colorMask && ! locked ) {
+
+					gl.colorMask( colorMask, colorMask, colorMask, colorMask );
+					currentColorMask = colorMask;
+
+				}
+
+			},
+
+			setLocked: function ( lock ) {
+
+				locked = lock;
+
+			},
+
+			setClear: function ( r, g, b, a, premultipliedAlpha ) {
+
+				if ( premultipliedAlpha === true ) {
+
+					r *= a; g *= a; b *= a;
+
+				}
+
+				color.set( r, g, b, a );
+
+				if ( currentColorClear.equals( color ) === false ) {
+
+					gl.clearColor( r, g, b, a );
+					currentColorClear.copy( color );
+
+				}
+
+			},
+
+			reset: function () {
+
+				locked = false;
+
+				currentColorMask = null;
+				currentColorClear.set( - 1, 0, 0, 0 ); // set to invalid state
+
+			}
+
+		};
+
+	}
+
+	function DepthBuffer() {
+
+		let locked = false;
+
+		let currentDepthMask = null;
+		let currentDepthFunc = null;
+		let currentDepthClear = null;
+
+		return {
+
+			setTest: function ( depthTest ) {
+
+				if ( depthTest ) {
+
+					enable( gl.DEPTH_TEST );
+
+				} else {
+
+					disable( gl.DEPTH_TEST );
+
+				}
+
+			},
+
+			setMask: function ( depthMask ) {
+
+				if ( currentDepthMask !== depthMask && ! locked ) {
+
+					gl.depthMask( depthMask );
+					currentDepthMask = depthMask;
+
+				}
+
+			},
+
+			setFunc: function ( depthFunc ) {
+
+				if ( currentDepthFunc !== depthFunc ) {
+
+					switch ( depthFunc ) {
+
+						case NeverDepth:
+
+							gl.depthFunc( gl.NEVER );
+							break;
+
+						case AlwaysDepth:
+
+							gl.depthFunc( gl.ALWAYS );
+							break;
+
+						case LessDepth:
+
+							gl.depthFunc( gl.LESS );
+							break;
+
+						case LessEqualDepth:
+
+							gl.depthFunc( gl.LEQUAL );
+							break;
+
+						case EqualDepth:
+
+							gl.depthFunc( gl.EQUAL );
+							break;
+
+						case GreaterEqualDepth:
+
+							gl.depthFunc( gl.GEQUAL );
+							break;
+
+						case GreaterDepth:
+
+							gl.depthFunc( gl.GREATER );
+							break;
+
+						case NotEqualDepth:
+
+							gl.depthFunc( gl.NOTEQUAL );
+							break;
+
+						default:
+
+							gl.depthFunc( gl.LEQUAL );
+
+					}
+
+					currentDepthFunc = depthFunc;
+
+				}
+
+			},
+
+			setLocked: function ( lock ) {
+
+				locked = lock;
+
+			},
+
+			setClear: function ( depth ) {
+
+				if ( currentDepthClear !== depth ) {
+
+					gl.clearDepth( depth );
+					currentDepthClear = depth;
+
+				}
+
+			},
+
+			reset: function () {
+
+				locked = false;
+
+				currentDepthMask = null;
+				currentDepthFunc = null;
+				currentDepthClear = null;
+
+			}
+
+		};
+
+	}
+
+	function StencilBuffer() {
+
+		let locked = false;
+
+		let currentStencilMask = null;
+		let currentStencilFunc = null;
+		let currentStencilRef = null;
+		let currentStencilFuncMask = null;
+		let currentStencilFail = null;
+		let currentStencilZFail = null;
+		let currentStencilZPass = null;
+		let currentStencilClear = null;
+
+		return {
+
+			setTest: function ( stencilTest ) {
+
+				if ( ! locked ) {
+
+					if ( stencilTest ) {
+
+						enable( gl.STENCIL_TEST );
+
+					} else {
+
+						disable( gl.STENCIL_TEST );
+
+					}
+
+				}
+
+			},
+
+			setMask: function ( stencilMask ) {
+
+				if ( currentStencilMask !== stencilMask && ! locked ) {
+
+					gl.stencilMask( stencilMask );
+					currentStencilMask = stencilMask;
+
+				}
+
+			},
+
+			setFunc: function ( stencilFunc, stencilRef, stencilMask ) {
+
+				if ( currentStencilFunc !== stencilFunc ||
+				     currentStencilRef !== stencilRef ||
+				     currentStencilFuncMask !== stencilMask ) {
+
+					gl.stencilFunc( stencilFunc, stencilRef, stencilMask );
+
+					currentStencilFunc = stencilFunc;
+					currentStencilRef = stencilRef;
+					currentStencilFuncMask = stencilMask;
+
+				}
+
+			},
+
+			setOp: function ( stencilFail, stencilZFail, stencilZPass ) {
+
+				if ( currentStencilFail !== stencilFail ||
+				     currentStencilZFail !== stencilZFail ||
+				     currentStencilZPass !== stencilZPass ) {
+
+					gl.stencilOp( stencilFail, stencilZFail, stencilZPass );
+
+					currentStencilFail = stencilFail;
+					currentStencilZFail = stencilZFail;
+					currentStencilZPass = stencilZPass;
+
+				}
+
+			},
+
+			setLocked: function ( lock ) {
+
+				locked = lock;
+
+			},
+
+			setClear: function ( stencil ) {
+
+				if ( currentStencilClear !== stencil ) {
+
+					gl.clearStencil( stencil );
+					currentStencilClear = stencil;
+
+				}
+
+			},
+
+			reset: function () {
+
+				locked = false;
+
+				currentStencilMask = null;
+				currentStencilFunc = null;
+				currentStencilRef = null;
+				currentStencilFuncMask = null;
+				currentStencilFail = null;
+				currentStencilZFail = null;
+				currentStencilZPass = null;
+				currentStencilClear = null;
+
+			}
+
+		};
+
+	}
+
+	//
+
+	const colorBuffer = new ColorBuffer();
+	const depthBuffer = new DepthBuffer();
+	const stencilBuffer = new StencilBuffer();
+
+	const uboBindings = new WeakMap();
+	const uboProgramMap = new WeakMap();
+
+	let enabledCapabilities = {};
+
+	let currentBoundFramebuffers = {};
+	let currentDrawbuffers = new WeakMap();
+	let defaultDrawbuffers = [];
+
+	let currentProgram = null;
+
+	let currentBlendingEnabled = false;
+	let currentBlending = null;
+	let currentBlendEquation = null;
+	let currentBlendSrc = null;
+	let currentBlendDst = null;
+	let currentBlendEquationAlpha = null;
+	let currentBlendSrcAlpha = null;
+	let currentBlendDstAlpha = null;
+	let currentBlendColor = new Color( 0, 0, 0 );
+	let currentBlendAlpha = 0;
+	let currentPremultipledAlpha = false;
+
+	let currentFlipSided = null;
+	let currentCullFace = null;
+
+	let currentLineWidth = null;
+
+	let currentPolygonOffsetFactor = null;
+	let currentPolygonOffsetUnits = null;
+
+	const maxTextures = gl.getParameter( gl.MAX_COMBINED_TEXTURE_IMAGE_UNITS );
+
+	let lineWidthAvailable = false;
+	let version = 0;
+	const glVersion = gl.getParameter( gl.VERSION );
+
+	if ( glVersion.indexOf( 'WebGL' ) !== - 1 ) {
+
+		version = parseFloat( /^WebGL (\d)/.exec( glVersion )[ 1 ] );
+		lineWidthAvailable = ( version >= 1.0 );
+
+	} else if ( glVersion.indexOf( 'OpenGL ES' ) !== - 1 ) {
+
+		version = parseFloat( /^OpenGL ES (\d)/.exec( glVersion )[ 1 ] );
+		lineWidthAvailable = ( version >= 2.0 );
+
+	}
+
+	let currentTextureSlot = null;
+	let currentBoundTextures = {};
+
+	const scissorParam = gl.getParameter( gl.SCISSOR_BOX );
+	const viewportParam = gl.getParameter( gl.VIEWPORT );
+
+	const currentScissor = new Vector4().fromArray( scissorParam );
+	const currentViewport = new Vector4().fromArray( viewportParam );
+
+	function createTexture( type, target, count, dimensions ) {
+
+		const data = new Uint8Array( 4 ); // 4 is required to match default unpack alignment of 4.
+		const texture = gl.createTexture();
+
+		gl.bindTexture( type, texture );
+		gl.texParameteri( type, gl.TEXTURE_MIN_FILTER, gl.NEAREST );
+		gl.texParameteri( type, gl.TEXTURE_MAG_FILTER, gl.NEAREST );
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			if ( isWebGL2 && ( type === gl.TEXTURE_3D || type === gl.TEXTURE_2D_ARRAY ) ) {
+
+				gl.texImage3D( target, 0, gl.RGBA, 1, 1, dimensions, 0, gl.RGBA, gl.UNSIGNED_BYTE, data );
+
+			} else {
+
+				gl.texImage2D( target + i, 0, gl.RGBA, 1, 1, 0, gl.RGBA, gl.UNSIGNED_BYTE, data );
+
+			}
+
+		}
+
+		return texture;
+
+	}
+
+	const emptyTextures = {};
+	emptyTextures[ gl.TEXTURE_2D ] = createTexture( gl.TEXTURE_2D, gl.TEXTURE_2D, 1 );
+	emptyTextures[ gl.TEXTURE_CUBE_MAP ] = createTexture( gl.TEXTURE_CUBE_MAP, gl.TEXTURE_CUBE_MAP_POSITIVE_X, 6 );
+
+	if ( isWebGL2 ) {
+
+		emptyTextures[ gl.TEXTURE_2D_ARRAY ] = createTexture( gl.TEXTURE_2D_ARRAY, gl.TEXTURE_2D_ARRAY, 1, 1 );
+		emptyTextures[ gl.TEXTURE_3D ] = createTexture( gl.TEXTURE_3D, gl.TEXTURE_3D, 1, 1 );
+
+	}
+
+	// init
+
+	colorBuffer.setClear( 0, 0, 0, 1 );
+	depthBuffer.setClear( 1 );
+	stencilBuffer.setClear( 0 );
+
+	enable( gl.DEPTH_TEST );
+	depthBuffer.setFunc( LessEqualDepth );
+
+	setFlipSided( false );
+	setCullFace( CullFaceBack );
+	enable( gl.CULL_FACE );
+
+	setBlending( NoBlending );
+
+	//
+
+	function enable( id ) {
+
+		if ( enabledCapabilities[ id ] !== true ) {
+
+			gl.enable( id );
+			enabledCapabilities[ id ] = true;
+
+		}
+
+	}
+
+	function disable( id ) {
+
+		if ( enabledCapabilities[ id ] !== false ) {
+
+			gl.disable( id );
+			enabledCapabilities[ id ] = false;
+
+		}
+
+	}
+
+	function bindFramebuffer( target, framebuffer ) {
+
+		if ( currentBoundFramebuffers[ target ] !== framebuffer ) {
+
+			gl.bindFramebuffer( target, framebuffer );
+
+			currentBoundFramebuffers[ target ] = framebuffer;
+
+			if ( isWebGL2 ) {
+
+				// gl.DRAW_FRAMEBUFFER is equivalent to gl.FRAMEBUFFER
+
+				if ( target === gl.DRAW_FRAMEBUFFER ) {
+
+					currentBoundFramebuffers[ gl.FRAMEBUFFER ] = framebuffer;
+
+				}
+
+				if ( target === gl.FRAMEBUFFER ) {
+
+					currentBoundFramebuffers[ gl.DRAW_FRAMEBUFFER ] = framebuffer;
+
+				}
+
+			}
+
+			return true;
+
+		}
+
+		return false;
+
+	}
+
+	function drawBuffers( renderTarget, framebuffer ) {
+
+		let drawBuffers = defaultDrawbuffers;
+
+		let needsUpdate = false;
+
+		if ( renderTarget ) {
+
+			drawBuffers = currentDrawbuffers.get( framebuffer );
+
+			if ( drawBuffers === undefined ) {
+
+				drawBuffers = [];
+				currentDrawbuffers.set( framebuffer, drawBuffers );
+
+			}
+
+			if ( renderTarget.isWebGLMultipleRenderTargets ) {
+
+				const textures = renderTarget.texture;
+
+				if ( drawBuffers.length !== textures.length || drawBuffers[ 0 ] !== gl.COLOR_ATTACHMENT0 ) {
+
+					for ( let i = 0, il = textures.length; i < il; i ++ ) {
+
+						drawBuffers[ i ] = gl.COLOR_ATTACHMENT0 + i;
+
+					}
+
+					drawBuffers.length = textures.length;
+
+					needsUpdate = true;
+
+				}
+
+			} else {
+
+				if ( drawBuffers[ 0 ] !== gl.COLOR_ATTACHMENT0 ) {
+
+					drawBuffers[ 0 ] = gl.COLOR_ATTACHMENT0;
+
+					needsUpdate = true;
+
+				}
+
+			}
+
+		} else {
+
+			if ( drawBuffers[ 0 ] !== gl.BACK ) {
+
+				drawBuffers[ 0 ] = gl.BACK;
+
+				needsUpdate = true;
+
+			}
+
+		}
+
+		if ( needsUpdate ) {
+
+			if ( capabilities.isWebGL2 ) {
+
+				gl.drawBuffers( drawBuffers );
+
+			} else {
+
+				extensions.get( 'WEBGL_draw_buffers' ).drawBuffersWEBGL( drawBuffers );
+
+			}
+
+		}
+
+
+	}
+
+	function useProgram( program ) {
+
+		if ( currentProgram !== program ) {
+
+			gl.useProgram( program );
+
+			currentProgram = program;
+
+			return true;
+
+		}
+
+		return false;
+
+	}
+
+	const equationToGL = {
+		[ AddEquation ]: gl.FUNC_ADD,
+		[ SubtractEquation ]: gl.FUNC_SUBTRACT,
+		[ ReverseSubtractEquation ]: gl.FUNC_REVERSE_SUBTRACT
+	};
+
+	if ( isWebGL2 ) {
+
+		equationToGL[ MinEquation ] = gl.MIN;
+		equationToGL[ MaxEquation ] = gl.MAX;
+
+	} else {
+
+		const extension = extensions.get( 'EXT_blend_minmax' );
+
+		if ( extension !== null ) {
+
+			equationToGL[ MinEquation ] = extension.MIN_EXT;
+			equationToGL[ MaxEquation ] = extension.MAX_EXT;
+
+		}
+
+	}
+
+	const factorToGL = {
+		[ ZeroFactor ]: gl.ZERO,
+		[ OneFactor ]: gl.ONE,
+		[ SrcColorFactor ]: gl.SRC_COLOR,
+		[ SrcAlphaFactor ]: gl.SRC_ALPHA,
+		[ SrcAlphaSaturateFactor ]: gl.SRC_ALPHA_SATURATE,
+		[ DstColorFactor ]: gl.DST_COLOR,
+		[ DstAlphaFactor ]: gl.DST_ALPHA,
+		[ OneMinusSrcColorFactor ]: gl.ONE_MINUS_SRC_COLOR,
+		[ OneMinusSrcAlphaFactor ]: gl.ONE_MINUS_SRC_ALPHA,
+		[ OneMinusDstColorFactor ]: gl.ONE_MINUS_DST_COLOR,
+		[ OneMinusDstAlphaFactor ]: gl.ONE_MINUS_DST_ALPHA,
+		[ ConstantColorFactor ]: gl.CONSTANT_COLOR,
+		[ OneMinusConstantColorFactor ]: gl.ONE_MINUS_CONSTANT_COLOR,
+		[ ConstantAlphaFactor ]: gl.CONSTANT_ALPHA,
+		[ OneMinusConstantAlphaFactor ]: gl.ONE_MINUS_CONSTANT_ALPHA
+	};
+
+	function setBlending( blending, blendEquation, blendSrc, blendDst, blendEquationAlpha, blendSrcAlpha, blendDstAlpha, blendColor, blendAlpha, premultipliedAlpha ) {
+
+		if ( blending === NoBlending ) {
+
+			if ( currentBlendingEnabled === true ) {
+
+				disable( gl.BLEND );
+				currentBlendingEnabled = false;
+
+			}
+
+			return;
+
+		}
+
+		if ( currentBlendingEnabled === false ) {
+
+			enable( gl.BLEND );
+			currentBlendingEnabled = true;
+
+		}
+
+		if ( blending !== CustomBlending ) {
+
+			if ( blending !== currentBlending || premultipliedAlpha !== currentPremultipledAlpha ) {
+
+				if ( currentBlendEquation !== AddEquation || currentBlendEquationAlpha !== AddEquation ) {
+
+					gl.blendEquation( gl.FUNC_ADD );
+
+					currentBlendEquation = AddEquation;
+					currentBlendEquationAlpha = AddEquation;
+
+				}
+
+				if ( premultipliedAlpha ) {
+
+					switch ( blending ) {
+
+						case NormalBlending:
+							gl.blendFuncSeparate( gl.ONE, gl.ONE_MINUS_SRC_ALPHA, gl.ONE, gl.ONE_MINUS_SRC_ALPHA );
+							break;
+
+						case AdditiveBlending:
+							gl.blendFunc( gl.ONE, gl.ONE );
+							break;
+
+						case SubtractiveBlending:
+							gl.blendFuncSeparate( gl.ZERO, gl.ONE_MINUS_SRC_COLOR, gl.ZERO, gl.ONE );
+							break;
+
+						case MultiplyBlending:
+							gl.blendFuncSeparate( gl.ZERO, gl.SRC_COLOR, gl.ZERO, gl.SRC_ALPHA );
+							break;
+
+						default:
+							console.error( 'THREE.WebGLState: Invalid blending: ', blending );
+							break;
+
+					}
+
+				} else {
+
+					switch ( blending ) {
+
+						case NormalBlending:
+							gl.blendFuncSeparate( gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA, gl.ONE, gl.ONE_MINUS_SRC_ALPHA );
+							break;
+
+						case AdditiveBlending:
+							gl.blendFunc( gl.SRC_ALPHA, gl.ONE );
+							break;
+
+						case SubtractiveBlending:
+							gl.blendFuncSeparate( gl.ZERO, gl.ONE_MINUS_SRC_COLOR, gl.ZERO, gl.ONE );
+							break;
+
+						case MultiplyBlending:
+							gl.blendFunc( gl.ZERO, gl.SRC_COLOR );
+							break;
+
+						default:
+							console.error( 'THREE.WebGLState: Invalid blending: ', blending );
+							break;
+
+					}
+
+				}
+
+				currentBlendSrc = null;
+				currentBlendDst = null;
+				currentBlendSrcAlpha = null;
+				currentBlendDstAlpha = null;
+				currentBlendColor.set( 0, 0, 0 );
+				currentBlendAlpha = 0;
+
+				currentBlending = blending;
+				currentPremultipledAlpha = premultipliedAlpha;
+
+			}
+
+			return;
+
+		}
+
+		// custom blending
+
+		blendEquationAlpha = blendEquationAlpha || blendEquation;
+		blendSrcAlpha = blendSrcAlpha || blendSrc;
+		blendDstAlpha = blendDstAlpha || blendDst;
+
+		if ( blendEquation !== currentBlendEquation || blendEquationAlpha !== currentBlendEquationAlpha ) {
+
+			gl.blendEquationSeparate( equationToGL[ blendEquation ], equationToGL[ blendEquationAlpha ] );
+
+			currentBlendEquation = blendEquation;
+			currentBlendEquationAlpha = blendEquationAlpha;
+
+		}
+
+		if ( blendSrc !== currentBlendSrc || blendDst !== currentBlendDst || blendSrcAlpha !== currentBlendSrcAlpha || blendDstAlpha !== currentBlendDstAlpha ) {
+
+			gl.blendFuncSeparate( factorToGL[ blendSrc ], factorToGL[ blendDst ], factorToGL[ blendSrcAlpha ], factorToGL[ blendDstAlpha ] );
+
+			currentBlendSrc = blendSrc;
+			currentBlendDst = blendDst;
+			currentBlendSrcAlpha = blendSrcAlpha;
+			currentBlendDstAlpha = blendDstAlpha;
+
+		}
+
+		if ( blendColor.equals( currentBlendColor ) === false || blendAlpha !== currentBlendAlpha ) {
+
+			gl.blendColor( blendColor.r, blendColor.g, blendColor.b, blendAlpha );
+
+			currentBlendColor.copy( blendColor );
+			currentBlendAlpha = blendAlpha;
+
+		}
+
+		currentBlending = blending;
+		currentPremultipledAlpha = false;
+
+	}
+
+	function setMaterial( material, frontFaceCW ) {
+
+		material.side === DoubleSide
+			? disable( gl.CULL_FACE )
+			: enable( gl.CULL_FACE );
+
+		let flipSided = ( material.side === BackSide );
+		if ( frontFaceCW ) flipSided = ! flipSided;
+
+		setFlipSided( flipSided );
+
+		( material.blending === NormalBlending && material.transparent === false )
+			? setBlending( NoBlending )
+			: setBlending( material.blending, material.blendEquation, material.blendSrc, material.blendDst, material.blendEquationAlpha, material.blendSrcAlpha, material.blendDstAlpha, material.blendColor, material.blendAlpha, material.premultipliedAlpha );
+
+		depthBuffer.setFunc( material.depthFunc );
+		depthBuffer.setTest( material.depthTest );
+		depthBuffer.setMask( material.depthWrite );
+		colorBuffer.setMask( material.colorWrite );
+
+		const stencilWrite = material.stencilWrite;
+		stencilBuffer.setTest( stencilWrite );
+		if ( stencilWrite ) {
+
+			stencilBuffer.setMask( material.stencilWriteMask );
+			stencilBuffer.setFunc( material.stencilFunc, material.stencilRef, material.stencilFuncMask );
+			stencilBuffer.setOp( material.stencilFail, material.stencilZFail, material.stencilZPass );
+
+		}
+
+		setPolygonOffset( material.polygonOffset, material.polygonOffsetFactor, material.polygonOffsetUnits );
+
+		material.alphaToCoverage === true
+			? enable( gl.SAMPLE_ALPHA_TO_COVERAGE )
+			: disable( gl.SAMPLE_ALPHA_TO_COVERAGE );
+
+	}
+
+	//
+
+	function setFlipSided( flipSided ) {
+
+		if ( currentFlipSided !== flipSided ) {
+
+			if ( flipSided ) {
+
+				gl.frontFace( gl.CW );
+
+			} else {
+
+				gl.frontFace( gl.CCW );
+
+			}
+
+			currentFlipSided = flipSided;
+
+		}
+
+	}
+
+	function setCullFace( cullFace ) {
+
+		if ( cullFace !== CullFaceNone ) {
+
+			enable( gl.CULL_FACE );
+
+			if ( cullFace !== currentCullFace ) {
+
+				if ( cullFace === CullFaceBack ) {
+
+					gl.cullFace( gl.BACK );
+
+				} else if ( cullFace === CullFaceFront ) {
+
+					gl.cullFace( gl.FRONT );
+
+				} else {
+
+					gl.cullFace( gl.FRONT_AND_BACK );
+
+				}
+
+			}
+
+		} else {
+
+			disable( gl.CULL_FACE );
+
+		}
+
+		currentCullFace = cullFace;
+
+	}
+
+	function setLineWidth( width ) {
+
+		if ( width !== currentLineWidth ) {
+
+			if ( lineWidthAvailable ) gl.lineWidth( width );
+
+			currentLineWidth = width;
+
+		}
+
+	}
+
+	function setPolygonOffset( polygonOffset, factor, units ) {
+
+		if ( polygonOffset ) {
+
+			enable( gl.POLYGON_OFFSET_FILL );
+
+			if ( currentPolygonOffsetFactor !== factor || currentPolygonOffsetUnits !== units ) {
+
+				gl.polygonOffset( factor, units );
+
+				currentPolygonOffsetFactor = factor;
+				currentPolygonOffsetUnits = units;
+
+			}
+
+		} else {
+
+			disable( gl.POLYGON_OFFSET_FILL );
+
+		}
+
+	}
+
+	function setScissorTest( scissorTest ) {
+
+		if ( scissorTest ) {
+
+			enable( gl.SCISSOR_TEST );
+
+		} else {
+
+			disable( gl.SCISSOR_TEST );
+
+		}
+
+	}
+
+	// texture
+
+	function activeTexture( webglSlot ) {
+
+		if ( webglSlot === undefined ) webglSlot = gl.TEXTURE0 + maxTextures - 1;
+
+		if ( currentTextureSlot !== webglSlot ) {
+
+			gl.activeTexture( webglSlot );
+			currentTextureSlot = webglSlot;
+
+		}
+
+	}
+
+	function bindTexture( webglType, webglTexture, webglSlot ) {
+
+		if ( webglSlot === undefined ) {
+
+			if ( currentTextureSlot === null ) {
+
+				webglSlot = gl.TEXTURE0 + maxTextures - 1;
+
+			} else {
+
+				webglSlot = currentTextureSlot;
+
+			}
+
+		}
+
+		let boundTexture = currentBoundTextures[ webglSlot ];
+
+		if ( boundTexture === undefined ) {
+
+			boundTexture = { type: undefined, texture: undefined };
+			currentBoundTextures[ webglSlot ] = boundTexture;
+
+		}
+
+		if ( boundTexture.type !== webglType || boundTexture.texture !== webglTexture ) {
+
+			if ( currentTextureSlot !== webglSlot ) {
+
+				gl.activeTexture( webglSlot );
+				currentTextureSlot = webglSlot;
+
+			}
+
+			gl.bindTexture( webglType, webglTexture || emptyTextures[ webglType ] );
+
+			boundTexture.type = webglType;
+			boundTexture.texture = webglTexture;
+
+		}
+
+	}
+
+	function unbindTexture() {
+
+		const boundTexture = currentBoundTextures[ currentTextureSlot ];
+
+		if ( boundTexture !== undefined && boundTexture.type !== undefined ) {
+
+			gl.bindTexture( boundTexture.type, null );
+
+			boundTexture.type = undefined;
+			boundTexture.texture = undefined;
+
+		}
+
+	}
+
+	function compressedTexImage2D() {
+
+		try {
+
+			gl.compressedTexImage2D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function compressedTexImage3D() {
+
+		try {
+
+			gl.compressedTexImage3D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texSubImage2D() {
+
+		try {
+
+			gl.texSubImage2D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texSubImage3D() {
+
+		try {
+
+			gl.texSubImage3D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function compressedTexSubImage2D() {
+
+		try {
+
+			gl.compressedTexSubImage2D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function compressedTexSubImage3D() {
+
+		try {
+
+			gl.compressedTexSubImage3D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texStorage2D() {
+
+		try {
+
+			gl.texStorage2D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texStorage3D() {
+
+		try {
+
+			gl.texStorage3D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texImage2D() {
+
+		try {
+
+			gl.texImage2D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	function texImage3D() {
+
+		try {
+
+			gl.texImage3D.apply( gl, arguments );
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLState:', error );
+
+		}
+
+	}
+
+	//
+
+	function scissor( scissor ) {
+
+		if ( currentScissor.equals( scissor ) === false ) {
+
+			gl.scissor( scissor.x, scissor.y, scissor.z, scissor.w );
+			currentScissor.copy( scissor );
+
+		}
+
+	}
+
+	function viewport( viewport ) {
+
+		if ( currentViewport.equals( viewport ) === false ) {
+
+			gl.viewport( viewport.x, viewport.y, viewport.z, viewport.w );
+			currentViewport.copy( viewport );
+
+		}
+
+	}
+
+	function updateUBOMapping( uniformsGroup, program ) {
+
+		let mapping = uboProgramMap.get( program );
+
+		if ( mapping === undefined ) {
+
+			mapping = new WeakMap();
+
+			uboProgramMap.set( program, mapping );
+
+		}
+
+		let blockIndex = mapping.get( uniformsGroup );
+
+		if ( blockIndex === undefined ) {
+
+			blockIndex = gl.getUniformBlockIndex( program, uniformsGroup.name );
+
+			mapping.set( uniformsGroup, blockIndex );
+
+		}
+
+	}
+
+	function uniformBlockBinding( uniformsGroup, program ) {
+
+		const mapping = uboProgramMap.get( program );
+		const blockIndex = mapping.get( uniformsGroup );
+
+		if ( uboBindings.get( program ) !== blockIndex ) {
+
+			// bind shader specific block index to global block point
+			gl.uniformBlockBinding( program, blockIndex, uniformsGroup.__bindingPointIndex );
+
+			uboBindings.set( program, blockIndex );
+
+		}
+
+	}
+
+	//
+
+	function reset() {
+
+		// reset state
+
+		gl.disable( gl.BLEND );
+		gl.disable( gl.CULL_FACE );
+		gl.disable( gl.DEPTH_TEST );
+		gl.disable( gl.POLYGON_OFFSET_FILL );
+		gl.disable( gl.SCISSOR_TEST );
+		gl.disable( gl.STENCIL_TEST );
+		gl.disable( gl.SAMPLE_ALPHA_TO_COVERAGE );
+
+		gl.blendEquation( gl.FUNC_ADD );
+		gl.blendFunc( gl.ONE, gl.ZERO );
+		gl.blendFuncSeparate( gl.ONE, gl.ZERO, gl.ONE, gl.ZERO );
+		gl.blendColor( 0, 0, 0, 0 );
+
+		gl.colorMask( true, true, true, true );
+		gl.clearColor( 0, 0, 0, 0 );
+
+		gl.depthMask( true );
+		gl.depthFunc( gl.LESS );
+		gl.clearDepth( 1 );
+
+		gl.stencilMask( 0xffffffff );
+		gl.stencilFunc( gl.ALWAYS, 0, 0xffffffff );
+		gl.stencilOp( gl.KEEP, gl.KEEP, gl.KEEP );
+		gl.clearStencil( 0 );
+
+		gl.cullFace( gl.BACK );
+		gl.frontFace( gl.CCW );
+
+		gl.polygonOffset( 0, 0 );
+
+		gl.activeTexture( gl.TEXTURE0 );
+
+		gl.bindFramebuffer( gl.FRAMEBUFFER, null );
+
+		if ( isWebGL2 === true ) {
+
+			gl.bindFramebuffer( gl.DRAW_FRAMEBUFFER, null );
+			gl.bindFramebuffer( gl.READ_FRAMEBUFFER, null );
+
+		}
+
+		gl.useProgram( null );
+
+		gl.lineWidth( 1 );
+
+		gl.scissor( 0, 0, gl.canvas.width, gl.canvas.height );
+		gl.viewport( 0, 0, gl.canvas.width, gl.canvas.height );
+
+		// reset internals
+
+		enabledCapabilities = {};
+
+		currentTextureSlot = null;
+		currentBoundTextures = {};
+
+		currentBoundFramebuffers = {};
+		currentDrawbuffers = new WeakMap();
+		defaultDrawbuffers = [];
+
+		currentProgram = null;
+
+		currentBlendingEnabled = false;
+		currentBlending = null;
+		currentBlendEquation = null;
+		currentBlendSrc = null;
+		currentBlendDst = null;
+		currentBlendEquationAlpha = null;
+		currentBlendSrcAlpha = null;
+		currentBlendDstAlpha = null;
+		currentBlendColor = new Color( 0, 0, 0 );
+		currentBlendAlpha = 0;
+		currentPremultipledAlpha = false;
+
+		currentFlipSided = null;
+		currentCullFace = null;
+
+		currentLineWidth = null;
+
+		currentPolygonOffsetFactor = null;
+		currentPolygonOffsetUnits = null;
+
+		currentScissor.set( 0, 0, gl.canvas.width, gl.canvas.height );
+		currentViewport.set( 0, 0, gl.canvas.width, gl.canvas.height );
+
+		colorBuffer.reset();
+		depthBuffer.reset();
+		stencilBuffer.reset();
+
+	}
+
+	return {
+
+		buffers: {
+			color: colorBuffer,
+			depth: depthBuffer,
+			stencil: stencilBuffer
+		},
+
+		enable: enable,
+		disable: disable,
+
+		bindFramebuffer: bindFramebuffer,
+		drawBuffers: drawBuffers,
+
+		useProgram: useProgram,
+
+		setBlending: setBlending,
+		setMaterial: setMaterial,
+
+		setFlipSided: setFlipSided,
+		setCullFace: setCullFace,
+
+		setLineWidth: setLineWidth,
+		setPolygonOffset: setPolygonOffset,
+
+		setScissorTest: setScissorTest,
+
+		activeTexture: activeTexture,
+		bindTexture: bindTexture,
+		unbindTexture: unbindTexture,
+		compressedTexImage2D: compressedTexImage2D,
+		compressedTexImage3D: compressedTexImage3D,
+		texImage2D: texImage2D,
+		texImage3D: texImage3D,
+
+		updateUBOMapping: updateUBOMapping,
+		uniformBlockBinding: uniformBlockBinding,
+
+		texStorage2D: texStorage2D,
+		texStorage3D: texStorage3D,
+		texSubImage2D: texSubImage2D,
+		texSubImage3D: texSubImage3D,
+		compressedTexSubImage2D: compressedTexSubImage2D,
+		compressedTexSubImage3D: compressedTexSubImage3D,
+
+		scissor: scissor,
+		viewport: viewport,
+
+		reset: reset
+
+	};
+
+}
+
+function WebGLTextures( _gl, extensions, state, properties, capabilities, utils, info ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+	const multisampledRTTExt = extensions.has( 'WEBGL_multisampled_render_to_texture' ) ? extensions.get( 'WEBGL_multisampled_render_to_texture' ) : null;
+	const supportsInvalidateFramebuffer = typeof navigator === 'undefined' ? false : /OculusBrowser/g.test( navigator.userAgent );
+
+	const _videoTextures = new WeakMap();
+	let _canvas;
+
+	const _sources = new WeakMap(); // maps WebglTexture objects to instances of Source
+
+	// cordova iOS (as of 5.0) still uses UIWebView, which provides OffscreenCanvas,
+	// also OffscreenCanvas.getContext("webgl"), but not OffscreenCanvas.getContext("2d")!
+	// Some implementations may only implement OffscreenCanvas partially (e.g. lacking 2d).
+
+	let useOffscreenCanvas = false;
+
+	try {
+
+		useOffscreenCanvas = typeof OffscreenCanvas !== 'undefined'
+			// eslint-disable-next-line compat/compat
+			&& ( new OffscreenCanvas( 1, 1 ).getContext( '2d' ) ) !== null;
+
+	} catch ( err ) {
+
+		// Ignore any errors
+
+	}
+
+	function createCanvas( width, height ) {
+
+		// Use OffscreenCanvas when available. Specially needed in web workers
+
+		return useOffscreenCanvas ?
+			// eslint-disable-next-line compat/compat
+			new OffscreenCanvas( width, height ) : createElementNS( 'canvas' );
+
+	}
+
+	function resizeImage( image, needsPowerOfTwo, needsNewCanvas, maxSize ) {
+
+		let scale = 1;
+
+		// handle case if texture exceeds max size
+
+		if ( image.width > maxSize || image.height > maxSize ) {
+
+			scale = maxSize / Math.max( image.width, image.height );
+
+		}
+
+		// only perform resize if necessary
+
+		if ( scale < 1 || needsPowerOfTwo === true ) {
+
+			// only perform resize for certain image types
+
+			if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||
+				( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||
+				( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {
+
+				const floor = needsPowerOfTwo ? floorPowerOfTwo : Math.floor;
+
+				const width = floor( scale * image.width );
+				const height = floor( scale * image.height );
+
+				if ( _canvas === undefined ) _canvas = createCanvas( width, height );
+
+				// cube textures can't reuse the same canvas
+
+				const canvas = needsNewCanvas ? createCanvas( width, height ) : _canvas;
+
+				canvas.width = width;
+				canvas.height = height;
+
+				const context = canvas.getContext( '2d' );
+				context.drawImage( image, 0, 0, width, height );
+
+				console.warn( 'THREE.WebGLRenderer: Texture has been resized from (' + image.width + 'x' + image.height + ') to (' + width + 'x' + height + ').' );
+
+				return canvas;
+
+			} else {
+
+				if ( 'data' in image ) {
+
+					console.warn( 'THREE.WebGLRenderer: Image in DataTexture is too big (' + image.width + 'x' + image.height + ').' );
+
+				}
+
+				return image;
+
+			}
+
+		}
+
+		return image;
+
+	}
+
+	function isPowerOfTwo$1( image ) {
+
+		return isPowerOfTwo( image.width ) && isPowerOfTwo( image.height );
+
+	}
+
+	function textureNeedsPowerOfTwo( texture ) {
+
+		if ( isWebGL2 ) return false;
+
+		return ( texture.wrapS !== ClampToEdgeWrapping || texture.wrapT !== ClampToEdgeWrapping ) ||
+			( texture.minFilter !== NearestFilter && texture.minFilter !== LinearFilter );
+
+	}
+
+	function textureNeedsGenerateMipmaps( texture, supportsMips ) {
+
+		return texture.generateMipmaps && supportsMips &&
+			texture.minFilter !== NearestFilter && texture.minFilter !== LinearFilter;
+
+	}
+
+	function generateMipmap( target ) {
+
+		_gl.generateMipmap( target );
+
+	}
+
+	function getInternalFormat( internalFormatName, glFormat, glType, colorSpace, forceLinearTransfer = false ) {
+
+		if ( isWebGL2 === false ) return glFormat;
+
+		if ( internalFormatName !== null ) {
+
+			if ( _gl[ internalFormatName ] !== undefined ) return _gl[ internalFormatName ];
+
+			console.warn( 'THREE.WebGLRenderer: Attempt to use non-existing WebGL internal format \'' + internalFormatName + '\'' );
+
+		}
+
+		let internalFormat = glFormat;
+
+		if ( glFormat === _gl.RED ) {
+
+			if ( glType === _gl.FLOAT ) internalFormat = _gl.R32F;
+			if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.R16F;
+			if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.R8;
+
+		}
+
+		if ( glFormat === _gl.RED_INTEGER ) {
+
+			if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.R8UI;
+			if ( glType === _gl.UNSIGNED_SHORT ) internalFormat = _gl.R16UI;
+			if ( glType === _gl.UNSIGNED_INT ) internalFormat = _gl.R32UI;
+			if ( glType === _gl.BYTE ) internalFormat = _gl.R8I;
+			if ( glType === _gl.SHORT ) internalFormat = _gl.R16I;
+			if ( glType === _gl.INT ) internalFormat = _gl.R32I;
+
+		}
+
+		if ( glFormat === _gl.RG ) {
+
+			if ( glType === _gl.FLOAT ) internalFormat = _gl.RG32F;
+			if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.RG16F;
+			if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.RG8;
+
+		}
+
+		if ( glFormat === _gl.RGBA ) {
+
+			const transfer = forceLinearTransfer ? LinearTransfer : ColorManagement.getTransfer( colorSpace );
+
+			if ( glType === _gl.FLOAT ) internalFormat = _gl.RGBA32F;
+			if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.RGBA16F;
+			if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = ( transfer === SRGBTransfer ) ? _gl.SRGB8_ALPHA8 : _gl.RGBA8;
+			if ( glType === _gl.UNSIGNED_SHORT_4_4_4_4 ) internalFormat = _gl.RGBA4;
+			if ( glType === _gl.UNSIGNED_SHORT_5_5_5_1 ) internalFormat = _gl.RGB5_A1;
+
+		}
+
+		if ( internalFormat === _gl.R16F || internalFormat === _gl.R32F ||
+			internalFormat === _gl.RG16F || internalFormat === _gl.RG32F ||
+			internalFormat === _gl.RGBA16F || internalFormat === _gl.RGBA32F ) {
+
+			extensions.get( 'EXT_color_buffer_float' );
+
+		}
+
+		return internalFormat;
+
+	}
+
+	function getMipLevels( texture, image, supportsMips ) {
+
+		if ( textureNeedsGenerateMipmaps( texture, supportsMips ) === true || ( texture.isFramebufferTexture && texture.minFilter !== NearestFilter && texture.minFilter !== LinearFilter ) ) {
+
+			return Math.log2( Math.max( image.width, image.height ) ) + 1;
+
+		} else if ( texture.mipmaps !== undefined && texture.mipmaps.length > 0 ) {
+
+			// user-defined mipmaps
+
+			return texture.mipmaps.length;
+
+		} else if ( texture.isCompressedTexture && Array.isArray( texture.image ) ) {
+
+			return image.mipmaps.length;
+
+		} else {
+
+			// texture without mipmaps (only base level)
+
+			return 1;
+
+		}
+
+	}
+
+	// Fallback filters for non-power-of-2 textures
+
+	function filterFallback( f ) {
+
+		if ( f === NearestFilter || f === NearestMipmapNearestFilter || f === NearestMipmapLinearFilter ) {
+
+			return _gl.NEAREST;
+
+		}
+
+		return _gl.LINEAR;
+
+	}
+
+	//
+
+	function onTextureDispose( event ) {
+
+		const texture = event.target;
+
+		texture.removeEventListener( 'dispose', onTextureDispose );
+
+		deallocateTexture( texture );
+
+		if ( texture.isVideoTexture ) {
+
+			_videoTextures.delete( texture );
+
+		}
+
+	}
+
+	function onRenderTargetDispose( event ) {
+
+		const renderTarget = event.target;
+
+		renderTarget.removeEventListener( 'dispose', onRenderTargetDispose );
+
+		deallocateRenderTarget( renderTarget );
+
+	}
+
+	//
+
+	function deallocateTexture( texture ) {
+
+		const textureProperties = properties.get( texture );
+
+		if ( textureProperties.__webglInit === undefined ) return;
+
+		// check if it's necessary to remove the WebGLTexture object
+
+		const source = texture.source;
+		const webglTextures = _sources.get( source );
+
+		if ( webglTextures ) {
+
+			const webglTexture = webglTextures[ textureProperties.__cacheKey ];
+			webglTexture.usedTimes --;
+
+			// the WebGLTexture object is not used anymore, remove it
+
+			if ( webglTexture.usedTimes === 0 ) {
+
+				deleteTexture( texture );
+
+			}
+
+			// remove the weak map entry if no WebGLTexture uses the source anymore
+
+			if ( Object.keys( webglTextures ).length === 0 ) {
+
+				_sources.delete( source );
+
+			}
+
+		}
+
+		properties.remove( texture );
+
+	}
+
+	function deleteTexture( texture ) {
+
+		const textureProperties = properties.get( texture );
+		_gl.deleteTexture( textureProperties.__webglTexture );
+
+		const source = texture.source;
+		const webglTextures = _sources.get( source );
+		delete webglTextures[ textureProperties.__cacheKey ];
+
+		info.memory.textures --;
+
+	}
+
+	function deallocateRenderTarget( renderTarget ) {
+
+		const texture = renderTarget.texture;
+
+		const renderTargetProperties = properties.get( renderTarget );
+		const textureProperties = properties.get( texture );
+
+		if ( textureProperties.__webglTexture !== undefined ) {
+
+			_gl.deleteTexture( textureProperties.__webglTexture );
+
+			info.memory.textures --;
+
+		}
+
+		if ( renderTarget.depthTexture ) {
+
+			renderTarget.depthTexture.dispose();
+
+		}
+
+		if ( renderTarget.isWebGLCubeRenderTarget ) {
+
+			for ( let i = 0; i < 6; i ++ ) {
+
+				if ( Array.isArray( renderTargetProperties.__webglFramebuffer[ i ] ) ) {
+
+					for ( let level = 0; level < renderTargetProperties.__webglFramebuffer[ i ].length; level ++ ) _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ i ][ level ] );
+
+				} else {
+
+					_gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ i ] );
+
+				}
+
+				if ( renderTargetProperties.__webglDepthbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthbuffer[ i ] );
+
+			}
+
+		} else {
+
+			if ( Array.isArray( renderTargetProperties.__webglFramebuffer ) ) {
+
+				for ( let level = 0; level < renderTargetProperties.__webglFramebuffer.length; level ++ ) _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ level ] );
+
+			} else {
+
+				_gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer );
+
+			}
+
+			if ( renderTargetProperties.__webglDepthbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthbuffer );
+			if ( renderTargetProperties.__webglMultisampledFramebuffer ) _gl.deleteFramebuffer( renderTargetProperties.__webglMultisampledFramebuffer );
+
+			if ( renderTargetProperties.__webglColorRenderbuffer ) {
+
+				for ( let i = 0; i < renderTargetProperties.__webglColorRenderbuffer.length; i ++ ) {
+
+					if ( renderTargetProperties.__webglColorRenderbuffer[ i ] ) _gl.deleteRenderbuffer( renderTargetProperties.__webglColorRenderbuffer[ i ] );
+
+				}
+
+			}
+
+			if ( renderTargetProperties.__webglDepthRenderbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthRenderbuffer );
+
+		}
+
+		if ( renderTarget.isWebGLMultipleRenderTargets ) {
+
+			for ( let i = 0, il = texture.length; i < il; i ++ ) {
+
+				const attachmentProperties = properties.get( texture[ i ] );
+
+				if ( attachmentProperties.__webglTexture ) {
+
+					_gl.deleteTexture( attachmentProperties.__webglTexture );
+
+					info.memory.textures --;
+
+				}
+
+				properties.remove( texture[ i ] );
+
+			}
+
+		}
+
+		properties.remove( texture );
+		properties.remove( renderTarget );
+
+	}
+
+	//
+
+	let textureUnits = 0;
+
+	function resetTextureUnits() {
+
+		textureUnits = 0;
+
+	}
+
+	function allocateTextureUnit() {
+
+		const textureUnit = textureUnits;
+
+		if ( textureUnit >= capabilities.maxTextures ) {
+
+			console.warn( 'THREE.WebGLTextures: Trying to use ' + textureUnit + ' texture units while this GPU supports only ' + capabilities.maxTextures );
+
+		}
+
+		textureUnits += 1;
+
+		return textureUnit;
+
+	}
+
+	function getTextureCacheKey( texture ) {
+
+		const array = [];
+
+		array.push( texture.wrapS );
+		array.push( texture.wrapT );
+		array.push( texture.wrapR || 0 );
+		array.push( texture.magFilter );
+		array.push( texture.minFilter );
+		array.push( texture.anisotropy );
+		array.push( texture.internalFormat );
+		array.push( texture.format );
+		array.push( texture.type );
+		array.push( texture.generateMipmaps );
+		array.push( texture.premultiplyAlpha );
+		array.push( texture.flipY );
+		array.push( texture.unpackAlignment );
+		array.push( texture.colorSpace );
+
+		return array.join();
+
+	}
+
+	//
+
+	function setTexture2D( texture, slot ) {
+
+		const textureProperties = properties.get( texture );
+
+		if ( texture.isVideoTexture ) updateVideoTexture( texture );
+
+		if ( texture.isRenderTargetTexture === false && texture.version > 0 && textureProperties.__version !== texture.version ) {
+
+			const image = texture.image;
+
+			if ( image === null ) {
+
+				console.warn( 'THREE.WebGLRenderer: Texture marked for update but no image data found.' );
+
+			} else if ( image.complete === false ) {
+
+				console.warn( 'THREE.WebGLRenderer: Texture marked for update but image is incomplete' );
+
+			} else {
+
+				uploadTexture( textureProperties, texture, slot );
+				return;
+
+			}
+
+		}
+
+		state.bindTexture( _gl.TEXTURE_2D, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+	}
+
+	function setTexture2DArray( texture, slot ) {
+
+		const textureProperties = properties.get( texture );
+
+		if ( texture.version > 0 && textureProperties.__version !== texture.version ) {
+
+			uploadTexture( textureProperties, texture, slot );
+			return;
+
+		}
+
+		state.bindTexture( _gl.TEXTURE_2D_ARRAY, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+	}
+
+	function setTexture3D( texture, slot ) {
+
+		const textureProperties = properties.get( texture );
+
+		if ( texture.version > 0 && textureProperties.__version !== texture.version ) {
+
+			uploadTexture( textureProperties, texture, slot );
+			return;
+
+		}
+
+		state.bindTexture( _gl.TEXTURE_3D, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+	}
+
+	function setTextureCube( texture, slot ) {
+
+		const textureProperties = properties.get( texture );
+
+		if ( texture.version > 0 && textureProperties.__version !== texture.version ) {
+
+			uploadCubeTexture( textureProperties, texture, slot );
+			return;
+
+		}
+
+		state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+	}
+
+	const wrappingToGL = {
+		[ RepeatWrapping ]: _gl.REPEAT,
+		[ ClampToEdgeWrapping ]: _gl.CLAMP_TO_EDGE,
+		[ MirroredRepeatWrapping ]: _gl.MIRRORED_REPEAT
+	};
+
+	const filterToGL = {
+		[ NearestFilter ]: _gl.NEAREST,
+		[ NearestMipmapNearestFilter ]: _gl.NEAREST_MIPMAP_NEAREST,
+		[ NearestMipmapLinearFilter ]: _gl.NEAREST_MIPMAP_LINEAR,
+
+		[ LinearFilter ]: _gl.LINEAR,
+		[ LinearMipmapNearestFilter ]: _gl.LINEAR_MIPMAP_NEAREST,
+		[ LinearMipmapLinearFilter ]: _gl.LINEAR_MIPMAP_LINEAR
+	};
+
+	const compareToGL = {
+		[ NeverCompare ]: _gl.NEVER,
+		[ AlwaysCompare ]: _gl.ALWAYS,
+		[ LessCompare ]: _gl.LESS,
+		[ LessEqualCompare ]: _gl.LEQUAL,
+		[ EqualCompare ]: _gl.EQUAL,
+		[ GreaterEqualCompare ]: _gl.GEQUAL,
+		[ GreaterCompare ]: _gl.GREATER,
+		[ NotEqualCompare ]: _gl.NOTEQUAL
+	};
+
+	function setTextureParameters( textureType, texture, supportsMips ) {
+
+		if ( supportsMips ) {
+
+			_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_S, wrappingToGL[ texture.wrapS ] );
+			_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_T, wrappingToGL[ texture.wrapT ] );
+
+			if ( textureType === _gl.TEXTURE_3D || textureType === _gl.TEXTURE_2D_ARRAY ) {
+
+				_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_R, wrappingToGL[ texture.wrapR ] );
+
+			}
+
+			_gl.texParameteri( textureType, _gl.TEXTURE_MAG_FILTER, filterToGL[ texture.magFilter ] );
+			_gl.texParameteri( textureType, _gl.TEXTURE_MIN_FILTER, filterToGL[ texture.minFilter ] );
+
+		} else {
+
+			_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_S, _gl.CLAMP_TO_EDGE );
+			_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_T, _gl.CLAMP_TO_EDGE );
+
+			if ( textureType === _gl.TEXTURE_3D || textureType === _gl.TEXTURE_2D_ARRAY ) {
+
+				_gl.texParameteri( textureType, _gl.TEXTURE_WRAP_R, _gl.CLAMP_TO_EDGE );
+
+			}
+
+			if ( texture.wrapS !== ClampToEdgeWrapping || texture.wrapT !== ClampToEdgeWrapping ) {
+
+				console.warn( 'THREE.WebGLRenderer: Texture is not power of two. Texture.wrapS and Texture.wrapT should be set to THREE.ClampToEdgeWrapping.' );
+
+			}
+
+			_gl.texParameteri( textureType, _gl.TEXTURE_MAG_FILTER, filterFallback( texture.magFilter ) );
+			_gl.texParameteri( textureType, _gl.TEXTURE_MIN_FILTER, filterFallback( texture.minFilter ) );
+
+			if ( texture.minFilter !== NearestFilter && texture.minFilter !== LinearFilter ) {
+
+				console.warn( 'THREE.WebGLRenderer: Texture is not power of two. Texture.minFilter should be set to THREE.NearestFilter or THREE.LinearFilter.' );
+
+			}
+
+		}
+
+		if ( texture.compareFunction ) {
+
+			_gl.texParameteri( textureType, _gl.TEXTURE_COMPARE_MODE, _gl.COMPARE_REF_TO_TEXTURE );
+			_gl.texParameteri( textureType, _gl.TEXTURE_COMPARE_FUNC, compareToGL[ texture.compareFunction ] );
+
+		}
+
+		if ( extensions.has( 'EXT_texture_filter_anisotropic' ) === true ) {
+
+			const extension = extensions.get( 'EXT_texture_filter_anisotropic' );
+
+			if ( texture.magFilter === NearestFilter ) return;
+			if ( texture.minFilter !== NearestMipmapLinearFilter && texture.minFilter !== LinearMipmapLinearFilter ) return;
+			if ( texture.type === FloatType && extensions.has( 'OES_texture_float_linear' ) === false ) return; // verify extension for WebGL 1 and WebGL 2
+			if ( isWebGL2 === false && ( texture.type === HalfFloatType && extensions.has( 'OES_texture_half_float_linear' ) === false ) ) return; // verify extension for WebGL 1 only
+
+			if ( texture.anisotropy > 1 || properties.get( texture ).__currentAnisotropy ) {
+
+				_gl.texParameterf( textureType, extension.TEXTURE_MAX_ANISOTROPY_EXT, Math.min( texture.anisotropy, capabilities.getMaxAnisotropy() ) );
+				properties.get( texture ).__currentAnisotropy = texture.anisotropy;
+
+			}
+
+		}
+
+	}
+
+	function initTexture( textureProperties, texture ) {
+
+		let forceUpload = false;
+
+		if ( textureProperties.__webglInit === undefined ) {
+
+			textureProperties.__webglInit = true;
+
+			texture.addEventListener( 'dispose', onTextureDispose );
+
+		}
+
+		// create Source <-> WebGLTextures mapping if necessary
+
+		const source = texture.source;
+		let webglTextures = _sources.get( source );
+
+		if ( webglTextures === undefined ) {
+
+			webglTextures = {};
+			_sources.set( source, webglTextures );
+
+		}
+
+		// check if there is already a WebGLTexture object for the given texture parameters
+
+		const textureCacheKey = getTextureCacheKey( texture );
+
+		if ( textureCacheKey !== textureProperties.__cacheKey ) {
+
+			// if not, create a new instance of WebGLTexture
+
+			if ( webglTextures[ textureCacheKey ] === undefined ) {
+
+				// create new entry
+
+				webglTextures[ textureCacheKey ] = {
+					texture: _gl.createTexture(),
+					usedTimes: 0
+				};
+
+				info.memory.textures ++;
+
+				// when a new instance of WebGLTexture was created, a texture upload is required
+				// even if the image contents are identical
+
+				forceUpload = true;
+
+			}
+
+			webglTextures[ textureCacheKey ].usedTimes ++;
+
+			// every time the texture cache key changes, it's necessary to check if an instance of
+			// WebGLTexture can be deleted in order to avoid a memory leak.
+
+			const webglTexture = webglTextures[ textureProperties.__cacheKey ];
+
+			if ( webglTexture !== undefined ) {
+
+				webglTextures[ textureProperties.__cacheKey ].usedTimes --;
+
+				if ( webglTexture.usedTimes === 0 ) {
+
+					deleteTexture( texture );
+
+				}
+
+			}
+
+			// store references to cache key and WebGLTexture object
+
+			textureProperties.__cacheKey = textureCacheKey;
+			textureProperties.__webglTexture = webglTextures[ textureCacheKey ].texture;
+
+		}
+
+		return forceUpload;
+
+	}
+
+	function uploadTexture( textureProperties, texture, slot ) {
+
+		let textureType = _gl.TEXTURE_2D;
+
+		if ( texture.isDataArrayTexture || texture.isCompressedArrayTexture ) textureType = _gl.TEXTURE_2D_ARRAY;
+		if ( texture.isData3DTexture ) textureType = _gl.TEXTURE_3D;
+
+		const forceUpload = initTexture( textureProperties, texture );
+		const source = texture.source;
+
+		state.bindTexture( textureType, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+		const sourceProperties = properties.get( source );
+
+		if ( source.version !== sourceProperties.__version || forceUpload === true ) {
+
+			state.activeTexture( _gl.TEXTURE0 + slot );
+
+			const workingPrimaries = ColorManagement.getPrimaries( ColorManagement.workingColorSpace );
+			const texturePrimaries = texture.colorSpace === NoColorSpace ? null : ColorManagement.getPrimaries( texture.colorSpace );
+			const unpackConversion = texture.colorSpace === NoColorSpace || workingPrimaries === texturePrimaries ? _gl.NONE : _gl.BROWSER_DEFAULT_WEBGL;
+
+			_gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, texture.flipY );
+			_gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, texture.premultiplyAlpha );
+			_gl.pixelStorei( _gl.UNPACK_ALIGNMENT, texture.unpackAlignment );
+			_gl.pixelStorei( _gl.UNPACK_COLORSPACE_CONVERSION_WEBGL, unpackConversion );
+
+			const needsPowerOfTwo = textureNeedsPowerOfTwo( texture ) && isPowerOfTwo$1( texture.image ) === false;
+			let image = resizeImage( texture.image, needsPowerOfTwo, false, capabilities.maxTextureSize );
+			image = verifyColorSpace( texture, image );
+
+			const supportsMips = isPowerOfTwo$1( image ) || isWebGL2,
+				glFormat = utils.convert( texture.format, texture.colorSpace );
+
+			let glType = utils.convert( texture.type ),
+				glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace, texture.isVideoTexture );
+
+			setTextureParameters( textureType, texture, supportsMips );
+
+			let mipmap;
+			const mipmaps = texture.mipmaps;
+
+			const useTexStorage = ( isWebGL2 && texture.isVideoTexture !== true && glInternalFormat !== RGB_ETC1_Format );
+			const allocateMemory = ( sourceProperties.__version === undefined ) || ( forceUpload === true );
+			const levels = getMipLevels( texture, image, supportsMips );
+
+			if ( texture.isDepthTexture ) {
+
+				// populate depth texture with dummy data
+
+				glInternalFormat = _gl.DEPTH_COMPONENT;
+
+				if ( isWebGL2 ) {
+
+					if ( texture.type === FloatType ) {
+
+						glInternalFormat = _gl.DEPTH_COMPONENT32F;
+
+					} else if ( texture.type === UnsignedIntType ) {
+
+						glInternalFormat = _gl.DEPTH_COMPONENT24;
+
+					} else if ( texture.type === UnsignedInt248Type ) {
+
+						glInternalFormat = _gl.DEPTH24_STENCIL8;
+
+					} else {
+
+						glInternalFormat = _gl.DEPTH_COMPONENT16; // WebGL2 requires sized internalformat for glTexImage2D
+
+					}
+
+				} else {
+
+					if ( texture.type === FloatType ) {
+
+						console.error( 'WebGLRenderer: Floating point depth texture requires WebGL2.' );
+
+					}
+
+				}
+
+				// validation checks for WebGL 1
+
+				if ( texture.format === DepthFormat && glInternalFormat === _gl.DEPTH_COMPONENT ) {
+
+					// The error INVALID_OPERATION is generated by texImage2D if format and internalformat are
+					// DEPTH_COMPONENT and type is not UNSIGNED_SHORT or UNSIGNED_INT
+					// (https://www.khronos.org/registry/webgl/extensions/WEBGL_depth_texture/)
+					if ( texture.type !== UnsignedShortType && texture.type !== UnsignedIntType ) {
+
+						console.warn( 'THREE.WebGLRenderer: Use UnsignedShortType or UnsignedIntType for DepthFormat DepthTexture.' );
+
+						texture.type = UnsignedIntType;
+						glType = utils.convert( texture.type );
+
+					}
+
+				}
+
+				if ( texture.format === DepthStencilFormat && glInternalFormat === _gl.DEPTH_COMPONENT ) {
+
+					// Depth stencil textures need the DEPTH_STENCIL internal format
+					// (https://www.khronos.org/registry/webgl/extensions/WEBGL_depth_texture/)
+					glInternalFormat = _gl.DEPTH_STENCIL;
+
+					// The error INVALID_OPERATION is generated by texImage2D if format and internalformat are
+					// DEPTH_STENCIL and type is not UNSIGNED_INT_24_8_WEBGL.
+					// (https://www.khronos.org/registry/webgl/extensions/WEBGL_depth_texture/)
+					if ( texture.type !== UnsignedInt248Type ) {
+
+						console.warn( 'THREE.WebGLRenderer: Use UnsignedInt248Type for DepthStencilFormat DepthTexture.' );
+
+						texture.type = UnsignedInt248Type;
+						glType = utils.convert( texture.type );
+
+					}
+
+				}
+
+				//
+
+				if ( allocateMemory ) {
+
+					if ( useTexStorage ) {
+
+						state.texStorage2D( _gl.TEXTURE_2D, 1, glInternalFormat, image.width, image.height );
+
+					} else {
+
+						state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, image.width, image.height, 0, glFormat, glType, null );
+
+					}
+
+				}
+
+			} else if ( texture.isDataTexture ) {
+
+				// use manually created mipmaps if available
+				// if there are no manual mipmaps
+				// set 0 level mipmap and then use GL to generate other mipmap levels
+
+				if ( mipmaps.length > 0 && supportsMips ) {
+
+					if ( useTexStorage && allocateMemory ) {
+
+						state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height );
+
+					}
+
+					for ( let i = 0, il = mipmaps.length; i < il; i ++ ) {
+
+						mipmap = mipmaps[ i ];
+
+						if ( useTexStorage ) {
+
+							state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data );
+
+						} else {
+
+							state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data );
+
+						}
+
+					}
+
+					texture.generateMipmaps = false;
+
+				} else {
+
+					if ( useTexStorage ) {
+
+						if ( allocateMemory ) {
+
+							state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, image.width, image.height );
+
+						}
+
+						state.texSubImage2D( _gl.TEXTURE_2D, 0, 0, 0, image.width, image.height, glFormat, glType, image.data );
+
+					} else {
+
+						state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, image.width, image.height, 0, glFormat, glType, image.data );
+
+					}
+
+				}
+
+			} else if ( texture.isCompressedTexture ) {
+
+				if ( texture.isCompressedArrayTexture ) {
+
+					if ( useTexStorage && allocateMemory ) {
+
+						state.texStorage3D( _gl.TEXTURE_2D_ARRAY, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height, image.depth );
+
+					}
+
+					for ( let i = 0, il = mipmaps.length; i < il; i ++ ) {
+
+						mipmap = mipmaps[ i ];
+
+						if ( texture.format !== RGBAFormat ) {
+
+							if ( glFormat !== null ) {
+
+								if ( useTexStorage ) {
+
+									state.compressedTexSubImage3D( _gl.TEXTURE_2D_ARRAY, i, 0, 0, 0, mipmap.width, mipmap.height, image.depth, glFormat, mipmap.data, 0, 0 );
+
+								} else {
+
+									state.compressedTexImage3D( _gl.TEXTURE_2D_ARRAY, i, glInternalFormat, mipmap.width, mipmap.height, image.depth, 0, mipmap.data, 0, 0 );
+
+								}
+
+							} else {
+
+								console.warn( 'THREE.WebGLRenderer: Attempt to load unsupported compressed texture format in .uploadTexture()' );
+
+							}
+
+						} else {
+
+							if ( useTexStorage ) {
+
+								state.texSubImage3D( _gl.TEXTURE_2D_ARRAY, i, 0, 0, 0, mipmap.width, mipmap.height, image.depth, glFormat, glType, mipmap.data );
+
+							} else {
+
+								state.texImage3D( _gl.TEXTURE_2D_ARRAY, i, glInternalFormat, mipmap.width, mipmap.height, image.depth, 0, glFormat, glType, mipmap.data );
+
+							}
+
+						}
+
+					}
+
+				} else {
+
+					if ( useTexStorage && allocateMemory ) {
+
+						state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height );
+
+					}
+
+					for ( let i = 0, il = mipmaps.length; i < il; i ++ ) {
+
+						mipmap = mipmaps[ i ];
+
+						if ( texture.format !== RGBAFormat ) {
+
+							if ( glFormat !== null ) {
+
+								if ( useTexStorage ) {
+
+									state.compressedTexSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, mipmap.data );
+
+								} else {
+
+									state.compressedTexImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, mipmap.data );
+
+								}
+
+							} else {
+
+								console.warn( 'THREE.WebGLRenderer: Attempt to load unsupported compressed texture format in .uploadTexture()' );
+
+							}
+
+						} else {
+
+							if ( useTexStorage ) {
+
+								state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data );
+
+							} else {
+
+								state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data );
+
+							}
+
+						}
+
+					}
+
+				}
+
+			} else if ( texture.isDataArrayTexture ) {
+
+				if ( useTexStorage ) {
+
+					if ( allocateMemory ) {
+
+						state.texStorage3D( _gl.TEXTURE_2D_ARRAY, levels, glInternalFormat, image.width, image.height, image.depth );
+
+					}
+
+					state.texSubImage3D( _gl.TEXTURE_2D_ARRAY, 0, 0, 0, 0, image.width, image.height, image.depth, glFormat, glType, image.data );
+
+				} else {
+
+					state.texImage3D( _gl.TEXTURE_2D_ARRAY, 0, glInternalFormat, image.width, image.height, image.depth, 0, glFormat, glType, image.data );
+
+				}
+
+			} else if ( texture.isData3DTexture ) {
+
+				if ( useTexStorage ) {
+
+					if ( allocateMemory ) {
+
+						state.texStorage3D( _gl.TEXTURE_3D, levels, glInternalFormat, image.width, image.height, image.depth );
+
+					}
+
+					state.texSubImage3D( _gl.TEXTURE_3D, 0, 0, 0, 0, image.width, image.height, image.depth, glFormat, glType, image.data );
+
+				} else {
+
+					state.texImage3D( _gl.TEXTURE_3D, 0, glInternalFormat, image.width, image.height, image.depth, 0, glFormat, glType, image.data );
+
+				}
+
+			} else if ( texture.isFramebufferTexture ) {
+
+				if ( allocateMemory ) {
+
+					if ( useTexStorage ) {
+
+						state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, image.width, image.height );
+
+					} else {
+
+						let width = image.width, height = image.height;
+
+						for ( let i = 0; i < levels; i ++ ) {
+
+							state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, width, height, 0, glFormat, glType, null );
+
+							width >>= 1;
+							height >>= 1;
+
+						}
+
+					}
+
+				}
+
+			} else {
+
+				// regular Texture (image, video, canvas)
+
+				// use manually created mipmaps if available
+				// if there are no manual mipmaps
+				// set 0 level mipmap and then use GL to generate other mipmap levels
+
+				if ( mipmaps.length > 0 && supportsMips ) {
+
+					if ( useTexStorage && allocateMemory ) {
+
+						state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height );
+
+					}
+
+					for ( let i = 0, il = mipmaps.length; i < il; i ++ ) {
+
+						mipmap = mipmaps[ i ];
+
+						if ( useTexStorage ) {
+
+							state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, glFormat, glType, mipmap );
+
+						} else {
+
+							state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, glFormat, glType, mipmap );
+
+						}
+
+					}
+
+					texture.generateMipmaps = false;
+
+				} else {
+
+					if ( useTexStorage ) {
+
+						if ( allocateMemory ) {
+
+							state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, image.width, image.height );
+
+						}
+
+						state.texSubImage2D( _gl.TEXTURE_2D, 0, 0, 0, glFormat, glType, image );
+
+					} else {
+
+						state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, glFormat, glType, image );
+
+					}
+
+				}
+
+			}
+
+			if ( textureNeedsGenerateMipmaps( texture, supportsMips ) ) {
+
+				generateMipmap( textureType );
+
+			}
+
+			sourceProperties.__version = source.version;
+
+			if ( texture.onUpdate ) texture.onUpdate( texture );
+
+		}
+
+		textureProperties.__version = texture.version;
+
+	}
+
+	function uploadCubeTexture( textureProperties, texture, slot ) {
+
+		if ( texture.image.length !== 6 ) return;
+
+		const forceUpload = initTexture( textureProperties, texture );
+		const source = texture.source;
+
+		state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture, _gl.TEXTURE0 + slot );
+
+		const sourceProperties = properties.get( source );
+
+		if ( source.version !== sourceProperties.__version || forceUpload === true ) {
+
+			state.activeTexture( _gl.TEXTURE0 + slot );
+
+			const workingPrimaries = ColorManagement.getPrimaries( ColorManagement.workingColorSpace );
+			const texturePrimaries = texture.colorSpace === NoColorSpace ? null : ColorManagement.getPrimaries( texture.colorSpace );
+			const unpackConversion = texture.colorSpace === NoColorSpace || workingPrimaries === texturePrimaries ? _gl.NONE : _gl.BROWSER_DEFAULT_WEBGL;
+
+			_gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, texture.flipY );
+			_gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, texture.premultiplyAlpha );
+			_gl.pixelStorei( _gl.UNPACK_ALIGNMENT, texture.unpackAlignment );
+			_gl.pixelStorei( _gl.UNPACK_COLORSPACE_CONVERSION_WEBGL, unpackConversion );
+
+			const isCompressed = ( texture.isCompressedTexture || texture.image[ 0 ].isCompressedTexture );
+			const isDataTexture = ( texture.image[ 0 ] && texture.image[ 0 ].isDataTexture );
+
+			const cubeImage = [];
+
+			for ( let i = 0; i < 6; i ++ ) {
+
+				if ( ! isCompressed && ! isDataTexture ) {
+
+					cubeImage[ i ] = resizeImage( texture.image[ i ], false, true, capabilities.maxCubemapSize );
+
+				} else {
+
+					cubeImage[ i ] = isDataTexture ? texture.image[ i ].image : texture.image[ i ];
+
+				}
+
+				cubeImage[ i ] = verifyColorSpace( texture, cubeImage[ i ] );
+
+			}
+
+			const image = cubeImage[ 0 ],
+				supportsMips = isPowerOfTwo$1( image ) || isWebGL2,
+				glFormat = utils.convert( texture.format, texture.colorSpace ),
+				glType = utils.convert( texture.type ),
+				glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace );
+
+			const useTexStorage = ( isWebGL2 && texture.isVideoTexture !== true );
+			const allocateMemory = ( sourceProperties.__version === undefined ) || ( forceUpload === true );
+			let levels = getMipLevels( texture, image, supportsMips );
+
+			setTextureParameters( _gl.TEXTURE_CUBE_MAP, texture, supportsMips );
+
+			let mipmaps;
+
+			if ( isCompressed ) {
+
+				if ( useTexStorage && allocateMemory ) {
+
+					state.texStorage2D( _gl.TEXTURE_CUBE_MAP, levels, glInternalFormat, image.width, image.height );
+
+				}
+
+				for ( let i = 0; i < 6; i ++ ) {
+
+					mipmaps = cubeImage[ i ].mipmaps;
+
+					for ( let j = 0; j < mipmaps.length; j ++ ) {
+
+						const mipmap = mipmaps[ j ];
+
+						if ( texture.format !== RGBAFormat ) {
+
+							if ( glFormat !== null ) {
+
+								if ( useTexStorage ) {
+
+									state.compressedTexSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, 0, 0, mipmap.width, mipmap.height, glFormat, mipmap.data );
+
+								} else {
+
+									state.compressedTexImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, glInternalFormat, mipmap.width, mipmap.height, 0, mipmap.data );
+
+								}
+
+							} else {
+
+								console.warn( 'THREE.WebGLRenderer: Attempt to load unsupported compressed texture format in .setTextureCube()' );
+
+							}
+
+						} else {
+
+							if ( useTexStorage ) {
+
+								state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data );
+
+							} else {
+
+								state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data );
+
+							}
+
+						}
+
+					}
+
+				}
+
+			} else {
+
+				mipmaps = texture.mipmaps;
+
+				if ( useTexStorage && allocateMemory ) {
+
+					// TODO: Uniformly handle mipmap definitions
+					// Normal textures and compressed cube textures define base level + mips with their mipmap array
+					// Uncompressed cube textures use their mipmap array only for mips (no base level)
+
+					if ( mipmaps.length > 0 ) levels ++;
+
+					state.texStorage2D( _gl.TEXTURE_CUBE_MAP, levels, glInternalFormat, cubeImage[ 0 ].width, cubeImage[ 0 ].height );
+
+				}
+
+				for ( let i = 0; i < 6; i ++ ) {
+
+					if ( isDataTexture ) {
+
+						if ( useTexStorage ) {
+
+							state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, 0, 0, cubeImage[ i ].width, cubeImage[ i ].height, glFormat, glType, cubeImage[ i ].data );
+
+						} else {
+
+							state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, cubeImage[ i ].width, cubeImage[ i ].height, 0, glFormat, glType, cubeImage[ i ].data );
+
+						}
+
+						for ( let j = 0; j < mipmaps.length; j ++ ) {
+
+							const mipmap = mipmaps[ j ];
+							const mipmapImage = mipmap.image[ i ].image;
+
+							if ( useTexStorage ) {
+
+								state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, 0, 0, mipmapImage.width, mipmapImage.height, glFormat, glType, mipmapImage.data );
+
+							} else {
+
+								state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, glInternalFormat, mipmapImage.width, mipmapImage.height, 0, glFormat, glType, mipmapImage.data );
+
+							}
+
+						}
+
+					} else {
+
+						if ( useTexStorage ) {
+
+							state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, 0, 0, glFormat, glType, cubeImage[ i ] );
+
+						} else {
+
+							state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, glFormat, glType, cubeImage[ i ] );
+
+						}
+
+						for ( let j = 0; j < mipmaps.length; j ++ ) {
+
+							const mipmap = mipmaps[ j ];
+
+							if ( useTexStorage ) {
+
+								state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, 0, 0, glFormat, glType, mipmap.image[ i ] );
+
+							} else {
+
+								state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, glInternalFormat, glFormat, glType, mipmap.image[ i ] );
+
+							}
+
+						}
+
+					}
+
+				}
+
+			}
+
+			if ( textureNeedsGenerateMipmaps( texture, supportsMips ) ) {
+
+				// We assume images for cube map have the same size.
+				generateMipmap( _gl.TEXTURE_CUBE_MAP );
+
+			}
+
+			sourceProperties.__version = source.version;
+
+			if ( texture.onUpdate ) texture.onUpdate( texture );
+
+		}
+
+		textureProperties.__version = texture.version;
+
+	}
+
+	// Render targets
+
+	// Setup storage for target texture and bind it to correct framebuffer
+	function setupFrameBufferTexture( framebuffer, renderTarget, texture, attachment, textureTarget, level ) {
+
+		const glFormat = utils.convert( texture.format, texture.colorSpace );
+		const glType = utils.convert( texture.type );
+		const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace );
+		const renderTargetProperties = properties.get( renderTarget );
+
+		if ( ! renderTargetProperties.__hasExternalTextures ) {
+
+			const width = Math.max( 1, renderTarget.width >> level );
+			const height = Math.max( 1, renderTarget.height >> level );
+
+			if ( textureTarget === _gl.TEXTURE_3D || textureTarget === _gl.TEXTURE_2D_ARRAY ) {
+
+				state.texImage3D( textureTarget, level, glInternalFormat, width, height, renderTarget.depth, 0, glFormat, glType, null );
+
+			} else {
+
+				state.texImage2D( textureTarget, level, glInternalFormat, width, height, 0, glFormat, glType, null );
+
+			}
+
+		}
+
+		state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer );
+
+		if ( useMultisampledRTT( renderTarget ) ) {
+
+			multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, attachment, textureTarget, properties.get( texture ).__webglTexture, 0, getRenderTargetSamples( renderTarget ) );
+
+		} else if ( textureTarget === _gl.TEXTURE_2D || ( textureTarget >= _gl.TEXTURE_CUBE_MAP_POSITIVE_X && textureTarget <= _gl.TEXTURE_CUBE_MAP_NEGATIVE_Z ) ) { // see #24753
+
+			_gl.framebufferTexture2D( _gl.FRAMEBUFFER, attachment, textureTarget, properties.get( texture ).__webglTexture, level );
+
+		}
+
+		state.bindFramebuffer( _gl.FRAMEBUFFER, null );
+
+	}
+
+
+	// Setup storage for internal depth/stencil buffers and bind to correct framebuffer
+	function setupRenderBufferStorage( renderbuffer, renderTarget, isMultisample ) {
+
+		_gl.bindRenderbuffer( _gl.RENDERBUFFER, renderbuffer );
+
+		if ( renderTarget.depthBuffer && ! renderTarget.stencilBuffer ) {
+
+			let glInternalFormat = ( isWebGL2 === true ) ? _gl.DEPTH_COMPONENT24 : _gl.DEPTH_COMPONENT16;
+
+			if ( isMultisample || useMultisampledRTT( renderTarget ) ) {
+
+				const depthTexture = renderTarget.depthTexture;
+
+				if ( depthTexture && depthTexture.isDepthTexture ) {
+
+					if ( depthTexture.type === FloatType ) {
+
+						glInternalFormat = _gl.DEPTH_COMPONENT32F;
+
+					} else if ( depthTexture.type === UnsignedIntType ) {
+
+						glInternalFormat = _gl.DEPTH_COMPONENT24;
+
+					}
+
+				}
+
+				const samples = getRenderTargetSamples( renderTarget );
+
+				if ( useMultisampledRTT( renderTarget ) ) {
+
+					multisampledRTTExt.renderbufferStorageMultisampleEXT( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height );
+
+				} else {
+
+					_gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height );
+
+				}
+
+			} else {
+
+				_gl.renderbufferStorage( _gl.RENDERBUFFER, glInternalFormat, renderTarget.width, renderTarget.height );
+
+			}
+
+			_gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.DEPTH_ATTACHMENT, _gl.RENDERBUFFER, renderbuffer );
+
+		} else if ( renderTarget.depthBuffer && renderTarget.stencilBuffer ) {
+
+			const samples = getRenderTargetSamples( renderTarget );
+
+			if ( isMultisample && useMultisampledRTT( renderTarget ) === false ) {
+
+				_gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, samples, _gl.DEPTH24_STENCIL8, renderTarget.width, renderTarget.height );
+
+			} else if ( useMultisampledRTT( renderTarget ) ) {
+
+				multisampledRTTExt.renderbufferStorageMultisampleEXT( _gl.RENDERBUFFER, samples, _gl.DEPTH24_STENCIL8, renderTarget.width, renderTarget.height );
+
+			} else {
+
+				_gl.renderbufferStorage( _gl.RENDERBUFFER, _gl.DEPTH_STENCIL, renderTarget.width, renderTarget.height );
+
+			}
+
+
+			_gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.DEPTH_STENCIL_ATTACHMENT, _gl.RENDERBUFFER, renderbuffer );
+
+		} else {
+
+			const textures = renderTarget.isWebGLMultipleRenderTargets === true ? renderTarget.texture : [ renderTarget.texture ];
+
+			for ( let i = 0; i < textures.length; i ++ ) {
+
+				const texture = textures[ i ];
+
+				const glFormat = utils.convert( texture.format, texture.colorSpace );
+				const glType = utils.convert( texture.type );
+				const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace );
+				const samples = getRenderTargetSamples( renderTarget );
+
+				if ( isMultisample && useMultisampledRTT( renderTarget ) === false ) {
+
+					_gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height );
+
+				} else if ( useMultisampledRTT( renderTarget ) ) {
+
+					multisampledRTTExt.renderbufferStorageMultisampleEXT( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height );
+
+				} else {
+
+					_gl.renderbufferStorage( _gl.RENDERBUFFER, glInternalFormat, renderTarget.width, renderTarget.height );
+
+				}
+
+			}
+
+		}
+
+		_gl.bindRenderbuffer( _gl.RENDERBUFFER, null );
+
+	}
+
+	// Setup resources for a Depth Texture for a FBO (needs an extension)
+	function setupDepthTexture( framebuffer, renderTarget ) {
+
+		const isCube = ( renderTarget && renderTarget.isWebGLCubeRenderTarget );
+		if ( isCube ) throw new Error( 'Depth Texture with cube render targets is not supported' );
+
+		state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer );
+
+		if ( ! ( renderTarget.depthTexture && renderTarget.depthTexture.isDepthTexture ) ) {
+
+			throw new Error( 'renderTarget.depthTexture must be an instance of THREE.DepthTexture' );
+
+		}
+
+		// upload an empty depth texture with framebuffer size
+		if ( ! properties.get( renderTarget.depthTexture ).__webglTexture ||
+				renderTarget.depthTexture.image.width !== renderTarget.width ||
+				renderTarget.depthTexture.image.height !== renderTarget.height ) {
+
+			renderTarget.depthTexture.image.width = renderTarget.width;
+			renderTarget.depthTexture.image.height = renderTarget.height;
+			renderTarget.depthTexture.needsUpdate = true;
+
+		}
+
+		setTexture2D( renderTarget.depthTexture, 0 );
+
+		const webglDepthTexture = properties.get( renderTarget.depthTexture ).__webglTexture;
+		const samples = getRenderTargetSamples( renderTarget );
+
+		if ( renderTarget.depthTexture.format === DepthFormat ) {
+
+			if ( useMultisampledRTT( renderTarget ) ) {
+
+				multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, _gl.DEPTH_ATTACHMENT, _gl.TEXTURE_2D, webglDepthTexture, 0, samples );
+
+			} else {
+
+				_gl.framebufferTexture2D( _gl.FRAMEBUFFER, _gl.DEPTH_ATTACHMENT, _gl.TEXTURE_2D, webglDepthTexture, 0 );
+
+			}
+
+		} else if ( renderTarget.depthTexture.format === DepthStencilFormat ) {
+
+			if ( useMultisampledRTT( renderTarget ) ) {
+
+				multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, _gl.DEPTH_STENCIL_ATTACHMENT, _gl.TEXTURE_2D, webglDepthTexture, 0, samples );
+
+			} else {
+
+				_gl.framebufferTexture2D( _gl.FRAMEBUFFER, _gl.DEPTH_STENCIL_ATTACHMENT, _gl.TEXTURE_2D, webglDepthTexture, 0 );
+
+			}
+
+		} else {
+
+			throw new Error( 'Unknown depthTexture format' );
+
+		}
+
+	}
+
+	// Setup GL resources for a non-texture depth buffer
+	function setupDepthRenderbuffer( renderTarget ) {
+
+		const renderTargetProperties = properties.get( renderTarget );
+		const isCube = ( renderTarget.isWebGLCubeRenderTarget === true );
+
+		if ( renderTarget.depthTexture && ! renderTargetProperties.__autoAllocateDepthBuffer ) {
+
+			if ( isCube ) throw new Error( 'target.depthTexture not supported in Cube render targets' );
+
+			setupDepthTexture( renderTargetProperties.__webglFramebuffer, renderTarget );
+
+		} else {
+
+			if ( isCube ) {
+
+				renderTargetProperties.__webglDepthbuffer = [];
+
+				for ( let i = 0; i < 6; i ++ ) {
+
+					state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer[ i ] );
+					renderTargetProperties.__webglDepthbuffer[ i ] = _gl.createRenderbuffer();
+					setupRenderBufferStorage( renderTargetProperties.__webglDepthbuffer[ i ], renderTarget, false );
+
+				}
+
+			} else {
+
+				state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer );
+				renderTargetProperties.__webglDepthbuffer = _gl.createRenderbuffer();
+				setupRenderBufferStorage( renderTargetProperties.__webglDepthbuffer, renderTarget, false );
+
+			}
+
+		}
+
+		state.bindFramebuffer( _gl.FRAMEBUFFER, null );
+
+	}
+
+	// rebind framebuffer with external textures
+	function rebindTextures( renderTarget, colorTexture, depthTexture ) {
+
+		const renderTargetProperties = properties.get( renderTarget );
+
+		if ( colorTexture !== undefined ) {
+
+			setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, renderTarget.texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, 0 );
+
+		}
+
+		if ( depthTexture !== undefined ) {
+
+			setupDepthRenderbuffer( renderTarget );
+
+		}
+
+	}
+
+	// Set up GL resources for the render target
+	function setupRenderTarget( renderTarget ) {
+
+		const texture = renderTarget.texture;
+
+		const renderTargetProperties = properties.get( renderTarget );
+		const textureProperties = properties.get( texture );
+
+		renderTarget.addEventListener( 'dispose', onRenderTargetDispose );
+
+		if ( renderTarget.isWebGLMultipleRenderTargets !== true ) {
+
+			if ( textureProperties.__webglTexture === undefined ) {
+
+				textureProperties.__webglTexture = _gl.createTexture();
+
+			}
+
+			textureProperties.__version = texture.version;
+			info.memory.textures ++;
+
+		}
+
+		const isCube = ( renderTarget.isWebGLCubeRenderTarget === true );
+		const isMultipleRenderTargets = ( renderTarget.isWebGLMultipleRenderTargets === true );
+		const supportsMips = isPowerOfTwo$1( renderTarget ) || isWebGL2;
+
+		// Setup framebuffer
+
+		if ( isCube ) {
+
+			renderTargetProperties.__webglFramebuffer = [];
+
+			for ( let i = 0; i < 6; i ++ ) {
+
+				if ( isWebGL2 && texture.mipmaps && texture.mipmaps.length > 0 ) {
+
+					renderTargetProperties.__webglFramebuffer[ i ] = [];
+
+					for ( let level = 0; level < texture.mipmaps.length; level ++ ) {
+
+						renderTargetProperties.__webglFramebuffer[ i ][ level ] = _gl.createFramebuffer();
+
+					}
+
+				} else {
+
+					renderTargetProperties.__webglFramebuffer[ i ] = _gl.createFramebuffer();
+
+				}
+
+			}
+
+		} else {
+
+			if ( isWebGL2 && texture.mipmaps && texture.mipmaps.length > 0 ) {
+
+				renderTargetProperties.__webglFramebuffer = [];
+
+				for ( let level = 0; level < texture.mipmaps.length; level ++ ) {
+
+					renderTargetProperties.__webglFramebuffer[ level ] = _gl.createFramebuffer();
+
+				}
+
+			} else {
+
+				renderTargetProperties.__webglFramebuffer = _gl.createFramebuffer();
+
+			}
+
+			if ( isMultipleRenderTargets ) {
+
+				if ( capabilities.drawBuffers ) {
+
+					const textures = renderTarget.texture;
+
+					for ( let i = 0, il = textures.length; i < il; i ++ ) {
+
+						const attachmentProperties = properties.get( textures[ i ] );
+
+						if ( attachmentProperties.__webglTexture === undefined ) {
+
+							attachmentProperties.__webglTexture = _gl.createTexture();
+
+							info.memory.textures ++;
+
+						}
+
+					}
+
+				} else {
+
+					console.warn( 'THREE.WebGLRenderer: WebGLMultipleRenderTargets can only be used with WebGL2 or WEBGL_draw_buffers extension.' );
+
+				}
+
+			}
+
+			if ( ( isWebGL2 && renderTarget.samples > 0 ) && useMultisampledRTT( renderTarget ) === false ) {
+
+				const textures = isMultipleRenderTargets ? texture : [ texture ];
+
+				renderTargetProperties.__webglMultisampledFramebuffer = _gl.createFramebuffer();
+				renderTargetProperties.__webglColorRenderbuffer = [];
+
+				state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer );
+
+				for ( let i = 0; i < textures.length; i ++ ) {
+
+					const texture = textures[ i ];
+					renderTargetProperties.__webglColorRenderbuffer[ i ] = _gl.createRenderbuffer();
+
+					_gl.bindRenderbuffer( _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] );
+
+					const glFormat = utils.convert( texture.format, texture.colorSpace );
+					const glType = utils.convert( texture.type );
+					const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace, renderTarget.isXRRenderTarget === true );
+					const samples = getRenderTargetSamples( renderTarget );
+					_gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height );
+
+					_gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] );
+
+				}
+
+				_gl.bindRenderbuffer( _gl.RENDERBUFFER, null );
+
+				if ( renderTarget.depthBuffer ) {
+
+					renderTargetProperties.__webglDepthRenderbuffer = _gl.createRenderbuffer();
+					setupRenderBufferStorage( renderTargetProperties.__webglDepthRenderbuffer, renderTarget, true );
+
+				}
+
+				state.bindFramebuffer( _gl.FRAMEBUFFER, null );
+
+			}
+
+		}
+
+		// Setup color buffer
+
+		if ( isCube ) {
+
+			state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture );
+			setTextureParameters( _gl.TEXTURE_CUBE_MAP, texture, supportsMips );
+
+			for ( let i = 0; i < 6; i ++ ) {
+
+				if ( isWebGL2 && texture.mipmaps && texture.mipmaps.length > 0 ) {
+
+					for ( let level = 0; level < texture.mipmaps.length; level ++ ) {
+
+						setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ i ][ level ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, level );
+
+					}
+
+				} else {
+
+					setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ i ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0 );
+
+				}
+
+			}
+
+			if ( textureNeedsGenerateMipmaps( texture, supportsMips ) ) {
+
+				generateMipmap( _gl.TEXTURE_CUBE_MAP );
+
+			}
+
+			state.unbindTexture();
+
+		} else if ( isMultipleRenderTargets ) {
+
+			const textures = renderTarget.texture;
+
+			for ( let i = 0, il = textures.length; i < il; i ++ ) {
+
+				const attachment = textures[ i ];
+				const attachmentProperties = properties.get( attachment );
+
+				state.bindTexture( _gl.TEXTURE_2D, attachmentProperties.__webglTexture );
+				setTextureParameters( _gl.TEXTURE_2D, attachment, supportsMips );
+				setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, attachment, _gl.COLOR_ATTACHMENT0 + i, _gl.TEXTURE_2D, 0 );
+
+				if ( textureNeedsGenerateMipmaps( attachment, supportsMips ) ) {
+
+					generateMipmap( _gl.TEXTURE_2D );
+
+				}
+
+			}
+
+			state.unbindTexture();
+
+		} else {
+
+			let glTextureType = _gl.TEXTURE_2D;
+
+			if ( renderTarget.isWebGL3DRenderTarget || renderTarget.isWebGLArrayRenderTarget ) {
+
+				if ( isWebGL2 ) {
+
+					glTextureType = renderTarget.isWebGL3DRenderTarget ? _gl.TEXTURE_3D : _gl.TEXTURE_2D_ARRAY;
+
+				} else {
+
+					console.error( 'THREE.WebGLTextures: THREE.Data3DTexture and THREE.DataArrayTexture only supported with WebGL2.' );
+
+				}
+
+			}
+
+			state.bindTexture( glTextureType, textureProperties.__webglTexture );
+			setTextureParameters( glTextureType, texture, supportsMips );
+
+			if ( isWebGL2 && texture.mipmaps && texture.mipmaps.length > 0 ) {
+
+				for ( let level = 0; level < texture.mipmaps.length; level ++ ) {
+
+					setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ level ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, glTextureType, level );
+
+				}
+
+			} else {
+
+				setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, texture, _gl.COLOR_ATTACHMENT0, glTextureType, 0 );
+
+			}
+
+			if ( textureNeedsGenerateMipmaps( texture, supportsMips ) ) {
+
+				generateMipmap( glTextureType );
+
+			}
+
+			state.unbindTexture();
+
+		}
+
+		// Setup depth and stencil buffers
+
+		if ( renderTarget.depthBuffer ) {
+
+			setupDepthRenderbuffer( renderTarget );
+
+		}
+
+	}
+
+	function updateRenderTargetMipmap( renderTarget ) {
+
+		const supportsMips = isPowerOfTwo$1( renderTarget ) || isWebGL2;
+
+		const textures = renderTarget.isWebGLMultipleRenderTargets === true ? renderTarget.texture : [ renderTarget.texture ];
+
+		for ( let i = 0, il = textures.length; i < il; i ++ ) {
+
+			const texture = textures[ i ];
+
+			if ( textureNeedsGenerateMipmaps( texture, supportsMips ) ) {
+
+				const target = renderTarget.isWebGLCubeRenderTarget ? _gl.TEXTURE_CUBE_MAP : _gl.TEXTURE_2D;
+				const webglTexture = properties.get( texture ).__webglTexture;
+
+				state.bindTexture( target, webglTexture );
+				generateMipmap( target );
+				state.unbindTexture();
+
+			}
+
+		}
+
+	}
+
+	function updateMultisampleRenderTarget( renderTarget ) {
+
+		if ( ( isWebGL2 && renderTarget.samples > 0 ) && useMultisampledRTT( renderTarget ) === false ) {
+
+			const textures = renderTarget.isWebGLMultipleRenderTargets ? renderTarget.texture : [ renderTarget.texture ];
+			const width = renderTarget.width;
+			const height = renderTarget.height;
+			let mask = _gl.COLOR_BUFFER_BIT;
+			const invalidationArray = [];
+			const depthStyle = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT;
+			const renderTargetProperties = properties.get( renderTarget );
+			const isMultipleRenderTargets = ( renderTarget.isWebGLMultipleRenderTargets === true );
+
+			// If MRT we need to remove FBO attachments
+			if ( isMultipleRenderTargets ) {
+
+				for ( let i = 0; i < textures.length; i ++ ) {
+
+					state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer );
+					_gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, null );
+
+					state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer );
+					_gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.TEXTURE_2D, null, 0 );
+
+				}
+
+			}
+
+			state.bindFramebuffer( _gl.READ_FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer );
+			state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, renderTargetProperties.__webglFramebuffer );
+
+			for ( let i = 0; i < textures.length; i ++ ) {
+
+				invalidationArray.push( _gl.COLOR_ATTACHMENT0 + i );
+
+				if ( renderTarget.depthBuffer ) {
+
+					invalidationArray.push( depthStyle );
+
+				}
+
+				const ignoreDepthValues = ( renderTargetProperties.__ignoreDepthValues !== undefined ) ? renderTargetProperties.__ignoreDepthValues : false;
+
+				if ( ignoreDepthValues === false ) {
+
+					if ( renderTarget.depthBuffer ) mask |= _gl.DEPTH_BUFFER_BIT;
+					if ( renderTarget.stencilBuffer ) mask |= _gl.STENCIL_BUFFER_BIT;
+
+				}
+
+				if ( isMultipleRenderTargets ) {
+
+					_gl.framebufferRenderbuffer( _gl.READ_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] );
+
+				}
+
+				if ( ignoreDepthValues === true ) {
+
+					_gl.invalidateFramebuffer( _gl.READ_FRAMEBUFFER, [ depthStyle ] );
+					_gl.invalidateFramebuffer( _gl.DRAW_FRAMEBUFFER, [ depthStyle ] );
+
+				}
+
+				if ( isMultipleRenderTargets ) {
+
+					const webglTexture = properties.get( textures[ i ] ).__webglTexture;
+					_gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, webglTexture, 0 );
+
+				}
+
+				_gl.blitFramebuffer( 0, 0, width, height, 0, 0, width, height, mask, _gl.NEAREST );
+
+				if ( supportsInvalidateFramebuffer ) {
+
+					_gl.invalidateFramebuffer( _gl.READ_FRAMEBUFFER, invalidationArray );
+
+				}
+
+
+			}
+
+			state.bindFramebuffer( _gl.READ_FRAMEBUFFER, null );
+			state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, null );
+
+			// If MRT since pre-blit we removed the FBO we need to reconstruct the attachments
+			if ( isMultipleRenderTargets ) {
+
+				for ( let i = 0; i < textures.length; i ++ ) {
+
+					state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer );
+					_gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] );
+
+					const webglTexture = properties.get( textures[ i ] ).__webglTexture;
+
+					state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer );
+					_gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.TEXTURE_2D, webglTexture, 0 );
+
+				}
+
+			}
+
+			state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer );
+
+		}
+
+	}
+
+	function getRenderTargetSamples( renderTarget ) {
+
+		return Math.min( capabilities.maxSamples, renderTarget.samples );
+
+	}
+
+	function useMultisampledRTT( renderTarget ) {
+
+		const renderTargetProperties = properties.get( renderTarget );
+
+		return isWebGL2 && renderTarget.samples > 0 && extensions.has( 'WEBGL_multisampled_render_to_texture' ) === true && renderTargetProperties.__useRenderToTexture !== false;
+
+	}
+
+	function updateVideoTexture( texture ) {
+
+		const frame = info.render.frame;
+
+		// Check the last frame we updated the VideoTexture
+
+		if ( _videoTextures.get( texture ) !== frame ) {
+
+			_videoTextures.set( texture, frame );
+			texture.update();
+
+		}
+
+	}
+
+	function verifyColorSpace( texture, image ) {
+
+		const colorSpace = texture.colorSpace;
+		const format = texture.format;
+		const type = texture.type;
+
+		if ( texture.isCompressedTexture === true || texture.isVideoTexture === true || texture.format === _SRGBAFormat ) return image;
+
+		if ( colorSpace !== LinearSRGBColorSpace && colorSpace !== NoColorSpace ) {
+
+			// sRGB
+
+			if ( ColorManagement.getTransfer( colorSpace ) === SRGBTransfer ) {
+
+				if ( isWebGL2 === false ) {
+
+					// in WebGL 1, try to use EXT_sRGB extension and unsized formats
+
+					if ( extensions.has( 'EXT_sRGB' ) === true && format === RGBAFormat ) {
+
+						texture.format = _SRGBAFormat;
+
+						// it's not possible to generate mips in WebGL 1 with this extension
+
+						texture.minFilter = LinearFilter;
+						texture.generateMipmaps = false;
+
+					} else {
+
+						// slow fallback (CPU decode)
+
+						image = ImageUtils.sRGBToLinear( image );
+
+					}
+
+				} else {
+
+					// in WebGL 2 uncompressed textures can only be sRGB encoded if they have the RGBA8 format
+
+					if ( format !== RGBAFormat || type !== UnsignedByteType ) {
+
+						console.warn( 'THREE.WebGLTextures: sRGB encoded textures have to use RGBAFormat and UnsignedByteType.' );
+
+					}
+
+				}
+
+			} else {
+
+				console.error( 'THREE.WebGLTextures: Unsupported texture color space:', colorSpace );
+
+			}
+
+		}
+
+		return image;
+
+	}
+
+	//
+
+	this.allocateTextureUnit = allocateTextureUnit;
+	this.resetTextureUnits = resetTextureUnits;
+
+	this.setTexture2D = setTexture2D;
+	this.setTexture2DArray = setTexture2DArray;
+	this.setTexture3D = setTexture3D;
+	this.setTextureCube = setTextureCube;
+	this.rebindTextures = rebindTextures;
+	this.setupRenderTarget = setupRenderTarget;
+	this.updateRenderTargetMipmap = updateRenderTargetMipmap;
+	this.updateMultisampleRenderTarget = updateMultisampleRenderTarget;
+	this.setupDepthRenderbuffer = setupDepthRenderbuffer;
+	this.setupFrameBufferTexture = setupFrameBufferTexture;
+	this.useMultisampledRTT = useMultisampledRTT;
+
+}
+
+function WebGLUtils( gl, extensions, capabilities ) {
+
+	const isWebGL2 = capabilities.isWebGL2;
+
+	function convert( p, colorSpace = NoColorSpace ) {
+
+		let extension;
+
+		const transfer = ColorManagement.getTransfer( colorSpace );
+
+		if ( p === UnsignedByteType ) return gl.UNSIGNED_BYTE;
+		if ( p === UnsignedShort4444Type ) return gl.UNSIGNED_SHORT_4_4_4_4;
+		if ( p === UnsignedShort5551Type ) return gl.UNSIGNED_SHORT_5_5_5_1;
+
+		if ( p === ByteType ) return gl.BYTE;
+		if ( p === ShortType ) return gl.SHORT;
+		if ( p === UnsignedShortType ) return gl.UNSIGNED_SHORT;
+		if ( p === IntType ) return gl.INT;
+		if ( p === UnsignedIntType ) return gl.UNSIGNED_INT;
+		if ( p === FloatType ) return gl.FLOAT;
+
+		if ( p === HalfFloatType ) {
+
+			if ( isWebGL2 ) return gl.HALF_FLOAT;
+
+			extension = extensions.get( 'OES_texture_half_float' );
+
+			if ( extension !== null ) {
+
+				return extension.HALF_FLOAT_OES;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		if ( p === AlphaFormat ) return gl.ALPHA;
+		if ( p === RGBAFormat ) return gl.RGBA;
+		if ( p === LuminanceFormat ) return gl.LUMINANCE;
+		if ( p === LuminanceAlphaFormat ) return gl.LUMINANCE_ALPHA;
+		if ( p === DepthFormat ) return gl.DEPTH_COMPONENT;
+		if ( p === DepthStencilFormat ) return gl.DEPTH_STENCIL;
+
+		// WebGL 1 sRGB fallback
+
+		if ( p === _SRGBAFormat ) {
+
+			extension = extensions.get( 'EXT_sRGB' );
+
+			if ( extension !== null ) {
+
+				return extension.SRGB_ALPHA_EXT;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// WebGL2 formats.
+
+		if ( p === RedFormat ) return gl.RED;
+		if ( p === RedIntegerFormat ) return gl.RED_INTEGER;
+		if ( p === RGFormat ) return gl.RG;
+		if ( p === RGIntegerFormat ) return gl.RG_INTEGER;
+		if ( p === RGBAIntegerFormat ) return gl.RGBA_INTEGER;
+
+		// S3TC
+
+		if ( p === RGB_S3TC_DXT1_Format || p === RGBA_S3TC_DXT1_Format || p === RGBA_S3TC_DXT3_Format || p === RGBA_S3TC_DXT5_Format ) {
+
+			if ( transfer === SRGBTransfer ) {
+
+				extension = extensions.get( 'WEBGL_compressed_texture_s3tc_srgb' );
+
+				if ( extension !== null ) {
+
+					if ( p === RGB_S3TC_DXT1_Format ) return extension.COMPRESSED_SRGB_S3TC_DXT1_EXT;
+					if ( p === RGBA_S3TC_DXT1_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT;
+					if ( p === RGBA_S3TC_DXT3_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT;
+					if ( p === RGBA_S3TC_DXT5_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT;
+
+				} else {
+
+					return null;
+
+				}
+
+			} else {
+
+				extension = extensions.get( 'WEBGL_compressed_texture_s3tc' );
+
+				if ( extension !== null ) {
+
+					if ( p === RGB_S3TC_DXT1_Format ) return extension.COMPRESSED_RGB_S3TC_DXT1_EXT;
+					if ( p === RGBA_S3TC_DXT1_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT1_EXT;
+					if ( p === RGBA_S3TC_DXT3_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT3_EXT;
+					if ( p === RGBA_S3TC_DXT5_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT5_EXT;
+
+				} else {
+
+					return null;
+
+				}
+
+			}
+
+		}
+
+		// PVRTC
+
+		if ( p === RGB_PVRTC_4BPPV1_Format || p === RGB_PVRTC_2BPPV1_Format || p === RGBA_PVRTC_4BPPV1_Format || p === RGBA_PVRTC_2BPPV1_Format ) {
+
+			extension = extensions.get( 'WEBGL_compressed_texture_pvrtc' );
+
+			if ( extension !== null ) {
+
+				if ( p === RGB_PVRTC_4BPPV1_Format ) return extension.COMPRESSED_RGB_PVRTC_4BPPV1_IMG;
+				if ( p === RGB_PVRTC_2BPPV1_Format ) return extension.COMPRESSED_RGB_PVRTC_2BPPV1_IMG;
+				if ( p === RGBA_PVRTC_4BPPV1_Format ) return extension.COMPRESSED_RGBA_PVRTC_4BPPV1_IMG;
+				if ( p === RGBA_PVRTC_2BPPV1_Format ) return extension.COMPRESSED_RGBA_PVRTC_2BPPV1_IMG;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// ETC1
+
+		if ( p === RGB_ETC1_Format ) {
+
+			extension = extensions.get( 'WEBGL_compressed_texture_etc1' );
+
+			if ( extension !== null ) {
+
+				return extension.COMPRESSED_RGB_ETC1_WEBGL;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// ETC2
+
+		if ( p === RGB_ETC2_Format || p === RGBA_ETC2_EAC_Format ) {
+
+			extension = extensions.get( 'WEBGL_compressed_texture_etc' );
+
+			if ( extension !== null ) {
+
+				if ( p === RGB_ETC2_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ETC2 : extension.COMPRESSED_RGB8_ETC2;
+				if ( p === RGBA_ETC2_EAC_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ETC2_EAC : extension.COMPRESSED_RGBA8_ETC2_EAC;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// ASTC
+
+		if ( p === RGBA_ASTC_4x4_Format || p === RGBA_ASTC_5x4_Format || p === RGBA_ASTC_5x5_Format ||
+			p === RGBA_ASTC_6x5_Format || p === RGBA_ASTC_6x6_Format || p === RGBA_ASTC_8x5_Format ||
+			p === RGBA_ASTC_8x6_Format || p === RGBA_ASTC_8x8_Format || p === RGBA_ASTC_10x5_Format ||
+			p === RGBA_ASTC_10x6_Format || p === RGBA_ASTC_10x8_Format || p === RGBA_ASTC_10x10_Format ||
+			p === RGBA_ASTC_12x10_Format || p === RGBA_ASTC_12x12_Format ) {
+
+			extension = extensions.get( 'WEBGL_compressed_texture_astc' );
+
+			if ( extension !== null ) {
+
+				if ( p === RGBA_ASTC_4x4_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR : extension.COMPRESSED_RGBA_ASTC_4x4_KHR;
+				if ( p === RGBA_ASTC_5x4_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR : extension.COMPRESSED_RGBA_ASTC_5x4_KHR;
+				if ( p === RGBA_ASTC_5x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR : extension.COMPRESSED_RGBA_ASTC_5x5_KHR;
+				if ( p === RGBA_ASTC_6x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR : extension.COMPRESSED_RGBA_ASTC_6x5_KHR;
+				if ( p === RGBA_ASTC_6x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR : extension.COMPRESSED_RGBA_ASTC_6x6_KHR;
+				if ( p === RGBA_ASTC_8x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR : extension.COMPRESSED_RGBA_ASTC_8x5_KHR;
+				if ( p === RGBA_ASTC_8x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR : extension.COMPRESSED_RGBA_ASTC_8x6_KHR;
+				if ( p === RGBA_ASTC_8x8_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR : extension.COMPRESSED_RGBA_ASTC_8x8_KHR;
+				if ( p === RGBA_ASTC_10x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR : extension.COMPRESSED_RGBA_ASTC_10x5_KHR;
+				if ( p === RGBA_ASTC_10x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR : extension.COMPRESSED_RGBA_ASTC_10x6_KHR;
+				if ( p === RGBA_ASTC_10x8_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR : extension.COMPRESSED_RGBA_ASTC_10x8_KHR;
+				if ( p === RGBA_ASTC_10x10_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR : extension.COMPRESSED_RGBA_ASTC_10x10_KHR;
+				if ( p === RGBA_ASTC_12x10_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR : extension.COMPRESSED_RGBA_ASTC_12x10_KHR;
+				if ( p === RGBA_ASTC_12x12_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR : extension.COMPRESSED_RGBA_ASTC_12x12_KHR;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// BPTC
+
+		if ( p === RGBA_BPTC_Format || p === RGB_BPTC_SIGNED_Format || p === RGB_BPTC_UNSIGNED_Format ) {
+
+			extension = extensions.get( 'EXT_texture_compression_bptc' );
+
+			if ( extension !== null ) {
+
+				if ( p === RGBA_BPTC_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB_ALPHA_BPTC_UNORM_EXT : extension.COMPRESSED_RGBA_BPTC_UNORM_EXT;
+				if ( p === RGB_BPTC_SIGNED_Format ) return extension.COMPRESSED_RGB_BPTC_SIGNED_FLOAT_EXT;
+				if ( p === RGB_BPTC_UNSIGNED_Format ) return extension.COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_EXT;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// RGTC
+
+		if ( p === RED_RGTC1_Format || p === SIGNED_RED_RGTC1_Format || p === RED_GREEN_RGTC2_Format || p === SIGNED_RED_GREEN_RGTC2_Format ) {
+
+			extension = extensions.get( 'EXT_texture_compression_rgtc' );
+
+			if ( extension !== null ) {
+
+				if ( p === RGBA_BPTC_Format ) return extension.COMPRESSED_RED_RGTC1_EXT;
+				if ( p === SIGNED_RED_RGTC1_Format ) return extension.COMPRESSED_SIGNED_RED_RGTC1_EXT;
+				if ( p === RED_GREEN_RGTC2_Format ) return extension.COMPRESSED_RED_GREEN_RGTC2_EXT;
+				if ( p === SIGNED_RED_GREEN_RGTC2_Format ) return extension.COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		//
+
+		if ( p === UnsignedInt248Type ) {
+
+			if ( isWebGL2 ) return gl.UNSIGNED_INT_24_8;
+
+			extension = extensions.get( 'WEBGL_depth_texture' );
+
+			if ( extension !== null ) {
+
+				return extension.UNSIGNED_INT_24_8_WEBGL;
+
+			} else {
+
+				return null;
+
+			}
+
+		}
+
+		// if "p" can't be resolved, assume the user defines a WebGL constant as a string (fallback/workaround for packed RGB formats)
+
+		return ( gl[ p ] !== undefined ) ? gl[ p ] : null;
+
+	}
+
+	return { convert: convert };
+
+}
+
+class ArrayCamera extends PerspectiveCamera {
+
+	constructor( array = [] ) {
+
+		super();
+
+		this.isArrayCamera = true;
+
+		this.cameras = array;
+
+	}
+
+}
+
+class Group extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this.isGroup = true;
+
+		this.type = 'Group';
+
+	}
+
+}
+
+const _moveEvent = { type: 'move' };
+
+class WebXRController {
+
+	constructor() {
+
+		this._targetRay = null;
+		this._grip = null;
+		this._hand = null;
+
+	}
+
+	getHandSpace() {
+
+		if ( this._hand === null ) {
+
+			this._hand = new Group();
+			this._hand.matrixAutoUpdate = false;
+			this._hand.visible = false;
+
+			this._hand.joints = {};
+			this._hand.inputState = { pinching: false };
+
+		}
+
+		return this._hand;
+
+	}
+
+	getTargetRaySpace() {
+
+		if ( this._targetRay === null ) {
+
+			this._targetRay = new Group();
+			this._targetRay.matrixAutoUpdate = false;
+			this._targetRay.visible = false;
+			this._targetRay.hasLinearVelocity = false;
+			this._targetRay.linearVelocity = new Vector3();
+			this._targetRay.hasAngularVelocity = false;
+			this._targetRay.angularVelocity = new Vector3();
+
+		}
+
+		return this._targetRay;
+
+	}
+
+	getGripSpace() {
+
+		if ( this._grip === null ) {
+
+			this._grip = new Group();
+			this._grip.matrixAutoUpdate = false;
+			this._grip.visible = false;
+			this._grip.hasLinearVelocity = false;
+			this._grip.linearVelocity = new Vector3();
+			this._grip.hasAngularVelocity = false;
+			this._grip.angularVelocity = new Vector3();
+
+		}
+
+		return this._grip;
+
+	}
+
+	dispatchEvent( event ) {
+
+		if ( this._targetRay !== null ) {
+
+			this._targetRay.dispatchEvent( event );
+
+		}
+
+		if ( this._grip !== null ) {
+
+			this._grip.dispatchEvent( event );
+
+		}
+
+		if ( this._hand !== null ) {
+
+			this._hand.dispatchEvent( event );
+
+		}
+
+		return this;
+
+	}
+
+	connect( inputSource ) {
+
+		if ( inputSource && inputSource.hand ) {
+
+			const hand = this._hand;
+
+			if ( hand ) {
+
+				for ( const inputjoint of inputSource.hand.values() ) {
+
+					// Initialize hand with joints when connected
+					this._getHandJoint( hand, inputjoint );
+
+				}
+
+			}
+
+		}
+
+		this.dispatchEvent( { type: 'connected', data: inputSource } );
+
+		return this;
+
+	}
+
+	disconnect( inputSource ) {
+
+		this.dispatchEvent( { type: 'disconnected', data: inputSource } );
+
+		if ( this._targetRay !== null ) {
+
+			this._targetRay.visible = false;
+
+		}
+
+		if ( this._grip !== null ) {
+
+			this._grip.visible = false;
+
+		}
+
+		if ( this._hand !== null ) {
+
+			this._hand.visible = false;
+
+		}
+
+		return this;
+
+	}
+
+	update( inputSource, frame, referenceSpace ) {
+
+		let inputPose = null;
+		let gripPose = null;
+		let handPose = null;
+
+		const targetRay = this._targetRay;
+		const grip = this._grip;
+		const hand = this._hand;
+
+		if ( inputSource && frame.session.visibilityState !== 'visible-blurred' ) {
+
+			if ( hand && inputSource.hand ) {
+
+				handPose = true;
+
+				for ( const inputjoint of inputSource.hand.values() ) {
+
+					// Update the joints groups with the XRJoint poses
+					const jointPose = frame.getJointPose( inputjoint, referenceSpace );
+
+					// The transform of this joint will be updated with the joint pose on each frame
+					const joint = this._getHandJoint( hand, inputjoint );
+
+					if ( jointPose !== null ) {
+
+						joint.matrix.fromArray( jointPose.transform.matrix );
+						joint.matrix.decompose( joint.position, joint.rotation, joint.scale );
+						joint.matrixWorldNeedsUpdate = true;
+						joint.jointRadius = jointPose.radius;
+
+					}
+
+					joint.visible = jointPose !== null;
+
+				}
+
+				// Custom events
+
+				// Check pinchz
+				const indexTip = hand.joints[ 'index-finger-tip' ];
+				const thumbTip = hand.joints[ 'thumb-tip' ];
+				const distance = indexTip.position.distanceTo( thumbTip.position );
+
+				const distanceToPinch = 0.02;
+				const threshold = 0.005;
+
+				if ( hand.inputState.pinching && distance > distanceToPinch + threshold ) {
+
+					hand.inputState.pinching = false;
+					this.dispatchEvent( {
+						type: 'pinchend',
+						handedness: inputSource.handedness,
+						target: this
+					} );
+
+				} else if ( ! hand.inputState.pinching && distance <= distanceToPinch - threshold ) {
+
+					hand.inputState.pinching = true;
+					this.dispatchEvent( {
+						type: 'pinchstart',
+						handedness: inputSource.handedness,
+						target: this
+					} );
+
+				}
+
+			} else {
+
+				if ( grip !== null && inputSource.gripSpace ) {
+
+					gripPose = frame.getPose( inputSource.gripSpace, referenceSpace );
+
+					if ( gripPose !== null ) {
+
+						grip.matrix.fromArray( gripPose.transform.matrix );
+						grip.matrix.decompose( grip.position, grip.rotation, grip.scale );
+						grip.matrixWorldNeedsUpdate = true;
+
+						if ( gripPose.linearVelocity ) {
+
+							grip.hasLinearVelocity = true;
+							grip.linearVelocity.copy( gripPose.linearVelocity );
+
+						} else {
+
+							grip.hasLinearVelocity = false;
+
+						}
+
+						if ( gripPose.angularVelocity ) {
+
+							grip.hasAngularVelocity = true;
+							grip.angularVelocity.copy( gripPose.angularVelocity );
+
+						} else {
+
+							grip.hasAngularVelocity = false;
+
+						}
+
+					}
+
+				}
+
+			}
+
+			if ( targetRay !== null ) {
+
+				inputPose = frame.getPose( inputSource.targetRaySpace, referenceSpace );
+
+				// Some runtimes (namely Vive Cosmos with Vive OpenXR Runtime) have only grip space and ray space is equal to it
+				if ( inputPose === null && gripPose !== null ) {
+
+					inputPose = gripPose;
+
+				}
+
+				if ( inputPose !== null ) {
+
+					targetRay.matrix.fromArray( inputPose.transform.matrix );
+					targetRay.matrix.decompose( targetRay.position, targetRay.rotation, targetRay.scale );
+					targetRay.matrixWorldNeedsUpdate = true;
+
+					if ( inputPose.linearVelocity ) {
+
+						targetRay.hasLinearVelocity = true;
+						targetRay.linearVelocity.copy( inputPose.linearVelocity );
+
+					} else {
+
+						targetRay.hasLinearVelocity = false;
+
+					}
+
+					if ( inputPose.angularVelocity ) {
+
+						targetRay.hasAngularVelocity = true;
+						targetRay.angularVelocity.copy( inputPose.angularVelocity );
+
+					} else {
+
+						targetRay.hasAngularVelocity = false;
+
+					}
+
+					this.dispatchEvent( _moveEvent );
+
+				}
+
+			}
+
+
+		}
+
+		if ( targetRay !== null ) {
+
+			targetRay.visible = ( inputPose !== null );
+
+		}
+
+		if ( grip !== null ) {
+
+			grip.visible = ( gripPose !== null );
+
+		}
+
+		if ( hand !== null ) {
+
+			hand.visible = ( handPose !== null );
+
+		}
+
+		return this;
+
+	}
+
+	// private method
+
+	_getHandJoint( hand, inputjoint ) {
+
+		if ( hand.joints[ inputjoint.jointName ] === undefined ) {
+
+			const joint = new Group();
+			joint.matrixAutoUpdate = false;
+			joint.visible = false;
+			hand.joints[ inputjoint.jointName ] = joint;
+
+			hand.add( joint );
+
+		}
+
+		return hand.joints[ inputjoint.jointName ];
+
+	}
+
+}
+
+class WebXRManager extends EventDispatcher {
+
+	constructor( renderer, gl ) {
+
+		super();
+
+		const scope = this;
+
+		let session = null;
+
+		let framebufferScaleFactor = 1.0;
+
+		let referenceSpace = null;
+		let referenceSpaceType = 'local-floor';
+		// Set default foveation to maximum.
+		let foveation = 1.0;
+		let customReferenceSpace = null;
+
+		let pose = null;
+		let glBinding = null;
+		let glProjLayer = null;
+		let glBaseLayer = null;
+		let xrFrame = null;
+		const attributes = gl.getContextAttributes();
+		let initialRenderTarget = null;
+		let newRenderTarget = null;
+
+		const controllers = [];
+		const controllerInputSources = [];
+
+		const currentSize = new Vector2();
+		let currentPixelRatio = null;
+
+		//
+
+		const cameraL = new PerspectiveCamera();
+		cameraL.layers.enable( 1 );
+		cameraL.viewport = new Vector4();
+
+		const cameraR = new PerspectiveCamera();
+		cameraR.layers.enable( 2 );
+		cameraR.viewport = new Vector4();
+
+		const cameras = [ cameraL, cameraR ];
+
+		const cameraXR = new ArrayCamera();
+		cameraXR.layers.enable( 1 );
+		cameraXR.layers.enable( 2 );
+
+		let _currentDepthNear = null;
+		let _currentDepthFar = null;
+
+		//
+
+		this.cameraAutoUpdate = true;
+		this.enabled = false;
+
+		this.isPresenting = false;
+
+		this.getController = function ( index ) {
+
+			let controller = controllers[ index ];
+
+			if ( controller === undefined ) {
+
+				controller = new WebXRController();
+				controllers[ index ] = controller;
+
+			}
+
+			return controller.getTargetRaySpace();
+
+		};
+
+		this.getControllerGrip = function ( index ) {
+
+			let controller = controllers[ index ];
+
+			if ( controller === undefined ) {
+
+				controller = new WebXRController();
+				controllers[ index ] = controller;
+
+			}
+
+			return controller.getGripSpace();
+
+		};
+
+		this.getHand = function ( index ) {
+
+			let controller = controllers[ index ];
+
+			if ( controller === undefined ) {
+
+				controller = new WebXRController();
+				controllers[ index ] = controller;
+
+			}
+
+			return controller.getHandSpace();
+
+		};
+
+		//
+
+		function onSessionEvent( event ) {
+
+			const controllerIndex = controllerInputSources.indexOf( event.inputSource );
+
+			if ( controllerIndex === - 1 ) {
+
+				return;
+
+			}
+
+			const controller = controllers[ controllerIndex ];
+
+			if ( controller !== undefined ) {
+
+				controller.update( event.inputSource, event.frame, customReferenceSpace || referenceSpace );
+				controller.dispatchEvent( { type: event.type, data: event.inputSource } );
+
+			}
+
+		}
+
+		function onSessionEnd() {
+
+			session.removeEventListener( 'select', onSessionEvent );
+			session.removeEventListener( 'selectstart', onSessionEvent );
+			session.removeEventListener( 'selectend', onSessionEvent );
+			session.removeEventListener( 'squeeze', onSessionEvent );
+			session.removeEventListener( 'squeezestart', onSessionEvent );
+			session.removeEventListener( 'squeezeend', onSessionEvent );
+			session.removeEventListener( 'end', onSessionEnd );
+			session.removeEventListener( 'inputsourceschange', onInputSourcesChange );
+
+			for ( let i = 0; i < controllers.length; i ++ ) {
+
+				const inputSource = controllerInputSources[ i ];
+
+				if ( inputSource === null ) continue;
+
+				controllerInputSources[ i ] = null;
+
+				controllers[ i ].disconnect( inputSource );
+
+			}
+
+			_currentDepthNear = null;
+			_currentDepthFar = null;
+
+			// restore framebuffer/rendering state
+
+			renderer.setRenderTarget( initialRenderTarget );
+
+			glBaseLayer = null;
+			glProjLayer = null;
+			glBinding = null;
+			session = null;
+			newRenderTarget = null;
+
+			//
+
+			animation.stop();
+
+			scope.isPresenting = false;
+
+			renderer.setPixelRatio( currentPixelRatio );
+			renderer.setSize( currentSize.width, currentSize.height, false );
+
+			scope.dispatchEvent( { type: 'sessionend' } );
+
+		}
+
+		this.setFramebufferScaleFactor = function ( value ) {
+
+			framebufferScaleFactor = value;
+
+			if ( scope.isPresenting === true ) {
+
+				console.warn( 'THREE.WebXRManager: Cannot change framebuffer scale while presenting.' );
+
+			}
+
+		};
+
+		this.setReferenceSpaceType = function ( value ) {
+
+			referenceSpaceType = value;
+
+			if ( scope.isPresenting === true ) {
+
+				console.warn( 'THREE.WebXRManager: Cannot change reference space type while presenting.' );
+
+			}
+
+		};
+
+		this.getReferenceSpace = function () {
+
+			return customReferenceSpace || referenceSpace;
+
+		};
+
+		this.setReferenceSpace = function ( space ) {
+
+			customReferenceSpace = space;
+
+		};
+
+		this.getBaseLayer = function () {
+
+			return glProjLayer !== null ? glProjLayer : glBaseLayer;
+
+		};
+
+		this.getBinding = function () {
+
+			return glBinding;
+
+		};
+
+		this.getFrame = function () {
+
+			return xrFrame;
+
+		};
+
+		this.getSession = function () {
+
+			return session;
+
+		};
+
+		this.setSession = async function ( value ) {
+
+			session = value;
+
+			if ( session !== null ) {
+
+				initialRenderTarget = renderer.getRenderTarget();
+
+				session.addEventListener( 'select', onSessionEvent );
+				session.addEventListener( 'selectstart', onSessionEvent );
+				session.addEventListener( 'selectend', onSessionEvent );
+				session.addEventListener( 'squeeze', onSessionEvent );
+				session.addEventListener( 'squeezestart', onSessionEvent );
+				session.addEventListener( 'squeezeend', onSessionEvent );
+				session.addEventListener( 'end', onSessionEnd );
+				session.addEventListener( 'inputsourceschange', onInputSourcesChange );
+
+				if ( attributes.xrCompatible !== true ) {
+
+					await gl.makeXRCompatible();
+
+				}
+
+				currentPixelRatio = renderer.getPixelRatio();
+				renderer.getSize( currentSize );
+
+				if ( ( session.renderState.layers === undefined ) || ( renderer.capabilities.isWebGL2 === false ) ) {
+
+					const layerInit = {
+						antialias: ( session.renderState.layers === undefined ) ? attributes.antialias : true,
+						alpha: true,
+						depth: attributes.depth,
+						stencil: attributes.stencil,
+						framebufferScaleFactor: framebufferScaleFactor
+					};
+
+					glBaseLayer = new XRWebGLLayer( session, gl, layerInit );
+
+					session.updateRenderState( { baseLayer: glBaseLayer } );
+
+					renderer.setPixelRatio( 1 );
+					renderer.setSize( glBaseLayer.framebufferWidth, glBaseLayer.framebufferHeight, false );
+
+					newRenderTarget = new WebGLRenderTarget(
+						glBaseLayer.framebufferWidth,
+						glBaseLayer.framebufferHeight,
+						{
+							format: RGBAFormat,
+							type: UnsignedByteType,
+							colorSpace: renderer.outputColorSpace,
+							stencilBuffer: attributes.stencil
+						}
+					);
+
+				} else {
+
+					let depthFormat = null;
+					let depthType = null;
+					let glDepthFormat = null;
+
+					if ( attributes.depth ) {
+
+						glDepthFormat = attributes.stencil ? gl.DEPTH24_STENCIL8 : gl.DEPTH_COMPONENT24;
+						depthFormat = attributes.stencil ? DepthStencilFormat : DepthFormat;
+						depthType = attributes.stencil ? UnsignedInt248Type : UnsignedIntType;
+
+					}
+
+					const projectionlayerInit = {
+						colorFormat: gl.RGBA8,
+						depthFormat: glDepthFormat,
+						scaleFactor: framebufferScaleFactor
+					};
+
+					glBinding = new XRWebGLBinding( session, gl );
+
+					glProjLayer = glBinding.createProjectionLayer( projectionlayerInit );
+
+					session.updateRenderState( { layers: [ glProjLayer ] } );
+
+					renderer.setPixelRatio( 1 );
+					renderer.setSize( glProjLayer.textureWidth, glProjLayer.textureHeight, false );
+
+					newRenderTarget = new WebGLRenderTarget(
+						glProjLayer.textureWidth,
+						glProjLayer.textureHeight,
+						{
+							format: RGBAFormat,
+							type: UnsignedByteType,
+							depthTexture: new DepthTexture( glProjLayer.textureWidth, glProjLayer.textureHeight, depthType, undefined, undefined, undefined, undefined, undefined, undefined, depthFormat ),
+							stencilBuffer: attributes.stencil,
+							colorSpace: renderer.outputColorSpace,
+							samples: attributes.antialias ? 4 : 0
+						} );
+
+					const renderTargetProperties = renderer.properties.get( newRenderTarget );
+					renderTargetProperties.__ignoreDepthValues = glProjLayer.ignoreDepthValues;
+
+				}
+
+				newRenderTarget.isXRRenderTarget = true; // TODO Remove this when possible, see #23278
+
+				this.setFoveation( foveation );
+
+				customReferenceSpace = null;
+				referenceSpace = await session.requestReferenceSpace( referenceSpaceType );
+
+				animation.setContext( session );
+				animation.start();
+
+				scope.isPresenting = true;
+
+				scope.dispatchEvent( { type: 'sessionstart' } );
+
+			}
+
+		};
+
+		this.getEnvironmentBlendMode = function () {
+
+			if ( session !== null ) {
+
+				return session.environmentBlendMode;
+
+			}
+
+		};
+
+		function onInputSourcesChange( event ) {
+
+			// Notify disconnected
+
+			for ( let i = 0; i < event.removed.length; i ++ ) {
+
+				const inputSource = event.removed[ i ];
+				const index = controllerInputSources.indexOf( inputSource );
+
+				if ( index >= 0 ) {
+
+					controllerInputSources[ index ] = null;
+					controllers[ index ].disconnect( inputSource );
+
+				}
+
+			}
+
+			// Notify connected
+
+			for ( let i = 0; i < event.added.length; i ++ ) {
+
+				const inputSource = event.added[ i ];
+
+				let controllerIndex = controllerInputSources.indexOf( inputSource );
+
+				if ( controllerIndex === - 1 ) {
+
+					// Assign input source a controller that currently has no input source
+
+					for ( let i = 0; i < controllers.length; i ++ ) {
+
+						if ( i >= controllerInputSources.length ) {
+
+							controllerInputSources.push( inputSource );
+							controllerIndex = i;
+							break;
+
+						} else if ( controllerInputSources[ i ] === null ) {
+
+							controllerInputSources[ i ] = inputSource;
+							controllerIndex = i;
+							break;
+
+						}
+
+					}
+
+					// If all controllers do currently receive input we ignore new ones
+
+					if ( controllerIndex === - 1 ) break;
+
+				}
+
+				const controller = controllers[ controllerIndex ];
+
+				if ( controller ) {
+
+					controller.connect( inputSource );
+
+				}
+
+			}
+
+		}
+
+		//
+
+		const cameraLPos = new Vector3();
+		const cameraRPos = new Vector3();
+
+		/**
+		 * Assumes 2 cameras that are parallel and share an X-axis, and that
+		 * the cameras' projection and world matrices have already been set.
+		 * And that near and far planes are identical for both cameras.
+		 * Visualization of this technique: https://computergraphics.stackexchange.com/a/4765
+		 */
+		function setProjectionFromUnion( camera, cameraL, cameraR ) {
+
+			cameraLPos.setFromMatrixPosition( cameraL.matrixWorld );
+			cameraRPos.setFromMatrixPosition( cameraR.matrixWorld );
+
+			const ipd = cameraLPos.distanceTo( cameraRPos );
+
+			const projL = cameraL.projectionMatrix.elements;
+			const projR = cameraR.projectionMatrix.elements;
+
+			// VR systems will have identical far and near planes, and
+			// most likely identical top and bottom frustum extents.
+			// Use the left camera for these values.
+			const near = projL[ 14 ] / ( projL[ 10 ] - 1 );
+			const far = projL[ 14 ] / ( projL[ 10 ] + 1 );
+			const topFov = ( projL[ 9 ] + 1 ) / projL[ 5 ];
+			const bottomFov = ( projL[ 9 ] - 1 ) / projL[ 5 ];
+
+			const leftFov = ( projL[ 8 ] - 1 ) / projL[ 0 ];
+			const rightFov = ( projR[ 8 ] + 1 ) / projR[ 0 ];
+			const left = near * leftFov;
+			const right = near * rightFov;
+
+			// Calculate the new camera's position offset from the
+			// left camera. xOffset should be roughly half `ipd`.
+			const zOffset = ipd / ( - leftFov + rightFov );
+			const xOffset = zOffset * - leftFov;
+
+			// TODO: Better way to apply this offset?
+			cameraL.matrixWorld.decompose( camera.position, camera.quaternion, camera.scale );
+			camera.translateX( xOffset );
+			camera.translateZ( zOffset );
+			camera.matrixWorld.compose( camera.position, camera.quaternion, camera.scale );
+			camera.matrixWorldInverse.copy( camera.matrixWorld ).invert();
+
+			// Find the union of the frustum values of the cameras and scale
+			// the values so that the near plane's position does not change in world space,
+			// although must now be relative to the new union camera.
+			const near2 = near + zOffset;
+			const far2 = far + zOffset;
+			const left2 = left - xOffset;
+			const right2 = right + ( ipd - xOffset );
+			const top2 = topFov * far / far2 * near2;
+			const bottom2 = bottomFov * far / far2 * near2;
+
+			camera.projectionMatrix.makePerspective( left2, right2, top2, bottom2, near2, far2 );
+			camera.projectionMatrixInverse.copy( camera.projectionMatrix ).invert();
+
+		}
+
+		function updateCamera( camera, parent ) {
+
+			if ( parent === null ) {
+
+				camera.matrixWorld.copy( camera.matrix );
+
+			} else {
+
+				camera.matrixWorld.multiplyMatrices( parent.matrixWorld, camera.matrix );
+
+			}
+
+			camera.matrixWorldInverse.copy( camera.matrixWorld ).invert();
+
+		}
+
+		this.updateCamera = function ( camera ) {
+
+			if ( session === null ) return;
+
+			cameraXR.near = cameraR.near = cameraL.near = camera.near;
+			cameraXR.far = cameraR.far = cameraL.far = camera.far;
+
+			if ( _currentDepthNear !== cameraXR.near || _currentDepthFar !== cameraXR.far ) {
+
+				// Note that the new renderState won't apply until the next frame. See #18320
+
+				session.updateRenderState( {
+					depthNear: cameraXR.near,
+					depthFar: cameraXR.far
+				} );
+
+				_currentDepthNear = cameraXR.near;
+				_currentDepthFar = cameraXR.far;
+
+			}
+
+			const parent = camera.parent;
+			const cameras = cameraXR.cameras;
+
+			updateCamera( cameraXR, parent );
+
+			for ( let i = 0; i < cameras.length; i ++ ) {
+
+				updateCamera( cameras[ i ], parent );
+
+			}
+
+			// update projection matrix for proper view frustum culling
+
+			if ( cameras.length === 2 ) {
+
+				setProjectionFromUnion( cameraXR, cameraL, cameraR );
+
+			} else {
+
+				// assume single camera setup (AR)
+
+				cameraXR.projectionMatrix.copy( cameraL.projectionMatrix );
+
+			}
+
+			// update user camera and its children
+
+			updateUserCamera( camera, cameraXR, parent );
+
+		};
+
+		function updateUserCamera( camera, cameraXR, parent ) {
+
+			if ( parent === null ) {
+
+				camera.matrix.copy( cameraXR.matrixWorld );
+
+			} else {
+
+				camera.matrix.copy( parent.matrixWorld );
+				camera.matrix.invert();
+				camera.matrix.multiply( cameraXR.matrixWorld );
+
+			}
+
+			camera.matrix.decompose( camera.position, camera.quaternion, camera.scale );
+			camera.updateMatrixWorld( true );
+
+			camera.projectionMatrix.copy( cameraXR.projectionMatrix );
+			camera.projectionMatrixInverse.copy( cameraXR.projectionMatrixInverse );
+
+			if ( camera.isPerspectiveCamera ) {
+
+				camera.fov = RAD2DEG * 2 * Math.atan( 1 / camera.projectionMatrix.elements[ 5 ] );
+				camera.zoom = 1;
+
+			}
+
+		}
+
+		this.getCamera = function () {
+
+			return cameraXR;
+
+		};
+
+		this.getFoveation = function () {
+
+			if ( glProjLayer === null && glBaseLayer === null ) {
+
+				return undefined;
+
+			}
+
+			return foveation;
+
+		};
+
+		this.setFoveation = function ( value ) {
+
+			// 0 = no foveation = full resolution
+			// 1 = maximum foveation = the edges render at lower resolution
+
+			foveation = value;
+
+			if ( glProjLayer !== null ) {
+
+				glProjLayer.fixedFoveation = value;
+
+			}
+
+			if ( glBaseLayer !== null && glBaseLayer.fixedFoveation !== undefined ) {
+
+				glBaseLayer.fixedFoveation = value;
+
+			}
+
+		};
+
+		// Animation Loop
+
+		let onAnimationFrameCallback = null;
+
+		function onAnimationFrame( time, frame ) {
+
+			pose = frame.getViewerPose( customReferenceSpace || referenceSpace );
+			xrFrame = frame;
+
+			if ( pose !== null ) {
+
+				const views = pose.views;
+
+				if ( glBaseLayer !== null ) {
+
+					renderer.setRenderTargetFramebuffer( newRenderTarget, glBaseLayer.framebuffer );
+					renderer.setRenderTarget( newRenderTarget );
+
+				}
+
+				let cameraXRNeedsUpdate = false;
+
+				// check if it's necessary to rebuild cameraXR's camera list
+
+				if ( views.length !== cameraXR.cameras.length ) {
+
+					cameraXR.cameras.length = 0;
+					cameraXRNeedsUpdate = true;
+
+				}
+
+				for ( let i = 0; i < views.length; i ++ ) {
+
+					const view = views[ i ];
+
+					let viewport = null;
+
+					if ( glBaseLayer !== null ) {
+
+						viewport = glBaseLayer.getViewport( view );
+
+					} else {
+
+						const glSubImage = glBinding.getViewSubImage( glProjLayer, view );
+						viewport = glSubImage.viewport;
+
+						// For side-by-side projection, we only produce a single texture for both eyes.
+						if ( i === 0 ) {
+
+							renderer.setRenderTargetTextures(
+								newRenderTarget,
+								glSubImage.colorTexture,
+								glProjLayer.ignoreDepthValues ? undefined : glSubImage.depthStencilTexture );
+
+							renderer.setRenderTarget( newRenderTarget );
+
+						}
+
+					}
+
+					let camera = cameras[ i ];
+
+					if ( camera === undefined ) {
+
+						camera = new PerspectiveCamera();
+						camera.layers.enable( i );
+						camera.viewport = new Vector4();
+						cameras[ i ] = camera;
+
+					}
+
+					camera.matrix.fromArray( view.transform.matrix );
+					camera.matrix.decompose( camera.position, camera.quaternion, camera.scale );
+					camera.projectionMatrix.fromArray( view.projectionMatrix );
+					camera.projectionMatrixInverse.copy( camera.projectionMatrix ).invert();
+					camera.viewport.set( viewport.x, viewport.y, viewport.width, viewport.height );
+
+					if ( i === 0 ) {
+
+						cameraXR.matrix.copy( camera.matrix );
+						cameraXR.matrix.decompose( cameraXR.position, cameraXR.quaternion, cameraXR.scale );
+
+					}
+
+					if ( cameraXRNeedsUpdate === true ) {
+
+						cameraXR.cameras.push( camera );
+
+					}
+
+				}
+
+			}
+
+			//
+
+			for ( let i = 0; i < controllers.length; i ++ ) {
+
+				const inputSource = controllerInputSources[ i ];
+				const controller = controllers[ i ];
+
+				if ( inputSource !== null && controller !== undefined ) {
+
+					controller.update( inputSource, frame, customReferenceSpace || referenceSpace );
+
+				}
+
+			}
+
+			if ( onAnimationFrameCallback ) onAnimationFrameCallback( time, frame );
+
+			if ( frame.detectedPlanes ) {
+
+				scope.dispatchEvent( { type: 'planesdetected', data: frame } );
+
+			}
+
+			xrFrame = null;
+
+		}
+
+		const animation = new WebGLAnimation();
+
+		animation.setAnimationLoop( onAnimationFrame );
+
+		this.setAnimationLoop = function ( callback ) {
+
+			onAnimationFrameCallback = callback;
+
+		};
+
+		this.dispose = function () {};
+
+	}
+
+}
+
+function WebGLMaterials( renderer, properties ) {
+
+	function refreshTransformUniform( map, uniform ) {
+
+		if ( map.matrixAutoUpdate === true ) {
+
+			map.updateMatrix();
+
+		}
+
+		uniform.value.copy( map.matrix );
+
+	}
+
+	function refreshFogUniforms( uniforms, fog ) {
+
+		fog.color.getRGB( uniforms.fogColor.value, getUnlitUniformColorSpace( renderer ) );
+
+		if ( fog.isFog ) {
+
+			uniforms.fogNear.value = fog.near;
+			uniforms.fogFar.value = fog.far;
+
+		} else if ( fog.isFogExp2 ) {
+
+			uniforms.fogDensity.value = fog.density;
+
+		}
+
+	}
+
+	function refreshMaterialUniforms( uniforms, material, pixelRatio, height, transmissionRenderTarget ) {
+
+		if ( material.isMeshBasicMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+
+		} else if ( material.isMeshLambertMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+
+		} else if ( material.isMeshToonMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+			refreshUniformsToon( uniforms, material );
+
+		} else if ( material.isMeshPhongMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+			refreshUniformsPhong( uniforms, material );
+
+		} else if ( material.isMeshStandardMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+			refreshUniformsStandard( uniforms, material );
+
+			if ( material.isMeshPhysicalMaterial ) {
+
+				refreshUniformsPhysical( uniforms, material, transmissionRenderTarget );
+
+			}
+
+		} else if ( material.isMeshMatcapMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+			refreshUniformsMatcap( uniforms, material );
+
+		} else if ( material.isMeshDepthMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+
+		} else if ( material.isMeshDistanceMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+			refreshUniformsDistance( uniforms, material );
+
+		} else if ( material.isMeshNormalMaterial ) {
+
+			refreshUniformsCommon( uniforms, material );
+
+		} else if ( material.isLineBasicMaterial ) {
+
+			refreshUniformsLine( uniforms, material );
+
+			if ( material.isLineDashedMaterial ) {
+
+				refreshUniformsDash( uniforms, material );
+
+			}
+
+		} else if ( material.isPointsMaterial ) {
+
+			refreshUniformsPoints( uniforms, material, pixelRatio, height );
+
+		} else if ( material.isSpriteMaterial ) {
+
+			refreshUniformsSprites( uniforms, material );
+
+		} else if ( material.isShadowMaterial ) {
+
+			uniforms.color.value.copy( material.color );
+			uniforms.opacity.value = material.opacity;
+
+		} else if ( material.isShaderMaterial ) {
+
+			material.uniformsNeedUpdate = false; // #15581
+
+		}
+
+	}
+
+	function refreshUniformsCommon( uniforms, material ) {
+
+		uniforms.opacity.value = material.opacity;
+
+		if ( material.color ) {
+
+			uniforms.diffuse.value.copy( material.color );
+
+		}
+
+		if ( material.emissive ) {
+
+			uniforms.emissive.value.copy( material.emissive ).multiplyScalar( material.emissiveIntensity );
+
+		}
+
+		if ( material.map ) {
+
+			uniforms.map.value = material.map;
+
+			refreshTransformUniform( material.map, uniforms.mapTransform );
+
+		}
+
+		if ( material.alphaMap ) {
+
+			uniforms.alphaMap.value = material.alphaMap;
+
+			refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform );
+
+		}
+
+		if ( material.bumpMap ) {
+
+			uniforms.bumpMap.value = material.bumpMap;
+
+			refreshTransformUniform( material.bumpMap, uniforms.bumpMapTransform );
+
+			uniforms.bumpScale.value = material.bumpScale;
+
+			if ( material.side === BackSide ) {
+
+				uniforms.bumpScale.value *= - 1;
+
+			}
+
+		}
+
+		if ( material.normalMap ) {
+
+			uniforms.normalMap.value = material.normalMap;
+
+			refreshTransformUniform( material.normalMap, uniforms.normalMapTransform );
+
+			uniforms.normalScale.value.copy( material.normalScale );
+
+			if ( material.side === BackSide ) {
+
+				uniforms.normalScale.value.negate();
+
+			}
+
+		}
+
+		if ( material.displacementMap ) {
+
+			uniforms.displacementMap.value = material.displacementMap;
+
+			refreshTransformUniform( material.displacementMap, uniforms.displacementMapTransform );
+
+			uniforms.displacementScale.value = material.displacementScale;
+			uniforms.displacementBias.value = material.displacementBias;
+
+		}
+
+		if ( material.emissiveMap ) {
+
+			uniforms.emissiveMap.value = material.emissiveMap;
+
+			refreshTransformUniform( material.emissiveMap, uniforms.emissiveMapTransform );
+
+		}
+
+		if ( material.specularMap ) {
+
+			uniforms.specularMap.value = material.specularMap;
+
+			refreshTransformUniform( material.specularMap, uniforms.specularMapTransform );
+
+		}
+
+		if ( material.alphaTest > 0 ) {
+
+			uniforms.alphaTest.value = material.alphaTest;
+
+		}
+
+		const envMap = properties.get( material ).envMap;
+
+		if ( envMap ) {
+
+			uniforms.envMap.value = envMap;
+
+			uniforms.flipEnvMap.value = ( envMap.isCubeTexture && envMap.isRenderTargetTexture === false ) ? - 1 : 1;
+
+			uniforms.reflectivity.value = material.reflectivity;
+			uniforms.ior.value = material.ior;
+			uniforms.refractionRatio.value = material.refractionRatio;
+
+		}
+
+		if ( material.lightMap ) {
+
+			uniforms.lightMap.value = material.lightMap;
+
+			// artist-friendly light intensity scaling factor
+			const scaleFactor = ( renderer._useLegacyLights === true ) ? Math.PI : 1;
+
+			uniforms.lightMapIntensity.value = material.lightMapIntensity * scaleFactor;
+
+			refreshTransformUniform( material.lightMap, uniforms.lightMapTransform );
+
+		}
+
+		if ( material.aoMap ) {
+
+			uniforms.aoMap.value = material.aoMap;
+			uniforms.aoMapIntensity.value = material.aoMapIntensity;
+
+			refreshTransformUniform( material.aoMap, uniforms.aoMapTransform );
+
+		}
+
+	}
+
+	function refreshUniformsLine( uniforms, material ) {
+
+		uniforms.diffuse.value.copy( material.color );
+		uniforms.opacity.value = material.opacity;
+
+		if ( material.map ) {
+
+			uniforms.map.value = material.map;
+
+			refreshTransformUniform( material.map, uniforms.mapTransform );
+
+		}
+
+	}
+
+	function refreshUniformsDash( uniforms, material ) {
+
+		uniforms.dashSize.value = material.dashSize;
+		uniforms.totalSize.value = material.dashSize + material.gapSize;
+		uniforms.scale.value = material.scale;
+
+	}
+
+	function refreshUniformsPoints( uniforms, material, pixelRatio, height ) {
+
+		uniforms.diffuse.value.copy( material.color );
+		uniforms.opacity.value = material.opacity;
+		uniforms.size.value = material.size * pixelRatio;
+		uniforms.scale.value = height * 0.5;
+
+		if ( material.map ) {
+
+			uniforms.map.value = material.map;
+
+			refreshTransformUniform( material.map, uniforms.uvTransform );
+
+		}
+
+		if ( material.alphaMap ) {
+
+			uniforms.alphaMap.value = material.alphaMap;
+
+			refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform );
+
+		}
+
+		if ( material.alphaTest > 0 ) {
+
+			uniforms.alphaTest.value = material.alphaTest;
+
+		}
+
+	}
+
+	function refreshUniformsSprites( uniforms, material ) {
+
+		uniforms.diffuse.value.copy( material.color );
+		uniforms.opacity.value = material.opacity;
+		uniforms.rotation.value = material.rotation;
+
+		if ( material.map ) {
+
+			uniforms.map.value = material.map;
+
+			refreshTransformUniform( material.map, uniforms.mapTransform );
+
+		}
+
+		if ( material.alphaMap ) {
+
+			uniforms.alphaMap.value = material.alphaMap;
+
+			refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform );
+
+		}
+
+		if ( material.alphaTest > 0 ) {
+
+			uniforms.alphaTest.value = material.alphaTest;
+
+		}
+
+	}
+
+	function refreshUniformsPhong( uniforms, material ) {
+
+		uniforms.specular.value.copy( material.specular );
+		uniforms.shininess.value = Math.max( material.shininess, 1e-4 ); // to prevent pow( 0.0, 0.0 )
+
+	}
+
+	function refreshUniformsToon( uniforms, material ) {
+
+		if ( material.gradientMap ) {
+
+			uniforms.gradientMap.value = material.gradientMap;
+
+		}
+
+	}
+
+	function refreshUniformsStandard( uniforms, material ) {
+
+		uniforms.metalness.value = material.metalness;
+
+		if ( material.metalnessMap ) {
+
+			uniforms.metalnessMap.value = material.metalnessMap;
+
+			refreshTransformUniform( material.metalnessMap, uniforms.metalnessMapTransform );
+
+		}
+
+		uniforms.roughness.value = material.roughness;
+
+		if ( material.roughnessMap ) {
+
+			uniforms.roughnessMap.value = material.roughnessMap;
+
+			refreshTransformUniform( material.roughnessMap, uniforms.roughnessMapTransform );
+
+		}
+
+		const envMap = properties.get( material ).envMap;
+
+		if ( envMap ) {
+
+			//uniforms.envMap.value = material.envMap; // part of uniforms common
+			uniforms.envMapIntensity.value = material.envMapIntensity;
+
+		}
+
+	}
+
+	function refreshUniformsPhysical( uniforms, material, transmissionRenderTarget ) {
+
+		uniforms.ior.value = material.ior; // also part of uniforms common
+
+		if ( material.sheen > 0 ) {
+
+			uniforms.sheenColor.value.copy( material.sheenColor ).multiplyScalar( material.sheen );
+
+			uniforms.sheenRoughness.value = material.sheenRoughness;
+
+			if ( material.sheenColorMap ) {
+
+				uniforms.sheenColorMap.value = material.sheenColorMap;
+
+				refreshTransformUniform( material.sheenColorMap, uniforms.sheenColorMapTransform );
+
+			}
+
+			if ( material.sheenRoughnessMap ) {
+
+				uniforms.sheenRoughnessMap.value = material.sheenRoughnessMap;
+
+				refreshTransformUniform( material.sheenRoughnessMap, uniforms.sheenRoughnessMapTransform );
+
+			}
+
+		}
+
+		if ( material.clearcoat > 0 ) {
+
+			uniforms.clearcoat.value = material.clearcoat;
+			uniforms.clearcoatRoughness.value = material.clearcoatRoughness;
+
+			if ( material.clearcoatMap ) {
+
+				uniforms.clearcoatMap.value = material.clearcoatMap;
+
+				refreshTransformUniform( material.clearcoatMap, uniforms.clearcoatMapTransform );
+
+			}
+
+			if ( material.clearcoatRoughnessMap ) {
+
+				uniforms.clearcoatRoughnessMap.value = material.clearcoatRoughnessMap;
+
+				refreshTransformUniform( material.clearcoatRoughnessMap, uniforms.clearcoatRoughnessMapTransform );
+
+			}
+
+			if ( material.clearcoatNormalMap ) {
+
+				uniforms.clearcoatNormalMap.value = material.clearcoatNormalMap;
+
+				refreshTransformUniform( material.clearcoatNormalMap, uniforms.clearcoatNormalMapTransform );
+
+				uniforms.clearcoatNormalScale.value.copy( material.clearcoatNormalScale );
+
+				if ( material.side === BackSide ) {
+
+					uniforms.clearcoatNormalScale.value.negate();
+
+				}
+
+			}
+
+		}
+
+		if ( material.iridescence > 0 ) {
+
+			uniforms.iridescence.value = material.iridescence;
+			uniforms.iridescenceIOR.value = material.iridescenceIOR;
+			uniforms.iridescenceThicknessMinimum.value = material.iridescenceThicknessRange[ 0 ];
+			uniforms.iridescenceThicknessMaximum.value = material.iridescenceThicknessRange[ 1 ];
+
+			if ( material.iridescenceMap ) {
+
+				uniforms.iridescenceMap.value = material.iridescenceMap;
+
+				refreshTransformUniform( material.iridescenceMap, uniforms.iridescenceMapTransform );
+
+			}
+
+			if ( material.iridescenceThicknessMap ) {
+
+				uniforms.iridescenceThicknessMap.value = material.iridescenceThicknessMap;
+
+				refreshTransformUniform( material.iridescenceThicknessMap, uniforms.iridescenceThicknessMapTransform );
+
+			}
+
+		}
+
+		if ( material.transmission > 0 ) {
+
+			uniforms.transmission.value = material.transmission;
+			uniforms.transmissionSamplerMap.value = transmissionRenderTarget.texture;
+			uniforms.transmissionSamplerSize.value.set( transmissionRenderTarget.width, transmissionRenderTarget.height );
+
+			if ( material.transmissionMap ) {
+
+				uniforms.transmissionMap.value = material.transmissionMap;
+
+				refreshTransformUniform( material.transmissionMap, uniforms.transmissionMapTransform );
+
+			}
+
+			uniforms.thickness.value = material.thickness;
+
+			if ( material.thicknessMap ) {
+
+				uniforms.thicknessMap.value = material.thicknessMap;
+
+				refreshTransformUniform( material.thicknessMap, uniforms.thicknessMapTransform );
+
+			}
+
+			uniforms.attenuationDistance.value = material.attenuationDistance;
+			uniforms.attenuationColor.value.copy( material.attenuationColor );
+
+		}
+
+		if ( material.anisotropy > 0 ) {
+
+			uniforms.anisotropyVector.value.set( material.anisotropy * Math.cos( material.anisotropyRotation ), material.anisotropy * Math.sin( material.anisotropyRotation ) );
+
+			if ( material.anisotropyMap ) {
+
+				uniforms.anisotropyMap.value = material.anisotropyMap;
+
+				refreshTransformUniform( material.anisotropyMap, uniforms.anisotropyMapTransform );
+
+			}
+
+		}
+
+		uniforms.specularIntensity.value = material.specularIntensity;
+		uniforms.specularColor.value.copy( material.specularColor );
+
+		if ( material.specularColorMap ) {
+
+			uniforms.specularColorMap.value = material.specularColorMap;
+
+			refreshTransformUniform( material.specularColorMap, uniforms.specularColorMapTransform );
+
+		}
+
+		if ( material.specularIntensityMap ) {
+
+			uniforms.specularIntensityMap.value = material.specularIntensityMap;
+
+			refreshTransformUniform( material.specularIntensityMap, uniforms.specularIntensityMapTransform );
+
+		}
+
+	}
+
+	function refreshUniformsMatcap( uniforms, material ) {
+
+		if ( material.matcap ) {
+
+			uniforms.matcap.value = material.matcap;
+
+		}
+
+	}
+
+	function refreshUniformsDistance( uniforms, material ) {
+
+		const light = properties.get( material ).light;
+
+		uniforms.referencePosition.value.setFromMatrixPosition( light.matrixWorld );
+		uniforms.nearDistance.value = light.shadow.camera.near;
+		uniforms.farDistance.value = light.shadow.camera.far;
+
+	}
+
+	return {
+		refreshFogUniforms: refreshFogUniforms,
+		refreshMaterialUniforms: refreshMaterialUniforms
+	};
+
+}
+
+function WebGLUniformsGroups( gl, info, capabilities, state ) {
+
+	let buffers = {};
+	let updateList = {};
+	let allocatedBindingPoints = [];
+
+	const maxBindingPoints = ( capabilities.isWebGL2 ) ? gl.getParameter( gl.MAX_UNIFORM_BUFFER_BINDINGS ) : 0; // binding points are global whereas block indices are per shader program
+
+	function bind( uniformsGroup, program ) {
+
+		const webglProgram = program.program;
+		state.uniformBlockBinding( uniformsGroup, webglProgram );
+
+	}
+
+	function update( uniformsGroup, program ) {
+
+		let buffer = buffers[ uniformsGroup.id ];
+
+		if ( buffer === undefined ) {
+
+			prepareUniformsGroup( uniformsGroup );
+
+			buffer = createBuffer( uniformsGroup );
+			buffers[ uniformsGroup.id ] = buffer;
+
+			uniformsGroup.addEventListener( 'dispose', onUniformsGroupsDispose );
+
+		}
+
+		// ensure to update the binding points/block indices mapping for this program
+
+		const webglProgram = program.program;
+		state.updateUBOMapping( uniformsGroup, webglProgram );
+
+		// update UBO once per frame
+
+		const frame = info.render.frame;
+
+		if ( updateList[ uniformsGroup.id ] !== frame ) {
+
+			updateBufferData( uniformsGroup );
+
+			updateList[ uniformsGroup.id ] = frame;
+
+		}
+
+	}
+
+	function createBuffer( uniformsGroup ) {
+
+		// the setup of an UBO is independent of a particular shader program but global
+
+		const bindingPointIndex = allocateBindingPointIndex();
+		uniformsGroup.__bindingPointIndex = bindingPointIndex;
+
+		const buffer = gl.createBuffer();
+		const size = uniformsGroup.__size;
+		const usage = uniformsGroup.usage;
+
+		gl.bindBuffer( gl.UNIFORM_BUFFER, buffer );
+		gl.bufferData( gl.UNIFORM_BUFFER, size, usage );
+		gl.bindBuffer( gl.UNIFORM_BUFFER, null );
+		gl.bindBufferBase( gl.UNIFORM_BUFFER, bindingPointIndex, buffer );
+
+		return buffer;
+
+	}
+
+	function allocateBindingPointIndex() {
+
+		for ( let i = 0; i < maxBindingPoints; i ++ ) {
+
+			if ( allocatedBindingPoints.indexOf( i ) === - 1 ) {
+
+				allocatedBindingPoints.push( i );
+				return i;
+
+			}
+
+		}
+
+		console.error( 'THREE.WebGLRenderer: Maximum number of simultaneously usable uniforms groups reached.' );
+
+		return 0;
+
+	}
+
+	function updateBufferData( uniformsGroup ) {
+
+		const buffer = buffers[ uniformsGroup.id ];
+		const uniforms = uniformsGroup.uniforms;
+		const cache = uniformsGroup.__cache;
+
+		gl.bindBuffer( gl.UNIFORM_BUFFER, buffer );
+
+		for ( let i = 0, il = uniforms.length; i < il; i ++ ) {
+
+			const uniformArray = Array.isArray( uniforms[ i ] ) ? uniforms[ i ] : [ uniforms[ i ] ];
+
+			for ( let j = 0, jl = uniformArray.length; j < jl; j ++ ) {
+
+				const uniform = uniformArray[ j ];
+
+				if ( hasUniformChanged( uniform, i, j, cache ) === true ) {
+
+					const offset = uniform.__offset;
+
+					const values = Array.isArray( uniform.value ) ? uniform.value : [ uniform.value ];
+
+					let arrayOffset = 0;
+
+					for ( let k = 0; k < values.length; k ++ ) {
+
+						const value = values[ k ];
+
+						const info = getUniformSize( value );
+
+						// TODO add integer and struct support
+						if ( typeof value === 'number' || typeof value === 'boolean' ) {
+
+							uniform.__data[ 0 ] = value;
+							gl.bufferSubData( gl.UNIFORM_BUFFER, offset + arrayOffset, uniform.__data );
+
+						} else if ( value.isMatrix3 ) {
+
+							// manually converting 3x3 to 3x4
+
+							uniform.__data[ 0 ] = value.elements[ 0 ];
+							uniform.__data[ 1 ] = value.elements[ 1 ];
+							uniform.__data[ 2 ] = value.elements[ 2 ];
+							uniform.__data[ 3 ] = 0;
+							uniform.__data[ 4 ] = value.elements[ 3 ];
+							uniform.__data[ 5 ] = value.elements[ 4 ];
+							uniform.__data[ 6 ] = value.elements[ 5 ];
+							uniform.__data[ 7 ] = 0;
+							uniform.__data[ 8 ] = value.elements[ 6 ];
+							uniform.__data[ 9 ] = value.elements[ 7 ];
+							uniform.__data[ 10 ] = value.elements[ 8 ];
+							uniform.__data[ 11 ] = 0;
+
+						} else {
+
+							value.toArray( uniform.__data, arrayOffset );
+
+							arrayOffset += info.storage / Float32Array.BYTES_PER_ELEMENT;
+
+						}
+
+					}
+
+					gl.bufferSubData( gl.UNIFORM_BUFFER, offset, uniform.__data );
+
+				}
+
+			}
+
+		}
+
+		gl.bindBuffer( gl.UNIFORM_BUFFER, null );
+
+	}
+
+	function hasUniformChanged( uniform, index, indexArray, cache ) {
+
+		const value = uniform.value;
+		const indexString = index + '_' + indexArray;
+
+		if ( cache[ indexString ] === undefined ) {
+
+			// cache entry does not exist so far
+
+			if ( typeof value === 'number' || typeof value === 'boolean' ) {
+
+				cache[ indexString ] = value;
+
+			} else {
+
+				cache[ indexString ] = value.clone();
+
+			}
+
+			return true;
+
+		} else {
+
+			const cachedObject = cache[ indexString ];
+
+			// compare current value with cached entry
+
+			if ( typeof value === 'number' || typeof value === 'boolean' ) {
+
+				if ( cachedObject !== value ) {
+
+					cache[ indexString ] = value;
+					return true;
+
+				}
+
+			} else {
+
+				if ( cachedObject.equals( value ) === false ) {
+
+					cachedObject.copy( value );
+					return true;
+
+				}
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	function prepareUniformsGroup( uniformsGroup ) {
+
+		// determine total buffer size according to the STD140 layout
+		// Hint: STD140 is the only supported layout in WebGL 2
+
+		const uniforms = uniformsGroup.uniforms;
+
+		let offset = 0; // global buffer offset in bytes
+		const chunkSize = 16; // size of a chunk in bytes
+
+		for ( let i = 0, l = uniforms.length; i < l; i ++ ) {
+
+			const uniformArray = Array.isArray( uniforms[ i ] ) ? uniforms[ i ] : [ uniforms[ i ] ];
+
+			for ( let j = 0, jl = uniformArray.length; j < jl; j ++ ) {
+
+				const uniform = uniformArray[ j ];
+
+				const values = Array.isArray( uniform.value ) ? uniform.value : [ uniform.value ];
+
+				for ( let k = 0, kl = values.length; k < kl; k ++ ) {
+
+					const value = values[ k ];
+
+					const info = getUniformSize( value );
+
+					// Calculate the chunk offset
+					const chunkOffsetUniform = offset % chunkSize;
+
+					// Check for chunk overflow
+					if ( chunkOffsetUniform !== 0 && ( chunkSize - chunkOffsetUniform ) < info.boundary ) {
+
+						// Add padding and adjust offset
+						offset += ( chunkSize - chunkOffsetUniform );
+
+					}
+
+					// the following two properties will be used for partial buffer updates
+
+					uniform.__data = new Float32Array( info.storage / Float32Array.BYTES_PER_ELEMENT );
+					uniform.__offset = offset;
+
+
+					// Update the global offset
+					offset += info.storage;
+
+
+				}
+
+			}
+
+		}
+
+		// ensure correct final padding
+
+		const chunkOffset = offset % chunkSize;
+
+		if ( chunkOffset > 0 ) offset += ( chunkSize - chunkOffset );
+
+		//
+
+		uniformsGroup.__size = offset;
+		uniformsGroup.__cache = {};
+
+		return this;
+
+	}
+
+	function getUniformSize( value ) {
+
+		const info = {
+			boundary: 0, // bytes
+			storage: 0 // bytes
+		};
+
+		// determine sizes according to STD140
+
+		if ( typeof value === 'number' || typeof value === 'boolean' ) {
+
+			// float/int/bool
+
+			info.boundary = 4;
+			info.storage = 4;
+
+		} else if ( value.isVector2 ) {
+
+			// vec2
+
+			info.boundary = 8;
+			info.storage = 8;
+
+		} else if ( value.isVector3 || value.isColor ) {
+
+			// vec3
+
+			info.boundary = 16;
+			info.storage = 12; // evil: vec3 must start on a 16-byte boundary but it only consumes 12 bytes
+
+		} else if ( value.isVector4 ) {
+
+			// vec4
+
+			info.boundary = 16;
+			info.storage = 16;
+
+		} else if ( value.isMatrix3 ) {
+
+			// mat3 (in STD140 a 3x3 matrix is represented as 3x4)
+
+			info.boundary = 48;
+			info.storage = 48;
+
+		} else if ( value.isMatrix4 ) {
+
+			// mat4
+
+			info.boundary = 64;
+			info.storage = 64;
+
+		} else if ( value.isTexture ) {
+
+			console.warn( 'THREE.WebGLRenderer: Texture samplers can not be part of an uniforms group.' );
+
+		} else {
+
+			console.warn( 'THREE.WebGLRenderer: Unsupported uniform value type.', value );
+
+		}
+
+		return info;
+
+	}
+
+	function onUniformsGroupsDispose( event ) {
+
+		const uniformsGroup = event.target;
+
+		uniformsGroup.removeEventListener( 'dispose', onUniformsGroupsDispose );
+
+		const index = allocatedBindingPoints.indexOf( uniformsGroup.__bindingPointIndex );
+		allocatedBindingPoints.splice( index, 1 );
+
+		gl.deleteBuffer( buffers[ uniformsGroup.id ] );
+
+		delete buffers[ uniformsGroup.id ];
+		delete updateList[ uniformsGroup.id ];
+
+	}
+
+	function dispose() {
+
+		for ( const id in buffers ) {
+
+			gl.deleteBuffer( buffers[ id ] );
+
+		}
+
+		allocatedBindingPoints = [];
+		buffers = {};
+		updateList = {};
+
+	}
+
+	return {
+
+		bind: bind,
+		update: update,
+
+		dispose: dispose
+
+	};
+
+}
+
+class WebGLRenderer {
+
+	constructor( parameters = {} ) {
+
+		const {
+			canvas = createCanvasElement(),
+			context = null,
+			depth = true,
+			stencil = true,
+			alpha = false,
+			antialias = false,
+			premultipliedAlpha = true,
+			preserveDrawingBuffer = false,
+			powerPreference = 'default',
+			failIfMajorPerformanceCaveat = false,
+		} = parameters;
+
+		this.isWebGLRenderer = true;
+
+		let _alpha;
+
+		if ( context !== null ) {
+
+			_alpha = context.getContextAttributes().alpha;
+
+		} else {
+
+			_alpha = alpha;
+
+		}
+
+		const uintClearColor = new Uint32Array( 4 );
+		const intClearColor = new Int32Array( 4 );
+
+		let currentRenderList = null;
+		let currentRenderState = null;
+
+		// render() can be called from within a callback triggered by another render.
+		// We track this so that the nested render call gets its list and state isolated from the parent render call.
+
+		const renderListStack = [];
+		const renderStateStack = [];
+
+		// public properties
+
+		this.domElement = canvas;
+
+		// Debug configuration container
+		this.debug = {
+
+			/**
+			 * Enables error checking and reporting when shader programs are being compiled
+			 * @type {boolean}
+			 */
+			checkShaderErrors: true,
+			/**
+			 * Callback for custom error reporting.
+			 * @type {?Function}
+			 */
+			onShaderError: null
+		};
+
+		// clearing
+
+		this.autoClear = true;
+		this.autoClearColor = true;
+		this.autoClearDepth = true;
+		this.autoClearStencil = true;
+
+		// scene graph
+
+		this.sortObjects = true;
+
+		// user-defined clipping
+
+		this.clippingPlanes = [];
+		this.localClippingEnabled = false;
+
+		// physically based shading
+
+		this._outputColorSpace = SRGBColorSpace;
+
+		// physical lights
+
+		this._useLegacyLights = false;
+
+		// tone mapping
+
+		this.toneMapping = NoToneMapping;
+		this.toneMappingExposure = 1.0;
+
+		// internal properties
+
+		const _this = this;
+
+		let _isContextLost = false;
+
+		// internal state cache
+
+		let _currentActiveCubeFace = 0;
+		let _currentActiveMipmapLevel = 0;
+		let _currentRenderTarget = null;
+		let _currentMaterialId = - 1;
+
+		let _currentCamera = null;
+
+		const _currentViewport = new Vector4();
+		const _currentScissor = new Vector4();
+		let _currentScissorTest = null;
+
+		const _currentClearColor = new Color( 0x000000 );
+		let _currentClearAlpha = 0;
+
+		//
+
+		let _width = canvas.width;
+		let _height = canvas.height;
+
+		let _pixelRatio = 1;
+		let _opaqueSort = null;
+		let _transparentSort = null;
+
+		const _viewport = new Vector4( 0, 0, _width, _height );
+		const _scissor = new Vector4( 0, 0, _width, _height );
+		let _scissorTest = false;
+
+		// frustum
+
+		const _frustum = new Frustum();
+
+		// clipping
+
+		let _clippingEnabled = false;
+		let _localClippingEnabled = false;
+
+		// transmission
+
+		let _transmissionRenderTarget = null;
+
+		// camera matrices cache
+
+		const _projScreenMatrix = new Matrix4();
+
+		const _vector2 = new Vector2();
+		const _vector3 = new Vector3();
+
+		const _emptyScene = { background: null, fog: null, environment: null, overrideMaterial: null, isScene: true };
+
+		function getTargetPixelRatio() {
+
+			return _currentRenderTarget === null ? _pixelRatio : 1;
+
+		}
+
+		// initialize
+
+		let _gl = context;
+
+		function getContext( contextNames, contextAttributes ) {
+
+			for ( let i = 0; i < contextNames.length; i ++ ) {
+
+				const contextName = contextNames[ i ];
+				const context = canvas.getContext( contextName, contextAttributes );
+				if ( context !== null ) return context;
+
+			}
+
+			return null;
+
+		}
+
+		try {
+
+			const contextAttributes = {
+				alpha: true,
+				depth,
+				stencil,
+				antialias,
+				premultipliedAlpha,
+				preserveDrawingBuffer,
+				powerPreference,
+				failIfMajorPerformanceCaveat,
+			};
+
+			// OffscreenCanvas does not have setAttribute, see #22811
+			if ( 'setAttribute' in canvas ) canvas.setAttribute( 'data-engine', `three.js r${REVISION}` );
+
+			// event listeners must be registered before WebGL context is created, see #12753
+			canvas.addEventListener( 'webglcontextlost', onContextLost, false );
+			canvas.addEventListener( 'webglcontextrestored', onContextRestore, false );
+			canvas.addEventListener( 'webglcontextcreationerror', onContextCreationError, false );
+
+			if ( _gl === null ) {
+
+				const contextNames = [ 'webgl2', 'webgl', 'experimental-webgl' ];
+
+				if ( _this.isWebGL1Renderer === true ) {
+
+					contextNames.shift();
+
+				}
+
+				_gl = getContext( contextNames, contextAttributes );
+
+				if ( _gl === null ) {
+
+					if ( getContext( contextNames ) ) {
+
+						throw new Error( 'Error creating WebGL context with your selected attributes.' );
+
+					} else {
+
+						throw new Error( 'Error creating WebGL context.' );
+
+					}
+
+				}
+
+			}
+
+			if ( typeof WebGLRenderingContext !== 'undefined' && _gl instanceof WebGLRenderingContext ) { // @deprecated, r153
+
+				console.warn( 'THREE.WebGLRenderer: WebGL 1 support was deprecated in r153 and will be removed in r163.' );
+
+			}
+
+			// Some experimental-webgl implementations do not have getShaderPrecisionFormat
+
+			if ( _gl.getShaderPrecisionFormat === undefined ) {
+
+				_gl.getShaderPrecisionFormat = function () {
+
+					return { 'rangeMin': 1, 'rangeMax': 1, 'precision': 1 };
+
+				};
+
+			}
+
+		} catch ( error ) {
+
+			console.error( 'THREE.WebGLRenderer: ' + error.message );
+			throw error;
+
+		}
+
+		let extensions, capabilities, state, info;
+		let properties, textures, cubemaps, cubeuvmaps, attributes, geometries, objects;
+		let programCache, materials, renderLists, renderStates, clipping, shadowMap;
+
+		let background, morphtargets, bufferRenderer, indexedBufferRenderer;
+
+		let utils, bindingStates, uniformsGroups;
+
+		function initGLContext() {
+
+			extensions = new WebGLExtensions( _gl );
+
+			capabilities = new WebGLCapabilities( _gl, extensions, parameters );
+
+			extensions.init( capabilities );
+
+			utils = new WebGLUtils( _gl, extensions, capabilities );
+
+			state = new WebGLState( _gl, extensions, capabilities );
+
+			info = new WebGLInfo( _gl );
+			properties = new WebGLProperties();
+			textures = new WebGLTextures( _gl, extensions, state, properties, capabilities, utils, info );
+			cubemaps = new WebGLCubeMaps( _this );
+			cubeuvmaps = new WebGLCubeUVMaps( _this );
+			attributes = new WebGLAttributes( _gl, capabilities );
+			bindingStates = new WebGLBindingStates( _gl, extensions, attributes, capabilities );
+			geometries = new WebGLGeometries( _gl, attributes, info, bindingStates );
+			objects = new WebGLObjects( _gl, geometries, attributes, info );
+			morphtargets = new WebGLMorphtargets( _gl, capabilities, textures );
+			clipping = new WebGLClipping( properties );
+			programCache = new WebGLPrograms( _this, cubemaps, cubeuvmaps, extensions, capabilities, bindingStates, clipping );
+			materials = new WebGLMaterials( _this, properties );
+			renderLists = new WebGLRenderLists();
+			renderStates = new WebGLRenderStates( extensions, capabilities );
+			background = new WebGLBackground( _this, cubemaps, cubeuvmaps, state, objects, _alpha, premultipliedAlpha );
+			shadowMap = new WebGLShadowMap( _this, objects, capabilities );
+			uniformsGroups = new WebGLUniformsGroups( _gl, info, capabilities, state );
+
+			bufferRenderer = new WebGLBufferRenderer( _gl, extensions, info, capabilities );
+			indexedBufferRenderer = new WebGLIndexedBufferRenderer( _gl, extensions, info, capabilities );
+
+			info.programs = programCache.programs;
+
+			_this.capabilities = capabilities;
+			_this.extensions = extensions;
+			_this.properties = properties;
+			_this.renderLists = renderLists;
+			_this.shadowMap = shadowMap;
+			_this.state = state;
+			_this.info = info;
+
+		}
+
+		initGLContext();
+
+		// xr
+
+		const xr = new WebXRManager( _this, _gl );
+
+		this.xr = xr;
+
+		// API
+
+		this.getContext = function () {
+
+			return _gl;
+
+		};
+
+		this.getContextAttributes = function () {
+
+			return _gl.getContextAttributes();
+
+		};
+
+		this.forceContextLoss = function () {
+
+			const extension = extensions.get( 'WEBGL_lose_context' );
+			if ( extension ) extension.loseContext();
+
+		};
+
+		this.forceContextRestore = function () {
+
+			const extension = extensions.get( 'WEBGL_lose_context' );
+			if ( extension ) extension.restoreContext();
+
+		};
+
+		this.getPixelRatio = function () {
+
+			return _pixelRatio;
+
+		};
+
+		this.setPixelRatio = function ( value ) {
+
+			if ( value === undefined ) return;
+
+			_pixelRatio = value;
+
+			this.setSize( _width, _height, false );
+
+		};
+
+		this.getSize = function ( target ) {
+
+			return target.set( _width, _height );
+
+		};
+
+		this.setSize = function ( width, height, updateStyle = true ) {
+
+			if ( xr.isPresenting ) {
+
+				console.warn( 'THREE.WebGLRenderer: Can\'t change size while VR device is presenting.' );
+				return;
+
+			}
+
+			_width = width;
+			_height = height;
+
+			canvas.width = Math.floor( width * _pixelRatio );
+			canvas.height = Math.floor( height * _pixelRatio );
+
+			if ( updateStyle === true ) {
+
+				canvas.style.width = width + 'px';
+				canvas.style.height = height + 'px';
+
+			}
+
+			this.setViewport( 0, 0, width, height );
+
+		};
+
+		this.getDrawingBufferSize = function ( target ) {
+
+			return target.set( _width * _pixelRatio, _height * _pixelRatio ).floor();
+
+		};
+
+		this.setDrawingBufferSize = function ( width, height, pixelRatio ) {
+
+			_width = width;
+			_height = height;
+
+			_pixelRatio = pixelRatio;
+
+			canvas.width = Math.floor( width * pixelRatio );
+			canvas.height = Math.floor( height * pixelRatio );
+
+			this.setViewport( 0, 0, width, height );
+
+		};
+
+		this.getCurrentViewport = function ( target ) {
+
+			return target.copy( _currentViewport );
+
+		};
+
+		this.getViewport = function ( target ) {
+
+			return target.copy( _viewport );
+
+		};
+
+		this.setViewport = function ( x, y, width, height ) {
+
+			if ( x.isVector4 ) {
+
+				_viewport.set( x.x, x.y, x.z, x.w );
+
+			} else {
+
+				_viewport.set( x, y, width, height );
+
+			}
+
+			state.viewport( _currentViewport.copy( _viewport ).multiplyScalar( _pixelRatio ).floor() );
+
+		};
+
+		this.getScissor = function ( target ) {
+
+			return target.copy( _scissor );
+
+		};
+
+		this.setScissor = function ( x, y, width, height ) {
+
+			if ( x.isVector4 ) {
+
+				_scissor.set( x.x, x.y, x.z, x.w );
+
+			} else {
+
+				_scissor.set( x, y, width, height );
+
+			}
+
+			state.scissor( _currentScissor.copy( _scissor ).multiplyScalar( _pixelRatio ).floor() );
+
+		};
+
+		this.getScissorTest = function () {
+
+			return _scissorTest;
+
+		};
+
+		this.setScissorTest = function ( boolean ) {
+
+			state.setScissorTest( _scissorTest = boolean );
+
+		};
+
+		this.setOpaqueSort = function ( method ) {
+
+			_opaqueSort = method;
+
+		};
+
+		this.setTransparentSort = function ( method ) {
+
+			_transparentSort = method;
+
+		};
+
+		// Clearing
+
+		this.getClearColor = function ( target ) {
+
+			return target.copy( background.getClearColor() );
+
+		};
+
+		this.setClearColor = function () {
+
+			background.setClearColor.apply( background, arguments );
+
+		};
+
+		this.getClearAlpha = function () {
+
+			return background.getClearAlpha();
+
+		};
+
+		this.setClearAlpha = function () {
+
+			background.setClearAlpha.apply( background, arguments );
+
+		};
+
+		this.clear = function ( color = true, depth = true, stencil = true ) {
+
+			let bits = 0;
+
+			if ( color ) {
+
+				// check if we're trying to clear an integer target
+				let isIntegerFormat = false;
+				if ( _currentRenderTarget !== null ) {
+
+					const targetFormat = _currentRenderTarget.texture.format;
+					isIntegerFormat = targetFormat === RGBAIntegerFormat ||
+						targetFormat === RGIntegerFormat ||
+						targetFormat === RedIntegerFormat;
+
+				}
+
+				// use the appropriate clear functions to clear the target if it's a signed
+				// or unsigned integer target
+				if ( isIntegerFormat ) {
+
+					const targetType = _currentRenderTarget.texture.type;
+					const isUnsignedType = targetType === UnsignedByteType ||
+						targetType === UnsignedIntType ||
+						targetType === UnsignedShortType ||
+						targetType === UnsignedInt248Type ||
+						targetType === UnsignedShort4444Type ||
+						targetType === UnsignedShort5551Type;
+
+					const clearColor = background.getClearColor();
+					const a = background.getClearAlpha();
+					const r = clearColor.r;
+					const g = clearColor.g;
+					const b = clearColor.b;
+
+					if ( isUnsignedType ) {
+
+						uintClearColor[ 0 ] = r;
+						uintClearColor[ 1 ] = g;
+						uintClearColor[ 2 ] = b;
+						uintClearColor[ 3 ] = a;
+						_gl.clearBufferuiv( _gl.COLOR, 0, uintClearColor );
+
+					} else {
+
+						intClearColor[ 0 ] = r;
+						intClearColor[ 1 ] = g;
+						intClearColor[ 2 ] = b;
+						intClearColor[ 3 ] = a;
+						_gl.clearBufferiv( _gl.COLOR, 0, intClearColor );
+
+					}
+
+				} else {
+
+					bits |= _gl.COLOR_BUFFER_BIT;
+
+				}
+
+			}
+
+			if ( depth ) bits |= _gl.DEPTH_BUFFER_BIT;
+			if ( stencil ) {
+
+				bits |= _gl.STENCIL_BUFFER_BIT;
+				this.state.buffers.stencil.setMask( 0xffffffff );
+
+			}
+
+			_gl.clear( bits );
+
+		};
+
+		this.clearColor = function () {
+
+			this.clear( true, false, false );
+
+		};
+
+		this.clearDepth = function () {
+
+			this.clear( false, true, false );
+
+		};
+
+		this.clearStencil = function () {
+
+			this.clear( false, false, true );
+
+		};
+
+		//
+
+		this.dispose = function () {
+
+			canvas.removeEventListener( 'webglcontextlost', onContextLost, false );
+			canvas.removeEventListener( 'webglcontextrestored', onContextRestore, false );
+			canvas.removeEventListener( 'webglcontextcreationerror', onContextCreationError, false );
+
+			renderLists.dispose();
+			renderStates.dispose();
+			properties.dispose();
+			cubemaps.dispose();
+			cubeuvmaps.dispose();
+			objects.dispose();
+			bindingStates.dispose();
+			uniformsGroups.dispose();
+			programCache.dispose();
+
+			xr.dispose();
+
+			xr.removeEventListener( 'sessionstart', onXRSessionStart );
+			xr.removeEventListener( 'sessionend', onXRSessionEnd );
+
+			if ( _transmissionRenderTarget ) {
+
+				_transmissionRenderTarget.dispose();
+				_transmissionRenderTarget = null;
+
+			}
+
+			animation.stop();
+
+		};
+
+		// Events
+
+		function onContextLost( event ) {
+
+			event.preventDefault();
+
+			console.log( 'THREE.WebGLRenderer: Context Lost.' );
+
+			_isContextLost = true;
+
+		}
+
+		function onContextRestore( /* event */ ) {
+
+			console.log( 'THREE.WebGLRenderer: Context Restored.' );
+
+			_isContextLost = false;
+
+			const infoAutoReset = info.autoReset;
+			const shadowMapEnabled = shadowMap.enabled;
+			const shadowMapAutoUpdate = shadowMap.autoUpdate;
+			const shadowMapNeedsUpdate = shadowMap.needsUpdate;
+			const shadowMapType = shadowMap.type;
+
+			initGLContext();
+
+			info.autoReset = infoAutoReset;
+			shadowMap.enabled = shadowMapEnabled;
+			shadowMap.autoUpdate = shadowMapAutoUpdate;
+			shadowMap.needsUpdate = shadowMapNeedsUpdate;
+			shadowMap.type = shadowMapType;
+
+		}
+
+		function onContextCreationError( event ) {
+
+			console.error( 'THREE.WebGLRenderer: A WebGL context could not be created. Reason: ', event.statusMessage );
+
+		}
+
+		function onMaterialDispose( event ) {
+
+			const material = event.target;
+
+			material.removeEventListener( 'dispose', onMaterialDispose );
+
+			deallocateMaterial( material );
+
+		}
+
+		// Buffer deallocation
+
+		function deallocateMaterial( material ) {
+
+			releaseMaterialProgramReferences( material );
+
+			properties.remove( material );
+
+		}
+
+
+		function releaseMaterialProgramReferences( material ) {
+
+			const programs = properties.get( material ).programs;
+
+			if ( programs !== undefined ) {
+
+				programs.forEach( function ( program ) {
+
+					programCache.releaseProgram( program );
+
+				} );
+
+				if ( material.isShaderMaterial ) {
+
+					programCache.releaseShaderCache( material );
+
+				}
+
+			}
+
+		}
+
+		// Buffer rendering
+
+		this.renderBufferDirect = function ( camera, scene, geometry, material, object, group ) {
+
+			if ( scene === null ) scene = _emptyScene; // renderBufferDirect second parameter used to be fog (could be null)
+
+			const frontFaceCW = ( object.isMesh && object.matrixWorld.determinant() < 0 );
+
+			const program = setProgram( camera, scene, geometry, material, object );
+
+			state.setMaterial( material, frontFaceCW );
+
+			//
+
+			let index = geometry.index;
+			let rangeFactor = 1;
+
+			if ( material.wireframe === true ) {
+
+				index = geometries.getWireframeAttribute( geometry );
+
+				if ( index === undefined ) return;
+
+				rangeFactor = 2;
+
+			}
+
+			//
+
+			const drawRange = geometry.drawRange;
+			const position = geometry.attributes.position;
+
+			let drawStart = drawRange.start * rangeFactor;
+			let drawEnd = ( drawRange.start + drawRange.count ) * rangeFactor;
+
+			if ( group !== null ) {
+
+				drawStart = Math.max( drawStart, group.start * rangeFactor );
+				drawEnd = Math.min( drawEnd, ( group.start + group.count ) * rangeFactor );
+
+			}
+
+			if ( index !== null ) {
+
+				drawStart = Math.max( drawStart, 0 );
+				drawEnd = Math.min( drawEnd, index.count );
+
+			} else if ( position !== undefined && position !== null ) {
+
+				drawStart = Math.max( drawStart, 0 );
+				drawEnd = Math.min( drawEnd, position.count );
+
+			}
+
+			const drawCount = drawEnd - drawStart;
+
+			if ( drawCount < 0 || drawCount === Infinity ) return;
+
+			//
+
+			bindingStates.setup( object, material, program, geometry, index );
+
+			let attribute;
+			let renderer = bufferRenderer;
+
+			if ( index !== null ) {
+
+				attribute = attributes.get( index );
+
+				renderer = indexedBufferRenderer;
+				renderer.setIndex( attribute );
+
+			}
+
+			//
+
+			if ( object.isMesh ) {
+
+				if ( material.wireframe === true ) {
+
+					state.setLineWidth( material.wireframeLinewidth * getTargetPixelRatio() );
+					renderer.setMode( _gl.LINES );
+
+				} else {
+
+					renderer.setMode( _gl.TRIANGLES );
+
+				}
+
+			} else if ( object.isLine ) {
+
+				let lineWidth = material.linewidth;
+
+				if ( lineWidth === undefined ) lineWidth = 1; // Not using Line*Material
+
+				state.setLineWidth( lineWidth * getTargetPixelRatio() );
+
+				if ( object.isLineSegments ) {
+
+					renderer.setMode( _gl.LINES );
+
+				} else if ( object.isLineLoop ) {
+
+					renderer.setMode( _gl.LINE_LOOP );
+
+				} else {
+
+					renderer.setMode( _gl.LINE_STRIP );
+
+				}
+
+			} else if ( object.isPoints ) {
+
+				renderer.setMode( _gl.POINTS );
+
+			} else if ( object.isSprite ) {
+
+				renderer.setMode( _gl.TRIANGLES );
+
+			}
+
+			if ( object.isBatchedMesh ) {
+
+				renderer.renderMultiDraw( object._multiDrawStarts, object._multiDrawCounts, object._multiDrawCount );
+
+			} else if ( object.isInstancedMesh ) {
+
+				renderer.renderInstances( drawStart, drawCount, object.count );
+
+			} else if ( geometry.isInstancedBufferGeometry ) {
+
+				const maxInstanceCount = geometry._maxInstanceCount !== undefined ? geometry._maxInstanceCount : Infinity;
+				const instanceCount = Math.min( geometry.instanceCount, maxInstanceCount );
+
+				renderer.renderInstances( drawStart, drawCount, instanceCount );
+
+			} else {
+
+				renderer.render( drawStart, drawCount );
+
+			}
+
+		};
+
+		// Compile
+
+		function prepareMaterial( material, scene, object ) {
+
+			if ( material.transparent === true && material.side === DoubleSide && material.forceSinglePass === false ) {
+
+				material.side = BackSide;
+				material.needsUpdate = true;
+				getProgram( material, scene, object );
+
+				material.side = FrontSide;
+				material.needsUpdate = true;
+				getProgram( material, scene, object );
+
+				material.side = DoubleSide;
+
+			} else {
+
+				getProgram( material, scene, object );
+
+			}
+
+		}
+
+		this.compile = function ( scene, camera, targetScene = null ) {
+
+			if ( targetScene === null ) targetScene = scene;
+
+			currentRenderState = renderStates.get( targetScene );
+			currentRenderState.init();
+
+			renderStateStack.push( currentRenderState );
+
+			// gather lights from both the target scene and the new object that will be added to the scene.
+
+			targetScene.traverseVisible( function ( object ) {
+
+				if ( object.isLight && object.layers.test( camera.layers ) ) {
+
+					currentRenderState.pushLight( object );
+
+					if ( object.castShadow ) {
+
+						currentRenderState.pushShadow( object );
+
+					}
+
+				}
+
+			} );
+
+			if ( scene !== targetScene ) {
+
+				scene.traverseVisible( function ( object ) {
+
+					if ( object.isLight && object.layers.test( camera.layers ) ) {
+
+						currentRenderState.pushLight( object );
+
+						if ( object.castShadow ) {
+
+							currentRenderState.pushShadow( object );
+
+						}
+
+					}
+
+				} );
+
+			}
+
+			currentRenderState.setupLights( _this._useLegacyLights );
+
+			// Only initialize materials in the new scene, not the targetScene.
+
+			const materials = new Set();
+
+			scene.traverse( function ( object ) {
+
+				const material = object.material;
+
+				if ( material ) {
+
+					if ( Array.isArray( material ) ) {
+
+						for ( let i = 0; i < material.length; i ++ ) {
+
+							const material2 = material[ i ];
+
+							prepareMaterial( material2, targetScene, object );
+							materials.add( material2 );
+
+						}
+
+					} else {
+
+						prepareMaterial( material, targetScene, object );
+						materials.add( material );
+
+					}
+
+				}
+
+			} );
+
+			renderStateStack.pop();
+			currentRenderState = null;
+
+			return materials;
+
+		};
+
+		// compileAsync
+
+		this.compileAsync = function ( scene, camera, targetScene = null ) {
+
+			const materials = this.compile( scene, camera, targetScene );
+
+			// Wait for all the materials in the new object to indicate that they're
+			// ready to be used before resolving the promise.
+
+			return new Promise( ( resolve ) => {
+
+				function checkMaterialsReady() {
+
+					materials.forEach( function ( material ) {
+
+						const materialProperties = properties.get( material );
+						const program = materialProperties.currentProgram;
+
+						if ( program.isReady() ) {
+
+							// remove any programs that report they're ready to use from the list
+							materials.delete( material );
+
+						}
+
+					} );
+
+					// once the list of compiling materials is empty, call the callback
+
+					if ( materials.size === 0 ) {
+
+						resolve( scene );
+						return;
+
+					}
+
+					// if some materials are still not ready, wait a bit and check again
+
+					setTimeout( checkMaterialsReady, 10 );
+
+				}
+
+				if ( extensions.get( 'KHR_parallel_shader_compile' ) !== null ) {
+
+					// If we can check the compilation status of the materials without
+					// blocking then do so right away.
+
+					checkMaterialsReady();
+
+				} else {
+
+					// Otherwise start by waiting a bit to give the materials we just
+					// initialized a chance to finish.
+
+					setTimeout( checkMaterialsReady, 10 );
+
+				}
+
+			} );
+
+		};
+
+		// Animation Loop
+
+		let onAnimationFrameCallback = null;
+
+		function onAnimationFrame( time ) {
+
+			if ( onAnimationFrameCallback ) onAnimationFrameCallback( time );
+
+		}
+
+		function onXRSessionStart() {
+
+			animation.stop();
+
+		}
+
+		function onXRSessionEnd() {
+
+			animation.start();
+
+		}
+
+		const animation = new WebGLAnimation();
+		animation.setAnimationLoop( onAnimationFrame );
+
+		if ( typeof self !== 'undefined' ) animation.setContext( self );
+
+		this.setAnimationLoop = function ( callback ) {
+
+			onAnimationFrameCallback = callback;
+			xr.setAnimationLoop( callback );
+
+			( callback === null ) ? animation.stop() : animation.start();
+
+		};
+
+		xr.addEventListener( 'sessionstart', onXRSessionStart );
+		xr.addEventListener( 'sessionend', onXRSessionEnd );
+
+		// Rendering
+
+		this.render = function ( scene, camera ) {
+
+			if ( camera !== undefined && camera.isCamera !== true ) {
+
+				console.error( 'THREE.WebGLRenderer.render: camera is not an instance of THREE.Camera.' );
+				return;
+
+			}
+
+			if ( _isContextLost === true ) return;
+
+			// update scene graph
+
+			if ( scene.matrixWorldAutoUpdate === true ) scene.updateMatrixWorld();
+
+			// update camera matrices and frustum
+
+			if ( camera.parent === null && camera.matrixWorldAutoUpdate === true ) camera.updateMatrixWorld();
+
+			if ( xr.enabled === true && xr.isPresenting === true ) {
+
+				if ( xr.cameraAutoUpdate === true ) xr.updateCamera( camera );
+
+				camera = xr.getCamera(); // use XR camera for rendering
+
+			}
+
+			//
+			if ( scene.isScene === true ) scene.onBeforeRender( _this, scene, camera, _currentRenderTarget );
+
+			currentRenderState = renderStates.get( scene, renderStateStack.length );
+			currentRenderState.init();
+
+			renderStateStack.push( currentRenderState );
+
+			_projScreenMatrix.multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse );
+			_frustum.setFromProjectionMatrix( _projScreenMatrix );
+
+			_localClippingEnabled = this.localClippingEnabled;
+			_clippingEnabled = clipping.init( this.clippingPlanes, _localClippingEnabled );
+
+			currentRenderList = renderLists.get( scene, renderListStack.length );
+			currentRenderList.init();
+
+			renderListStack.push( currentRenderList );
+
+			projectObject( scene, camera, 0, _this.sortObjects );
+
+			currentRenderList.finish();
+
+			if ( _this.sortObjects === true ) {
+
+				currentRenderList.sort( _opaqueSort, _transparentSort );
+
+			}
+
+			//
+
+			this.info.render.frame ++;
+
+			if ( _clippingEnabled === true ) clipping.beginShadows();
+
+			const shadowsArray = currentRenderState.state.shadowsArray;
+
+			shadowMap.render( shadowsArray, scene, camera );
+
+			if ( _clippingEnabled === true ) clipping.endShadows();
+
+			//
+
+			if ( this.info.autoReset === true ) this.info.reset();
+
+
+			//
+
+			background.render( currentRenderList, scene );
+
+			// render scene
+
+			currentRenderState.setupLights( _this._useLegacyLights );
+
+			if ( camera.isArrayCamera ) {
+
+				const cameras = camera.cameras;
+
+				for ( let i = 0, l = cameras.length; i < l; i ++ ) {
+
+					const camera2 = cameras[ i ];
+
+					renderScene( currentRenderList, scene, camera2, camera2.viewport );
+
+				}
+
+			} else {
+
+				renderScene( currentRenderList, scene, camera );
+
+			}
+
+			//
+
+			if ( _currentRenderTarget !== null ) {
+
+				// resolve multisample renderbuffers to a single-sample texture if necessary
+
+				textures.updateMultisampleRenderTarget( _currentRenderTarget );
+
+				// Generate mipmap if we're using any kind of mipmap filtering
+
+				textures.updateRenderTargetMipmap( _currentRenderTarget );
+
+			}
+
+			//
+
+			if ( scene.isScene === true ) scene.onAfterRender( _this, scene, camera );
+
+			// _gl.finish();
+
+			bindingStates.resetDefaultState();
+			_currentMaterialId = - 1;
+			_currentCamera = null;
+
+			renderStateStack.pop();
+
+			if ( renderStateStack.length > 0 ) {
+
+				currentRenderState = renderStateStack[ renderStateStack.length - 1 ];
+
+			} else {
+
+				currentRenderState = null;
+
+			}
+
+			renderListStack.pop();
+
+			if ( renderListStack.length > 0 ) {
+
+				currentRenderList = renderListStack[ renderListStack.length - 1 ];
+
+			} else {
+
+				currentRenderList = null;
+
+			}
+
+		};
+
+		function projectObject( object, camera, groupOrder, sortObjects ) {
+
+			if ( object.visible === false ) return;
+
+			const visible = object.layers.test( camera.layers );
+
+			if ( visible ) {
+
+				if ( object.isGroup ) {
+
+					groupOrder = object.renderOrder;
+
+				} else if ( object.isLOD ) {
+
+					if ( object.autoUpdate === true ) object.update( camera );
+
+				} else if ( object.isLight ) {
+
+					currentRenderState.pushLight( object );
+
+					if ( object.castShadow ) {
+
+						currentRenderState.pushShadow( object );
+
+					}
+
+				} else if ( object.isSprite ) {
+
+					if ( ! object.frustumCulled || _frustum.intersectsSprite( object ) ) {
+
+						if ( sortObjects ) {
+
+							_vector3.setFromMatrixPosition( object.matrixWorld )
+								.applyMatrix4( _projScreenMatrix );
+
+						}
+
+						const geometry = objects.update( object );
+						const material = object.material;
+
+						if ( material.visible ) {
+
+							currentRenderList.push( object, geometry, material, groupOrder, _vector3.z, null );
+
+						}
+
+					}
+
+				} else if ( object.isMesh || object.isLine || object.isPoints ) {
+
+					if ( ! object.frustumCulled || _frustum.intersectsObject( object ) ) {
+
+						const geometry = objects.update( object );
+						const material = object.material;
+
+						if ( sortObjects ) {
+
+							if ( object.boundingSphere !== undefined ) {
+
+								if ( object.boundingSphere === null ) object.computeBoundingSphere();
+								_vector3.copy( object.boundingSphere.center );
+
+							} else {
+
+								if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
+								_vector3.copy( geometry.boundingSphere.center );
+
+							}
+
+							_vector3
+								.applyMatrix4( object.matrixWorld )
+								.applyMatrix4( _projScreenMatrix );
+
+						}
+
+						if ( Array.isArray( material ) ) {
+
+							const groups = geometry.groups;
+
+							for ( let i = 0, l = groups.length; i < l; i ++ ) {
+
+								const group = groups[ i ];
+								const groupMaterial = material[ group.materialIndex ];
+
+								if ( groupMaterial && groupMaterial.visible ) {
+
+									currentRenderList.push( object, geometry, groupMaterial, groupOrder, _vector3.z, group );
+
+								}
+
+							}
+
+						} else if ( material.visible ) {
+
+							currentRenderList.push( object, geometry, material, groupOrder, _vector3.z, null );
+
+						}
+
+					}
+
+				}
+
+			}
+
+			const children = object.children;
+
+			for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+				projectObject( children[ i ], camera, groupOrder, sortObjects );
+
+			}
+
+		}
+
+		function renderScene( currentRenderList, scene, camera, viewport ) {
+
+			const opaqueObjects = currentRenderList.opaque;
+			const transmissiveObjects = currentRenderList.transmissive;
+			const transparentObjects = currentRenderList.transparent;
+
+			currentRenderState.setupLightsView( camera );
+
+			if ( _clippingEnabled === true ) clipping.setGlobalState( _this.clippingPlanes, camera );
+
+			if ( transmissiveObjects.length > 0 ) renderTransmissionPass( opaqueObjects, transmissiveObjects, scene, camera );
+
+			if ( viewport ) state.viewport( _currentViewport.copy( viewport ) );
+
+			if ( opaqueObjects.length > 0 ) renderObjects( opaqueObjects, scene, camera );
+			if ( transmissiveObjects.length > 0 ) renderObjects( transmissiveObjects, scene, camera );
+			if ( transparentObjects.length > 0 ) renderObjects( transparentObjects, scene, camera );
+
+			// Ensure depth buffer writing is enabled so it can be cleared on next render
+
+			state.buffers.depth.setTest( true );
+			state.buffers.depth.setMask( true );
+			state.buffers.color.setMask( true );
+
+			state.setPolygonOffset( false );
+
+		}
+
+		function renderTransmissionPass( opaqueObjects, transmissiveObjects, scene, camera ) {
+
+			const overrideMaterial = scene.isScene === true ? scene.overrideMaterial : null;
+
+			if ( overrideMaterial !== null ) {
+
+				return;
+
+			}
+
+			const isWebGL2 = capabilities.isWebGL2;
+
+			if ( _transmissionRenderTarget === null ) {
+
+				_transmissionRenderTarget = new WebGLRenderTarget( 1, 1, {
+					generateMipmaps: true,
+					type: extensions.has( 'EXT_color_buffer_half_float' ) ? HalfFloatType : UnsignedByteType,
+					minFilter: LinearMipmapLinearFilter,
+					samples: ( isWebGL2 ) ? 4 : 0
+				} );
+
+				// debug
+
+				/*
+				const geometry = new PlaneGeometry();
+				const material = new MeshBasicMaterial( { map: _transmissionRenderTarget.texture } );
+
+				const mesh = new Mesh( geometry, material );
+				scene.add( mesh );
+				*/
+
+			}
+
+			_this.getDrawingBufferSize( _vector2 );
+
+			if ( isWebGL2 ) {
+
+				_transmissionRenderTarget.setSize( _vector2.x, _vector2.y );
+
+			} else {
+
+				_transmissionRenderTarget.setSize( floorPowerOfTwo( _vector2.x ), floorPowerOfTwo( _vector2.y ) );
+
+			}
+
+			//
+
+			const currentRenderTarget = _this.getRenderTarget();
+			_this.setRenderTarget( _transmissionRenderTarget );
+
+			_this.getClearColor( _currentClearColor );
+			_currentClearAlpha = _this.getClearAlpha();
+			if ( _currentClearAlpha < 1 ) _this.setClearColor( 0xffffff, 0.5 );
+
+			_this.clear();
+
+			// Turn off the features which can affect the frag color for opaque objects pass.
+			// Otherwise they are applied twice in opaque objects pass and transmission objects pass.
+			const currentToneMapping = _this.toneMapping;
+			_this.toneMapping = NoToneMapping;
+
+			renderObjects( opaqueObjects, scene, camera );
+
+			textures.updateMultisampleRenderTarget( _transmissionRenderTarget );
+			textures.updateRenderTargetMipmap( _transmissionRenderTarget );
+
+			let renderTargetNeedsUpdate = false;
+
+			for ( let i = 0, l = transmissiveObjects.length; i < l; i ++ ) {
+
+				const renderItem = transmissiveObjects[ i ];
+
+				const object = renderItem.object;
+				const geometry = renderItem.geometry;
+				const material = renderItem.material;
+				const group = renderItem.group;
+
+				if ( material.side === DoubleSide && object.layers.test( camera.layers ) ) {
+
+					const currentSide = material.side;
+
+					material.side = BackSide;
+					material.needsUpdate = true;
+
+					renderObject( object, scene, camera, geometry, material, group );
+
+					material.side = currentSide;
+					material.needsUpdate = true;
+
+					renderTargetNeedsUpdate = true;
+
+				}
+
+			}
+
+			if ( renderTargetNeedsUpdate === true ) {
+
+				textures.updateMultisampleRenderTarget( _transmissionRenderTarget );
+				textures.updateRenderTargetMipmap( _transmissionRenderTarget );
+
+			}
+
+			_this.setRenderTarget( currentRenderTarget );
+
+			_this.setClearColor( _currentClearColor, _currentClearAlpha );
+
+			_this.toneMapping = currentToneMapping;
+
+		}
+
+		function renderObjects( renderList, scene, camera ) {
+
+			const overrideMaterial = scene.isScene === true ? scene.overrideMaterial : null;
+
+			for ( let i = 0, l = renderList.length; i < l; i ++ ) {
+
+				const renderItem = renderList[ i ];
+
+				const object = renderItem.object;
+				const geometry = renderItem.geometry;
+				const material = overrideMaterial === null ? renderItem.material : overrideMaterial;
+				const group = renderItem.group;
+
+				if ( object.layers.test( camera.layers ) ) {
+
+					renderObject( object, scene, camera, geometry, material, group );
+
+				}
+
+			}
+
+		}
+
+		function renderObject( object, scene, camera, geometry, material, group ) {
+
+			object.onBeforeRender( _this, scene, camera, geometry, material, group );
+
+			object.modelViewMatrix.multiplyMatrices( camera.matrixWorldInverse, object.matrixWorld );
+			object.normalMatrix.getNormalMatrix( object.modelViewMatrix );
+
+			material.onBeforeRender( _this, scene, camera, geometry, object, group );
+
+			if ( material.transparent === true && material.side === DoubleSide && material.forceSinglePass === false ) {
+
+				material.side = BackSide;
+				material.needsUpdate = true;
+				_this.renderBufferDirect( camera, scene, geometry, material, object, group );
+
+				material.side = FrontSide;
+				material.needsUpdate = true;
+				_this.renderBufferDirect( camera, scene, geometry, material, object, group );
+
+				material.side = DoubleSide;
+
+			} else {
+
+				_this.renderBufferDirect( camera, scene, geometry, material, object, group );
+
+			}
+
+			object.onAfterRender( _this, scene, camera, geometry, material, group );
+
+		}
+
+		function getProgram( material, scene, object ) {
+
+			if ( scene.isScene !== true ) scene = _emptyScene; // scene could be a Mesh, Line, Points, ...
+
+			const materialProperties = properties.get( material );
+
+			const lights = currentRenderState.state.lights;
+			const shadowsArray = currentRenderState.state.shadowsArray;
+
+			const lightsStateVersion = lights.state.version;
+
+			const parameters = programCache.getParameters( material, lights.state, shadowsArray, scene, object );
+			const programCacheKey = programCache.getProgramCacheKey( parameters );
+
+			let programs = materialProperties.programs;
+
+			// always update environment and fog - changing these trigger an getProgram call, but it's possible that the program doesn't change
+
+			materialProperties.environment = material.isMeshStandardMaterial ? scene.environment : null;
+			materialProperties.fog = scene.fog;
+			materialProperties.envMap = ( material.isMeshStandardMaterial ? cubeuvmaps : cubemaps ).get( material.envMap || materialProperties.environment );
+
+			if ( programs === undefined ) {
+
+				// new material
+
+				material.addEventListener( 'dispose', onMaterialDispose );
+
+				programs = new Map();
+				materialProperties.programs = programs;
+
+			}
+
+			let program = programs.get( programCacheKey );
+
+			if ( program !== undefined ) {
+
+				// early out if program and light state is identical
+
+				if ( materialProperties.currentProgram === program && materialProperties.lightsStateVersion === lightsStateVersion ) {
+
+					updateCommonMaterialProperties( material, parameters );
+
+					return program;
+
+				}
+
+			} else {
+
+				parameters.uniforms = programCache.getUniforms( material );
+
+				material.onBuild( object, parameters, _this );
+
+				material.onBeforeCompile( parameters, _this );
+
+				program = programCache.acquireProgram( parameters, programCacheKey );
+				programs.set( programCacheKey, program );
+
+				materialProperties.uniforms = parameters.uniforms;
+
+			}
+
+			const uniforms = materialProperties.uniforms;
+
+			if ( ( ! material.isShaderMaterial && ! material.isRawShaderMaterial ) || material.clipping === true ) {
+
+				uniforms.clippingPlanes = clipping.uniform;
+
+			}
+
+			updateCommonMaterialProperties( material, parameters );
+
+			// store the light setup it was created for
+
+			materialProperties.needsLights = materialNeedsLights( material );
+			materialProperties.lightsStateVersion = lightsStateVersion;
+
+			if ( materialProperties.needsLights ) {
+
+				// wire up the material to this renderer's lighting state
+
+				uniforms.ambientLightColor.value = lights.state.ambient;
+				uniforms.lightProbe.value = lights.state.probe;
+				uniforms.directionalLights.value = lights.state.directional;
+				uniforms.directionalLightShadows.value = lights.state.directionalShadow;
+				uniforms.spotLights.value = lights.state.spot;
+				uniforms.spotLightShadows.value = lights.state.spotShadow;
+				uniforms.rectAreaLights.value = lights.state.rectArea;
+				uniforms.ltc_1.value = lights.state.rectAreaLTC1;
+				uniforms.ltc_2.value = lights.state.rectAreaLTC2;
+				uniforms.pointLights.value = lights.state.point;
+				uniforms.pointLightShadows.value = lights.state.pointShadow;
+				uniforms.hemisphereLights.value = lights.state.hemi;
+
+				uniforms.directionalShadowMap.value = lights.state.directionalShadowMap;
+				uniforms.directionalShadowMatrix.value = lights.state.directionalShadowMatrix;
+				uniforms.spotShadowMap.value = lights.state.spotShadowMap;
+				uniforms.spotLightMatrix.value = lights.state.spotLightMatrix;
+				uniforms.spotLightMap.value = lights.state.spotLightMap;
+				uniforms.pointShadowMap.value = lights.state.pointShadowMap;
+				uniforms.pointShadowMatrix.value = lights.state.pointShadowMatrix;
+				// TODO (abelnation): add area lights shadow info to uniforms
+
+			}
+
+			materialProperties.currentProgram = program;
+			materialProperties.uniformsList = null;
+
+			return program;
+
+		}
+
+		function getUniformList( materialProperties ) {
+
+			if ( materialProperties.uniformsList === null ) {
+
+				const progUniforms = materialProperties.currentProgram.getUniforms();
+				materialProperties.uniformsList = WebGLUniforms.seqWithValue( progUniforms.seq, materialProperties.uniforms );
+
+			}
+
+			return materialProperties.uniformsList;
+
+		}
+
+		function updateCommonMaterialProperties( material, parameters ) {
+
+			const materialProperties = properties.get( material );
+
+			materialProperties.outputColorSpace = parameters.outputColorSpace;
+			materialProperties.batching = parameters.batching;
+			materialProperties.instancing = parameters.instancing;
+			materialProperties.instancingColor = parameters.instancingColor;
+			materialProperties.skinning = parameters.skinning;
+			materialProperties.morphTargets = parameters.morphTargets;
+			materialProperties.morphNormals = parameters.morphNormals;
+			materialProperties.morphColors = parameters.morphColors;
+			materialProperties.morphTargetsCount = parameters.morphTargetsCount;
+			materialProperties.numClippingPlanes = parameters.numClippingPlanes;
+			materialProperties.numIntersection = parameters.numClipIntersection;
+			materialProperties.vertexAlphas = parameters.vertexAlphas;
+			materialProperties.vertexTangents = parameters.vertexTangents;
+			materialProperties.toneMapping = parameters.toneMapping;
+
+		}
+
+		function setProgram( camera, scene, geometry, material, object ) {
+
+			if ( scene.isScene !== true ) scene = _emptyScene; // scene could be a Mesh, Line, Points, ...
+
+			textures.resetTextureUnits();
+
+			const fog = scene.fog;
+			const environment = material.isMeshStandardMaterial ? scene.environment : null;
+			const colorSpace = ( _currentRenderTarget === null ) ? _this.outputColorSpace : ( _currentRenderTarget.isXRRenderTarget === true ? _currentRenderTarget.texture.colorSpace : LinearSRGBColorSpace );
+			const envMap = ( material.isMeshStandardMaterial ? cubeuvmaps : cubemaps ).get( material.envMap || environment );
+			const vertexAlphas = material.vertexColors === true && !! geometry.attributes.color && geometry.attributes.color.itemSize === 4;
+			const vertexTangents = !! geometry.attributes.tangent && ( !! material.normalMap || material.anisotropy > 0 );
+			const morphTargets = !! geometry.morphAttributes.position;
+			const morphNormals = !! geometry.morphAttributes.normal;
+			const morphColors = !! geometry.morphAttributes.color;
+
+			let toneMapping = NoToneMapping;
+
+			if ( material.toneMapped ) {
+
+				if ( _currentRenderTarget === null || _currentRenderTarget.isXRRenderTarget === true ) {
+
+					toneMapping = _this.toneMapping;
+
+				}
+
+			}
+
+			const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color;
+			const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0;
+
+			const materialProperties = properties.get( material );
+			const lights = currentRenderState.state.lights;
+
+			if ( _clippingEnabled === true ) {
+
+				if ( _localClippingEnabled === true || camera !== _currentCamera ) {
+
+					const useCache =
+						camera === _currentCamera &&
+						material.id === _currentMaterialId;
+
+					// we might want to call this function with some ClippingGroup
+					// object instead of the material, once it becomes feasible
+					// (#8465, #8379)
+					clipping.setState( material, camera, useCache );
+
+				}
+
+			}
+
+			//
+
+			let needsProgramChange = false;
+
+			if ( material.version === materialProperties.__version ) {
+
+				if ( materialProperties.needsLights && ( materialProperties.lightsStateVersion !== lights.state.version ) ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.outputColorSpace !== colorSpace ) {
+
+					needsProgramChange = true;
+
+				} else if ( object.isBatchedMesh && materialProperties.batching === false ) {
+
+					needsProgramChange = true;
+
+				} else if ( ! object.isBatchedMesh && materialProperties.batching === true ) {
+
+					needsProgramChange = true;
+
+				} else if ( object.isInstancedMesh && materialProperties.instancing === false ) {
+
+					needsProgramChange = true;
+
+				} else if ( ! object.isInstancedMesh && materialProperties.instancing === true ) {
+
+					needsProgramChange = true;
+
+				} else if ( object.isSkinnedMesh && materialProperties.skinning === false ) {
+
+					needsProgramChange = true;
+
+				} else if ( ! object.isSkinnedMesh && materialProperties.skinning === true ) {
+
+					needsProgramChange = true;
+
+				} else if ( object.isInstancedMesh && materialProperties.instancingColor === true && object.instanceColor === null ) {
+
+					needsProgramChange = true;
+
+				} else if ( object.isInstancedMesh && materialProperties.instancingColor === false && object.instanceColor !== null ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.envMap !== envMap ) {
+
+					needsProgramChange = true;
+
+				} else if ( material.fog === true && materialProperties.fog !== fog ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.numClippingPlanes !== undefined &&
+					( materialProperties.numClippingPlanes !== clipping.numPlanes ||
+					materialProperties.numIntersection !== clipping.numIntersection ) ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.vertexAlphas !== vertexAlphas ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.vertexTangents !== vertexTangents ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.morphTargets !== morphTargets ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.morphNormals !== morphNormals ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.morphColors !== morphColors ) {
+
+					needsProgramChange = true;
+
+				} else if ( materialProperties.toneMapping !== toneMapping ) {
+
+					needsProgramChange = true;
+
+				} else if ( capabilities.isWebGL2 === true && materialProperties.morphTargetsCount !== morphTargetsCount ) {
+
+					needsProgramChange = true;
+
+				}
+
+			} else {
+
+				needsProgramChange = true;
+				materialProperties.__version = material.version;
+
+			}
+
+			//
+
+			let program = materialProperties.currentProgram;
+
+			if ( needsProgramChange === true ) {
+
+				program = getProgram( material, scene, object );
+
+			}
+
+			let refreshProgram = false;
+			let refreshMaterial = false;
+			let refreshLights = false;
+
+			const p_uniforms = program.getUniforms(),
+				m_uniforms = materialProperties.uniforms;
+
+			if ( state.useProgram( program.program ) ) {
+
+				refreshProgram = true;
+				refreshMaterial = true;
+				refreshLights = true;
+
+			}
+
+			if ( material.id !== _currentMaterialId ) {
+
+				_currentMaterialId = material.id;
+
+				refreshMaterial = true;
+
+			}
+
+			if ( refreshProgram || _currentCamera !== camera ) {
+
+				// common camera uniforms
+
+				p_uniforms.setValue( _gl, 'projectionMatrix', camera.projectionMatrix );
+				p_uniforms.setValue( _gl, 'viewMatrix', camera.matrixWorldInverse );
+
+				const uCamPos = p_uniforms.map.cameraPosition;
+
+				if ( uCamPos !== undefined ) {
+
+					uCamPos.setValue( _gl, _vector3.setFromMatrixPosition( camera.matrixWorld ) );
+
+				}
+
+				if ( capabilities.logarithmicDepthBuffer ) {
+
+					p_uniforms.setValue( _gl, 'logDepthBufFC',
+						2.0 / ( Math.log( camera.far + 1.0 ) / Math.LN2 ) );
+
+				}
+
+				// consider moving isOrthographic to UniformLib and WebGLMaterials, see https://github.com/mrdoob/three.js/pull/26467#issuecomment-1645185067
+
+				if ( material.isMeshPhongMaterial ||
+					material.isMeshToonMaterial ||
+					material.isMeshLambertMaterial ||
+					material.isMeshBasicMaterial ||
+					material.isMeshStandardMaterial ||
+					material.isShaderMaterial ) {
+
+					p_uniforms.setValue( _gl, 'isOrthographic', camera.isOrthographicCamera === true );
+
+				}
+
+				if ( _currentCamera !== camera ) {
+
+					_currentCamera = camera;
+
+					// lighting uniforms depend on the camera so enforce an update
+					// now, in case this material supports lights - or later, when
+					// the next material that does gets activated:
+
+					refreshMaterial = true;		// set to true on material change
+					refreshLights = true;		// remains set until update done
+
+				}
+
+			}
+
+			// skinning and morph target uniforms must be set even if material didn't change
+			// auto-setting of texture unit for bone and morph texture must go before other textures
+			// otherwise textures used for skinning and morphing can take over texture units reserved for other material textures
+
+			if ( object.isSkinnedMesh ) {
+
+				p_uniforms.setOptional( _gl, object, 'bindMatrix' );
+				p_uniforms.setOptional( _gl, object, 'bindMatrixInverse' );
+
+				const skeleton = object.skeleton;
+
+				if ( skeleton ) {
+
+					if ( capabilities.floatVertexTextures ) {
+
+						if ( skeleton.boneTexture === null ) skeleton.computeBoneTexture();
+
+						p_uniforms.setValue( _gl, 'boneTexture', skeleton.boneTexture, textures );
+
+					} else {
+
+						console.warn( 'THREE.WebGLRenderer: SkinnedMesh can only be used with WebGL 2. With WebGL 1 OES_texture_float and vertex textures support is required.' );
+
+					}
+
+				}
+
+			}
+
+			if ( object.isBatchedMesh ) {
+
+				p_uniforms.setOptional( _gl, object, 'batchingTexture' );
+				p_uniforms.setValue( _gl, 'batchingTexture', object._matricesTexture, textures );
+
+			}
+
+			const morphAttributes = geometry.morphAttributes;
+
+			if ( morphAttributes.position !== undefined || morphAttributes.normal !== undefined || ( morphAttributes.color !== undefined && capabilities.isWebGL2 === true ) ) {
+
+				morphtargets.update( object, geometry, program );
+
+			}
+
+			if ( refreshMaterial || materialProperties.receiveShadow !== object.receiveShadow ) {
+
+				materialProperties.receiveShadow = object.receiveShadow;
+				p_uniforms.setValue( _gl, 'receiveShadow', object.receiveShadow );
+
+			}
+
+			// https://github.com/mrdoob/three.js/pull/24467#issuecomment-1209031512
+
+			if ( material.isMeshGouraudMaterial && material.envMap !== null ) {
+
+				m_uniforms.envMap.value = envMap;
+
+				m_uniforms.flipEnvMap.value = ( envMap.isCubeTexture && envMap.isRenderTargetTexture === false ) ? - 1 : 1;
+
+			}
+
+			if ( refreshMaterial ) {
+
+				p_uniforms.setValue( _gl, 'toneMappingExposure', _this.toneMappingExposure );
+
+				if ( materialProperties.needsLights ) {
+
+					// the current material requires lighting info
+
+					// note: all lighting uniforms are always set correctly
+					// they simply reference the renderer's state for their
+					// values
+					//
+					// use the current material's .needsUpdate flags to set
+					// the GL state when required
+
+					markUniformsLightsNeedsUpdate( m_uniforms, refreshLights );
+
+				}
+
+				// refresh uniforms common to several materials
+
+				if ( fog && material.fog === true ) {
+
+					materials.refreshFogUniforms( m_uniforms, fog );
+
+				}
+
+				materials.refreshMaterialUniforms( m_uniforms, material, _pixelRatio, _height, _transmissionRenderTarget );
+
+				WebGLUniforms.upload( _gl, getUniformList( materialProperties ), m_uniforms, textures );
+
+			}
+
+			if ( material.isShaderMaterial && material.uniformsNeedUpdate === true ) {
+
+				WebGLUniforms.upload( _gl, getUniformList( materialProperties ), m_uniforms, textures );
+				material.uniformsNeedUpdate = false;
+
+			}
+
+			if ( material.isSpriteMaterial ) {
+
+				p_uniforms.setValue( _gl, 'center', object.center );
+
+			}
+
+			// common matrices
+
+			p_uniforms.setValue( _gl, 'modelViewMatrix', object.modelViewMatrix );
+			p_uniforms.setValue( _gl, 'normalMatrix', object.normalMatrix );
+			p_uniforms.setValue( _gl, 'modelMatrix', object.matrixWorld );
+
+			// UBOs
+
+			if ( material.isShaderMaterial || material.isRawShaderMaterial ) {
+
+				const groups = material.uniformsGroups;
+
+				for ( let i = 0, l = groups.length; i < l; i ++ ) {
+
+					if ( capabilities.isWebGL2 ) {
+
+						const group = groups[ i ];
+
+						uniformsGroups.update( group, program );
+						uniformsGroups.bind( group, program );
+
+					} else {
+
+						console.warn( 'THREE.WebGLRenderer: Uniform Buffer Objects can only be used with WebGL 2.' );
+
+					}
+
+				}
+
+			}
+
+			return program;
+
+		}
+
+		// If uniforms are marked as clean, they don't need to be loaded to the GPU.
+
+		function markUniformsLightsNeedsUpdate( uniforms, value ) {
+
+			uniforms.ambientLightColor.needsUpdate = value;
+			uniforms.lightProbe.needsUpdate = value;
+
+			uniforms.directionalLights.needsUpdate = value;
+			uniforms.directionalLightShadows.needsUpdate = value;
+			uniforms.pointLights.needsUpdate = value;
+			uniforms.pointLightShadows.needsUpdate = value;
+			uniforms.spotLights.needsUpdate = value;
+			uniforms.spotLightShadows.needsUpdate = value;
+			uniforms.rectAreaLights.needsUpdate = value;
+			uniforms.hemisphereLights.needsUpdate = value;
+
+		}
+
+		function materialNeedsLights( material ) {
+
+			return material.isMeshLambertMaterial || material.isMeshToonMaterial || material.isMeshPhongMaterial ||
+				material.isMeshStandardMaterial || material.isShadowMaterial ||
+				( material.isShaderMaterial && material.lights === true );
+
+		}
+
+		this.getActiveCubeFace = function () {
+
+			return _currentActiveCubeFace;
+
+		};
+
+		this.getActiveMipmapLevel = function () {
+
+			return _currentActiveMipmapLevel;
+
+		};
+
+		this.getRenderTarget = function () {
+
+			return _currentRenderTarget;
+
+		};
+
+		this.setRenderTargetTextures = function ( renderTarget, colorTexture, depthTexture ) {
+
+			properties.get( renderTarget.texture ).__webglTexture = colorTexture;
+			properties.get( renderTarget.depthTexture ).__webglTexture = depthTexture;
+
+			const renderTargetProperties = properties.get( renderTarget );
+			renderTargetProperties.__hasExternalTextures = true;
+
+			if ( renderTargetProperties.__hasExternalTextures ) {
+
+				renderTargetProperties.__autoAllocateDepthBuffer = depthTexture === undefined;
+
+				if ( ! renderTargetProperties.__autoAllocateDepthBuffer ) {
+
+					// The multisample_render_to_texture extension doesn't work properly if there
+					// are midframe flushes and an external depth buffer. Disable use of the extension.
+					if ( extensions.has( 'WEBGL_multisampled_render_to_texture' ) === true ) {
+
+						console.warn( 'THREE.WebGLRenderer: Render-to-texture extension was disabled because an external texture was provided' );
+						renderTargetProperties.__useRenderToTexture = false;
+
+					}
+
+				}
+
+			}
+
+		};
+
+		this.setRenderTargetFramebuffer = function ( renderTarget, defaultFramebuffer ) {
+
+			const renderTargetProperties = properties.get( renderTarget );
+			renderTargetProperties.__webglFramebuffer = defaultFramebuffer;
+			renderTargetProperties.__useDefaultFramebuffer = defaultFramebuffer === undefined;
+
+		};
+
+		this.setRenderTarget = function ( renderTarget, activeCubeFace = 0, activeMipmapLevel = 0 ) {
+
+			_currentRenderTarget = renderTarget;
+			_currentActiveCubeFace = activeCubeFace;
+			_currentActiveMipmapLevel = activeMipmapLevel;
+
+			let useDefaultFramebuffer = true;
+			let framebuffer = null;
+			let isCube = false;
+			let isRenderTarget3D = false;
+
+			if ( renderTarget ) {
+
+				const renderTargetProperties = properties.get( renderTarget );
+
+				if ( renderTargetProperties.__useDefaultFramebuffer !== undefined ) {
+
+					// We need to make sure to rebind the framebuffer.
+					state.bindFramebuffer( _gl.FRAMEBUFFER, null );
+					useDefaultFramebuffer = false;
+
+				} else if ( renderTargetProperties.__webglFramebuffer === undefined ) {
+
+					textures.setupRenderTarget( renderTarget );
+
+				} else if ( renderTargetProperties.__hasExternalTextures ) {
+
+					// Color and depth texture must be rebound in order for the swapchain to update.
+					textures.rebindTextures( renderTarget, properties.get( renderTarget.texture ).__webglTexture, properties.get( renderTarget.depthTexture ).__webglTexture );
+
+				}
+
+				const texture = renderTarget.texture;
+
+				if ( texture.isData3DTexture || texture.isDataArrayTexture || texture.isCompressedArrayTexture ) {
+
+					isRenderTarget3D = true;
+
+				}
+
+				const __webglFramebuffer = properties.get( renderTarget ).__webglFramebuffer;
+
+				if ( renderTarget.isWebGLCubeRenderTarget ) {
+
+					if ( Array.isArray( __webglFramebuffer[ activeCubeFace ] ) ) {
+
+						framebuffer = __webglFramebuffer[ activeCubeFace ][ activeMipmapLevel ];
+
+					} else {
+
+						framebuffer = __webglFramebuffer[ activeCubeFace ];
+
+					}
+
+					isCube = true;
+
+				} else if ( ( capabilities.isWebGL2 && renderTarget.samples > 0 ) && textures.useMultisampledRTT( renderTarget ) === false ) {
+
+					framebuffer = properties.get( renderTarget ).__webglMultisampledFramebuffer;
+
+				} else {
+
+					if ( Array.isArray( __webglFramebuffer ) ) {
+
+						framebuffer = __webglFramebuffer[ activeMipmapLevel ];
+
+					} else {
+
+						framebuffer = __webglFramebuffer;
+
+					}
+
+				}
+
+				_currentViewport.copy( renderTarget.viewport );
+				_currentScissor.copy( renderTarget.scissor );
+				_currentScissorTest = renderTarget.scissorTest;
+
+			} else {
+
+				_currentViewport.copy( _viewport ).multiplyScalar( _pixelRatio ).floor();
+				_currentScissor.copy( _scissor ).multiplyScalar( _pixelRatio ).floor();
+				_currentScissorTest = _scissorTest;
+
+			}
+
+			const framebufferBound = state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer );
+
+			if ( framebufferBound && capabilities.drawBuffers && useDefaultFramebuffer ) {
+
+				state.drawBuffers( renderTarget, framebuffer );
+
+			}
+
+			state.viewport( _currentViewport );
+			state.scissor( _currentScissor );
+			state.setScissorTest( _currentScissorTest );
+
+			if ( isCube ) {
+
+				const textureProperties = properties.get( renderTarget.texture );
+				_gl.framebufferTexture2D( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + activeCubeFace, textureProperties.__webglTexture, activeMipmapLevel );
+
+			} else if ( isRenderTarget3D ) {
+
+				const textureProperties = properties.get( renderTarget.texture );
+				const layer = activeCubeFace || 0;
+				_gl.framebufferTextureLayer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, textureProperties.__webglTexture, activeMipmapLevel || 0, layer );
+
+			}
+
+			_currentMaterialId = - 1; // reset current material to ensure correct uniform bindings
+
+		};
+
+		this.readRenderTargetPixels = function ( renderTarget, x, y, width, height, buffer, activeCubeFaceIndex ) {
+
+			if ( ! ( renderTarget && renderTarget.isWebGLRenderTarget ) ) {
+
+				console.error( 'THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.' );
+				return;
+
+			}
+
+			let framebuffer = properties.get( renderTarget ).__webglFramebuffer;
+
+			if ( renderTarget.isWebGLCubeRenderTarget && activeCubeFaceIndex !== undefined ) {
+
+				framebuffer = framebuffer[ activeCubeFaceIndex ];
+
+			}
+
+			if ( framebuffer ) {
+
+				state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer );
+
+				try {
+
+					const texture = renderTarget.texture;
+					const textureFormat = texture.format;
+					const textureType = texture.type;
+
+					if ( textureFormat !== RGBAFormat && utils.convert( textureFormat ) !== _gl.getParameter( _gl.IMPLEMENTATION_COLOR_READ_FORMAT ) ) {
+
+						console.error( 'THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in RGBA or implementation defined format.' );
+						return;
+
+					}
+
+					const halfFloatSupportedByExt = ( textureType === HalfFloatType ) && ( extensions.has( 'EXT_color_buffer_half_float' ) || ( capabilities.isWebGL2 && extensions.has( 'EXT_color_buffer_float' ) ) );
+
+					if ( textureType !== UnsignedByteType && utils.convert( textureType ) !== _gl.getParameter( _gl.IMPLEMENTATION_COLOR_READ_TYPE ) && // Edge and Chrome Mac < 52 (#9513)
+						! ( textureType === FloatType && ( capabilities.isWebGL2 || extensions.has( 'OES_texture_float' ) || extensions.has( 'WEBGL_color_buffer_float' ) ) ) && // Chrome Mac >= 52 and Firefox
+						! halfFloatSupportedByExt ) {
+
+						console.error( 'THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in UnsignedByteType or implementation defined type.' );
+						return;
+
+					}
+
+					// the following if statement ensures valid read requests (no out-of-bounds pixels, see #8604)
+
+					if ( ( x >= 0 && x <= ( renderTarget.width - width ) ) && ( y >= 0 && y <= ( renderTarget.height - height ) ) ) {
+
+						_gl.readPixels( x, y, width, height, utils.convert( textureFormat ), utils.convert( textureType ), buffer );
+
+					}
+
+				} finally {
+
+					// restore framebuffer of current render target if necessary
+
+					const framebuffer = ( _currentRenderTarget !== null ) ? properties.get( _currentRenderTarget ).__webglFramebuffer : null;
+					state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer );
+
+				}
+
+			}
+
+		};
+
+		this.copyFramebufferToTexture = function ( position, texture, level = 0 ) {
+
+			const levelScale = Math.pow( 2, - level );
+			const width = Math.floor( texture.image.width * levelScale );
+			const height = Math.floor( texture.image.height * levelScale );
+
+			textures.setTexture2D( texture, 0 );
+
+			_gl.copyTexSubImage2D( _gl.TEXTURE_2D, level, 0, 0, position.x, position.y, width, height );
+
+			state.unbindTexture();
+
+		};
+
+		this.copyTextureToTexture = function ( position, srcTexture, dstTexture, level = 0 ) {
+
+			const width = srcTexture.image.width;
+			const height = srcTexture.image.height;
+			const glFormat = utils.convert( dstTexture.format );
+			const glType = utils.convert( dstTexture.type );
+
+			textures.setTexture2D( dstTexture, 0 );
+
+			// As another texture upload may have changed pixelStorei
+			// parameters, make sure they are correct for the dstTexture
+			_gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, dstTexture.flipY );
+			_gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, dstTexture.premultiplyAlpha );
+			_gl.pixelStorei( _gl.UNPACK_ALIGNMENT, dstTexture.unpackAlignment );
+
+			if ( srcTexture.isDataTexture ) {
+
+				_gl.texSubImage2D( _gl.TEXTURE_2D, level, position.x, position.y, width, height, glFormat, glType, srcTexture.image.data );
+
+			} else {
+
+				if ( srcTexture.isCompressedTexture ) {
+
+					_gl.compressedTexSubImage2D( _gl.TEXTURE_2D, level, position.x, position.y, srcTexture.mipmaps[ 0 ].width, srcTexture.mipmaps[ 0 ].height, glFormat, srcTexture.mipmaps[ 0 ].data );
+
+				} else {
+
+					_gl.texSubImage2D( _gl.TEXTURE_2D, level, position.x, position.y, glFormat, glType, srcTexture.image );
+
+				}
+
+			}
+
+			// Generate mipmaps only when copying level 0
+			if ( level === 0 && dstTexture.generateMipmaps ) _gl.generateMipmap( _gl.TEXTURE_2D );
+
+			state.unbindTexture();
+
+		};
+
+		this.copyTextureToTexture3D = function ( sourceBox, position, srcTexture, dstTexture, level = 0 ) {
+
+			if ( _this.isWebGL1Renderer ) {
+
+				console.warn( 'THREE.WebGLRenderer.copyTextureToTexture3D: can only be used with WebGL2.' );
+				return;
+
+			}
+
+			const width = sourceBox.max.x - sourceBox.min.x + 1;
+			const height = sourceBox.max.y - sourceBox.min.y + 1;
+			const depth = sourceBox.max.z - sourceBox.min.z + 1;
+			const glFormat = utils.convert( dstTexture.format );
+			const glType = utils.convert( dstTexture.type );
+			let glTarget;
+
+			if ( dstTexture.isData3DTexture ) {
+
+				textures.setTexture3D( dstTexture, 0 );
+				glTarget = _gl.TEXTURE_3D;
+
+			} else if ( dstTexture.isDataArrayTexture || dstTexture.isCompressedArrayTexture ) {
+
+				textures.setTexture2DArray( dstTexture, 0 );
+				glTarget = _gl.TEXTURE_2D_ARRAY;
+
+			} else {
+
+				console.warn( 'THREE.WebGLRenderer.copyTextureToTexture3D: only supports THREE.DataTexture3D and THREE.DataTexture2DArray.' );
+				return;
+
+			}
+
+			_gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, dstTexture.flipY );
+			_gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, dstTexture.premultiplyAlpha );
+			_gl.pixelStorei( _gl.UNPACK_ALIGNMENT, dstTexture.unpackAlignment );
+
+			const unpackRowLen = _gl.getParameter( _gl.UNPACK_ROW_LENGTH );
+			const unpackImageHeight = _gl.getParameter( _gl.UNPACK_IMAGE_HEIGHT );
+			const unpackSkipPixels = _gl.getParameter( _gl.UNPACK_SKIP_PIXELS );
+			const unpackSkipRows = _gl.getParameter( _gl.UNPACK_SKIP_ROWS );
+			const unpackSkipImages = _gl.getParameter( _gl.UNPACK_SKIP_IMAGES );
+
+			const image = srcTexture.isCompressedTexture ? srcTexture.mipmaps[ level ] : srcTexture.image;
+
+			_gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, image.width );
+			_gl.pixelStorei( _gl.UNPACK_IMAGE_HEIGHT, image.height );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, sourceBox.min.x );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, sourceBox.min.y );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_IMAGES, sourceBox.min.z );
+
+			if ( srcTexture.isDataTexture || srcTexture.isData3DTexture ) {
+
+				_gl.texSubImage3D( glTarget, level, position.x, position.y, position.z, width, height, depth, glFormat, glType, image.data );
+
+			} else {
+
+				if ( srcTexture.isCompressedArrayTexture ) {
+
+					console.warn( 'THREE.WebGLRenderer.copyTextureToTexture3D: untested support for compressed srcTexture.' );
+					_gl.compressedTexSubImage3D( glTarget, level, position.x, position.y, position.z, width, height, depth, glFormat, image.data );
+
+				} else {
+
+					_gl.texSubImage3D( glTarget, level, position.x, position.y, position.z, width, height, depth, glFormat, glType, image );
+
+				}
+
+			}
+
+			_gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, unpackRowLen );
+			_gl.pixelStorei( _gl.UNPACK_IMAGE_HEIGHT, unpackImageHeight );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, unpackSkipPixels );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, unpackSkipRows );
+			_gl.pixelStorei( _gl.UNPACK_SKIP_IMAGES, unpackSkipImages );
+
+			// Generate mipmaps only when copying level 0
+			if ( level === 0 && dstTexture.generateMipmaps ) _gl.generateMipmap( glTarget );
+
+			state.unbindTexture();
+
+		};
+
+		this.initTexture = function ( texture ) {
+
+			if ( texture.isCubeTexture ) {
+
+				textures.setTextureCube( texture, 0 );
+
+			} else if ( texture.isData3DTexture ) {
+
+				textures.setTexture3D( texture, 0 );
+
+			} else if ( texture.isDataArrayTexture || texture.isCompressedArrayTexture ) {
+
+				textures.setTexture2DArray( texture, 0 );
+
+			} else {
+
+				textures.setTexture2D( texture, 0 );
+
+			}
+
+			state.unbindTexture();
+
+		};
+
+		this.resetState = function () {
+
+			_currentActiveCubeFace = 0;
+			_currentActiveMipmapLevel = 0;
+			_currentRenderTarget = null;
+
+			state.reset();
+			bindingStates.reset();
+
+		};
+
+		if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) {
+
+			__THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) );
+
+		}
+
+	}
+
+	get coordinateSystem() {
+
+		return WebGLCoordinateSystem;
+
+	}
+
+	get outputColorSpace() {
+
+		return this._outputColorSpace;
+
+	}
+
+	set outputColorSpace( colorSpace ) {
+
+		this._outputColorSpace = colorSpace;
+
+		const gl = this.getContext();
+		gl.drawingBufferColorSpace = colorSpace === DisplayP3ColorSpace ? 'display-p3' : 'srgb';
+		gl.unpackColorSpace = ColorManagement.workingColorSpace === LinearDisplayP3ColorSpace ? 'display-p3' : 'srgb';
+
+	}
+
+	get outputEncoding() { // @deprecated, r152
+
+		console.warn( 'THREE.WebGLRenderer: Property .outputEncoding has been removed. Use .outputColorSpace instead.' );
+		return this.outputColorSpace === SRGBColorSpace ? sRGBEncoding : LinearEncoding;
+
+	}
+
+	set outputEncoding( encoding ) { // @deprecated, r152
+
+		console.warn( 'THREE.WebGLRenderer: Property .outputEncoding has been removed. Use .outputColorSpace instead.' );
+		this.outputColorSpace = encoding === sRGBEncoding ? SRGBColorSpace : LinearSRGBColorSpace;
+
+	}
+
+	get useLegacyLights() { // @deprecated, r155
+
+		console.warn( 'THREE.WebGLRenderer: The property .useLegacyLights has been deprecated. Migrate your lighting according to the following guide: https://discourse.threejs.org/t/updates-to-lighting-in-three-js-r155/53733.' );
+		return this._useLegacyLights;
+
+	}
+
+	set useLegacyLights( value ) { // @deprecated, r155
+
+		console.warn( 'THREE.WebGLRenderer: The property .useLegacyLights has been deprecated. Migrate your lighting according to the following guide: https://discourse.threejs.org/t/updates-to-lighting-in-three-js-r155/53733.' );
+		this._useLegacyLights = value;
+
+	}
+
+}
+
+class WebGL1Renderer extends WebGLRenderer {}
+
+WebGL1Renderer.prototype.isWebGL1Renderer = true;
+
+class FogExp2 {
+
+	constructor( color, density = 0.00025 ) {
+
+		this.isFogExp2 = true;
+
+		this.name = '';
+
+		this.color = new Color( color );
+		this.density = density;
+
+	}
+
+	clone() {
+
+		return new FogExp2( this.color, this.density );
+
+	}
+
+	toJSON( /* meta */ ) {
+
+		return {
+			type: 'FogExp2',
+			name: this.name,
+			color: this.color.getHex(),
+			density: this.density
+		};
+
+	}
+
+}
+
+class Fog {
+
+	constructor( color, near = 1, far = 1000 ) {
+
+		this.isFog = true;
+
+		this.name = '';
+
+		this.color = new Color( color );
+
+		this.near = near;
+		this.far = far;
+
+	}
+
+	clone() {
+
+		return new Fog( this.color, this.near, this.far );
+
+	}
+
+	toJSON( /* meta */ ) {
+
+		return {
+			type: 'Fog',
+			name: this.name,
+			color: this.color.getHex(),
+			near: this.near,
+			far: this.far
+		};
+
+	}
+
+}
+
+class Scene extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this.isScene = true;
+
+		this.type = 'Scene';
+
+		this.background = null;
+		this.environment = null;
+		this.fog = null;
+
+		this.backgroundBlurriness = 0;
+		this.backgroundIntensity = 1;
+
+		this.overrideMaterial = null;
+
+		if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) {
+
+			__THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) );
+
+		}
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		if ( source.background !== null ) this.background = source.background.clone();
+		if ( source.environment !== null ) this.environment = source.environment.clone();
+		if ( source.fog !== null ) this.fog = source.fog.clone();
+
+		this.backgroundBlurriness = source.backgroundBlurriness;
+		this.backgroundIntensity = source.backgroundIntensity;
+
+		if ( source.overrideMaterial !== null ) this.overrideMaterial = source.overrideMaterial.clone();
+
+		this.matrixAutoUpdate = source.matrixAutoUpdate;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		if ( this.fog !== null ) data.object.fog = this.fog.toJSON();
+		if ( this.backgroundBlurriness > 0 ) data.object.backgroundBlurriness = this.backgroundBlurriness;
+		if ( this.backgroundIntensity !== 1 ) data.object.backgroundIntensity = this.backgroundIntensity;
+
+		return data;
+
+	}
+
+}
+
+class InterleavedBuffer {
+
+	constructor( array, stride ) {
+
+		this.isInterleavedBuffer = true;
+
+		this.array = array;
+		this.stride = stride;
+		this.count = array !== undefined ? array.length / stride : 0;
+
+		this.usage = StaticDrawUsage;
+		this._updateRange = { offset: 0, count: - 1 };
+		this.updateRanges = [];
+
+		this.version = 0;
+
+		this.uuid = generateUUID();
+
+	}
+
+	onUploadCallback() {}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) this.version ++;
+
+	}
+
+	get updateRange() {
+
+		console.warn( 'THREE.InterleavedBuffer: updateRange() is deprecated and will be removed in r169. Use addUpdateRange() instead.' ); // @deprecated, r159
+		return this._updateRange;
+
+	}
+
+	setUsage( value ) {
+
+		this.usage = value;
+
+		return this;
+
+	}
+
+	addUpdateRange( start, count ) {
+
+		this.updateRanges.push( { start, count } );
+
+	}
+
+	clearUpdateRanges() {
+
+		this.updateRanges.length = 0;
+
+	}
+
+	copy( source ) {
+
+		this.array = new source.array.constructor( source.array );
+		this.count = source.count;
+		this.stride = source.stride;
+		this.usage = source.usage;
+
+		return this;
+
+	}
+
+	copyAt( index1, attribute, index2 ) {
+
+		index1 *= this.stride;
+		index2 *= attribute.stride;
+
+		for ( let i = 0, l = this.stride; i < l; i ++ ) {
+
+			this.array[ index1 + i ] = attribute.array[ index2 + i ];
+
+		}
+
+		return this;
+
+	}
+
+	set( value, offset = 0 ) {
+
+		this.array.set( value, offset );
+
+		return this;
+
+	}
+
+	clone( data ) {
+
+		if ( data.arrayBuffers === undefined ) {
+
+			data.arrayBuffers = {};
+
+		}
+
+		if ( this.array.buffer._uuid === undefined ) {
+
+			this.array.buffer._uuid = generateUUID();
+
+		}
+
+		if ( data.arrayBuffers[ this.array.buffer._uuid ] === undefined ) {
+
+			data.arrayBuffers[ this.array.buffer._uuid ] = this.array.slice( 0 ).buffer;
+
+		}
+
+		const array = new this.array.constructor( data.arrayBuffers[ this.array.buffer._uuid ] );
+
+		const ib = new this.constructor( array, this.stride );
+		ib.setUsage( this.usage );
+
+		return ib;
+
+	}
+
+	onUpload( callback ) {
+
+		this.onUploadCallback = callback;
+
+		return this;
+
+	}
+
+	toJSON( data ) {
+
+		if ( data.arrayBuffers === undefined ) {
+
+			data.arrayBuffers = {};
+
+		}
+
+		// generate UUID for array buffer if necessary
+
+		if ( this.array.buffer._uuid === undefined ) {
+
+			this.array.buffer._uuid = generateUUID();
+
+		}
+
+		if ( data.arrayBuffers[ this.array.buffer._uuid ] === undefined ) {
+
+			data.arrayBuffers[ this.array.buffer._uuid ] = Array.from( new Uint32Array( this.array.buffer ) );
+
+		}
+
+		//
+
+		return {
+			uuid: this.uuid,
+			buffer: this.array.buffer._uuid,
+			type: this.array.constructor.name,
+			stride: this.stride
+		};
+
+	}
+
+}
+
+const _vector$6 = /*@__PURE__*/ new Vector3();
+
+class InterleavedBufferAttribute {
+
+	constructor( interleavedBuffer, itemSize, offset, normalized = false ) {
+
+		this.isInterleavedBufferAttribute = true;
+
+		this.name = '';
+
+		this.data = interleavedBuffer;
+		this.itemSize = itemSize;
+		this.offset = offset;
+
+		this.normalized = normalized;
+
+	}
+
+	get count() {
+
+		return this.data.count;
+
+	}
+
+	get array() {
+
+		return this.data.array;
+
+	}
+
+	set needsUpdate( value ) {
+
+		this.data.needsUpdate = value;
+
+	}
+
+	applyMatrix4( m ) {
+
+		for ( let i = 0, l = this.data.count; i < l; i ++ ) {
+
+			_vector$6.fromBufferAttribute( this, i );
+
+			_vector$6.applyMatrix4( m );
+
+			this.setXYZ( i, _vector$6.x, _vector$6.y, _vector$6.z );
+
+		}
+
+		return this;
+
+	}
+
+	applyNormalMatrix( m ) {
+
+		for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+			_vector$6.fromBufferAttribute( this, i );
+
+			_vector$6.applyNormalMatrix( m );
+
+			this.setXYZ( i, _vector$6.x, _vector$6.y, _vector$6.z );
+
+		}
+
+		return this;
+
+	}
+
+	transformDirection( m ) {
+
+		for ( let i = 0, l = this.count; i < l; i ++ ) {
+
+			_vector$6.fromBufferAttribute( this, i );
+
+			_vector$6.transformDirection( m );
+
+			this.setXYZ( i, _vector$6.x, _vector$6.y, _vector$6.z );
+
+		}
+
+		return this;
+
+	}
+
+	setX( index, x ) {
+
+		if ( this.normalized ) x = normalize( x, this.array );
+
+		this.data.array[ index * this.data.stride + this.offset ] = x;
+
+		return this;
+
+	}
+
+	setY( index, y ) {
+
+		if ( this.normalized ) y = normalize( y, this.array );
+
+		this.data.array[ index * this.data.stride + this.offset + 1 ] = y;
+
+		return this;
+
+	}
+
+	setZ( index, z ) {
+
+		if ( this.normalized ) z = normalize( z, this.array );
+
+		this.data.array[ index * this.data.stride + this.offset + 2 ] = z;
+
+		return this;
+
+	}
+
+	setW( index, w ) {
+
+		if ( this.normalized ) w = normalize( w, this.array );
+
+		this.data.array[ index * this.data.stride + this.offset + 3 ] = w;
+
+		return this;
+
+	}
+
+	getX( index ) {
+
+		let x = this.data.array[ index * this.data.stride + this.offset ];
+
+		if ( this.normalized ) x = denormalize( x, this.array );
+
+		return x;
+
+	}
+
+	getY( index ) {
+
+		let y = this.data.array[ index * this.data.stride + this.offset + 1 ];
+
+		if ( this.normalized ) y = denormalize( y, this.array );
+
+		return y;
+
+	}
+
+	getZ( index ) {
+
+		let z = this.data.array[ index * this.data.stride + this.offset + 2 ];
+
+		if ( this.normalized ) z = denormalize( z, this.array );
+
+		return z;
+
+	}
+
+	getW( index ) {
+
+		let w = this.data.array[ index * this.data.stride + this.offset + 3 ];
+
+		if ( this.normalized ) w = denormalize( w, this.array );
+
+		return w;
+
+	}
+
+	setXY( index, x, y ) {
+
+		index = index * this.data.stride + this.offset;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+
+		}
+
+		this.data.array[ index + 0 ] = x;
+		this.data.array[ index + 1 ] = y;
+
+		return this;
+
+	}
+
+	setXYZ( index, x, y, z ) {
+
+		index = index * this.data.stride + this.offset;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+
+		}
+
+		this.data.array[ index + 0 ] = x;
+		this.data.array[ index + 1 ] = y;
+		this.data.array[ index + 2 ] = z;
+
+		return this;
+
+	}
+
+	setXYZW( index, x, y, z, w ) {
+
+		index = index * this.data.stride + this.offset;
+
+		if ( this.normalized ) {
+
+			x = normalize( x, this.array );
+			y = normalize( y, this.array );
+			z = normalize( z, this.array );
+			w = normalize( w, this.array );
+
+		}
+
+		this.data.array[ index + 0 ] = x;
+		this.data.array[ index + 1 ] = y;
+		this.data.array[ index + 2 ] = z;
+		this.data.array[ index + 3 ] = w;
+
+		return this;
+
+	}
+
+	clone( data ) {
+
+		if ( data === undefined ) {
+
+			console.log( 'THREE.InterleavedBufferAttribute.clone(): Cloning an interleaved buffer attribute will de-interleave buffer data.' );
+
+			const array = [];
+
+			for ( let i = 0; i < this.count; i ++ ) {
+
+				const index = i * this.data.stride + this.offset;
+
+				for ( let j = 0; j < this.itemSize; j ++ ) {
+
+					array.push( this.data.array[ index + j ] );
+
+				}
+
+			}
+
+			return new BufferAttribute( new this.array.constructor( array ), this.itemSize, this.normalized );
+
+		} else {
+
+			if ( data.interleavedBuffers === undefined ) {
+
+				data.interleavedBuffers = {};
+
+			}
+
+			if ( data.interleavedBuffers[ this.data.uuid ] === undefined ) {
+
+				data.interleavedBuffers[ this.data.uuid ] = this.data.clone( data );
+
+			}
+
+			return new InterleavedBufferAttribute( data.interleavedBuffers[ this.data.uuid ], this.itemSize, this.offset, this.normalized );
+
+		}
+
+	}
+
+	toJSON( data ) {
+
+		if ( data === undefined ) {
+
+			console.log( 'THREE.InterleavedBufferAttribute.toJSON(): Serializing an interleaved buffer attribute will de-interleave buffer data.' );
+
+			const array = [];
+
+			for ( let i = 0; i < this.count; i ++ ) {
+
+				const index = i * this.data.stride + this.offset;
+
+				for ( let j = 0; j < this.itemSize; j ++ ) {
+
+					array.push( this.data.array[ index + j ] );
+
+				}
+
+			}
+
+			// de-interleave data and save it as an ordinary buffer attribute for now
+
+			return {
+				itemSize: this.itemSize,
+				type: this.array.constructor.name,
+				array: array,
+				normalized: this.normalized
+			};
+
+		} else {
+
+			// save as true interleaved attribute
+
+			if ( data.interleavedBuffers === undefined ) {
+
+				data.interleavedBuffers = {};
+
+			}
+
+			if ( data.interleavedBuffers[ this.data.uuid ] === undefined ) {
+
+				data.interleavedBuffers[ this.data.uuid ] = this.data.toJSON( data );
+
+			}
+
+			return {
+				isInterleavedBufferAttribute: true,
+				itemSize: this.itemSize,
+				data: this.data.uuid,
+				offset: this.offset,
+				normalized: this.normalized
+			};
+
+		}
+
+	}
+
+}
+
+class SpriteMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isSpriteMaterial = true;
+
+		this.type = 'SpriteMaterial';
+
+		this.color = new Color( 0xffffff );
+
+		this.map = null;
+
+		this.alphaMap = null;
+
+		this.rotation = 0;
+
+		this.sizeAttenuation = true;
+
+		this.transparent = true;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+
+		this.alphaMap = source.alphaMap;
+
+		this.rotation = source.rotation;
+
+		this.sizeAttenuation = source.sizeAttenuation;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+let _geometry;
+
+const _intersectPoint = /*@__PURE__*/ new Vector3();
+const _worldScale = /*@__PURE__*/ new Vector3();
+const _mvPosition = /*@__PURE__*/ new Vector3();
+
+const _alignedPosition = /*@__PURE__*/ new Vector2();
+const _rotatedPosition = /*@__PURE__*/ new Vector2();
+const _viewWorldMatrix = /*@__PURE__*/ new Matrix4();
+
+const _vA = /*@__PURE__*/ new Vector3();
+const _vB = /*@__PURE__*/ new Vector3();
+const _vC = /*@__PURE__*/ new Vector3();
+
+const _uvA = /*@__PURE__*/ new Vector2();
+const _uvB = /*@__PURE__*/ new Vector2();
+const _uvC = /*@__PURE__*/ new Vector2();
+
+class Sprite extends Object3D {
+
+	constructor( material = new SpriteMaterial() ) {
+
+		super();
+
+		this.isSprite = true;
+
+		this.type = 'Sprite';
+
+		if ( _geometry === undefined ) {
+
+			_geometry = new BufferGeometry();
+
+			const float32Array = new Float32Array( [
+				- 0.5, - 0.5, 0, 0, 0,
+				0.5, - 0.5, 0, 1, 0,
+				0.5, 0.5, 0, 1, 1,
+				- 0.5, 0.5, 0, 0, 1
+			] );
+
+			const interleavedBuffer = new InterleavedBuffer( float32Array, 5 );
+
+			_geometry.setIndex( [ 0, 1, 2,	0, 2, 3 ] );
+			_geometry.setAttribute( 'position', new InterleavedBufferAttribute( interleavedBuffer, 3, 0, false ) );
+			_geometry.setAttribute( 'uv', new InterleavedBufferAttribute( interleavedBuffer, 2, 3, false ) );
+
+		}
+
+		this.geometry = _geometry;
+		this.material = material;
+
+		this.center = new Vector2( 0.5, 0.5 );
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		if ( raycaster.camera === null ) {
+
+			console.error( 'THREE.Sprite: "Raycaster.camera" needs to be set in order to raycast against sprites.' );
+
+		}
+
+		_worldScale.setFromMatrixScale( this.matrixWorld );
+
+		_viewWorldMatrix.copy( raycaster.camera.matrixWorld );
+		this.modelViewMatrix.multiplyMatrices( raycaster.camera.matrixWorldInverse, this.matrixWorld );
+
+		_mvPosition.setFromMatrixPosition( this.modelViewMatrix );
+
+		if ( raycaster.camera.isPerspectiveCamera && this.material.sizeAttenuation === false ) {
+
+			_worldScale.multiplyScalar( - _mvPosition.z );
+
+		}
+
+		const rotation = this.material.rotation;
+		let sin, cos;
+
+		if ( rotation !== 0 ) {
+
+			cos = Math.cos( rotation );
+			sin = Math.sin( rotation );
+
+		}
+
+		const center = this.center;
+
+		transformVertex( _vA.set( - 0.5, - 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos );
+		transformVertex( _vB.set( 0.5, - 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos );
+		transformVertex( _vC.set( 0.5, 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos );
+
+		_uvA.set( 0, 0 );
+		_uvB.set( 1, 0 );
+		_uvC.set( 1, 1 );
+
+		// check first triangle
+		let intersect = raycaster.ray.intersectTriangle( _vA, _vB, _vC, false, _intersectPoint );
+
+		if ( intersect === null ) {
+
+			// check second triangle
+			transformVertex( _vB.set( - 0.5, 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos );
+			_uvB.set( 0, 1 );
+
+			intersect = raycaster.ray.intersectTriangle( _vA, _vC, _vB, false, _intersectPoint );
+			if ( intersect === null ) {
+
+				return;
+
+			}
+
+		}
+
+		const distance = raycaster.ray.origin.distanceTo( _intersectPoint );
+
+		if ( distance < raycaster.near || distance > raycaster.far ) return;
+
+		intersects.push( {
+
+			distance: distance,
+			point: _intersectPoint.clone(),
+			uv: Triangle.getInterpolation( _intersectPoint, _vA, _vB, _vC, _uvA, _uvB, _uvC, new Vector2() ),
+			face: null,
+			object: this
+
+		} );
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		if ( source.center !== undefined ) this.center.copy( source.center );
+
+		this.material = source.material;
+
+		return this;
+
+	}
+
+}
+
+function transformVertex( vertexPosition, mvPosition, center, scale, sin, cos ) {
+
+	// compute position in camera space
+	_alignedPosition.subVectors( vertexPosition, center ).addScalar( 0.5 ).multiply( scale );
+
+	// to check if rotation is not zero
+	if ( sin !== undefined ) {
+
+		_rotatedPosition.x = ( cos * _alignedPosition.x ) - ( sin * _alignedPosition.y );
+		_rotatedPosition.y = ( sin * _alignedPosition.x ) + ( cos * _alignedPosition.y );
+
+	} else {
+
+		_rotatedPosition.copy( _alignedPosition );
+
+	}
+
+
+	vertexPosition.copy( mvPosition );
+	vertexPosition.x += _rotatedPosition.x;
+	vertexPosition.y += _rotatedPosition.y;
+
+	// transform to world space
+	vertexPosition.applyMatrix4( _viewWorldMatrix );
+
+}
+
+const _v1$2 = /*@__PURE__*/ new Vector3();
+const _v2$1 = /*@__PURE__*/ new Vector3();
+
+class LOD extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this._currentLevel = 0;
+
+		this.type = 'LOD';
+
+		Object.defineProperties( this, {
+			levels: {
+				enumerable: true,
+				value: []
+			},
+			isLOD: {
+				value: true,
+			}
+		} );
+
+		this.autoUpdate = true;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source, false );
+
+		const levels = source.levels;
+
+		for ( let i = 0, l = levels.length; i < l; i ++ ) {
+
+			const level = levels[ i ];
+
+			this.addLevel( level.object.clone(), level.distance, level.hysteresis );
+
+		}
+
+		this.autoUpdate = source.autoUpdate;
+
+		return this;
+
+	}
+
+	addLevel( object, distance = 0, hysteresis = 0 ) {
+
+		distance = Math.abs( distance );
+
+		const levels = this.levels;
+
+		let l;
+
+		for ( l = 0; l < levels.length; l ++ ) {
+
+			if ( distance < levels[ l ].distance ) {
+
+				break;
+
+			}
+
+		}
+
+		levels.splice( l, 0, { distance: distance, hysteresis: hysteresis, object: object } );
+
+		this.add( object );
+
+		return this;
+
+	}
+
+	getCurrentLevel() {
+
+		return this._currentLevel;
+
+	}
+
+
+
+	getObjectForDistance( distance ) {
+
+		const levels = this.levels;
+
+		if ( levels.length > 0 ) {
+
+			let i, l;
+
+			for ( i = 1, l = levels.length; i < l; i ++ ) {
+
+				let levelDistance = levels[ i ].distance;
+
+				if ( levels[ i ].object.visible ) {
+
+					levelDistance -= levelDistance * levels[ i ].hysteresis;
+
+				}
+
+				if ( distance < levelDistance ) {
+
+					break;
+
+				}
+
+			}
+
+			return levels[ i - 1 ].object;
+
+		}
+
+		return null;
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const levels = this.levels;
+
+		if ( levels.length > 0 ) {
+
+			_v1$2.setFromMatrixPosition( this.matrixWorld );
+
+			const distance = raycaster.ray.origin.distanceTo( _v1$2 );
+
+			this.getObjectForDistance( distance ).raycast( raycaster, intersects );
+
+		}
+
+	}
+
+	update( camera ) {
+
+		const levels = this.levels;
+
+		if ( levels.length > 1 ) {
+
+			_v1$2.setFromMatrixPosition( camera.matrixWorld );
+			_v2$1.setFromMatrixPosition( this.matrixWorld );
+
+			const distance = _v1$2.distanceTo( _v2$1 ) / camera.zoom;
+
+			levels[ 0 ].object.visible = true;
+
+			let i, l;
+
+			for ( i = 1, l = levels.length; i < l; i ++ ) {
+
+				let levelDistance = levels[ i ].distance;
+
+				if ( levels[ i ].object.visible ) {
+
+					levelDistance -= levelDistance * levels[ i ].hysteresis;
+
+				}
+
+				if ( distance >= levelDistance ) {
+
+					levels[ i - 1 ].object.visible = false;
+					levels[ i ].object.visible = true;
+
+				} else {
+
+					break;
+
+				}
+
+			}
+
+			this._currentLevel = i - 1;
+
+			for ( ; i < l; i ++ ) {
+
+				levels[ i ].object.visible = false;
+
+			}
+
+		}
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		if ( this.autoUpdate === false ) data.object.autoUpdate = false;
+
+		data.object.levels = [];
+
+		const levels = this.levels;
+
+		for ( let i = 0, l = levels.length; i < l; i ++ ) {
+
+			const level = levels[ i ];
+
+			data.object.levels.push( {
+				object: level.object.uuid,
+				distance: level.distance,
+				hysteresis: level.hysteresis
+			} );
+
+		}
+
+		return data;
+
+	}
+
+}
+
+const _basePosition = /*@__PURE__*/ new Vector3();
+
+const _skinIndex = /*@__PURE__*/ new Vector4();
+const _skinWeight = /*@__PURE__*/ new Vector4();
+
+const _vector3 = /*@__PURE__*/ new Vector3();
+const _matrix4 = /*@__PURE__*/ new Matrix4();
+const _vertex = /*@__PURE__*/ new Vector3();
+
+const _sphere$4 = /*@__PURE__*/ new Sphere();
+const _inverseMatrix$2 = /*@__PURE__*/ new Matrix4();
+const _ray$2 = /*@__PURE__*/ new Ray();
+
+class SkinnedMesh extends Mesh {
+
+	constructor( geometry, material ) {
+
+		super( geometry, material );
+
+		this.isSkinnedMesh = true;
+
+		this.type = 'SkinnedMesh';
+
+		this.bindMode = AttachedBindMode;
+		this.bindMatrix = new Matrix4();
+		this.bindMatrixInverse = new Matrix4();
+
+		this.boundingBox = null;
+		this.boundingSphere = null;
+
+	}
+
+	computeBoundingBox() {
+
+		const geometry = this.geometry;
+
+		if ( this.boundingBox === null ) {
+
+			this.boundingBox = new Box3();
+
+		}
+
+		this.boundingBox.makeEmpty();
+
+		const positionAttribute = geometry.getAttribute( 'position' );
+
+		for ( let i = 0; i < positionAttribute.count; i ++ ) {
+
+			this.getVertexPosition( i, _vertex );
+			this.boundingBox.expandByPoint( _vertex );
+
+		}
+
+	}
+
+	computeBoundingSphere() {
+
+		const geometry = this.geometry;
+
+		if ( this.boundingSphere === null ) {
+
+			this.boundingSphere = new Sphere();
+
+		}
+
+		this.boundingSphere.makeEmpty();
+
+		const positionAttribute = geometry.getAttribute( 'position' );
+
+		for ( let i = 0; i < positionAttribute.count; i ++ ) {
+
+			this.getVertexPosition( i, _vertex );
+			this.boundingSphere.expandByPoint( _vertex );
+
+		}
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.bindMode = source.bindMode;
+		this.bindMatrix.copy( source.bindMatrix );
+		this.bindMatrixInverse.copy( source.bindMatrixInverse );
+
+		this.skeleton = source.skeleton;
+
+		if ( source.boundingBox !== null ) this.boundingBox = source.boundingBox.clone();
+		if ( source.boundingSphere !== null ) this.boundingSphere = source.boundingSphere.clone();
+
+		return this;
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const material = this.material;
+		const matrixWorld = this.matrixWorld;
+
+		if ( material === undefined ) return;
+
+		// test with bounding sphere in world space
+
+		if ( this.boundingSphere === null ) this.computeBoundingSphere();
+
+		_sphere$4.copy( this.boundingSphere );
+		_sphere$4.applyMatrix4( matrixWorld );
+
+		if ( raycaster.ray.intersectsSphere( _sphere$4 ) === false ) return;
+
+		// convert ray to local space of skinned mesh
+
+		_inverseMatrix$2.copy( matrixWorld ).invert();
+		_ray$2.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$2 );
+
+		// test with bounding box in local space
+
+		if ( this.boundingBox !== null ) {
+
+			if ( _ray$2.intersectsBox( this.boundingBox ) === false ) return;
+
+		}
+
+		// test for intersections with geometry
+
+		this._computeIntersections( raycaster, intersects, _ray$2 );
+
+	}
+
+	getVertexPosition( index, target ) {
+
+		super.getVertexPosition( index, target );
+
+		this.applyBoneTransform( index, target );
+
+		return target;
+
+	}
+
+	bind( skeleton, bindMatrix ) {
+
+		this.skeleton = skeleton;
+
+		if ( bindMatrix === undefined ) {
+
+			this.updateMatrixWorld( true );
+
+			this.skeleton.calculateInverses();
+
+			bindMatrix = this.matrixWorld;
+
+		}
+
+		this.bindMatrix.copy( bindMatrix );
+		this.bindMatrixInverse.copy( bindMatrix ).invert();
+
+	}
+
+	pose() {
+
+		this.skeleton.pose();
+
+	}
+
+	normalizeSkinWeights() {
+
+		const vector = new Vector4();
+
+		const skinWeight = this.geometry.attributes.skinWeight;
+
+		for ( let i = 0, l = skinWeight.count; i < l; i ++ ) {
+
+			vector.fromBufferAttribute( skinWeight, i );
+
+			const scale = 1.0 / vector.manhattanLength();
+
+			if ( scale !== Infinity ) {
+
+				vector.multiplyScalar( scale );
+
+			} else {
+
+				vector.set( 1, 0, 0, 0 ); // do something reasonable
+
+			}
+
+			skinWeight.setXYZW( i, vector.x, vector.y, vector.z, vector.w );
+
+		}
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		super.updateMatrixWorld( force );
+
+		if ( this.bindMode === AttachedBindMode ) {
+
+			this.bindMatrixInverse.copy( this.matrixWorld ).invert();
+
+		} else if ( this.bindMode === DetachedBindMode ) {
+
+			this.bindMatrixInverse.copy( this.bindMatrix ).invert();
+
+		} else {
+
+			console.warn( 'THREE.SkinnedMesh: Unrecognized bindMode: ' + this.bindMode );
+
+		}
+
+	}
+
+	applyBoneTransform( index, vector ) {
+
+		const skeleton = this.skeleton;
+		const geometry = this.geometry;
+
+		_skinIndex.fromBufferAttribute( geometry.attributes.skinIndex, index );
+		_skinWeight.fromBufferAttribute( geometry.attributes.skinWeight, index );
+
+		_basePosition.copy( vector ).applyMatrix4( this.bindMatrix );
+
+		vector.set( 0, 0, 0 );
+
+		for ( let i = 0; i < 4; i ++ ) {
+
+			const weight = _skinWeight.getComponent( i );
+
+			if ( weight !== 0 ) {
+
+				const boneIndex = _skinIndex.getComponent( i );
+
+				_matrix4.multiplyMatrices( skeleton.bones[ boneIndex ].matrixWorld, skeleton.boneInverses[ boneIndex ] );
+
+				vector.addScaledVector( _vector3.copy( _basePosition ).applyMatrix4( _matrix4 ), weight );
+
+			}
+
+		}
+
+		return vector.applyMatrix4( this.bindMatrixInverse );
+
+	}
+
+	boneTransform( index, vector ) { // @deprecated, r151
+
+		console.warn( 'THREE.SkinnedMesh: .boneTransform() was renamed to .applyBoneTransform() in r151.' );
+		return this.applyBoneTransform( index, vector );
+
+	}
+
+
+}
+
+class Bone extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this.isBone = true;
+
+		this.type = 'Bone';
+
+	}
+
+}
+
+class DataTexture extends Texture {
+
+	constructor( data = null, width = 1, height = 1, format, type, mapping, wrapS, wrapT, magFilter = NearestFilter, minFilter = NearestFilter, anisotropy, colorSpace ) {
+
+		super( null, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace );
+
+		this.isDataTexture = true;
+
+		this.image = { data: data, width: width, height: height };
+
+		this.generateMipmaps = false;
+		this.flipY = false;
+		this.unpackAlignment = 1;
+
+	}
+
+}
+
+const _offsetMatrix = /*@__PURE__*/ new Matrix4();
+const _identityMatrix$1 = /*@__PURE__*/ new Matrix4();
+
+class Skeleton {
+
+	constructor( bones = [], boneInverses = [] ) {
+
+		this.uuid = generateUUID();
+
+		this.bones = bones.slice( 0 );
+		this.boneInverses = boneInverses;
+		this.boneMatrices = null;
+
+		this.boneTexture = null;
+
+		this.init();
+
+	}
+
+	init() {
+
+		const bones = this.bones;
+		const boneInverses = this.boneInverses;
+
+		this.boneMatrices = new Float32Array( bones.length * 16 );
+
+		// calculate inverse bone matrices if necessary
+
+		if ( boneInverses.length === 0 ) {
+
+			this.calculateInverses();
+
+		} else {
+
+			// handle special case
+
+			if ( bones.length !== boneInverses.length ) {
+
+				console.warn( 'THREE.Skeleton: Number of inverse bone matrices does not match amount of bones.' );
+
+				this.boneInverses = [];
+
+				for ( let i = 0, il = this.bones.length; i < il; i ++ ) {
+
+					this.boneInverses.push( new Matrix4() );
+
+				}
+
+			}
+
+		}
+
+	}
+
+	calculateInverses() {
+
+		this.boneInverses.length = 0;
+
+		for ( let i = 0, il = this.bones.length; i < il; i ++ ) {
+
+			const inverse = new Matrix4();
+
+			if ( this.bones[ i ] ) {
+
+				inverse.copy( this.bones[ i ].matrixWorld ).invert();
+
+			}
+
+			this.boneInverses.push( inverse );
+
+		}
+
+	}
+
+	pose() {
+
+		// recover the bind-time world matrices
+
+		for ( let i = 0, il = this.bones.length; i < il; i ++ ) {
+
+			const bone = this.bones[ i ];
+
+			if ( bone ) {
+
+				bone.matrixWorld.copy( this.boneInverses[ i ] ).invert();
+
+			}
+
+		}
+
+		// compute the local matrices, positions, rotations and scales
+
+		for ( let i = 0, il = this.bones.length; i < il; i ++ ) {
+
+			const bone = this.bones[ i ];
+
+			if ( bone ) {
+
+				if ( bone.parent && bone.parent.isBone ) {
+
+					bone.matrix.copy( bone.parent.matrixWorld ).invert();
+					bone.matrix.multiply( bone.matrixWorld );
+
+				} else {
+
+					bone.matrix.copy( bone.matrixWorld );
+
+				}
+
+				bone.matrix.decompose( bone.position, bone.quaternion, bone.scale );
+
+			}
+
+		}
+
+	}
+
+	update() {
+
+		const bones = this.bones;
+		const boneInverses = this.boneInverses;
+		const boneMatrices = this.boneMatrices;
+		const boneTexture = this.boneTexture;
+
+		// flatten bone matrices to array
+
+		for ( let i = 0, il = bones.length; i < il; i ++ ) {
+
+			// compute the offset between the current and the original transform
+
+			const matrix = bones[ i ] ? bones[ i ].matrixWorld : _identityMatrix$1;
+
+			_offsetMatrix.multiplyMatrices( matrix, boneInverses[ i ] );
+			_offsetMatrix.toArray( boneMatrices, i * 16 );
+
+		}
+
+		if ( boneTexture !== null ) {
+
+			boneTexture.needsUpdate = true;
+
+		}
+
+	}
+
+	clone() {
+
+		return new Skeleton( this.bones, this.boneInverses );
+
+	}
+
+	computeBoneTexture() {
+
+		// layout (1 matrix = 4 pixels)
+		//      RGBA RGBA RGBA RGBA (=> column1, column2, column3, column4)
+		//  with  8x8  pixel texture max   16 bones * 4 pixels =  (8 * 8)
+		//       16x16 pixel texture max   64 bones * 4 pixels = (16 * 16)
+		//       32x32 pixel texture max  256 bones * 4 pixels = (32 * 32)
+		//       64x64 pixel texture max 1024 bones * 4 pixels = (64 * 64)
+
+		let size = Math.sqrt( this.bones.length * 4 ); // 4 pixels needed for 1 matrix
+		size = Math.ceil( size / 4 ) * 4;
+		size = Math.max( size, 4 );
+
+		const boneMatrices = new Float32Array( size * size * 4 ); // 4 floats per RGBA pixel
+		boneMatrices.set( this.boneMatrices ); // copy current values
+
+		const boneTexture = new DataTexture( boneMatrices, size, size, RGBAFormat, FloatType );
+		boneTexture.needsUpdate = true;
+
+		this.boneMatrices = boneMatrices;
+		this.boneTexture = boneTexture;
+
+		return this;
+
+	}
+
+	getBoneByName( name ) {
+
+		for ( let i = 0, il = this.bones.length; i < il; i ++ ) {
+
+			const bone = this.bones[ i ];
+
+			if ( bone.name === name ) {
+
+				return bone;
+
+			}
+
+		}
+
+		return undefined;
+
+	}
+
+	dispose( ) {
+
+		if ( this.boneTexture !== null ) {
+
+			this.boneTexture.dispose();
+
+			this.boneTexture = null;
+
+		}
+
+	}
+
+	fromJSON( json, bones ) {
+
+		this.uuid = json.uuid;
+
+		for ( let i = 0, l = json.bones.length; i < l; i ++ ) {
+
+			const uuid = json.bones[ i ];
+			let bone = bones[ uuid ];
+
+			if ( bone === undefined ) {
+
+				console.warn( 'THREE.Skeleton: No bone found with UUID:', uuid );
+				bone = new Bone();
+
+			}
+
+			this.bones.push( bone );
+			this.boneInverses.push( new Matrix4().fromArray( json.boneInverses[ i ] ) );
+
+		}
+
+		this.init();
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = {
+			metadata: {
+				version: 4.6,
+				type: 'Skeleton',
+				generator: 'Skeleton.toJSON'
+			},
+			bones: [],
+			boneInverses: []
+		};
+
+		data.uuid = this.uuid;
+
+		const bones = this.bones;
+		const boneInverses = this.boneInverses;
+
+		for ( let i = 0, l = bones.length; i < l; i ++ ) {
+
+			const bone = bones[ i ];
+			data.bones.push( bone.uuid );
+
+			const boneInverse = boneInverses[ i ];
+			data.boneInverses.push( boneInverse.toArray() );
+
+		}
+
+		return data;
+
+	}
+
+}
+
+class InstancedBufferAttribute extends BufferAttribute {
+
+	constructor( array, itemSize, normalized, meshPerAttribute = 1 ) {
+
+		super( array, itemSize, normalized );
+
+		this.isInstancedBufferAttribute = true;
+
+		this.meshPerAttribute = meshPerAttribute;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.meshPerAttribute = source.meshPerAttribute;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.meshPerAttribute = this.meshPerAttribute;
+
+		data.isInstancedBufferAttribute = true;
+
+		return data;
+
+	}
+
+}
+
+const _instanceLocalMatrix = /*@__PURE__*/ new Matrix4();
+const _instanceWorldMatrix = /*@__PURE__*/ new Matrix4();
+
+const _instanceIntersects = [];
+
+const _box3 = /*@__PURE__*/ new Box3();
+const _identity = /*@__PURE__*/ new Matrix4();
+const _mesh$1 = /*@__PURE__*/ new Mesh();
+const _sphere$3 = /*@__PURE__*/ new Sphere();
+
+class InstancedMesh extends Mesh {
+
+	constructor( geometry, material, count ) {
+
+		super( geometry, material );
+
+		this.isInstancedMesh = true;
+
+		this.instanceMatrix = new InstancedBufferAttribute( new Float32Array( count * 16 ), 16 );
+		this.instanceColor = null;
+
+		this.count = count;
+
+		this.boundingBox = null;
+		this.boundingSphere = null;
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			this.setMatrixAt( i, _identity );
+
+		}
+
+	}
+
+	computeBoundingBox() {
+
+		const geometry = this.geometry;
+		const count = this.count;
+
+		if ( this.boundingBox === null ) {
+
+			this.boundingBox = new Box3();
+
+		}
+
+		if ( geometry.boundingBox === null ) {
+
+			geometry.computeBoundingBox();
+
+		}
+
+		this.boundingBox.makeEmpty();
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			this.getMatrixAt( i, _instanceLocalMatrix );
+
+			_box3.copy( geometry.boundingBox ).applyMatrix4( _instanceLocalMatrix );
+
+			this.boundingBox.union( _box3 );
+
+		}
+
+	}
+
+	computeBoundingSphere() {
+
+		const geometry = this.geometry;
+		const count = this.count;
+
+		if ( this.boundingSphere === null ) {
+
+			this.boundingSphere = new Sphere();
+
+		}
+
+		if ( geometry.boundingSphere === null ) {
+
+			geometry.computeBoundingSphere();
+
+		}
+
+		this.boundingSphere.makeEmpty();
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			this.getMatrixAt( i, _instanceLocalMatrix );
+
+			_sphere$3.copy( geometry.boundingSphere ).applyMatrix4( _instanceLocalMatrix );
+
+			this.boundingSphere.union( _sphere$3 );
+
+		}
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.instanceMatrix.copy( source.instanceMatrix );
+
+		if ( source.instanceColor !== null ) this.instanceColor = source.instanceColor.clone();
+
+		this.count = source.count;
+
+		if ( source.boundingBox !== null ) this.boundingBox = source.boundingBox.clone();
+		if ( source.boundingSphere !== null ) this.boundingSphere = source.boundingSphere.clone();
+
+		return this;
+
+	}
+
+	getColorAt( index, color ) {
+
+		color.fromArray( this.instanceColor.array, index * 3 );
+
+	}
+
+	getMatrixAt( index, matrix ) {
+
+		matrix.fromArray( this.instanceMatrix.array, index * 16 );
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const matrixWorld = this.matrixWorld;
+		const raycastTimes = this.count;
+
+		_mesh$1.geometry = this.geometry;
+		_mesh$1.material = this.material;
+
+		if ( _mesh$1.material === undefined ) return;
+
+		// test with bounding sphere first
+
+		if ( this.boundingSphere === null ) this.computeBoundingSphere();
+
+		_sphere$3.copy( this.boundingSphere );
+		_sphere$3.applyMatrix4( matrixWorld );
+
+		if ( raycaster.ray.intersectsSphere( _sphere$3 ) === false ) return;
+
+		// now test each instance
+
+		for ( let instanceId = 0; instanceId < raycastTimes; instanceId ++ ) {
+
+			// calculate the world matrix for each instance
+
+			this.getMatrixAt( instanceId, _instanceLocalMatrix );
+
+			_instanceWorldMatrix.multiplyMatrices( matrixWorld, _instanceLocalMatrix );
+
+			// the mesh represents this single instance
+
+			_mesh$1.matrixWorld = _instanceWorldMatrix;
+
+			_mesh$1.raycast( raycaster, _instanceIntersects );
+
+			// process the result of raycast
+
+			for ( let i = 0, l = _instanceIntersects.length; i < l; i ++ ) {
+
+				const intersect = _instanceIntersects[ i ];
+				intersect.instanceId = instanceId;
+				intersect.object = this;
+				intersects.push( intersect );
+
+			}
+
+			_instanceIntersects.length = 0;
+
+		}
+
+	}
+
+	setColorAt( index, color ) {
+
+		if ( this.instanceColor === null ) {
+
+			this.instanceColor = new InstancedBufferAttribute( new Float32Array( this.instanceMatrix.count * 3 ), 3 );
+
+		}
+
+		color.toArray( this.instanceColor.array, index * 3 );
+
+	}
+
+	setMatrixAt( index, matrix ) {
+
+		matrix.toArray( this.instanceMatrix.array, index * 16 );
+
+	}
+
+	updateMorphTargets() {
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+	}
+
+}
+
+function sortOpaque( a, b ) {
+
+	return a.z - b.z;
+
+}
+
+function sortTransparent( a, b ) {
+
+	return b.z - a.z;
+
+}
+
+class MultiDrawRenderList {
+
+	constructor() {
+
+		this.index = 0;
+		this.pool = [];
+		this.list = [];
+
+	}
+
+	push( drawRange, z ) {
+
+		const pool = this.pool;
+		const list = this.list;
+		if ( this.index >= pool.length ) {
+
+			pool.push( {
+
+				start: - 1,
+				count: - 1,
+				z: - 1,
+
+			} );
+
+		}
+
+		const item = pool[ this.index ];
+		list.push( item );
+		this.index ++;
+
+		item.start = drawRange.start;
+		item.count = drawRange.count;
+		item.z = z;
+
+	}
+
+	reset() {
+
+		this.list.length = 0;
+		this.index = 0;
+
+	}
+
+}
+
+const ID_ATTR_NAME = 'batchId';
+const _matrix = /*@__PURE__*/ new Matrix4();
+const _invMatrixWorld = /*@__PURE__*/ new Matrix4();
+const _identityMatrix = /*@__PURE__*/ new Matrix4();
+const _projScreenMatrix$2 = /*@__PURE__*/ new Matrix4();
+const _frustum = /*@__PURE__*/ new Frustum();
+const _box$1 = /*@__PURE__*/ new Box3();
+const _sphere$2 = /*@__PURE__*/ new Sphere();
+const _vector$5 = /*@__PURE__*/ new Vector3();
+const _renderList = /*@__PURE__*/ new MultiDrawRenderList();
+const _mesh = /*@__PURE__*/ new Mesh();
+const _batchIntersects = [];
+
+// @TODO: SkinnedMesh support?
+// @TODO: geometry.groups support?
+// @TODO: geometry.drawRange support?
+// @TODO: geometry.morphAttributes support?
+// @TODO: Support uniform parameter per geometry
+// @TODO: Add an "optimize" function to pack geometry and remove data gaps
+
+// copies data from attribute "src" into "target" starting at "targetOffset"
+function copyAttributeData( src, target, targetOffset = 0 ) {
+
+	const itemSize = target.itemSize;
+	if ( src.isInterleavedBufferAttribute || src.array.constructor !== target.array.constructor ) {
+
+		// use the component getters and setters if the array data cannot
+		// be copied directly
+		const vertexCount = src.count;
+		for ( let i = 0; i < vertexCount; i ++ ) {
+
+			for ( let c = 0; c < itemSize; c ++ ) {
+
+				target.setComponent( i + targetOffset, c, src.getComponent( i, c ) );
+
+			}
+
+		}
+
+	} else {
+
+		// faster copy approach using typed array set function
+		target.array.set( src.array, targetOffset * itemSize );
+
+	}
+
+	target.needsUpdate = true;
+
+}
+
+class BatchedMesh extends Mesh {
+
+	get maxGeometryCount() {
+
+		return this._maxGeometryCount;
+
+	}
+
+	constructor( maxGeometryCount, maxVertexCount, maxIndexCount = maxVertexCount * 2, material ) {
+
+		super( new BufferGeometry(), material );
+
+		this.isBatchedMesh = true;
+		this.perObjectFrustumCulled = true;
+		this.sortObjects = true;
+		this.boundingBox = null;
+		this.boundingSphere = null;
+		this.customSort = null;
+
+		this._drawRanges = [];
+		this._reservedRanges = [];
+
+		this._visibility = [];
+		this._active = [];
+		this._bounds = [];
+
+		this._maxGeometryCount = maxGeometryCount;
+		this._maxVertexCount = maxVertexCount;
+		this._maxIndexCount = maxIndexCount;
+
+		this._geometryInitialized = false;
+		this._geometryCount = 0;
+		this._multiDrawCounts = new Int32Array( maxGeometryCount );
+		this._multiDrawStarts = new Int32Array( maxGeometryCount );
+		this._multiDrawCount = 0;
+		this._visibilityChanged = true;
+
+		// Local matrix per geometry by using data texture
+		this._matricesTexture = null;
+
+		this._initMatricesTexture();
+
+	}
+
+	_initMatricesTexture() {
+
+		// layout (1 matrix = 4 pixels)
+		//      RGBA RGBA RGBA RGBA (=> column1, column2, column3, column4)
+		//  with  8x8  pixel texture max   16 matrices * 4 pixels =  (8 * 8)
+		//       16x16 pixel texture max   64 matrices * 4 pixels = (16 * 16)
+		//       32x32 pixel texture max  256 matrices * 4 pixels = (32 * 32)
+		//       64x64 pixel texture max 1024 matrices * 4 pixels = (64 * 64)
+
+		let size = Math.sqrt( this._maxGeometryCount * 4 ); // 4 pixels needed for 1 matrix
+		size = Math.ceil( size / 4 ) * 4;
+		size = Math.max( size, 4 );
+
+		const matricesArray = new Float32Array( size * size * 4 ); // 4 floats per RGBA pixel
+		const matricesTexture = new DataTexture( matricesArray, size, size, RGBAFormat, FloatType );
+
+		this._matricesTexture = matricesTexture;
+
+	}
+
+	_initializeGeometry( reference ) {
+
+		const geometry = this.geometry;
+		const maxVertexCount = this._maxVertexCount;
+		const maxGeometryCount = this._maxGeometryCount;
+		const maxIndexCount = this._maxIndexCount;
+		if ( this._geometryInitialized === false ) {
+
+			for ( const attributeName in reference.attributes ) {
+
+				const srcAttribute = reference.getAttribute( attributeName );
+				const { array, itemSize, normalized } = srcAttribute;
+
+				const dstArray = new array.constructor( maxVertexCount * itemSize );
+				const dstAttribute = new srcAttribute.constructor( dstArray, itemSize, normalized );
+				dstAttribute.setUsage( srcAttribute.usage );
+
+				geometry.setAttribute( attributeName, dstAttribute );
+
+			}
+
+			if ( reference.getIndex() !== null ) {
+
+				const indexArray = maxVertexCount > 65536
+					? new Uint32Array( maxIndexCount )
+					: new Uint16Array( maxIndexCount );
+
+				geometry.setIndex( new BufferAttribute( indexArray, 1 ) );
+
+			}
+
+			const idArray = maxGeometryCount > 65536
+				? new Uint32Array( maxVertexCount )
+				: new Uint16Array( maxVertexCount );
+			geometry.setAttribute( ID_ATTR_NAME, new BufferAttribute( idArray, 1 ) );
+
+			this._geometryInitialized = true;
+
+		}
+
+	}
+
+	// Make sure the geometry is compatible with the existing combined geometry atributes
+	_validateGeometry( geometry ) {
+
+		// check that the geometry doesn't have a version of our reserved id attribute
+		if ( geometry.getAttribute( ID_ATTR_NAME ) ) {
+
+			throw new Error( `BatchedMesh: Geometry cannot use attribute "${ ID_ATTR_NAME }"` );
+
+		}
+
+		// check to ensure the geometries are using consistent attributes and indices
+		const batchGeometry = this.geometry;
+		if ( Boolean( geometry.getIndex() ) !== Boolean( batchGeometry.getIndex() ) ) {
+
+			throw new Error( 'BatchedMesh: All geometries must consistently have "index".' );
+
+		}
+
+		for ( const attributeName in batchGeometry.attributes ) {
+
+			if ( attributeName === ID_ATTR_NAME ) {
+
+				continue;
+
+			}
+
+			if ( ! geometry.hasAttribute( attributeName ) ) {
+
+				throw new Error( `BatchedMesh: Added geometry missing "${ attributeName }". All geometries must have consistent attributes.` );
+
+			}
+
+			const srcAttribute = geometry.getAttribute( attributeName );
+			const dstAttribute = batchGeometry.getAttribute( attributeName );
+			if ( srcAttribute.itemSize !== dstAttribute.itemSize || srcAttribute.normalized !== dstAttribute.normalized ) {
+
+				throw new Error( 'BatchedMesh: All attributes must have a consistent itemSize and normalized value.' );
+
+			}
+
+		}
+
+	}
+
+	setCustomSort( func ) {
+
+		this.customSort = func;
+		return this;
+
+	}
+
+	computeBoundingBox() {
+
+		if ( this.boundingBox === null ) {
+
+			this.boundingBox = new Box3();
+
+		}
+
+		const geometryCount = this._geometryCount;
+		const boundingBox = this.boundingBox;
+		const active = this._active;
+
+		boundingBox.makeEmpty();
+		for ( let i = 0; i < geometryCount; i ++ ) {
+
+			if ( active[ i ] === false ) continue;
+
+			this.getMatrixAt( i, _matrix );
+			this.getBoundingBoxAt( i, _box$1 ).applyMatrix4( _matrix );
+			boundingBox.union( _box$1 );
+
+		}
+
+	}
+
+	computeBoundingSphere() {
+
+		if ( this.boundingSphere === null ) {
+
+			this.boundingSphere = new Sphere();
+
+		}
+
+		const geometryCount = this._geometryCount;
+		const boundingSphere = this.boundingSphere;
+		const active = this._active;
+
+		boundingSphere.makeEmpty();
+		for ( let i = 0; i < geometryCount; i ++ ) {
+
+			if ( active[ i ] === false ) continue;
+
+			this.getMatrixAt( i, _matrix );
+			this.getBoundingSphereAt( i, _sphere$2 ).applyMatrix4( _matrix );
+			boundingSphere.union( _sphere$2 );
+
+		}
+
+	}
+
+	addGeometry( geometry, vertexCount = - 1, indexCount = - 1 ) {
+
+		this._initializeGeometry( geometry );
+
+		this._validateGeometry( geometry );
+
+		// ensure we're not over geometry
+		if ( this._geometryCount >= this._maxGeometryCount ) {
+
+			throw new Error( 'BatchedMesh: Maximum geometry count reached.' );
+
+		}
+
+		// get the necessary range fo the geometry
+		const reservedRange = {
+			vertexStart: - 1,
+			vertexCount: - 1,
+			indexStart: - 1,
+			indexCount: - 1,
+		};
+
+		let lastRange = null;
+		const reservedRanges = this._reservedRanges;
+		const drawRanges = this._drawRanges;
+		const bounds = this._bounds;
+		if ( this._geometryCount !== 0 ) {
+
+			lastRange = reservedRanges[ reservedRanges.length - 1 ];
+
+		}
+
+		if ( vertexCount === - 1 ) {
+
+			reservedRange.vertexCount = geometry.getAttribute( 'position' ).count;
+
+		} else {
+
+			reservedRange.vertexCount = vertexCount;
+
+		}
+
+		if ( lastRange === null ) {
+
+			reservedRange.vertexStart = 0;
+
+		} else {
+
+			reservedRange.vertexStart = lastRange.vertexStart + lastRange.vertexCount;
+
+		}
+
+		const index = geometry.getIndex();
+		const hasIndex = index !== null;
+		if ( hasIndex ) {
+
+			if ( indexCount	=== - 1 ) {
+
+				reservedRange.indexCount = index.count;
+
+			} else {
+
+				reservedRange.indexCount = indexCount;
+
+			}
+
+			if ( lastRange === null ) {
+
+				reservedRange.indexStart = 0;
+
+			} else {
+
+				reservedRange.indexStart = lastRange.indexStart + lastRange.indexCount;
+
+			}
+
+		}
+
+		if (
+			reservedRange.indexStart !== - 1 &&
+			reservedRange.indexStart + reservedRange.indexCount > this._maxIndexCount ||
+			reservedRange.vertexStart + reservedRange.vertexCount > this._maxVertexCount
+		) {
+
+			throw new Error( 'BatchedMesh: Reserved space request exceeds the maximum buffer size.' );
+
+		}
+
+		const visibility = this._visibility;
+		const active = this._active;
+		const matricesTexture = this._matricesTexture;
+		const matricesArray = this._matricesTexture.image.data;
+
+		// push new visibility states
+		visibility.push( true );
+		active.push( true );
+
+		// update id
+		const geometryId = this._geometryCount;
+		this._geometryCount ++;
+
+		// initialize matrix information
+		_identityMatrix.toArray( matricesArray, geometryId * 16 );
+		matricesTexture.needsUpdate = true;
+
+		// add the reserved range and draw range objects
+		reservedRanges.push( reservedRange );
+		drawRanges.push( {
+			start: hasIndex ? reservedRange.indexStart : reservedRange.vertexStart,
+			count: - 1
+		} );
+		bounds.push( {
+			boxInitialized: false,
+			box: new Box3(),
+
+			sphereInitialized: false,
+			sphere: new Sphere()
+		} );
+
+		// set the id for the geometry
+		const idAttribute = this.geometry.getAttribute( ID_ATTR_NAME );
+		for ( let i = 0; i < reservedRange.vertexCount; i ++ ) {
+
+			idAttribute.setX( reservedRange.vertexStart + i, geometryId );
+
+		}
+
+		idAttribute.needsUpdate = true;
+
+		// update the geometry
+		this.setGeometryAt( geometryId, geometry );
+
+		return geometryId;
+
+	}
+
+	setGeometryAt( id, geometry ) {
+
+		if ( id >= this._geometryCount ) {
+
+			throw new Error( 'BatchedMesh: Maximum geometry count reached.' );
+
+		}
+
+		this._validateGeometry( geometry );
+
+		const batchGeometry = this.geometry;
+		const hasIndex = batchGeometry.getIndex() !== null;
+		const dstIndex = batchGeometry.getIndex();
+		const srcIndex = geometry.getIndex();
+		const reservedRange = this._reservedRanges[ id ];
+		if (
+			hasIndex &&
+			srcIndex.count > reservedRange.indexCount ||
+			geometry.attributes.position.count > reservedRange.vertexCount
+		) {
+
+			throw new Error( 'BatchedMesh: Reserved space not large enough for provided geometry.' );
+
+		}
+
+		// copy geometry over
+		const vertexStart = reservedRange.vertexStart;
+		const vertexCount = reservedRange.vertexCount;
+		for ( const attributeName in batchGeometry.attributes ) {
+
+			if ( attributeName === ID_ATTR_NAME ) {
+
+				continue;
+
+			}
+
+			// copy attribute data
+			const srcAttribute = geometry.getAttribute( attributeName );
+			const dstAttribute = batchGeometry.getAttribute( attributeName );
+			copyAttributeData( srcAttribute, dstAttribute, vertexStart );
+
+			// fill the rest in with zeroes
+			const itemSize = srcAttribute.itemSize;
+			for ( let i = srcAttribute.count, l = vertexCount; i < l; i ++ ) {
+
+				const index = vertexStart + i;
+				for ( let c = 0; c < itemSize; c ++ ) {
+
+					dstAttribute.setComponent( index, c, 0 );
+
+				}
+
+			}
+
+			dstAttribute.needsUpdate = true;
+
+		}
+
+		// copy index
+		if ( hasIndex ) {
+
+			const indexStart = reservedRange.indexStart;
+
+			// copy index data over
+			for ( let i = 0; i < srcIndex.count; i ++ ) {
+
+				dstIndex.setX( indexStart + i, vertexStart + srcIndex.getX( i ) );
+
+			}
+
+			// fill the rest in with zeroes
+			for ( let i = srcIndex.count, l = reservedRange.indexCount; i < l; i ++ ) {
+
+				dstIndex.setX( indexStart + i, vertexStart );
+
+			}
+
+			dstIndex.needsUpdate = true;
+
+		}
+
+		// store the bounding boxes
+		const bound = this._bounds[ id ];
+		if ( geometry.boundingBox !== null ) {
+
+			bound.box.copy( geometry.boundingBox );
+			bound.boxInitialized = true;
+
+		} else {
+
+			bound.boxInitialized = false;
+
+		}
+
+		if ( geometry.boundingSphere !== null ) {
+
+			bound.sphere.copy( geometry.boundingSphere );
+			bound.sphereInitialized = true;
+
+		} else {
+
+			bound.sphereInitialized = false;
+
+		}
+
+		// set drawRange count
+		const drawRange = this._drawRanges[ id ];
+		const posAttr = geometry.getAttribute( 'position' );
+		drawRange.count = hasIndex ? srcIndex.count : posAttr.count;
+		this._visibilityChanged = true;
+
+		return id;
+
+	}
+
+	deleteGeometry( geometryId ) {
+
+		// Note: User needs to call optimize() afterward to pack the data.
+
+		const active = this._active;
+		if ( geometryId >= active.length || active[ geometryId ] === false ) {
+
+			return this;
+
+		}
+
+		active[ geometryId ] = false;
+		this._visibilityChanged = true;
+
+		return this;
+
+	}
+
+	// get bounding box and compute it if it doesn't exist
+	getBoundingBoxAt( id, target ) {
+
+		const active = this._active;
+		if ( active[ id ] === false ) {
+
+			return this;
+
+		}
+
+		// compute bounding box
+		const bound = this._bounds[ id ];
+		const box = bound.box;
+		const geometry = this.geometry;
+		if ( bound.boxInitialized === false ) {
+
+			box.makeEmpty();
+
+			const index = geometry.index;
+			const position = geometry.attributes.position;
+			const drawRange = this._drawRanges[ id ];
+			for ( let i = drawRange.start, l = drawRange.start + drawRange.count; i < l; i ++ ) {
+
+				let iv = i;
+				if ( index ) {
+
+					iv = index.getX( iv );
+
+				}
+
+				box.expandByPoint( _vector$5.fromBufferAttribute( position, iv ) );
+
+			}
+
+			bound.boxInitialized = true;
+
+		}
+
+		target.copy( box );
+		return target;
+
+	}
+
+	// get bounding sphere and compute it if it doesn't exist
+	getBoundingSphereAt( id, target ) {
+
+		const active = this._active;
+		if ( active[ id ] === false ) {
+
+			return this;
+
+		}
+
+		// compute bounding sphere
+		const bound = this._bounds[ id ];
+		const sphere = bound.sphere;
+		const geometry = this.geometry;
+		if ( bound.sphereInitialized === false ) {
+
+			sphere.makeEmpty();
+
+			this.getBoundingBoxAt( id, _box$1 );
+			_box$1.getCenter( sphere.center );
+
+			const index = geometry.index;
+			const position = geometry.attributes.position;
+			const drawRange = this._drawRanges[ id ];
+
+			let maxRadiusSq = 0;
+			for ( let i = drawRange.start, l = drawRange.start + drawRange.count; i < l; i ++ ) {
+
+				let iv = i;
+				if ( index ) {
+
+					iv = index.getX( iv );
+
+				}
+
+				_vector$5.fromBufferAttribute( position, iv );
+				maxRadiusSq = Math.max( maxRadiusSq, sphere.center.distanceToSquared( _vector$5 ) );
+
+			}
+
+			sphere.radius = Math.sqrt( maxRadiusSq );
+			bound.sphereInitialized = true;
+
+		}
+
+		target.copy( sphere );
+		return target;
+
+	}
+
+	setMatrixAt( geometryId, matrix ) {
+
+		// @TODO: Map geometryId to index of the arrays because
+		//        optimize() can make geometryId mismatch the index
+
+		const active = this._active;
+		const matricesTexture = this._matricesTexture;
+		const matricesArray = this._matricesTexture.image.data;
+		const geometryCount = this._geometryCount;
+		if ( geometryId >= geometryCount || active[ geometryId ] === false ) {
+
+			return this;
+
+		}
+
+		matrix.toArray( matricesArray, geometryId * 16 );
+		matricesTexture.needsUpdate = true;
+
+		return this;
+
+	}
+
+	getMatrixAt( geometryId, matrix ) {
+
+		const active = this._active;
+		const matricesArray = this._matricesTexture.image.data;
+		const geometryCount = this._geometryCount;
+		if ( geometryId >= geometryCount || active[ geometryId ] === false ) {
+
+			return null;
+
+		}
+
+		return matrix.fromArray( matricesArray, geometryId * 16 );
+
+	}
+
+	setVisibleAt( geometryId, value ) {
+
+		const visibility = this._visibility;
+		const active = this._active;
+		const geometryCount = this._geometryCount;
+
+		// if the geometry is out of range, not active, or visibility state
+		// does not change then return early
+		if (
+			geometryId >= geometryCount ||
+			active[ geometryId ] === false ||
+			visibility[ geometryId ] === value
+		) {
+
+			return this;
+
+		}
+
+		visibility[ geometryId ] = value;
+		this._visibilityChanged = true;
+
+		return this;
+
+	}
+
+	getVisibleAt( geometryId ) {
+
+		const visibility = this._visibility;
+		const active = this._active;
+		const geometryCount = this._geometryCount;
+
+		// return early if the geometry is out of range or not active
+		if ( geometryId >= geometryCount || active[ geometryId ] === false ) {
+
+			return false;
+
+		}
+
+		return visibility[ geometryId ];
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const visibility = this._visibility;
+		const active = this._active;
+		const drawRanges = this._drawRanges;
+		const geometryCount = this._geometryCount;
+		const matrixWorld = this.matrixWorld;
+		const batchGeometry = this.geometry;
+
+		// iterate over each geometry
+		_mesh.material = this.material;
+		_mesh.geometry.index = batchGeometry.index;
+		_mesh.geometry.attributes = batchGeometry.attributes;
+		if ( _mesh.geometry.boundingBox === null ) {
+
+			_mesh.geometry.boundingBox = new Box3();
+
+		}
+
+		if ( _mesh.geometry.boundingSphere === null ) {
+
+			_mesh.geometry.boundingSphere = new Sphere();
+
+		}
+
+		for ( let i = 0; i < geometryCount; i ++ ) {
+
+			if ( ! visibility[ i ] || ! active[ i ] ) {
+
+				continue;
+
+			}
+
+			const drawRange = drawRanges[ i ];
+			_mesh.geometry.setDrawRange( drawRange.start, drawRange.count );
+
+			// ge the intersects
+			this.getMatrixAt( i, _mesh.matrixWorld ).premultiply( matrixWorld );
+			this.getBoundingBoxAt( i, _mesh.geometry.boundingBox );
+			this.getBoundingSphereAt( i, _mesh.geometry.boundingSphere );
+			_mesh.raycast( raycaster, _batchIntersects );
+
+			// add batch id to the intersects
+			for ( let j = 0, l = _batchIntersects.length; j < l; j ++ ) {
+
+				const intersect = _batchIntersects[ j ];
+				intersect.object = this;
+				intersect.batchId = i;
+				intersects.push( intersect );
+
+			}
+
+			_batchIntersects.length = 0;
+
+		}
+
+		_mesh.material = null;
+		_mesh.geometry.index = null;
+		_mesh.geometry.attributes = {};
+		_mesh.geometry.setDrawRange( 0, Infinity );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.geometry = source.geometry.clone();
+		this.perObjectFrustumCulled = source.perObjectFrustumCulled;
+		this.sortObjects = source.sortObjects;
+		this.boundingBox = source.boundingBox !== null ? source.boundingBox.clone() : null;
+		this.boundingSphere = source.boundingSphere !== null ? source.boundingSphere.clone() : null;
+
+		this._drawRanges = source._drawRanges.map( range => ( { ...range } ) );
+		this._reservedRanges = source._reservedRanges.map( range => ( { ...range } ) );
+
+		this._visibility = source._visibility.slice();
+		this._active = source._active.slice();
+		this._bounds = source._bounds.map( bound => ( {
+			boxInitialized: bound.boxInitialized,
+			box: bound.box.clone(),
+
+			sphereInitialized: bound.sphereInitialized,
+			sphere: bound.sphere.clone()
+		} ) );
+
+		this._maxGeometryCount = source._maxGeometryCount;
+		this._maxVertexCount = source._maxVertexCount;
+		this._maxIndexCount = source._maxIndexCount;
+
+		this._geometryInitialized = source._geometryInitialized;
+		this._geometryCount = source._geometryCount;
+		this._multiDrawCounts = source._multiDrawCounts.slice();
+		this._multiDrawStarts = source._multiDrawStarts.slice();
+
+		this._matricesTexture = source._matricesTexture.clone();
+		this._matricesTexture.image.data = this._matricesTexture.image.slice();
+
+		return this;
+
+	}
+
+	dispose() {
+
+		// Assuming the geometry is not shared with other meshes
+		this.geometry.dispose();
+
+		this._matricesTexture.dispose();
+		this._matricesTexture = null;
+		return this;
+
+	}
+
+	onBeforeRender( renderer, scene, camera, geometry, material/*, _group*/ ) {
+
+		// if visibility has not changed and frustum culling and object sorting is not required
+		// then skip iterating over all items
+		if ( ! this._visibilityChanged && ! this.perObjectFrustumCulled && ! this.sortObjects ) {
+
+			return;
+
+		}
+
+		// the indexed version of the multi draw function requires specifying the start
+		// offset in bytes.
+		const index = geometry.getIndex();
+		const bytesPerElement = index === null ? 1 : index.array.BYTES_PER_ELEMENT;
+
+		const visibility = this._visibility;
+		const multiDrawStarts = this._multiDrawStarts;
+		const multiDrawCounts = this._multiDrawCounts;
+		const drawRanges = this._drawRanges;
+		const perObjectFrustumCulled = this.perObjectFrustumCulled;
+
+		// prepare the frustum in the local frame
+		if ( perObjectFrustumCulled ) {
+
+			_projScreenMatrix$2
+				.multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse )
+				.multiply( this.matrixWorld );
+			_frustum.setFromProjectionMatrix(
+				_projScreenMatrix$2,
+				renderer.isWebGPURenderer ? WebGPUCoordinateSystem : WebGLCoordinateSystem
+			);
+
+		}
+
+		let count = 0;
+		if ( this.sortObjects ) {
+
+			// get the camera position in the local frame
+			_invMatrixWorld.copy( this.matrixWorld ).invert();
+			_vector$5.setFromMatrixPosition( camera.matrixWorld ).applyMatrix4( _invMatrixWorld );
+
+			for ( let i = 0, l = visibility.length; i < l; i ++ ) {
+
+				if ( visibility[ i ] ) {
+
+					// get the bounds in world space
+					this.getMatrixAt( i, _matrix );
+					this.getBoundingSphereAt( i, _sphere$2 ).applyMatrix4( _matrix );
+
+					// determine whether the batched geometry is within the frustum
+					let culled = false;
+					if ( perObjectFrustumCulled ) {
+
+						culled = ! _frustum.intersectsSphere( _sphere$2 );
+
+					}
+
+					if ( ! culled ) {
+
+						// get the distance from camera used for sorting
+						const z = _vector$5.distanceTo( _sphere$2.center );
+						_renderList.push( drawRanges[ i ], z );
+
+					}
+
+				}
+
+			}
+
+			// Sort the draw ranges and prep for rendering
+			const list = _renderList.list;
+			const customSort = this.customSort;
+			if ( customSort === null ) {
+
+				list.sort( material.transparent ? sortTransparent : sortOpaque );
+
+			} else {
+
+				customSort.call( this, list, camera );
+
+			}
+
+			for ( let i = 0, l = list.length; i < l; i ++ ) {
+
+				const item = list[ i ];
+				multiDrawStarts[ count ] = item.start * bytesPerElement;
+				multiDrawCounts[ count ] = item.count;
+				count ++;
+
+			}
+
+			_renderList.reset();
+
+		} else {
+
+			for ( let i = 0, l = visibility.length; i < l; i ++ ) {
+
+				if ( visibility[ i ] ) {
+
+					// determine whether the batched geometry is within the frustum
+					let culled = false;
+					if ( perObjectFrustumCulled ) {
+
+						// get the bounds in world space
+						this.getMatrixAt( i, _matrix );
+						this.getBoundingSphereAt( i, _sphere$2 ).applyMatrix4( _matrix );
+						culled = ! _frustum.intersectsSphere( _sphere$2 );
+
+					}
+
+					if ( ! culled ) {
+
+						const range = drawRanges[ i ];
+						multiDrawStarts[ count ] = range.start * bytesPerElement;
+						multiDrawCounts[ count ] = range.count;
+						count ++;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		this._multiDrawCount = count;
+		this._visibilityChanged = false;
+
+	}
+
+	onBeforeShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial/* , group */ ) {
+
+		this.onBeforeRender( renderer, null, shadowCamera, geometry, depthMaterial );
+
+	}
+
+}
+
+class LineBasicMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isLineBasicMaterial = true;
+
+		this.type = 'LineBasicMaterial';
+
+		this.color = new Color( 0xffffff );
+
+		this.map = null;
+
+		this.linewidth = 1;
+		this.linecap = 'round';
+		this.linejoin = 'round';
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+
+		this.linewidth = source.linewidth;
+		this.linecap = source.linecap;
+		this.linejoin = source.linejoin;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+const _start$1 = /*@__PURE__*/ new Vector3();
+const _end$1 = /*@__PURE__*/ new Vector3();
+const _inverseMatrix$1 = /*@__PURE__*/ new Matrix4();
+const _ray$1 = /*@__PURE__*/ new Ray();
+const _sphere$1 = /*@__PURE__*/ new Sphere();
+
+class Line extends Object3D {
+
+	constructor( geometry = new BufferGeometry(), material = new LineBasicMaterial() ) {
+
+		super();
+
+		this.isLine = true;
+
+		this.type = 'Line';
+
+		this.geometry = geometry;
+		this.material = material;
+
+		this.updateMorphTargets();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.material = Array.isArray( source.material ) ? source.material.slice() : source.material;
+		this.geometry = source.geometry;
+
+		return this;
+
+	}
+
+	computeLineDistances() {
+
+		const geometry = this.geometry;
+
+		// we assume non-indexed geometry
+
+		if ( geometry.index === null ) {
+
+			const positionAttribute = geometry.attributes.position;
+			const lineDistances = [ 0 ];
+
+			for ( let i = 1, l = positionAttribute.count; i < l; i ++ ) {
+
+				_start$1.fromBufferAttribute( positionAttribute, i - 1 );
+				_end$1.fromBufferAttribute( positionAttribute, i );
+
+				lineDistances[ i ] = lineDistances[ i - 1 ];
+				lineDistances[ i ] += _start$1.distanceTo( _end$1 );
+
+			}
+
+			geometry.setAttribute( 'lineDistance', new Float32BufferAttribute( lineDistances, 1 ) );
+
+		} else {
+
+			console.warn( 'THREE.Line.computeLineDistances(): Computation only possible with non-indexed BufferGeometry.' );
+
+		}
+
+		return this;
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const geometry = this.geometry;
+		const matrixWorld = this.matrixWorld;
+		const threshold = raycaster.params.Line.threshold;
+		const drawRange = geometry.drawRange;
+
+		// Checking boundingSphere distance to ray
+
+		if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
+
+		_sphere$1.copy( geometry.boundingSphere );
+		_sphere$1.applyMatrix4( matrixWorld );
+		_sphere$1.radius += threshold;
+
+		if ( raycaster.ray.intersectsSphere( _sphere$1 ) === false ) return;
+
+		//
+
+		_inverseMatrix$1.copy( matrixWorld ).invert();
+		_ray$1.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$1 );
+
+		const localThreshold = threshold / ( ( this.scale.x + this.scale.y + this.scale.z ) / 3 );
+		const localThresholdSq = localThreshold * localThreshold;
+
+		const vStart = new Vector3();
+		const vEnd = new Vector3();
+		const interSegment = new Vector3();
+		const interRay = new Vector3();
+		const step = this.isLineSegments ? 2 : 1;
+
+		const index = geometry.index;
+		const attributes = geometry.attributes;
+		const positionAttribute = attributes.position;
+
+		if ( index !== null ) {
+
+			const start = Math.max( 0, drawRange.start );
+			const end = Math.min( index.count, ( drawRange.start + drawRange.count ) );
+
+			for ( let i = start, l = end - 1; i < l; i += step ) {
+
+				const a = index.getX( i );
+				const b = index.getX( i + 1 );
+
+				vStart.fromBufferAttribute( positionAttribute, a );
+				vEnd.fromBufferAttribute( positionAttribute, b );
+
+				const distSq = _ray$1.distanceSqToSegment( vStart, vEnd, interRay, interSegment );
+
+				if ( distSq > localThresholdSq ) continue;
+
+				interRay.applyMatrix4( this.matrixWorld ); //Move back to world space for distance calculation
+
+				const distance = raycaster.ray.origin.distanceTo( interRay );
+
+				if ( distance < raycaster.near || distance > raycaster.far ) continue;
+
+				intersects.push( {
+
+					distance: distance,
+					// What do we want? intersection point on the ray or on the segment??
+					// point: raycaster.ray.at( distance ),
+					point: interSegment.clone().applyMatrix4( this.matrixWorld ),
+					index: i,
+					face: null,
+					faceIndex: null,
+					object: this
+
+				} );
+
+			}
+
+		} else {
+
+			const start = Math.max( 0, drawRange.start );
+			const end = Math.min( positionAttribute.count, ( drawRange.start + drawRange.count ) );
+
+			for ( let i = start, l = end - 1; i < l; i += step ) {
+
+				vStart.fromBufferAttribute( positionAttribute, i );
+				vEnd.fromBufferAttribute( positionAttribute, i + 1 );
+
+				const distSq = _ray$1.distanceSqToSegment( vStart, vEnd, interRay, interSegment );
+
+				if ( distSq > localThresholdSq ) continue;
+
+				interRay.applyMatrix4( this.matrixWorld ); //Move back to world space for distance calculation
+
+				const distance = raycaster.ray.origin.distanceTo( interRay );
+
+				if ( distance < raycaster.near || distance > raycaster.far ) continue;
+
+				intersects.push( {
+
+					distance: distance,
+					// What do we want? intersection point on the ray or on the segment??
+					// point: raycaster.ray.at( distance ),
+					point: interSegment.clone().applyMatrix4( this.matrixWorld ),
+					index: i,
+					face: null,
+					faceIndex: null,
+					object: this
+
+				} );
+
+			}
+
+		}
+
+	}
+
+	updateMorphTargets() {
+
+		const geometry = this.geometry;
+
+		const morphAttributes = geometry.morphAttributes;
+		const keys = Object.keys( morphAttributes );
+
+		if ( keys.length > 0 ) {
+
+			const morphAttribute = morphAttributes[ keys[ 0 ] ];
+
+			if ( morphAttribute !== undefined ) {
+
+				this.morphTargetInfluences = [];
+				this.morphTargetDictionary = {};
+
+				for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) {
+
+					const name = morphAttribute[ m ].name || String( m );
+
+					this.morphTargetInfluences.push( 0 );
+					this.morphTargetDictionary[ name ] = m;
+
+				}
+
+			}
+
+		}
+
+	}
+
+}
+
+const _start = /*@__PURE__*/ new Vector3();
+const _end = /*@__PURE__*/ new Vector3();
+
+class LineSegments extends Line {
+
+	constructor( geometry, material ) {
+
+		super( geometry, material );
+
+		this.isLineSegments = true;
+
+		this.type = 'LineSegments';
+
+	}
+
+	computeLineDistances() {
+
+		const geometry = this.geometry;
+
+		// we assume non-indexed geometry
+
+		if ( geometry.index === null ) {
+
+			const positionAttribute = geometry.attributes.position;
+			const lineDistances = [];
+
+			for ( let i = 0, l = positionAttribute.count; i < l; i += 2 ) {
+
+				_start.fromBufferAttribute( positionAttribute, i );
+				_end.fromBufferAttribute( positionAttribute, i + 1 );
+
+				lineDistances[ i ] = ( i === 0 ) ? 0 : lineDistances[ i - 1 ];
+				lineDistances[ i + 1 ] = lineDistances[ i ] + _start.distanceTo( _end );
+
+			}
+
+			geometry.setAttribute( 'lineDistance', new Float32BufferAttribute( lineDistances, 1 ) );
+
+		} else {
+
+			console.warn( 'THREE.LineSegments.computeLineDistances(): Computation only possible with non-indexed BufferGeometry.' );
+
+		}
+
+		return this;
+
+	}
+
+}
+
+class LineLoop extends Line {
+
+	constructor( geometry, material ) {
+
+		super( geometry, material );
+
+		this.isLineLoop = true;
+
+		this.type = 'LineLoop';
+
+	}
+
+}
+
+class PointsMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isPointsMaterial = true;
+
+		this.type = 'PointsMaterial';
+
+		this.color = new Color( 0xffffff );
+
+		this.map = null;
+
+		this.alphaMap = null;
+
+		this.size = 1;
+		this.sizeAttenuation = true;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+
+		this.alphaMap = source.alphaMap;
+
+		this.size = source.size;
+		this.sizeAttenuation = source.sizeAttenuation;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+const _inverseMatrix = /*@__PURE__*/ new Matrix4();
+const _ray = /*@__PURE__*/ new Ray();
+const _sphere = /*@__PURE__*/ new Sphere();
+const _position$2 = /*@__PURE__*/ new Vector3();
+
+class Points extends Object3D {
+
+	constructor( geometry = new BufferGeometry(), material = new PointsMaterial() ) {
+
+		super();
+
+		this.isPoints = true;
+
+		this.type = 'Points';
+
+		this.geometry = geometry;
+		this.material = material;
+
+		this.updateMorphTargets();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.material = Array.isArray( source.material ) ? source.material.slice() : source.material;
+		this.geometry = source.geometry;
+
+		return this;
+
+	}
+
+	raycast( raycaster, intersects ) {
+
+		const geometry = this.geometry;
+		const matrixWorld = this.matrixWorld;
+		const threshold = raycaster.params.Points.threshold;
+		const drawRange = geometry.drawRange;
+
+		// Checking boundingSphere distance to ray
+
+		if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere();
+
+		_sphere.copy( geometry.boundingSphere );
+		_sphere.applyMatrix4( matrixWorld );
+		_sphere.radius += threshold;
+
+		if ( raycaster.ray.intersectsSphere( _sphere ) === false ) return;
+
+		//
+
+		_inverseMatrix.copy( matrixWorld ).invert();
+		_ray.copy( raycaster.ray ).applyMatrix4( _inverseMatrix );
+
+		const localThreshold = threshold / ( ( this.scale.x + this.scale.y + this.scale.z ) / 3 );
+		const localThresholdSq = localThreshold * localThreshold;
+
+		const index = geometry.index;
+		const attributes = geometry.attributes;
+		const positionAttribute = attributes.position;
+
+		if ( index !== null ) {
+
+			const start = Math.max( 0, drawRange.start );
+			const end = Math.min( index.count, ( drawRange.start + drawRange.count ) );
+
+			for ( let i = start, il = end; i < il; i ++ ) {
+
+				const a = index.getX( i );
+
+				_position$2.fromBufferAttribute( positionAttribute, a );
+
+				testPoint( _position$2, a, localThresholdSq, matrixWorld, raycaster, intersects, this );
+
+			}
+
+		} else {
+
+			const start = Math.max( 0, drawRange.start );
+			const end = Math.min( positionAttribute.count, ( drawRange.start + drawRange.count ) );
+
+			for ( let i = start, l = end; i < l; i ++ ) {
+
+				_position$2.fromBufferAttribute( positionAttribute, i );
+
+				testPoint( _position$2, i, localThresholdSq, matrixWorld, raycaster, intersects, this );
+
+			}
+
+		}
+
+	}
+
+	updateMorphTargets() {
+
+		const geometry = this.geometry;
+
+		const morphAttributes = geometry.morphAttributes;
+		const keys = Object.keys( morphAttributes );
+
+		if ( keys.length > 0 ) {
+
+			const morphAttribute = morphAttributes[ keys[ 0 ] ];
+
+			if ( morphAttribute !== undefined ) {
+
+				this.morphTargetInfluences = [];
+				this.morphTargetDictionary = {};
+
+				for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) {
+
+					const name = morphAttribute[ m ].name || String( m );
+
+					this.morphTargetInfluences.push( 0 );
+					this.morphTargetDictionary[ name ] = m;
+
+				}
+
+			}
+
+		}
+
+	}
+
+}
+
+function testPoint( point, index, localThresholdSq, matrixWorld, raycaster, intersects, object ) {
+
+	const rayPointDistanceSq = _ray.distanceSqToPoint( point );
+
+	if ( rayPointDistanceSq < localThresholdSq ) {
+
+		const intersectPoint = new Vector3();
+
+		_ray.closestPointToPoint( point, intersectPoint );
+		intersectPoint.applyMatrix4( matrixWorld );
+
+		const distance = raycaster.ray.origin.distanceTo( intersectPoint );
+
+		if ( distance < raycaster.near || distance > raycaster.far ) return;
+
+		intersects.push( {
+
+			distance: distance,
+			distanceToRay: Math.sqrt( rayPointDistanceSq ),
+			point: intersectPoint,
+			index: index,
+			face: null,
+			object: object
+
+		} );
+
+	}
+
+}
+
+class VideoTexture extends Texture {
+
+	constructor( video, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ) {
+
+		super( video, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy );
+
+		this.isVideoTexture = true;
+
+		this.minFilter = minFilter !== undefined ? minFilter : LinearFilter;
+		this.magFilter = magFilter !== undefined ? magFilter : LinearFilter;
+
+		this.generateMipmaps = false;
+
+		const scope = this;
+
+		function updateVideo() {
+
+			scope.needsUpdate = true;
+			video.requestVideoFrameCallback( updateVideo );
+
+		}
+
+		if ( 'requestVideoFrameCallback' in video ) {
+
+			video.requestVideoFrameCallback( updateVideo );
+
+		}
+
+	}
+
+	clone() {
+
+		return new this.constructor( this.image ).copy( this );
+
+	}
+
+	update() {
+
+		const video = this.image;
+		const hasVideoFrameCallback = 'requestVideoFrameCallback' in video;
+
+		if ( hasVideoFrameCallback === false && video.readyState >= video.HAVE_CURRENT_DATA ) {
+
+			this.needsUpdate = true;
+
+		}
+
+	}
+
+}
+
+class FramebufferTexture extends Texture {
+
+	constructor( width, height ) {
+
+		super( { width, height } );
+
+		this.isFramebufferTexture = true;
+
+		this.magFilter = NearestFilter;
+		this.minFilter = NearestFilter;
+
+		this.generateMipmaps = false;
+
+		this.needsUpdate = true;
+
+	}
+
+}
+
+class CompressedTexture extends Texture {
+
+	constructor( mipmaps, width, height, format, type, mapping, wrapS, wrapT, magFilter, minFilter, anisotropy, colorSpace ) {
+
+		super( null, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace );
+
+		this.isCompressedTexture = true;
+
+		this.image = { width: width, height: height };
+		this.mipmaps = mipmaps;
+
+		// no flipping for cube textures
+		// (also flipping doesn't work for compressed textures )
+
+		this.flipY = false;
+
+		// can't generate mipmaps for compressed textures
+		// mips must be embedded in DDS files
+
+		this.generateMipmaps = false;
+
+	}
+
+}
+
+class CompressedArrayTexture extends CompressedTexture {
+
+	constructor( mipmaps, width, height, depth, format, type ) {
+
+		super( mipmaps, width, height, format, type );
+
+		this.isCompressedArrayTexture = true;
+		this.image.depth = depth;
+		this.wrapR = ClampToEdgeWrapping;
+
+	}
+
+}
+
+class CompressedCubeTexture extends CompressedTexture {
+
+	constructor( images, format, type ) {
+
+		super( undefined, images[ 0 ].width, images[ 0 ].height, format, type, CubeReflectionMapping );
+
+		this.isCompressedCubeTexture = true;
+		this.isCubeTexture = true;
+
+		this.image = images;
+
+	}
+
+}
+
+class CanvasTexture extends Texture {
+
+	constructor( canvas, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ) {
+
+		super( canvas, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy );
+
+		this.isCanvasTexture = true;
+
+		this.needsUpdate = true;
+
+	}
+
+}
+
+/**
+ * Extensible curve object.
+ *
+ * Some common of curve methods:
+ * .getPoint( t, optionalTarget ), .getTangent( t, optionalTarget )
+ * .getPointAt( u, optionalTarget ), .getTangentAt( u, optionalTarget )
+ * .getPoints(), .getSpacedPoints()
+ * .getLength()
+ * .updateArcLengths()
+ *
+ * This following curves inherit from THREE.Curve:
+ *
+ * -- 2D curves --
+ * THREE.ArcCurve
+ * THREE.CubicBezierCurve
+ * THREE.EllipseCurve
+ * THREE.LineCurve
+ * THREE.QuadraticBezierCurve
+ * THREE.SplineCurve
+ *
+ * -- 3D curves --
+ * THREE.CatmullRomCurve3
+ * THREE.CubicBezierCurve3
+ * THREE.LineCurve3
+ * THREE.QuadraticBezierCurve3
+ *
+ * A series of curves can be represented as a THREE.CurvePath.
+ *
+ **/
+
+class Curve {
+
+	constructor() {
+
+		this.type = 'Curve';
+
+		this.arcLengthDivisions = 200;
+
+	}
+
+	// Virtual base class method to overwrite and implement in subclasses
+	//	- t [0 .. 1]
+
+	getPoint( /* t, optionalTarget */ ) {
+
+		console.warn( 'THREE.Curve: .getPoint() not implemented.' );
+		return null;
+
+	}
+
+	// Get point at relative position in curve according to arc length
+	// - u [0 .. 1]
+
+	getPointAt( u, optionalTarget ) {
+
+		const t = this.getUtoTmapping( u );
+		return this.getPoint( t, optionalTarget );
+
+	}
+
+	// Get sequence of points using getPoint( t )
+
+	getPoints( divisions = 5 ) {
+
+		const points = [];
+
+		for ( let d = 0; d <= divisions; d ++ ) {
+
+			points.push( this.getPoint( d / divisions ) );
+
+		}
+
+		return points;
+
+	}
+
+	// Get sequence of points using getPointAt( u )
+
+	getSpacedPoints( divisions = 5 ) {
+
+		const points = [];
+
+		for ( let d = 0; d <= divisions; d ++ ) {
+
+			points.push( this.getPointAt( d / divisions ) );
+
+		}
+
+		return points;
+
+	}
+
+	// Get total curve arc length
+
+	getLength() {
+
+		const lengths = this.getLengths();
+		return lengths[ lengths.length - 1 ];
+
+	}
+
+	// Get list of cumulative segment lengths
+
+	getLengths( divisions = this.arcLengthDivisions ) {
+
+		if ( this.cacheArcLengths &&
+			( this.cacheArcLengths.length === divisions + 1 ) &&
+			! this.needsUpdate ) {
+
+			return this.cacheArcLengths;
+
+		}
+
+		this.needsUpdate = false;
+
+		const cache = [];
+		let current, last = this.getPoint( 0 );
+		let sum = 0;
+
+		cache.push( 0 );
+
+		for ( let p = 1; p <= divisions; p ++ ) {
+
+			current = this.getPoint( p / divisions );
+			sum += current.distanceTo( last );
+			cache.push( sum );
+			last = current;
+
+		}
+
+		this.cacheArcLengths = cache;
+
+		return cache; // { sums: cache, sum: sum }; Sum is in the last element.
+
+	}
+
+	updateArcLengths() {
+
+		this.needsUpdate = true;
+		this.getLengths();
+
+	}
+
+	// Given u ( 0 .. 1 ), get a t to find p. This gives you points which are equidistant
+
+	getUtoTmapping( u, distance ) {
+
+		const arcLengths = this.getLengths();
+
+		let i = 0;
+		const il = arcLengths.length;
+
+		let targetArcLength; // The targeted u distance value to get
+
+		if ( distance ) {
+
+			targetArcLength = distance;
+
+		} else {
+
+			targetArcLength = u * arcLengths[ il - 1 ];
+
+		}
+
+		// binary search for the index with largest value smaller than target u distance
+
+		let low = 0, high = il - 1, comparison;
+
+		while ( low <= high ) {
+
+			i = Math.floor( low + ( high - low ) / 2 ); // less likely to overflow, though probably not issue here, JS doesn't really have integers, all numbers are floats
+
+			comparison = arcLengths[ i ] - targetArcLength;
+
+			if ( comparison < 0 ) {
+
+				low = i + 1;
+
+			} else if ( comparison > 0 ) {
+
+				high = i - 1;
+
+			} else {
+
+				high = i;
+				break;
+
+				// DONE
+
+			}
+
+		}
+
+		i = high;
+
+		if ( arcLengths[ i ] === targetArcLength ) {
+
+			return i / ( il - 1 );
+
+		}
+
+		// we could get finer grain at lengths, or use simple interpolation between two points
+
+		const lengthBefore = arcLengths[ i ];
+		const lengthAfter = arcLengths[ i + 1 ];
+
+		const segmentLength = lengthAfter - lengthBefore;
+
+		// determine where we are between the 'before' and 'after' points
+
+		const segmentFraction = ( targetArcLength - lengthBefore ) / segmentLength;
+
+		// add that fractional amount to t
+
+		const t = ( i + segmentFraction ) / ( il - 1 );
+
+		return t;
+
+	}
+
+	// Returns a unit vector tangent at t
+	// In case any sub curve does not implement its tangent derivation,
+	// 2 points a small delta apart will be used to find its gradient
+	// which seems to give a reasonable approximation
+
+	getTangent( t, optionalTarget ) {
+
+		const delta = 0.0001;
+		let t1 = t - delta;
+		let t2 = t + delta;
+
+		// Capping in case of danger
+
+		if ( t1 < 0 ) t1 = 0;
+		if ( t2 > 1 ) t2 = 1;
+
+		const pt1 = this.getPoint( t1 );
+		const pt2 = this.getPoint( t2 );
+
+		const tangent = optionalTarget || ( ( pt1.isVector2 ) ? new Vector2() : new Vector3() );
+
+		tangent.copy( pt2 ).sub( pt1 ).normalize();
+
+		return tangent;
+
+	}
+
+	getTangentAt( u, optionalTarget ) {
+
+		const t = this.getUtoTmapping( u );
+		return this.getTangent( t, optionalTarget );
+
+	}
+
+	computeFrenetFrames( segments, closed ) {
+
+		// see http://www.cs.indiana.edu/pub/techreports/TR425.pdf
+
+		const normal = new Vector3();
+
+		const tangents = [];
+		const normals = [];
+		const binormals = [];
+
+		const vec = new Vector3();
+		const mat = new Matrix4();
+
+		// compute the tangent vectors for each segment on the curve
+
+		for ( let i = 0; i <= segments; i ++ ) {
+
+			const u = i / segments;
+
+			tangents[ i ] = this.getTangentAt( u, new Vector3() );
+
+		}
+
+		// select an initial normal vector perpendicular to the first tangent vector,
+		// and in the direction of the minimum tangent xyz component
+
+		normals[ 0 ] = new Vector3();
+		binormals[ 0 ] = new Vector3();
+		let min = Number.MAX_VALUE;
+		const tx = Math.abs( tangents[ 0 ].x );
+		const ty = Math.abs( tangents[ 0 ].y );
+		const tz = Math.abs( tangents[ 0 ].z );
+
+		if ( tx <= min ) {
+
+			min = tx;
+			normal.set( 1, 0, 0 );
+
+		}
+
+		if ( ty <= min ) {
+
+			min = ty;
+			normal.set( 0, 1, 0 );
+
+		}
+
+		if ( tz <= min ) {
+
+			normal.set( 0, 0, 1 );
+
+		}
+
+		vec.crossVectors( tangents[ 0 ], normal ).normalize();
+
+		normals[ 0 ].crossVectors( tangents[ 0 ], vec );
+		binormals[ 0 ].crossVectors( tangents[ 0 ], normals[ 0 ] );
+
+
+		// compute the slowly-varying normal and binormal vectors for each segment on the curve
+
+		for ( let i = 1; i <= segments; i ++ ) {
+
+			normals[ i ] = normals[ i - 1 ].clone();
+
+			binormals[ i ] = binormals[ i - 1 ].clone();
+
+			vec.crossVectors( tangents[ i - 1 ], tangents[ i ] );
+
+			if ( vec.length() > Number.EPSILON ) {
+
+				vec.normalize();
+
+				const theta = Math.acos( clamp( tangents[ i - 1 ].dot( tangents[ i ] ), - 1, 1 ) ); // clamp for floating pt errors
+
+				normals[ i ].applyMatrix4( mat.makeRotationAxis( vec, theta ) );
+
+			}
+
+			binormals[ i ].crossVectors( tangents[ i ], normals[ i ] );
+
+		}
+
+		// if the curve is closed, postprocess the vectors so the first and last normal vectors are the same
+
+		if ( closed === true ) {
+
+			let theta = Math.acos( clamp( normals[ 0 ].dot( normals[ segments ] ), - 1, 1 ) );
+			theta /= segments;
+
+			if ( tangents[ 0 ].dot( vec.crossVectors( normals[ 0 ], normals[ segments ] ) ) > 0 ) {
+
+				theta = - theta;
+
+			}
+
+			for ( let i = 1; i <= segments; i ++ ) {
+
+				// twist a little...
+				normals[ i ].applyMatrix4( mat.makeRotationAxis( tangents[ i ], theta * i ) );
+				binormals[ i ].crossVectors( tangents[ i ], normals[ i ] );
+
+			}
+
+		}
+
+		return {
+			tangents: tangents,
+			normals: normals,
+			binormals: binormals
+		};
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( source ) {
+
+		this.arcLengthDivisions = source.arcLengthDivisions;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = {
+			metadata: {
+				version: 4.6,
+				type: 'Curve',
+				generator: 'Curve.toJSON'
+			}
+		};
+
+		data.arcLengthDivisions = this.arcLengthDivisions;
+		data.type = this.type;
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		this.arcLengthDivisions = json.arcLengthDivisions;
+
+		return this;
+
+	}
+
+}
+
+class EllipseCurve extends Curve {
+
+	constructor( aX = 0, aY = 0, xRadius = 1, yRadius = 1, aStartAngle = 0, aEndAngle = Math.PI * 2, aClockwise = false, aRotation = 0 ) {
+
+		super();
+
+		this.isEllipseCurve = true;
+
+		this.type = 'EllipseCurve';
+
+		this.aX = aX;
+		this.aY = aY;
+
+		this.xRadius = xRadius;
+		this.yRadius = yRadius;
+
+		this.aStartAngle = aStartAngle;
+		this.aEndAngle = aEndAngle;
+
+		this.aClockwise = aClockwise;
+
+		this.aRotation = aRotation;
+
+	}
+
+	getPoint( t, optionalTarget ) {
+
+		const point = optionalTarget || new Vector2();
+
+		const twoPi = Math.PI * 2;
+		let deltaAngle = this.aEndAngle - this.aStartAngle;
+		const samePoints = Math.abs( deltaAngle ) < Number.EPSILON;
+
+		// ensures that deltaAngle is 0 .. 2 PI
+		while ( deltaAngle < 0 ) deltaAngle += twoPi;
+		while ( deltaAngle > twoPi ) deltaAngle -= twoPi;
+
+		if ( deltaAngle < Number.EPSILON ) {
+
+			if ( samePoints ) {
+
+				deltaAngle = 0;
+
+			} else {
+
+				deltaAngle = twoPi;
+
+			}
+
+		}
+
+		if ( this.aClockwise === true && ! samePoints ) {
+
+			if ( deltaAngle === twoPi ) {
+
+				deltaAngle = - twoPi;
+
+			} else {
+
+				deltaAngle = deltaAngle - twoPi;
+
+			}
+
+		}
+
+		const angle = this.aStartAngle + t * deltaAngle;
+		let x = this.aX + this.xRadius * Math.cos( angle );
+		let y = this.aY + this.yRadius * Math.sin( angle );
+
+		if ( this.aRotation !== 0 ) {
+
+			const cos = Math.cos( this.aRotation );
+			const sin = Math.sin( this.aRotation );
+
+			const tx = x - this.aX;
+			const ty = y - this.aY;
+
+			// Rotate the point about the center of the ellipse.
+			x = tx * cos - ty * sin + this.aX;
+			y = tx * sin + ty * cos + this.aY;
+
+		}
+
+		return point.set( x, y );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.aX = source.aX;
+		this.aY = source.aY;
+
+		this.xRadius = source.xRadius;
+		this.yRadius = source.yRadius;
+
+		this.aStartAngle = source.aStartAngle;
+		this.aEndAngle = source.aEndAngle;
+
+		this.aClockwise = source.aClockwise;
+
+		this.aRotation = source.aRotation;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.aX = this.aX;
+		data.aY = this.aY;
+
+		data.xRadius = this.xRadius;
+		data.yRadius = this.yRadius;
+
+		data.aStartAngle = this.aStartAngle;
+		data.aEndAngle = this.aEndAngle;
+
+		data.aClockwise = this.aClockwise;
+
+		data.aRotation = this.aRotation;
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.aX = json.aX;
+		this.aY = json.aY;
+
+		this.xRadius = json.xRadius;
+		this.yRadius = json.yRadius;
+
+		this.aStartAngle = json.aStartAngle;
+		this.aEndAngle = json.aEndAngle;
+
+		this.aClockwise = json.aClockwise;
+
+		this.aRotation = json.aRotation;
+
+		return this;
+
+	}
+
+}
+
+class ArcCurve extends EllipseCurve {
+
+	constructor( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) {
+
+		super( aX, aY, aRadius, aRadius, aStartAngle, aEndAngle, aClockwise );
+
+		this.isArcCurve = true;
+
+		this.type = 'ArcCurve';
+
+	}
+
+}
+
+/**
+ * Centripetal CatmullRom Curve - which is useful for avoiding
+ * cusps and self-intersections in non-uniform catmull rom curves.
+ * http://www.cemyuksel.com/research/catmullrom_param/catmullrom.pdf
+ *
+ * curve.type accepts centripetal(default), chordal and catmullrom
+ * curve.tension is used for catmullrom which defaults to 0.5
+ */
+
+
+/*
+Based on an optimized c++ solution in
+ - http://stackoverflow.com/questions/9489736/catmull-rom-curve-with-no-cusps-and-no-self-intersections/
+ - http://ideone.com/NoEbVM
+
+This CubicPoly class could be used for reusing some variables and calculations,
+but for three.js curve use, it could be possible inlined and flatten into a single function call
+which can be placed in CurveUtils.
+*/
+
+function CubicPoly() {
+
+	let c0 = 0, c1 = 0, c2 = 0, c3 = 0;
+
+	/*
+	 * Compute coefficients for a cubic polynomial
+	 *   p(s) = c0 + c1*s + c2*s^2 + c3*s^3
+	 * such that
+	 *   p(0) = x0, p(1) = x1
+	 *  and
+	 *   p'(0) = t0, p'(1) = t1.
+	 */
+	function init( x0, x1, t0, t1 ) {
+
+		c0 = x0;
+		c1 = t0;
+		c2 = - 3 * x0 + 3 * x1 - 2 * t0 - t1;
+		c3 = 2 * x0 - 2 * x1 + t0 + t1;
+
+	}
+
+	return {
+
+		initCatmullRom: function ( x0, x1, x2, x3, tension ) {
+
+			init( x1, x2, tension * ( x2 - x0 ), tension * ( x3 - x1 ) );
+
+		},
+
+		initNonuniformCatmullRom: function ( x0, x1, x2, x3, dt0, dt1, dt2 ) {
+
+			// compute tangents when parameterized in [t1,t2]
+			let t1 = ( x1 - x0 ) / dt0 - ( x2 - x0 ) / ( dt0 + dt1 ) + ( x2 - x1 ) / dt1;
+			let t2 = ( x2 - x1 ) / dt1 - ( x3 - x1 ) / ( dt1 + dt2 ) + ( x3 - x2 ) / dt2;
+
+			// rescale tangents for parametrization in [0,1]
+			t1 *= dt1;
+			t2 *= dt1;
+
+			init( x1, x2, t1, t2 );
+
+		},
+
+		calc: function ( t ) {
+
+			const t2 = t * t;
+			const t3 = t2 * t;
+			return c0 + c1 * t + c2 * t2 + c3 * t3;
+
+		}
+
+	};
+
+}
+
+//
+
+const tmp = /*@__PURE__*/ new Vector3();
+const px = /*@__PURE__*/ new CubicPoly();
+const py = /*@__PURE__*/ new CubicPoly();
+const pz = /*@__PURE__*/ new CubicPoly();
+
+class CatmullRomCurve3 extends Curve {
+
+	constructor( points = [], closed = false, curveType = 'centripetal', tension = 0.5 ) {
+
+		super();
+
+		this.isCatmullRomCurve3 = true;
+
+		this.type = 'CatmullRomCurve3';
+
+		this.points = points;
+		this.closed = closed;
+		this.curveType = curveType;
+		this.tension = tension;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector3() ) {
+
+		const point = optionalTarget;
+
+		const points = this.points;
+		const l = points.length;
+
+		const p = ( l - ( this.closed ? 0 : 1 ) ) * t;
+		let intPoint = Math.floor( p );
+		let weight = p - intPoint;
+
+		if ( this.closed ) {
+
+			intPoint += intPoint > 0 ? 0 : ( Math.floor( Math.abs( intPoint ) / l ) + 1 ) * l;
+
+		} else if ( weight === 0 && intPoint === l - 1 ) {
+
+			intPoint = l - 2;
+			weight = 1;
+
+		}
+
+		let p0, p3; // 4 points (p1 & p2 defined below)
+
+		if ( this.closed || intPoint > 0 ) {
+
+			p0 = points[ ( intPoint - 1 ) % l ];
+
+		} else {
+
+			// extrapolate first point
+			tmp.subVectors( points[ 0 ], points[ 1 ] ).add( points[ 0 ] );
+			p0 = tmp;
+
+		}
+
+		const p1 = points[ intPoint % l ];
+		const p2 = points[ ( intPoint + 1 ) % l ];
+
+		if ( this.closed || intPoint + 2 < l ) {
+
+			p3 = points[ ( intPoint + 2 ) % l ];
+
+		} else {
+
+			// extrapolate last point
+			tmp.subVectors( points[ l - 1 ], points[ l - 2 ] ).add( points[ l - 1 ] );
+			p3 = tmp;
+
+		}
+
+		if ( this.curveType === 'centripetal' || this.curveType === 'chordal' ) {
+
+			// init Centripetal / Chordal Catmull-Rom
+			const pow = this.curveType === 'chordal' ? 0.5 : 0.25;
+			let dt0 = Math.pow( p0.distanceToSquared( p1 ), pow );
+			let dt1 = Math.pow( p1.distanceToSquared( p2 ), pow );
+			let dt2 = Math.pow( p2.distanceToSquared( p3 ), pow );
+
+			// safety check for repeated points
+			if ( dt1 < 1e-4 ) dt1 = 1.0;
+			if ( dt0 < 1e-4 ) dt0 = dt1;
+			if ( dt2 < 1e-4 ) dt2 = dt1;
+
+			px.initNonuniformCatmullRom( p0.x, p1.x, p2.x, p3.x, dt0, dt1, dt2 );
+			py.initNonuniformCatmullRom( p0.y, p1.y, p2.y, p3.y, dt0, dt1, dt2 );
+			pz.initNonuniformCatmullRom( p0.z, p1.z, p2.z, p3.z, dt0, dt1, dt2 );
+
+		} else if ( this.curveType === 'catmullrom' ) {
+
+			px.initCatmullRom( p0.x, p1.x, p2.x, p3.x, this.tension );
+			py.initCatmullRom( p0.y, p1.y, p2.y, p3.y, this.tension );
+			pz.initCatmullRom( p0.z, p1.z, p2.z, p3.z, this.tension );
+
+		}
+
+		point.set(
+			px.calc( weight ),
+			py.calc( weight ),
+			pz.calc( weight )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.points = [];
+
+		for ( let i = 0, l = source.points.length; i < l; i ++ ) {
+
+			const point = source.points[ i ];
+
+			this.points.push( point.clone() );
+
+		}
+
+		this.closed = source.closed;
+		this.curveType = source.curveType;
+		this.tension = source.tension;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.points = [];
+
+		for ( let i = 0, l = this.points.length; i < l; i ++ ) {
+
+			const point = this.points[ i ];
+			data.points.push( point.toArray() );
+
+		}
+
+		data.closed = this.closed;
+		data.curveType = this.curveType;
+		data.tension = this.tension;
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.points = [];
+
+		for ( let i = 0, l = json.points.length; i < l; i ++ ) {
+
+			const point = json.points[ i ];
+			this.points.push( new Vector3().fromArray( point ) );
+
+		}
+
+		this.closed = json.closed;
+		this.curveType = json.curveType;
+		this.tension = json.tension;
+
+		return this;
+
+	}
+
+}
+
+/**
+ * Bezier Curves formulas obtained from
+ * https://en.wikipedia.org/wiki/B%C3%A9zier_curve
+ */
+
+function CatmullRom( t, p0, p1, p2, p3 ) {
+
+	const v0 = ( p2 - p0 ) * 0.5;
+	const v1 = ( p3 - p1 ) * 0.5;
+	const t2 = t * t;
+	const t3 = t * t2;
+	return ( 2 * p1 - 2 * p2 + v0 + v1 ) * t3 + ( - 3 * p1 + 3 * p2 - 2 * v0 - v1 ) * t2 + v0 * t + p1;
+
+}
+
+//
+
+function QuadraticBezierP0( t, p ) {
+
+	const k = 1 - t;
+	return k * k * p;
+
+}
+
+function QuadraticBezierP1( t, p ) {
+
+	return 2 * ( 1 - t ) * t * p;
+
+}
+
+function QuadraticBezierP2( t, p ) {
+
+	return t * t * p;
+
+}
+
+function QuadraticBezier( t, p0, p1, p2 ) {
+
+	return QuadraticBezierP0( t, p0 ) + QuadraticBezierP1( t, p1 ) +
+		QuadraticBezierP2( t, p2 );
+
+}
+
+//
+
+function CubicBezierP0( t, p ) {
+
+	const k = 1 - t;
+	return k * k * k * p;
+
+}
+
+function CubicBezierP1( t, p ) {
+
+	const k = 1 - t;
+	return 3 * k * k * t * p;
+
+}
+
+function CubicBezierP2( t, p ) {
+
+	return 3 * ( 1 - t ) * t * t * p;
+
+}
+
+function CubicBezierP3( t, p ) {
+
+	return t * t * t * p;
+
+}
+
+function CubicBezier( t, p0, p1, p2, p3 ) {
+
+	return CubicBezierP0( t, p0 ) + CubicBezierP1( t, p1 ) + CubicBezierP2( t, p2 ) +
+		CubicBezierP3( t, p3 );
+
+}
+
+class CubicBezierCurve extends Curve {
+
+	constructor( v0 = new Vector2(), v1 = new Vector2(), v2 = new Vector2(), v3 = new Vector2() ) {
+
+		super();
+
+		this.isCubicBezierCurve = true;
+
+		this.type = 'CubicBezierCurve';
+
+		this.v0 = v0;
+		this.v1 = v1;
+		this.v2 = v2;
+		this.v3 = v3;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector2() ) {
+
+		const point = optionalTarget;
+
+		const v0 = this.v0, v1 = this.v1, v2 = this.v2, v3 = this.v3;
+
+		point.set(
+			CubicBezier( t, v0.x, v1.x, v2.x, v3.x ),
+			CubicBezier( t, v0.y, v1.y, v2.y, v3.y )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v0.copy( source.v0 );
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+		this.v3.copy( source.v3 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v0 = this.v0.toArray();
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+		data.v3 = this.v3.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v0.fromArray( json.v0 );
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+		this.v3.fromArray( json.v3 );
+
+		return this;
+
+	}
+
+}
+
+class CubicBezierCurve3 extends Curve {
+
+	constructor( v0 = new Vector3(), v1 = new Vector3(), v2 = new Vector3(), v3 = new Vector3() ) {
+
+		super();
+
+		this.isCubicBezierCurve3 = true;
+
+		this.type = 'CubicBezierCurve3';
+
+		this.v0 = v0;
+		this.v1 = v1;
+		this.v2 = v2;
+		this.v3 = v3;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector3() ) {
+
+		const point = optionalTarget;
+
+		const v0 = this.v0, v1 = this.v1, v2 = this.v2, v3 = this.v3;
+
+		point.set(
+			CubicBezier( t, v0.x, v1.x, v2.x, v3.x ),
+			CubicBezier( t, v0.y, v1.y, v2.y, v3.y ),
+			CubicBezier( t, v0.z, v1.z, v2.z, v3.z )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v0.copy( source.v0 );
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+		this.v3.copy( source.v3 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v0 = this.v0.toArray();
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+		data.v3 = this.v3.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v0.fromArray( json.v0 );
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+		this.v3.fromArray( json.v3 );
+
+		return this;
+
+	}
+
+}
+
+class LineCurve extends Curve {
+
+	constructor( v1 = new Vector2(), v2 = new Vector2() ) {
+
+		super();
+
+		this.isLineCurve = true;
+
+		this.type = 'LineCurve';
+
+		this.v1 = v1;
+		this.v2 = v2;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector2() ) {
+
+		const point = optionalTarget;
+
+		if ( t === 1 ) {
+
+			point.copy( this.v2 );
+
+		} else {
+
+			point.copy( this.v2 ).sub( this.v1 );
+			point.multiplyScalar( t ).add( this.v1 );
+
+		}
+
+		return point;
+
+	}
+
+	// Line curve is linear, so we can overwrite default getPointAt
+	getPointAt( u, optionalTarget ) {
+
+		return this.getPoint( u, optionalTarget );
+
+	}
+
+	getTangent( t, optionalTarget = new Vector2() ) {
+
+		return optionalTarget.subVectors( this.v2, this.v1 ).normalize();
+
+	}
+
+	getTangentAt( u, optionalTarget ) {
+
+		return this.getTangent( u, optionalTarget );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+
+		return this;
+
+	}
+
+}
+
+class LineCurve3 extends Curve {
+
+	constructor( v1 = new Vector3(), v2 = new Vector3() ) {
+
+		super();
+
+		this.isLineCurve3 = true;
+
+		this.type = 'LineCurve3';
+
+		this.v1 = v1;
+		this.v2 = v2;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector3() ) {
+
+		const point = optionalTarget;
+
+		if ( t === 1 ) {
+
+			point.copy( this.v2 );
+
+		} else {
+
+			point.copy( this.v2 ).sub( this.v1 );
+			point.multiplyScalar( t ).add( this.v1 );
+
+		}
+
+		return point;
+
+	}
+
+	// Line curve is linear, so we can overwrite default getPointAt
+	getPointAt( u, optionalTarget ) {
+
+		return this.getPoint( u, optionalTarget );
+
+	}
+
+	getTangent( t, optionalTarget = new Vector3() ) {
+
+		return optionalTarget.subVectors( this.v2, this.v1 ).normalize();
+
+	}
+
+	getTangentAt( u, optionalTarget ) {
+
+		return this.getTangent( u, optionalTarget );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+
+		return this;
+
+	}
+
+}
+
+class QuadraticBezierCurve extends Curve {
+
+	constructor( v0 = new Vector2(), v1 = new Vector2(), v2 = new Vector2() ) {
+
+		super();
+
+		this.isQuadraticBezierCurve = true;
+
+		this.type = 'QuadraticBezierCurve';
+
+		this.v0 = v0;
+		this.v1 = v1;
+		this.v2 = v2;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector2() ) {
+
+		const point = optionalTarget;
+
+		const v0 = this.v0, v1 = this.v1, v2 = this.v2;
+
+		point.set(
+			QuadraticBezier( t, v0.x, v1.x, v2.x ),
+			QuadraticBezier( t, v0.y, v1.y, v2.y )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v0.copy( source.v0 );
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v0 = this.v0.toArray();
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v0.fromArray( json.v0 );
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+
+		return this;
+
+	}
+
+}
+
+class QuadraticBezierCurve3 extends Curve {
+
+	constructor( v0 = new Vector3(), v1 = new Vector3(), v2 = new Vector3() ) {
+
+		super();
+
+		this.isQuadraticBezierCurve3 = true;
+
+		this.type = 'QuadraticBezierCurve3';
+
+		this.v0 = v0;
+		this.v1 = v1;
+		this.v2 = v2;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector3() ) {
+
+		const point = optionalTarget;
+
+		const v0 = this.v0, v1 = this.v1, v2 = this.v2;
+
+		point.set(
+			QuadraticBezier( t, v0.x, v1.x, v2.x ),
+			QuadraticBezier( t, v0.y, v1.y, v2.y ),
+			QuadraticBezier( t, v0.z, v1.z, v2.z )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.v0.copy( source.v0 );
+		this.v1.copy( source.v1 );
+		this.v2.copy( source.v2 );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.v0 = this.v0.toArray();
+		data.v1 = this.v1.toArray();
+		data.v2 = this.v2.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.v0.fromArray( json.v0 );
+		this.v1.fromArray( json.v1 );
+		this.v2.fromArray( json.v2 );
+
+		return this;
+
+	}
+
+}
+
+class SplineCurve extends Curve {
+
+	constructor( points = [] ) {
+
+		super();
+
+		this.isSplineCurve = true;
+
+		this.type = 'SplineCurve';
+
+		this.points = points;
+
+	}
+
+	getPoint( t, optionalTarget = new Vector2() ) {
+
+		const point = optionalTarget;
+
+		const points = this.points;
+		const p = ( points.length - 1 ) * t;
+
+		const intPoint = Math.floor( p );
+		const weight = p - intPoint;
+
+		const p0 = points[ intPoint === 0 ? intPoint : intPoint - 1 ];
+		const p1 = points[ intPoint ];
+		const p2 = points[ intPoint > points.length - 2 ? points.length - 1 : intPoint + 1 ];
+		const p3 = points[ intPoint > points.length - 3 ? points.length - 1 : intPoint + 2 ];
+
+		point.set(
+			CatmullRom( weight, p0.x, p1.x, p2.x, p3.x ),
+			CatmullRom( weight, p0.y, p1.y, p2.y, p3.y )
+		);
+
+		return point;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.points = [];
+
+		for ( let i = 0, l = source.points.length; i < l; i ++ ) {
+
+			const point = source.points[ i ];
+
+			this.points.push( point.clone() );
+
+		}
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.points = [];
+
+		for ( let i = 0, l = this.points.length; i < l; i ++ ) {
+
+			const point = this.points[ i ];
+			data.points.push( point.toArray() );
+
+		}
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.points = [];
+
+		for ( let i = 0, l = json.points.length; i < l; i ++ ) {
+
+			const point = json.points[ i ];
+			this.points.push( new Vector2().fromArray( point ) );
+
+		}
+
+		return this;
+
+	}
+
+}
+
+var Curves = /*#__PURE__*/Object.freeze({
+	__proto__: null,
+	ArcCurve: ArcCurve,
+	CatmullRomCurve3: CatmullRomCurve3,
+	CubicBezierCurve: CubicBezierCurve,
+	CubicBezierCurve3: CubicBezierCurve3,
+	EllipseCurve: EllipseCurve,
+	LineCurve: LineCurve,
+	LineCurve3: LineCurve3,
+	QuadraticBezierCurve: QuadraticBezierCurve,
+	QuadraticBezierCurve3: QuadraticBezierCurve3,
+	SplineCurve: SplineCurve
+});
+
+/**************************************************************
+ *	Curved Path - a curve path is simply a array of connected
+ *  curves, but retains the api of a curve
+ **************************************************************/
+
+class CurvePath extends Curve {
+
+	constructor() {
+
+		super();
+
+		this.type = 'CurvePath';
+
+		this.curves = [];
+		this.autoClose = false; // Automatically closes the path
+
+	}
+
+	add( curve ) {
+
+		this.curves.push( curve );
+
+	}
+
+	closePath() {
+
+		// Add a line curve if start and end of lines are not connected
+		const startPoint = this.curves[ 0 ].getPoint( 0 );
+		const endPoint = this.curves[ this.curves.length - 1 ].getPoint( 1 );
+
+		if ( ! startPoint.equals( endPoint ) ) {
+
+			const lineType = ( startPoint.isVector2 === true ) ? 'LineCurve' : 'LineCurve3';
+			this.curves.push( new Curves[ lineType ]( endPoint, startPoint ) );
+
+		}
+
+		return this;
+
+	}
+
+	// To get accurate point with reference to
+	// entire path distance at time t,
+	// following has to be done:
+
+	// 1. Length of each sub path have to be known
+	// 2. Locate and identify type of curve
+	// 3. Get t for the curve
+	// 4. Return curve.getPointAt(t')
+
+	getPoint( t, optionalTarget ) {
+
+		const d = t * this.getLength();
+		const curveLengths = this.getCurveLengths();
+		let i = 0;
+
+		// To think about boundaries points.
+
+		while ( i < curveLengths.length ) {
+
+			if ( curveLengths[ i ] >= d ) {
+
+				const diff = curveLengths[ i ] - d;
+				const curve = this.curves[ i ];
+
+				const segmentLength = curve.getLength();
+				const u = segmentLength === 0 ? 0 : 1 - diff / segmentLength;
+
+				return curve.getPointAt( u, optionalTarget );
+
+			}
+
+			i ++;
+
+		}
+
+		return null;
+
+		// loop where sum != 0, sum > d , sum+1  1 && ! points[ points.length - 1 ].equals( points[ 0 ] ) ) {
+
+			points.push( points[ 0 ] );
+
+		}
+
+		return points;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.curves = [];
+
+		for ( let i = 0, l = source.curves.length; i < l; i ++ ) {
+
+			const curve = source.curves[ i ];
+
+			this.curves.push( curve.clone() );
+
+		}
+
+		this.autoClose = source.autoClose;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.autoClose = this.autoClose;
+		data.curves = [];
+
+		for ( let i = 0, l = this.curves.length; i < l; i ++ ) {
+
+			const curve = this.curves[ i ];
+			data.curves.push( curve.toJSON() );
+
+		}
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.autoClose = json.autoClose;
+		this.curves = [];
+
+		for ( let i = 0, l = json.curves.length; i < l; i ++ ) {
+
+			const curve = json.curves[ i ];
+			this.curves.push( new Curves[ curve.type ]().fromJSON( curve ) );
+
+		}
+
+		return this;
+
+	}
+
+}
+
+class Path extends CurvePath {
+
+	constructor( points ) {
+
+		super();
+
+		this.type = 'Path';
+
+		this.currentPoint = new Vector2();
+
+		if ( points ) {
+
+			this.setFromPoints( points );
+
+		}
+
+	}
+
+	setFromPoints( points ) {
+
+		this.moveTo( points[ 0 ].x, points[ 0 ].y );
+
+		for ( let i = 1, l = points.length; i < l; i ++ ) {
+
+			this.lineTo( points[ i ].x, points[ i ].y );
+
+		}
+
+		return this;
+
+	}
+
+	moveTo( x, y ) {
+
+		this.currentPoint.set( x, y ); // TODO consider referencing vectors instead of copying?
+
+		return this;
+
+	}
+
+	lineTo( x, y ) {
+
+		const curve = new LineCurve( this.currentPoint.clone(), new Vector2( x, y ) );
+		this.curves.push( curve );
+
+		this.currentPoint.set( x, y );
+
+		return this;
+
+	}
+
+	quadraticCurveTo( aCPx, aCPy, aX, aY ) {
+
+		const curve = new QuadraticBezierCurve(
+			this.currentPoint.clone(),
+			new Vector2( aCPx, aCPy ),
+			new Vector2( aX, aY )
+		);
+
+		this.curves.push( curve );
+
+		this.currentPoint.set( aX, aY );
+
+		return this;
+
+	}
+
+	bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY ) {
+
+		const curve = new CubicBezierCurve(
+			this.currentPoint.clone(),
+			new Vector2( aCP1x, aCP1y ),
+			new Vector2( aCP2x, aCP2y ),
+			new Vector2( aX, aY )
+		);
+
+		this.curves.push( curve );
+
+		this.currentPoint.set( aX, aY );
+
+		return this;
+
+	}
+
+	splineThru( pts /*Array of Vector*/ ) {
+
+		const npts = [ this.currentPoint.clone() ].concat( pts );
+
+		const curve = new SplineCurve( npts );
+		this.curves.push( curve );
+
+		this.currentPoint.copy( pts[ pts.length - 1 ] );
+
+		return this;
+
+	}
+
+	arc( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) {
+
+		const x0 = this.currentPoint.x;
+		const y0 = this.currentPoint.y;
+
+		this.absarc( aX + x0, aY + y0, aRadius,
+			aStartAngle, aEndAngle, aClockwise );
+
+		return this;
+
+	}
+
+	absarc( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) {
+
+		this.absellipse( aX, aY, aRadius, aRadius, aStartAngle, aEndAngle, aClockwise );
+
+		return this;
+
+	}
+
+	ellipse( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ) {
+
+		const x0 = this.currentPoint.x;
+		const y0 = this.currentPoint.y;
+
+		this.absellipse( aX + x0, aY + y0, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation );
+
+		return this;
+
+	}
+
+	absellipse( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ) {
+
+		const curve = new EllipseCurve( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation );
+
+		if ( this.curves.length > 0 ) {
+
+			// if a previous curve is present, attempt to join
+			const firstPoint = curve.getPoint( 0 );
+
+			if ( ! firstPoint.equals( this.currentPoint ) ) {
+
+				this.lineTo( firstPoint.x, firstPoint.y );
+
+			}
+
+		}
+
+		this.curves.push( curve );
+
+		const lastPoint = curve.getPoint( 1 );
+		this.currentPoint.copy( lastPoint );
+
+		return this;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.currentPoint.copy( source.currentPoint );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.currentPoint = this.currentPoint.toArray();
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.currentPoint.fromArray( json.currentPoint );
+
+		return this;
+
+	}
+
+}
+
+class LatheGeometry extends BufferGeometry {
+
+	constructor( points = [ new Vector2( 0, - 0.5 ), new Vector2( 0.5, 0 ), new Vector2( 0, 0.5 ) ], segments = 12, phiStart = 0, phiLength = Math.PI * 2 ) {
+
+		super();
+
+		this.type = 'LatheGeometry';
+
+		this.parameters = {
+			points: points,
+			segments: segments,
+			phiStart: phiStart,
+			phiLength: phiLength
+		};
+
+		segments = Math.floor( segments );
+
+		// clamp phiLength so it's in range of [ 0, 2PI ]
+
+		phiLength = clamp( phiLength, 0, Math.PI * 2 );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const uvs = [];
+		const initNormals = [];
+		const normals = [];
+
+		// helper variables
+
+		const inverseSegments = 1.0 / segments;
+		const vertex = new Vector3();
+		const uv = new Vector2();
+		const normal = new Vector3();
+		const curNormal = new Vector3();
+		const prevNormal = new Vector3();
+		let dx = 0;
+		let dy = 0;
+
+		// pre-compute normals for initial "meridian"
+
+		for ( let j = 0; j <= ( points.length - 1 ); j ++ ) {
+
+			switch ( j ) {
+
+				case 0:				// special handling for 1st vertex on path
+
+					dx = points[ j + 1 ].x - points[ j ].x;
+					dy = points[ j + 1 ].y - points[ j ].y;
+
+					normal.x = dy * 1.0;
+					normal.y = - dx;
+					normal.z = dy * 0.0;
+
+					prevNormal.copy( normal );
+
+					normal.normalize();
+
+					initNormals.push( normal.x, normal.y, normal.z );
+
+					break;
+
+				case ( points.length - 1 ):	// special handling for last Vertex on path
+
+					initNormals.push( prevNormal.x, prevNormal.y, prevNormal.z );
+
+					break;
+
+				default:			// default handling for all vertices in between
+
+					dx = points[ j + 1 ].x - points[ j ].x;
+					dy = points[ j + 1 ].y - points[ j ].y;
+
+					normal.x = dy * 1.0;
+					normal.y = - dx;
+					normal.z = dy * 0.0;
+
+					curNormal.copy( normal );
+
+					normal.x += prevNormal.x;
+					normal.y += prevNormal.y;
+					normal.z += prevNormal.z;
+
+					normal.normalize();
+
+					initNormals.push( normal.x, normal.y, normal.z );
+
+					prevNormal.copy( curNormal );
+
+			}
+
+		}
+
+		// generate vertices, uvs and normals
+
+		for ( let i = 0; i <= segments; i ++ ) {
+
+			const phi = phiStart + i * inverseSegments * phiLength;
+
+			const sin = Math.sin( phi );
+			const cos = Math.cos( phi );
+
+			for ( let j = 0; j <= ( points.length - 1 ); j ++ ) {
+
+				// vertex
+
+				vertex.x = points[ j ].x * sin;
+				vertex.y = points[ j ].y;
+				vertex.z = points[ j ].x * cos;
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// uv
+
+				uv.x = i / segments;
+				uv.y = j / ( points.length - 1 );
+
+				uvs.push( uv.x, uv.y );
+
+				// normal
+
+				const x = initNormals[ 3 * j + 0 ] * sin;
+				const y = initNormals[ 3 * j + 1 ];
+				const z = initNormals[ 3 * j + 0 ] * cos;
+
+				normals.push( x, y, z );
+
+			}
+
+		}
+
+		// indices
+
+		for ( let i = 0; i < segments; i ++ ) {
+
+			for ( let j = 0; j < ( points.length - 1 ); j ++ ) {
+
+				const base = j + i * points.length;
+
+				const a = base;
+				const b = base + points.length;
+				const c = base + points.length + 1;
+				const d = base + 1;
+
+				// faces
+
+				indices.push( a, b, d );
+				indices.push( c, d, b );
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new LatheGeometry( data.points, data.segments, data.phiStart, data.phiLength );
+
+	}
+
+}
+
+class CapsuleGeometry extends LatheGeometry {
+
+	constructor( radius = 1, length = 1, capSegments = 4, radialSegments = 8 ) {
+
+		const path = new Path();
+		path.absarc( 0, - length / 2, radius, Math.PI * 1.5, 0 );
+		path.absarc( 0, length / 2, radius, 0, Math.PI * 0.5 );
+
+		super( path.getPoints( capSegments ), radialSegments );
+
+		this.type = 'CapsuleGeometry';
+
+		this.parameters = {
+			radius: radius,
+			length: length,
+			capSegments: capSegments,
+			radialSegments: radialSegments,
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new CapsuleGeometry( data.radius, data.length, data.capSegments, data.radialSegments );
+
+	}
+
+}
+
+class CircleGeometry extends BufferGeometry {
+
+	constructor( radius = 1, segments = 32, thetaStart = 0, thetaLength = Math.PI * 2 ) {
+
+		super();
+
+		this.type = 'CircleGeometry';
+
+		this.parameters = {
+			radius: radius,
+			segments: segments,
+			thetaStart: thetaStart,
+			thetaLength: thetaLength
+		};
+
+		segments = Math.max( 3, segments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		const vertex = new Vector3();
+		const uv = new Vector2();
+
+		// center point
+
+		vertices.push( 0, 0, 0 );
+		normals.push( 0, 0, 1 );
+		uvs.push( 0.5, 0.5 );
+
+		for ( let s = 0, i = 3; s <= segments; s ++, i += 3 ) {
+
+			const segment = thetaStart + s / segments * thetaLength;
+
+			// vertex
+
+			vertex.x = radius * Math.cos( segment );
+			vertex.y = radius * Math.sin( segment );
+
+			vertices.push( vertex.x, vertex.y, vertex.z );
+
+			// normal
+
+			normals.push( 0, 0, 1 );
+
+			// uvs
+
+			uv.x = ( vertices[ i ] / radius + 1 ) / 2;
+			uv.y = ( vertices[ i + 1 ] / radius + 1 ) / 2;
+
+			uvs.push( uv.x, uv.y );
+
+		}
+
+		// indices
+
+		for ( let i = 1; i <= segments; i ++ ) {
+
+			indices.push( i, i + 1, 0 );
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new CircleGeometry( data.radius, data.segments, data.thetaStart, data.thetaLength );
+
+	}
+
+}
+
+class CylinderGeometry extends BufferGeometry {
+
+	constructor( radiusTop = 1, radiusBottom = 1, height = 1, radialSegments = 32, heightSegments = 1, openEnded = false, thetaStart = 0, thetaLength = Math.PI * 2 ) {
+
+		super();
+
+		this.type = 'CylinderGeometry';
+
+		this.parameters = {
+			radiusTop: radiusTop,
+			radiusBottom: radiusBottom,
+			height: height,
+			radialSegments: radialSegments,
+			heightSegments: heightSegments,
+			openEnded: openEnded,
+			thetaStart: thetaStart,
+			thetaLength: thetaLength
+		};
+
+		const scope = this;
+
+		radialSegments = Math.floor( radialSegments );
+		heightSegments = Math.floor( heightSegments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		let index = 0;
+		const indexArray = [];
+		const halfHeight = height / 2;
+		let groupStart = 0;
+
+		// generate geometry
+
+		generateTorso();
+
+		if ( openEnded === false ) {
+
+			if ( radiusTop > 0 ) generateCap( true );
+			if ( radiusBottom > 0 ) generateCap( false );
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+		function generateTorso() {
+
+			const normal = new Vector3();
+			const vertex = new Vector3();
+
+			let groupCount = 0;
+
+			// this will be used to calculate the normal
+			const slope = ( radiusBottom - radiusTop ) / height;
+
+			// generate vertices, normals and uvs
+
+			for ( let y = 0; y <= heightSegments; y ++ ) {
+
+				const indexRow = [];
+
+				const v = y / heightSegments;
+
+				// calculate the radius of the current row
+
+				const radius = v * ( radiusBottom - radiusTop ) + radiusTop;
+
+				for ( let x = 0; x <= radialSegments; x ++ ) {
+
+					const u = x / radialSegments;
+
+					const theta = u * thetaLength + thetaStart;
+
+					const sinTheta = Math.sin( theta );
+					const cosTheta = Math.cos( theta );
+
+					// vertex
+
+					vertex.x = radius * sinTheta;
+					vertex.y = - v * height + halfHeight;
+					vertex.z = radius * cosTheta;
+					vertices.push( vertex.x, vertex.y, vertex.z );
+
+					// normal
+
+					normal.set( sinTheta, slope, cosTheta ).normalize();
+					normals.push( normal.x, normal.y, normal.z );
+
+					// uv
+
+					uvs.push( u, 1 - v );
+
+					// save index of vertex in respective row
+
+					indexRow.push( index ++ );
+
+				}
+
+				// now save vertices of the row in our index array
+
+				indexArray.push( indexRow );
+
+			}
+
+			// generate indices
+
+			for ( let x = 0; x < radialSegments; x ++ ) {
+
+				for ( let y = 0; y < heightSegments; y ++ ) {
+
+					// we use the index array to access the correct indices
+
+					const a = indexArray[ y ][ x ];
+					const b = indexArray[ y + 1 ][ x ];
+					const c = indexArray[ y + 1 ][ x + 1 ];
+					const d = indexArray[ y ][ x + 1 ];
+
+					// faces
+
+					indices.push( a, b, d );
+					indices.push( b, c, d );
+
+					// update group counter
+
+					groupCount += 6;
+
+				}
+
+			}
+
+			// add a group to the geometry. this will ensure multi material support
+
+			scope.addGroup( groupStart, groupCount, 0 );
+
+			// calculate new start value for groups
+
+			groupStart += groupCount;
+
+		}
+
+		function generateCap( top ) {
+
+			// save the index of the first center vertex
+			const centerIndexStart = index;
+
+			const uv = new Vector2();
+			const vertex = new Vector3();
+
+			let groupCount = 0;
+
+			const radius = ( top === true ) ? radiusTop : radiusBottom;
+			const sign = ( top === true ) ? 1 : - 1;
+
+			// first we generate the center vertex data of the cap.
+			// because the geometry needs one set of uvs per face,
+			// we must generate a center vertex per face/segment
+
+			for ( let x = 1; x <= radialSegments; x ++ ) {
+
+				// vertex
+
+				vertices.push( 0, halfHeight * sign, 0 );
+
+				// normal
+
+				normals.push( 0, sign, 0 );
+
+				// uv
+
+				uvs.push( 0.5, 0.5 );
+
+				// increase index
+
+				index ++;
+
+			}
+
+			// save the index of the last center vertex
+			const centerIndexEnd = index;
+
+			// now we generate the surrounding vertices, normals and uvs
+
+			for ( let x = 0; x <= radialSegments; x ++ ) {
+
+				const u = x / radialSegments;
+				const theta = u * thetaLength + thetaStart;
+
+				const cosTheta = Math.cos( theta );
+				const sinTheta = Math.sin( theta );
+
+				// vertex
+
+				vertex.x = radius * sinTheta;
+				vertex.y = halfHeight * sign;
+				vertex.z = radius * cosTheta;
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// normal
+
+				normals.push( 0, sign, 0 );
+
+				// uv
+
+				uv.x = ( cosTheta * 0.5 ) + 0.5;
+				uv.y = ( sinTheta * 0.5 * sign ) + 0.5;
+				uvs.push( uv.x, uv.y );
+
+				// increase index
+
+				index ++;
+
+			}
+
+			// generate indices
+
+			for ( let x = 0; x < radialSegments; x ++ ) {
+
+				const c = centerIndexStart + x;
+				const i = centerIndexEnd + x;
+
+				if ( top === true ) {
+
+					// face top
+
+					indices.push( i, i + 1, c );
+
+				} else {
+
+					// face bottom
+
+					indices.push( i + 1, i, c );
+
+				}
+
+				groupCount += 3;
+
+			}
+
+			// add a group to the geometry. this will ensure multi material support
+
+			scope.addGroup( groupStart, groupCount, top === true ? 1 : 2 );
+
+			// calculate new start value for groups
+
+			groupStart += groupCount;
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new CylinderGeometry( data.radiusTop, data.radiusBottom, data.height, data.radialSegments, data.heightSegments, data.openEnded, data.thetaStart, data.thetaLength );
+
+	}
+
+}
+
+class ConeGeometry extends CylinderGeometry {
+
+	constructor( radius = 1, height = 1, radialSegments = 32, heightSegments = 1, openEnded = false, thetaStart = 0, thetaLength = Math.PI * 2 ) {
+
+		super( 0, radius, height, radialSegments, heightSegments, openEnded, thetaStart, thetaLength );
+
+		this.type = 'ConeGeometry';
+
+		this.parameters = {
+			radius: radius,
+			height: height,
+			radialSegments: radialSegments,
+			heightSegments: heightSegments,
+			openEnded: openEnded,
+			thetaStart: thetaStart,
+			thetaLength: thetaLength
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new ConeGeometry( data.radius, data.height, data.radialSegments, data.heightSegments, data.openEnded, data.thetaStart, data.thetaLength );
+
+	}
+
+}
+
+class PolyhedronGeometry extends BufferGeometry {
+
+	constructor( vertices = [], indices = [], radius = 1, detail = 0 ) {
+
+		super();
+
+		this.type = 'PolyhedronGeometry';
+
+		this.parameters = {
+			vertices: vertices,
+			indices: indices,
+			radius: radius,
+			detail: detail
+		};
+
+		// default buffer data
+
+		const vertexBuffer = [];
+		const uvBuffer = [];
+
+		// the subdivision creates the vertex buffer data
+
+		subdivide( detail );
+
+		// all vertices should lie on a conceptual sphere with a given radius
+
+		applyRadius( radius );
+
+		// finally, create the uv data
+
+		generateUVs();
+
+		// build non-indexed geometry
+
+		this.setAttribute( 'position', new Float32BufferAttribute( vertexBuffer, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( vertexBuffer.slice(), 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvBuffer, 2 ) );
+
+		if ( detail === 0 ) {
+
+			this.computeVertexNormals(); // flat normals
+
+		} else {
+
+			this.normalizeNormals(); // smooth normals
+
+		}
+
+		// helper functions
+
+		function subdivide( detail ) {
+
+			const a = new Vector3();
+			const b = new Vector3();
+			const c = new Vector3();
+
+			// iterate over all faces and apply a subdivision with the given detail value
+
+			for ( let i = 0; i < indices.length; i += 3 ) {
+
+				// get the vertices of the face
+
+				getVertexByIndex( indices[ i + 0 ], a );
+				getVertexByIndex( indices[ i + 1 ], b );
+				getVertexByIndex( indices[ i + 2 ], c );
+
+				// perform subdivision
+
+				subdivideFace( a, b, c, detail );
+
+			}
+
+		}
+
+		function subdivideFace( a, b, c, detail ) {
+
+			const cols = detail + 1;
+
+			// we use this multidimensional array as a data structure for creating the subdivision
+
+			const v = [];
+
+			// construct all of the vertices for this subdivision
+
+			for ( let i = 0; i <= cols; i ++ ) {
+
+				v[ i ] = [];
+
+				const aj = a.clone().lerp( c, i / cols );
+				const bj = b.clone().lerp( c, i / cols );
+
+				const rows = cols - i;
+
+				for ( let j = 0; j <= rows; j ++ ) {
+
+					if ( j === 0 && i === cols ) {
+
+						v[ i ][ j ] = aj;
+
+					} else {
+
+						v[ i ][ j ] = aj.clone().lerp( bj, j / rows );
+
+					}
+
+				}
+
+			}
+
+			// construct all of the faces
+
+			for ( let i = 0; i < cols; i ++ ) {
+
+				for ( let j = 0; j < 2 * ( cols - i ) - 1; j ++ ) {
+
+					const k = Math.floor( j / 2 );
+
+					if ( j % 2 === 0 ) {
+
+						pushVertex( v[ i ][ k + 1 ] );
+						pushVertex( v[ i + 1 ][ k ] );
+						pushVertex( v[ i ][ k ] );
+
+					} else {
+
+						pushVertex( v[ i ][ k + 1 ] );
+						pushVertex( v[ i + 1 ][ k + 1 ] );
+						pushVertex( v[ i + 1 ][ k ] );
+
+					}
+
+				}
+
+			}
+
+		}
+
+		function applyRadius( radius ) {
+
+			const vertex = new Vector3();
+
+			// iterate over the entire buffer and apply the radius to each vertex
+
+			for ( let i = 0; i < vertexBuffer.length; i += 3 ) {
+
+				vertex.x = vertexBuffer[ i + 0 ];
+				vertex.y = vertexBuffer[ i + 1 ];
+				vertex.z = vertexBuffer[ i + 2 ];
+
+				vertex.normalize().multiplyScalar( radius );
+
+				vertexBuffer[ i + 0 ] = vertex.x;
+				vertexBuffer[ i + 1 ] = vertex.y;
+				vertexBuffer[ i + 2 ] = vertex.z;
+
+			}
+
+		}
+
+		function generateUVs() {
+
+			const vertex = new Vector3();
+
+			for ( let i = 0; i < vertexBuffer.length; i += 3 ) {
+
+				vertex.x = vertexBuffer[ i + 0 ];
+				vertex.y = vertexBuffer[ i + 1 ];
+				vertex.z = vertexBuffer[ i + 2 ];
+
+				const u = azimuth( vertex ) / 2 / Math.PI + 0.5;
+				const v = inclination( vertex ) / Math.PI + 0.5;
+				uvBuffer.push( u, 1 - v );
+
+			}
+
+			correctUVs();
+
+			correctSeam();
+
+		}
+
+		function correctSeam() {
+
+			// handle case when face straddles the seam, see #3269
+
+			for ( let i = 0; i < uvBuffer.length; i += 6 ) {
+
+				// uv data of a single face
+
+				const x0 = uvBuffer[ i + 0 ];
+				const x1 = uvBuffer[ i + 2 ];
+				const x2 = uvBuffer[ i + 4 ];
+
+				const max = Math.max( x0, x1, x2 );
+				const min = Math.min( x0, x1, x2 );
+
+				// 0.9 is somewhat arbitrary
+
+				if ( max > 0.9 && min < 0.1 ) {
+
+					if ( x0 < 0.2 ) uvBuffer[ i + 0 ] += 1;
+					if ( x1 < 0.2 ) uvBuffer[ i + 2 ] += 1;
+					if ( x2 < 0.2 ) uvBuffer[ i + 4 ] += 1;
+
+				}
+
+			}
+
+		}
+
+		function pushVertex( vertex ) {
+
+			vertexBuffer.push( vertex.x, vertex.y, vertex.z );
+
+		}
+
+		function getVertexByIndex( index, vertex ) {
+
+			const stride = index * 3;
+
+			vertex.x = vertices[ stride + 0 ];
+			vertex.y = vertices[ stride + 1 ];
+			vertex.z = vertices[ stride + 2 ];
+
+		}
+
+		function correctUVs() {
+
+			const a = new Vector3();
+			const b = new Vector3();
+			const c = new Vector3();
+
+			const centroid = new Vector3();
+
+			const uvA = new Vector2();
+			const uvB = new Vector2();
+			const uvC = new Vector2();
+
+			for ( let i = 0, j = 0; i < vertexBuffer.length; i += 9, j += 6 ) {
+
+				a.set( vertexBuffer[ i + 0 ], vertexBuffer[ i + 1 ], vertexBuffer[ i + 2 ] );
+				b.set( vertexBuffer[ i + 3 ], vertexBuffer[ i + 4 ], vertexBuffer[ i + 5 ] );
+				c.set( vertexBuffer[ i + 6 ], vertexBuffer[ i + 7 ], vertexBuffer[ i + 8 ] );
+
+				uvA.set( uvBuffer[ j + 0 ], uvBuffer[ j + 1 ] );
+				uvB.set( uvBuffer[ j + 2 ], uvBuffer[ j + 3 ] );
+				uvC.set( uvBuffer[ j + 4 ], uvBuffer[ j + 5 ] );
+
+				centroid.copy( a ).add( b ).add( c ).divideScalar( 3 );
+
+				const azi = azimuth( centroid );
+
+				correctUV( uvA, j + 0, a, azi );
+				correctUV( uvB, j + 2, b, azi );
+				correctUV( uvC, j + 4, c, azi );
+
+			}
+
+		}
+
+		function correctUV( uv, stride, vector, azimuth ) {
+
+			if ( ( azimuth < 0 ) && ( uv.x === 1 ) ) {
+
+				uvBuffer[ stride ] = uv.x - 1;
+
+			}
+
+			if ( ( vector.x === 0 ) && ( vector.z === 0 ) ) {
+
+				uvBuffer[ stride ] = azimuth / 2 / Math.PI + 0.5;
+
+			}
+
+		}
+
+		// Angle around the Y axis, counter-clockwise when looking from above.
+
+		function azimuth( vector ) {
+
+			return Math.atan2( vector.z, - vector.x );
+
+		}
+
+
+		// Angle above the XZ plane.
+
+		function inclination( vector ) {
+
+			return Math.atan2( - vector.y, Math.sqrt( ( vector.x * vector.x ) + ( vector.z * vector.z ) ) );
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new PolyhedronGeometry( data.vertices, data.indices, data.radius, data.details );
+
+	}
+
+}
+
+class DodecahedronGeometry extends PolyhedronGeometry {
+
+	constructor( radius = 1, detail = 0 ) {
+
+		const t = ( 1 + Math.sqrt( 5 ) ) / 2;
+		const r = 1 / t;
+
+		const vertices = [
+
+			// (±1, ±1, ±1)
+			- 1, - 1, - 1,	- 1, - 1, 1,
+			- 1, 1, - 1, - 1, 1, 1,
+			1, - 1, - 1, 1, - 1, 1,
+			1, 1, - 1, 1, 1, 1,
+
+			// (0, ±1/φ, ±φ)
+			0, - r, - t, 0, - r, t,
+			0, r, - t, 0, r, t,
+
+			// (±1/φ, ±φ, 0)
+			- r, - t, 0, - r, t, 0,
+			r, - t, 0, r, t, 0,
+
+			// (±φ, 0, ±1/φ)
+			- t, 0, - r, t, 0, - r,
+			- t, 0, r, t, 0, r
+		];
+
+		const indices = [
+			3, 11, 7, 	3, 7, 15, 	3, 15, 13,
+			7, 19, 17, 	7, 17, 6, 	7, 6, 15,
+			17, 4, 8, 	17, 8, 10, 	17, 10, 6,
+			8, 0, 16, 	8, 16, 2, 	8, 2, 10,
+			0, 12, 1, 	0, 1, 18, 	0, 18, 16,
+			6, 10, 2, 	6, 2, 13, 	6, 13, 15,
+			2, 16, 18, 	2, 18, 3, 	2, 3, 13,
+			18, 1, 9, 	18, 9, 11, 	18, 11, 3,
+			4, 14, 12, 	4, 12, 0, 	4, 0, 8,
+			11, 9, 5, 	11, 5, 19, 	11, 19, 7,
+			19, 5, 14, 	19, 14, 4, 	19, 4, 17,
+			1, 12, 14, 	1, 14, 5, 	1, 5, 9
+		];
+
+		super( vertices, indices, radius, detail );
+
+		this.type = 'DodecahedronGeometry';
+
+		this.parameters = {
+			radius: radius,
+			detail: detail
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new DodecahedronGeometry( data.radius, data.detail );
+
+	}
+
+}
+
+const _v0 = /*@__PURE__*/ new Vector3();
+const _v1$1 = /*@__PURE__*/ new Vector3();
+const _normal = /*@__PURE__*/ new Vector3();
+const _triangle = /*@__PURE__*/ new Triangle();
+
+class EdgesGeometry extends BufferGeometry {
+
+	constructor( geometry = null, thresholdAngle = 1 ) {
+
+		super();
+
+		this.type = 'EdgesGeometry';
+
+		this.parameters = {
+			geometry: geometry,
+			thresholdAngle: thresholdAngle
+		};
+
+		if ( geometry !== null ) {
+
+			const precisionPoints = 4;
+			const precision = Math.pow( 10, precisionPoints );
+			const thresholdDot = Math.cos( DEG2RAD * thresholdAngle );
+
+			const indexAttr = geometry.getIndex();
+			const positionAttr = geometry.getAttribute( 'position' );
+			const indexCount = indexAttr ? indexAttr.count : positionAttr.count;
+
+			const indexArr = [ 0, 0, 0 ];
+			const vertKeys = [ 'a', 'b', 'c' ];
+			const hashes = new Array( 3 );
+
+			const edgeData = {};
+			const vertices = [];
+			for ( let i = 0; i < indexCount; i += 3 ) {
+
+				if ( indexAttr ) {
+
+					indexArr[ 0 ] = indexAttr.getX( i );
+					indexArr[ 1 ] = indexAttr.getX( i + 1 );
+					indexArr[ 2 ] = indexAttr.getX( i + 2 );
+
+				} else {
+
+					indexArr[ 0 ] = i;
+					indexArr[ 1 ] = i + 1;
+					indexArr[ 2 ] = i + 2;
+
+				}
+
+				const { a, b, c } = _triangle;
+				a.fromBufferAttribute( positionAttr, indexArr[ 0 ] );
+				b.fromBufferAttribute( positionAttr, indexArr[ 1 ] );
+				c.fromBufferAttribute( positionAttr, indexArr[ 2 ] );
+				_triangle.getNormal( _normal );
+
+				// create hashes for the edge from the vertices
+				hashes[ 0 ] = `${ Math.round( a.x * precision ) },${ Math.round( a.y * precision ) },${ Math.round( a.z * precision ) }`;
+				hashes[ 1 ] = `${ Math.round( b.x * precision ) },${ Math.round( b.y * precision ) },${ Math.round( b.z * precision ) }`;
+				hashes[ 2 ] = `${ Math.round( c.x * precision ) },${ Math.round( c.y * precision ) },${ Math.round( c.z * precision ) }`;
+
+				// skip degenerate triangles
+				if ( hashes[ 0 ] === hashes[ 1 ] || hashes[ 1 ] === hashes[ 2 ] || hashes[ 2 ] === hashes[ 0 ] ) {
+
+					continue;
+
+				}
+
+				// iterate over every edge
+				for ( let j = 0; j < 3; j ++ ) {
+
+					// get the first and next vertex making up the edge
+					const jNext = ( j + 1 ) % 3;
+					const vecHash0 = hashes[ j ];
+					const vecHash1 = hashes[ jNext ];
+					const v0 = _triangle[ vertKeys[ j ] ];
+					const v1 = _triangle[ vertKeys[ jNext ] ];
+
+					const hash = `${ vecHash0 }_${ vecHash1 }`;
+					const reverseHash = `${ vecHash1 }_${ vecHash0 }`;
+
+					if ( reverseHash in edgeData && edgeData[ reverseHash ] ) {
+
+						// if we found a sibling edge add it into the vertex array if
+						// it meets the angle threshold and delete the edge from the map.
+						if ( _normal.dot( edgeData[ reverseHash ].normal ) <= thresholdDot ) {
+
+							vertices.push( v0.x, v0.y, v0.z );
+							vertices.push( v1.x, v1.y, v1.z );
+
+						}
+
+						edgeData[ reverseHash ] = null;
+
+					} else if ( ! ( hash in edgeData ) ) {
+
+						// if we've already got an edge here then skip adding a new one
+						edgeData[ hash ] = {
+
+							index0: indexArr[ j ],
+							index1: indexArr[ jNext ],
+							normal: _normal.clone(),
+
+						};
+
+					}
+
+				}
+
+			}
+
+			// iterate over all remaining, unmatched edges and add them to the vertex array
+			for ( const key in edgeData ) {
+
+				if ( edgeData[ key ] ) {
+
+					const { index0, index1 } = edgeData[ key ];
+					_v0.fromBufferAttribute( positionAttr, index0 );
+					_v1$1.fromBufferAttribute( positionAttr, index1 );
+
+					vertices.push( _v0.x, _v0.y, _v0.z );
+					vertices.push( _v1$1.x, _v1$1.y, _v1$1.z );
+
+				}
+
+			}
+
+			this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+}
+
+class Shape extends Path {
+
+	constructor( points ) {
+
+		super( points );
+
+		this.uuid = generateUUID();
+
+		this.type = 'Shape';
+
+		this.holes = [];
+
+	}
+
+	getPointsHoles( divisions ) {
+
+		const holesPts = [];
+
+		for ( let i = 0, l = this.holes.length; i < l; i ++ ) {
+
+			holesPts[ i ] = this.holes[ i ].getPoints( divisions );
+
+		}
+
+		return holesPts;
+
+	}
+
+	// get points of shape and holes (keypoints based on segments parameter)
+
+	extractPoints( divisions ) {
+
+		return {
+
+			shape: this.getPoints( divisions ),
+			holes: this.getPointsHoles( divisions )
+
+		};
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.holes = [];
+
+		for ( let i = 0, l = source.holes.length; i < l; i ++ ) {
+
+			const hole = source.holes[ i ];
+
+			this.holes.push( hole.clone() );
+
+		}
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.uuid = this.uuid;
+		data.holes = [];
+
+		for ( let i = 0, l = this.holes.length; i < l; i ++ ) {
+
+			const hole = this.holes[ i ];
+			data.holes.push( hole.toJSON() );
+
+		}
+
+		return data;
+
+	}
+
+	fromJSON( json ) {
+
+		super.fromJSON( json );
+
+		this.uuid = json.uuid;
+		this.holes = [];
+
+		for ( let i = 0, l = json.holes.length; i < l; i ++ ) {
+
+			const hole = json.holes[ i ];
+			this.holes.push( new Path().fromJSON( hole ) );
+
+		}
+
+		return this;
+
+	}
+
+}
+
+/**
+ * Port from https://github.com/mapbox/earcut (v2.2.4)
+ */
+
+const Earcut = {
+
+	triangulate: function ( data, holeIndices, dim = 2 ) {
+
+		const hasHoles = holeIndices && holeIndices.length;
+		const outerLen = hasHoles ? holeIndices[ 0 ] * dim : data.length;
+		let outerNode = linkedList( data, 0, outerLen, dim, true );
+		const triangles = [];
+
+		if ( ! outerNode || outerNode.next === outerNode.prev ) return triangles;
+
+		let minX, minY, maxX, maxY, x, y, invSize;
+
+		if ( hasHoles ) outerNode = eliminateHoles( data, holeIndices, outerNode, dim );
+
+		// if the shape is not too simple, we'll use z-order curve hash later; calculate polygon bbox
+		if ( data.length > 80 * dim ) {
+
+			minX = maxX = data[ 0 ];
+			minY = maxY = data[ 1 ];
+
+			for ( let i = dim; i < outerLen; i += dim ) {
+
+				x = data[ i ];
+				y = data[ i + 1 ];
+				if ( x < minX ) minX = x;
+				if ( y < minY ) minY = y;
+				if ( x > maxX ) maxX = x;
+				if ( y > maxY ) maxY = y;
+
+			}
+
+			// minX, minY and invSize are later used to transform coords into integers for z-order calculation
+			invSize = Math.max( maxX - minX, maxY - minY );
+			invSize = invSize !== 0 ? 32767 / invSize : 0;
+
+		}
+
+		earcutLinked( outerNode, triangles, dim, minX, minY, invSize, 0 );
+
+		return triangles;
+
+	}
+
+};
+
+// create a circular doubly linked list from polygon points in the specified winding order
+function linkedList( data, start, end, dim, clockwise ) {
+
+	let i, last;
+
+	if ( clockwise === ( signedArea( data, start, end, dim ) > 0 ) ) {
+
+		for ( i = start; i < end; i += dim ) last = insertNode( i, data[ i ], data[ i + 1 ], last );
+
+	} else {
+
+		for ( i = end - dim; i >= start; i -= dim ) last = insertNode( i, data[ i ], data[ i + 1 ], last );
+
+	}
+
+	if ( last && equals( last, last.next ) ) {
+
+		removeNode( last );
+		last = last.next;
+
+	}
+
+	return last;
+
+}
+
+// eliminate colinear or duplicate points
+function filterPoints( start, end ) {
+
+	if ( ! start ) return start;
+	if ( ! end ) end = start;
+
+	let p = start,
+		again;
+	do {
+
+		again = false;
+
+		if ( ! p.steiner && ( equals( p, p.next ) || area( p.prev, p, p.next ) === 0 ) ) {
+
+			removeNode( p );
+			p = end = p.prev;
+			if ( p === p.next ) break;
+			again = true;
+
+		} else {
+
+			p = p.next;
+
+		}
+
+	} while ( again || p !== end );
+
+	return end;
+
+}
+
+// main ear slicing loop which triangulates a polygon (given as a linked list)
+function earcutLinked( ear, triangles, dim, minX, minY, invSize, pass ) {
+
+	if ( ! ear ) return;
+
+	// interlink polygon nodes in z-order
+	if ( ! pass && invSize ) indexCurve( ear, minX, minY, invSize );
+
+	let stop = ear,
+		prev, next;
+
+	// iterate through ears, slicing them one by one
+	while ( ear.prev !== ear.next ) {
+
+		prev = ear.prev;
+		next = ear.next;
+
+		if ( invSize ? isEarHashed( ear, minX, minY, invSize ) : isEar( ear ) ) {
+
+			// cut off the triangle
+			triangles.push( prev.i / dim | 0 );
+			triangles.push( ear.i / dim | 0 );
+			triangles.push( next.i / dim | 0 );
+
+			removeNode( ear );
+
+			// skipping the next vertex leads to less sliver triangles
+			ear = next.next;
+			stop = next.next;
+
+			continue;
+
+		}
+
+		ear = next;
+
+		// if we looped through the whole remaining polygon and can't find any more ears
+		if ( ear === stop ) {
+
+			// try filtering points and slicing again
+			if ( ! pass ) {
+
+				earcutLinked( filterPoints( ear ), triangles, dim, minX, minY, invSize, 1 );
+
+				// if this didn't work, try curing all small self-intersections locally
+
+			} else if ( pass === 1 ) {
+
+				ear = cureLocalIntersections( filterPoints( ear ), triangles, dim );
+				earcutLinked( ear, triangles, dim, minX, minY, invSize, 2 );
+
+				// as a last resort, try splitting the remaining polygon into two
+
+			} else if ( pass === 2 ) {
+
+				splitEarcut( ear, triangles, dim, minX, minY, invSize );
+
+			}
+
+			break;
+
+		}
+
+	}
+
+}
+
+// check whether a polygon node forms a valid ear with adjacent nodes
+function isEar( ear ) {
+
+	const a = ear.prev,
+		b = ear,
+		c = ear.next;
+
+	if ( area( a, b, c ) >= 0 ) return false; // reflex, can't be an ear
+
+	// now make sure we don't have other points inside the potential ear
+	const ax = a.x, bx = b.x, cx = c.x, ay = a.y, by = b.y, cy = c.y;
+
+	// triangle bbox; min & max are calculated like this for speed
+	const x0 = ax < bx ? ( ax < cx ? ax : cx ) : ( bx < cx ? bx : cx ),
+		y0 = ay < by ? ( ay < cy ? ay : cy ) : ( by < cy ? by : cy ),
+		x1 = ax > bx ? ( ax > cx ? ax : cx ) : ( bx > cx ? bx : cx ),
+		y1 = ay > by ? ( ay > cy ? ay : cy ) : ( by > cy ? by : cy );
+
+	let p = c.next;
+	while ( p !== a ) {
+
+		if ( p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 &&
+			pointInTriangle( ax, ay, bx, by, cx, cy, p.x, p.y ) &&
+			area( p.prev, p, p.next ) >= 0 ) return false;
+		p = p.next;
+
+	}
+
+	return true;
+
+}
+
+function isEarHashed( ear, minX, minY, invSize ) {
+
+	const a = ear.prev,
+		b = ear,
+		c = ear.next;
+
+	if ( area( a, b, c ) >= 0 ) return false; // reflex, can't be an ear
+
+	const ax = a.x, bx = b.x, cx = c.x, ay = a.y, by = b.y, cy = c.y;
+
+	// triangle bbox; min & max are calculated like this for speed
+	const x0 = ax < bx ? ( ax < cx ? ax : cx ) : ( bx < cx ? bx : cx ),
+		y0 = ay < by ? ( ay < cy ? ay : cy ) : ( by < cy ? by : cy ),
+		x1 = ax > bx ? ( ax > cx ? ax : cx ) : ( bx > cx ? bx : cx ),
+		y1 = ay > by ? ( ay > cy ? ay : cy ) : ( by > cy ? by : cy );
+
+	// z-order range for the current triangle bbox;
+	const minZ = zOrder( x0, y0, minX, minY, invSize ),
+		maxZ = zOrder( x1, y1, minX, minY, invSize );
+
+	let p = ear.prevZ,
+		n = ear.nextZ;
+
+	// look for points inside the triangle in both directions
+	while ( p && p.z >= minZ && n && n.z <= maxZ ) {
+
+		if ( p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 && p !== a && p !== c &&
+			pointInTriangle( ax, ay, bx, by, cx, cy, p.x, p.y ) && area( p.prev, p, p.next ) >= 0 ) return false;
+		p = p.prevZ;
+
+		if ( n.x >= x0 && n.x <= x1 && n.y >= y0 && n.y <= y1 && n !== a && n !== c &&
+			pointInTriangle( ax, ay, bx, by, cx, cy, n.x, n.y ) && area( n.prev, n, n.next ) >= 0 ) return false;
+		n = n.nextZ;
+
+	}
+
+	// look for remaining points in decreasing z-order
+	while ( p && p.z >= minZ ) {
+
+		if ( p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 && p !== a && p !== c &&
+			pointInTriangle( ax, ay, bx, by, cx, cy, p.x, p.y ) && area( p.prev, p, p.next ) >= 0 ) return false;
+		p = p.prevZ;
+
+	}
+
+	// look for remaining points in increasing z-order
+	while ( n && n.z <= maxZ ) {
+
+		if ( n.x >= x0 && n.x <= x1 && n.y >= y0 && n.y <= y1 && n !== a && n !== c &&
+			pointInTriangle( ax, ay, bx, by, cx, cy, n.x, n.y ) && area( n.prev, n, n.next ) >= 0 ) return false;
+		n = n.nextZ;
+
+	}
+
+	return true;
+
+}
+
+// go through all polygon nodes and cure small local self-intersections
+function cureLocalIntersections( start, triangles, dim ) {
+
+	let p = start;
+	do {
+
+		const a = p.prev,
+			b = p.next.next;
+
+		if ( ! equals( a, b ) && intersects( a, p, p.next, b ) && locallyInside( a, b ) && locallyInside( b, a ) ) {
+
+			triangles.push( a.i / dim | 0 );
+			triangles.push( p.i / dim | 0 );
+			triangles.push( b.i / dim | 0 );
+
+			// remove two nodes involved
+			removeNode( p );
+			removeNode( p.next );
+
+			p = start = b;
+
+		}
+
+		p = p.next;
+
+	} while ( p !== start );
+
+	return filterPoints( p );
+
+}
+
+// try splitting polygon into two and triangulate them independently
+function splitEarcut( start, triangles, dim, minX, minY, invSize ) {
+
+	// look for a valid diagonal that divides the polygon into two
+	let a = start;
+	do {
+
+		let b = a.next.next;
+		while ( b !== a.prev ) {
+
+			if ( a.i !== b.i && isValidDiagonal( a, b ) ) {
+
+				// split the polygon in two by the diagonal
+				let c = splitPolygon( a, b );
+
+				// filter colinear points around the cuts
+				a = filterPoints( a, a.next );
+				c = filterPoints( c, c.next );
+
+				// run earcut on each half
+				earcutLinked( a, triangles, dim, minX, minY, invSize, 0 );
+				earcutLinked( c, triangles, dim, minX, minY, invSize, 0 );
+				return;
+
+			}
+
+			b = b.next;
+
+		}
+
+		a = a.next;
+
+	} while ( a !== start );
+
+}
+
+// link every hole into the outer loop, producing a single-ring polygon without holes
+function eliminateHoles( data, holeIndices, outerNode, dim ) {
+
+	const queue = [];
+	let i, len, start, end, list;
+
+	for ( i = 0, len = holeIndices.length; i < len; i ++ ) {
+
+		start = holeIndices[ i ] * dim;
+		end = i < len - 1 ? holeIndices[ i + 1 ] * dim : data.length;
+		list = linkedList( data, start, end, dim, false );
+		if ( list === list.next ) list.steiner = true;
+		queue.push( getLeftmost( list ) );
+
+	}
+
+	queue.sort( compareX );
+
+	// process holes from left to right
+	for ( i = 0; i < queue.length; i ++ ) {
+
+		outerNode = eliminateHole( queue[ i ], outerNode );
+
+	}
+
+	return outerNode;
+
+}
+
+function compareX( a, b ) {
+
+	return a.x - b.x;
+
+}
+
+// find a bridge between vertices that connects hole with an outer ring and link it
+function eliminateHole( hole, outerNode ) {
+
+	const bridge = findHoleBridge( hole, outerNode );
+	if ( ! bridge ) {
+
+		return outerNode;
+
+	}
+
+	const bridgeReverse = splitPolygon( bridge, hole );
+
+	// filter collinear points around the cuts
+	filterPoints( bridgeReverse, bridgeReverse.next );
+	return filterPoints( bridge, bridge.next );
+
+}
+
+// David Eberly's algorithm for finding a bridge between hole and outer polygon
+function findHoleBridge( hole, outerNode ) {
+
+	let p = outerNode,
+		qx = - Infinity,
+		m;
+
+	const hx = hole.x, hy = hole.y;
+
+	// find a segment intersected by a ray from the hole's leftmost point to the left;
+	// segment's endpoint with lesser x will be potential connection point
+	do {
+
+		if ( hy <= p.y && hy >= p.next.y && p.next.y !== p.y ) {
+
+			const x = p.x + ( hy - p.y ) * ( p.next.x - p.x ) / ( p.next.y - p.y );
+			if ( x <= hx && x > qx ) {
+
+				qx = x;
+				m = p.x < p.next.x ? p : p.next;
+				if ( x === hx ) return m; // hole touches outer segment; pick leftmost endpoint
+
+			}
+
+		}
+
+		p = p.next;
+
+	} while ( p !== outerNode );
+
+	if ( ! m ) return null;
+
+	// look for points inside the triangle of hole point, segment intersection and endpoint;
+	// if there are no points found, we have a valid connection;
+	// otherwise choose the point of the minimum angle with the ray as connection point
+
+	const stop = m,
+		mx = m.x,
+		my = m.y;
+	let tanMin = Infinity, tan;
+
+	p = m;
+
+	do {
+
+		if ( hx >= p.x && p.x >= mx && hx !== p.x &&
+				pointInTriangle( hy < my ? hx : qx, hy, mx, my, hy < my ? qx : hx, hy, p.x, p.y ) ) {
+
+			tan = Math.abs( hy - p.y ) / ( hx - p.x ); // tangential
+
+			if ( locallyInside( p, hole ) && ( tan < tanMin || ( tan === tanMin && ( p.x > m.x || ( p.x === m.x && sectorContainsSector( m, p ) ) ) ) ) ) {
+
+				m = p;
+				tanMin = tan;
+
+			}
+
+		}
+
+		p = p.next;
+
+	} while ( p !== stop );
+
+	return m;
+
+}
+
+// whether sector in vertex m contains sector in vertex p in the same coordinates
+function sectorContainsSector( m, p ) {
+
+	return area( m.prev, m, p.prev ) < 0 && area( p.next, m, m.next ) < 0;
+
+}
+
+// interlink polygon nodes in z-order
+function indexCurve( start, minX, minY, invSize ) {
+
+	let p = start;
+	do {
+
+		if ( p.z === 0 ) p.z = zOrder( p.x, p.y, minX, minY, invSize );
+		p.prevZ = p.prev;
+		p.nextZ = p.next;
+		p = p.next;
+
+	} while ( p !== start );
+
+	p.prevZ.nextZ = null;
+	p.prevZ = null;
+
+	sortLinked( p );
+
+}
+
+// Simon Tatham's linked list merge sort algorithm
+// http://www.chiark.greenend.org.uk/~sgtatham/algorithms/listsort.html
+function sortLinked( list ) {
+
+	let i, p, q, e, tail, numMerges, pSize, qSize,
+		inSize = 1;
+
+	do {
+
+		p = list;
+		list = null;
+		tail = null;
+		numMerges = 0;
+
+		while ( p ) {
+
+			numMerges ++;
+			q = p;
+			pSize = 0;
+			for ( i = 0; i < inSize; i ++ ) {
+
+				pSize ++;
+				q = q.nextZ;
+				if ( ! q ) break;
+
+			}
+
+			qSize = inSize;
+
+			while ( pSize > 0 || ( qSize > 0 && q ) ) {
+
+				if ( pSize !== 0 && ( qSize === 0 || ! q || p.z <= q.z ) ) {
+
+					e = p;
+					p = p.nextZ;
+					pSize --;
+
+				} else {
+
+					e = q;
+					q = q.nextZ;
+					qSize --;
+
+				}
+
+				if ( tail ) tail.nextZ = e;
+				else list = e;
+
+				e.prevZ = tail;
+				tail = e;
+
+			}
+
+			p = q;
+
+		}
+
+		tail.nextZ = null;
+		inSize *= 2;
+
+	} while ( numMerges > 1 );
+
+	return list;
+
+}
+
+// z-order of a point given coords and inverse of the longer side of data bbox
+function zOrder( x, y, minX, minY, invSize ) {
+
+	// coords are transformed into non-negative 15-bit integer range
+	x = ( x - minX ) * invSize | 0;
+	y = ( y - minY ) * invSize | 0;
+
+	x = ( x | ( x << 8 ) ) & 0x00FF00FF;
+	x = ( x | ( x << 4 ) ) & 0x0F0F0F0F;
+	x = ( x | ( x << 2 ) ) & 0x33333333;
+	x = ( x | ( x << 1 ) ) & 0x55555555;
+
+	y = ( y | ( y << 8 ) ) & 0x00FF00FF;
+	y = ( y | ( y << 4 ) ) & 0x0F0F0F0F;
+	y = ( y | ( y << 2 ) ) & 0x33333333;
+	y = ( y | ( y << 1 ) ) & 0x55555555;
+
+	return x | ( y << 1 );
+
+}
+
+// find the leftmost node of a polygon ring
+function getLeftmost( start ) {
+
+	let p = start,
+		leftmost = start;
+	do {
+
+		if ( p.x < leftmost.x || ( p.x === leftmost.x && p.y < leftmost.y ) ) leftmost = p;
+		p = p.next;
+
+	} while ( p !== start );
+
+	return leftmost;
+
+}
+
+// check if a point lies within a convex triangle
+function pointInTriangle( ax, ay, bx, by, cx, cy, px, py ) {
+
+	return ( cx - px ) * ( ay - py ) >= ( ax - px ) * ( cy - py ) &&
+           ( ax - px ) * ( by - py ) >= ( bx - px ) * ( ay - py ) &&
+           ( bx - px ) * ( cy - py ) >= ( cx - px ) * ( by - py );
+
+}
+
+// check if a diagonal between two polygon nodes is valid (lies in polygon interior)
+function isValidDiagonal( a, b ) {
+
+	return a.next.i !== b.i && a.prev.i !== b.i && ! intersectsPolygon( a, b ) && // dones't intersect other edges
+           ( locallyInside( a, b ) && locallyInside( b, a ) && middleInside( a, b ) && // locally visible
+            ( area( a.prev, a, b.prev ) || area( a, b.prev, b ) ) || // does not create opposite-facing sectors
+            equals( a, b ) && area( a.prev, a, a.next ) > 0 && area( b.prev, b, b.next ) > 0 ); // special zero-length case
+
+}
+
+// signed area of a triangle
+function area( p, q, r ) {
+
+	return ( q.y - p.y ) * ( r.x - q.x ) - ( q.x - p.x ) * ( r.y - q.y );
+
+}
+
+// check if two points are equal
+function equals( p1, p2 ) {
+
+	return p1.x === p2.x && p1.y === p2.y;
+
+}
+
+// check if two segments intersect
+function intersects( p1, q1, p2, q2 ) {
+
+	const o1 = sign( area( p1, q1, p2 ) );
+	const o2 = sign( area( p1, q1, q2 ) );
+	const o3 = sign( area( p2, q2, p1 ) );
+	const o4 = sign( area( p2, q2, q1 ) );
+
+	if ( o1 !== o2 && o3 !== o4 ) return true; // general case
+
+	if ( o1 === 0 && onSegment( p1, p2, q1 ) ) return true; // p1, q1 and p2 are collinear and p2 lies on p1q1
+	if ( o2 === 0 && onSegment( p1, q2, q1 ) ) return true; // p1, q1 and q2 are collinear and q2 lies on p1q1
+	if ( o3 === 0 && onSegment( p2, p1, q2 ) ) return true; // p2, q2 and p1 are collinear and p1 lies on p2q2
+	if ( o4 === 0 && onSegment( p2, q1, q2 ) ) return true; // p2, q2 and q1 are collinear and q1 lies on p2q2
+
+	return false;
+
+}
+
+// for collinear points p, q, r, check if point q lies on segment pr
+function onSegment( p, q, r ) {
+
+	return q.x <= Math.max( p.x, r.x ) && q.x >= Math.min( p.x, r.x ) && q.y <= Math.max( p.y, r.y ) && q.y >= Math.min( p.y, r.y );
+
+}
+
+function sign( num ) {
+
+	return num > 0 ? 1 : num < 0 ? - 1 : 0;
+
+}
+
+// check if a polygon diagonal intersects any polygon segments
+function intersectsPolygon( a, b ) {
+
+	let p = a;
+	do {
+
+		if ( p.i !== a.i && p.next.i !== a.i && p.i !== b.i && p.next.i !== b.i &&
+			intersects( p, p.next, a, b ) ) return true;
+		p = p.next;
+
+	} while ( p !== a );
+
+	return false;
+
+}
+
+// check if a polygon diagonal is locally inside the polygon
+function locallyInside( a, b ) {
+
+	return area( a.prev, a, a.next ) < 0 ?
+		area( a, b, a.next ) >= 0 && area( a, a.prev, b ) >= 0 :
+		area( a, b, a.prev ) < 0 || area( a, a.next, b ) < 0;
+
+}
+
+// check if the middle point of a polygon diagonal is inside the polygon
+function middleInside( a, b ) {
+
+	let p = a,
+		inside = false;
+	const px = ( a.x + b.x ) / 2,
+		py = ( a.y + b.y ) / 2;
+	do {
+
+		if ( ( ( p.y > py ) !== ( p.next.y > py ) ) && p.next.y !== p.y &&
+			( px < ( p.next.x - p.x ) * ( py - p.y ) / ( p.next.y - p.y ) + p.x ) )
+			inside = ! inside;
+		p = p.next;
+
+	} while ( p !== a );
+
+	return inside;
+
+}
+
+// link two polygon vertices with a bridge; if the vertices belong to the same ring, it splits polygon into two;
+// if one belongs to the outer ring and another to a hole, it merges it into a single ring
+function splitPolygon( a, b ) {
+
+	const a2 = new Node( a.i, a.x, a.y ),
+		b2 = new Node( b.i, b.x, b.y ),
+		an = a.next,
+		bp = b.prev;
+
+	a.next = b;
+	b.prev = a;
+
+	a2.next = an;
+	an.prev = a2;
+
+	b2.next = a2;
+	a2.prev = b2;
+
+	bp.next = b2;
+	b2.prev = bp;
+
+	return b2;
+
+}
+
+// create a node and optionally link it with previous one (in a circular doubly linked list)
+function insertNode( i, x, y, last ) {
+
+	const p = new Node( i, x, y );
+
+	if ( ! last ) {
+
+		p.prev = p;
+		p.next = p;
+
+	} else {
+
+		p.next = last.next;
+		p.prev = last;
+		last.next.prev = p;
+		last.next = p;
+
+	}
+
+	return p;
+
+}
+
+function removeNode( p ) {
+
+	p.next.prev = p.prev;
+	p.prev.next = p.next;
+
+	if ( p.prevZ ) p.prevZ.nextZ = p.nextZ;
+	if ( p.nextZ ) p.nextZ.prevZ = p.prevZ;
+
+}
+
+function Node( i, x, y ) {
+
+	// vertex index in coordinates array
+	this.i = i;
+
+	// vertex coordinates
+	this.x = x;
+	this.y = y;
+
+	// previous and next vertex nodes in a polygon ring
+	this.prev = null;
+	this.next = null;
+
+	// z-order curve value
+	this.z = 0;
+
+	// previous and next nodes in z-order
+	this.prevZ = null;
+	this.nextZ = null;
+
+	// indicates whether this is a steiner point
+	this.steiner = false;
+
+}
+
+function signedArea( data, start, end, dim ) {
+
+	let sum = 0;
+	for ( let i = start, j = end - dim; i < end; i += dim ) {
+
+		sum += ( data[ j ] - data[ i ] ) * ( data[ i + 1 ] + data[ j + 1 ] );
+		j = i;
+
+	}
+
+	return sum;
+
+}
+
+class ShapeUtils {
+
+	// calculate area of the contour polygon
+
+	static area( contour ) {
+
+		const n = contour.length;
+		let a = 0.0;
+
+		for ( let p = n - 1, q = 0; q < n; p = q ++ ) {
+
+			a += contour[ p ].x * contour[ q ].y - contour[ q ].x * contour[ p ].y;
+
+		}
+
+		return a * 0.5;
+
+	}
+
+	static isClockWise( pts ) {
+
+		return ShapeUtils.area( pts ) < 0;
+
+	}
+
+	static triangulateShape( contour, holes ) {
+
+		const vertices = []; // flat array of vertices like [ x0,y0, x1,y1, x2,y2, ... ]
+		const holeIndices = []; // array of hole indices
+		const faces = []; // final array of vertex indices like [ [ a,b,d ], [ b,c,d ] ]
+
+		removeDupEndPts( contour );
+		addContour( vertices, contour );
+
+		//
+
+		let holeIndex = contour.length;
+
+		holes.forEach( removeDupEndPts );
+
+		for ( let i = 0; i < holes.length; i ++ ) {
+
+			holeIndices.push( holeIndex );
+			holeIndex += holes[ i ].length;
+			addContour( vertices, holes[ i ] );
+
+		}
+
+		//
+
+		const triangles = Earcut.triangulate( vertices, holeIndices );
+
+		//
+
+		for ( let i = 0; i < triangles.length; i += 3 ) {
+
+			faces.push( triangles.slice( i, i + 3 ) );
+
+		}
+
+		return faces;
+
+	}
+
+}
+
+function removeDupEndPts( points ) {
+
+	const l = points.length;
+
+	if ( l > 2 && points[ l - 1 ].equals( points[ 0 ] ) ) {
+
+		points.pop();
+
+	}
+
+}
+
+function addContour( vertices, contour ) {
+
+	for ( let i = 0; i < contour.length; i ++ ) {
+
+		vertices.push( contour[ i ].x );
+		vertices.push( contour[ i ].y );
+
+	}
+
+}
+
+/**
+ * Creates extruded geometry from a path shape.
+ *
+ * parameters = {
+ *
+ *  curveSegments: , // number of points on the curves
+ *  steps: , // number of points for z-side extrusions / used for subdividing segments of extrude spline too
+ *  depth: , // Depth to extrude the shape
+ *
+ *  bevelEnabled: , // turn on bevel
+ *  bevelThickness: , // how deep into the original shape bevel goes
+ *  bevelSize: , // how far from shape outline (including bevelOffset) is bevel
+ *  bevelOffset: , // how far from shape outline does bevel start
+ *  bevelSegments: , // number of bevel layers
+ *
+ *  extrudePath:  // curve to extrude shape along
+ *
+ *  UVGenerator:  // object that provides UV generator functions
+ *
+ * }
+ */
+
+
+class ExtrudeGeometry extends BufferGeometry {
+
+	constructor( shapes = new Shape( [ new Vector2( 0.5, 0.5 ), new Vector2( - 0.5, 0.5 ), new Vector2( - 0.5, - 0.5 ), new Vector2( 0.5, - 0.5 ) ] ), options = {} ) {
+
+		super();
+
+		this.type = 'ExtrudeGeometry';
+
+		this.parameters = {
+			shapes: shapes,
+			options: options
+		};
+
+		shapes = Array.isArray( shapes ) ? shapes : [ shapes ];
+
+		const scope = this;
+
+		const verticesArray = [];
+		const uvArray = [];
+
+		for ( let i = 0, l = shapes.length; i < l; i ++ ) {
+
+			const shape = shapes[ i ];
+			addShape( shape );
+
+		}
+
+		// build geometry
+
+		this.setAttribute( 'position', new Float32BufferAttribute( verticesArray, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvArray, 2 ) );
+
+		this.computeVertexNormals();
+
+		// functions
+
+		function addShape( shape ) {
+
+			const placeholder = [];
+
+			// options
+
+			const curveSegments = options.curveSegments !== undefined ? options.curveSegments : 12;
+			const steps = options.steps !== undefined ? options.steps : 1;
+			const depth = options.depth !== undefined ? options.depth : 1;
+
+			let bevelEnabled = options.bevelEnabled !== undefined ? options.bevelEnabled : true;
+			let bevelThickness = options.bevelThickness !== undefined ? options.bevelThickness : 0.2;
+			let bevelSize = options.bevelSize !== undefined ? options.bevelSize : bevelThickness - 0.1;
+			let bevelOffset = options.bevelOffset !== undefined ? options.bevelOffset : 0;
+			let bevelSegments = options.bevelSegments !== undefined ? options.bevelSegments : 3;
+
+			const extrudePath = options.extrudePath;
+
+			const uvgen = options.UVGenerator !== undefined ? options.UVGenerator : WorldUVGenerator;
+
+			//
+
+			let extrudePts, extrudeByPath = false;
+			let splineTube, binormal, normal, position2;
+
+			if ( extrudePath ) {
+
+				extrudePts = extrudePath.getSpacedPoints( steps );
+
+				extrudeByPath = true;
+				bevelEnabled = false; // bevels not supported for path extrusion
+
+				// SETUP TNB variables
+
+				// TODO1 - have a .isClosed in spline?
+
+				splineTube = extrudePath.computeFrenetFrames( steps, false );
+
+				// console.log(splineTube, 'splineTube', splineTube.normals.length, 'steps', steps, 'extrudePts', extrudePts.length);
+
+				binormal = new Vector3();
+				normal = new Vector3();
+				position2 = new Vector3();
+
+			}
+
+			// Safeguards if bevels are not enabled
+
+			if ( ! bevelEnabled ) {
+
+				bevelSegments = 0;
+				bevelThickness = 0;
+				bevelSize = 0;
+				bevelOffset = 0;
+
+			}
+
+			// Variables initialization
+
+			const shapePoints = shape.extractPoints( curveSegments );
+
+			let vertices = shapePoints.shape;
+			const holes = shapePoints.holes;
+
+			const reverse = ! ShapeUtils.isClockWise( vertices );
+
+			if ( reverse ) {
+
+				vertices = vertices.reverse();
+
+				// Maybe we should also check if holes are in the opposite direction, just to be safe ...
+
+				for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+					const ahole = holes[ h ];
+
+					if ( ShapeUtils.isClockWise( ahole ) ) {
+
+						holes[ h ] = ahole.reverse();
+
+					}
+
+				}
+
+			}
+
+
+			const faces = ShapeUtils.triangulateShape( vertices, holes );
+
+			/* Vertices */
+
+			const contour = vertices; // vertices has all points but contour has only points of circumference
+
+			for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+				const ahole = holes[ h ];
+
+				vertices = vertices.concat( ahole );
+
+			}
+
+
+			function scalePt2( pt, vec, size ) {
+
+				if ( ! vec ) console.error( 'THREE.ExtrudeGeometry: vec does not exist' );
+
+				return pt.clone().addScaledVector( vec, size );
+
+			}
+
+			const vlen = vertices.length, flen = faces.length;
+
+
+			// Find directions for point movement
+
+
+			function getBevelVec( inPt, inPrev, inNext ) {
+
+				// computes for inPt the corresponding point inPt' on a new contour
+				//   shifted by 1 unit (length of normalized vector) to the left
+				// if we walk along contour clockwise, this new contour is outside the old one
+				//
+				// inPt' is the intersection of the two lines parallel to the two
+				//  adjacent edges of inPt at a distance of 1 unit on the left side.
+
+				let v_trans_x, v_trans_y, shrink_by; // resulting translation vector for inPt
+
+				// good reading for geometry algorithms (here: line-line intersection)
+				// http://geomalgorithms.com/a05-_intersect-1.html
+
+				const v_prev_x = inPt.x - inPrev.x,
+					v_prev_y = inPt.y - inPrev.y;
+				const v_next_x = inNext.x - inPt.x,
+					v_next_y = inNext.y - inPt.y;
+
+				const v_prev_lensq = ( v_prev_x * v_prev_x + v_prev_y * v_prev_y );
+
+				// check for collinear edges
+				const collinear0 = ( v_prev_x * v_next_y - v_prev_y * v_next_x );
+
+				if ( Math.abs( collinear0 ) > Number.EPSILON ) {
+
+					// not collinear
+
+					// length of vectors for normalizing
+
+					const v_prev_len = Math.sqrt( v_prev_lensq );
+					const v_next_len = Math.sqrt( v_next_x * v_next_x + v_next_y * v_next_y );
+
+					// shift adjacent points by unit vectors to the left
+
+					const ptPrevShift_x = ( inPrev.x - v_prev_y / v_prev_len );
+					const ptPrevShift_y = ( inPrev.y + v_prev_x / v_prev_len );
+
+					const ptNextShift_x = ( inNext.x - v_next_y / v_next_len );
+					const ptNextShift_y = ( inNext.y + v_next_x / v_next_len );
+
+					// scaling factor for v_prev to intersection point
+
+					const sf = ( ( ptNextShift_x - ptPrevShift_x ) * v_next_y -
+							( ptNextShift_y - ptPrevShift_y ) * v_next_x ) /
+						( v_prev_x * v_next_y - v_prev_y * v_next_x );
+
+					// vector from inPt to intersection point
+
+					v_trans_x = ( ptPrevShift_x + v_prev_x * sf - inPt.x );
+					v_trans_y = ( ptPrevShift_y + v_prev_y * sf - inPt.y );
+
+					// Don't normalize!, otherwise sharp corners become ugly
+					//  but prevent crazy spikes
+					const v_trans_lensq = ( v_trans_x * v_trans_x + v_trans_y * v_trans_y );
+					if ( v_trans_lensq <= 2 ) {
+
+						return new Vector2( v_trans_x, v_trans_y );
+
+					} else {
+
+						shrink_by = Math.sqrt( v_trans_lensq / 2 );
+
+					}
+
+				} else {
+
+					// handle special case of collinear edges
+
+					let direction_eq = false; // assumes: opposite
+
+					if ( v_prev_x > Number.EPSILON ) {
+
+						if ( v_next_x > Number.EPSILON ) {
+
+							direction_eq = true;
+
+						}
+
+					} else {
+
+						if ( v_prev_x < - Number.EPSILON ) {
+
+							if ( v_next_x < - Number.EPSILON ) {
+
+								direction_eq = true;
+
+							}
+
+						} else {
+
+							if ( Math.sign( v_prev_y ) === Math.sign( v_next_y ) ) {
+
+								direction_eq = true;
+
+							}
+
+						}
+
+					}
+
+					if ( direction_eq ) {
+
+						// console.log("Warning: lines are a straight sequence");
+						v_trans_x = - v_prev_y;
+						v_trans_y = v_prev_x;
+						shrink_by = Math.sqrt( v_prev_lensq );
+
+					} else {
+
+						// console.log("Warning: lines are a straight spike");
+						v_trans_x = v_prev_x;
+						v_trans_y = v_prev_y;
+						shrink_by = Math.sqrt( v_prev_lensq / 2 );
+
+					}
+
+				}
+
+				return new Vector2( v_trans_x / shrink_by, v_trans_y / shrink_by );
+
+			}
+
+
+			const contourMovements = [];
+
+			for ( let i = 0, il = contour.length, j = il - 1, k = i + 1; i < il; i ++, j ++, k ++ ) {
+
+				if ( j === il ) j = 0;
+				if ( k === il ) k = 0;
+
+				//  (j)---(i)---(k)
+				// console.log('i,j,k', i, j , k)
+
+				contourMovements[ i ] = getBevelVec( contour[ i ], contour[ j ], contour[ k ] );
+
+			}
+
+			const holesMovements = [];
+			let oneHoleMovements, verticesMovements = contourMovements.concat();
+
+			for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+				const ahole = holes[ h ];
+
+				oneHoleMovements = [];
+
+				for ( let i = 0, il = ahole.length, j = il - 1, k = i + 1; i < il; i ++, j ++, k ++ ) {
+
+					if ( j === il ) j = 0;
+					if ( k === il ) k = 0;
+
+					//  (j)---(i)---(k)
+					oneHoleMovements[ i ] = getBevelVec( ahole[ i ], ahole[ j ], ahole[ k ] );
+
+				}
+
+				holesMovements.push( oneHoleMovements );
+				verticesMovements = verticesMovements.concat( oneHoleMovements );
+
+			}
+
+
+			// Loop bevelSegments, 1 for the front, 1 for the back
+
+			for ( let b = 0; b < bevelSegments; b ++ ) {
+
+				//for ( b = bevelSegments; b > 0; b -- ) {
+
+				const t = b / bevelSegments;
+				const z = bevelThickness * Math.cos( t * Math.PI / 2 );
+				const bs = bevelSize * Math.sin( t * Math.PI / 2 ) + bevelOffset;
+
+				// contract shape
+
+				for ( let i = 0, il = contour.length; i < il; i ++ ) {
+
+					const vert = scalePt2( contour[ i ], contourMovements[ i ], bs );
+
+					v( vert.x, vert.y, - z );
+
+				}
+
+				// expand holes
+
+				for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+					const ahole = holes[ h ];
+					oneHoleMovements = holesMovements[ h ];
+
+					for ( let i = 0, il = ahole.length; i < il; i ++ ) {
+
+						const vert = scalePt2( ahole[ i ], oneHoleMovements[ i ], bs );
+
+						v( vert.x, vert.y, - z );
+
+					}
+
+				}
+
+			}
+
+			const bs = bevelSize + bevelOffset;
+
+			// Back facing vertices
+
+			for ( let i = 0; i < vlen; i ++ ) {
+
+				const vert = bevelEnabled ? scalePt2( vertices[ i ], verticesMovements[ i ], bs ) : vertices[ i ];
+
+				if ( ! extrudeByPath ) {
+
+					v( vert.x, vert.y, 0 );
+
+				} else {
+
+					// v( vert.x, vert.y + extrudePts[ 0 ].y, extrudePts[ 0 ].x );
+
+					normal.copy( splineTube.normals[ 0 ] ).multiplyScalar( vert.x );
+					binormal.copy( splineTube.binormals[ 0 ] ).multiplyScalar( vert.y );
+
+					position2.copy( extrudePts[ 0 ] ).add( normal ).add( binormal );
+
+					v( position2.x, position2.y, position2.z );
+
+				}
+
+			}
+
+			// Add stepped vertices...
+			// Including front facing vertices
+
+			for ( let s = 1; s <= steps; s ++ ) {
+
+				for ( let i = 0; i < vlen; i ++ ) {
+
+					const vert = bevelEnabled ? scalePt2( vertices[ i ], verticesMovements[ i ], bs ) : vertices[ i ];
+
+					if ( ! extrudeByPath ) {
+
+						v( vert.x, vert.y, depth / steps * s );
+
+					} else {
+
+						// v( vert.x, vert.y + extrudePts[ s - 1 ].y, extrudePts[ s - 1 ].x );
+
+						normal.copy( splineTube.normals[ s ] ).multiplyScalar( vert.x );
+						binormal.copy( splineTube.binormals[ s ] ).multiplyScalar( vert.y );
+
+						position2.copy( extrudePts[ s ] ).add( normal ).add( binormal );
+
+						v( position2.x, position2.y, position2.z );
+
+					}
+
+				}
+
+			}
+
+
+			// Add bevel segments planes
+
+			//for ( b = 1; b <= bevelSegments; b ++ ) {
+			for ( let b = bevelSegments - 1; b >= 0; b -- ) {
+
+				const t = b / bevelSegments;
+				const z = bevelThickness * Math.cos( t * Math.PI / 2 );
+				const bs = bevelSize * Math.sin( t * Math.PI / 2 ) + bevelOffset;
+
+				// contract shape
+
+				for ( let i = 0, il = contour.length; i < il; i ++ ) {
+
+					const vert = scalePt2( contour[ i ], contourMovements[ i ], bs );
+					v( vert.x, vert.y, depth + z );
+
+				}
+
+				// expand holes
+
+				for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+					const ahole = holes[ h ];
+					oneHoleMovements = holesMovements[ h ];
+
+					for ( let i = 0, il = ahole.length; i < il; i ++ ) {
+
+						const vert = scalePt2( ahole[ i ], oneHoleMovements[ i ], bs );
+
+						if ( ! extrudeByPath ) {
+
+							v( vert.x, vert.y, depth + z );
+
+						} else {
+
+							v( vert.x, vert.y + extrudePts[ steps - 1 ].y, extrudePts[ steps - 1 ].x + z );
+
+						}
+
+					}
+
+				}
+
+			}
+
+			/* Faces */
+
+			// Top and bottom faces
+
+			buildLidFaces();
+
+			// Sides faces
+
+			buildSideFaces();
+
+
+			/////  Internal functions
+
+			function buildLidFaces() {
+
+				const start = verticesArray.length / 3;
+
+				if ( bevelEnabled ) {
+
+					let layer = 0; // steps + 1
+					let offset = vlen * layer;
+
+					// Bottom faces
+
+					for ( let i = 0; i < flen; i ++ ) {
+
+						const face = faces[ i ];
+						f3( face[ 2 ] + offset, face[ 1 ] + offset, face[ 0 ] + offset );
+
+					}
+
+					layer = steps + bevelSegments * 2;
+					offset = vlen * layer;
+
+					// Top faces
+
+					for ( let i = 0; i < flen; i ++ ) {
+
+						const face = faces[ i ];
+						f3( face[ 0 ] + offset, face[ 1 ] + offset, face[ 2 ] + offset );
+
+					}
+
+				} else {
+
+					// Bottom faces
+
+					for ( let i = 0; i < flen; i ++ ) {
+
+						const face = faces[ i ];
+						f3( face[ 2 ], face[ 1 ], face[ 0 ] );
+
+					}
+
+					// Top faces
+
+					for ( let i = 0; i < flen; i ++ ) {
+
+						const face = faces[ i ];
+						f3( face[ 0 ] + vlen * steps, face[ 1 ] + vlen * steps, face[ 2 ] + vlen * steps );
+
+					}
+
+				}
+
+				scope.addGroup( start, verticesArray.length / 3 - start, 0 );
+
+			}
+
+			// Create faces for the z-sides of the shape
+
+			function buildSideFaces() {
+
+				const start = verticesArray.length / 3;
+				let layeroffset = 0;
+				sidewalls( contour, layeroffset );
+				layeroffset += contour.length;
+
+				for ( let h = 0, hl = holes.length; h < hl; h ++ ) {
+
+					const ahole = holes[ h ];
+					sidewalls( ahole, layeroffset );
+
+					//, true
+					layeroffset += ahole.length;
+
+				}
+
+
+				scope.addGroup( start, verticesArray.length / 3 - start, 1 );
+
+
+			}
+
+			function sidewalls( contour, layeroffset ) {
+
+				let i = contour.length;
+
+				while ( -- i >= 0 ) {
+
+					const j = i;
+					let k = i - 1;
+					if ( k < 0 ) k = contour.length - 1;
+
+					//console.log('b', i,j, i-1, k,vertices.length);
+
+					for ( let s = 0, sl = ( steps + bevelSegments * 2 ); s < sl; s ++ ) {
+
+						const slen1 = vlen * s;
+						const slen2 = vlen * ( s + 1 );
+
+						const a = layeroffset + j + slen1,
+							b = layeroffset + k + slen1,
+							c = layeroffset + k + slen2,
+							d = layeroffset + j + slen2;
+
+						f4( a, b, c, d );
+
+					}
+
+				}
+
+			}
+
+			function v( x, y, z ) {
+
+				placeholder.push( x );
+				placeholder.push( y );
+				placeholder.push( z );
+
+			}
+
+
+			function f3( a, b, c ) {
+
+				addVertex( a );
+				addVertex( b );
+				addVertex( c );
+
+				const nextIndex = verticesArray.length / 3;
+				const uvs = uvgen.generateTopUV( scope, verticesArray, nextIndex - 3, nextIndex - 2, nextIndex - 1 );
+
+				addUV( uvs[ 0 ] );
+				addUV( uvs[ 1 ] );
+				addUV( uvs[ 2 ] );
+
+			}
+
+			function f4( a, b, c, d ) {
+
+				addVertex( a );
+				addVertex( b );
+				addVertex( d );
+
+				addVertex( b );
+				addVertex( c );
+				addVertex( d );
+
+
+				const nextIndex = verticesArray.length / 3;
+				const uvs = uvgen.generateSideWallUV( scope, verticesArray, nextIndex - 6, nextIndex - 3, nextIndex - 2, nextIndex - 1 );
+
+				addUV( uvs[ 0 ] );
+				addUV( uvs[ 1 ] );
+				addUV( uvs[ 3 ] );
+
+				addUV( uvs[ 1 ] );
+				addUV( uvs[ 2 ] );
+				addUV( uvs[ 3 ] );
+
+			}
+
+			function addVertex( index ) {
+
+				verticesArray.push( placeholder[ index * 3 + 0 ] );
+				verticesArray.push( placeholder[ index * 3 + 1 ] );
+				verticesArray.push( placeholder[ index * 3 + 2 ] );
+
+			}
+
+
+			function addUV( vector2 ) {
+
+				uvArray.push( vector2.x );
+				uvArray.push( vector2.y );
+
+			}
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		const shapes = this.parameters.shapes;
+		const options = this.parameters.options;
+
+		return toJSON$1( shapes, options, data );
+
+	}
+
+	static fromJSON( data, shapes ) {
+
+		const geometryShapes = [];
+
+		for ( let j = 0, jl = data.shapes.length; j < jl; j ++ ) {
+
+			const shape = shapes[ data.shapes[ j ] ];
+
+			geometryShapes.push( shape );
+
+		}
+
+		const extrudePath = data.options.extrudePath;
+
+		if ( extrudePath !== undefined ) {
+
+			data.options.extrudePath = new Curves[ extrudePath.type ]().fromJSON( extrudePath );
+
+		}
+
+		return new ExtrudeGeometry( geometryShapes, data.options );
+
+	}
+
+}
+
+const WorldUVGenerator = {
+
+	generateTopUV: function ( geometry, vertices, indexA, indexB, indexC ) {
+
+		const a_x = vertices[ indexA * 3 ];
+		const a_y = vertices[ indexA * 3 + 1 ];
+		const b_x = vertices[ indexB * 3 ];
+		const b_y = vertices[ indexB * 3 + 1 ];
+		const c_x = vertices[ indexC * 3 ];
+		const c_y = vertices[ indexC * 3 + 1 ];
+
+		return [
+			new Vector2( a_x, a_y ),
+			new Vector2( b_x, b_y ),
+			new Vector2( c_x, c_y )
+		];
+
+	},
+
+	generateSideWallUV: function ( geometry, vertices, indexA, indexB, indexC, indexD ) {
+
+		const a_x = vertices[ indexA * 3 ];
+		const a_y = vertices[ indexA * 3 + 1 ];
+		const a_z = vertices[ indexA * 3 + 2 ];
+		const b_x = vertices[ indexB * 3 ];
+		const b_y = vertices[ indexB * 3 + 1 ];
+		const b_z = vertices[ indexB * 3 + 2 ];
+		const c_x = vertices[ indexC * 3 ];
+		const c_y = vertices[ indexC * 3 + 1 ];
+		const c_z = vertices[ indexC * 3 + 2 ];
+		const d_x = vertices[ indexD * 3 ];
+		const d_y = vertices[ indexD * 3 + 1 ];
+		const d_z = vertices[ indexD * 3 + 2 ];
+
+		if ( Math.abs( a_y - b_y ) < Math.abs( a_x - b_x ) ) {
+
+			return [
+				new Vector2( a_x, 1 - a_z ),
+				new Vector2( b_x, 1 - b_z ),
+				new Vector2( c_x, 1 - c_z ),
+				new Vector2( d_x, 1 - d_z )
+			];
+
+		} else {
+
+			return [
+				new Vector2( a_y, 1 - a_z ),
+				new Vector2( b_y, 1 - b_z ),
+				new Vector2( c_y, 1 - c_z ),
+				new Vector2( d_y, 1 - d_z )
+			];
+
+		}
+
+	}
+
+};
+
+function toJSON$1( shapes, options, data ) {
+
+	data.shapes = [];
+
+	if ( Array.isArray( shapes ) ) {
+
+		for ( let i = 0, l = shapes.length; i < l; i ++ ) {
+
+			const shape = shapes[ i ];
+
+			data.shapes.push( shape.uuid );
+
+		}
+
+	} else {
+
+		data.shapes.push( shapes.uuid );
+
+	}
+
+	data.options = Object.assign( {}, options );
+
+	if ( options.extrudePath !== undefined ) data.options.extrudePath = options.extrudePath.toJSON();
+
+	return data;
+
+}
+
+class IcosahedronGeometry extends PolyhedronGeometry {
+
+	constructor( radius = 1, detail = 0 ) {
+
+		const t = ( 1 + Math.sqrt( 5 ) ) / 2;
+
+		const vertices = [
+			- 1, t, 0, 	1, t, 0, 	- 1, - t, 0, 	1, - t, 0,
+			0, - 1, t, 	0, 1, t,	0, - 1, - t, 	0, 1, - t,
+			t, 0, - 1, 	t, 0, 1, 	- t, 0, - 1, 	- t, 0, 1
+		];
+
+		const indices = [
+			0, 11, 5, 	0, 5, 1, 	0, 1, 7, 	0, 7, 10, 	0, 10, 11,
+			1, 5, 9, 	5, 11, 4,	11, 10, 2,	10, 7, 6,	7, 1, 8,
+			3, 9, 4, 	3, 4, 2,	3, 2, 6,	3, 6, 8,	3, 8, 9,
+			4, 9, 5, 	2, 4, 11,	6, 2, 10,	8, 6, 7,	9, 8, 1
+		];
+
+		super( vertices, indices, radius, detail );
+
+		this.type = 'IcosahedronGeometry';
+
+		this.parameters = {
+			radius: radius,
+			detail: detail
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new IcosahedronGeometry( data.radius, data.detail );
+
+	}
+
+}
+
+class OctahedronGeometry extends PolyhedronGeometry {
+
+	constructor( radius = 1, detail = 0 ) {
+
+		const vertices = [
+			1, 0, 0, 	- 1, 0, 0,	0, 1, 0,
+			0, - 1, 0, 	0, 0, 1,	0, 0, - 1
+		];
+
+		const indices = [
+			0, 2, 4,	0, 4, 3,	0, 3, 5,
+			0, 5, 2,	1, 2, 5,	1, 5, 3,
+			1, 3, 4,	1, 4, 2
+		];
+
+		super( vertices, indices, radius, detail );
+
+		this.type = 'OctahedronGeometry';
+
+		this.parameters = {
+			radius: radius,
+			detail: detail
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new OctahedronGeometry( data.radius, data.detail );
+
+	}
+
+}
+
+class RingGeometry extends BufferGeometry {
+
+	constructor( innerRadius = 0.5, outerRadius = 1, thetaSegments = 32, phiSegments = 1, thetaStart = 0, thetaLength = Math.PI * 2 ) {
+
+		super();
+
+		this.type = 'RingGeometry';
+
+		this.parameters = {
+			innerRadius: innerRadius,
+			outerRadius: outerRadius,
+			thetaSegments: thetaSegments,
+			phiSegments: phiSegments,
+			thetaStart: thetaStart,
+			thetaLength: thetaLength
+		};
+
+		thetaSegments = Math.max( 3, thetaSegments );
+		phiSegments = Math.max( 1, phiSegments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// some helper variables
+
+		let radius = innerRadius;
+		const radiusStep = ( ( outerRadius - innerRadius ) / phiSegments );
+		const vertex = new Vector3();
+		const uv = new Vector2();
+
+		// generate vertices, normals and uvs
+
+		for ( let j = 0; j <= phiSegments; j ++ ) {
+
+			for ( let i = 0; i <= thetaSegments; i ++ ) {
+
+				// values are generate from the inside of the ring to the outside
+
+				const segment = thetaStart + i / thetaSegments * thetaLength;
+
+				// vertex
+
+				vertex.x = radius * Math.cos( segment );
+				vertex.y = radius * Math.sin( segment );
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// normal
+
+				normals.push( 0, 0, 1 );
+
+				// uv
+
+				uv.x = ( vertex.x / outerRadius + 1 ) / 2;
+				uv.y = ( vertex.y / outerRadius + 1 ) / 2;
+
+				uvs.push( uv.x, uv.y );
+
+			}
+
+			// increase the radius for next row of vertices
+
+			radius += radiusStep;
+
+		}
+
+		// indices
+
+		for ( let j = 0; j < phiSegments; j ++ ) {
+
+			const thetaSegmentLevel = j * ( thetaSegments + 1 );
+
+			for ( let i = 0; i < thetaSegments; i ++ ) {
+
+				const segment = i + thetaSegmentLevel;
+
+				const a = segment;
+				const b = segment + thetaSegments + 1;
+				const c = segment + thetaSegments + 2;
+				const d = segment + 1;
+
+				// faces
+
+				indices.push( a, b, d );
+				indices.push( b, c, d );
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new RingGeometry( data.innerRadius, data.outerRadius, data.thetaSegments, data.phiSegments, data.thetaStart, data.thetaLength );
+
+	}
+
+}
+
+class ShapeGeometry extends BufferGeometry {
+
+	constructor( shapes = new Shape( [ new Vector2( 0, 0.5 ), new Vector2( - 0.5, - 0.5 ), new Vector2( 0.5, - 0.5 ) ] ), curveSegments = 12 ) {
+
+		super();
+
+		this.type = 'ShapeGeometry';
+
+		this.parameters = {
+			shapes: shapes,
+			curveSegments: curveSegments
+		};
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		let groupStart = 0;
+		let groupCount = 0;
+
+		// allow single and array values for "shapes" parameter
+
+		if ( Array.isArray( shapes ) === false ) {
+
+			addShape( shapes );
+
+		} else {
+
+			for ( let i = 0; i < shapes.length; i ++ ) {
+
+				addShape( shapes[ i ] );
+
+				this.addGroup( groupStart, groupCount, i ); // enables MultiMaterial support
+
+				groupStart += groupCount;
+				groupCount = 0;
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+
+		// helper functions
+
+		function addShape( shape ) {
+
+			const indexOffset = vertices.length / 3;
+			const points = shape.extractPoints( curveSegments );
+
+			let shapeVertices = points.shape;
+			const shapeHoles = points.holes;
+
+			// check direction of vertices
+
+			if ( ShapeUtils.isClockWise( shapeVertices ) === false ) {
+
+				shapeVertices = shapeVertices.reverse();
+
+			}
+
+			for ( let i = 0, l = shapeHoles.length; i < l; i ++ ) {
+
+				const shapeHole = shapeHoles[ i ];
+
+				if ( ShapeUtils.isClockWise( shapeHole ) === true ) {
+
+					shapeHoles[ i ] = shapeHole.reverse();
+
+				}
+
+			}
+
+			const faces = ShapeUtils.triangulateShape( shapeVertices, shapeHoles );
+
+			// join vertices of inner and outer paths to a single array
+
+			for ( let i = 0, l = shapeHoles.length; i < l; i ++ ) {
+
+				const shapeHole = shapeHoles[ i ];
+				shapeVertices = shapeVertices.concat( shapeHole );
+
+			}
+
+			// vertices, normals, uvs
+
+			for ( let i = 0, l = shapeVertices.length; i < l; i ++ ) {
+
+				const vertex = shapeVertices[ i ];
+
+				vertices.push( vertex.x, vertex.y, 0 );
+				normals.push( 0, 0, 1 );
+				uvs.push( vertex.x, vertex.y ); // world uvs
+
+			}
+
+			// indices
+
+			for ( let i = 0, l = faces.length; i < l; i ++ ) {
+
+				const face = faces[ i ];
+
+				const a = face[ 0 ] + indexOffset;
+				const b = face[ 1 ] + indexOffset;
+				const c = face[ 2 ] + indexOffset;
+
+				indices.push( a, b, c );
+				groupCount += 3;
+
+			}
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		const shapes = this.parameters.shapes;
+
+		return toJSON( shapes, data );
+
+	}
+
+	static fromJSON( data, shapes ) {
+
+		const geometryShapes = [];
+
+		for ( let j = 0, jl = data.shapes.length; j < jl; j ++ ) {
+
+			const shape = shapes[ data.shapes[ j ] ];
+
+			geometryShapes.push( shape );
+
+		}
+
+		return new ShapeGeometry( geometryShapes, data.curveSegments );
+
+	}
+
+}
+
+function toJSON( shapes, data ) {
+
+	data.shapes = [];
+
+	if ( Array.isArray( shapes ) ) {
+
+		for ( let i = 0, l = shapes.length; i < l; i ++ ) {
+
+			const shape = shapes[ i ];
+
+			data.shapes.push( shape.uuid );
+
+		}
+
+	} else {
+
+		data.shapes.push( shapes.uuid );
+
+	}
+
+	return data;
+
+}
+
+class SphereGeometry extends BufferGeometry {
+
+	constructor( radius = 1, widthSegments = 32, heightSegments = 16, phiStart = 0, phiLength = Math.PI * 2, thetaStart = 0, thetaLength = Math.PI ) {
+
+		super();
+
+		this.type = 'SphereGeometry';
+
+		this.parameters = {
+			radius: radius,
+			widthSegments: widthSegments,
+			heightSegments: heightSegments,
+			phiStart: phiStart,
+			phiLength: phiLength,
+			thetaStart: thetaStart,
+			thetaLength: thetaLength
+		};
+
+		widthSegments = Math.max( 3, Math.floor( widthSegments ) );
+		heightSegments = Math.max( 2, Math.floor( heightSegments ) );
+
+		const thetaEnd = Math.min( thetaStart + thetaLength, Math.PI );
+
+		let index = 0;
+		const grid = [];
+
+		const vertex = new Vector3();
+		const normal = new Vector3();
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// generate vertices, normals and uvs
+
+		for ( let iy = 0; iy <= heightSegments; iy ++ ) {
+
+			const verticesRow = [];
+
+			const v = iy / heightSegments;
+
+			// special case for the poles
+
+			let uOffset = 0;
+
+			if ( iy === 0 && thetaStart === 0 ) {
+
+				uOffset = 0.5 / widthSegments;
+
+			} else if ( iy === heightSegments && thetaEnd === Math.PI ) {
+
+				uOffset = - 0.5 / widthSegments;
+
+			}
+
+			for ( let ix = 0; ix <= widthSegments; ix ++ ) {
+
+				const u = ix / widthSegments;
+
+				// vertex
+
+				vertex.x = - radius * Math.cos( phiStart + u * phiLength ) * Math.sin( thetaStart + v * thetaLength );
+				vertex.y = radius * Math.cos( thetaStart + v * thetaLength );
+				vertex.z = radius * Math.sin( phiStart + u * phiLength ) * Math.sin( thetaStart + v * thetaLength );
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// normal
+
+				normal.copy( vertex ).normalize();
+				normals.push( normal.x, normal.y, normal.z );
+
+				// uv
+
+				uvs.push( u + uOffset, 1 - v );
+
+				verticesRow.push( index ++ );
+
+			}
+
+			grid.push( verticesRow );
+
+		}
+
+		// indices
+
+		for ( let iy = 0; iy < heightSegments; iy ++ ) {
+
+			for ( let ix = 0; ix < widthSegments; ix ++ ) {
+
+				const a = grid[ iy ][ ix + 1 ];
+				const b = grid[ iy ][ ix ];
+				const c = grid[ iy + 1 ][ ix ];
+				const d = grid[ iy + 1 ][ ix + 1 ];
+
+				if ( iy !== 0 || thetaStart > 0 ) indices.push( a, b, d );
+				if ( iy !== heightSegments - 1 || thetaEnd < Math.PI ) indices.push( b, c, d );
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new SphereGeometry( data.radius, data.widthSegments, data.heightSegments, data.phiStart, data.phiLength, data.thetaStart, data.thetaLength );
+
+	}
+
+}
+
+class TetrahedronGeometry extends PolyhedronGeometry {
+
+	constructor( radius = 1, detail = 0 ) {
+
+		const vertices = [
+			1, 1, 1, 	- 1, - 1, 1, 	- 1, 1, - 1, 	1, - 1, - 1
+		];
+
+		const indices = [
+			2, 1, 0, 	0, 3, 2,	1, 3, 0,	2, 3, 1
+		];
+
+		super( vertices, indices, radius, detail );
+
+		this.type = 'TetrahedronGeometry';
+
+		this.parameters = {
+			radius: radius,
+			detail: detail
+		};
+
+	}
+
+	static fromJSON( data ) {
+
+		return new TetrahedronGeometry( data.radius, data.detail );
+
+	}
+
+}
+
+class TorusGeometry extends BufferGeometry {
+
+	constructor( radius = 1, tube = 0.4, radialSegments = 12, tubularSegments = 48, arc = Math.PI * 2 ) {
+
+		super();
+
+		this.type = 'TorusGeometry';
+
+		this.parameters = {
+			radius: radius,
+			tube: tube,
+			radialSegments: radialSegments,
+			tubularSegments: tubularSegments,
+			arc: arc
+		};
+
+		radialSegments = Math.floor( radialSegments );
+		tubularSegments = Math.floor( tubularSegments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		const center = new Vector3();
+		const vertex = new Vector3();
+		const normal = new Vector3();
+
+		// generate vertices, normals and uvs
+
+		for ( let j = 0; j <= radialSegments; j ++ ) {
+
+			for ( let i = 0; i <= tubularSegments; i ++ ) {
+
+				const u = i / tubularSegments * arc;
+				const v = j / radialSegments * Math.PI * 2;
+
+				// vertex
+
+				vertex.x = ( radius + tube * Math.cos( v ) ) * Math.cos( u );
+				vertex.y = ( radius + tube * Math.cos( v ) ) * Math.sin( u );
+				vertex.z = tube * Math.sin( v );
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// normal
+
+				center.x = radius * Math.cos( u );
+				center.y = radius * Math.sin( u );
+				normal.subVectors( vertex, center ).normalize();
+
+				normals.push( normal.x, normal.y, normal.z );
+
+				// uv
+
+				uvs.push( i / tubularSegments );
+				uvs.push( j / radialSegments );
+
+			}
+
+		}
+
+		// generate indices
+
+		for ( let j = 1; j <= radialSegments; j ++ ) {
+
+			for ( let i = 1; i <= tubularSegments; i ++ ) {
+
+				// indices
+
+				const a = ( tubularSegments + 1 ) * j + i - 1;
+				const b = ( tubularSegments + 1 ) * ( j - 1 ) + i - 1;
+				const c = ( tubularSegments + 1 ) * ( j - 1 ) + i;
+				const d = ( tubularSegments + 1 ) * j + i;
+
+				// faces
+
+				indices.push( a, b, d );
+				indices.push( b, c, d );
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new TorusGeometry( data.radius, data.tube, data.radialSegments, data.tubularSegments, data.arc );
+
+	}
+
+}
+
+class TorusKnotGeometry extends BufferGeometry {
+
+	constructor( radius = 1, tube = 0.4, tubularSegments = 64, radialSegments = 8, p = 2, q = 3 ) {
+
+		super();
+
+		this.type = 'TorusKnotGeometry';
+
+		this.parameters = {
+			radius: radius,
+			tube: tube,
+			tubularSegments: tubularSegments,
+			radialSegments: radialSegments,
+			p: p,
+			q: q
+		};
+
+		tubularSegments = Math.floor( tubularSegments );
+		radialSegments = Math.floor( radialSegments );
+
+		// buffers
+
+		const indices = [];
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+
+		// helper variables
+
+		const vertex = new Vector3();
+		const normal = new Vector3();
+
+		const P1 = new Vector3();
+		const P2 = new Vector3();
+
+		const B = new Vector3();
+		const T = new Vector3();
+		const N = new Vector3();
+
+		// generate vertices, normals and uvs
+
+		for ( let i = 0; i <= tubularSegments; ++ i ) {
+
+			// the radian "u" is used to calculate the position on the torus curve of the current tubular segment
+
+			const u = i / tubularSegments * p * Math.PI * 2;
+
+			// now we calculate two points. P1 is our current position on the curve, P2 is a little farther ahead.
+			// these points are used to create a special "coordinate space", which is necessary to calculate the correct vertex positions
+
+			calculatePositionOnCurve( u, p, q, radius, P1 );
+			calculatePositionOnCurve( u + 0.01, p, q, radius, P2 );
+
+			// calculate orthonormal basis
+
+			T.subVectors( P2, P1 );
+			N.addVectors( P2, P1 );
+			B.crossVectors( T, N );
+			N.crossVectors( B, T );
+
+			// normalize B, N. T can be ignored, we don't use it
+
+			B.normalize();
+			N.normalize();
+
+			for ( let j = 0; j <= radialSegments; ++ j ) {
+
+				// now calculate the vertices. they are nothing more than an extrusion of the torus curve.
+				// because we extrude a shape in the xy-plane, there is no need to calculate a z-value.
+
+				const v = j / radialSegments * Math.PI * 2;
+				const cx = - tube * Math.cos( v );
+				const cy = tube * Math.sin( v );
+
+				// now calculate the final vertex position.
+				// first we orient the extrusion with our basis vectors, then we add it to the current position on the curve
+
+				vertex.x = P1.x + ( cx * N.x + cy * B.x );
+				vertex.y = P1.y + ( cx * N.y + cy * B.y );
+				vertex.z = P1.z + ( cx * N.z + cy * B.z );
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+				// normal (P1 is always the center/origin of the extrusion, thus we can use it to calculate the normal)
+
+				normal.subVectors( vertex, P1 ).normalize();
+
+				normals.push( normal.x, normal.y, normal.z );
+
+				// uv
+
+				uvs.push( i / tubularSegments );
+				uvs.push( j / radialSegments );
+
+			}
+
+		}
+
+		// generate indices
+
+		for ( let j = 1; j <= tubularSegments; j ++ ) {
+
+			for ( let i = 1; i <= radialSegments; i ++ ) {
+
+				// indices
+
+				const a = ( radialSegments + 1 ) * ( j - 1 ) + ( i - 1 );
+				const b = ( radialSegments + 1 ) * j + ( i - 1 );
+				const c = ( radialSegments + 1 ) * j + i;
+				const d = ( radialSegments + 1 ) * ( j - 1 ) + i;
+
+				// faces
+
+				indices.push( a, b, d );
+				indices.push( b, c, d );
+
+			}
+
+		}
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+		// this function calculates the current position on the torus curve
+
+		function calculatePositionOnCurve( u, p, q, radius, position ) {
+
+			const cu = Math.cos( u );
+			const su = Math.sin( u );
+			const quOverP = q / p * u;
+			const cs = Math.cos( quOverP );
+
+			position.x = radius * ( 2 + cs ) * 0.5 * cu;
+			position.y = radius * ( 2 + cs ) * su * 0.5;
+			position.z = radius * Math.sin( quOverP ) * 0.5;
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	static fromJSON( data ) {
+
+		return new TorusKnotGeometry( data.radius, data.tube, data.tubularSegments, data.radialSegments, data.p, data.q );
+
+	}
+
+}
+
+class TubeGeometry extends BufferGeometry {
+
+	constructor( path = new QuadraticBezierCurve3( new Vector3( - 1, - 1, 0 ), new Vector3( - 1, 1, 0 ), new Vector3( 1, 1, 0 ) ), tubularSegments = 64, radius = 1, radialSegments = 8, closed = false ) {
+
+		super();
+
+		this.type = 'TubeGeometry';
+
+		this.parameters = {
+			path: path,
+			tubularSegments: tubularSegments,
+			radius: radius,
+			radialSegments: radialSegments,
+			closed: closed
+		};
+
+		const frames = path.computeFrenetFrames( tubularSegments, closed );
+
+		// expose internals
+
+		this.tangents = frames.tangents;
+		this.normals = frames.normals;
+		this.binormals = frames.binormals;
+
+		// helper variables
+
+		const vertex = new Vector3();
+		const normal = new Vector3();
+		const uv = new Vector2();
+		let P = new Vector3();
+
+		// buffer
+
+		const vertices = [];
+		const normals = [];
+		const uvs = [];
+		const indices = [];
+
+		// create buffer data
+
+		generateBufferData();
+
+		// build geometry
+
+		this.setIndex( indices );
+		this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) );
+		this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) );
+
+		// functions
+
+		function generateBufferData() {
+
+			for ( let i = 0; i < tubularSegments; i ++ ) {
+
+				generateSegment( i );
+
+			}
+
+			// if the geometry is not closed, generate the last row of vertices and normals
+			// at the regular position on the given path
+			//
+			// if the geometry is closed, duplicate the first row of vertices and normals (uvs will differ)
+
+			generateSegment( ( closed === false ) ? tubularSegments : 0 );
+
+			// uvs are generated in a separate function.
+			// this makes it easy compute correct values for closed geometries
+
+			generateUVs();
+
+			// finally create faces
+
+			generateIndices();
+
+		}
+
+		function generateSegment( i ) {
+
+			// we use getPointAt to sample evenly distributed points from the given path
+
+			P = path.getPointAt( i / tubularSegments, P );
+
+			// retrieve corresponding normal and binormal
+
+			const N = frames.normals[ i ];
+			const B = frames.binormals[ i ];
+
+			// generate normals and vertices for the current segment
+
+			for ( let j = 0; j <= radialSegments; j ++ ) {
+
+				const v = j / radialSegments * Math.PI * 2;
+
+				const sin = Math.sin( v );
+				const cos = - Math.cos( v );
+
+				// normal
+
+				normal.x = ( cos * N.x + sin * B.x );
+				normal.y = ( cos * N.y + sin * B.y );
+				normal.z = ( cos * N.z + sin * B.z );
+				normal.normalize();
+
+				normals.push( normal.x, normal.y, normal.z );
+
+				// vertex
+
+				vertex.x = P.x + radius * normal.x;
+				vertex.y = P.y + radius * normal.y;
+				vertex.z = P.z + radius * normal.z;
+
+				vertices.push( vertex.x, vertex.y, vertex.z );
+
+			}
+
+		}
+
+		function generateIndices() {
+
+			for ( let j = 1; j <= tubularSegments; j ++ ) {
+
+				for ( let i = 1; i <= radialSegments; i ++ ) {
+
+					const a = ( radialSegments + 1 ) * ( j - 1 ) + ( i - 1 );
+					const b = ( radialSegments + 1 ) * j + ( i - 1 );
+					const c = ( radialSegments + 1 ) * j + i;
+					const d = ( radialSegments + 1 ) * ( j - 1 ) + i;
+
+					// faces
+
+					indices.push( a, b, d );
+					indices.push( b, c, d );
+
+				}
+
+			}
+
+		}
+
+		function generateUVs() {
+
+			for ( let i = 0; i <= tubularSegments; i ++ ) {
+
+				for ( let j = 0; j <= radialSegments; j ++ ) {
+
+					uv.x = i / tubularSegments;
+					uv.y = j / radialSegments;
+
+					uvs.push( uv.x, uv.y );
+
+				}
+
+			}
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.path = this.parameters.path.toJSON();
+
+		return data;
+
+	}
+
+	static fromJSON( data ) {
+
+		// This only works for built-in curves (e.g. CatmullRomCurve3).
+		// User defined curves or instances of CurvePath will not be deserialized.
+		return new TubeGeometry(
+			new Curves[ data.path.type ]().fromJSON( data.path ),
+			data.tubularSegments,
+			data.radius,
+			data.radialSegments,
+			data.closed
+		);
+
+	}
+
+}
+
+class WireframeGeometry extends BufferGeometry {
+
+	constructor( geometry = null ) {
+
+		super();
+
+		this.type = 'WireframeGeometry';
+
+		this.parameters = {
+			geometry: geometry
+		};
+
+		if ( geometry !== null ) {
+
+			// buffer
+
+			const vertices = [];
+			const edges = new Set();
+
+			// helper variables
+
+			const start = new Vector3();
+			const end = new Vector3();
+
+			if ( geometry.index !== null ) {
+
+				// indexed BufferGeometry
+
+				const position = geometry.attributes.position;
+				const indices = geometry.index;
+				let groups = geometry.groups;
+
+				if ( groups.length === 0 ) {
+
+					groups = [ { start: 0, count: indices.count, materialIndex: 0 } ];
+
+				}
+
+				// create a data structure that contains all edges without duplicates
+
+				for ( let o = 0, ol = groups.length; o < ol; ++ o ) {
+
+					const group = groups[ o ];
+
+					const groupStart = group.start;
+					const groupCount = group.count;
+
+					for ( let i = groupStart, l = ( groupStart + groupCount ); i < l; i += 3 ) {
+
+						for ( let j = 0; j < 3; j ++ ) {
+
+							const index1 = indices.getX( i + j );
+							const index2 = indices.getX( i + ( j + 1 ) % 3 );
+
+							start.fromBufferAttribute( position, index1 );
+							end.fromBufferAttribute( position, index2 );
+
+							if ( isUniqueEdge( start, end, edges ) === true ) {
+
+								vertices.push( start.x, start.y, start.z );
+								vertices.push( end.x, end.y, end.z );
+
+							}
+
+						}
+
+					}
+
+				}
+
+			} else {
+
+				// non-indexed BufferGeometry
+
+				const position = geometry.attributes.position;
+
+				for ( let i = 0, l = ( position.count / 3 ); i < l; i ++ ) {
+
+					for ( let j = 0; j < 3; j ++ ) {
+
+						// three edges per triangle, an edge is represented as (index1, index2)
+						// e.g. the first triangle has the following edges: (0,1),(1,2),(2,0)
+
+						const index1 = 3 * i + j;
+						const index2 = 3 * i + ( ( j + 1 ) % 3 );
+
+						start.fromBufferAttribute( position, index1 );
+						end.fromBufferAttribute( position, index2 );
+
+						if ( isUniqueEdge( start, end, edges ) === true ) {
+
+							vertices.push( start.x, start.y, start.z );
+							vertices.push( end.x, end.y, end.z );
+
+						}
+
+					}
+
+				}
+
+			}
+
+			// build geometry
+
+			this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+
+		}
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.parameters = Object.assign( {}, source.parameters );
+
+		return this;
+
+	}
+
+}
+
+function isUniqueEdge( start, end, edges ) {
+
+	const hash1 = `${start.x},${start.y},${start.z}-${end.x},${end.y},${end.z}`;
+	const hash2 = `${end.x},${end.y},${end.z}-${start.x},${start.y},${start.z}`; // coincident edge
+
+	if ( edges.has( hash1 ) === true || edges.has( hash2 ) === true ) {
+
+		return false;
+
+	} else {
+
+		edges.add( hash1 );
+		edges.add( hash2 );
+		return true;
+
+	}
+
+}
+
+var Geometries = /*#__PURE__*/Object.freeze({
+	__proto__: null,
+	BoxGeometry: BoxGeometry,
+	CapsuleGeometry: CapsuleGeometry,
+	CircleGeometry: CircleGeometry,
+	ConeGeometry: ConeGeometry,
+	CylinderGeometry: CylinderGeometry,
+	DodecahedronGeometry: DodecahedronGeometry,
+	EdgesGeometry: EdgesGeometry,
+	ExtrudeGeometry: ExtrudeGeometry,
+	IcosahedronGeometry: IcosahedronGeometry,
+	LatheGeometry: LatheGeometry,
+	OctahedronGeometry: OctahedronGeometry,
+	PlaneGeometry: PlaneGeometry,
+	PolyhedronGeometry: PolyhedronGeometry,
+	RingGeometry: RingGeometry,
+	ShapeGeometry: ShapeGeometry,
+	SphereGeometry: SphereGeometry,
+	TetrahedronGeometry: TetrahedronGeometry,
+	TorusGeometry: TorusGeometry,
+	TorusKnotGeometry: TorusKnotGeometry,
+	TubeGeometry: TubeGeometry,
+	WireframeGeometry: WireframeGeometry
+});
+
+class ShadowMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isShadowMaterial = true;
+
+		this.type = 'ShadowMaterial';
+
+		this.color = new Color( 0x000000 );
+		this.transparent = true;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class RawShaderMaterial extends ShaderMaterial {
+
+	constructor( parameters ) {
+
+		super( parameters );
+
+		this.isRawShaderMaterial = true;
+
+		this.type = 'RawShaderMaterial';
+
+	}
+
+}
+
+class MeshStandardMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshStandardMaterial = true;
+
+		this.defines = { 'STANDARD': '' };
+
+		this.type = 'MeshStandardMaterial';
+
+		this.color = new Color( 0xffffff ); // diffuse
+		this.roughness = 1.0;
+		this.metalness = 0.0;
+
+		this.map = null;
+
+		this.lightMap = null;
+		this.lightMapIntensity = 1.0;
+
+		this.aoMap = null;
+		this.aoMapIntensity = 1.0;
+
+		this.emissive = new Color( 0x000000 );
+		this.emissiveIntensity = 1.0;
+		this.emissiveMap = null;
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.roughnessMap = null;
+
+		this.metalnessMap = null;
+
+		this.alphaMap = null;
+
+		this.envMap = null;
+		this.envMapIntensity = 1.0;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+		this.wireframeLinecap = 'round';
+		this.wireframeLinejoin = 'round';
+
+		this.flatShading = false;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.defines = { 'STANDARD': '' };
+
+		this.color.copy( source.color );
+		this.roughness = source.roughness;
+		this.metalness = source.metalness;
+
+		this.map = source.map;
+
+		this.lightMap = source.lightMap;
+		this.lightMapIntensity = source.lightMapIntensity;
+
+		this.aoMap = source.aoMap;
+		this.aoMapIntensity = source.aoMapIntensity;
+
+		this.emissive.copy( source.emissive );
+		this.emissiveMap = source.emissiveMap;
+		this.emissiveIntensity = source.emissiveIntensity;
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.roughnessMap = source.roughnessMap;
+
+		this.metalnessMap = source.metalnessMap;
+
+		this.alphaMap = source.alphaMap;
+
+		this.envMap = source.envMap;
+		this.envMapIntensity = source.envMapIntensity;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+		this.wireframeLinecap = source.wireframeLinecap;
+		this.wireframeLinejoin = source.wireframeLinejoin;
+
+		this.flatShading = source.flatShading;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class MeshPhysicalMaterial extends MeshStandardMaterial {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshPhysicalMaterial = true;
+
+		this.defines = {
+
+			'STANDARD': '',
+			'PHYSICAL': ''
+
+		};
+
+		this.type = 'MeshPhysicalMaterial';
+
+		this.anisotropyRotation = 0;
+		this.anisotropyMap = null;
+
+		this.clearcoatMap = null;
+		this.clearcoatRoughness = 0.0;
+		this.clearcoatRoughnessMap = null;
+		this.clearcoatNormalScale = new Vector2( 1, 1 );
+		this.clearcoatNormalMap = null;
+
+		this.ior = 1.5;
+
+		Object.defineProperty( this, 'reflectivity', {
+			get: function () {
+
+				return ( clamp( 2.5 * ( this.ior - 1 ) / ( this.ior + 1 ), 0, 1 ) );
+
+			},
+			set: function ( reflectivity ) {
+
+				this.ior = ( 1 + 0.4 * reflectivity ) / ( 1 - 0.4 * reflectivity );
+
+			}
+		} );
+
+		this.iridescenceMap = null;
+		this.iridescenceIOR = 1.3;
+		this.iridescenceThicknessRange = [ 100, 400 ];
+		this.iridescenceThicknessMap = null;
+
+		this.sheenColor = new Color( 0x000000 );
+		this.sheenColorMap = null;
+		this.sheenRoughness = 1.0;
+		this.sheenRoughnessMap = null;
+
+		this.transmissionMap = null;
+
+		this.thickness = 0;
+		this.thicknessMap = null;
+		this.attenuationDistance = Infinity;
+		this.attenuationColor = new Color( 1, 1, 1 );
+
+		this.specularIntensity = 1.0;
+		this.specularIntensityMap = null;
+		this.specularColor = new Color( 1, 1, 1 );
+		this.specularColorMap = null;
+
+		this._anisotropy = 0;
+		this._clearcoat = 0;
+		this._iridescence = 0;
+		this._sheen = 0.0;
+		this._transmission = 0;
+
+		this.setValues( parameters );
+
+	}
+
+	get anisotropy() {
+
+		return this._anisotropy;
+
+	}
+
+	set anisotropy( value ) {
+
+		if ( this._anisotropy > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._anisotropy = value;
+
+	}
+
+	get clearcoat() {
+
+		return this._clearcoat;
+
+	}
+
+	set clearcoat( value ) {
+
+		if ( this._clearcoat > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._clearcoat = value;
+
+	}
+
+	get iridescence() {
+
+		return this._iridescence;
+
+	}
+
+	set iridescence( value ) {
+
+		if ( this._iridescence > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._iridescence = value;
+
+	}
+
+	get sheen() {
+
+		return this._sheen;
+
+	}
+
+	set sheen( value ) {
+
+		if ( this._sheen > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._sheen = value;
+
+	}
+
+	get transmission() {
+
+		return this._transmission;
+
+	}
+
+	set transmission( value ) {
+
+		if ( this._transmission > 0 !== value > 0 ) {
+
+			this.version ++;
+
+		}
+
+		this._transmission = value;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.defines = {
+
+			'STANDARD': '',
+			'PHYSICAL': ''
+
+		};
+
+		this.anisotropy = source.anisotropy;
+		this.anisotropyRotation = source.anisotropyRotation;
+		this.anisotropyMap = source.anisotropyMap;
+
+		this.clearcoat = source.clearcoat;
+		this.clearcoatMap = source.clearcoatMap;
+		this.clearcoatRoughness = source.clearcoatRoughness;
+		this.clearcoatRoughnessMap = source.clearcoatRoughnessMap;
+		this.clearcoatNormalMap = source.clearcoatNormalMap;
+		this.clearcoatNormalScale.copy( source.clearcoatNormalScale );
+
+		this.ior = source.ior;
+
+		this.iridescence = source.iridescence;
+		this.iridescenceMap = source.iridescenceMap;
+		this.iridescenceIOR = source.iridescenceIOR;
+		this.iridescenceThicknessRange = [ ...source.iridescenceThicknessRange ];
+		this.iridescenceThicknessMap = source.iridescenceThicknessMap;
+
+		this.sheen = source.sheen;
+		this.sheenColor.copy( source.sheenColor );
+		this.sheenColorMap = source.sheenColorMap;
+		this.sheenRoughness = source.sheenRoughness;
+		this.sheenRoughnessMap = source.sheenRoughnessMap;
+
+		this.transmission = source.transmission;
+		this.transmissionMap = source.transmissionMap;
+
+		this.thickness = source.thickness;
+		this.thicknessMap = source.thicknessMap;
+		this.attenuationDistance = source.attenuationDistance;
+		this.attenuationColor.copy( source.attenuationColor );
+
+		this.specularIntensity = source.specularIntensity;
+		this.specularIntensityMap = source.specularIntensityMap;
+		this.specularColor.copy( source.specularColor );
+		this.specularColorMap = source.specularColorMap;
+
+		return this;
+
+	}
+
+}
+
+class MeshPhongMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshPhongMaterial = true;
+
+		this.type = 'MeshPhongMaterial';
+
+		this.color = new Color( 0xffffff ); // diffuse
+		this.specular = new Color( 0x111111 );
+		this.shininess = 30;
+
+		this.map = null;
+
+		this.lightMap = null;
+		this.lightMapIntensity = 1.0;
+
+		this.aoMap = null;
+		this.aoMapIntensity = 1.0;
+
+		this.emissive = new Color( 0x000000 );
+		this.emissiveIntensity = 1.0;
+		this.emissiveMap = null;
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.specularMap = null;
+
+		this.alphaMap = null;
+
+		this.envMap = null;
+		this.combine = MultiplyOperation;
+		this.reflectivity = 1;
+		this.refractionRatio = 0.98;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+		this.wireframeLinecap = 'round';
+		this.wireframeLinejoin = 'round';
+
+		this.flatShading = false;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+		this.specular.copy( source.specular );
+		this.shininess = source.shininess;
+
+		this.map = source.map;
+
+		this.lightMap = source.lightMap;
+		this.lightMapIntensity = source.lightMapIntensity;
+
+		this.aoMap = source.aoMap;
+		this.aoMapIntensity = source.aoMapIntensity;
+
+		this.emissive.copy( source.emissive );
+		this.emissiveMap = source.emissiveMap;
+		this.emissiveIntensity = source.emissiveIntensity;
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.specularMap = source.specularMap;
+
+		this.alphaMap = source.alphaMap;
+
+		this.envMap = source.envMap;
+		this.combine = source.combine;
+		this.reflectivity = source.reflectivity;
+		this.refractionRatio = source.refractionRatio;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+		this.wireframeLinecap = source.wireframeLinecap;
+		this.wireframeLinejoin = source.wireframeLinejoin;
+
+		this.flatShading = source.flatShading;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class MeshToonMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshToonMaterial = true;
+
+		this.defines = { 'TOON': '' };
+
+		this.type = 'MeshToonMaterial';
+
+		this.color = new Color( 0xffffff );
+
+		this.map = null;
+		this.gradientMap = null;
+
+		this.lightMap = null;
+		this.lightMapIntensity = 1.0;
+
+		this.aoMap = null;
+		this.aoMapIntensity = 1.0;
+
+		this.emissive = new Color( 0x000000 );
+		this.emissiveIntensity = 1.0;
+		this.emissiveMap = null;
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.alphaMap = null;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+		this.wireframeLinecap = 'round';
+		this.wireframeLinejoin = 'round';
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+		this.gradientMap = source.gradientMap;
+
+		this.lightMap = source.lightMap;
+		this.lightMapIntensity = source.lightMapIntensity;
+
+		this.aoMap = source.aoMap;
+		this.aoMapIntensity = source.aoMapIntensity;
+
+		this.emissive.copy( source.emissive );
+		this.emissiveMap = source.emissiveMap;
+		this.emissiveIntensity = source.emissiveIntensity;
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.alphaMap = source.alphaMap;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+		this.wireframeLinecap = source.wireframeLinecap;
+		this.wireframeLinejoin = source.wireframeLinejoin;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class MeshNormalMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshNormalMaterial = true;
+
+		this.type = 'MeshNormalMaterial';
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+
+		this.flatShading = false;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+
+		this.flatShading = source.flatShading;
+
+		return this;
+
+	}
+
+}
+
+class MeshLambertMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshLambertMaterial = true;
+
+		this.type = 'MeshLambertMaterial';
+
+		this.color = new Color( 0xffffff ); // diffuse
+
+		this.map = null;
+
+		this.lightMap = null;
+		this.lightMapIntensity = 1.0;
+
+		this.aoMap = null;
+		this.aoMapIntensity = 1.0;
+
+		this.emissive = new Color( 0x000000 );
+		this.emissiveIntensity = 1.0;
+		this.emissiveMap = null;
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.specularMap = null;
+
+		this.alphaMap = null;
+
+		this.envMap = null;
+		this.combine = MultiplyOperation;
+		this.reflectivity = 1;
+		this.refractionRatio = 0.98;
+
+		this.wireframe = false;
+		this.wireframeLinewidth = 1;
+		this.wireframeLinecap = 'round';
+		this.wireframeLinejoin = 'round';
+
+		this.flatShading = false;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.color.copy( source.color );
+
+		this.map = source.map;
+
+		this.lightMap = source.lightMap;
+		this.lightMapIntensity = source.lightMapIntensity;
+
+		this.aoMap = source.aoMap;
+		this.aoMapIntensity = source.aoMapIntensity;
+
+		this.emissive.copy( source.emissive );
+		this.emissiveMap = source.emissiveMap;
+		this.emissiveIntensity = source.emissiveIntensity;
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.specularMap = source.specularMap;
+
+		this.alphaMap = source.alphaMap;
+
+		this.envMap = source.envMap;
+		this.combine = source.combine;
+		this.reflectivity = source.reflectivity;
+		this.refractionRatio = source.refractionRatio;
+
+		this.wireframe = source.wireframe;
+		this.wireframeLinewidth = source.wireframeLinewidth;
+		this.wireframeLinecap = source.wireframeLinecap;
+		this.wireframeLinejoin = source.wireframeLinejoin;
+
+		this.flatShading = source.flatShading;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class MeshMatcapMaterial extends Material {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isMeshMatcapMaterial = true;
+
+		this.defines = { 'MATCAP': '' };
+
+		this.type = 'MeshMatcapMaterial';
+
+		this.color = new Color( 0xffffff ); // diffuse
+
+		this.matcap = null;
+
+		this.map = null;
+
+		this.bumpMap = null;
+		this.bumpScale = 1;
+
+		this.normalMap = null;
+		this.normalMapType = TangentSpaceNormalMap;
+		this.normalScale = new Vector2( 1, 1 );
+
+		this.displacementMap = null;
+		this.displacementScale = 1;
+		this.displacementBias = 0;
+
+		this.alphaMap = null;
+
+		this.flatShading = false;
+
+		this.fog = true;
+
+		this.setValues( parameters );
+
+	}
+
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.defines = { 'MATCAP': '' };
+
+		this.color.copy( source.color );
+
+		this.matcap = source.matcap;
+
+		this.map = source.map;
+
+		this.bumpMap = source.bumpMap;
+		this.bumpScale = source.bumpScale;
+
+		this.normalMap = source.normalMap;
+		this.normalMapType = source.normalMapType;
+		this.normalScale.copy( source.normalScale );
+
+		this.displacementMap = source.displacementMap;
+		this.displacementScale = source.displacementScale;
+		this.displacementBias = source.displacementBias;
+
+		this.alphaMap = source.alphaMap;
+
+		this.flatShading = source.flatShading;
+
+		this.fog = source.fog;
+
+		return this;
+
+	}
+
+}
+
+class LineDashedMaterial extends LineBasicMaterial {
+
+	constructor( parameters ) {
+
+		super();
+
+		this.isLineDashedMaterial = true;
+
+		this.type = 'LineDashedMaterial';
+
+		this.scale = 1;
+		this.dashSize = 3;
+		this.gapSize = 1;
+
+		this.setValues( parameters );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.scale = source.scale;
+		this.dashSize = source.dashSize;
+		this.gapSize = source.gapSize;
+
+		return this;
+
+	}
+
+}
+
+// converts an array to a specific type
+function convertArray( array, type, forceClone ) {
+
+	if ( ! array || // let 'undefined' and 'null' pass
+		! forceClone && array.constructor === type ) return array;
+
+	if ( typeof type.BYTES_PER_ELEMENT === 'number' ) {
+
+		return new type( array ); // create typed array
+
+	}
+
+	return Array.prototype.slice.call( array ); // create Array
+
+}
+
+function isTypedArray( object ) {
+
+	return ArrayBuffer.isView( object ) &&
+		! ( object instanceof DataView );
+
+}
+
+// returns an array by which times and values can be sorted
+function getKeyframeOrder( times ) {
+
+	function compareTime( i, j ) {
+
+		return times[ i ] - times[ j ];
+
+	}
+
+	const n = times.length;
+	const result = new Array( n );
+	for ( let i = 0; i !== n; ++ i ) result[ i ] = i;
+
+	result.sort( compareTime );
+
+	return result;
+
+}
+
+// uses the array previously returned by 'getKeyframeOrder' to sort data
+function sortedArray( values, stride, order ) {
+
+	const nValues = values.length;
+	const result = new values.constructor( nValues );
+
+	for ( let i = 0, dstOffset = 0; dstOffset !== nValues; ++ i ) {
+
+		const srcOffset = order[ i ] * stride;
+
+		for ( let j = 0; j !== stride; ++ j ) {
+
+			result[ dstOffset ++ ] = values[ srcOffset + j ];
+
+		}
+
+	}
+
+	return result;
+
+}
+
+// function for parsing AOS keyframe formats
+function flattenJSON( jsonKeys, times, values, valuePropertyName ) {
+
+	let i = 1, key = jsonKeys[ 0 ];
+
+	while ( key !== undefined && key[ valuePropertyName ] === undefined ) {
+
+		key = jsonKeys[ i ++ ];
+
+	}
+
+	if ( key === undefined ) return; // no data
+
+	let value = key[ valuePropertyName ];
+	if ( value === undefined ) return; // no data
+
+	if ( Array.isArray( value ) ) {
+
+		do {
+
+			value = key[ valuePropertyName ];
+
+			if ( value !== undefined ) {
+
+				times.push( key.time );
+				values.push.apply( values, value ); // push all elements
+
+			}
+
+			key = jsonKeys[ i ++ ];
+
+		} while ( key !== undefined );
+
+	} else if ( value.toArray !== undefined ) {
+
+		// ...assume THREE.Math-ish
+
+		do {
+
+			value = key[ valuePropertyName ];
+
+			if ( value !== undefined ) {
+
+				times.push( key.time );
+				value.toArray( values, values.length );
+
+			}
+
+			key = jsonKeys[ i ++ ];
+
+		} while ( key !== undefined );
+
+	} else {
+
+		// otherwise push as-is
+
+		do {
+
+			value = key[ valuePropertyName ];
+
+			if ( value !== undefined ) {
+
+				times.push( key.time );
+				values.push( value );
+
+			}
+
+			key = jsonKeys[ i ++ ];
+
+		} while ( key !== undefined );
+
+	}
+
+}
+
+function subclip( sourceClip, name, startFrame, endFrame, fps = 30 ) {
+
+	const clip = sourceClip.clone();
+
+	clip.name = name;
+
+	const tracks = [];
+
+	for ( let i = 0; i < clip.tracks.length; ++ i ) {
+
+		const track = clip.tracks[ i ];
+		const valueSize = track.getValueSize();
+
+		const times = [];
+		const values = [];
+
+		for ( let j = 0; j < track.times.length; ++ j ) {
+
+			const frame = track.times[ j ] * fps;
+
+			if ( frame < startFrame || frame >= endFrame ) continue;
+
+			times.push( track.times[ j ] );
+
+			for ( let k = 0; k < valueSize; ++ k ) {
+
+				values.push( track.values[ j * valueSize + k ] );
+
+			}
+
+		}
+
+		if ( times.length === 0 ) continue;
+
+		track.times = convertArray( times, track.times.constructor );
+		track.values = convertArray( values, track.values.constructor );
+
+		tracks.push( track );
+
+	}
+
+	clip.tracks = tracks;
+
+	// find minimum .times value across all tracks in the trimmed clip
+
+	let minStartTime = Infinity;
+
+	for ( let i = 0; i < clip.tracks.length; ++ i ) {
+
+		if ( minStartTime > clip.tracks[ i ].times[ 0 ] ) {
+
+			minStartTime = clip.tracks[ i ].times[ 0 ];
+
+		}
+
+	}
+
+	// shift all tracks such that clip begins at t=0
+
+	for ( let i = 0; i < clip.tracks.length; ++ i ) {
+
+		clip.tracks[ i ].shift( - 1 * minStartTime );
+
+	}
+
+	clip.resetDuration();
+
+	return clip;
+
+}
+
+function makeClipAdditive( targetClip, referenceFrame = 0, referenceClip = targetClip, fps = 30 ) {
+
+	if ( fps <= 0 ) fps = 30;
+
+	const numTracks = referenceClip.tracks.length;
+	const referenceTime = referenceFrame / fps;
+
+	// Make each track's values relative to the values at the reference frame
+	for ( let i = 0; i < numTracks; ++ i ) {
+
+		const referenceTrack = referenceClip.tracks[ i ];
+		const referenceTrackType = referenceTrack.ValueTypeName;
+
+		// Skip this track if it's non-numeric
+		if ( referenceTrackType === 'bool' || referenceTrackType === 'string' ) continue;
+
+		// Find the track in the target clip whose name and type matches the reference track
+		const targetTrack = targetClip.tracks.find( function ( track ) {
+
+			return track.name === referenceTrack.name
+				&& track.ValueTypeName === referenceTrackType;
+
+		} );
+
+		if ( targetTrack === undefined ) continue;
+
+		let referenceOffset = 0;
+		const referenceValueSize = referenceTrack.getValueSize();
+
+		if ( referenceTrack.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline ) {
+
+			referenceOffset = referenceValueSize / 3;
+
+		}
+
+		let targetOffset = 0;
+		const targetValueSize = targetTrack.getValueSize();
+
+		if ( targetTrack.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline ) {
+
+			targetOffset = targetValueSize / 3;
+
+		}
+
+		const lastIndex = referenceTrack.times.length - 1;
+		let referenceValue;
+
+		// Find the value to subtract out of the track
+		if ( referenceTime <= referenceTrack.times[ 0 ] ) {
+
+			// Reference frame is earlier than the first keyframe, so just use the first keyframe
+			const startIndex = referenceOffset;
+			const endIndex = referenceValueSize - referenceOffset;
+			referenceValue = referenceTrack.values.slice( startIndex, endIndex );
+
+		} else if ( referenceTime >= referenceTrack.times[ lastIndex ] ) {
+
+			// Reference frame is after the last keyframe, so just use the last keyframe
+			const startIndex = lastIndex * referenceValueSize + referenceOffset;
+			const endIndex = startIndex + referenceValueSize - referenceOffset;
+			referenceValue = referenceTrack.values.slice( startIndex, endIndex );
+
+		} else {
+
+			// Interpolate to the reference value
+			const interpolant = referenceTrack.createInterpolant();
+			const startIndex = referenceOffset;
+			const endIndex = referenceValueSize - referenceOffset;
+			interpolant.evaluate( referenceTime );
+			referenceValue = interpolant.resultBuffer.slice( startIndex, endIndex );
+
+		}
+
+		// Conjugate the quaternion
+		if ( referenceTrackType === 'quaternion' ) {
+
+			const referenceQuat = new Quaternion().fromArray( referenceValue ).normalize().conjugate();
+			referenceQuat.toArray( referenceValue );
+
+		}
+
+		// Subtract the reference value from all of the track values
+
+		const numTimes = targetTrack.times.length;
+		for ( let j = 0; j < numTimes; ++ j ) {
+
+			const valueStart = j * targetValueSize + targetOffset;
+
+			if ( referenceTrackType === 'quaternion' ) {
+
+				// Multiply the conjugate for quaternion track types
+				Quaternion.multiplyQuaternionsFlat(
+					targetTrack.values,
+					valueStart,
+					referenceValue,
+					0,
+					targetTrack.values,
+					valueStart
+				);
+
+			} else {
+
+				const valueEnd = targetValueSize - targetOffset * 2;
+
+				// Subtract each value for all other numeric track types
+				for ( let k = 0; k < valueEnd; ++ k ) {
+
+					targetTrack.values[ valueStart + k ] -= referenceValue[ k ];
+
+				}
+
+			}
+
+		}
+
+	}
+
+	targetClip.blendMode = AdditiveAnimationBlendMode;
+
+	return targetClip;
+
+}
+
+const AnimationUtils = {
+	convertArray: convertArray,
+	isTypedArray: isTypedArray,
+	getKeyframeOrder: getKeyframeOrder,
+	sortedArray: sortedArray,
+	flattenJSON: flattenJSON,
+	subclip: subclip,
+	makeClipAdditive: makeClipAdditive
+};
+
+/**
+ * Abstract base class of interpolants over parametric samples.
+ *
+ * The parameter domain is one dimensional, typically the time or a path
+ * along a curve defined by the data.
+ *
+ * The sample values can have any dimensionality and derived classes may
+ * apply special interpretations to the data.
+ *
+ * This class provides the interval seek in a Template Method, deferring
+ * the actual interpolation to derived classes.
+ *
+ * Time complexity is O(1) for linear access crossing at most two points
+ * and O(log N) for random access, where N is the number of positions.
+ *
+ * References:
+ *
+ * 		http://www.oodesign.com/template-method-pattern.html
+ *
+ */
+
+class Interpolant {
+
+	constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) {
+
+		this.parameterPositions = parameterPositions;
+		this._cachedIndex = 0;
+
+		this.resultBuffer = resultBuffer !== undefined ?
+			resultBuffer : new sampleValues.constructor( sampleSize );
+		this.sampleValues = sampleValues;
+		this.valueSize = sampleSize;
+
+		this.settings = null;
+		this.DefaultSettings_ = {};
+
+	}
+
+	evaluate( t ) {
+
+		const pp = this.parameterPositions;
+		let i1 = this._cachedIndex,
+			t1 = pp[ i1 ],
+			t0 = pp[ i1 - 1 ];
+
+		validate_interval: {
+
+			seek: {
+
+				let right;
+
+				linear_scan: {
+
+					//- See http://jsperf.com/comparison-to-undefined/3
+					//- slower code:
+					//-
+					//- 				if ( t >= t1 || t1 === undefined ) {
+					forward_scan: if ( ! ( t < t1 ) ) {
+
+						for ( let giveUpAt = i1 + 2; ; ) {
+
+							if ( t1 === undefined ) {
+
+								if ( t < t0 ) break forward_scan;
+
+								// after end
+
+								i1 = pp.length;
+								this._cachedIndex = i1;
+								return this.copySampleValue_( i1 - 1 );
+
+							}
+
+							if ( i1 === giveUpAt ) break; // this loop
+
+							t0 = t1;
+							t1 = pp[ ++ i1 ];
+
+							if ( t < t1 ) {
+
+								// we have arrived at the sought interval
+								break seek;
+
+							}
+
+						}
+
+						// prepare binary search on the right side of the index
+						right = pp.length;
+						break linear_scan;
+
+					}
+
+					//- slower code:
+					//-					if ( t < t0 || t0 === undefined ) {
+					if ( ! ( t >= t0 ) ) {
+
+						// looping?
+
+						const t1global = pp[ 1 ];
+
+						if ( t < t1global ) {
+
+							i1 = 2; // + 1, using the scan for the details
+							t0 = t1global;
+
+						}
+
+						// linear reverse scan
+
+						for ( let giveUpAt = i1 - 2; ; ) {
+
+							if ( t0 === undefined ) {
+
+								// before start
+
+								this._cachedIndex = 0;
+								return this.copySampleValue_( 0 );
+
+							}
+
+							if ( i1 === giveUpAt ) break; // this loop
+
+							t1 = t0;
+							t0 = pp[ -- i1 - 1 ];
+
+							if ( t >= t0 ) {
+
+								// we have arrived at the sought interval
+								break seek;
+
+							}
+
+						}
+
+						// prepare binary search on the left side of the index
+						right = i1;
+						i1 = 0;
+						break linear_scan;
+
+					}
+
+					// the interval is valid
+
+					break validate_interval;
+
+				} // linear scan
+
+				// binary search
+
+				while ( i1 < right ) {
+
+					const mid = ( i1 + right ) >>> 1;
+
+					if ( t < pp[ mid ] ) {
+
+						right = mid;
+
+					} else {
+
+						i1 = mid + 1;
+
+					}
+
+				}
+
+				t1 = pp[ i1 ];
+				t0 = pp[ i1 - 1 ];
+
+				// check boundary cases, again
+
+				if ( t0 === undefined ) {
+
+					this._cachedIndex = 0;
+					return this.copySampleValue_( 0 );
+
+				}
+
+				if ( t1 === undefined ) {
+
+					i1 = pp.length;
+					this._cachedIndex = i1;
+					return this.copySampleValue_( i1 - 1 );
+
+				}
+
+			} // seek
+
+			this._cachedIndex = i1;
+
+			this.intervalChanged_( i1, t0, t1 );
+
+		} // validate_interval
+
+		return this.interpolate_( i1, t0, t, t1 );
+
+	}
+
+	getSettings_() {
+
+		return this.settings || this.DefaultSettings_;
+
+	}
+
+	copySampleValue_( index ) {
+
+		// copies a sample value to the result buffer
+
+		const result = this.resultBuffer,
+			values = this.sampleValues,
+			stride = this.valueSize,
+			offset = index * stride;
+
+		for ( let i = 0; i !== stride; ++ i ) {
+
+			result[ i ] = values[ offset + i ];
+
+		}
+
+		return result;
+
+	}
+
+	// Template methods for derived classes:
+
+	interpolate_( /* i1, t0, t, t1 */ ) {
+
+		throw new Error( 'call to abstract method' );
+		// implementations shall return this.resultBuffer
+
+	}
+
+	intervalChanged_( /* i1, t0, t1 */ ) {
+
+		// empty
+
+	}
+
+}
+
+/**
+ * Fast and simple cubic spline interpolant.
+ *
+ * It was derived from a Hermitian construction setting the first derivative
+ * at each sample position to the linear slope between neighboring positions
+ * over their parameter interval.
+ */
+
+class CubicInterpolant extends Interpolant {
+
+	constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) {
+
+		super( parameterPositions, sampleValues, sampleSize, resultBuffer );
+
+		this._weightPrev = - 0;
+		this._offsetPrev = - 0;
+		this._weightNext = - 0;
+		this._offsetNext = - 0;
+
+		this.DefaultSettings_ = {
+
+			endingStart: ZeroCurvatureEnding,
+			endingEnd: ZeroCurvatureEnding
+
+		};
+
+	}
+
+	intervalChanged_( i1, t0, t1 ) {
+
+		const pp = this.parameterPositions;
+		let iPrev = i1 - 2,
+			iNext = i1 + 1,
+
+			tPrev = pp[ iPrev ],
+			tNext = pp[ iNext ];
+
+		if ( tPrev === undefined ) {
+
+			switch ( this.getSettings_().endingStart ) {
+
+				case ZeroSlopeEnding:
+
+					// f'(t0) = 0
+					iPrev = i1;
+					tPrev = 2 * t0 - t1;
+
+					break;
+
+				case WrapAroundEnding:
+
+					// use the other end of the curve
+					iPrev = pp.length - 2;
+					tPrev = t0 + pp[ iPrev ] - pp[ iPrev + 1 ];
+
+					break;
+
+				default: // ZeroCurvatureEnding
+
+					// f''(t0) = 0 a.k.a. Natural Spline
+					iPrev = i1;
+					tPrev = t1;
+
+			}
+
+		}
+
+		if ( tNext === undefined ) {
+
+			switch ( this.getSettings_().endingEnd ) {
+
+				case ZeroSlopeEnding:
+
+					// f'(tN) = 0
+					iNext = i1;
+					tNext = 2 * t1 - t0;
+
+					break;
+
+				case WrapAroundEnding:
+
+					// use the other end of the curve
+					iNext = 1;
+					tNext = t1 + pp[ 1 ] - pp[ 0 ];
+
+					break;
+
+				default: // ZeroCurvatureEnding
+
+					// f''(tN) = 0, a.k.a. Natural Spline
+					iNext = i1 - 1;
+					tNext = t0;
+
+			}
+
+		}
+
+		const halfDt = ( t1 - t0 ) * 0.5,
+			stride = this.valueSize;
+
+		this._weightPrev = halfDt / ( t0 - tPrev );
+		this._weightNext = halfDt / ( tNext - t1 );
+		this._offsetPrev = iPrev * stride;
+		this._offsetNext = iNext * stride;
+
+	}
+
+	interpolate_( i1, t0, t, t1 ) {
+
+		const result = this.resultBuffer,
+			values = this.sampleValues,
+			stride = this.valueSize,
+
+			o1 = i1 * stride,		o0 = o1 - stride,
+			oP = this._offsetPrev, 	oN = this._offsetNext,
+			wP = this._weightPrev,	wN = this._weightNext,
+
+			p = ( t - t0 ) / ( t1 - t0 ),
+			pp = p * p,
+			ppp = pp * p;
+
+		// evaluate polynomials
+
+		const sP = - wP * ppp + 2 * wP * pp - wP * p;
+		const s0 = ( 1 + wP ) * ppp + ( - 1.5 - 2 * wP ) * pp + ( - 0.5 + wP ) * p + 1;
+		const s1 = ( - 1 - wN ) * ppp + ( 1.5 + wN ) * pp + 0.5 * p;
+		const sN = wN * ppp - wN * pp;
+
+		// combine data linearly
+
+		for ( let i = 0; i !== stride; ++ i ) {
+
+			result[ i ] =
+					sP * values[ oP + i ] +
+					s0 * values[ o0 + i ] +
+					s1 * values[ o1 + i ] +
+					sN * values[ oN + i ];
+
+		}
+
+		return result;
+
+	}
+
+}
+
+class LinearInterpolant extends Interpolant {
+
+	constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) {
+
+		super( parameterPositions, sampleValues, sampleSize, resultBuffer );
+
+	}
+
+	interpolate_( i1, t0, t, t1 ) {
+
+		const result = this.resultBuffer,
+			values = this.sampleValues,
+			stride = this.valueSize,
+
+			offset1 = i1 * stride,
+			offset0 = offset1 - stride,
+
+			weight1 = ( t - t0 ) / ( t1 - t0 ),
+			weight0 = 1 - weight1;
+
+		for ( let i = 0; i !== stride; ++ i ) {
+
+			result[ i ] =
+					values[ offset0 + i ] * weight0 +
+					values[ offset1 + i ] * weight1;
+
+		}
+
+		return result;
+
+	}
+
+}
+
+/**
+ *
+ * Interpolant that evaluates to the sample value at the position preceding
+ * the parameter.
+ */
+
+class DiscreteInterpolant extends Interpolant {
+
+	constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) {
+
+		super( parameterPositions, sampleValues, sampleSize, resultBuffer );
+
+	}
+
+	interpolate_( i1 /*, t0, t, t1 */ ) {
+
+		return this.copySampleValue_( i1 - 1 );
+
+	}
+
+}
+
+class KeyframeTrack {
+
+	constructor( name, times, values, interpolation ) {
+
+		if ( name === undefined ) throw new Error( 'THREE.KeyframeTrack: track name is undefined' );
+		if ( times === undefined || times.length === 0 ) throw new Error( 'THREE.KeyframeTrack: no keyframes in track named ' + name );
+
+		this.name = name;
+
+		this.times = convertArray( times, this.TimeBufferType );
+		this.values = convertArray( values, this.ValueBufferType );
+
+		this.setInterpolation( interpolation || this.DefaultInterpolation );
+
+	}
+
+	// Serialization (in static context, because of constructor invocation
+	// and automatic invocation of .toJSON):
+
+	static toJSON( track ) {
+
+		const trackType = track.constructor;
+
+		let json;
+
+		// derived classes can define a static toJSON method
+		if ( trackType.toJSON !== this.toJSON ) {
+
+			json = trackType.toJSON( track );
+
+		} else {
+
+			// by default, we assume the data can be serialized as-is
+			json = {
+
+				'name': track.name,
+				'times': convertArray( track.times, Array ),
+				'values': convertArray( track.values, Array )
+
+			};
+
+			const interpolation = track.getInterpolation();
+
+			if ( interpolation !== track.DefaultInterpolation ) {
+
+				json.interpolation = interpolation;
+
+			}
+
+		}
+
+		json.type = track.ValueTypeName; // mandatory
+
+		return json;
+
+	}
+
+	InterpolantFactoryMethodDiscrete( result ) {
+
+		return new DiscreteInterpolant( this.times, this.values, this.getValueSize(), result );
+
+	}
+
+	InterpolantFactoryMethodLinear( result ) {
+
+		return new LinearInterpolant( this.times, this.values, this.getValueSize(), result );
+
+	}
+
+	InterpolantFactoryMethodSmooth( result ) {
+
+		return new CubicInterpolant( this.times, this.values, this.getValueSize(), result );
+
+	}
+
+	setInterpolation( interpolation ) {
+
+		let factoryMethod;
+
+		switch ( interpolation ) {
+
+			case InterpolateDiscrete:
+
+				factoryMethod = this.InterpolantFactoryMethodDiscrete;
+
+				break;
+
+			case InterpolateLinear:
+
+				factoryMethod = this.InterpolantFactoryMethodLinear;
+
+				break;
+
+			case InterpolateSmooth:
+
+				factoryMethod = this.InterpolantFactoryMethodSmooth;
+
+				break;
+
+		}
+
+		if ( factoryMethod === undefined ) {
+
+			const message = 'unsupported interpolation for ' +
+				this.ValueTypeName + ' keyframe track named ' + this.name;
+
+			if ( this.createInterpolant === undefined ) {
+
+				// fall back to default, unless the default itself is messed up
+				if ( interpolation !== this.DefaultInterpolation ) {
+
+					this.setInterpolation( this.DefaultInterpolation );
+
+				} else {
+
+					throw new Error( message ); // fatal, in this case
+
+				}
+
+			}
+
+			console.warn( 'THREE.KeyframeTrack:', message );
+			return this;
+
+		}
+
+		this.createInterpolant = factoryMethod;
+
+		return this;
+
+	}
+
+	getInterpolation() {
+
+		switch ( this.createInterpolant ) {
+
+			case this.InterpolantFactoryMethodDiscrete:
+
+				return InterpolateDiscrete;
+
+			case this.InterpolantFactoryMethodLinear:
+
+				return InterpolateLinear;
+
+			case this.InterpolantFactoryMethodSmooth:
+
+				return InterpolateSmooth;
+
+		}
+
+	}
+
+	getValueSize() {
+
+		return this.values.length / this.times.length;
+
+	}
+
+	// move all keyframes either forwards or backwards in time
+	shift( timeOffset ) {
+
+		if ( timeOffset !== 0.0 ) {
+
+			const times = this.times;
+
+			for ( let i = 0, n = times.length; i !== n; ++ i ) {
+
+				times[ i ] += timeOffset;
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	// scale all keyframe times by a factor (useful for frame <-> seconds conversions)
+	scale( timeScale ) {
+
+		if ( timeScale !== 1.0 ) {
+
+			const times = this.times;
+
+			for ( let i = 0, n = times.length; i !== n; ++ i ) {
+
+				times[ i ] *= timeScale;
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	// removes keyframes before and after animation without changing any values within the range [startTime, endTime].
+	// IMPORTANT: We do not shift around keys to the start of the track time, because for interpolated keys this will change their values
+	trim( startTime, endTime ) {
+
+		const times = this.times,
+			nKeys = times.length;
+
+		let from = 0,
+			to = nKeys - 1;
+
+		while ( from !== nKeys && times[ from ] < startTime ) {
+
+			++ from;
+
+		}
+
+		while ( to !== - 1 && times[ to ] > endTime ) {
+
+			-- to;
+
+		}
+
+		++ to; // inclusive -> exclusive bound
+
+		if ( from !== 0 || to !== nKeys ) {
+
+			// empty tracks are forbidden, so keep at least one keyframe
+			if ( from >= to ) {
+
+				to = Math.max( to, 1 );
+				from = to - 1;
+
+			}
+
+			const stride = this.getValueSize();
+			this.times = times.slice( from, to );
+			this.values = this.values.slice( from * stride, to * stride );
+
+		}
+
+		return this;
+
+	}
+
+	// ensure we do not get a GarbageInGarbageOut situation, make sure tracks are at least minimally viable
+	validate() {
+
+		let valid = true;
+
+		const valueSize = this.getValueSize();
+		if ( valueSize - Math.floor( valueSize ) !== 0 ) {
+
+			console.error( 'THREE.KeyframeTrack: Invalid value size in track.', this );
+			valid = false;
+
+		}
+
+		const times = this.times,
+			values = this.values,
+
+			nKeys = times.length;
+
+		if ( nKeys === 0 ) {
+
+			console.error( 'THREE.KeyframeTrack: Track is empty.', this );
+			valid = false;
+
+		}
+
+		let prevTime = null;
+
+		for ( let i = 0; i !== nKeys; i ++ ) {
+
+			const currTime = times[ i ];
+
+			if ( typeof currTime === 'number' && isNaN( currTime ) ) {
+
+				console.error( 'THREE.KeyframeTrack: Time is not a valid number.', this, i, currTime );
+				valid = false;
+				break;
+
+			}
+
+			if ( prevTime !== null && prevTime > currTime ) {
+
+				console.error( 'THREE.KeyframeTrack: Out of order keys.', this, i, currTime, prevTime );
+				valid = false;
+				break;
+
+			}
+
+			prevTime = currTime;
+
+		}
+
+		if ( values !== undefined ) {
+
+			if ( isTypedArray( values ) ) {
+
+				for ( let i = 0, n = values.length; i !== n; ++ i ) {
+
+					const value = values[ i ];
+
+					if ( isNaN( value ) ) {
+
+						console.error( 'THREE.KeyframeTrack: Value is not a valid number.', this, i, value );
+						valid = false;
+						break;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		return valid;
+
+	}
+
+	// removes equivalent sequential keys as common in morph target sequences
+	// (0,0,0,0,1,1,1,0,0,0,0,0,0,0) --> (0,0,1,1,0,0)
+	optimize() {
+
+		// times or values may be shared with other tracks, so overwriting is unsafe
+		const times = this.times.slice(),
+			values = this.values.slice(),
+			stride = this.getValueSize(),
+
+			smoothInterpolation = this.getInterpolation() === InterpolateSmooth,
+
+			lastIndex = times.length - 1;
+
+		let writeIndex = 1;
+
+		for ( let i = 1; i < lastIndex; ++ i ) {
+
+			let keep = false;
+
+			const time = times[ i ];
+			const timeNext = times[ i + 1 ];
+
+			// remove adjacent keyframes scheduled at the same time
+
+			if ( time !== timeNext && ( i !== 1 || time !== times[ 0 ] ) ) {
+
+				if ( ! smoothInterpolation ) {
+
+					// remove unnecessary keyframes same as their neighbors
+
+					const offset = i * stride,
+						offsetP = offset - stride,
+						offsetN = offset + stride;
+
+					for ( let j = 0; j !== stride; ++ j ) {
+
+						const value = values[ offset + j ];
+
+						if ( value !== values[ offsetP + j ] ||
+							value !== values[ offsetN + j ] ) {
+
+							keep = true;
+							break;
+
+						}
+
+					}
+
+				} else {
+
+					keep = true;
+
+				}
+
+			}
+
+			// in-place compaction
+
+			if ( keep ) {
+
+				if ( i !== writeIndex ) {
+
+					times[ writeIndex ] = times[ i ];
+
+					const readOffset = i * stride,
+						writeOffset = writeIndex * stride;
+
+					for ( let j = 0; j !== stride; ++ j ) {
+
+						values[ writeOffset + j ] = values[ readOffset + j ];
+
+					}
+
+				}
+
+				++ writeIndex;
+
+			}
+
+		}
+
+		// flush last keyframe (compaction looks ahead)
+
+		if ( lastIndex > 0 ) {
+
+			times[ writeIndex ] = times[ lastIndex ];
+
+			for ( let readOffset = lastIndex * stride, writeOffset = writeIndex * stride, j = 0; j !== stride; ++ j ) {
+
+				values[ writeOffset + j ] = values[ readOffset + j ];
+
+			}
+
+			++ writeIndex;
+
+		}
+
+		if ( writeIndex !== times.length ) {
+
+			this.times = times.slice( 0, writeIndex );
+			this.values = values.slice( 0, writeIndex * stride );
+
+		} else {
+
+			this.times = times;
+			this.values = values;
+
+		}
+
+		return this;
+
+	}
+
+	clone() {
+
+		const times = this.times.slice();
+		const values = this.values.slice();
+
+		const TypedKeyframeTrack = this.constructor;
+		const track = new TypedKeyframeTrack( this.name, times, values );
+
+		// Interpolant argument to constructor is not saved, so copy the factory method directly.
+		track.createInterpolant = this.createInterpolant;
+
+		return track;
+
+	}
+
+}
+
+KeyframeTrack.prototype.TimeBufferType = Float32Array;
+KeyframeTrack.prototype.ValueBufferType = Float32Array;
+KeyframeTrack.prototype.DefaultInterpolation = InterpolateLinear;
+
+/**
+ * A Track of Boolean keyframe values.
+ */
+class BooleanKeyframeTrack extends KeyframeTrack {}
+
+BooleanKeyframeTrack.prototype.ValueTypeName = 'bool';
+BooleanKeyframeTrack.prototype.ValueBufferType = Array;
+BooleanKeyframeTrack.prototype.DefaultInterpolation = InterpolateDiscrete;
+BooleanKeyframeTrack.prototype.InterpolantFactoryMethodLinear = undefined;
+BooleanKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined;
+
+/**
+ * A Track of keyframe values that represent color.
+ */
+class ColorKeyframeTrack extends KeyframeTrack {}
+
+ColorKeyframeTrack.prototype.ValueTypeName = 'color';
+
+/**
+ * A Track of numeric keyframe values.
+ */
+class NumberKeyframeTrack extends KeyframeTrack {}
+
+NumberKeyframeTrack.prototype.ValueTypeName = 'number';
+
+/**
+ * Spherical linear unit quaternion interpolant.
+ */
+
+class QuaternionLinearInterpolant extends Interpolant {
+
+	constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) {
+
+		super( parameterPositions, sampleValues, sampleSize, resultBuffer );
+
+	}
+
+	interpolate_( i1, t0, t, t1 ) {
+
+		const result = this.resultBuffer,
+			values = this.sampleValues,
+			stride = this.valueSize,
+
+			alpha = ( t - t0 ) / ( t1 - t0 );
+
+		let offset = i1 * stride;
+
+		for ( let end = offset + stride; offset !== end; offset += 4 ) {
+
+			Quaternion.slerpFlat( result, 0, values, offset - stride, values, offset, alpha );
+
+		}
+
+		return result;
+
+	}
+
+}
+
+/**
+ * A Track of quaternion keyframe values.
+ */
+class QuaternionKeyframeTrack extends KeyframeTrack {
+
+	InterpolantFactoryMethodLinear( result ) {
+
+		return new QuaternionLinearInterpolant( this.times, this.values, this.getValueSize(), result );
+
+	}
+
+}
+
+QuaternionKeyframeTrack.prototype.ValueTypeName = 'quaternion';
+// ValueBufferType is inherited
+QuaternionKeyframeTrack.prototype.DefaultInterpolation = InterpolateLinear;
+QuaternionKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined;
+
+/**
+ * A Track that interpolates Strings
+ */
+class StringKeyframeTrack extends KeyframeTrack {}
+
+StringKeyframeTrack.prototype.ValueTypeName = 'string';
+StringKeyframeTrack.prototype.ValueBufferType = Array;
+StringKeyframeTrack.prototype.DefaultInterpolation = InterpolateDiscrete;
+StringKeyframeTrack.prototype.InterpolantFactoryMethodLinear = undefined;
+StringKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined;
+
+/**
+ * A Track of vectored keyframe values.
+ */
+class VectorKeyframeTrack extends KeyframeTrack {}
+
+VectorKeyframeTrack.prototype.ValueTypeName = 'vector';
+
+class AnimationClip {
+
+	constructor( name, duration = - 1, tracks, blendMode = NormalAnimationBlendMode ) {
+
+		this.name = name;
+		this.tracks = tracks;
+		this.duration = duration;
+		this.blendMode = blendMode;
+
+		this.uuid = generateUUID();
+
+		// this means it should figure out its duration by scanning the tracks
+		if ( this.duration < 0 ) {
+
+			this.resetDuration();
+
+		}
+
+	}
+
+
+	static parse( json ) {
+
+		const tracks = [],
+			jsonTracks = json.tracks,
+			frameTime = 1.0 / ( json.fps || 1.0 );
+
+		for ( let i = 0, n = jsonTracks.length; i !== n; ++ i ) {
+
+			tracks.push( parseKeyframeTrack( jsonTracks[ i ] ).scale( frameTime ) );
+
+		}
+
+		const clip = new this( json.name, json.duration, tracks, json.blendMode );
+		clip.uuid = json.uuid;
+
+		return clip;
+
+	}
+
+	static toJSON( clip ) {
+
+		const tracks = [],
+			clipTracks = clip.tracks;
+
+		const json = {
+
+			'name': clip.name,
+			'duration': clip.duration,
+			'tracks': tracks,
+			'uuid': clip.uuid,
+			'blendMode': clip.blendMode
+
+		};
+
+		for ( let i = 0, n = clipTracks.length; i !== n; ++ i ) {
+
+			tracks.push( KeyframeTrack.toJSON( clipTracks[ i ] ) );
+
+		}
+
+		return json;
+
+	}
+
+	static CreateFromMorphTargetSequence( name, morphTargetSequence, fps, noLoop ) {
+
+		const numMorphTargets = morphTargetSequence.length;
+		const tracks = [];
+
+		for ( let i = 0; i < numMorphTargets; i ++ ) {
+
+			let times = [];
+			let values = [];
+
+			times.push(
+				( i + numMorphTargets - 1 ) % numMorphTargets,
+				i,
+				( i + 1 ) % numMorphTargets );
+
+			values.push( 0, 1, 0 );
+
+			const order = getKeyframeOrder( times );
+			times = sortedArray( times, 1, order );
+			values = sortedArray( values, 1, order );
+
+			// if there is a key at the first frame, duplicate it as the
+			// last frame as well for perfect loop.
+			if ( ! noLoop && times[ 0 ] === 0 ) {
+
+				times.push( numMorphTargets );
+				values.push( values[ 0 ] );
+
+			}
+
+			tracks.push(
+				new NumberKeyframeTrack(
+					'.morphTargetInfluences[' + morphTargetSequence[ i ].name + ']',
+					times, values
+				).scale( 1.0 / fps ) );
+
+		}
+
+		return new this( name, - 1, tracks );
+
+	}
+
+	static findByName( objectOrClipArray, name ) {
+
+		let clipArray = objectOrClipArray;
+
+		if ( ! Array.isArray( objectOrClipArray ) ) {
+
+			const o = objectOrClipArray;
+			clipArray = o.geometry && o.geometry.animations || o.animations;
+
+		}
+
+		for ( let i = 0; i < clipArray.length; i ++ ) {
+
+			if ( clipArray[ i ].name === name ) {
+
+				return clipArray[ i ];
+
+			}
+
+		}
+
+		return null;
+
+	}
+
+	static CreateClipsFromMorphTargetSequences( morphTargets, fps, noLoop ) {
+
+		const animationToMorphTargets = {};
+
+		// tested with https://regex101.com/ on trick sequences
+		// such flamingo_flyA_003, flamingo_run1_003, crdeath0059
+		const pattern = /^([\w-]*?)([\d]+)$/;
+
+		// sort morph target names into animation groups based
+		// patterns like Walk_001, Walk_002, Run_001, Run_002
+		for ( let i = 0, il = morphTargets.length; i < il; i ++ ) {
+
+			const morphTarget = morphTargets[ i ];
+			const parts = morphTarget.name.match( pattern );
+
+			if ( parts && parts.length > 1 ) {
+
+				const name = parts[ 1 ];
+
+				let animationMorphTargets = animationToMorphTargets[ name ];
+
+				if ( ! animationMorphTargets ) {
+
+					animationToMorphTargets[ name ] = animationMorphTargets = [];
+
+				}
+
+				animationMorphTargets.push( morphTarget );
+
+			}
+
+		}
+
+		const clips = [];
+
+		for ( const name in animationToMorphTargets ) {
+
+			clips.push( this.CreateFromMorphTargetSequence( name, animationToMorphTargets[ name ], fps, noLoop ) );
+
+		}
+
+		return clips;
+
+	}
+
+	// parse the animation.hierarchy format
+	static parseAnimation( animation, bones ) {
+
+		if ( ! animation ) {
+
+			console.error( 'THREE.AnimationClip: No animation in JSONLoader data.' );
+			return null;
+
+		}
+
+		const addNonemptyTrack = function ( trackType, trackName, animationKeys, propertyName, destTracks ) {
+
+			// only return track if there are actually keys.
+			if ( animationKeys.length !== 0 ) {
+
+				const times = [];
+				const values = [];
+
+				flattenJSON( animationKeys, times, values, propertyName );
+
+				// empty keys are filtered out, so check again
+				if ( times.length !== 0 ) {
+
+					destTracks.push( new trackType( trackName, times, values ) );
+
+				}
+
+			}
+
+		};
+
+		const tracks = [];
+
+		const clipName = animation.name || 'default';
+		const fps = animation.fps || 30;
+		const blendMode = animation.blendMode;
+
+		// automatic length determination in AnimationClip.
+		let duration = animation.length || - 1;
+
+		const hierarchyTracks = animation.hierarchy || [];
+
+		for ( let h = 0; h < hierarchyTracks.length; h ++ ) {
+
+			const animationKeys = hierarchyTracks[ h ].keys;
+
+			// skip empty tracks
+			if ( ! animationKeys || animationKeys.length === 0 ) continue;
+
+			// process morph targets
+			if ( animationKeys[ 0 ].morphTargets ) {
+
+				// figure out all morph targets used in this track
+				const morphTargetNames = {};
+
+				let k;
+
+				for ( k = 0; k < animationKeys.length; k ++ ) {
+
+					if ( animationKeys[ k ].morphTargets ) {
+
+						for ( let m = 0; m < animationKeys[ k ].morphTargets.length; m ++ ) {
+
+							morphTargetNames[ animationKeys[ k ].morphTargets[ m ] ] = - 1;
+
+						}
+
+					}
+
+				}
+
+				// create a track for each morph target with all zero
+				// morphTargetInfluences except for the keys in which
+				// the morphTarget is named.
+				for ( const morphTargetName in morphTargetNames ) {
+
+					const times = [];
+					const values = [];
+
+					for ( let m = 0; m !== animationKeys[ k ].morphTargets.length; ++ m ) {
+
+						const animationKey = animationKeys[ k ];
+
+						times.push( animationKey.time );
+						values.push( ( animationKey.morphTarget === morphTargetName ) ? 1 : 0 );
+
+					}
+
+					tracks.push( new NumberKeyframeTrack( '.morphTargetInfluence[' + morphTargetName + ']', times, values ) );
+
+				}
+
+				duration = morphTargetNames.length * fps;
+
+			} else {
+
+				// ...assume skeletal animation
+
+				const boneName = '.bones[' + bones[ h ].name + ']';
+
+				addNonemptyTrack(
+					VectorKeyframeTrack, boneName + '.position',
+					animationKeys, 'pos', tracks );
+
+				addNonemptyTrack(
+					QuaternionKeyframeTrack, boneName + '.quaternion',
+					animationKeys, 'rot', tracks );
+
+				addNonemptyTrack(
+					VectorKeyframeTrack, boneName + '.scale',
+					animationKeys, 'scl', tracks );
+
+			}
+
+		}
+
+		if ( tracks.length === 0 ) {
+
+			return null;
+
+		}
+
+		const clip = new this( clipName, duration, tracks, blendMode );
+
+		return clip;
+
+	}
+
+	resetDuration() {
+
+		const tracks = this.tracks;
+		let duration = 0;
+
+		for ( let i = 0, n = tracks.length; i !== n; ++ i ) {
+
+			const track = this.tracks[ i ];
+
+			duration = Math.max( duration, track.times[ track.times.length - 1 ] );
+
+		}
+
+		this.duration = duration;
+
+		return this;
+
+	}
+
+	trim() {
+
+		for ( let i = 0; i < this.tracks.length; i ++ ) {
+
+			this.tracks[ i ].trim( 0, this.duration );
+
+		}
+
+		return this;
+
+	}
+
+	validate() {
+
+		let valid = true;
+
+		for ( let i = 0; i < this.tracks.length; i ++ ) {
+
+			valid = valid && this.tracks[ i ].validate();
+
+		}
+
+		return valid;
+
+	}
+
+	optimize() {
+
+		for ( let i = 0; i < this.tracks.length; i ++ ) {
+
+			this.tracks[ i ].optimize();
+
+		}
+
+		return this;
+
+	}
+
+	clone() {
+
+		const tracks = [];
+
+		for ( let i = 0; i < this.tracks.length; i ++ ) {
+
+			tracks.push( this.tracks[ i ].clone() );
+
+		}
+
+		return new this.constructor( this.name, this.duration, tracks, this.blendMode );
+
+	}
+
+	toJSON() {
+
+		return this.constructor.toJSON( this );
+
+	}
+
+}
+
+function getTrackTypeForValueTypeName( typeName ) {
+
+	switch ( typeName.toLowerCase() ) {
+
+		case 'scalar':
+		case 'double':
+		case 'float':
+		case 'number':
+		case 'integer':
+
+			return NumberKeyframeTrack;
+
+		case 'vector':
+		case 'vector2':
+		case 'vector3':
+		case 'vector4':
+
+			return VectorKeyframeTrack;
+
+		case 'color':
+
+			return ColorKeyframeTrack;
+
+		case 'quaternion':
+
+			return QuaternionKeyframeTrack;
+
+		case 'bool':
+		case 'boolean':
+
+			return BooleanKeyframeTrack;
+
+		case 'string':
+
+			return StringKeyframeTrack;
+
+	}
+
+	throw new Error( 'THREE.KeyframeTrack: Unsupported typeName: ' + typeName );
+
+}
+
+function parseKeyframeTrack( json ) {
+
+	if ( json.type === undefined ) {
+
+		throw new Error( 'THREE.KeyframeTrack: track type undefined, can not parse' );
+
+	}
+
+	const trackType = getTrackTypeForValueTypeName( json.type );
+
+	if ( json.times === undefined ) {
+
+		const times = [], values = [];
+
+		flattenJSON( json.keys, times, values, 'value' );
+
+		json.times = times;
+		json.values = values;
+
+	}
+
+	// derived classes can define a static parse method
+	if ( trackType.parse !== undefined ) {
+
+		return trackType.parse( json );
+
+	} else {
+
+		// by default, we assume a constructor compatible with the base
+		return new trackType( json.name, json.times, json.values, json.interpolation );
+
+	}
+
+}
+
+const Cache = {
+
+	enabled: false,
+
+	files: {},
+
+	add: function ( key, file ) {
+
+		if ( this.enabled === false ) return;
+
+		// console.log( 'THREE.Cache', 'Adding key:', key );
+
+		this.files[ key ] = file;
+
+	},
+
+	get: function ( key ) {
+
+		if ( this.enabled === false ) return;
+
+		// console.log( 'THREE.Cache', 'Checking key:', key );
+
+		return this.files[ key ];
+
+	},
+
+	remove: function ( key ) {
+
+		delete this.files[ key ];
+
+	},
+
+	clear: function () {
+
+		this.files = {};
+
+	}
+
+};
+
+class LoadingManager {
+
+	constructor( onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		let isLoading = false;
+		let itemsLoaded = 0;
+		let itemsTotal = 0;
+		let urlModifier = undefined;
+		const handlers = [];
+
+		// Refer to #5689 for the reason why we don't set .onStart
+		// in the constructor
+
+		this.onStart = undefined;
+		this.onLoad = onLoad;
+		this.onProgress = onProgress;
+		this.onError = onError;
+
+		this.itemStart = function ( url ) {
+
+			itemsTotal ++;
+
+			if ( isLoading === false ) {
+
+				if ( scope.onStart !== undefined ) {
+
+					scope.onStart( url, itemsLoaded, itemsTotal );
+
+				}
+
+			}
+
+			isLoading = true;
+
+		};
+
+		this.itemEnd = function ( url ) {
+
+			itemsLoaded ++;
+
+			if ( scope.onProgress !== undefined ) {
+
+				scope.onProgress( url, itemsLoaded, itemsTotal );
+
+			}
+
+			if ( itemsLoaded === itemsTotal ) {
+
+				isLoading = false;
+
+				if ( scope.onLoad !== undefined ) {
+
+					scope.onLoad();
+
+				}
+
+			}
+
+		};
+
+		this.itemError = function ( url ) {
+
+			if ( scope.onError !== undefined ) {
+
+				scope.onError( url );
+
+			}
+
+		};
+
+		this.resolveURL = function ( url ) {
+
+			if ( urlModifier ) {
+
+				return urlModifier( url );
+
+			}
+
+			return url;
+
+		};
+
+		this.setURLModifier = function ( transform ) {
+
+			urlModifier = transform;
+
+			return this;
+
+		};
+
+		this.addHandler = function ( regex, loader ) {
+
+			handlers.push( regex, loader );
+
+			return this;
+
+		};
+
+		this.removeHandler = function ( regex ) {
+
+			const index = handlers.indexOf( regex );
+
+			if ( index !== - 1 ) {
+
+				handlers.splice( index, 2 );
+
+			}
+
+			return this;
+
+		};
+
+		this.getHandler = function ( file ) {
+
+			for ( let i = 0, l = handlers.length; i < l; i += 2 ) {
+
+				const regex = handlers[ i ];
+				const loader = handlers[ i + 1 ];
+
+				if ( regex.global ) regex.lastIndex = 0; // see #17920
+
+				if ( regex.test( file ) ) {
+
+					return loader;
+
+				}
+
+			}
+
+			return null;
+
+		};
+
+	}
+
+}
+
+const DefaultLoadingManager = /*@__PURE__*/ new LoadingManager();
+
+class Loader {
+
+	constructor( manager ) {
+
+		this.manager = ( manager !== undefined ) ? manager : DefaultLoadingManager;
+
+		this.crossOrigin = 'anonymous';
+		this.withCredentials = false;
+		this.path = '';
+		this.resourcePath = '';
+		this.requestHeader = {};
+
+	}
+
+	load( /* url, onLoad, onProgress, onError */ ) {}
+
+	loadAsync( url, onProgress ) {
+
+		const scope = this;
+
+		return new Promise( function ( resolve, reject ) {
+
+			scope.load( url, resolve, onProgress, reject );
+
+		} );
+
+	}
+
+	parse( /* data */ ) {}
+
+	setCrossOrigin( crossOrigin ) {
+
+		this.crossOrigin = crossOrigin;
+		return this;
+
+	}
+
+	setWithCredentials( value ) {
+
+		this.withCredentials = value;
+		return this;
+
+	}
+
+	setPath( path ) {
+
+		this.path = path;
+		return this;
+
+	}
+
+	setResourcePath( resourcePath ) {
+
+		this.resourcePath = resourcePath;
+		return this;
+
+	}
+
+	setRequestHeader( requestHeader ) {
+
+		this.requestHeader = requestHeader;
+		return this;
+
+	}
+
+}
+
+Loader.DEFAULT_MATERIAL_NAME = '__DEFAULT';
+
+const loading = {};
+
+class HttpError extends Error {
+
+	constructor( message, response ) {
+
+		super( message );
+		this.response = response;
+
+	}
+
+}
+
+class FileLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		if ( url === undefined ) url = '';
+
+		if ( this.path !== undefined ) url = this.path + url;
+
+		url = this.manager.resolveURL( url );
+
+		const cached = Cache.get( url );
+
+		if ( cached !== undefined ) {
+
+			this.manager.itemStart( url );
+
+			setTimeout( () => {
+
+				if ( onLoad ) onLoad( cached );
+
+				this.manager.itemEnd( url );
+
+			}, 0 );
+
+			return cached;
+
+		}
+
+		// Check if request is duplicate
+
+		if ( loading[ url ] !== undefined ) {
+
+			loading[ url ].push( {
+
+				onLoad: onLoad,
+				onProgress: onProgress,
+				onError: onError
+
+			} );
+
+			return;
+
+		}
+
+		// Initialise array for duplicate requests
+		loading[ url ] = [];
+
+		loading[ url ].push( {
+			onLoad: onLoad,
+			onProgress: onProgress,
+			onError: onError,
+		} );
+
+		// create request
+		const req = new Request( url, {
+			headers: new Headers( this.requestHeader ),
+			credentials: this.withCredentials ? 'include' : 'same-origin',
+			// An abort controller could be added within a future PR
+		} );
+
+		// record states ( avoid data race )
+		const mimeType = this.mimeType;
+		const responseType = this.responseType;
+
+		// start the fetch
+		fetch( req )
+			.then( response => {
+
+				if ( response.status === 200 || response.status === 0 ) {
+
+					// Some browsers return HTTP Status 0 when using non-http protocol
+					// e.g. 'file://' or 'data://'. Handle as success.
+
+					if ( response.status === 0 ) {
+
+						console.warn( 'THREE.FileLoader: HTTP Status 0 received.' );
+
+					}
+
+					// Workaround: Checking if response.body === undefined for Alipay browser #23548
+
+					if ( typeof ReadableStream === 'undefined' || response.body === undefined || response.body.getReader === undefined ) {
+
+						return response;
+
+					}
+
+					const callbacks = loading[ url ];
+					const reader = response.body.getReader();
+
+					// Nginx needs X-File-Size check
+					// https://serverfault.com/questions/482875/why-does-nginx-remove-content-length-header-for-chunked-content
+					const contentLength = response.headers.get( 'Content-Length' ) || response.headers.get( 'X-File-Size' );
+					const total = contentLength ? parseInt( contentLength ) : 0;
+					const lengthComputable = total !== 0;
+					let loaded = 0;
+
+					// periodically read data into the new stream tracking while download progress
+					const stream = new ReadableStream( {
+						start( controller ) {
+
+							readData();
+
+							function readData() {
+
+								reader.read().then( ( { done, value } ) => {
+
+									if ( done ) {
+
+										controller.close();
+
+									} else {
+
+										loaded += value.byteLength;
+
+										const event = new ProgressEvent( 'progress', { lengthComputable, loaded, total } );
+										for ( let i = 0, il = callbacks.length; i < il; i ++ ) {
+
+											const callback = callbacks[ i ];
+											if ( callback.onProgress ) callback.onProgress( event );
+
+										}
+
+										controller.enqueue( value );
+										readData();
+
+									}
+
+								} );
+
+							}
+
+						}
+
+					} );
+
+					return new Response( stream );
+
+				} else {
+
+					throw new HttpError( `fetch for "${response.url}" responded with ${response.status}: ${response.statusText}`, response );
+
+				}
+
+			} )
+			.then( response => {
+
+				switch ( responseType ) {
+
+					case 'arraybuffer':
+
+						return response.arrayBuffer();
+
+					case 'blob':
+
+						return response.blob();
+
+					case 'document':
+
+						return response.text()
+							.then( text => {
+
+								const parser = new DOMParser();
+								return parser.parseFromString( text, mimeType );
+
+							} );
+
+					case 'json':
+
+						return response.json();
+
+					default:
+
+						if ( mimeType === undefined ) {
+
+							return response.text();
+
+						} else {
+
+							// sniff encoding
+							const re = /charset="?([^;"\s]*)"?/i;
+							const exec = re.exec( mimeType );
+							const label = exec && exec[ 1 ] ? exec[ 1 ].toLowerCase() : undefined;
+							const decoder = new TextDecoder( label );
+							return response.arrayBuffer().then( ab => decoder.decode( ab ) );
+
+						}
+
+				}
+
+			} )
+			.then( data => {
+
+				// Add to cache only on HTTP success, so that we do not cache
+				// error response bodies as proper responses to requests.
+				Cache.add( url, data );
+
+				const callbacks = loading[ url ];
+				delete loading[ url ];
+
+				for ( let i = 0, il = callbacks.length; i < il; i ++ ) {
+
+					const callback = callbacks[ i ];
+					if ( callback.onLoad ) callback.onLoad( data );
+
+				}
+
+			} )
+			.catch( err => {
+
+				// Abort errors and other errors are handled the same
+
+				const callbacks = loading[ url ];
+
+				if ( callbacks === undefined ) {
+
+					// When onLoad was called and url was deleted in `loading`
+					this.manager.itemError( url );
+					throw err;
+
+				}
+
+				delete loading[ url ];
+
+				for ( let i = 0, il = callbacks.length; i < il; i ++ ) {
+
+					const callback = callbacks[ i ];
+					if ( callback.onError ) callback.onError( err );
+
+				}
+
+				this.manager.itemError( url );
+
+			} )
+			.finally( () => {
+
+				this.manager.itemEnd( url );
+
+			} );
+
+		this.manager.itemStart( url );
+
+	}
+
+	setResponseType( value ) {
+
+		this.responseType = value;
+		return this;
+
+	}
+
+	setMimeType( value ) {
+
+		this.mimeType = value;
+		return this;
+
+	}
+
+}
+
+class AnimationLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+		loader.load( url, function ( text ) {
+
+			try {
+
+				onLoad( scope.parse( JSON.parse( text ) ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	parse( json ) {
+
+		const animations = [];
+
+		for ( let i = 0; i < json.length; i ++ ) {
+
+			const clip = AnimationClip.parse( json[ i ] );
+
+			animations.push( clip );
+
+		}
+
+		return animations;
+
+	}
+
+}
+
+/**
+ * Abstract Base class to block based textures loader (dds, pvr, ...)
+ *
+ * Sub classes have to implement the parse() method which will be used in load().
+ */
+
+class CompressedTextureLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const images = [];
+
+		const texture = new CompressedTexture();
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( scope.withCredentials );
+
+		let loaded = 0;
+
+		function loadTexture( i ) {
+
+			loader.load( url[ i ], function ( buffer ) {
+
+				const texDatas = scope.parse( buffer, true );
+
+				images[ i ] = {
+					width: texDatas.width,
+					height: texDatas.height,
+					format: texDatas.format,
+					mipmaps: texDatas.mipmaps
+				};
+
+				loaded += 1;
+
+				if ( loaded === 6 ) {
+
+					if ( texDatas.mipmapCount === 1 ) texture.minFilter = LinearFilter;
+
+					texture.image = images;
+					texture.format = texDatas.format;
+					texture.needsUpdate = true;
+
+					if ( onLoad ) onLoad( texture );
+
+				}
+
+			}, onProgress, onError );
+
+		}
+
+		if ( Array.isArray( url ) ) {
+
+			for ( let i = 0, il = url.length; i < il; ++ i ) {
+
+				loadTexture( i );
+
+			}
+
+		} else {
+
+			// compressed cubemap texture stored in a single DDS file
+
+			loader.load( url, function ( buffer ) {
+
+				const texDatas = scope.parse( buffer, true );
+
+				if ( texDatas.isCubemap ) {
+
+					const faces = texDatas.mipmaps.length / texDatas.mipmapCount;
+
+					for ( let f = 0; f < faces; f ++ ) {
+
+						images[ f ] = { mipmaps: [] };
+
+						for ( let i = 0; i < texDatas.mipmapCount; i ++ ) {
+
+							images[ f ].mipmaps.push( texDatas.mipmaps[ f * texDatas.mipmapCount + i ] );
+							images[ f ].format = texDatas.format;
+							images[ f ].width = texDatas.width;
+							images[ f ].height = texDatas.height;
+
+						}
+
+					}
+
+					texture.image = images;
+
+				} else {
+
+					texture.image.width = texDatas.width;
+					texture.image.height = texDatas.height;
+					texture.mipmaps = texDatas.mipmaps;
+
+				}
+
+				if ( texDatas.mipmapCount === 1 ) {
+
+					texture.minFilter = LinearFilter;
+
+				}
+
+				texture.format = texDatas.format;
+				texture.needsUpdate = true;
+
+				if ( onLoad ) onLoad( texture );
+
+			}, onProgress, onError );
+
+		}
+
+		return texture;
+
+	}
+
+}
+
+class ImageLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		if ( this.path !== undefined ) url = this.path + url;
+
+		url = this.manager.resolveURL( url );
+
+		const scope = this;
+
+		const cached = Cache.get( url );
+
+		if ( cached !== undefined ) {
+
+			scope.manager.itemStart( url );
+
+			setTimeout( function () {
+
+				if ( onLoad ) onLoad( cached );
+
+				scope.manager.itemEnd( url );
+
+			}, 0 );
+
+			return cached;
+
+		}
+
+		const image = createElementNS( 'img' );
+
+		function onImageLoad() {
+
+			removeEventListeners();
+
+			Cache.add( url, this );
+
+			if ( onLoad ) onLoad( this );
+
+			scope.manager.itemEnd( url );
+
+		}
+
+		function onImageError( event ) {
+
+			removeEventListeners();
+
+			if ( onError ) onError( event );
+
+			scope.manager.itemError( url );
+			scope.manager.itemEnd( url );
+
+		}
+
+		function removeEventListeners() {
+
+			image.removeEventListener( 'load', onImageLoad, false );
+			image.removeEventListener( 'error', onImageError, false );
+
+		}
+
+		image.addEventListener( 'load', onImageLoad, false );
+		image.addEventListener( 'error', onImageError, false );
+
+		if ( url.slice( 0, 5 ) !== 'data:' ) {
+
+			if ( this.crossOrigin !== undefined ) image.crossOrigin = this.crossOrigin;
+
+		}
+
+		scope.manager.itemStart( url );
+
+		image.src = url;
+
+		return image;
+
+	}
+
+}
+
+class CubeTextureLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( urls, onLoad, onProgress, onError ) {
+
+		const texture = new CubeTexture();
+		texture.colorSpace = SRGBColorSpace;
+
+		const loader = new ImageLoader( this.manager );
+		loader.setCrossOrigin( this.crossOrigin );
+		loader.setPath( this.path );
+
+		let loaded = 0;
+
+		function loadTexture( i ) {
+
+			loader.load( urls[ i ], function ( image ) {
+
+				texture.images[ i ] = image;
+
+				loaded ++;
+
+				if ( loaded === 6 ) {
+
+					texture.needsUpdate = true;
+
+					if ( onLoad ) onLoad( texture );
+
+				}
+
+			}, undefined, onError );
+
+		}
+
+		for ( let i = 0; i < urls.length; ++ i ) {
+
+			loadTexture( i );
+
+		}
+
+		return texture;
+
+	}
+
+}
+
+/**
+ * Abstract Base class to load generic binary textures formats (rgbe, hdr, ...)
+ *
+ * Sub classes have to implement the parse() method which will be used in load().
+ */
+
+class DataTextureLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const texture = new DataTexture();
+
+		const loader = new FileLoader( this.manager );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setPath( this.path );
+		loader.setWithCredentials( scope.withCredentials );
+		loader.load( url, function ( buffer ) {
+
+			let texData;
+
+			try {
+
+				texData = scope.parse( buffer );
+
+			} catch ( error ) {
+
+				if ( onError !== undefined ) {
+
+					onError( error );
+
+				} else {
+
+					console.error( error );
+					return;
+
+				}
+
+			}
+
+			if ( texData.image !== undefined ) {
+
+				texture.image = texData.image;
+
+			} else if ( texData.data !== undefined ) {
+
+				texture.image.width = texData.width;
+				texture.image.height = texData.height;
+				texture.image.data = texData.data;
+
+			}
+
+			texture.wrapS = texData.wrapS !== undefined ? texData.wrapS : ClampToEdgeWrapping;
+			texture.wrapT = texData.wrapT !== undefined ? texData.wrapT : ClampToEdgeWrapping;
+
+			texture.magFilter = texData.magFilter !== undefined ? texData.magFilter : LinearFilter;
+			texture.minFilter = texData.minFilter !== undefined ? texData.minFilter : LinearFilter;
+
+			texture.anisotropy = texData.anisotropy !== undefined ? texData.anisotropy : 1;
+
+			if ( texData.colorSpace !== undefined ) {
+
+				texture.colorSpace = texData.colorSpace;
+
+			} else if ( texData.encoding !== undefined ) { // @deprecated, r152
+
+				texture.encoding = texData.encoding;
+
+			}
+
+			if ( texData.flipY !== undefined ) {
+
+				texture.flipY = texData.flipY;
+
+			}
+
+			if ( texData.format !== undefined ) {
+
+				texture.format = texData.format;
+
+			}
+
+			if ( texData.type !== undefined ) {
+
+				texture.type = texData.type;
+
+			}
+
+			if ( texData.mipmaps !== undefined ) {
+
+				texture.mipmaps = texData.mipmaps;
+				texture.minFilter = LinearMipmapLinearFilter; // presumably...
+
+			}
+
+			if ( texData.mipmapCount === 1 ) {
+
+				texture.minFilter = LinearFilter;
+
+			}
+
+			if ( texData.generateMipmaps !== undefined ) {
+
+				texture.generateMipmaps = texData.generateMipmaps;
+
+			}
+
+			texture.needsUpdate = true;
+
+			if ( onLoad ) onLoad( texture, texData );
+
+		}, onProgress, onError );
+
+
+		return texture;
+
+	}
+
+}
+
+class TextureLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const texture = new Texture();
+
+		const loader = new ImageLoader( this.manager );
+		loader.setCrossOrigin( this.crossOrigin );
+		loader.setPath( this.path );
+
+		loader.load( url, function ( image ) {
+
+			texture.image = image;
+			texture.needsUpdate = true;
+
+			if ( onLoad !== undefined ) {
+
+				onLoad( texture );
+
+			}
+
+		}, onProgress, onError );
+
+		return texture;
+
+	}
+
+}
+
+class Light extends Object3D {
+
+	constructor( color, intensity = 1 ) {
+
+		super();
+
+		this.isLight = true;
+
+		this.type = 'Light';
+
+		this.color = new Color( color );
+		this.intensity = intensity;
+
+	}
+
+	dispose() {
+
+		// Empty here in base class; some subclasses override.
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.color.copy( source.color );
+		this.intensity = source.intensity;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.object.color = this.color.getHex();
+		data.object.intensity = this.intensity;
+
+		if ( this.groundColor !== undefined ) data.object.groundColor = this.groundColor.getHex();
+
+		if ( this.distance !== undefined ) data.object.distance = this.distance;
+		if ( this.angle !== undefined ) data.object.angle = this.angle;
+		if ( this.decay !== undefined ) data.object.decay = this.decay;
+		if ( this.penumbra !== undefined ) data.object.penumbra = this.penumbra;
+
+		if ( this.shadow !== undefined ) data.object.shadow = this.shadow.toJSON();
+
+		return data;
+
+	}
+
+}
+
+class HemisphereLight extends Light {
+
+	constructor( skyColor, groundColor, intensity ) {
+
+		super( skyColor, intensity );
+
+		this.isHemisphereLight = true;
+
+		this.type = 'HemisphereLight';
+
+		this.position.copy( Object3D.DEFAULT_UP );
+		this.updateMatrix();
+
+		this.groundColor = new Color( groundColor );
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.groundColor.copy( source.groundColor );
+
+		return this;
+
+	}
+
+}
+
+const _projScreenMatrix$1 = /*@__PURE__*/ new Matrix4();
+const _lightPositionWorld$1 = /*@__PURE__*/ new Vector3();
+const _lookTarget$1 = /*@__PURE__*/ new Vector3();
+
+class LightShadow {
+
+	constructor( camera ) {
+
+		this.camera = camera;
+
+		this.bias = 0;
+		this.normalBias = 0;
+		this.radius = 1;
+		this.blurSamples = 8;
+
+		this.mapSize = new Vector2( 512, 512 );
+
+		this.map = null;
+		this.mapPass = null;
+		this.matrix = new Matrix4();
+
+		this.autoUpdate = true;
+		this.needsUpdate = false;
+
+		this._frustum = new Frustum();
+		this._frameExtents = new Vector2( 1, 1 );
+
+		this._viewportCount = 1;
+
+		this._viewports = [
+
+			new Vector4( 0, 0, 1, 1 )
+
+		];
+
+	}
+
+	getViewportCount() {
+
+		return this._viewportCount;
+
+	}
+
+	getFrustum() {
+
+		return this._frustum;
+
+	}
+
+	updateMatrices( light ) {
+
+		const shadowCamera = this.camera;
+		const shadowMatrix = this.matrix;
+
+		_lightPositionWorld$1.setFromMatrixPosition( light.matrixWorld );
+		shadowCamera.position.copy( _lightPositionWorld$1 );
+
+		_lookTarget$1.setFromMatrixPosition( light.target.matrixWorld );
+		shadowCamera.lookAt( _lookTarget$1 );
+		shadowCamera.updateMatrixWorld();
+
+		_projScreenMatrix$1.multiplyMatrices( shadowCamera.projectionMatrix, shadowCamera.matrixWorldInverse );
+		this._frustum.setFromProjectionMatrix( _projScreenMatrix$1 );
+
+		shadowMatrix.set(
+			0.5, 0.0, 0.0, 0.5,
+			0.0, 0.5, 0.0, 0.5,
+			0.0, 0.0, 0.5, 0.5,
+			0.0, 0.0, 0.0, 1.0
+		);
+
+		shadowMatrix.multiply( _projScreenMatrix$1 );
+
+	}
+
+	getViewport( viewportIndex ) {
+
+		return this._viewports[ viewportIndex ];
+
+	}
+
+	getFrameExtents() {
+
+		return this._frameExtents;
+
+	}
+
+	dispose() {
+
+		if ( this.map ) {
+
+			this.map.dispose();
+
+		}
+
+		if ( this.mapPass ) {
+
+			this.mapPass.dispose();
+
+		}
+
+	}
+
+	copy( source ) {
+
+		this.camera = source.camera.clone();
+
+		this.bias = source.bias;
+		this.radius = source.radius;
+
+		this.mapSize.copy( source.mapSize );
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	toJSON() {
+
+		const object = {};
+
+		if ( this.bias !== 0 ) object.bias = this.bias;
+		if ( this.normalBias !== 0 ) object.normalBias = this.normalBias;
+		if ( this.radius !== 1 ) object.radius = this.radius;
+		if ( this.mapSize.x !== 512 || this.mapSize.y !== 512 ) object.mapSize = this.mapSize.toArray();
+
+		object.camera = this.camera.toJSON( false ).object;
+		delete object.camera.matrix;
+
+		return object;
+
+	}
+
+}
+
+class SpotLightShadow extends LightShadow {
+
+	constructor() {
+
+		super( new PerspectiveCamera( 50, 1, 0.5, 500 ) );
+
+		this.isSpotLightShadow = true;
+
+		this.focus = 1;
+
+	}
+
+	updateMatrices( light ) {
+
+		const camera = this.camera;
+
+		const fov = RAD2DEG * 2 * light.angle * this.focus;
+		const aspect = this.mapSize.width / this.mapSize.height;
+		const far = light.distance || camera.far;
+
+		if ( fov !== camera.fov || aspect !== camera.aspect || far !== camera.far ) {
+
+			camera.fov = fov;
+			camera.aspect = aspect;
+			camera.far = far;
+			camera.updateProjectionMatrix();
+
+		}
+
+		super.updateMatrices( light );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.focus = source.focus;
+
+		return this;
+
+	}
+
+}
+
+class SpotLight extends Light {
+
+	constructor( color, intensity, distance = 0, angle = Math.PI / 3, penumbra = 0, decay = 2 ) {
+
+		super( color, intensity );
+
+		this.isSpotLight = true;
+
+		this.type = 'SpotLight';
+
+		this.position.copy( Object3D.DEFAULT_UP );
+		this.updateMatrix();
+
+		this.target = new Object3D();
+
+		this.distance = distance;
+		this.angle = angle;
+		this.penumbra = penumbra;
+		this.decay = decay;
+
+		this.map = null;
+
+		this.shadow = new SpotLightShadow();
+
+	}
+
+	get power() {
+
+		// compute the light's luminous power (in lumens) from its intensity (in candela)
+		// by convention for a spotlight, luminous power (lm) = π * luminous intensity (cd)
+		return this.intensity * Math.PI;
+
+	}
+
+	set power( power ) {
+
+		// set the light's intensity (in candela) from the desired luminous power (in lumens)
+		this.intensity = power / Math.PI;
+
+	}
+
+	dispose() {
+
+		this.shadow.dispose();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.distance = source.distance;
+		this.angle = source.angle;
+		this.penumbra = source.penumbra;
+		this.decay = source.decay;
+
+		this.target = source.target.clone();
+
+		this.shadow = source.shadow.clone();
+
+		return this;
+
+	}
+
+}
+
+const _projScreenMatrix = /*@__PURE__*/ new Matrix4();
+const _lightPositionWorld = /*@__PURE__*/ new Vector3();
+const _lookTarget = /*@__PURE__*/ new Vector3();
+
+class PointLightShadow extends LightShadow {
+
+	constructor() {
+
+		super( new PerspectiveCamera( 90, 1, 0.5, 500 ) );
+
+		this.isPointLightShadow = true;
+
+		this._frameExtents = new Vector2( 4, 2 );
+
+		this._viewportCount = 6;
+
+		this._viewports = [
+			// These viewports map a cube-map onto a 2D texture with the
+			// following orientation:
+			//
+			//  xzXZ
+			//   y Y
+			//
+			// X - Positive x direction
+			// x - Negative x direction
+			// Y - Positive y direction
+			// y - Negative y direction
+			// Z - Positive z direction
+			// z - Negative z direction
+
+			// positive X
+			new Vector4( 2, 1, 1, 1 ),
+			// negative X
+			new Vector4( 0, 1, 1, 1 ),
+			// positive Z
+			new Vector4( 3, 1, 1, 1 ),
+			// negative Z
+			new Vector4( 1, 1, 1, 1 ),
+			// positive Y
+			new Vector4( 3, 0, 1, 1 ),
+			// negative Y
+			new Vector4( 1, 0, 1, 1 )
+		];
+
+		this._cubeDirections = [
+			new Vector3( 1, 0, 0 ), new Vector3( - 1, 0, 0 ), new Vector3( 0, 0, 1 ),
+			new Vector3( 0, 0, - 1 ), new Vector3( 0, 1, 0 ), new Vector3( 0, - 1, 0 )
+		];
+
+		this._cubeUps = [
+			new Vector3( 0, 1, 0 ), new Vector3( 0, 1, 0 ), new Vector3( 0, 1, 0 ),
+			new Vector3( 0, 1, 0 ), new Vector3( 0, 0, 1 ),	new Vector3( 0, 0, - 1 )
+		];
+
+	}
+
+	updateMatrices( light, viewportIndex = 0 ) {
+
+		const camera = this.camera;
+		const shadowMatrix = this.matrix;
+
+		const far = light.distance || camera.far;
+
+		if ( far !== camera.far ) {
+
+			camera.far = far;
+			camera.updateProjectionMatrix();
+
+		}
+
+		_lightPositionWorld.setFromMatrixPosition( light.matrixWorld );
+		camera.position.copy( _lightPositionWorld );
+
+		_lookTarget.copy( camera.position );
+		_lookTarget.add( this._cubeDirections[ viewportIndex ] );
+		camera.up.copy( this._cubeUps[ viewportIndex ] );
+		camera.lookAt( _lookTarget );
+		camera.updateMatrixWorld();
+
+		shadowMatrix.makeTranslation( - _lightPositionWorld.x, - _lightPositionWorld.y, - _lightPositionWorld.z );
+
+		_projScreenMatrix.multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse );
+		this._frustum.setFromProjectionMatrix( _projScreenMatrix );
+
+	}
+
+}
+
+class PointLight extends Light {
+
+	constructor( color, intensity, distance = 0, decay = 2 ) {
+
+		super( color, intensity );
+
+		this.isPointLight = true;
+
+		this.type = 'PointLight';
+
+		this.distance = distance;
+		this.decay = decay;
+
+		this.shadow = new PointLightShadow();
+
+	}
+
+	get power() {
+
+		// compute the light's luminous power (in lumens) from its intensity (in candela)
+		// for an isotropic light source, luminous power (lm) = 4 π luminous intensity (cd)
+		return this.intensity * 4 * Math.PI;
+
+	}
+
+	set power( power ) {
+
+		// set the light's intensity (in candela) from the desired luminous power (in lumens)
+		this.intensity = power / ( 4 * Math.PI );
+
+	}
+
+	dispose() {
+
+		this.shadow.dispose();
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.distance = source.distance;
+		this.decay = source.decay;
+
+		this.shadow = source.shadow.clone();
+
+		return this;
+
+	}
+
+}
+
+class DirectionalLightShadow extends LightShadow {
+
+	constructor() {
+
+		super( new OrthographicCamera( - 5, 5, 5, - 5, 0.5, 500 ) );
+
+		this.isDirectionalLightShadow = true;
+
+	}
+
+}
+
+class DirectionalLight extends Light {
+
+	constructor( color, intensity ) {
+
+		super( color, intensity );
+
+		this.isDirectionalLight = true;
+
+		this.type = 'DirectionalLight';
+
+		this.position.copy( Object3D.DEFAULT_UP );
+		this.updateMatrix();
+
+		this.target = new Object3D();
+
+		this.shadow = new DirectionalLightShadow();
+
+	}
+
+	dispose() {
+
+		this.shadow.dispose();
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.target = source.target.clone();
+		this.shadow = source.shadow.clone();
+
+		return this;
+
+	}
+
+}
+
+class AmbientLight extends Light {
+
+	constructor( color, intensity ) {
+
+		super( color, intensity );
+
+		this.isAmbientLight = true;
+
+		this.type = 'AmbientLight';
+
+	}
+
+}
+
+class RectAreaLight extends Light {
+
+	constructor( color, intensity, width = 10, height = 10 ) {
+
+		super( color, intensity );
+
+		this.isRectAreaLight = true;
+
+		this.type = 'RectAreaLight';
+
+		this.width = width;
+		this.height = height;
+
+	}
+
+	get power() {
+
+		// compute the light's luminous power (in lumens) from its intensity (in nits)
+		return this.intensity * this.width * this.height * Math.PI;
+
+	}
+
+	set power( power ) {
+
+		// set the light's intensity (in nits) from the desired luminous power (in lumens)
+		this.intensity = power / ( this.width * this.height * Math.PI );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.width = source.width;
+		this.height = source.height;
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.object.width = this.width;
+		data.object.height = this.height;
+
+		return data;
+
+	}
+
+}
+
+/**
+ * Primary reference:
+ *   https://graphics.stanford.edu/papers/envmap/envmap.pdf
+ *
+ * Secondary reference:
+ *   https://www.ppsloan.org/publications/StupidSH36.pdf
+ */
+
+// 3-band SH defined by 9 coefficients
+
+class SphericalHarmonics3 {
+
+	constructor() {
+
+		this.isSphericalHarmonics3 = true;
+
+		this.coefficients = [];
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients.push( new Vector3() );
+
+		}
+
+	}
+
+	set( coefficients ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].copy( coefficients[ i ] );
+
+		}
+
+		return this;
+
+	}
+
+	zero() {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].set( 0, 0, 0 );
+
+		}
+
+		return this;
+
+	}
+
+	// get the radiance in the direction of the normal
+	// target is a Vector3
+	getAt( normal, target ) {
+
+		// normal is assumed to be unit length
+
+		const x = normal.x, y = normal.y, z = normal.z;
+
+		const coeff = this.coefficients;
+
+		// band 0
+		target.copy( coeff[ 0 ] ).multiplyScalar( 0.282095 );
+
+		// band 1
+		target.addScaledVector( coeff[ 1 ], 0.488603 * y );
+		target.addScaledVector( coeff[ 2 ], 0.488603 * z );
+		target.addScaledVector( coeff[ 3 ], 0.488603 * x );
+
+		// band 2
+		target.addScaledVector( coeff[ 4 ], 1.092548 * ( x * y ) );
+		target.addScaledVector( coeff[ 5 ], 1.092548 * ( y * z ) );
+		target.addScaledVector( coeff[ 6 ], 0.315392 * ( 3.0 * z * z - 1.0 ) );
+		target.addScaledVector( coeff[ 7 ], 1.092548 * ( x * z ) );
+		target.addScaledVector( coeff[ 8 ], 0.546274 * ( x * x - y * y ) );
+
+		return target;
+
+	}
+
+	// get the irradiance (radiance convolved with cosine lobe) in the direction of the normal
+	// target is a Vector3
+	// https://graphics.stanford.edu/papers/envmap/envmap.pdf
+	getIrradianceAt( normal, target ) {
+
+		// normal is assumed to be unit length
+
+		const x = normal.x, y = normal.y, z = normal.z;
+
+		const coeff = this.coefficients;
+
+		// band 0
+		target.copy( coeff[ 0 ] ).multiplyScalar( 0.886227 ); // π * 0.282095
+
+		// band 1
+		target.addScaledVector( coeff[ 1 ], 2.0 * 0.511664 * y ); // ( 2 * π / 3 ) * 0.488603
+		target.addScaledVector( coeff[ 2 ], 2.0 * 0.511664 * z );
+		target.addScaledVector( coeff[ 3 ], 2.0 * 0.511664 * x );
+
+		// band 2
+		target.addScaledVector( coeff[ 4 ], 2.0 * 0.429043 * x * y ); // ( π / 4 ) * 1.092548
+		target.addScaledVector( coeff[ 5 ], 2.0 * 0.429043 * y * z );
+		target.addScaledVector( coeff[ 6 ], 0.743125 * z * z - 0.247708 ); // ( π / 4 ) * 0.315392 * 3
+		target.addScaledVector( coeff[ 7 ], 2.0 * 0.429043 * x * z );
+		target.addScaledVector( coeff[ 8 ], 0.429043 * ( x * x - y * y ) ); // ( π / 4 ) * 0.546274
+
+		return target;
+
+	}
+
+	add( sh ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].add( sh.coefficients[ i ] );
+
+		}
+
+		return this;
+
+	}
+
+	addScaledSH( sh, s ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].addScaledVector( sh.coefficients[ i ], s );
+
+		}
+
+		return this;
+
+	}
+
+	scale( s ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].multiplyScalar( s );
+
+		}
+
+		return this;
+
+	}
+
+	lerp( sh, alpha ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			this.coefficients[ i ].lerp( sh.coefficients[ i ], alpha );
+
+		}
+
+		return this;
+
+	}
+
+	equals( sh ) {
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			if ( ! this.coefficients[ i ].equals( sh.coefficients[ i ] ) ) {
+
+				return false;
+
+			}
+
+		}
+
+		return true;
+
+	}
+
+	copy( sh ) {
+
+		return this.set( sh.coefficients );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		const coefficients = this.coefficients;
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			coefficients[ i ].fromArray( array, offset + ( i * 3 ) );
+
+		}
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		const coefficients = this.coefficients;
+
+		for ( let i = 0; i < 9; i ++ ) {
+
+			coefficients[ i ].toArray( array, offset + ( i * 3 ) );
+
+		}
+
+		return array;
+
+	}
+
+	// evaluate the basis functions
+	// shBasis is an Array[ 9 ]
+	static getBasisAt( normal, shBasis ) {
+
+		// normal is assumed to be unit length
+
+		const x = normal.x, y = normal.y, z = normal.z;
+
+		// band 0
+		shBasis[ 0 ] = 0.282095;
+
+		// band 1
+		shBasis[ 1 ] = 0.488603 * y;
+		shBasis[ 2 ] = 0.488603 * z;
+		shBasis[ 3 ] = 0.488603 * x;
+
+		// band 2
+		shBasis[ 4 ] = 1.092548 * x * y;
+		shBasis[ 5 ] = 1.092548 * y * z;
+		shBasis[ 6 ] = 0.315392 * ( 3 * z * z - 1 );
+		shBasis[ 7 ] = 1.092548 * x * z;
+		shBasis[ 8 ] = 0.546274 * ( x * x - y * y );
+
+	}
+
+}
+
+class LightProbe extends Light {
+
+	constructor( sh = new SphericalHarmonics3(), intensity = 1 ) {
+
+		super( undefined, intensity );
+
+		this.isLightProbe = true;
+
+		this.sh = sh;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.sh.copy( source.sh );
+
+		return this;
+
+	}
+
+	fromJSON( json ) {
+
+		this.intensity = json.intensity; // TODO: Move this bit to Light.fromJSON();
+		this.sh.fromArray( json.sh );
+
+		return this;
+
+	}
+
+	toJSON( meta ) {
+
+		const data = super.toJSON( meta );
+
+		data.object.sh = this.sh.toArray();
+
+		return data;
+
+	}
+
+}
+
+class MaterialLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+		this.textures = {};
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		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( JSON.parse( text ) ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	parse( json ) {
+
+		const textures = this.textures;
+
+		function getTexture( name ) {
+
+			if ( textures[ name ] === undefined ) {
+
+				console.warn( 'THREE.MaterialLoader: Undefined texture', name );
+
+			}
+
+			return textures[ name ];
+
+		}
+
+		const material = MaterialLoader.createMaterialFromType( json.type );
+
+		if ( json.uuid !== undefined ) material.uuid = json.uuid;
+		if ( json.name !== undefined ) material.name = json.name;
+		if ( json.color !== undefined && material.color !== undefined ) material.color.setHex( json.color );
+		if ( json.roughness !== undefined ) material.roughness = json.roughness;
+		if ( json.metalness !== undefined ) material.metalness = json.metalness;
+		if ( json.sheen !== undefined ) material.sheen = json.sheen;
+		if ( json.sheenColor !== undefined ) material.sheenColor = new Color().setHex( json.sheenColor );
+		if ( json.sheenRoughness !== undefined ) material.sheenRoughness = json.sheenRoughness;
+		if ( json.emissive !== undefined && material.emissive !== undefined ) material.emissive.setHex( json.emissive );
+		if ( json.specular !== undefined && material.specular !== undefined ) material.specular.setHex( json.specular );
+		if ( json.specularIntensity !== undefined ) material.specularIntensity = json.specularIntensity;
+		if ( json.specularColor !== undefined && material.specularColor !== undefined ) material.specularColor.setHex( json.specularColor );
+		if ( json.shininess !== undefined ) material.shininess = json.shininess;
+		if ( json.clearcoat !== undefined ) material.clearcoat = json.clearcoat;
+		if ( json.clearcoatRoughness !== undefined ) material.clearcoatRoughness = json.clearcoatRoughness;
+		if ( json.iridescence !== undefined ) material.iridescence = json.iridescence;
+		if ( json.iridescenceIOR !== undefined ) material.iridescenceIOR = json.iridescenceIOR;
+		if ( json.iridescenceThicknessRange !== undefined ) material.iridescenceThicknessRange = json.iridescenceThicknessRange;
+		if ( json.transmission !== undefined ) material.transmission = json.transmission;
+		if ( json.thickness !== undefined ) material.thickness = json.thickness;
+		if ( json.attenuationDistance !== undefined ) material.attenuationDistance = json.attenuationDistance;
+		if ( json.attenuationColor !== undefined && material.attenuationColor !== undefined ) material.attenuationColor.setHex( json.attenuationColor );
+		if ( json.anisotropy !== undefined ) material.anisotropy = json.anisotropy;
+		if ( json.anisotropyRotation !== undefined ) material.anisotropyRotation = json.anisotropyRotation;
+		if ( json.fog !== undefined ) material.fog = json.fog;
+		if ( json.flatShading !== undefined ) material.flatShading = json.flatShading;
+		if ( json.blending !== undefined ) material.blending = json.blending;
+		if ( json.combine !== undefined ) material.combine = json.combine;
+		if ( json.side !== undefined ) material.side = json.side;
+		if ( json.shadowSide !== undefined ) material.shadowSide = json.shadowSide;
+		if ( json.opacity !== undefined ) material.opacity = json.opacity;
+		if ( json.transparent !== undefined ) material.transparent = json.transparent;
+		if ( json.alphaTest !== undefined ) material.alphaTest = json.alphaTest;
+		if ( json.alphaHash !== undefined ) material.alphaHash = json.alphaHash;
+		if ( json.depthFunc !== undefined ) material.depthFunc = json.depthFunc;
+		if ( json.depthTest !== undefined ) material.depthTest = json.depthTest;
+		if ( json.depthWrite !== undefined ) material.depthWrite = json.depthWrite;
+		if ( json.colorWrite !== undefined ) material.colorWrite = json.colorWrite;
+		if ( json.blendSrc !== undefined ) material.blendSrc = json.blendSrc;
+		if ( json.blendDst !== undefined ) material.blendDst = json.blendDst;
+		if ( json.blendEquation !== undefined ) material.blendEquation = json.blendEquation;
+		if ( json.blendSrcAlpha !== undefined ) material.blendSrcAlpha = json.blendSrcAlpha;
+		if ( json.blendDstAlpha !== undefined ) material.blendDstAlpha = json.blendDstAlpha;
+		if ( json.blendEquationAlpha !== undefined ) material.blendEquationAlpha = json.blendEquationAlpha;
+		if ( json.blendColor !== undefined && material.blendColor !== undefined ) material.blendColor.setHex( json.blendColor );
+		if ( json.blendAlpha !== undefined ) material.blendAlpha = json.blendAlpha;
+		if ( json.stencilWriteMask !== undefined ) material.stencilWriteMask = json.stencilWriteMask;
+		if ( json.stencilFunc !== undefined ) material.stencilFunc = json.stencilFunc;
+		if ( json.stencilRef !== undefined ) material.stencilRef = json.stencilRef;
+		if ( json.stencilFuncMask !== undefined ) material.stencilFuncMask = json.stencilFuncMask;
+		if ( json.stencilFail !== undefined ) material.stencilFail = json.stencilFail;
+		if ( json.stencilZFail !== undefined ) material.stencilZFail = json.stencilZFail;
+		if ( json.stencilZPass !== undefined ) material.stencilZPass = json.stencilZPass;
+		if ( json.stencilWrite !== undefined ) material.stencilWrite = json.stencilWrite;
+
+		if ( json.wireframe !== undefined ) material.wireframe = json.wireframe;
+		if ( json.wireframeLinewidth !== undefined ) material.wireframeLinewidth = json.wireframeLinewidth;
+		if ( json.wireframeLinecap !== undefined ) material.wireframeLinecap = json.wireframeLinecap;
+		if ( json.wireframeLinejoin !== undefined ) material.wireframeLinejoin = json.wireframeLinejoin;
+
+		if ( json.rotation !== undefined ) material.rotation = json.rotation;
+
+		if ( json.linewidth !== undefined ) material.linewidth = json.linewidth;
+		if ( json.dashSize !== undefined ) material.dashSize = json.dashSize;
+		if ( json.gapSize !== undefined ) material.gapSize = json.gapSize;
+		if ( json.scale !== undefined ) material.scale = json.scale;
+
+		if ( json.polygonOffset !== undefined ) material.polygonOffset = json.polygonOffset;
+		if ( json.polygonOffsetFactor !== undefined ) material.polygonOffsetFactor = json.polygonOffsetFactor;
+		if ( json.polygonOffsetUnits !== undefined ) material.polygonOffsetUnits = json.polygonOffsetUnits;
+
+		if ( json.dithering !== undefined ) material.dithering = json.dithering;
+
+		if ( json.alphaToCoverage !== undefined ) material.alphaToCoverage = json.alphaToCoverage;
+		if ( json.premultipliedAlpha !== undefined ) material.premultipliedAlpha = json.premultipliedAlpha;
+		if ( json.forceSinglePass !== undefined ) material.forceSinglePass = json.forceSinglePass;
+
+		if ( json.visible !== undefined ) material.visible = json.visible;
+
+		if ( json.toneMapped !== undefined ) material.toneMapped = json.toneMapped;
+
+		if ( json.userData !== undefined ) material.userData = json.userData;
+
+		if ( json.vertexColors !== undefined ) {
+
+			if ( typeof json.vertexColors === 'number' ) {
+
+				material.vertexColors = ( json.vertexColors > 0 ) ? true : false;
+
+			} else {
+
+				material.vertexColors = json.vertexColors;
+
+			}
+
+		}
+
+		// Shader Material
+
+		if ( json.uniforms !== undefined ) {
+
+			for ( const name in json.uniforms ) {
+
+				const uniform = json.uniforms[ name ];
+
+				material.uniforms[ name ] = {};
+
+				switch ( uniform.type ) {
+
+					case 't':
+						material.uniforms[ name ].value = getTexture( uniform.value );
+						break;
+
+					case 'c':
+						material.uniforms[ name ].value = new Color().setHex( uniform.value );
+						break;
+
+					case 'v2':
+						material.uniforms[ name ].value = new Vector2().fromArray( uniform.value );
+						break;
+
+					case 'v3':
+						material.uniforms[ name ].value = new Vector3().fromArray( uniform.value );
+						break;
+
+					case 'v4':
+						material.uniforms[ name ].value = new Vector4().fromArray( uniform.value );
+						break;
+
+					case 'm3':
+						material.uniforms[ name ].value = new Matrix3().fromArray( uniform.value );
+						break;
+
+					case 'm4':
+						material.uniforms[ name ].value = new Matrix4().fromArray( uniform.value );
+						break;
+
+					default:
+						material.uniforms[ name ].value = uniform.value;
+
+				}
+
+			}
+
+		}
+
+		if ( json.defines !== undefined ) material.defines = json.defines;
+		if ( json.vertexShader !== undefined ) material.vertexShader = json.vertexShader;
+		if ( json.fragmentShader !== undefined ) material.fragmentShader = json.fragmentShader;
+		if ( json.glslVersion !== undefined ) material.glslVersion = json.glslVersion;
+
+		if ( json.extensions !== undefined ) {
+
+			for ( const key in json.extensions ) {
+
+				material.extensions[ key ] = json.extensions[ key ];
+
+			}
+
+		}
+
+		if ( json.lights !== undefined ) material.lights = json.lights;
+		if ( json.clipping !== undefined ) material.clipping = json.clipping;
+
+		// for PointsMaterial
+
+		if ( json.size !== undefined ) material.size = json.size;
+		if ( json.sizeAttenuation !== undefined ) material.sizeAttenuation = json.sizeAttenuation;
+
+		// maps
+
+		if ( json.map !== undefined ) material.map = getTexture( json.map );
+		if ( json.matcap !== undefined ) material.matcap = getTexture( json.matcap );
+
+		if ( json.alphaMap !== undefined ) material.alphaMap = getTexture( json.alphaMap );
+
+		if ( json.bumpMap !== undefined ) material.bumpMap = getTexture( json.bumpMap );
+		if ( json.bumpScale !== undefined ) material.bumpScale = json.bumpScale;
+
+		if ( json.normalMap !== undefined ) material.normalMap = getTexture( json.normalMap );
+		if ( json.normalMapType !== undefined ) material.normalMapType = json.normalMapType;
+		if ( json.normalScale !== undefined ) {
+
+			let normalScale = json.normalScale;
+
+			if ( Array.isArray( normalScale ) === false ) {
+
+				// Blender exporter used to export a scalar. See #7459
+
+				normalScale = [ normalScale, normalScale ];
+
+			}
+
+			material.normalScale = new Vector2().fromArray( normalScale );
+
+		}
+
+		if ( json.displacementMap !== undefined ) material.displacementMap = getTexture( json.displacementMap );
+		if ( json.displacementScale !== undefined ) material.displacementScale = json.displacementScale;
+		if ( json.displacementBias !== undefined ) material.displacementBias = json.displacementBias;
+
+		if ( json.roughnessMap !== undefined ) material.roughnessMap = getTexture( json.roughnessMap );
+		if ( json.metalnessMap !== undefined ) material.metalnessMap = getTexture( json.metalnessMap );
+
+		if ( json.emissiveMap !== undefined ) material.emissiveMap = getTexture( json.emissiveMap );
+		if ( json.emissiveIntensity !== undefined ) material.emissiveIntensity = json.emissiveIntensity;
+
+		if ( json.specularMap !== undefined ) material.specularMap = getTexture( json.specularMap );
+		if ( json.specularIntensityMap !== undefined ) material.specularIntensityMap = getTexture( json.specularIntensityMap );
+		if ( json.specularColorMap !== undefined ) material.specularColorMap = getTexture( json.specularColorMap );
+
+		if ( json.envMap !== undefined ) material.envMap = getTexture( json.envMap );
+		if ( json.envMapIntensity !== undefined ) material.envMapIntensity = json.envMapIntensity;
+
+		if ( json.reflectivity !== undefined ) material.reflectivity = json.reflectivity;
+		if ( json.refractionRatio !== undefined ) material.refractionRatio = json.refractionRatio;
+
+		if ( json.lightMap !== undefined ) material.lightMap = getTexture( json.lightMap );
+		if ( json.lightMapIntensity !== undefined ) material.lightMapIntensity = json.lightMapIntensity;
+
+		if ( json.aoMap !== undefined ) material.aoMap = getTexture( json.aoMap );
+		if ( json.aoMapIntensity !== undefined ) material.aoMapIntensity = json.aoMapIntensity;
+
+		if ( json.gradientMap !== undefined ) material.gradientMap = getTexture( json.gradientMap );
+
+		if ( json.clearcoatMap !== undefined ) material.clearcoatMap = getTexture( json.clearcoatMap );
+		if ( json.clearcoatRoughnessMap !== undefined ) material.clearcoatRoughnessMap = getTexture( json.clearcoatRoughnessMap );
+		if ( json.clearcoatNormalMap !== undefined ) material.clearcoatNormalMap = getTexture( json.clearcoatNormalMap );
+		if ( json.clearcoatNormalScale !== undefined ) material.clearcoatNormalScale = new Vector2().fromArray( json.clearcoatNormalScale );
+
+		if ( json.iridescenceMap !== undefined ) material.iridescenceMap = getTexture( json.iridescenceMap );
+		if ( json.iridescenceThicknessMap !== undefined ) material.iridescenceThicknessMap = getTexture( json.iridescenceThicknessMap );
+
+		if ( json.transmissionMap !== undefined ) material.transmissionMap = getTexture( json.transmissionMap );
+		if ( json.thicknessMap !== undefined ) material.thicknessMap = getTexture( json.thicknessMap );
+
+		if ( json.anisotropyMap !== undefined ) material.anisotropyMap = getTexture( json.anisotropyMap );
+
+		if ( json.sheenColorMap !== undefined ) material.sheenColorMap = getTexture( json.sheenColorMap );
+		if ( json.sheenRoughnessMap !== undefined ) material.sheenRoughnessMap = getTexture( json.sheenRoughnessMap );
+
+		return material;
+
+	}
+
+	setTextures( value ) {
+
+		this.textures = value;
+		return this;
+
+	}
+
+	static createMaterialFromType( type ) {
+
+		const materialLib = {
+			ShadowMaterial,
+			SpriteMaterial,
+			RawShaderMaterial,
+			ShaderMaterial,
+			PointsMaterial,
+			MeshPhysicalMaterial,
+			MeshStandardMaterial,
+			MeshPhongMaterial,
+			MeshToonMaterial,
+			MeshNormalMaterial,
+			MeshLambertMaterial,
+			MeshDepthMaterial,
+			MeshDistanceMaterial,
+			MeshBasicMaterial,
+			MeshMatcapMaterial,
+			LineDashedMaterial,
+			LineBasicMaterial,
+			Material
+		};
+
+		return new materialLib[ type ]();
+
+	}
+
+}
+
+class LoaderUtils {
+
+	static decodeText( array ) {
+
+		if ( typeof TextDecoder !== 'undefined' ) {
+
+			return new TextDecoder().decode( array );
+
+		}
+
+		// Avoid the String.fromCharCode.apply(null, array) shortcut, which
+		// throws a "maximum call stack size exceeded" error for large arrays.
+
+		let s = '';
+
+		for ( let i = 0, il = array.length; i < il; i ++ ) {
+
+			// Implicitly assumes little-endian.
+			s += String.fromCharCode( array[ i ] );
+
+		}
+
+		try {
+
+			// merges multi-byte utf-8 characters.
+
+			return decodeURIComponent( escape( s ) );
+
+		} catch ( e ) { // see #16358
+
+			return s;
+
+		}
+
+	}
+
+	static extractUrlBase( url ) {
+
+		const index = url.lastIndexOf( '/' );
+
+		if ( index === - 1 ) return './';
+
+		return url.slice( 0, index + 1 );
+
+	}
+
+	static resolveURL( url, path ) {
+
+		// Invalid URL
+		if ( typeof url !== 'string' || url === '' ) return '';
+
+		// Host Relative URL
+		if ( /^https?:\/\//i.test( path ) && /^\//.test( url ) ) {
+
+			path = path.replace( /(^https?:\/\/[^\/]+).*/i, '$1' );
+
+		}
+
+		// Absolute URL http://,https://,//
+		if ( /^(https?:)?\/\//i.test( url ) ) return url;
+
+		// Data URI
+		if ( /^data:.*,.*$/i.test( url ) ) return url;
+
+		// Blob URL
+		if ( /^blob:.*$/i.test( url ) ) return url;
+
+		// Relative URL
+		return path + url;
+
+	}
+
+}
+
+class InstancedBufferGeometry extends BufferGeometry {
+
+	constructor() {
+
+		super();
+
+		this.isInstancedBufferGeometry = true;
+
+		this.type = 'InstancedBufferGeometry';
+		this.instanceCount = Infinity;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.instanceCount = source.instanceCount;
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		const data = super.toJSON();
+
+		data.instanceCount = this.instanceCount;
+
+		data.isInstancedBufferGeometry = true;
+
+		return data;
+
+	}
+
+}
+
+class BufferGeometryLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		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( JSON.parse( text ) ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	parse( json ) {
+
+		const interleavedBufferMap = {};
+		const arrayBufferMap = {};
+
+		function getInterleavedBuffer( json, uuid ) {
+
+			if ( interleavedBufferMap[ uuid ] !== undefined ) return interleavedBufferMap[ uuid ];
+
+			const interleavedBuffers = json.interleavedBuffers;
+			const interleavedBuffer = interleavedBuffers[ uuid ];
+
+			const buffer = getArrayBuffer( json, interleavedBuffer.buffer );
+
+			const array = getTypedArray( interleavedBuffer.type, buffer );
+			const ib = new InterleavedBuffer( array, interleavedBuffer.stride );
+			ib.uuid = interleavedBuffer.uuid;
+
+			interleavedBufferMap[ uuid ] = ib;
+
+			return ib;
+
+		}
+
+		function getArrayBuffer( json, uuid ) {
+
+			if ( arrayBufferMap[ uuid ] !== undefined ) return arrayBufferMap[ uuid ];
+
+			const arrayBuffers = json.arrayBuffers;
+			const arrayBuffer = arrayBuffers[ uuid ];
+
+			const ab = new Uint32Array( arrayBuffer ).buffer;
+
+			arrayBufferMap[ uuid ] = ab;
+
+			return ab;
+
+		}
+
+		const geometry = json.isInstancedBufferGeometry ? new InstancedBufferGeometry() : new BufferGeometry();
+
+		const index = json.data.index;
+
+		if ( index !== undefined ) {
+
+			const typedArray = getTypedArray( index.type, index.array );
+			geometry.setIndex( new BufferAttribute( typedArray, 1 ) );
+
+		}
+
+		const attributes = json.data.attributes;
+
+		for ( const key in attributes ) {
+
+			const attribute = attributes[ key ];
+			let bufferAttribute;
+
+			if ( attribute.isInterleavedBufferAttribute ) {
+
+				const interleavedBuffer = getInterleavedBuffer( json.data, attribute.data );
+				bufferAttribute = new InterleavedBufferAttribute( interleavedBuffer, attribute.itemSize, attribute.offset, attribute.normalized );
+
+			} else {
+
+				const typedArray = getTypedArray( attribute.type, attribute.array );
+				const bufferAttributeConstr = attribute.isInstancedBufferAttribute ? InstancedBufferAttribute : BufferAttribute;
+				bufferAttribute = new bufferAttributeConstr( typedArray, attribute.itemSize, attribute.normalized );
+
+			}
+
+			if ( attribute.name !== undefined ) bufferAttribute.name = attribute.name;
+			if ( attribute.usage !== undefined ) bufferAttribute.setUsage( attribute.usage );
+
+			geometry.setAttribute( key, bufferAttribute );
+
+		}
+
+		const morphAttributes = json.data.morphAttributes;
+
+		if ( morphAttributes ) {
+
+			for ( const key in morphAttributes ) {
+
+				const attributeArray = morphAttributes[ key ];
+
+				const array = [];
+
+				for ( let i = 0, il = attributeArray.length; i < il; i ++ ) {
+
+					const attribute = attributeArray[ i ];
+					let bufferAttribute;
+
+					if ( attribute.isInterleavedBufferAttribute ) {
+
+						const interleavedBuffer = getInterleavedBuffer( json.data, attribute.data );
+						bufferAttribute = new InterleavedBufferAttribute( interleavedBuffer, attribute.itemSize, attribute.offset, attribute.normalized );
+
+					} else {
+
+						const typedArray = getTypedArray( attribute.type, attribute.array );
+						bufferAttribute = new BufferAttribute( typedArray, attribute.itemSize, attribute.normalized );
+
+					}
+
+					if ( attribute.name !== undefined ) bufferAttribute.name = attribute.name;
+					array.push( bufferAttribute );
+
+				}
+
+				geometry.morphAttributes[ key ] = array;
+
+			}
+
+		}
+
+		const morphTargetsRelative = json.data.morphTargetsRelative;
+
+		if ( morphTargetsRelative ) {
+
+			geometry.morphTargetsRelative = true;
+
+		}
+
+		const groups = json.data.groups || json.data.drawcalls || json.data.offsets;
+
+		if ( groups !== undefined ) {
+
+			for ( let i = 0, n = groups.length; i !== n; ++ i ) {
+
+				const group = groups[ i ];
+
+				geometry.addGroup( group.start, group.count, group.materialIndex );
+
+			}
+
+		}
+
+		const boundingSphere = json.data.boundingSphere;
+
+		if ( boundingSphere !== undefined ) {
+
+			const center = new Vector3();
+
+			if ( boundingSphere.center !== undefined ) {
+
+				center.fromArray( boundingSphere.center );
+
+			}
+
+			geometry.boundingSphere = new Sphere( center, boundingSphere.radius );
+
+		}
+
+		if ( json.name ) geometry.name = json.name;
+		if ( json.userData ) geometry.userData = json.userData;
+
+		return geometry;
+
+	}
+
+}
+
+class ObjectLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const path = ( this.path === '' ) ? LoaderUtils.extractUrlBase( url ) : this.path;
+		this.resourcePath = this.resourcePath || path;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+		loader.load( url, function ( text ) {
+
+			let json = null;
+
+			try {
+
+				json = JSON.parse( text );
+
+			} catch ( error ) {
+
+				if ( onError !== undefined ) onError( error );
+
+				console.error( 'THREE:ObjectLoader: Can\'t parse ' + url + '.', error.message );
+
+				return;
+
+			}
+
+			const metadata = json.metadata;
+
+			if ( metadata === undefined || metadata.type === undefined || metadata.type.toLowerCase() === 'geometry' ) {
+
+				if ( onError !== undefined ) onError( new Error( 'THREE.ObjectLoader: Can\'t load ' + url ) );
+
+				console.error( 'THREE.ObjectLoader: Can\'t load ' + url );
+				return;
+
+			}
+
+			scope.parse( json, onLoad );
+
+		}, onProgress, onError );
+
+	}
+
+	async loadAsync( url, onProgress ) {
+
+		const scope = this;
+
+		const path = ( this.path === '' ) ? LoaderUtils.extractUrlBase( url ) : this.path;
+		this.resourcePath = this.resourcePath || path;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+
+		const text = await loader.loadAsync( url, onProgress );
+
+		const json = JSON.parse( text );
+
+		const metadata = json.metadata;
+
+		if ( metadata === undefined || metadata.type === undefined || metadata.type.toLowerCase() === 'geometry' ) {
+
+			throw new Error( 'THREE.ObjectLoader: Can\'t load ' + url );
+
+		}
+
+		return await scope.parseAsync( json );
+
+	}
+
+	parse( json, onLoad ) {
+
+		const animations = this.parseAnimations( json.animations );
+		const shapes = this.parseShapes( json.shapes );
+		const geometries = this.parseGeometries( json.geometries, shapes );
+
+		const images = this.parseImages( json.images, function () {
+
+			if ( onLoad !== undefined ) onLoad( object );
+
+		} );
+
+		const textures = this.parseTextures( json.textures, images );
+		const materials = this.parseMaterials( json.materials, textures );
+
+		const object = this.parseObject( json.object, geometries, materials, textures, animations );
+		const skeletons = this.parseSkeletons( json.skeletons, object );
+
+		this.bindSkeletons( object, skeletons );
+
+		//
+
+		if ( onLoad !== undefined ) {
+
+			let hasImages = false;
+
+			for ( const uuid in images ) {
+
+				if ( images[ uuid ].data instanceof HTMLImageElement ) {
+
+					hasImages = true;
+					break;
+
+				}
+
+			}
+
+			if ( hasImages === false ) onLoad( object );
+
+		}
+
+		return object;
+
+	}
+
+	async parseAsync( json ) {
+
+		const animations = this.parseAnimations( json.animations );
+		const shapes = this.parseShapes( json.shapes );
+		const geometries = this.parseGeometries( json.geometries, shapes );
+
+		const images = await this.parseImagesAsync( json.images );
+
+		const textures = this.parseTextures( json.textures, images );
+		const materials = this.parseMaterials( json.materials, textures );
+
+		const object = this.parseObject( json.object, geometries, materials, textures, animations );
+		const skeletons = this.parseSkeletons( json.skeletons, object );
+
+		this.bindSkeletons( object, skeletons );
+
+		return object;
+
+	}
+
+	parseShapes( json ) {
+
+		const shapes = {};
+
+		if ( json !== undefined ) {
+
+			for ( let i = 0, l = json.length; i < l; i ++ ) {
+
+				const shape = new Shape().fromJSON( json[ i ] );
+
+				shapes[ shape.uuid ] = shape;
+
+			}
+
+		}
+
+		return shapes;
+
+	}
+
+	parseSkeletons( json, object ) {
+
+		const skeletons = {};
+		const bones = {};
+
+		// generate bone lookup table
+
+		object.traverse( function ( child ) {
+
+			if ( child.isBone ) bones[ child.uuid ] = child;
+
+		} );
+
+		// create skeletons
+
+		if ( json !== undefined ) {
+
+			for ( let i = 0, l = json.length; i < l; i ++ ) {
+
+				const skeleton = new Skeleton().fromJSON( json[ i ], bones );
+
+				skeletons[ skeleton.uuid ] = skeleton;
+
+			}
+
+		}
+
+		return skeletons;
+
+	}
+
+	parseGeometries( json, shapes ) {
+
+		const geometries = {};
+
+		if ( json !== undefined ) {
+
+			const bufferGeometryLoader = new BufferGeometryLoader();
+
+			for ( let i = 0, l = json.length; i < l; i ++ ) {
+
+				let geometry;
+				const data = json[ i ];
+
+				switch ( data.type ) {
+
+					case 'BufferGeometry':
+					case 'InstancedBufferGeometry':
+
+						geometry = bufferGeometryLoader.parse( data );
+						break;
+
+					default:
+
+						if ( data.type in Geometries ) {
+
+							geometry = Geometries[ data.type ].fromJSON( data, shapes );
+
+						} else {
+
+							console.warn( `THREE.ObjectLoader: Unsupported geometry type "${ data.type }"` );
+
+						}
+
+				}
+
+				geometry.uuid = data.uuid;
+
+				if ( data.name !== undefined ) geometry.name = data.name;
+				if ( data.userData !== undefined ) geometry.userData = data.userData;
+
+				geometries[ data.uuid ] = geometry;
+
+			}
+
+		}
+
+		return geometries;
+
+	}
+
+	parseMaterials( json, textures ) {
+
+		const cache = {}; // MultiMaterial
+		const materials = {};
+
+		if ( json !== undefined ) {
+
+			const loader = new MaterialLoader();
+			loader.setTextures( textures );
+
+			for ( let i = 0, l = json.length; i < l; i ++ ) {
+
+				const data = json[ i ];
+
+				if ( cache[ data.uuid ] === undefined ) {
+
+					cache[ data.uuid ] = loader.parse( data );
+
+				}
+
+				materials[ data.uuid ] = cache[ data.uuid ];
+
+			}
+
+		}
+
+		return materials;
+
+	}
+
+	parseAnimations( json ) {
+
+		const animations = {};
+
+		if ( json !== undefined ) {
+
+			for ( let i = 0; i < json.length; i ++ ) {
+
+				const data = json[ i ];
+
+				const clip = AnimationClip.parse( data );
+
+				animations[ clip.uuid ] = clip;
+
+			}
+
+		}
+
+		return animations;
+
+	}
+
+	parseImages( json, onLoad ) {
+
+		const scope = this;
+		const images = {};
+
+		let loader;
+
+		function loadImage( url ) {
+
+			scope.manager.itemStart( url );
+
+			return loader.load( url, function () {
+
+				scope.manager.itemEnd( url );
+
+			}, undefined, function () {
+
+				scope.manager.itemError( url );
+				scope.manager.itemEnd( url );
+
+			} );
+
+		}
+
+		function deserializeImage( image ) {
+
+			if ( typeof image === 'string' ) {
+
+				const url = image;
+
+				const path = /^(\/\/)|([a-z]+:(\/\/)?)/i.test( url ) ? url : scope.resourcePath + url;
+
+				return loadImage( path );
+
+			} else {
+
+				if ( image.data ) {
+
+					return {
+						data: getTypedArray( image.type, image.data ),
+						width: image.width,
+						height: image.height
+					};
+
+				} else {
+
+					return null;
+
+				}
+
+			}
+
+		}
+
+		if ( json !== undefined && json.length > 0 ) {
+
+			const manager = new LoadingManager( onLoad );
+
+			loader = new ImageLoader( manager );
+			loader.setCrossOrigin( this.crossOrigin );
+
+			for ( let i = 0, il = json.length; i < il; i ++ ) {
+
+				const image = json[ i ];
+				const url = image.url;
+
+				if ( Array.isArray( url ) ) {
+
+					// load array of images e.g CubeTexture
+
+					const imageArray = [];
+
+					for ( let j = 0, jl = url.length; j < jl; j ++ ) {
+
+						const currentUrl = url[ j ];
+
+						const deserializedImage = deserializeImage( currentUrl );
+
+						if ( deserializedImage !== null ) {
+
+							if ( deserializedImage instanceof HTMLImageElement ) {
+
+								imageArray.push( deserializedImage );
+
+							} else {
+
+								// special case: handle array of data textures for cube textures
+
+								imageArray.push( new DataTexture( deserializedImage.data, deserializedImage.width, deserializedImage.height ) );
+
+							}
+
+						}
+
+					}
+
+					images[ image.uuid ] = new Source( imageArray );
+
+				} else {
+
+					// load single image
+
+					const deserializedImage = deserializeImage( image.url );
+					images[ image.uuid ] = new Source( deserializedImage );
+
+
+				}
+
+			}
+
+		}
+
+		return images;
+
+	}
+
+	async parseImagesAsync( json ) {
+
+		const scope = this;
+		const images = {};
+
+		let loader;
+
+		async function deserializeImage( image ) {
+
+			if ( typeof image === 'string' ) {
+
+				const url = image;
+
+				const path = /^(\/\/)|([a-z]+:(\/\/)?)/i.test( url ) ? url : scope.resourcePath + url;
+
+				return await loader.loadAsync( path );
+
+			} else {
+
+				if ( image.data ) {
+
+					return {
+						data: getTypedArray( image.type, image.data ),
+						width: image.width,
+						height: image.height
+					};
+
+				} else {
+
+					return null;
+
+				}
+
+			}
+
+		}
+
+		if ( json !== undefined && json.length > 0 ) {
+
+			loader = new ImageLoader( this.manager );
+			loader.setCrossOrigin( this.crossOrigin );
+
+			for ( let i = 0, il = json.length; i < il; i ++ ) {
+
+				const image = json[ i ];
+				const url = image.url;
+
+				if ( Array.isArray( url ) ) {
+
+					// load array of images e.g CubeTexture
+
+					const imageArray = [];
+
+					for ( let j = 0, jl = url.length; j < jl; j ++ ) {
+
+						const currentUrl = url[ j ];
+
+						const deserializedImage = await deserializeImage( currentUrl );
+
+						if ( deserializedImage !== null ) {
+
+							if ( deserializedImage instanceof HTMLImageElement ) {
+
+								imageArray.push( deserializedImage );
+
+							} else {
+
+								// special case: handle array of data textures for cube textures
+
+								imageArray.push( new DataTexture( deserializedImage.data, deserializedImage.width, deserializedImage.height ) );
+
+							}
+
+						}
+
+					}
+
+					images[ image.uuid ] = new Source( imageArray );
+
+				} else {
+
+					// load single image
+
+					const deserializedImage = await deserializeImage( image.url );
+					images[ image.uuid ] = new Source( deserializedImage );
+
+				}
+
+			}
+
+		}
+
+		return images;
+
+	}
+
+	parseTextures( json, images ) {
+
+		function parseConstant( value, type ) {
+
+			if ( typeof value === 'number' ) return value;
+
+			console.warn( 'THREE.ObjectLoader.parseTexture: Constant should be in numeric form.', value );
+
+			return type[ value ];
+
+		}
+
+		const textures = {};
+
+		if ( json !== undefined ) {
+
+			for ( let i = 0, l = json.length; i < l; i ++ ) {
+
+				const data = json[ i ];
+
+				if ( data.image === undefined ) {
+
+					console.warn( 'THREE.ObjectLoader: No "image" specified for', data.uuid );
+
+				}
+
+				if ( images[ data.image ] === undefined ) {
+
+					console.warn( 'THREE.ObjectLoader: Undefined image', data.image );
+
+				}
+
+				const source = images[ data.image ];
+				const image = source.data;
+
+				let texture;
+
+				if ( Array.isArray( image ) ) {
+
+					texture = new CubeTexture();
+
+					if ( image.length === 6 ) texture.needsUpdate = true;
+
+				} else {
+
+					if ( image && image.data ) {
+
+						texture = new DataTexture();
+
+					} else {
+
+						texture = new Texture();
+
+					}
+
+					if ( image ) texture.needsUpdate = true; // textures can have undefined image data
+
+				}
+
+				texture.source = source;
+
+				texture.uuid = data.uuid;
+
+				if ( data.name !== undefined ) texture.name = data.name;
+
+				if ( data.mapping !== undefined ) texture.mapping = parseConstant( data.mapping, TEXTURE_MAPPING );
+				if ( data.channel !== undefined ) texture.channel = data.channel;
+
+				if ( data.offset !== undefined ) texture.offset.fromArray( data.offset );
+				if ( data.repeat !== undefined ) texture.repeat.fromArray( data.repeat );
+				if ( data.center !== undefined ) texture.center.fromArray( data.center );
+				if ( data.rotation !== undefined ) texture.rotation = data.rotation;
+
+				if ( data.wrap !== undefined ) {
+
+					texture.wrapS = parseConstant( data.wrap[ 0 ], TEXTURE_WRAPPING );
+					texture.wrapT = parseConstant( data.wrap[ 1 ], TEXTURE_WRAPPING );
+
+				}
+
+				if ( data.format !== undefined ) texture.format = data.format;
+				if ( data.internalFormat !== undefined ) texture.internalFormat = data.internalFormat;
+				if ( data.type !== undefined ) texture.type = data.type;
+				if ( data.colorSpace !== undefined ) texture.colorSpace = data.colorSpace;
+				if ( data.encoding !== undefined ) texture.encoding = data.encoding; // @deprecated, r152
+
+				if ( data.minFilter !== undefined ) texture.minFilter = parseConstant( data.minFilter, TEXTURE_FILTER );
+				if ( data.magFilter !== undefined ) texture.magFilter = parseConstant( data.magFilter, TEXTURE_FILTER );
+				if ( data.anisotropy !== undefined ) texture.anisotropy = data.anisotropy;
+
+				if ( data.flipY !== undefined ) texture.flipY = data.flipY;
+
+				if ( data.generateMipmaps !== undefined ) texture.generateMipmaps = data.generateMipmaps;
+				if ( data.premultiplyAlpha !== undefined ) texture.premultiplyAlpha = data.premultiplyAlpha;
+				if ( data.unpackAlignment !== undefined ) texture.unpackAlignment = data.unpackAlignment;
+				if ( data.compareFunction !== undefined ) texture.compareFunction = data.compareFunction;
+
+				if ( data.userData !== undefined ) texture.userData = data.userData;
+
+				textures[ data.uuid ] = texture;
+
+			}
+
+		}
+
+		return textures;
+
+	}
+
+	parseObject( data, geometries, materials, textures, animations ) {
+
+		let object;
+
+		function getGeometry( name ) {
+
+			if ( geometries[ name ] === undefined ) {
+
+				console.warn( 'THREE.ObjectLoader: Undefined geometry', name );
+
+			}
+
+			return geometries[ name ];
+
+		}
+
+		function getMaterial( name ) {
+
+			if ( name === undefined ) return undefined;
+
+			if ( Array.isArray( name ) ) {
+
+				const array = [];
+
+				for ( let i = 0, l = name.length; i < l; i ++ ) {
+
+					const uuid = name[ i ];
+
+					if ( materials[ uuid ] === undefined ) {
+
+						console.warn( 'THREE.ObjectLoader: Undefined material', uuid );
+
+					}
+
+					array.push( materials[ uuid ] );
+
+				}
+
+				return array;
+
+			}
+
+			if ( materials[ name ] === undefined ) {
+
+				console.warn( 'THREE.ObjectLoader: Undefined material', name );
+
+			}
+
+			return materials[ name ];
+
+		}
+
+		function getTexture( uuid ) {
+
+			if ( textures[ uuid ] === undefined ) {
+
+				console.warn( 'THREE.ObjectLoader: Undefined texture', uuid );
+
+			}
+
+			return textures[ uuid ];
+
+		}
+
+		let geometry, material;
+
+		switch ( data.type ) {
+
+			case 'Scene':
+
+				object = new Scene();
+
+				if ( data.background !== undefined ) {
+
+					if ( Number.isInteger( data.background ) ) {
+
+						object.background = new Color( data.background );
+
+					} else {
+
+						object.background = getTexture( data.background );
+
+					}
+
+				}
+
+				if ( data.environment !== undefined ) {
+
+					object.environment = getTexture( data.environment );
+
+				}
+
+				if ( data.fog !== undefined ) {
+
+					if ( data.fog.type === 'Fog' ) {
+
+						object.fog = new Fog( data.fog.color, data.fog.near, data.fog.far );
+
+					} else if ( data.fog.type === 'FogExp2' ) {
+
+						object.fog = new FogExp2( data.fog.color, data.fog.density );
+
+					}
+
+					if ( data.fog.name !== '' ) {
+
+						object.fog.name = data.fog.name;
+
+					}
+
+				}
+
+				if ( data.backgroundBlurriness !== undefined ) object.backgroundBlurriness = data.backgroundBlurriness;
+				if ( data.backgroundIntensity !== undefined ) object.backgroundIntensity = data.backgroundIntensity;
+
+				break;
+
+			case 'PerspectiveCamera':
+
+				object = new PerspectiveCamera( data.fov, data.aspect, data.near, data.far );
+
+				if ( data.focus !== undefined ) object.focus = data.focus;
+				if ( data.zoom !== undefined ) object.zoom = data.zoom;
+				if ( data.filmGauge !== undefined ) object.filmGauge = data.filmGauge;
+				if ( data.filmOffset !== undefined ) object.filmOffset = data.filmOffset;
+				if ( data.view !== undefined ) object.view = Object.assign( {}, data.view );
+
+				break;
+
+			case 'OrthographicCamera':
+
+				object = new OrthographicCamera( data.left, data.right, data.top, data.bottom, data.near, data.far );
+
+				if ( data.zoom !== undefined ) object.zoom = data.zoom;
+				if ( data.view !== undefined ) object.view = Object.assign( {}, data.view );
+
+				break;
+
+			case 'AmbientLight':
+
+				object = new AmbientLight( data.color, data.intensity );
+
+				break;
+
+			case 'DirectionalLight':
+
+				object = new DirectionalLight( data.color, data.intensity );
+
+				break;
+
+			case 'PointLight':
+
+				object = new PointLight( data.color, data.intensity, data.distance, data.decay );
+
+				break;
+
+			case 'RectAreaLight':
+
+				object = new RectAreaLight( data.color, data.intensity, data.width, data.height );
+
+				break;
+
+			case 'SpotLight':
+
+				object = new SpotLight( data.color, data.intensity, data.distance, data.angle, data.penumbra, data.decay );
+
+				break;
+
+			case 'HemisphereLight':
+
+				object = new HemisphereLight( data.color, data.groundColor, data.intensity );
+
+				break;
+
+			case 'LightProbe':
+
+				object = new LightProbe().fromJSON( data );
+
+				break;
+
+			case 'SkinnedMesh':
+
+				geometry = getGeometry( data.geometry );
+			 	material = getMaterial( data.material );
+
+				object = new SkinnedMesh( geometry, material );
+
+				if ( data.bindMode !== undefined ) object.bindMode = data.bindMode;
+				if ( data.bindMatrix !== undefined ) object.bindMatrix.fromArray( data.bindMatrix );
+				if ( data.skeleton !== undefined ) object.skeleton = data.skeleton;
+
+				break;
+
+			case 'Mesh':
+
+				geometry = getGeometry( data.geometry );
+				material = getMaterial( data.material );
+
+				object = new Mesh( geometry, material );
+
+				break;
+
+			case 'InstancedMesh':
+
+				geometry = getGeometry( data.geometry );
+				material = getMaterial( data.material );
+				const count = data.count;
+				const instanceMatrix = data.instanceMatrix;
+				const instanceColor = data.instanceColor;
+
+				object = new InstancedMesh( geometry, material, count );
+				object.instanceMatrix = new InstancedBufferAttribute( new Float32Array( instanceMatrix.array ), 16 );
+				if ( instanceColor !== undefined ) object.instanceColor = new InstancedBufferAttribute( new Float32Array( instanceColor.array ), instanceColor.itemSize );
+
+				break;
+
+			case 'BatchedMesh':
+
+				geometry = getGeometry( data.geometry );
+				material = getMaterial( data.material );
+
+				object = new BatchedMesh( data.maxGeometryCount, data.maxVertexCount, data.maxIndexCount, material );
+				object.geometry = geometry;
+				object.perObjectFrustumCulled = data.perObjectFrustumCulled;
+				object.sortObjects = data.sortObjects;
+
+				object._drawRanges = data.drawRanges;
+				object._reservedRanges = data.reservedRanges;
+
+				object._visibility = data.visibility;
+				object._active = data.active;
+				object._bounds = data.bounds.map( bound => {
+
+					const box = new Box3();
+					box.min.fromArray( bound.boxMin );
+					box.max.fromArray( bound.boxMax );
+
+					const sphere = new Sphere();
+					sphere.radius = bound.sphereRadius;
+					sphere.center.fromArray( bound.sphereCenter );
+
+					return {
+						boxInitialized: bound.boxInitialized,
+						box: box,
+
+						sphereInitialized: bound.sphereInitialized,
+						sphere: sphere
+					};
+
+				} );
+
+				object._maxGeometryCount = data.maxGeometryCount;
+				object._maxVertexCount = data.maxVertexCount;
+				object._maxIndexCount = data.maxIndexCount;
+
+				object._geometryInitialized = data.geometryInitialized;
+				object._geometryCount = data.geometryCount;
+
+				object._matricesTexture = getTexture( data.matricesTexture.uuid );
+
+				break;
+
+			case 'LOD':
+
+				object = new LOD();
+
+				break;
+
+			case 'Line':
+
+				object = new Line( getGeometry( data.geometry ), getMaterial( data.material ) );
+
+				break;
+
+			case 'LineLoop':
+
+				object = new LineLoop( getGeometry( data.geometry ), getMaterial( data.material ) );
+
+				break;
+
+			case 'LineSegments':
+
+				object = new LineSegments( getGeometry( data.geometry ), getMaterial( data.material ) );
+
+				break;
+
+			case 'PointCloud':
+			case 'Points':
+
+				object = new Points( getGeometry( data.geometry ), getMaterial( data.material ) );
+
+				break;
+
+			case 'Sprite':
+
+				object = new Sprite( getMaterial( data.material ) );
+
+				break;
+
+			case 'Group':
+
+				object = new Group();
+
+				break;
+
+			case 'Bone':
+
+				object = new Bone();
+
+				break;
+
+			default:
+
+				object = new Object3D();
+
+		}
+
+		object.uuid = data.uuid;
+
+		if ( data.name !== undefined ) object.name = data.name;
+
+		if ( data.matrix !== undefined ) {
+
+			object.matrix.fromArray( data.matrix );
+
+			if ( data.matrixAutoUpdate !== undefined ) object.matrixAutoUpdate = data.matrixAutoUpdate;
+			if ( object.matrixAutoUpdate ) object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+		} else {
+
+			if ( data.position !== undefined ) object.position.fromArray( data.position );
+			if ( data.rotation !== undefined ) object.rotation.fromArray( data.rotation );
+			if ( data.quaternion !== undefined ) object.quaternion.fromArray( data.quaternion );
+			if ( data.scale !== undefined ) object.scale.fromArray( data.scale );
+
+		}
+
+		if ( data.up !== undefined ) object.up.fromArray( data.up );
+
+		if ( data.castShadow !== undefined ) object.castShadow = data.castShadow;
+		if ( data.receiveShadow !== undefined ) object.receiveShadow = data.receiveShadow;
+
+		if ( data.shadow ) {
+
+			if ( data.shadow.bias !== undefined ) object.shadow.bias = data.shadow.bias;
+			if ( data.shadow.normalBias !== undefined ) object.shadow.normalBias = data.shadow.normalBias;
+			if ( data.shadow.radius !== undefined ) object.shadow.radius = data.shadow.radius;
+			if ( data.shadow.mapSize !== undefined ) object.shadow.mapSize.fromArray( data.shadow.mapSize );
+			if ( data.shadow.camera !== undefined ) object.shadow.camera = this.parseObject( data.shadow.camera );
+
+		}
+
+		if ( data.visible !== undefined ) object.visible = data.visible;
+		if ( data.frustumCulled !== undefined ) object.frustumCulled = data.frustumCulled;
+		if ( data.renderOrder !== undefined ) object.renderOrder = data.renderOrder;
+		if ( data.userData !== undefined ) object.userData = data.userData;
+		if ( data.layers !== undefined ) object.layers.mask = data.layers;
+
+		if ( data.children !== undefined ) {
+
+			const children = data.children;
+
+			for ( let i = 0; i < children.length; i ++ ) {
+
+				object.add( this.parseObject( children[ i ], geometries, materials, textures, animations ) );
+
+			}
+
+		}
+
+		if ( data.animations !== undefined ) {
+
+			const objectAnimations = data.animations;
+
+			for ( let i = 0; i < objectAnimations.length; i ++ ) {
+
+				const uuid = objectAnimations[ i ];
+
+				object.animations.push( animations[ uuid ] );
+
+			}
+
+		}
+
+		if ( data.type === 'LOD' ) {
+
+			if ( data.autoUpdate !== undefined ) object.autoUpdate = data.autoUpdate;
+
+			const levels = data.levels;
+
+			for ( let l = 0; l < levels.length; l ++ ) {
+
+				const level = levels[ l ];
+				const child = object.getObjectByProperty( 'uuid', level.object );
+
+				if ( child !== undefined ) {
+
+					object.addLevel( child, level.distance, level.hysteresis );
+
+				}
+
+			}
+
+		}
+
+		return object;
+
+	}
+
+	bindSkeletons( object, skeletons ) {
+
+		if ( Object.keys( skeletons ).length === 0 ) return;
+
+		object.traverse( function ( child ) {
+
+			if ( child.isSkinnedMesh === true && child.skeleton !== undefined ) {
+
+				const skeleton = skeletons[ child.skeleton ];
+
+				if ( skeleton === undefined ) {
+
+					console.warn( 'THREE.ObjectLoader: No skeleton found with UUID:', child.skeleton );
+
+				} else {
+
+					child.bind( skeleton, child.bindMatrix );
+
+				}
+
+			}
+
+		} );
+
+	}
+
+}
+
+const TEXTURE_MAPPING = {
+	UVMapping: UVMapping,
+	CubeReflectionMapping: CubeReflectionMapping,
+	CubeRefractionMapping: CubeRefractionMapping,
+	EquirectangularReflectionMapping: EquirectangularReflectionMapping,
+	EquirectangularRefractionMapping: EquirectangularRefractionMapping,
+	CubeUVReflectionMapping: CubeUVReflectionMapping
+};
+
+const TEXTURE_WRAPPING = {
+	RepeatWrapping: RepeatWrapping,
+	ClampToEdgeWrapping: ClampToEdgeWrapping,
+	MirroredRepeatWrapping: MirroredRepeatWrapping
+};
+
+const TEXTURE_FILTER = {
+	NearestFilter: NearestFilter,
+	NearestMipmapNearestFilter: NearestMipmapNearestFilter,
+	NearestMipmapLinearFilter: NearestMipmapLinearFilter,
+	LinearFilter: LinearFilter,
+	LinearMipmapNearestFilter: LinearMipmapNearestFilter,
+	LinearMipmapLinearFilter: LinearMipmapLinearFilter
+};
+
+class ImageBitmapLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+		this.isImageBitmapLoader = true;
+
+		if ( typeof createImageBitmap === 'undefined' ) {
+
+			console.warn( 'THREE.ImageBitmapLoader: createImageBitmap() not supported.' );
+
+		}
+
+		if ( typeof fetch === 'undefined' ) {
+
+			console.warn( 'THREE.ImageBitmapLoader: fetch() not supported.' );
+
+		}
+
+		this.options = { premultiplyAlpha: 'none' };
+
+	}
+
+	setOptions( options ) {
+
+		this.options = options;
+
+		return this;
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		if ( url === undefined ) url = '';
+
+		if ( this.path !== undefined ) url = this.path + url;
+
+		url = this.manager.resolveURL( url );
+
+		const scope = this;
+
+		const cached = Cache.get( url );
+
+		if ( cached !== undefined ) {
+
+			scope.manager.itemStart( url );
+
+			// If cached is a promise, wait for it to resolve
+			if ( cached.then ) {
+
+				cached.then( imageBitmap => {
+
+					if ( onLoad ) onLoad( imageBitmap );
+
+					scope.manager.itemEnd( url );
+
+				} ).catch( e => {
+
+					if ( onError ) onError( e );
+
+				} );
+				return;
+
+			}
+
+			// If cached is not a promise (i.e., it's already an imageBitmap)
+			setTimeout( function () {
+
+				if ( onLoad ) onLoad( cached );
+
+				scope.manager.itemEnd( url );
+
+			}, 0 );
+
+			return cached;
+
+		}
+
+		const fetchOptions = {};
+		fetchOptions.credentials = ( this.crossOrigin === 'anonymous' ) ? 'same-origin' : 'include';
+		fetchOptions.headers = this.requestHeader;
+
+		const promise = fetch( url, fetchOptions ).then( function ( res ) {
+
+			return res.blob();
+
+		} ).then( function ( blob ) {
+
+			return createImageBitmap( blob, Object.assign( scope.options, { colorSpaceConversion: 'none' } ) );
+
+		} ).then( function ( imageBitmap ) {
+
+			Cache.add( url, imageBitmap );
+
+			if ( onLoad ) onLoad( imageBitmap );
+
+			scope.manager.itemEnd( url );
+
+			return imageBitmap;
+
+		} ).catch( function ( e ) {
+
+			if ( onError ) onError( e );
+
+			Cache.remove( url );
+
+			scope.manager.itemError( url );
+			scope.manager.itemEnd( url );
+
+		} );
+
+		Cache.add( url, promise );
+		scope.manager.itemStart( url );
+
+	}
+
+}
+
+let _context;
+
+class AudioContext {
+
+	static getContext() {
+
+		if ( _context === undefined ) {
+
+			_context = new ( window.AudioContext || window.webkitAudioContext )();
+
+		}
+
+		return _context;
+
+	}
+
+	static setContext( value ) {
+
+		_context = value;
+
+	}
+
+}
+
+class AudioLoader extends Loader {
+
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const loader = new FileLoader( this.manager );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setPath( this.path );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+		loader.load( url, function ( buffer ) {
+
+			try {
+
+				// Create a copy of the buffer. The `decodeAudioData` method
+				// detaches the buffer when complete, preventing reuse.
+				const bufferCopy = buffer.slice( 0 );
+
+				const context = AudioContext.getContext();
+				context.decodeAudioData( bufferCopy, function ( audioBuffer ) {
+
+					onLoad( audioBuffer );
+
+				} ).catch( handleError );
+
+			} catch ( e ) {
+
+				handleError( e );
+
+			}
+
+		}, onProgress, onError );
+
+		function handleError( e ) {
+
+			if ( onError ) {
+
+				onError( e );
+
+			} else {
+
+				console.error( e );
+
+			}
+
+			scope.manager.itemError( url );
+
+		}
+
+	}
+
+}
+
+const _eyeRight = /*@__PURE__*/ new Matrix4();
+const _eyeLeft = /*@__PURE__*/ new Matrix4();
+const _projectionMatrix = /*@__PURE__*/ new Matrix4();
+
+class StereoCamera {
+
+	constructor() {
+
+		this.type = 'StereoCamera';
+
+		this.aspect = 1;
+
+		this.eyeSep = 0.064;
+
+		this.cameraL = new PerspectiveCamera();
+		this.cameraL.layers.enable( 1 );
+		this.cameraL.matrixAutoUpdate = false;
+
+		this.cameraR = new PerspectiveCamera();
+		this.cameraR.layers.enable( 2 );
+		this.cameraR.matrixAutoUpdate = false;
+
+		this._cache = {
+			focus: null,
+			fov: null,
+			aspect: null,
+			near: null,
+			far: null,
+			zoom: null,
+			eyeSep: null
+		};
+
+	}
+
+	update( camera ) {
+
+		const cache = this._cache;
+
+		const needsUpdate = cache.focus !== camera.focus || cache.fov !== camera.fov ||
+			cache.aspect !== camera.aspect * this.aspect || cache.near !== camera.near ||
+			cache.far !== camera.far || cache.zoom !== camera.zoom || cache.eyeSep !== this.eyeSep;
+
+		if ( needsUpdate ) {
+
+			cache.focus = camera.focus;
+			cache.fov = camera.fov;
+			cache.aspect = camera.aspect * this.aspect;
+			cache.near = camera.near;
+			cache.far = camera.far;
+			cache.zoom = camera.zoom;
+			cache.eyeSep = this.eyeSep;
+
+			// Off-axis stereoscopic effect based on
+			// http://paulbourke.net/stereographics/stereorender/
+
+			_projectionMatrix.copy( camera.projectionMatrix );
+			const eyeSepHalf = cache.eyeSep / 2;
+			const eyeSepOnProjection = eyeSepHalf * cache.near / cache.focus;
+			const ymax = ( cache.near * Math.tan( DEG2RAD * cache.fov * 0.5 ) ) / cache.zoom;
+			let xmin, xmax;
+
+			// translate xOffset
+
+			_eyeLeft.elements[ 12 ] = - eyeSepHalf;
+			_eyeRight.elements[ 12 ] = eyeSepHalf;
+
+			// for left eye
+
+			xmin = - ymax * cache.aspect + eyeSepOnProjection;
+			xmax = ymax * cache.aspect + eyeSepOnProjection;
+
+			_projectionMatrix.elements[ 0 ] = 2 * cache.near / ( xmax - xmin );
+			_projectionMatrix.elements[ 8 ] = ( xmax + xmin ) / ( xmax - xmin );
+
+			this.cameraL.projectionMatrix.copy( _projectionMatrix );
+
+			// for right eye
+
+			xmin = - ymax * cache.aspect - eyeSepOnProjection;
+			xmax = ymax * cache.aspect - eyeSepOnProjection;
+
+			_projectionMatrix.elements[ 0 ] = 2 * cache.near / ( xmax - xmin );
+			_projectionMatrix.elements[ 8 ] = ( xmax + xmin ) / ( xmax - xmin );
+
+			this.cameraR.projectionMatrix.copy( _projectionMatrix );
+
+		}
+
+		this.cameraL.matrixWorld.copy( camera.matrixWorld ).multiply( _eyeLeft );
+		this.cameraR.matrixWorld.copy( camera.matrixWorld ).multiply( _eyeRight );
+
+	}
+
+}
+
+class Clock {
+
+	constructor( autoStart = true ) {
+
+		this.autoStart = autoStart;
+
+		this.startTime = 0;
+		this.oldTime = 0;
+		this.elapsedTime = 0;
+
+		this.running = false;
+
+	}
+
+	start() {
+
+		this.startTime = now();
+
+		this.oldTime = this.startTime;
+		this.elapsedTime = 0;
+		this.running = true;
+
+	}
+
+	stop() {
+
+		this.getElapsedTime();
+		this.running = false;
+		this.autoStart = false;
+
+	}
+
+	getElapsedTime() {
+
+		this.getDelta();
+		return this.elapsedTime;
+
+	}
+
+	getDelta() {
+
+		let diff = 0;
+
+		if ( this.autoStart && ! this.running ) {
+
+			this.start();
+			return 0;
+
+		}
+
+		if ( this.running ) {
+
+			const newTime = now();
+
+			diff = ( newTime - this.oldTime ) / 1000;
+			this.oldTime = newTime;
+
+			this.elapsedTime += diff;
+
+		}
+
+		return diff;
+
+	}
+
+}
+
+function now() {
+
+	return ( typeof performance === 'undefined' ? Date : performance ).now(); // see #10732
+
+}
+
+const _position$1 = /*@__PURE__*/ new Vector3();
+const _quaternion$1 = /*@__PURE__*/ new Quaternion();
+const _scale$1 = /*@__PURE__*/ new Vector3();
+const _orientation$1 = /*@__PURE__*/ new Vector3();
+
+class AudioListener extends Object3D {
+
+	constructor() {
+
+		super();
+
+		this.type = 'AudioListener';
+
+		this.context = AudioContext.getContext();
+
+		this.gain = this.context.createGain();
+		this.gain.connect( this.context.destination );
+
+		this.filter = null;
+
+		this.timeDelta = 0;
+
+		// private
+
+		this._clock = new Clock();
+
+	}
+
+	getInput() {
+
+		return this.gain;
+
+	}
+
+	removeFilter() {
+
+		if ( this.filter !== null ) {
+
+			this.gain.disconnect( this.filter );
+			this.filter.disconnect( this.context.destination );
+			this.gain.connect( this.context.destination );
+			this.filter = null;
+
+		}
+
+		return this;
+
+	}
+
+	getFilter() {
+
+		return this.filter;
+
+	}
+
+	setFilter( value ) {
+
+		if ( this.filter !== null ) {
+
+			this.gain.disconnect( this.filter );
+			this.filter.disconnect( this.context.destination );
+
+		} else {
+
+			this.gain.disconnect( this.context.destination );
+
+		}
+
+		this.filter = value;
+		this.gain.connect( this.filter );
+		this.filter.connect( this.context.destination );
+
+		return this;
+
+	}
+
+	getMasterVolume() {
+
+		return this.gain.gain.value;
+
+	}
+
+	setMasterVolume( value ) {
+
+		this.gain.gain.setTargetAtTime( value, this.context.currentTime, 0.01 );
+
+		return this;
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		super.updateMatrixWorld( force );
+
+		const listener = this.context.listener;
+		const up = this.up;
+
+		this.timeDelta = this._clock.getDelta();
+
+		this.matrixWorld.decompose( _position$1, _quaternion$1, _scale$1 );
+
+		_orientation$1.set( 0, 0, - 1 ).applyQuaternion( _quaternion$1 );
+
+		if ( listener.positionX ) {
+
+			// code path for Chrome (see #14393)
+
+			const endTime = this.context.currentTime + this.timeDelta;
+
+			listener.positionX.linearRampToValueAtTime( _position$1.x, endTime );
+			listener.positionY.linearRampToValueAtTime( _position$1.y, endTime );
+			listener.positionZ.linearRampToValueAtTime( _position$1.z, endTime );
+			listener.forwardX.linearRampToValueAtTime( _orientation$1.x, endTime );
+			listener.forwardY.linearRampToValueAtTime( _orientation$1.y, endTime );
+			listener.forwardZ.linearRampToValueAtTime( _orientation$1.z, endTime );
+			listener.upX.linearRampToValueAtTime( up.x, endTime );
+			listener.upY.linearRampToValueAtTime( up.y, endTime );
+			listener.upZ.linearRampToValueAtTime( up.z, endTime );
+
+		} else {
+
+			listener.setPosition( _position$1.x, _position$1.y, _position$1.z );
+			listener.setOrientation( _orientation$1.x, _orientation$1.y, _orientation$1.z, up.x, up.y, up.z );
+
+		}
+
+	}
+
+}
+
+class Audio extends Object3D {
+
+	constructor( listener ) {
+
+		super();
+
+		this.type = 'Audio';
+
+		this.listener = listener;
+		this.context = listener.context;
+
+		this.gain = this.context.createGain();
+		this.gain.connect( listener.getInput() );
+
+		this.autoplay = false;
+
+		this.buffer = null;
+		this.detune = 0;
+		this.loop = false;
+		this.loopStart = 0;
+		this.loopEnd = 0;
+		this.offset = 0;
+		this.duration = undefined;
+		this.playbackRate = 1;
+		this.isPlaying = false;
+		this.hasPlaybackControl = true;
+		this.source = null;
+		this.sourceType = 'empty';
+
+		this._startedAt = 0;
+		this._progress = 0;
+		this._connected = false;
+
+		this.filters = [];
+
+	}
+
+	getOutput() {
+
+		return this.gain;
+
+	}
+
+	setNodeSource( audioNode ) {
+
+		this.hasPlaybackControl = false;
+		this.sourceType = 'audioNode';
+		this.source = audioNode;
+		this.connect();
+
+		return this;
+
+	}
+
+	setMediaElementSource( mediaElement ) {
+
+		this.hasPlaybackControl = false;
+		this.sourceType = 'mediaNode';
+		this.source = this.context.createMediaElementSource( mediaElement );
+		this.connect();
+
+		return this;
+
+	}
+
+	setMediaStreamSource( mediaStream ) {
+
+		this.hasPlaybackControl = false;
+		this.sourceType = 'mediaStreamNode';
+		this.source = this.context.createMediaStreamSource( mediaStream );
+		this.connect();
+
+		return this;
+
+	}
+
+	setBuffer( audioBuffer ) {
+
+		this.buffer = audioBuffer;
+		this.sourceType = 'buffer';
+
+		if ( this.autoplay ) this.play();
+
+		return this;
+
+	}
+
+	play( delay = 0 ) {
+
+		if ( this.isPlaying === true ) {
+
+			console.warn( 'THREE.Audio: Audio is already playing.' );
+			return;
+
+		}
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return;
+
+		}
+
+		this._startedAt = this.context.currentTime + delay;
+
+		const source = this.context.createBufferSource();
+		source.buffer = this.buffer;
+		source.loop = this.loop;
+		source.loopStart = this.loopStart;
+		source.loopEnd = this.loopEnd;
+		source.onended = this.onEnded.bind( this );
+		source.start( this._startedAt, this._progress + this.offset, this.duration );
+
+		this.isPlaying = true;
+
+		this.source = source;
+
+		this.setDetune( this.detune );
+		this.setPlaybackRate( this.playbackRate );
+
+		return this.connect();
+
+	}
+
+	pause() {
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return;
+
+		}
+
+		if ( this.isPlaying === true ) {
+
+			// update current progress
+
+			this._progress += Math.max( this.context.currentTime - this._startedAt, 0 ) * this.playbackRate;
+
+			if ( this.loop === true ) {
+
+				// ensure _progress does not exceed duration with looped audios
+
+				this._progress = this._progress % ( this.duration || this.buffer.duration );
+
+			}
+
+			this.source.stop();
+			this.source.onended = null;
+
+			this.isPlaying = false;
+
+		}
+
+		return this;
+
+	}
+
+	stop() {
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return;
+
+		}
+
+		this._progress = 0;
+
+		if ( this.source !== null ) {
+
+			this.source.stop();
+			this.source.onended = null;
+
+		}
+
+		this.isPlaying = false;
+
+		return this;
+
+	}
+
+	connect() {
+
+		if ( this.filters.length > 0 ) {
+
+			this.source.connect( this.filters[ 0 ] );
+
+			for ( let i = 1, l = this.filters.length; i < l; i ++ ) {
+
+				this.filters[ i - 1 ].connect( this.filters[ i ] );
+
+			}
+
+			this.filters[ this.filters.length - 1 ].connect( this.getOutput() );
+
+		} else {
+
+			this.source.connect( this.getOutput() );
+
+		}
+
+		this._connected = true;
+
+		return this;
+
+	}
+
+	disconnect() {
+
+		if ( this._connected === false ) {
+
+			return;
+
+		}
+
+		if ( this.filters.length > 0 ) {
+
+			this.source.disconnect( this.filters[ 0 ] );
+
+			for ( let i = 1, l = this.filters.length; i < l; i ++ ) {
+
+				this.filters[ i - 1 ].disconnect( this.filters[ i ] );
+
+			}
+
+			this.filters[ this.filters.length - 1 ].disconnect( this.getOutput() );
+
+		} else {
+
+			this.source.disconnect( this.getOutput() );
+
+		}
+
+		this._connected = false;
+
+		return this;
+
+	}
+
+	getFilters() {
+
+		return this.filters;
+
+	}
+
+	setFilters( value ) {
+
+		if ( ! value ) value = [];
+
+		if ( this._connected === true ) {
+
+			this.disconnect();
+			this.filters = value.slice();
+			this.connect();
+
+		} else {
+
+			this.filters = value.slice();
+
+		}
+
+		return this;
+
+	}
+
+	setDetune( value ) {
+
+		this.detune = value;
+
+		if ( this.source.detune === undefined ) return; // only set detune when available
+
+		if ( this.isPlaying === true ) {
+
+			this.source.detune.setTargetAtTime( this.detune, this.context.currentTime, 0.01 );
+
+		}
+
+		return this;
+
+	}
+
+	getDetune() {
+
+		return this.detune;
+
+	}
+
+	getFilter() {
+
+		return this.getFilters()[ 0 ];
+
+	}
+
+	setFilter( filter ) {
+
+		return this.setFilters( filter ? [ filter ] : [] );
+
+	}
+
+	setPlaybackRate( value ) {
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return;
+
+		}
+
+		this.playbackRate = value;
+
+		if ( this.isPlaying === true ) {
+
+			this.source.playbackRate.setTargetAtTime( this.playbackRate, this.context.currentTime, 0.01 );
+
+		}
+
+		return this;
+
+	}
+
+	getPlaybackRate() {
+
+		return this.playbackRate;
+
+	}
+
+	onEnded() {
+
+		this.isPlaying = false;
+
+	}
+
+	getLoop() {
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return false;
+
+		}
+
+		return this.loop;
+
+	}
+
+	setLoop( value ) {
+
+		if ( this.hasPlaybackControl === false ) {
+
+			console.warn( 'THREE.Audio: this Audio has no playback control.' );
+			return;
+
+		}
+
+		this.loop = value;
+
+		if ( this.isPlaying === true ) {
+
+			this.source.loop = this.loop;
+
+		}
+
+		return this;
+
+	}
+
+	setLoopStart( value ) {
+
+		this.loopStart = value;
+
+		return this;
+
+	}
+
+	setLoopEnd( value ) {
+
+		this.loopEnd = value;
+
+		return this;
+
+	}
+
+	getVolume() {
+
+		return this.gain.gain.value;
+
+	}
+
+	setVolume( value ) {
+
+		this.gain.gain.setTargetAtTime( value, this.context.currentTime, 0.01 );
+
+		return this;
+
+	}
+
+}
+
+const _position = /*@__PURE__*/ new Vector3();
+const _quaternion = /*@__PURE__*/ new Quaternion();
+const _scale = /*@__PURE__*/ new Vector3();
+const _orientation = /*@__PURE__*/ new Vector3();
+
+class PositionalAudio extends Audio {
+
+	constructor( listener ) {
+
+		super( listener );
+
+		this.panner = this.context.createPanner();
+		this.panner.panningModel = 'HRTF';
+		this.panner.connect( this.gain );
+
+	}
+
+	connect() {
+
+		super.connect();
+
+		this.panner.connect( this.gain );
+
+	}
+
+	disconnect() {
+
+		super.disconnect();
+
+		this.panner.disconnect( this.gain );
+
+	}
+
+	getOutput() {
+
+		return this.panner;
+
+	}
+
+	getRefDistance() {
+
+		return this.panner.refDistance;
+
+	}
+
+	setRefDistance( value ) {
+
+		this.panner.refDistance = value;
+
+		return this;
+
+	}
+
+	getRolloffFactor() {
+
+		return this.panner.rolloffFactor;
+
+	}
+
+	setRolloffFactor( value ) {
+
+		this.panner.rolloffFactor = value;
+
+		return this;
+
+	}
+
+	getDistanceModel() {
+
+		return this.panner.distanceModel;
+
+	}
+
+	setDistanceModel( value ) {
+
+		this.panner.distanceModel = value;
+
+		return this;
+
+	}
+
+	getMaxDistance() {
+
+		return this.panner.maxDistance;
+
+	}
+
+	setMaxDistance( value ) {
+
+		this.panner.maxDistance = value;
+
+		return this;
+
+	}
+
+	setDirectionalCone( coneInnerAngle, coneOuterAngle, coneOuterGain ) {
+
+		this.panner.coneInnerAngle = coneInnerAngle;
+		this.panner.coneOuterAngle = coneOuterAngle;
+		this.panner.coneOuterGain = coneOuterGain;
+
+		return this;
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		super.updateMatrixWorld( force );
+
+		if ( this.hasPlaybackControl === true && this.isPlaying === false ) return;
+
+		this.matrixWorld.decompose( _position, _quaternion, _scale );
+
+		_orientation.set( 0, 0, 1 ).applyQuaternion( _quaternion );
+
+		const panner = this.panner;
+
+		if ( panner.positionX ) {
+
+			// code path for Chrome and Firefox (see #14393)
+
+			const endTime = this.context.currentTime + this.listener.timeDelta;
+
+			panner.positionX.linearRampToValueAtTime( _position.x, endTime );
+			panner.positionY.linearRampToValueAtTime( _position.y, endTime );
+			panner.positionZ.linearRampToValueAtTime( _position.z, endTime );
+			panner.orientationX.linearRampToValueAtTime( _orientation.x, endTime );
+			panner.orientationY.linearRampToValueAtTime( _orientation.y, endTime );
+			panner.orientationZ.linearRampToValueAtTime( _orientation.z, endTime );
+
+		} else {
+
+			panner.setPosition( _position.x, _position.y, _position.z );
+			panner.setOrientation( _orientation.x, _orientation.y, _orientation.z );
+
+		}
+
+	}
+
+}
+
+class AudioAnalyser {
+
+	constructor( audio, fftSize = 2048 ) {
+
+		this.analyser = audio.context.createAnalyser();
+		this.analyser.fftSize = fftSize;
+
+		this.data = new Uint8Array( this.analyser.frequencyBinCount );
+
+		audio.getOutput().connect( this.analyser );
+
+	}
+
+
+	getFrequencyData() {
+
+		this.analyser.getByteFrequencyData( this.data );
+
+		return this.data;
+
+	}
+
+	getAverageFrequency() {
+
+		let value = 0;
+		const data = this.getFrequencyData();
+
+		for ( let i = 0; i < data.length; i ++ ) {
+
+			value += data[ i ];
+
+		}
+
+		return value / data.length;
+
+	}
+
+}
+
+class PropertyMixer {
+
+	constructor( binding, typeName, valueSize ) {
+
+		this.binding = binding;
+		this.valueSize = valueSize;
+
+		let mixFunction,
+			mixFunctionAdditive,
+			setIdentity;
+
+		// buffer layout: [ incoming | accu0 | accu1 | orig | addAccu | (optional work) ]
+		//
+		// interpolators can use .buffer as their .result
+		// the data then goes to 'incoming'
+		//
+		// 'accu0' and 'accu1' are used frame-interleaved for
+		// the cumulative result and are compared to detect
+		// changes
+		//
+		// 'orig' stores the original state of the property
+		//
+		// 'add' is used for additive cumulative results
+		//
+		// 'work' is optional and is only present for quaternion types. It is used
+		// to store intermediate quaternion multiplication results
+
+		switch ( typeName ) {
+
+			case 'quaternion':
+				mixFunction = this._slerp;
+				mixFunctionAdditive = this._slerpAdditive;
+				setIdentity = this._setAdditiveIdentityQuaternion;
+
+				this.buffer = new Float64Array( valueSize * 6 );
+				this._workIndex = 5;
+				break;
+
+			case 'string':
+			case 'bool':
+				mixFunction = this._select;
+
+				// Use the regular mix function and for additive on these types,
+				// additive is not relevant for non-numeric types
+				mixFunctionAdditive = this._select;
+
+				setIdentity = this._setAdditiveIdentityOther;
+
+				this.buffer = new Array( valueSize * 5 );
+				break;
+
+			default:
+				mixFunction = this._lerp;
+				mixFunctionAdditive = this._lerpAdditive;
+				setIdentity = this._setAdditiveIdentityNumeric;
+
+				this.buffer = new Float64Array( valueSize * 5 );
+
+		}
+
+		this._mixBufferRegion = mixFunction;
+		this._mixBufferRegionAdditive = mixFunctionAdditive;
+		this._setIdentity = setIdentity;
+		this._origIndex = 3;
+		this._addIndex = 4;
+
+		this.cumulativeWeight = 0;
+		this.cumulativeWeightAdditive = 0;
+
+		this.useCount = 0;
+		this.referenceCount = 0;
+
+	}
+
+	// accumulate data in the 'incoming' region into 'accu'
+	accumulate( accuIndex, weight ) {
+
+		// note: happily accumulating nothing when weight = 0, the caller knows
+		// the weight and shouldn't have made the call in the first place
+
+		const buffer = this.buffer,
+			stride = this.valueSize,
+			offset = accuIndex * stride + stride;
+
+		let currentWeight = this.cumulativeWeight;
+
+		if ( currentWeight === 0 ) {
+
+			// accuN := incoming * weight
+
+			for ( let i = 0; i !== stride; ++ i ) {
+
+				buffer[ offset + i ] = buffer[ i ];
+
+			}
+
+			currentWeight = weight;
+
+		} else {
+
+			// accuN := accuN + incoming * weight
+
+			currentWeight += weight;
+			const mix = weight / currentWeight;
+			this._mixBufferRegion( buffer, offset, 0, mix, stride );
+
+		}
+
+		this.cumulativeWeight = currentWeight;
+
+	}
+
+	// accumulate data in the 'incoming' region into 'add'
+	accumulateAdditive( weight ) {
+
+		const buffer = this.buffer,
+			stride = this.valueSize,
+			offset = stride * this._addIndex;
+
+		if ( this.cumulativeWeightAdditive === 0 ) {
+
+			// add = identity
+
+			this._setIdentity();
+
+		}
+
+		// add := add + incoming * weight
+
+		this._mixBufferRegionAdditive( buffer, offset, 0, weight, stride );
+		this.cumulativeWeightAdditive += weight;
+
+	}
+
+	// apply the state of 'accu' to the binding when accus differ
+	apply( accuIndex ) {
+
+		const stride = this.valueSize,
+			buffer = this.buffer,
+			offset = accuIndex * stride + stride,
+
+			weight = this.cumulativeWeight,
+			weightAdditive = this.cumulativeWeightAdditive,
+
+			binding = this.binding;
+
+		this.cumulativeWeight = 0;
+		this.cumulativeWeightAdditive = 0;
+
+		if ( weight < 1 ) {
+
+			// accuN := accuN + original * ( 1 - cumulativeWeight )
+
+			const originalValueOffset = stride * this._origIndex;
+
+			this._mixBufferRegion(
+				buffer, offset, originalValueOffset, 1 - weight, stride );
+
+		}
+
+		if ( weightAdditive > 0 ) {
+
+			// accuN := accuN + additive accuN
+
+			this._mixBufferRegionAdditive( buffer, offset, this._addIndex * stride, 1, stride );
+
+		}
+
+		for ( let i = stride, e = stride + stride; i !== e; ++ i ) {
+
+			if ( buffer[ i ] !== buffer[ i + stride ] ) {
+
+				// value has changed -> update scene graph
+
+				binding.setValue( buffer, offset );
+				break;
+
+			}
+
+		}
+
+	}
+
+	// remember the state of the bound property and copy it to both accus
+	saveOriginalState() {
+
+		const binding = this.binding;
+
+		const buffer = this.buffer,
+			stride = this.valueSize,
+
+			originalValueOffset = stride * this._origIndex;
+
+		binding.getValue( buffer, originalValueOffset );
+
+		// accu[0..1] := orig -- initially detect changes against the original
+		for ( let i = stride, e = originalValueOffset; i !== e; ++ i ) {
+
+			buffer[ i ] = buffer[ originalValueOffset + ( i % stride ) ];
+
+		}
+
+		// Add to identity for additive
+		this._setIdentity();
+
+		this.cumulativeWeight = 0;
+		this.cumulativeWeightAdditive = 0;
+
+	}
+
+	// apply the state previously taken via 'saveOriginalState' to the binding
+	restoreOriginalState() {
+
+		const originalValueOffset = this.valueSize * 3;
+		this.binding.setValue( this.buffer, originalValueOffset );
+
+	}
+
+	_setAdditiveIdentityNumeric() {
+
+		const startIndex = this._addIndex * this.valueSize;
+		const endIndex = startIndex + this.valueSize;
+
+		for ( let i = startIndex; i < endIndex; i ++ ) {
+
+			this.buffer[ i ] = 0;
+
+		}
+
+	}
+
+	_setAdditiveIdentityQuaternion() {
+
+		this._setAdditiveIdentityNumeric();
+		this.buffer[ this._addIndex * this.valueSize + 3 ] = 1;
+
+	}
+
+	_setAdditiveIdentityOther() {
+
+		const startIndex = this._origIndex * this.valueSize;
+		const targetIndex = this._addIndex * this.valueSize;
+
+		for ( let i = 0; i < this.valueSize; i ++ ) {
+
+			this.buffer[ targetIndex + i ] = this.buffer[ startIndex + i ];
+
+		}
+
+	}
+
+
+	// mix functions
+
+	_select( buffer, dstOffset, srcOffset, t, stride ) {
+
+		if ( t >= 0.5 ) {
+
+			for ( let i = 0; i !== stride; ++ i ) {
+
+				buffer[ dstOffset + i ] = buffer[ srcOffset + i ];
+
+			}
+
+		}
+
+	}
+
+	_slerp( buffer, dstOffset, srcOffset, t ) {
+
+		Quaternion.slerpFlat( buffer, dstOffset, buffer, dstOffset, buffer, srcOffset, t );
+
+	}
+
+	_slerpAdditive( buffer, dstOffset, srcOffset, t, stride ) {
+
+		const workOffset = this._workIndex * stride;
+
+		// Store result in intermediate buffer offset
+		Quaternion.multiplyQuaternionsFlat( buffer, workOffset, buffer, dstOffset, buffer, srcOffset );
+
+		// Slerp to the intermediate result
+		Quaternion.slerpFlat( buffer, dstOffset, buffer, dstOffset, buffer, workOffset, t );
+
+	}
+
+	_lerp( buffer, dstOffset, srcOffset, t, stride ) {
+
+		const s = 1 - t;
+
+		for ( let i = 0; i !== stride; ++ i ) {
+
+			const j = dstOffset + i;
+
+			buffer[ j ] = buffer[ j ] * s + buffer[ srcOffset + i ] * t;
+
+		}
+
+	}
+
+	_lerpAdditive( buffer, dstOffset, srcOffset, t, stride ) {
+
+		for ( let i = 0; i !== stride; ++ i ) {
+
+			const j = dstOffset + i;
+
+			buffer[ j ] = buffer[ j ] + buffer[ srcOffset + i ] * t;
+
+		}
+
+	}
+
+}
+
+// Characters [].:/ are reserved for track binding syntax.
+const _RESERVED_CHARS_RE = '\\[\\]\\.:\\/';
+const _reservedRe = new RegExp( '[' + _RESERVED_CHARS_RE + ']', 'g' );
+
+// Attempts to allow node names from any language. ES5's `\w` regexp matches
+// only latin characters, and the unicode \p{L} is not yet supported. So
+// instead, we exclude reserved characters and match everything else.
+const _wordChar = '[^' + _RESERVED_CHARS_RE + ']';
+const _wordCharOrDot = '[^' + _RESERVED_CHARS_RE.replace( '\\.', '' ) + ']';
+
+// Parent directories, delimited by '/' or ':'. Currently unused, but must
+// be matched to parse the rest of the track name.
+const _directoryRe = /*@__PURE__*/ /((?:WC+[\/:])*)/.source.replace( 'WC', _wordChar );
+
+// Target node. May contain word characters (a-zA-Z0-9_) and '.' or '-'.
+const _nodeRe = /*@__PURE__*/ /(WCOD+)?/.source.replace( 'WCOD', _wordCharOrDot );
+
+// Object on target node, and accessor. May not contain reserved
+// characters. Accessor may contain any character except closing bracket.
+const _objectRe = /*@__PURE__*/ /(?:\.(WC+)(?:\[(.+)\])?)?/.source.replace( 'WC', _wordChar );
+
+// Property and accessor. May not contain reserved characters. Accessor may
+// contain any non-bracket characters.
+const _propertyRe = /*@__PURE__*/ /\.(WC+)(?:\[(.+)\])?/.source.replace( 'WC', _wordChar );
+
+const _trackRe = new RegExp( ''
+	+ '^'
+	+ _directoryRe
+	+ _nodeRe
+	+ _objectRe
+	+ _propertyRe
+	+ '$'
+);
+
+const _supportedObjectNames = [ 'material', 'materials', 'bones', 'map' ];
+
+class Composite {
+
+	constructor( targetGroup, path, optionalParsedPath ) {
+
+		const parsedPath = optionalParsedPath || PropertyBinding.parseTrackName( path );
+
+		this._targetGroup = targetGroup;
+		this._bindings = targetGroup.subscribe_( path, parsedPath );
+
+	}
+
+	getValue( array, offset ) {
+
+		this.bind(); // bind all binding
+
+		const firstValidIndex = this._targetGroup.nCachedObjects_,
+			binding = this._bindings[ firstValidIndex ];
+
+		// and only call .getValue on the first
+		if ( binding !== undefined ) binding.getValue( array, offset );
+
+	}
+
+	setValue( array, offset ) {
+
+		const bindings = this._bindings;
+
+		for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) {
+
+			bindings[ i ].setValue( array, offset );
+
+		}
+
+	}
+
+	bind() {
+
+		const bindings = this._bindings;
+
+		for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) {
+
+			bindings[ i ].bind();
+
+		}
+
+	}
+
+	unbind() {
+
+		const bindings = this._bindings;
+
+		for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) {
+
+			bindings[ i ].unbind();
+
+		}
+
+	}
+
+}
+
+// Note: This class uses a State pattern on a per-method basis:
+// 'bind' sets 'this.getValue' / 'setValue' and shadows the
+// prototype version of these methods with one that represents
+// the bound state. When the property is not found, the methods
+// become no-ops.
+class PropertyBinding {
+
+	constructor( rootNode, path, parsedPath ) {
+
+		this.path = path;
+		this.parsedPath = parsedPath || PropertyBinding.parseTrackName( path );
+
+		this.node = PropertyBinding.findNode( rootNode, this.parsedPath.nodeName );
+
+		this.rootNode = rootNode;
+
+		// initial state of these methods that calls 'bind'
+		this.getValue = this._getValue_unbound;
+		this.setValue = this._setValue_unbound;
+
+	}
+
+
+	static create( root, path, parsedPath ) {
+
+		if ( ! ( root && root.isAnimationObjectGroup ) ) {
+
+			return new PropertyBinding( root, path, parsedPath );
+
+		} else {
+
+			return new PropertyBinding.Composite( root, path, parsedPath );
+
+		}
+
+	}
+
+	/**
+	 * Replaces spaces with underscores and removes unsupported characters from
+	 * node names, to ensure compatibility with parseTrackName().
+	 *
+	 * @param {string} name Node name to be sanitized.
+	 * @return {string}
+	 */
+	static sanitizeNodeName( name ) {
+
+		return name.replace( /\s/g, '_' ).replace( _reservedRe, '' );
+
+	}
+
+	static parseTrackName( trackName ) {
+
+		const matches = _trackRe.exec( trackName );
+
+		if ( matches === null ) {
+
+			throw new Error( 'PropertyBinding: Cannot parse trackName: ' + trackName );
+
+		}
+
+		const results = {
+			// directoryName: matches[ 1 ], // (tschw) currently unused
+			nodeName: matches[ 2 ],
+			objectName: matches[ 3 ],
+			objectIndex: matches[ 4 ],
+			propertyName: matches[ 5 ], // required
+			propertyIndex: matches[ 6 ]
+		};
+
+		const lastDot = results.nodeName && results.nodeName.lastIndexOf( '.' );
+
+		if ( lastDot !== undefined && lastDot !== - 1 ) {
+
+			const objectName = results.nodeName.substring( lastDot + 1 );
+
+			// Object names must be checked against an allowlist. Otherwise, there
+			// is no way to parse 'foo.bar.baz': 'baz' must be a property, but
+			// 'bar' could be the objectName, or part of a nodeName (which can
+			// include '.' characters).
+			if ( _supportedObjectNames.indexOf( objectName ) !== - 1 ) {
+
+				results.nodeName = results.nodeName.substring( 0, lastDot );
+				results.objectName = objectName;
+
+			}
+
+		}
+
+		if ( results.propertyName === null || results.propertyName.length === 0 ) {
+
+			throw new Error( 'PropertyBinding: can not parse propertyName from trackName: ' + trackName );
+
+		}
+
+		return results;
+
+	}
+
+	static findNode( root, nodeName ) {
+
+		if ( nodeName === undefined || nodeName === '' || nodeName === '.' || nodeName === - 1 || nodeName === root.name || nodeName === root.uuid ) {
+
+			return root;
+
+		}
+
+		// search into skeleton bones.
+		if ( root.skeleton ) {
+
+			const bone = root.skeleton.getBoneByName( nodeName );
+
+			if ( bone !== undefined ) {
+
+				return bone;
+
+			}
+
+		}
+
+		// search into node subtree.
+		if ( root.children ) {
+
+			const searchNodeSubtree = function ( children ) {
+
+				for ( let i = 0; i < children.length; i ++ ) {
+
+					const childNode = children[ i ];
+
+					if ( childNode.name === nodeName || childNode.uuid === nodeName ) {
+
+						return childNode;
+
+					}
+
+					const result = searchNodeSubtree( childNode.children );
+
+					if ( result ) return result;
+
+				}
+
+				return null;
+
+			};
+
+			const subTreeNode = searchNodeSubtree( root.children );
+
+			if ( subTreeNode ) {
+
+				return subTreeNode;
+
+			}
+
+		}
+
+		return null;
+
+	}
+
+	// these are used to "bind" a nonexistent property
+	_getValue_unavailable() {}
+	_setValue_unavailable() {}
+
+	// Getters
+
+	_getValue_direct( buffer, offset ) {
+
+		buffer[ offset ] = this.targetObject[ this.propertyName ];
+
+	}
+
+	_getValue_array( buffer, offset ) {
+
+		const source = this.resolvedProperty;
+
+		for ( let i = 0, n = source.length; i !== n; ++ i ) {
+
+			buffer[ offset ++ ] = source[ i ];
+
+		}
+
+	}
+
+	_getValue_arrayElement( buffer, offset ) {
+
+		buffer[ offset ] = this.resolvedProperty[ this.propertyIndex ];
+
+	}
+
+	_getValue_toArray( buffer, offset ) {
+
+		this.resolvedProperty.toArray( buffer, offset );
+
+	}
+
+	// Direct
+
+	_setValue_direct( buffer, offset ) {
+
+		this.targetObject[ this.propertyName ] = buffer[ offset ];
+
+	}
+
+	_setValue_direct_setNeedsUpdate( buffer, offset ) {
+
+		this.targetObject[ this.propertyName ] = buffer[ offset ];
+		this.targetObject.needsUpdate = true;
+
+	}
+
+	_setValue_direct_setMatrixWorldNeedsUpdate( buffer, offset ) {
+
+		this.targetObject[ this.propertyName ] = buffer[ offset ];
+		this.targetObject.matrixWorldNeedsUpdate = true;
+
+	}
+
+	// EntireArray
+
+	_setValue_array( buffer, offset ) {
+
+		const dest = this.resolvedProperty;
+
+		for ( let i = 0, n = dest.length; i !== n; ++ i ) {
+
+			dest[ i ] = buffer[ offset ++ ];
+
+		}
+
+	}
+
+	_setValue_array_setNeedsUpdate( buffer, offset ) {
+
+		const dest = this.resolvedProperty;
+
+		for ( let i = 0, n = dest.length; i !== n; ++ i ) {
+
+			dest[ i ] = buffer[ offset ++ ];
+
+		}
+
+		this.targetObject.needsUpdate = true;
+
+	}
+
+	_setValue_array_setMatrixWorldNeedsUpdate( buffer, offset ) {
+
+		const dest = this.resolvedProperty;
+
+		for ( let i = 0, n = dest.length; i !== n; ++ i ) {
+
+			dest[ i ] = buffer[ offset ++ ];
+
+		}
+
+		this.targetObject.matrixWorldNeedsUpdate = true;
+
+	}
+
+	// ArrayElement
+
+	_setValue_arrayElement( buffer, offset ) {
+
+		this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ];
+
+	}
+
+	_setValue_arrayElement_setNeedsUpdate( buffer, offset ) {
+
+		this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ];
+		this.targetObject.needsUpdate = true;
+
+	}
+
+	_setValue_arrayElement_setMatrixWorldNeedsUpdate( buffer, offset ) {
+
+		this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ];
+		this.targetObject.matrixWorldNeedsUpdate = true;
+
+	}
+
+	// HasToFromArray
+
+	_setValue_fromArray( buffer, offset ) {
+
+		this.resolvedProperty.fromArray( buffer, offset );
+
+	}
+
+	_setValue_fromArray_setNeedsUpdate( buffer, offset ) {
+
+		this.resolvedProperty.fromArray( buffer, offset );
+		this.targetObject.needsUpdate = true;
+
+	}
+
+	_setValue_fromArray_setMatrixWorldNeedsUpdate( buffer, offset ) {
+
+		this.resolvedProperty.fromArray( buffer, offset );
+		this.targetObject.matrixWorldNeedsUpdate = true;
+
+	}
+
+	_getValue_unbound( targetArray, offset ) {
+
+		this.bind();
+		this.getValue( targetArray, offset );
+
+	}
+
+	_setValue_unbound( sourceArray, offset ) {
+
+		this.bind();
+		this.setValue( sourceArray, offset );
+
+	}
+
+	// create getter / setter pair for a property in the scene graph
+	bind() {
+
+		let targetObject = this.node;
+		const parsedPath = this.parsedPath;
+
+		const objectName = parsedPath.objectName;
+		const propertyName = parsedPath.propertyName;
+		let propertyIndex = parsedPath.propertyIndex;
+
+		if ( ! targetObject ) {
+
+			targetObject = PropertyBinding.findNode( this.rootNode, parsedPath.nodeName );
+
+			this.node = targetObject;
+
+		}
+
+		// set fail state so we can just 'return' on error
+		this.getValue = this._getValue_unavailable;
+		this.setValue = this._setValue_unavailable;
+
+		// ensure there is a value node
+		if ( ! targetObject ) {
+
+			console.warn( 'THREE.PropertyBinding: No target node found for track: ' + this.path + '.' );
+			return;
+
+		}
+
+		if ( objectName ) {
+
+			let objectIndex = parsedPath.objectIndex;
+
+			// special cases were we need to reach deeper into the hierarchy to get the face materials....
+			switch ( objectName ) {
+
+				case 'materials':
+
+					if ( ! targetObject.material ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to material as node does not have a material.', this );
+						return;
+
+					}
+
+					if ( ! targetObject.material.materials ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to material.materials as node.material does not have a materials array.', this );
+						return;
+
+					}
+
+					targetObject = targetObject.material.materials;
+
+					break;
+
+				case 'bones':
+
+					if ( ! targetObject.skeleton ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to bones as node does not have a skeleton.', this );
+						return;
+
+					}
+
+					// potential future optimization: skip this if propertyIndex is already an integer
+					// and convert the integer string to a true integer.
+
+					targetObject = targetObject.skeleton.bones;
+
+					// support resolving morphTarget names into indices.
+					for ( let i = 0; i < targetObject.length; i ++ ) {
+
+						if ( targetObject[ i ].name === objectIndex ) {
+
+							objectIndex = i;
+							break;
+
+						}
+
+					}
+
+					break;
+
+				case 'map':
+
+					if ( 'map' in targetObject ) {
+
+						targetObject = targetObject.map;
+						break;
+
+					}
+
+					if ( ! targetObject.material ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to material as node does not have a material.', this );
+						return;
+
+					}
+
+					if ( ! targetObject.material.map ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to material.map as node.material does not have a map.', this );
+						return;
+
+					}
+
+					targetObject = targetObject.material.map;
+					break;
+
+				default:
+
+					if ( targetObject[ objectName ] === undefined ) {
+
+						console.error( 'THREE.PropertyBinding: Can not bind to objectName of node undefined.', this );
+						return;
+
+					}
+
+					targetObject = targetObject[ objectName ];
+
+			}
+
+
+			if ( objectIndex !== undefined ) {
+
+				if ( targetObject[ objectIndex ] === undefined ) {
+
+					console.error( 'THREE.PropertyBinding: Trying to bind to objectIndex of objectName, but is undefined.', this, targetObject );
+					return;
+
+				}
+
+				targetObject = targetObject[ objectIndex ];
+
+			}
+
+		}
+
+		// resolve property
+		const nodeProperty = targetObject[ propertyName ];
+
+		if ( nodeProperty === undefined ) {
+
+			const nodeName = parsedPath.nodeName;
+
+			console.error( 'THREE.PropertyBinding: Trying to update property for track: ' + nodeName +
+				'.' + propertyName + ' but it wasn\'t found.', targetObject );
+			return;
+
+		}
+
+		// determine versioning scheme
+		let versioning = this.Versioning.None;
+
+		this.targetObject = targetObject;
+
+		if ( targetObject.needsUpdate !== undefined ) { // material
+
+			versioning = this.Versioning.NeedsUpdate;
+
+		} else if ( targetObject.matrixWorldNeedsUpdate !== undefined ) { // node transform
+
+			versioning = this.Versioning.MatrixWorldNeedsUpdate;
+
+		}
+
+		// determine how the property gets bound
+		let bindingType = this.BindingType.Direct;
+
+		if ( propertyIndex !== undefined ) {
+
+			// access a sub element of the property array (only primitives are supported right now)
+
+			if ( propertyName === 'morphTargetInfluences' ) {
+
+				// potential optimization, skip this if propertyIndex is already an integer, and convert the integer string to a true integer.
+
+				// support resolving morphTarget names into indices.
+				if ( ! targetObject.geometry ) {
+
+					console.error( 'THREE.PropertyBinding: Can not bind to morphTargetInfluences because node does not have a geometry.', this );
+					return;
+
+				}
+
+				if ( ! targetObject.geometry.morphAttributes ) {
+
+					console.error( 'THREE.PropertyBinding: Can not bind to morphTargetInfluences because node does not have a geometry.morphAttributes.', this );
+					return;
+
+				}
+
+				if ( targetObject.morphTargetDictionary[ propertyIndex ] !== undefined ) {
+
+					propertyIndex = targetObject.morphTargetDictionary[ propertyIndex ];
+
+				}
+
+			}
+
+			bindingType = this.BindingType.ArrayElement;
+
+			this.resolvedProperty = nodeProperty;
+			this.propertyIndex = propertyIndex;
+
+		} else if ( nodeProperty.fromArray !== undefined && nodeProperty.toArray !== undefined ) {
+
+			// must use copy for Object3D.Euler/Quaternion
+
+			bindingType = this.BindingType.HasFromToArray;
+
+			this.resolvedProperty = nodeProperty;
+
+		} else if ( Array.isArray( nodeProperty ) ) {
+
+			bindingType = this.BindingType.EntireArray;
+
+			this.resolvedProperty = nodeProperty;
+
+		} else {
+
+			this.propertyName = propertyName;
+
+		}
+
+		// select getter / setter
+		this.getValue = this.GetterByBindingType[ bindingType ];
+		this.setValue = this.SetterByBindingTypeAndVersioning[ bindingType ][ versioning ];
+
+	}
+
+	unbind() {
+
+		this.node = null;
+
+		// back to the prototype version of getValue / setValue
+		// note: avoiding to mutate the shape of 'this' via 'delete'
+		this.getValue = this._getValue_unbound;
+		this.setValue = this._setValue_unbound;
+
+	}
+
+}
+
+PropertyBinding.Composite = Composite;
+
+PropertyBinding.prototype.BindingType = {
+	Direct: 0,
+	EntireArray: 1,
+	ArrayElement: 2,
+	HasFromToArray: 3
+};
+
+PropertyBinding.prototype.Versioning = {
+	None: 0,
+	NeedsUpdate: 1,
+	MatrixWorldNeedsUpdate: 2
+};
+
+PropertyBinding.prototype.GetterByBindingType = [
+
+	PropertyBinding.prototype._getValue_direct,
+	PropertyBinding.prototype._getValue_array,
+	PropertyBinding.prototype._getValue_arrayElement,
+	PropertyBinding.prototype._getValue_toArray,
+
+];
+
+PropertyBinding.prototype.SetterByBindingTypeAndVersioning = [
+
+	[
+		// Direct
+		PropertyBinding.prototype._setValue_direct,
+		PropertyBinding.prototype._setValue_direct_setNeedsUpdate,
+		PropertyBinding.prototype._setValue_direct_setMatrixWorldNeedsUpdate,
+
+	], [
+
+		// EntireArray
+
+		PropertyBinding.prototype._setValue_array,
+		PropertyBinding.prototype._setValue_array_setNeedsUpdate,
+		PropertyBinding.prototype._setValue_array_setMatrixWorldNeedsUpdate,
+
+	], [
+
+		// ArrayElement
+		PropertyBinding.prototype._setValue_arrayElement,
+		PropertyBinding.prototype._setValue_arrayElement_setNeedsUpdate,
+		PropertyBinding.prototype._setValue_arrayElement_setMatrixWorldNeedsUpdate,
+
+	], [
+
+		// HasToFromArray
+		PropertyBinding.prototype._setValue_fromArray,
+		PropertyBinding.prototype._setValue_fromArray_setNeedsUpdate,
+		PropertyBinding.prototype._setValue_fromArray_setMatrixWorldNeedsUpdate,
+
+	]
+
+];
+
+/**
+ *
+ * A group of objects that receives a shared animation state.
+ *
+ * Usage:
+ *
+ *  - Add objects you would otherwise pass as 'root' to the
+ *    constructor or the .clipAction method of AnimationMixer.
+ *
+ *  - Instead pass this object as 'root'.
+ *
+ *  - You can also add and remove objects later when the mixer
+ *    is running.
+ *
+ * Note:
+ *
+ *    Objects of this class appear as one object to the mixer,
+ *    so cache control of the individual objects must be done
+ *    on the group.
+ *
+ * Limitation:
+ *
+ *  - The animated properties must be compatible among the
+ *    all objects in the group.
+ *
+ *  - A single property can either be controlled through a
+ *    target group or directly, but not both.
+ */
+
+class AnimationObjectGroup {
+
+	constructor() {
+
+		this.isAnimationObjectGroup = true;
+
+		this.uuid = generateUUID();
+
+		// cached objects followed by the active ones
+		this._objects = Array.prototype.slice.call( arguments );
+
+		this.nCachedObjects_ = 0; // threshold
+		// note: read by PropertyBinding.Composite
+
+		const indices = {};
+		this._indicesByUUID = indices; // for bookkeeping
+
+		for ( let i = 0, n = arguments.length; i !== n; ++ i ) {
+
+			indices[ arguments[ i ].uuid ] = i;
+
+		}
+
+		this._paths = []; // inside: string
+		this._parsedPaths = []; // inside: { we don't care, here }
+		this._bindings = []; // inside: Array< PropertyBinding >
+		this._bindingsIndicesByPath = {}; // inside: indices in these arrays
+
+		const scope = this;
+
+		this.stats = {
+
+			objects: {
+				get total() {
+
+					return scope._objects.length;
+
+				},
+				get inUse() {
+
+					return this.total - scope.nCachedObjects_;
+
+				}
+			},
+			get bindingsPerObject() {
+
+				return scope._bindings.length;
+
+			}
+
+		};
+
+	}
+
+	add() {
+
+		const objects = this._objects,
+			indicesByUUID = this._indicesByUUID,
+			paths = this._paths,
+			parsedPaths = this._parsedPaths,
+			bindings = this._bindings,
+			nBindings = bindings.length;
+
+		let knownObject = undefined,
+			nObjects = objects.length,
+			nCachedObjects = this.nCachedObjects_;
+
+		for ( let i = 0, n = arguments.length; i !== n; ++ i ) {
+
+			const object = arguments[ i ],
+				uuid = object.uuid;
+			let index = indicesByUUID[ uuid ];
+
+			if ( index === undefined ) {
+
+				// unknown object -> add it to the ACTIVE region
+
+				index = nObjects ++;
+				indicesByUUID[ uuid ] = index;
+				objects.push( object );
+
+				// accounting is done, now do the same for all bindings
+
+				for ( let j = 0, m = nBindings; j !== m; ++ j ) {
+
+					bindings[ j ].push( new PropertyBinding( object, paths[ j ], parsedPaths[ j ] ) );
+
+				}
+
+			} else if ( index < nCachedObjects ) {
+
+				knownObject = objects[ index ];
+
+				// move existing object to the ACTIVE region
+
+				const firstActiveIndex = -- nCachedObjects,
+					lastCachedObject = objects[ firstActiveIndex ];
+
+				indicesByUUID[ lastCachedObject.uuid ] = index;
+				objects[ index ] = lastCachedObject;
+
+				indicesByUUID[ uuid ] = firstActiveIndex;
+				objects[ firstActiveIndex ] = object;
+
+				// accounting is done, now do the same for all bindings
+
+				for ( let j = 0, m = nBindings; j !== m; ++ j ) {
+
+					const bindingsForPath = bindings[ j ],
+						lastCached = bindingsForPath[ firstActiveIndex ];
+
+					let binding = bindingsForPath[ index ];
+
+					bindingsForPath[ index ] = lastCached;
+
+					if ( binding === undefined ) {
+
+						// since we do not bother to create new bindings
+						// for objects that are cached, the binding may
+						// or may not exist
+
+						binding = new PropertyBinding( object, paths[ j ], parsedPaths[ j ] );
+
+					}
+
+					bindingsForPath[ firstActiveIndex ] = binding;
+
+				}
+
+			} else if ( objects[ index ] !== knownObject ) {
+
+				console.error( 'THREE.AnimationObjectGroup: Different objects with the same UUID ' +
+					'detected. Clean the caches or recreate your infrastructure when reloading scenes.' );
+
+			} // else the object is already where we want it to be
+
+		} // for arguments
+
+		this.nCachedObjects_ = nCachedObjects;
+
+	}
+
+	remove() {
+
+		const objects = this._objects,
+			indicesByUUID = this._indicesByUUID,
+			bindings = this._bindings,
+			nBindings = bindings.length;
+
+		let nCachedObjects = this.nCachedObjects_;
+
+		for ( let i = 0, n = arguments.length; i !== n; ++ i ) {
+
+			const object = arguments[ i ],
+				uuid = object.uuid,
+				index = indicesByUUID[ uuid ];
+
+			if ( index !== undefined && index >= nCachedObjects ) {
+
+				// move existing object into the CACHED region
+
+				const lastCachedIndex = nCachedObjects ++,
+					firstActiveObject = objects[ lastCachedIndex ];
+
+				indicesByUUID[ firstActiveObject.uuid ] = index;
+				objects[ index ] = firstActiveObject;
+
+				indicesByUUID[ uuid ] = lastCachedIndex;
+				objects[ lastCachedIndex ] = object;
+
+				// accounting is done, now do the same for all bindings
+
+				for ( let j = 0, m = nBindings; j !== m; ++ j ) {
+
+					const bindingsForPath = bindings[ j ],
+						firstActive = bindingsForPath[ lastCachedIndex ],
+						binding = bindingsForPath[ index ];
+
+					bindingsForPath[ index ] = firstActive;
+					bindingsForPath[ lastCachedIndex ] = binding;
+
+				}
+
+			}
+
+		} // for arguments
+
+		this.nCachedObjects_ = nCachedObjects;
+
+	}
+
+	// remove & forget
+	uncache() {
+
+		const objects = this._objects,
+			indicesByUUID = this._indicesByUUID,
+			bindings = this._bindings,
+			nBindings = bindings.length;
+
+		let nCachedObjects = this.nCachedObjects_,
+			nObjects = objects.length;
+
+		for ( let i = 0, n = arguments.length; i !== n; ++ i ) {
+
+			const object = arguments[ i ],
+				uuid = object.uuid,
+				index = indicesByUUID[ uuid ];
+
+			if ( index !== undefined ) {
+
+				delete indicesByUUID[ uuid ];
+
+				if ( index < nCachedObjects ) {
+
+					// object is cached, shrink the CACHED region
+
+					const firstActiveIndex = -- nCachedObjects,
+						lastCachedObject = objects[ firstActiveIndex ],
+						lastIndex = -- nObjects,
+						lastObject = objects[ lastIndex ];
+
+					// last cached object takes this object's place
+					indicesByUUID[ lastCachedObject.uuid ] = index;
+					objects[ index ] = lastCachedObject;
+
+					// last object goes to the activated slot and pop
+					indicesByUUID[ lastObject.uuid ] = firstActiveIndex;
+					objects[ firstActiveIndex ] = lastObject;
+					objects.pop();
+
+					// accounting is done, now do the same for all bindings
+
+					for ( let j = 0, m = nBindings; j !== m; ++ j ) {
+
+						const bindingsForPath = bindings[ j ],
+							lastCached = bindingsForPath[ firstActiveIndex ],
+							last = bindingsForPath[ lastIndex ];
+
+						bindingsForPath[ index ] = lastCached;
+						bindingsForPath[ firstActiveIndex ] = last;
+						bindingsForPath.pop();
+
+					}
+
+				} else {
+
+					// object is active, just swap with the last and pop
+
+					const lastIndex = -- nObjects,
+						lastObject = objects[ lastIndex ];
+
+					if ( lastIndex > 0 ) {
+
+						indicesByUUID[ lastObject.uuid ] = index;
+
+					}
+
+					objects[ index ] = lastObject;
+					objects.pop();
+
+					// accounting is done, now do the same for all bindings
+
+					for ( let j = 0, m = nBindings; j !== m; ++ j ) {
+
+						const bindingsForPath = bindings[ j ];
+
+						bindingsForPath[ index ] = bindingsForPath[ lastIndex ];
+						bindingsForPath.pop();
+
+					}
+
+				} // cached or active
+
+			} // if object is known
+
+		} // for arguments
+
+		this.nCachedObjects_ = nCachedObjects;
+
+	}
+
+	// Internal interface used by befriended PropertyBinding.Composite:
+
+	subscribe_( path, parsedPath ) {
+
+		// returns an array of bindings for the given path that is changed
+		// according to the contained objects in the group
+
+		const indicesByPath = this._bindingsIndicesByPath;
+		let index = indicesByPath[ path ];
+		const bindings = this._bindings;
+
+		if ( index !== undefined ) return bindings[ index ];
+
+		const paths = this._paths,
+			parsedPaths = this._parsedPaths,
+			objects = this._objects,
+			nObjects = objects.length,
+			nCachedObjects = this.nCachedObjects_,
+			bindingsForPath = new Array( nObjects );
+
+		index = bindings.length;
+
+		indicesByPath[ path ] = index;
+
+		paths.push( path );
+		parsedPaths.push( parsedPath );
+		bindings.push( bindingsForPath );
+
+		for ( let i = nCachedObjects, n = objects.length; i !== n; ++ i ) {
+
+			const object = objects[ i ];
+			bindingsForPath[ i ] = new PropertyBinding( object, path, parsedPath );
+
+		}
+
+		return bindingsForPath;
+
+	}
+
+	unsubscribe_( path ) {
+
+		// tells the group to forget about a property path and no longer
+		// update the array previously obtained with 'subscribe_'
+
+		const indicesByPath = this._bindingsIndicesByPath,
+			index = indicesByPath[ path ];
+
+		if ( index !== undefined ) {
+
+			const paths = this._paths,
+				parsedPaths = this._parsedPaths,
+				bindings = this._bindings,
+				lastBindingsIndex = bindings.length - 1,
+				lastBindings = bindings[ lastBindingsIndex ],
+				lastBindingsPath = path[ lastBindingsIndex ];
+
+			indicesByPath[ lastBindingsPath ] = index;
+
+			bindings[ index ] = lastBindings;
+			bindings.pop();
+
+			parsedPaths[ index ] = parsedPaths[ lastBindingsIndex ];
+			parsedPaths.pop();
+
+			paths[ index ] = paths[ lastBindingsIndex ];
+			paths.pop();
+
+		}
+
+	}
+
+}
+
+class AnimationAction {
+
+	constructor( mixer, clip, localRoot = null, blendMode = clip.blendMode ) {
+
+		this._mixer = mixer;
+		this._clip = clip;
+		this._localRoot = localRoot;
+		this.blendMode = blendMode;
+
+		const tracks = clip.tracks,
+			nTracks = tracks.length,
+			interpolants = new Array( nTracks );
+
+		const interpolantSettings = {
+			endingStart: ZeroCurvatureEnding,
+			endingEnd: ZeroCurvatureEnding
+		};
+
+		for ( let i = 0; i !== nTracks; ++ i ) {
+
+			const interpolant = tracks[ i ].createInterpolant( null );
+			interpolants[ i ] = interpolant;
+			interpolant.settings = interpolantSettings;
+
+		}
+
+		this._interpolantSettings = interpolantSettings;
+
+		this._interpolants = interpolants; // bound by the mixer
+
+		// inside: PropertyMixer (managed by the mixer)
+		this._propertyBindings = new Array( nTracks );
+
+		this._cacheIndex = null; // for the memory manager
+		this._byClipCacheIndex = null; // for the memory manager
+
+		this._timeScaleInterpolant = null;
+		this._weightInterpolant = null;
+
+		this.loop = LoopRepeat;
+		this._loopCount = - 1;
+
+		// global mixer time when the action is to be started
+		// it's set back to 'null' upon start of the action
+		this._startTime = null;
+
+		// scaled local time of the action
+		// gets clamped or wrapped to 0..clip.duration according to loop
+		this.time = 0;
+
+		this.timeScale = 1;
+		this._effectiveTimeScale = 1;
+
+		this.weight = 1;
+		this._effectiveWeight = 1;
+
+		this.repetitions = Infinity; // no. of repetitions when looping
+
+		this.paused = false; // true -> zero effective time scale
+		this.enabled = true; // false -> zero effective weight
+
+		this.clampWhenFinished = false;// keep feeding the last frame?
+
+		this.zeroSlopeAtStart = true;// for smooth interpolation w/o separate
+		this.zeroSlopeAtEnd = true;// clips for start, loop and end
+
+	}
+
+	// State & Scheduling
+
+	play() {
+
+		this._mixer._activateAction( this );
+
+		return this;
+
+	}
+
+	stop() {
+
+		this._mixer._deactivateAction( this );
+
+		return this.reset();
+
+	}
+
+	reset() {
+
+		this.paused = false;
+		this.enabled = true;
+
+		this.time = 0; // restart clip
+		this._loopCount = - 1;// forget previous loops
+		this._startTime = null;// forget scheduling
+
+		return this.stopFading().stopWarping();
+
+	}
+
+	isRunning() {
+
+		return this.enabled && ! this.paused && this.timeScale !== 0 &&
+			this._startTime === null && this._mixer._isActiveAction( this );
+
+	}
+
+	// return true when play has been called
+	isScheduled() {
+
+		return this._mixer._isActiveAction( this );
+
+	}
+
+	startAt( time ) {
+
+		this._startTime = time;
+
+		return this;
+
+	}
+
+	setLoop( mode, repetitions ) {
+
+		this.loop = mode;
+		this.repetitions = repetitions;
+
+		return this;
+
+	}
+
+	// Weight
+
+	// set the weight stopping any scheduled fading
+	// although .enabled = false yields an effective weight of zero, this
+	// method does *not* change .enabled, because it would be confusing
+	setEffectiveWeight( weight ) {
+
+		this.weight = weight;
+
+		// note: same logic as when updated at runtime
+		this._effectiveWeight = this.enabled ? weight : 0;
+
+		return this.stopFading();
+
+	}
+
+	// return the weight considering fading and .enabled
+	getEffectiveWeight() {
+
+		return this._effectiveWeight;
+
+	}
+
+	fadeIn( duration ) {
+
+		return this._scheduleFading( duration, 0, 1 );
+
+	}
+
+	fadeOut( duration ) {
+
+		return this._scheduleFading( duration, 1, 0 );
+
+	}
+
+	crossFadeFrom( fadeOutAction, duration, warp ) {
+
+		fadeOutAction.fadeOut( duration );
+		this.fadeIn( duration );
+
+		if ( warp ) {
+
+			const fadeInDuration = this._clip.duration,
+				fadeOutDuration = fadeOutAction._clip.duration,
+
+				startEndRatio = fadeOutDuration / fadeInDuration,
+				endStartRatio = fadeInDuration / fadeOutDuration;
+
+			fadeOutAction.warp( 1.0, startEndRatio, duration );
+			this.warp( endStartRatio, 1.0, duration );
+
+		}
+
+		return this;
+
+	}
+
+	crossFadeTo( fadeInAction, duration, warp ) {
+
+		return fadeInAction.crossFadeFrom( this, duration, warp );
+
+	}
+
+	stopFading() {
+
+		const weightInterpolant = this._weightInterpolant;
+
+		if ( weightInterpolant !== null ) {
+
+			this._weightInterpolant = null;
+			this._mixer._takeBackControlInterpolant( weightInterpolant );
+
+		}
+
+		return this;
+
+	}
+
+	// Time Scale Control
+
+	// set the time scale stopping any scheduled warping
+	// although .paused = true yields an effective time scale of zero, this
+	// method does *not* change .paused, because it would be confusing
+	setEffectiveTimeScale( timeScale ) {
+
+		this.timeScale = timeScale;
+		this._effectiveTimeScale = this.paused ? 0 : timeScale;
+
+		return this.stopWarping();
+
+	}
+
+	// return the time scale considering warping and .paused
+	getEffectiveTimeScale() {
+
+		return this._effectiveTimeScale;
+
+	}
+
+	setDuration( duration ) {
+
+		this.timeScale = this._clip.duration / duration;
+
+		return this.stopWarping();
+
+	}
+
+	syncWith( action ) {
+
+		this.time = action.time;
+		this.timeScale = action.timeScale;
+
+		return this.stopWarping();
+
+	}
+
+	halt( duration ) {
+
+		return this.warp( this._effectiveTimeScale, 0, duration );
+
+	}
+
+	warp( startTimeScale, endTimeScale, duration ) {
+
+		const mixer = this._mixer,
+			now = mixer.time,
+			timeScale = this.timeScale;
+
+		let interpolant = this._timeScaleInterpolant;
+
+		if ( interpolant === null ) {
+
+			interpolant = mixer._lendControlInterpolant();
+			this._timeScaleInterpolant = interpolant;
+
+		}
+
+		const times = interpolant.parameterPositions,
+			values = interpolant.sampleValues;
+
+		times[ 0 ] = now;
+		times[ 1 ] = now + duration;
+
+		values[ 0 ] = startTimeScale / timeScale;
+		values[ 1 ] = endTimeScale / timeScale;
+
+		return this;
+
+	}
+
+	stopWarping() {
+
+		const timeScaleInterpolant = this._timeScaleInterpolant;
+
+		if ( timeScaleInterpolant !== null ) {
+
+			this._timeScaleInterpolant = null;
+			this._mixer._takeBackControlInterpolant( timeScaleInterpolant );
+
+		}
+
+		return this;
+
+	}
+
+	// Object Accessors
+
+	getMixer() {
+
+		return this._mixer;
+
+	}
+
+	getClip() {
+
+		return this._clip;
+
+	}
+
+	getRoot() {
+
+		return this._localRoot || this._mixer._root;
+
+	}
+
+	// Interna
+
+	_update( time, deltaTime, timeDirection, accuIndex ) {
+
+		// called by the mixer
+
+		if ( ! this.enabled ) {
+
+			// call ._updateWeight() to update ._effectiveWeight
+
+			this._updateWeight( time );
+			return;
+
+		}
+
+		const startTime = this._startTime;
+
+		if ( startTime !== null ) {
+
+			// check for scheduled start of action
+
+			const timeRunning = ( time - startTime ) * timeDirection;
+			if ( timeRunning < 0 || timeDirection === 0 ) {
+
+				deltaTime = 0;
+
+			} else {
+
+
+				this._startTime = null; // unschedule
+				deltaTime = timeDirection * timeRunning;
+
+			}
+
+		}
+
+		// apply time scale and advance time
+
+		deltaTime *= this._updateTimeScale( time );
+		const clipTime = this._updateTime( deltaTime );
+
+		// note: _updateTime may disable the action resulting in
+		// an effective weight of 0
+
+		const weight = this._updateWeight( time );
+
+		if ( weight > 0 ) {
+
+			const interpolants = this._interpolants;
+			const propertyMixers = this._propertyBindings;
+
+			switch ( this.blendMode ) {
+
+				case AdditiveAnimationBlendMode:
+
+					for ( let j = 0, m = interpolants.length; j !== m; ++ j ) {
+
+						interpolants[ j ].evaluate( clipTime );
+						propertyMixers[ j ].accumulateAdditive( weight );
+
+					}
+
+					break;
+
+				case NormalAnimationBlendMode:
+				default:
+
+					for ( let j = 0, m = interpolants.length; j !== m; ++ j ) {
+
+						interpolants[ j ].evaluate( clipTime );
+						propertyMixers[ j ].accumulate( accuIndex, weight );
+
+					}
+
+			}
+
+		}
+
+	}
+
+	_updateWeight( time ) {
+
+		let weight = 0;
+
+		if ( this.enabled ) {
+
+			weight = this.weight;
+			const interpolant = this._weightInterpolant;
+
+			if ( interpolant !== null ) {
+
+				const interpolantValue = interpolant.evaluate( time )[ 0 ];
+
+				weight *= interpolantValue;
+
+				if ( time > interpolant.parameterPositions[ 1 ] ) {
+
+					this.stopFading();
+
+					if ( interpolantValue === 0 ) {
+
+						// faded out, disable
+						this.enabled = false;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		this._effectiveWeight = weight;
+		return weight;
+
+	}
+
+	_updateTimeScale( time ) {
+
+		let timeScale = 0;
+
+		if ( ! this.paused ) {
+
+			timeScale = this.timeScale;
+
+			const interpolant = this._timeScaleInterpolant;
+
+			if ( interpolant !== null ) {
+
+				const interpolantValue = interpolant.evaluate( time )[ 0 ];
+
+				timeScale *= interpolantValue;
+
+				if ( time > interpolant.parameterPositions[ 1 ] ) {
+
+					this.stopWarping();
+
+					if ( timeScale === 0 ) {
+
+						// motion has halted, pause
+						this.paused = true;
+
+					} else {
+
+						// warp done - apply final time scale
+						this.timeScale = timeScale;
+
+					}
+
+				}
+
+			}
+
+		}
+
+		this._effectiveTimeScale = timeScale;
+		return timeScale;
+
+	}
+
+	_updateTime( deltaTime ) {
+
+		const duration = this._clip.duration;
+		const loop = this.loop;
+
+		let time = this.time + deltaTime;
+		let loopCount = this._loopCount;
+
+		const pingPong = ( loop === LoopPingPong );
+
+		if ( deltaTime === 0 ) {
+
+			if ( loopCount === - 1 ) return time;
+
+			return ( pingPong && ( loopCount & 1 ) === 1 ) ? duration - time : time;
+
+		}
+
+		if ( loop === LoopOnce ) {
+
+			if ( loopCount === - 1 ) {
+
+				// just started
+
+				this._loopCount = 0;
+				this._setEndings( true, true, false );
+
+			}
+
+			handle_stop: {
+
+				if ( time >= duration ) {
+
+					time = duration;
+
+				} else if ( time < 0 ) {
+
+					time = 0;
+
+				} else {
+
+					this.time = time;
+
+					break handle_stop;
+
+				}
+
+				if ( this.clampWhenFinished ) this.paused = true;
+				else this.enabled = false;
+
+				this.time = time;
+
+				this._mixer.dispatchEvent( {
+					type: 'finished', action: this,
+					direction: deltaTime < 0 ? - 1 : 1
+				} );
+
+			}
+
+		} else { // repetitive Repeat or PingPong
+
+			if ( loopCount === - 1 ) {
+
+				// just started
+
+				if ( deltaTime >= 0 ) {
+
+					loopCount = 0;
+
+					this._setEndings( true, this.repetitions === 0, pingPong );
+
+				} else {
+
+					// when looping in reverse direction, the initial
+					// transition through zero counts as a repetition,
+					// so leave loopCount at -1
+
+					this._setEndings( this.repetitions === 0, true, pingPong );
+
+				}
+
+			}
+
+			if ( time >= duration || time < 0 ) {
+
+				// wrap around
+
+				const loopDelta = Math.floor( time / duration ); // signed
+				time -= duration * loopDelta;
+
+				loopCount += Math.abs( loopDelta );
+
+				const pending = this.repetitions - loopCount;
+
+				if ( pending <= 0 ) {
+
+					// have to stop (switch state, clamp time, fire event)
+
+					if ( this.clampWhenFinished ) this.paused = true;
+					else this.enabled = false;
+
+					time = deltaTime > 0 ? duration : 0;
+
+					this.time = time;
+
+					this._mixer.dispatchEvent( {
+						type: 'finished', action: this,
+						direction: deltaTime > 0 ? 1 : - 1
+					} );
+
+				} else {
+
+					// keep running
+
+					if ( pending === 1 ) {
+
+						// entering the last round
+
+						const atStart = deltaTime < 0;
+						this._setEndings( atStart, ! atStart, pingPong );
+
+					} else {
+
+						this._setEndings( false, false, pingPong );
+
+					}
+
+					this._loopCount = loopCount;
+
+					this.time = time;
+
+					this._mixer.dispatchEvent( {
+						type: 'loop', action: this, loopDelta: loopDelta
+					} );
+
+				}
+
+			} else {
+
+				this.time = time;
+
+			}
+
+			if ( pingPong && ( loopCount & 1 ) === 1 ) {
+
+				// invert time for the "pong round"
+
+				return duration - time;
+
+			}
+
+		}
+
+		return time;
+
+	}
+
+	_setEndings( atStart, atEnd, pingPong ) {
+
+		const settings = this._interpolantSettings;
+
+		if ( pingPong ) {
+
+			settings.endingStart = ZeroSlopeEnding;
+			settings.endingEnd = ZeroSlopeEnding;
+
+		} else {
+
+			// assuming for LoopOnce atStart == atEnd == true
+
+			if ( atStart ) {
+
+				settings.endingStart = this.zeroSlopeAtStart ? ZeroSlopeEnding : ZeroCurvatureEnding;
+
+			} else {
+
+				settings.endingStart = WrapAroundEnding;
+
+			}
+
+			if ( atEnd ) {
+
+				settings.endingEnd = this.zeroSlopeAtEnd ? ZeroSlopeEnding : ZeroCurvatureEnding;
+
+			} else {
+
+				settings.endingEnd 	 = WrapAroundEnding;
+
+			}
+
+		}
+
+	}
+
+	_scheduleFading( duration, weightNow, weightThen ) {
+
+		const mixer = this._mixer, now = mixer.time;
+		let interpolant = this._weightInterpolant;
+
+		if ( interpolant === null ) {
+
+			interpolant = mixer._lendControlInterpolant();
+			this._weightInterpolant = interpolant;
+
+		}
+
+		const times = interpolant.parameterPositions,
+			values = interpolant.sampleValues;
+
+		times[ 0 ] = now;
+		values[ 0 ] = weightNow;
+		times[ 1 ] = now + duration;
+		values[ 1 ] = weightThen;
+
+		return this;
+
+	}
+
+}
+
+const _controlInterpolantsResultBuffer = new Float32Array( 1 );
+
+
+class AnimationMixer extends EventDispatcher {
+
+	constructor( root ) {
+
+		super();
+
+		this._root = root;
+		this._initMemoryManager();
+		this._accuIndex = 0;
+		this.time = 0;
+		this.timeScale = 1.0;
+
+	}
+
+	_bindAction( action, prototypeAction ) {
+
+		const root = action._localRoot || this._root,
+			tracks = action._clip.tracks,
+			nTracks = tracks.length,
+			bindings = action._propertyBindings,
+			interpolants = action._interpolants,
+			rootUuid = root.uuid,
+			bindingsByRoot = this._bindingsByRootAndName;
+
+		let bindingsByName = bindingsByRoot[ rootUuid ];
+
+		if ( bindingsByName === undefined ) {
+
+			bindingsByName = {};
+			bindingsByRoot[ rootUuid ] = bindingsByName;
+
+		}
+
+		for ( let i = 0; i !== nTracks; ++ i ) {
+
+			const track = tracks[ i ],
+				trackName = track.name;
+
+			let binding = bindingsByName[ trackName ];
+
+			if ( binding !== undefined ) {
+
+				++ binding.referenceCount;
+				bindings[ i ] = binding;
+
+			} else {
+
+				binding = bindings[ i ];
+
+				if ( binding !== undefined ) {
+
+					// existing binding, make sure the cache knows
+
+					if ( binding._cacheIndex === null ) {
+
+						++ binding.referenceCount;
+						this._addInactiveBinding( binding, rootUuid, trackName );
+
+					}
+
+					continue;
+
+				}
+
+				const path = prototypeAction && prototypeAction.
+					_propertyBindings[ i ].binding.parsedPath;
+
+				binding = new PropertyMixer(
+					PropertyBinding.create( root, trackName, path ),
+					track.ValueTypeName, track.getValueSize() );
+
+				++ binding.referenceCount;
+				this._addInactiveBinding( binding, rootUuid, trackName );
+
+				bindings[ i ] = binding;
+
+			}
+
+			interpolants[ i ].resultBuffer = binding.buffer;
+
+		}
+
+	}
+
+	_activateAction( action ) {
+
+		if ( ! this._isActiveAction( action ) ) {
+
+			if ( action._cacheIndex === null ) {
+
+				// this action has been forgotten by the cache, but the user
+				// appears to be still using it -> rebind
+
+				const rootUuid = ( action._localRoot || this._root ).uuid,
+					clipUuid = action._clip.uuid,
+					actionsForClip = this._actionsByClip[ clipUuid ];
+
+				this._bindAction( action,
+					actionsForClip && actionsForClip.knownActions[ 0 ] );
+
+				this._addInactiveAction( action, clipUuid, rootUuid );
+
+			}
+
+			const bindings = action._propertyBindings;
+
+			// increment reference counts / sort out state
+			for ( let i = 0, n = bindings.length; i !== n; ++ i ) {
+
+				const binding = bindings[ i ];
+
+				if ( binding.useCount ++ === 0 ) {
+
+					this._lendBinding( binding );
+					binding.saveOriginalState();
+
+				}
+
+			}
+
+			this._lendAction( action );
+
+		}
+
+	}
+
+	_deactivateAction( action ) {
+
+		if ( this._isActiveAction( action ) ) {
+
+			const bindings = action._propertyBindings;
+
+			// decrement reference counts / sort out state
+			for ( let i = 0, n = bindings.length; i !== n; ++ i ) {
+
+				const binding = bindings[ i ];
+
+				if ( -- binding.useCount === 0 ) {
+
+					binding.restoreOriginalState();
+					this._takeBackBinding( binding );
+
+				}
+
+			}
+
+			this._takeBackAction( action );
+
+		}
+
+	}
+
+	// Memory manager
+
+	_initMemoryManager() {
+
+		this._actions = []; // 'nActiveActions' followed by inactive ones
+		this._nActiveActions = 0;
+
+		this._actionsByClip = {};
+		// inside:
+		// {
+		// 	knownActions: Array< AnimationAction > - used as prototypes
+		// 	actionByRoot: AnimationAction - lookup
+		// }
+
+
+		this._bindings = []; // 'nActiveBindings' followed by inactive ones
+		this._nActiveBindings = 0;
+
+		this._bindingsByRootAndName = {}; // inside: Map< name, PropertyMixer >
+
+
+		this._controlInterpolants = []; // same game as above
+		this._nActiveControlInterpolants = 0;
+
+		const scope = this;
+
+		this.stats = {
+
+			actions: {
+				get total() {
+
+					return scope._actions.length;
+
+				},
+				get inUse() {
+
+					return scope._nActiveActions;
+
+				}
+			},
+			bindings: {
+				get total() {
+
+					return scope._bindings.length;
+
+				},
+				get inUse() {
+
+					return scope._nActiveBindings;
+
+				}
+			},
+			controlInterpolants: {
+				get total() {
+
+					return scope._controlInterpolants.length;
+
+				},
+				get inUse() {
+
+					return scope._nActiveControlInterpolants;
+
+				}
+			}
+
+		};
+
+	}
+
+	// Memory management for AnimationAction objects
+
+	_isActiveAction( action ) {
+
+		const index = action._cacheIndex;
+		return index !== null && index < this._nActiveActions;
+
+	}
+
+	_addInactiveAction( action, clipUuid, rootUuid ) {
+
+		const actions = this._actions,
+			actionsByClip = this._actionsByClip;
+
+		let actionsForClip = actionsByClip[ clipUuid ];
+
+		if ( actionsForClip === undefined ) {
+
+			actionsForClip = {
+
+				knownActions: [ action ],
+				actionByRoot: {}
+
+			};
+
+			action._byClipCacheIndex = 0;
+
+			actionsByClip[ clipUuid ] = actionsForClip;
+
+		} else {
+
+			const knownActions = actionsForClip.knownActions;
+
+			action._byClipCacheIndex = knownActions.length;
+			knownActions.push( action );
+
+		}
+
+		action._cacheIndex = actions.length;
+		actions.push( action );
+
+		actionsForClip.actionByRoot[ rootUuid ] = action;
+
+	}
+
+	_removeInactiveAction( action ) {
+
+		const actions = this._actions,
+			lastInactiveAction = actions[ actions.length - 1 ],
+			cacheIndex = action._cacheIndex;
+
+		lastInactiveAction._cacheIndex = cacheIndex;
+		actions[ cacheIndex ] = lastInactiveAction;
+		actions.pop();
+
+		action._cacheIndex = null;
+
+
+		const clipUuid = action._clip.uuid,
+			actionsByClip = this._actionsByClip,
+			actionsForClip = actionsByClip[ clipUuid ],
+			knownActionsForClip = actionsForClip.knownActions,
+
+			lastKnownAction =
+				knownActionsForClip[ knownActionsForClip.length - 1 ],
+
+			byClipCacheIndex = action._byClipCacheIndex;
+
+		lastKnownAction._byClipCacheIndex = byClipCacheIndex;
+		knownActionsForClip[ byClipCacheIndex ] = lastKnownAction;
+		knownActionsForClip.pop();
+
+		action._byClipCacheIndex = null;
+
+
+		const actionByRoot = actionsForClip.actionByRoot,
+			rootUuid = ( action._localRoot || this._root ).uuid;
+
+		delete actionByRoot[ rootUuid ];
+
+		if ( knownActionsForClip.length === 0 ) {
+
+			delete actionsByClip[ clipUuid ];
+
+		}
+
+		this._removeInactiveBindingsForAction( action );
+
+	}
+
+	_removeInactiveBindingsForAction( action ) {
+
+		const bindings = action._propertyBindings;
+
+		for ( let i = 0, n = bindings.length; i !== n; ++ i ) {
+
+			const binding = bindings[ i ];
+
+			if ( -- binding.referenceCount === 0 ) {
+
+				this._removeInactiveBinding( binding );
+
+			}
+
+		}
+
+	}
+
+	_lendAction( action ) {
+
+		// [ active actions |  inactive actions  ]
+		// [  active actions >| inactive actions ]
+		//                 s        a
+		//                  <-swap->
+		//                 a        s
+
+		const actions = this._actions,
+			prevIndex = action._cacheIndex,
+
+			lastActiveIndex = this._nActiveActions ++,
+
+			firstInactiveAction = actions[ lastActiveIndex ];
+
+		action._cacheIndex = lastActiveIndex;
+		actions[ lastActiveIndex ] = action;
+
+		firstInactiveAction._cacheIndex = prevIndex;
+		actions[ prevIndex ] = firstInactiveAction;
+
+	}
+
+	_takeBackAction( action ) {
+
+		// [  active actions  | inactive actions ]
+		// [ active actions |< inactive actions  ]
+		//        a        s
+		//         <-swap->
+		//        s        a
+
+		const actions = this._actions,
+			prevIndex = action._cacheIndex,
+
+			firstInactiveIndex = -- this._nActiveActions,
+
+			lastActiveAction = actions[ firstInactiveIndex ];
+
+		action._cacheIndex = firstInactiveIndex;
+		actions[ firstInactiveIndex ] = action;
+
+		lastActiveAction._cacheIndex = prevIndex;
+		actions[ prevIndex ] = lastActiveAction;
+
+	}
+
+	// Memory management for PropertyMixer objects
+
+	_addInactiveBinding( binding, rootUuid, trackName ) {
+
+		const bindingsByRoot = this._bindingsByRootAndName,
+			bindings = this._bindings;
+
+		let bindingByName = bindingsByRoot[ rootUuid ];
+
+		if ( bindingByName === undefined ) {
+
+			bindingByName = {};
+			bindingsByRoot[ rootUuid ] = bindingByName;
+
+		}
+
+		bindingByName[ trackName ] = binding;
+
+		binding._cacheIndex = bindings.length;
+		bindings.push( binding );
+
+	}
+
+	_removeInactiveBinding( binding ) {
+
+		const bindings = this._bindings,
+			propBinding = binding.binding,
+			rootUuid = propBinding.rootNode.uuid,
+			trackName = propBinding.path,
+			bindingsByRoot = this._bindingsByRootAndName,
+			bindingByName = bindingsByRoot[ rootUuid ],
+
+			lastInactiveBinding = bindings[ bindings.length - 1 ],
+			cacheIndex = binding._cacheIndex;
+
+		lastInactiveBinding._cacheIndex = cacheIndex;
+		bindings[ cacheIndex ] = lastInactiveBinding;
+		bindings.pop();
+
+		delete bindingByName[ trackName ];
+
+		if ( Object.keys( bindingByName ).length === 0 ) {
+
+			delete bindingsByRoot[ rootUuid ];
+
+		}
+
+	}
+
+	_lendBinding( binding ) {
+
+		const bindings = this._bindings,
+			prevIndex = binding._cacheIndex,
+
+			lastActiveIndex = this._nActiveBindings ++,
+
+			firstInactiveBinding = bindings[ lastActiveIndex ];
+
+		binding._cacheIndex = lastActiveIndex;
+		bindings[ lastActiveIndex ] = binding;
+
+		firstInactiveBinding._cacheIndex = prevIndex;
+		bindings[ prevIndex ] = firstInactiveBinding;
+
+	}
+
+	_takeBackBinding( binding ) {
+
+		const bindings = this._bindings,
+			prevIndex = binding._cacheIndex,
+
+			firstInactiveIndex = -- this._nActiveBindings,
+
+			lastActiveBinding = bindings[ firstInactiveIndex ];
+
+		binding._cacheIndex = firstInactiveIndex;
+		bindings[ firstInactiveIndex ] = binding;
+
+		lastActiveBinding._cacheIndex = prevIndex;
+		bindings[ prevIndex ] = lastActiveBinding;
+
+	}
+
+
+	// Memory management of Interpolants for weight and time scale
+
+	_lendControlInterpolant() {
+
+		const interpolants = this._controlInterpolants,
+			lastActiveIndex = this._nActiveControlInterpolants ++;
+
+		let interpolant = interpolants[ lastActiveIndex ];
+
+		if ( interpolant === undefined ) {
+
+			interpolant = new LinearInterpolant(
+				new Float32Array( 2 ), new Float32Array( 2 ),
+				1, _controlInterpolantsResultBuffer );
+
+			interpolant.__cacheIndex = lastActiveIndex;
+			interpolants[ lastActiveIndex ] = interpolant;
+
+		}
+
+		return interpolant;
+
+	}
+
+	_takeBackControlInterpolant( interpolant ) {
+
+		const interpolants = this._controlInterpolants,
+			prevIndex = interpolant.__cacheIndex,
+
+			firstInactiveIndex = -- this._nActiveControlInterpolants,
+
+			lastActiveInterpolant = interpolants[ firstInactiveIndex ];
+
+		interpolant.__cacheIndex = firstInactiveIndex;
+		interpolants[ firstInactiveIndex ] = interpolant;
+
+		lastActiveInterpolant.__cacheIndex = prevIndex;
+		interpolants[ prevIndex ] = lastActiveInterpolant;
+
+	}
+
+	// return an action for a clip optionally using a custom root target
+	// object (this method allocates a lot of dynamic memory in case a
+	// previously unknown clip/root combination is specified)
+	clipAction( clip, optionalRoot, blendMode ) {
+
+		const root = optionalRoot || this._root,
+			rootUuid = root.uuid;
+
+		let clipObject = typeof clip === 'string' ? AnimationClip.findByName( root, clip ) : clip;
+
+		const clipUuid = clipObject !== null ? clipObject.uuid : clip;
+
+		const actionsForClip = this._actionsByClip[ clipUuid ];
+		let prototypeAction = null;
+
+		if ( blendMode === undefined ) {
+
+			if ( clipObject !== null ) {
+
+				blendMode = clipObject.blendMode;
+
+			} else {
+
+				blendMode = NormalAnimationBlendMode;
+
+			}
+
+		}
+
+		if ( actionsForClip !== undefined ) {
+
+			const existingAction = actionsForClip.actionByRoot[ rootUuid ];
+
+			if ( existingAction !== undefined && existingAction.blendMode === blendMode ) {
+
+				return existingAction;
+
+			}
+
+			// we know the clip, so we don't have to parse all
+			// the bindings again but can just copy
+			prototypeAction = actionsForClip.knownActions[ 0 ];
+
+			// also, take the clip from the prototype action
+			if ( clipObject === null )
+				clipObject = prototypeAction._clip;
+
+		}
+
+		// clip must be known when specified via string
+		if ( clipObject === null ) return null;
+
+		// allocate all resources required to run it
+		const newAction = new AnimationAction( this, clipObject, optionalRoot, blendMode );
+
+		this._bindAction( newAction, prototypeAction );
+
+		// and make the action known to the memory manager
+		this._addInactiveAction( newAction, clipUuid, rootUuid );
+
+		return newAction;
+
+	}
+
+	// get an existing action
+	existingAction( clip, optionalRoot ) {
+
+		const root = optionalRoot || this._root,
+			rootUuid = root.uuid,
+
+			clipObject = typeof clip === 'string' ?
+				AnimationClip.findByName( root, clip ) : clip,
+
+			clipUuid = clipObject ? clipObject.uuid : clip,
+
+			actionsForClip = this._actionsByClip[ clipUuid ];
+
+		if ( actionsForClip !== undefined ) {
+
+			return actionsForClip.actionByRoot[ rootUuid ] || null;
+
+		}
+
+		return null;
+
+	}
+
+	// deactivates all previously scheduled actions
+	stopAllAction() {
+
+		const actions = this._actions,
+			nActions = this._nActiveActions;
+
+		for ( let i = nActions - 1; i >= 0; -- i ) {
+
+			actions[ i ].stop();
+
+		}
+
+		return this;
+
+	}
+
+	// advance the time and update apply the animation
+	update( deltaTime ) {
+
+		deltaTime *= this.timeScale;
+
+		const actions = this._actions,
+			nActions = this._nActiveActions,
+
+			time = this.time += deltaTime,
+			timeDirection = Math.sign( deltaTime ),
+
+			accuIndex = this._accuIndex ^= 1;
+
+		// run active actions
+
+		for ( let i = 0; i !== nActions; ++ i ) {
+
+			const action = actions[ i ];
+
+			action._update( time, deltaTime, timeDirection, accuIndex );
+
+		}
+
+		// update scene graph
+
+		const bindings = this._bindings,
+			nBindings = this._nActiveBindings;
+
+		for ( let i = 0; i !== nBindings; ++ i ) {
+
+			bindings[ i ].apply( accuIndex );
+
+		}
+
+		return this;
+
+	}
+
+	// Allows you to seek to a specific time in an animation.
+	setTime( timeInSeconds ) {
+
+		this.time = 0; // Zero out time attribute for AnimationMixer object;
+		for ( let i = 0; i < this._actions.length; i ++ ) {
+
+			this._actions[ i ].time = 0; // Zero out time attribute for all associated AnimationAction objects.
+
+		}
+
+		return this.update( timeInSeconds ); // Update used to set exact time. Returns "this" AnimationMixer object.
+
+	}
+
+	// return this mixer's root target object
+	getRoot() {
+
+		return this._root;
+
+	}
+
+	// free all resources specific to a particular clip
+	uncacheClip( clip ) {
+
+		const actions = this._actions,
+			clipUuid = clip.uuid,
+			actionsByClip = this._actionsByClip,
+			actionsForClip = actionsByClip[ clipUuid ];
+
+		if ( actionsForClip !== undefined ) {
+
+			// note: just calling _removeInactiveAction would mess up the
+			// iteration state and also require updating the state we can
+			// just throw away
+
+			const actionsToRemove = actionsForClip.knownActions;
+
+			for ( let i = 0, n = actionsToRemove.length; i !== n; ++ i ) {
+
+				const action = actionsToRemove[ i ];
+
+				this._deactivateAction( action );
+
+				const cacheIndex = action._cacheIndex,
+					lastInactiveAction = actions[ actions.length - 1 ];
+
+				action._cacheIndex = null;
+				action._byClipCacheIndex = null;
+
+				lastInactiveAction._cacheIndex = cacheIndex;
+				actions[ cacheIndex ] = lastInactiveAction;
+				actions.pop();
+
+				this._removeInactiveBindingsForAction( action );
+
+			}
+
+			delete actionsByClip[ clipUuid ];
+
+		}
+
+	}
+
+	// free all resources specific to a particular root target object
+	uncacheRoot( root ) {
+
+		const rootUuid = root.uuid,
+			actionsByClip = this._actionsByClip;
+
+		for ( const clipUuid in actionsByClip ) {
+
+			const actionByRoot = actionsByClip[ clipUuid ].actionByRoot,
+				action = actionByRoot[ rootUuid ];
+
+			if ( action !== undefined ) {
+
+				this._deactivateAction( action );
+				this._removeInactiveAction( action );
+
+			}
+
+		}
+
+		const bindingsByRoot = this._bindingsByRootAndName,
+			bindingByName = bindingsByRoot[ rootUuid ];
+
+		if ( bindingByName !== undefined ) {
+
+			for ( const trackName in bindingByName ) {
+
+				const binding = bindingByName[ trackName ];
+				binding.restoreOriginalState();
+				this._removeInactiveBinding( binding );
+
+			}
+
+		}
+
+	}
+
+	// remove a targeted clip from the cache
+	uncacheAction( clip, optionalRoot ) {
+
+		const action = this.existingAction( clip, optionalRoot );
+
+		if ( action !== null ) {
+
+			this._deactivateAction( action );
+			this._removeInactiveAction( action );
+
+		}
+
+	}
+
+}
+
+class Uniform {
+
+	constructor( value ) {
+
+		this.value = value;
+
+	}
+
+	clone() {
+
+		return new Uniform( this.value.clone === undefined ? this.value : this.value.clone() );
+
+	}
+
+}
+
+let _id = 0;
+
+class UniformsGroup extends EventDispatcher {
+
+	constructor() {
+
+		super();
+
+		this.isUniformsGroup = true;
+
+		Object.defineProperty( this, 'id', { value: _id ++ } );
+
+		this.name = '';
+
+		this.usage = StaticDrawUsage;
+		this.uniforms = [];
+
+	}
+
+	add( uniform ) {
+
+		this.uniforms.push( uniform );
+
+		return this;
+
+	}
+
+	remove( uniform ) {
+
+		const index = this.uniforms.indexOf( uniform );
+
+		if ( index !== - 1 ) this.uniforms.splice( index, 1 );
+
+		return this;
+
+	}
+
+	setName( name ) {
+
+		this.name = name;
+
+		return this;
+
+	}
+
+	setUsage( value ) {
+
+		this.usage = value;
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.dispatchEvent( { type: 'dispose' } );
+
+		return this;
+
+	}
+
+	copy( source ) {
+
+		this.name = source.name;
+		this.usage = source.usage;
+
+		const uniformsSource = source.uniforms;
+
+		this.uniforms.length = 0;
+
+		for ( let i = 0, l = uniformsSource.length; i < l; i ++ ) {
+
+			const uniforms = Array.isArray( uniformsSource[ i ] ) ? uniformsSource[ i ] : [ uniformsSource[ i ] ];
+
+			for ( let j = 0; j < uniforms.length; j ++ ) {
+
+				this.uniforms.push( uniforms[ j ].clone() );
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+class InstancedInterleavedBuffer extends InterleavedBuffer {
+
+	constructor( array, stride, meshPerAttribute = 1 ) {
+
+		super( array, stride );
+
+		this.isInstancedInterleavedBuffer = true;
+
+		this.meshPerAttribute = meshPerAttribute;
+
+	}
+
+	copy( source ) {
+
+		super.copy( source );
+
+		this.meshPerAttribute = source.meshPerAttribute;
+
+		return this;
+
+	}
+
+	clone( data ) {
+
+		const ib = super.clone( data );
+
+		ib.meshPerAttribute = this.meshPerAttribute;
+
+		return ib;
+
+	}
+
+	toJSON( data ) {
+
+		const json = super.toJSON( data );
+
+		json.isInstancedInterleavedBuffer = true;
+		json.meshPerAttribute = this.meshPerAttribute;
+
+		return json;
+
+	}
+
+}
+
+class GLBufferAttribute {
+
+	constructor( buffer, type, itemSize, elementSize, count ) {
+
+		this.isGLBufferAttribute = true;
+
+		this.name = '';
+
+		this.buffer = buffer;
+		this.type = type;
+		this.itemSize = itemSize;
+		this.elementSize = elementSize;
+		this.count = count;
+
+		this.version = 0;
+
+	}
+
+	set needsUpdate( value ) {
+
+		if ( value === true ) this.version ++;
+
+	}
+
+	setBuffer( buffer ) {
+
+		this.buffer = buffer;
+
+		return this;
+
+	}
+
+	setType( type, elementSize ) {
+
+		this.type = type;
+		this.elementSize = elementSize;
+
+		return this;
+
+	}
+
+	setItemSize( itemSize ) {
+
+		this.itemSize = itemSize;
+
+		return this;
+
+	}
+
+	setCount( count ) {
+
+		this.count = count;
+
+		return this;
+
+	}
+
+}
+
+class Raycaster {
+
+	constructor( origin, direction, near = 0, far = Infinity ) {
+
+		this.ray = new Ray( origin, direction );
+		// direction is assumed to be normalized (for accurate distance calculations)
+
+		this.near = near;
+		this.far = far;
+		this.camera = null;
+		this.layers = new Layers();
+
+		this.params = {
+			Mesh: {},
+			Line: { threshold: 1 },
+			LOD: {},
+			Points: { threshold: 1 },
+			Sprite: {}
+		};
+
+	}
+
+	set( origin, direction ) {
+
+		// direction is assumed to be normalized (for accurate distance calculations)
+
+		this.ray.set( origin, direction );
+
+	}
+
+	setFromCamera( coords, camera ) {
+
+		if ( camera.isPerspectiveCamera ) {
+
+			this.ray.origin.setFromMatrixPosition( camera.matrixWorld );
+			this.ray.direction.set( coords.x, coords.y, 0.5 ).unproject( camera ).sub( this.ray.origin ).normalize();
+			this.camera = camera;
+
+		} else if ( camera.isOrthographicCamera ) {
+
+			this.ray.origin.set( coords.x, coords.y, ( camera.near + camera.far ) / ( camera.near - camera.far ) ).unproject( camera ); // set origin in plane of camera
+			this.ray.direction.set( 0, 0, - 1 ).transformDirection( camera.matrixWorld );
+			this.camera = camera;
+
+		} else {
+
+			console.error( 'THREE.Raycaster: Unsupported camera type: ' + camera.type );
+
+		}
+
+	}
+
+	intersectObject( object, recursive = true, intersects = [] ) {
+
+		intersectObject( object, this, intersects, recursive );
+
+		intersects.sort( ascSort );
+
+		return intersects;
+
+	}
+
+	intersectObjects( objects, recursive = true, intersects = [] ) {
+
+		for ( let i = 0, l = objects.length; i < l; i ++ ) {
+
+			intersectObject( objects[ i ], this, intersects, recursive );
+
+		}
+
+		intersects.sort( ascSort );
+
+		return intersects;
+
+	}
+
+}
+
+function ascSort( a, b ) {
+
+	return a.distance - b.distance;
+
+}
+
+function intersectObject( object, raycaster, intersects, recursive ) {
+
+	if ( object.layers.test( raycaster.layers ) ) {
+
+		object.raycast( raycaster, intersects );
+
+	}
+
+	if ( recursive === true ) {
+
+		const children = object.children;
+
+		for ( let i = 0, l = children.length; i < l; i ++ ) {
+
+			intersectObject( children[ i ], raycaster, intersects, true );
+
+		}
+
+	}
+
+}
+
+/**
+ * Ref: https://en.wikipedia.org/wiki/Spherical_coordinate_system
+ *
+ * The polar angle (phi) is measured from the positive y-axis. The positive y-axis is up.
+ * The azimuthal angle (theta) is measured from the positive z-axis.
+ */
+
+
+class Spherical {
+
+	constructor( radius = 1, phi = 0, theta = 0 ) {
+
+		this.radius = radius;
+		this.phi = phi; // polar angle
+		this.theta = theta; // azimuthal angle
+
+		return this;
+
+	}
+
+	set( radius, phi, theta ) {
+
+		this.radius = radius;
+		this.phi = phi;
+		this.theta = theta;
+
+		return this;
+
+	}
+
+	copy( other ) {
+
+		this.radius = other.radius;
+		this.phi = other.phi;
+		this.theta = other.theta;
+
+		return this;
+
+	}
+
+	// restrict phi to be between EPS and PI-EPS
+	makeSafe() {
+
+		const EPS = 0.000001;
+		this.phi = Math.max( EPS, Math.min( Math.PI - EPS, this.phi ) );
+
+		return this;
+
+	}
+
+	setFromVector3( v ) {
+
+		return this.setFromCartesianCoords( v.x, v.y, v.z );
+
+	}
+
+	setFromCartesianCoords( x, y, z ) {
+
+		this.radius = Math.sqrt( x * x + y * y + z * z );
+
+		if ( this.radius === 0 ) {
+
+			this.theta = 0;
+			this.phi = 0;
+
+		} else {
+
+			this.theta = Math.atan2( x, z );
+			this.phi = Math.acos( clamp( y / this.radius, - 1, 1 ) );
+
+		}
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+/**
+ * Ref: https://en.wikipedia.org/wiki/Cylindrical_coordinate_system
+ */
+
+class Cylindrical {
+
+	constructor( radius = 1, theta = 0, y = 0 ) {
+
+		this.radius = radius; // distance from the origin to a point in the x-z plane
+		this.theta = theta; // counterclockwise angle in the x-z plane measured in radians from the positive z-axis
+		this.y = y; // height above the x-z plane
+
+		return this;
+
+	}
+
+	set( radius, theta, y ) {
+
+		this.radius = radius;
+		this.theta = theta;
+		this.y = y;
+
+		return this;
+
+	}
+
+	copy( other ) {
+
+		this.radius = other.radius;
+		this.theta = other.theta;
+		this.y = other.y;
+
+		return this;
+
+	}
+
+	setFromVector3( v ) {
+
+		return this.setFromCartesianCoords( v.x, v.y, v.z );
+
+	}
+
+	setFromCartesianCoords( x, y, z ) {
+
+		this.radius = Math.sqrt( x * x + z * z );
+		this.theta = Math.atan2( x, z );
+		this.y = y;
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+const _vector$4 = /*@__PURE__*/ new Vector2();
+
+class Box2 {
+
+	constructor( min = new Vector2( + Infinity, + Infinity ), max = new Vector2( - Infinity, - Infinity ) ) {
+
+		this.isBox2 = true;
+
+		this.min = min;
+		this.max = max;
+
+	}
+
+	set( min, max ) {
+
+		this.min.copy( min );
+		this.max.copy( max );
+
+		return this;
+
+	}
+
+	setFromPoints( points ) {
+
+		this.makeEmpty();
+
+		for ( let i = 0, il = points.length; i < il; i ++ ) {
+
+			this.expandByPoint( points[ i ] );
+
+		}
+
+		return this;
+
+	}
+
+	setFromCenterAndSize( center, size ) {
+
+		const halfSize = _vector$4.copy( size ).multiplyScalar( 0.5 );
+		this.min.copy( center ).sub( halfSize );
+		this.max.copy( center ).add( halfSize );
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	copy( box ) {
+
+		this.min.copy( box.min );
+		this.max.copy( box.max );
+
+		return this;
+
+	}
+
+	makeEmpty() {
+
+		this.min.x = this.min.y = + Infinity;
+		this.max.x = this.max.y = - Infinity;
+
+		return this;
+
+	}
+
+	isEmpty() {
+
+		// this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes
+
+		return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y );
+
+	}
+
+	getCenter( target ) {
+
+		return this.isEmpty() ? target.set( 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 );
+
+	}
+
+	getSize( target ) {
+
+		return this.isEmpty() ? target.set( 0, 0 ) : target.subVectors( this.max, this.min );
+
+	}
+
+	expandByPoint( point ) {
+
+		this.min.min( point );
+		this.max.max( point );
+
+		return this;
+
+	}
+
+	expandByVector( vector ) {
+
+		this.min.sub( vector );
+		this.max.add( vector );
+
+		return this;
+
+	}
+
+	expandByScalar( scalar ) {
+
+		this.min.addScalar( - scalar );
+		this.max.addScalar( scalar );
+
+		return this;
+
+	}
+
+	containsPoint( point ) {
+
+		return point.x < this.min.x || point.x > this.max.x ||
+			point.y < this.min.y || point.y > this.max.y ? false : true;
+
+	}
+
+	containsBox( box ) {
+
+		return this.min.x <= box.min.x && box.max.x <= this.max.x &&
+			this.min.y <= box.min.y && box.max.y <= this.max.y;
+
+	}
+
+	getParameter( point, target ) {
+
+		// This can potentially have a divide by zero if the box
+		// has a size dimension of 0.
+
+		return target.set(
+			( point.x - this.min.x ) / ( this.max.x - this.min.x ),
+			( point.y - this.min.y ) / ( this.max.y - this.min.y )
+		);
+
+	}
+
+	intersectsBox( box ) {
+
+		// using 4 splitting planes to rule out intersections
+
+		return box.max.x < this.min.x || box.min.x > this.max.x ||
+			box.max.y < this.min.y || box.min.y > this.max.y ? false : true;
+
+	}
+
+	clampPoint( point, target ) {
+
+		return target.copy( point ).clamp( this.min, this.max );
+
+	}
+
+	distanceToPoint( point ) {
+
+		return this.clampPoint( point, _vector$4 ).distanceTo( point );
+
+	}
+
+	intersect( box ) {
+
+		this.min.max( box.min );
+		this.max.min( box.max );
+
+		if ( this.isEmpty() ) this.makeEmpty();
+
+		return this;
+
+	}
+
+	union( box ) {
+
+		this.min.min( box.min );
+		this.max.max( box.max );
+
+		return this;
+
+	}
+
+	translate( offset ) {
+
+		this.min.add( offset );
+		this.max.add( offset );
+
+		return this;
+
+	}
+
+	equals( box ) {
+
+		return box.min.equals( this.min ) && box.max.equals( this.max );
+
+	}
+
+}
+
+const _startP = /*@__PURE__*/ new Vector3();
+const _startEnd = /*@__PURE__*/ new Vector3();
+
+class Line3 {
+
+	constructor( start = new Vector3(), end = new Vector3() ) {
+
+		this.start = start;
+		this.end = end;
+
+	}
+
+	set( start, end ) {
+
+		this.start.copy( start );
+		this.end.copy( end );
+
+		return this;
+
+	}
+
+	copy( line ) {
+
+		this.start.copy( line.start );
+		this.end.copy( line.end );
+
+		return this;
+
+	}
+
+	getCenter( target ) {
+
+		return target.addVectors( this.start, this.end ).multiplyScalar( 0.5 );
+
+	}
+
+	delta( target ) {
+
+		return target.subVectors( this.end, this.start );
+
+	}
+
+	distanceSq() {
+
+		return this.start.distanceToSquared( this.end );
+
+	}
+
+	distance() {
+
+		return this.start.distanceTo( this.end );
+
+	}
+
+	at( t, target ) {
+
+		return this.delta( target ).multiplyScalar( t ).add( this.start );
+
+	}
+
+	closestPointToPointParameter( point, clampToLine ) {
+
+		_startP.subVectors( point, this.start );
+		_startEnd.subVectors( this.end, this.start );
+
+		const startEnd2 = _startEnd.dot( _startEnd );
+		const startEnd_startP = _startEnd.dot( _startP );
+
+		let t = startEnd_startP / startEnd2;
+
+		if ( clampToLine ) {
+
+			t = clamp( t, 0, 1 );
+
+		}
+
+		return t;
+
+	}
+
+	closestPointToPoint( point, clampToLine, target ) {
+
+		const t = this.closestPointToPointParameter( point, clampToLine );
+
+		return this.delta( target ).multiplyScalar( t ).add( this.start );
+
+	}
+
+	applyMatrix4( matrix ) {
+
+		this.start.applyMatrix4( matrix );
+		this.end.applyMatrix4( matrix );
+
+		return this;
+
+	}
+
+	equals( line ) {
+
+		return line.start.equals( this.start ) && line.end.equals( this.end );
+
+	}
+
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+}
+
+const _vector$3 = /*@__PURE__*/ new Vector3();
+
+class SpotLightHelper extends Object3D {
+
+	constructor( light, color ) {
+
+		super();
+
+		this.light = light;
+
+		this.matrix = light.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+		this.color = color;
+
+		this.type = 'SpotLightHelper';
+
+		const geometry = new BufferGeometry();
+
+		const positions = [
+			0, 0, 0, 	0, 0, 1,
+			0, 0, 0, 	1, 0, 1,
+			0, 0, 0,	- 1, 0, 1,
+			0, 0, 0, 	0, 1, 1,
+			0, 0, 0, 	0, - 1, 1
+		];
+
+		for ( let i = 0, j = 1, l = 32; i < l; i ++, j ++ ) {
+
+			const p1 = ( i / l ) * Math.PI * 2;
+			const p2 = ( j / l ) * Math.PI * 2;
+
+			positions.push(
+				Math.cos( p1 ), Math.sin( p1 ), 1,
+				Math.cos( p2 ), Math.sin( p2 ), 1
+			);
+
+		}
+
+		geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) );
+
+		const material = new LineBasicMaterial( { fog: false, toneMapped: false } );
+
+		this.cone = new LineSegments( geometry, material );
+		this.add( this.cone );
+
+		this.update();
+
+	}
+
+	dispose() {
+
+		this.cone.geometry.dispose();
+		this.cone.material.dispose();
+
+	}
+
+	update() {
+
+		this.light.updateWorldMatrix( true, false );
+		this.light.target.updateWorldMatrix( true, false );
+
+		const coneLength = this.light.distance ? this.light.distance : 1000;
+		const coneWidth = coneLength * Math.tan( this.light.angle );
+
+		this.cone.scale.set( coneWidth, coneWidth, coneLength );
+
+		_vector$3.setFromMatrixPosition( this.light.target.matrixWorld );
+
+		this.cone.lookAt( _vector$3 );
+
+		if ( this.color !== undefined ) {
+
+			this.cone.material.color.set( this.color );
+
+		} else {
+
+			this.cone.material.color.copy( this.light.color );
+
+		}
+
+	}
+
+}
+
+const _vector$2 = /*@__PURE__*/ new Vector3();
+const _boneMatrix = /*@__PURE__*/ new Matrix4();
+const _matrixWorldInv = /*@__PURE__*/ new Matrix4();
+
+
+class SkeletonHelper extends LineSegments {
+
+	constructor( object ) {
+
+		const bones = getBoneList( object );
+
+		const geometry = new BufferGeometry();
+
+		const vertices = [];
+		const colors = [];
+
+		const color1 = new Color( 0, 0, 1 );
+		const color2 = new Color( 0, 1, 0 );
+
+		for ( let i = 0; i < bones.length; i ++ ) {
+
+			const bone = bones[ i ];
+
+			if ( bone.parent && bone.parent.isBone ) {
+
+				vertices.push( 0, 0, 0 );
+				vertices.push( 0, 0, 0 );
+				colors.push( color1.r, color1.g, color1.b );
+				colors.push( color2.r, color2.g, color2.b );
+
+			}
+
+		}
+
+		geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) );
+
+		const material = new LineBasicMaterial( { vertexColors: true, depthTest: false, depthWrite: false, toneMapped: false, transparent: true } );
+
+		super( geometry, material );
+
+		this.isSkeletonHelper = true;
+
+		this.type = 'SkeletonHelper';
+
+		this.root = object;
+		this.bones = bones;
+
+		this.matrix = object.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		const bones = this.bones;
+
+		const geometry = this.geometry;
+		const position = geometry.getAttribute( 'position' );
+
+		_matrixWorldInv.copy( this.root.matrixWorld ).invert();
+
+		for ( let i = 0, j = 0; i < bones.length; i ++ ) {
+
+			const bone = bones[ i ];
+
+			if ( bone.parent && bone.parent.isBone ) {
+
+				_boneMatrix.multiplyMatrices( _matrixWorldInv, bone.matrixWorld );
+				_vector$2.setFromMatrixPosition( _boneMatrix );
+				position.setXYZ( j, _vector$2.x, _vector$2.y, _vector$2.z );
+
+				_boneMatrix.multiplyMatrices( _matrixWorldInv, bone.parent.matrixWorld );
+				_vector$2.setFromMatrixPosition( _boneMatrix );
+				position.setXYZ( j + 1, _vector$2.x, _vector$2.y, _vector$2.z );
+
+				j += 2;
+
+			}
+
+		}
+
+		geometry.getAttribute( 'position' ).needsUpdate = true;
+
+		super.updateMatrixWorld( force );
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+
+function getBoneList( object ) {
+
+	const boneList = [];
+
+	if ( object.isBone === true ) {
+
+		boneList.push( object );
+
+	}
+
+	for ( let i = 0; i < object.children.length; i ++ ) {
+
+		boneList.push.apply( boneList, getBoneList( object.children[ i ] ) );
+
+	}
+
+	return boneList;
+
+}
+
+class PointLightHelper extends Mesh {
+
+	constructor( light, sphereSize, color ) {
+
+		const geometry = new SphereGeometry( sphereSize, 4, 2 );
+		const material = new MeshBasicMaterial( { wireframe: true, fog: false, toneMapped: false } );
+
+		super( geometry, material );
+
+		this.light = light;
+
+		this.color = color;
+
+		this.type = 'PointLightHelper';
+
+		this.matrix = this.light.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+		this.update();
+
+
+		/*
+	// TODO: delete this comment?
+	const distanceGeometry = new THREE.IcosahedronGeometry( 1, 2 );
+	const distanceMaterial = new THREE.MeshBasicMaterial( { color: hexColor, fog: false, wireframe: true, opacity: 0.1, transparent: true } );
+
+	this.lightSphere = new THREE.Mesh( bulbGeometry, bulbMaterial );
+	this.lightDistance = new THREE.Mesh( distanceGeometry, distanceMaterial );
+
+	const d = light.distance;
+
+	if ( d === 0.0 ) {
+
+		this.lightDistance.visible = false;
+
+	} else {
+
+		this.lightDistance.scale.set( d, d, d );
+
+	}
+
+	this.add( this.lightDistance );
+	*/
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+	update() {
+
+		this.light.updateWorldMatrix( true, false );
+
+		if ( this.color !== undefined ) {
+
+			this.material.color.set( this.color );
+
+		} else {
+
+			this.material.color.copy( this.light.color );
+
+		}
+
+		/*
+		const d = this.light.distance;
+
+		if ( d === 0.0 ) {
+
+			this.lightDistance.visible = false;
+
+		} else {
+
+			this.lightDistance.visible = true;
+			this.lightDistance.scale.set( d, d, d );
+
+		}
+		*/
+
+	}
+
+}
+
+const _vector$1 = /*@__PURE__*/ new Vector3();
+const _color1 = /*@__PURE__*/ new Color();
+const _color2 = /*@__PURE__*/ new Color();
+
+class HemisphereLightHelper extends Object3D {
+
+	constructor( light, size, color ) {
+
+		super();
+
+		this.light = light;
+
+		this.matrix = light.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+		this.color = color;
+
+		this.type = 'HemisphereLightHelper';
+
+		const geometry = new OctahedronGeometry( size );
+		geometry.rotateY( Math.PI * 0.5 );
+
+		this.material = new MeshBasicMaterial( { wireframe: true, fog: false, toneMapped: false } );
+		if ( this.color === undefined ) this.material.vertexColors = true;
+
+		const position = geometry.getAttribute( 'position' );
+		const colors = new Float32Array( position.count * 3 );
+
+		geometry.setAttribute( 'color', new BufferAttribute( colors, 3 ) );
+
+		this.add( new Mesh( geometry, this.material ) );
+
+		this.update();
+
+	}
+
+	dispose() {
+
+		this.children[ 0 ].geometry.dispose();
+		this.children[ 0 ].material.dispose();
+
+	}
+
+	update() {
+
+		const mesh = this.children[ 0 ];
+
+		if ( this.color !== undefined ) {
+
+			this.material.color.set( this.color );
+
+		} else {
+
+			const colors = mesh.geometry.getAttribute( 'color' );
+
+			_color1.copy( this.light.color );
+			_color2.copy( this.light.groundColor );
+
+			for ( let i = 0, l = colors.count; i < l; i ++ ) {
+
+				const color = ( i < ( l / 2 ) ) ? _color1 : _color2;
+
+				colors.setXYZ( i, color.r, color.g, color.b );
+
+			}
+
+			colors.needsUpdate = true;
+
+		}
+
+		this.light.updateWorldMatrix( true, false );
+
+		mesh.lookAt( _vector$1.setFromMatrixPosition( this.light.matrixWorld ).negate() );
+
+	}
+
+}
+
+class GridHelper extends LineSegments {
+
+	constructor( size = 10, divisions = 10, color1 = 0x444444, color2 = 0x888888 ) {
+
+		color1 = new Color( color1 );
+		color2 = new Color( color2 );
+
+		const center = divisions / 2;
+		const step = size / divisions;
+		const halfSize = size / 2;
+
+		const vertices = [], colors = [];
+
+		for ( let i = 0, j = 0, k = - halfSize; i <= divisions; i ++, k += step ) {
+
+			vertices.push( - halfSize, 0, k, halfSize, 0, k );
+			vertices.push( k, 0, - halfSize, k, 0, halfSize );
+
+			const color = i === center ? color1 : color2;
+
+			color.toArray( colors, j ); j += 3;
+			color.toArray( colors, j ); j += 3;
+			color.toArray( colors, j ); j += 3;
+			color.toArray( colors, j ); j += 3;
+
+		}
+
+		const geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) );
+
+		const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } );
+
+		super( geometry, material );
+
+		this.type = 'GridHelper';
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+class PolarGridHelper extends LineSegments {
+
+	constructor( radius = 10, sectors = 16, rings = 8, divisions = 64, color1 = 0x444444, color2 = 0x888888 ) {
+
+		color1 = new Color( color1 );
+		color2 = new Color( color2 );
+
+		const vertices = [];
+		const colors = [];
+
+		// create the sectors
+
+		if ( sectors > 1 ) {
+
+			for ( let i = 0; i < sectors; i ++ ) {
+
+				const v = ( i / sectors ) * ( Math.PI * 2 );
+
+				const x = Math.sin( v ) * radius;
+				const z = Math.cos( v ) * radius;
+
+				vertices.push( 0, 0, 0 );
+				vertices.push( x, 0, z );
+
+				const color = ( i & 1 ) ? color1 : color2;
+
+				colors.push( color.r, color.g, color.b );
+				colors.push( color.r, color.g, color.b );
+
+			}
+
+		}
+
+		// create the rings
+
+		for ( let i = 0; i < rings; i ++ ) {
+
+			const color = ( i & 1 ) ? color1 : color2;
+
+			const r = radius - ( radius / rings * i );
+
+			for ( let j = 0; j < divisions; j ++ ) {
+
+				// first vertex
+
+				let v = ( j / divisions ) * ( Math.PI * 2 );
+
+				let x = Math.sin( v ) * r;
+				let z = Math.cos( v ) * r;
+
+				vertices.push( x, 0, z );
+				colors.push( color.r, color.g, color.b );
+
+				// second vertex
+
+				v = ( ( j + 1 ) / divisions ) * ( Math.PI * 2 );
+
+				x = Math.sin( v ) * r;
+				z = Math.cos( v ) * r;
+
+				vertices.push( x, 0, z );
+				colors.push( color.r, color.g, color.b );
+
+			}
+
+		}
+
+		const geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) );
+
+		const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } );
+
+		super( geometry, material );
+
+		this.type = 'PolarGridHelper';
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+const _v1 = /*@__PURE__*/ new Vector3();
+const _v2 = /*@__PURE__*/ new Vector3();
+const _v3 = /*@__PURE__*/ new Vector3();
+
+class DirectionalLightHelper extends Object3D {
+
+	constructor( light, size, color ) {
+
+		super();
+
+		this.light = light;
+
+		this.matrix = light.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+		this.color = color;
+
+		this.type = 'DirectionalLightHelper';
+
+		if ( size === undefined ) size = 1;
+
+		let geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( [
+			- size, size, 0,
+			size, size, 0,
+			size, - size, 0,
+			- size, - size, 0,
+			- size, size, 0
+		], 3 ) );
+
+		const material = new LineBasicMaterial( { fog: false, toneMapped: false } );
+
+		this.lightPlane = new Line( geometry, material );
+		this.add( this.lightPlane );
+
+		geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( [ 0, 0, 0, 0, 0, 1 ], 3 ) );
+
+		this.targetLine = new Line( geometry, material );
+		this.add( this.targetLine );
+
+		this.update();
+
+	}
+
+	dispose() {
+
+		this.lightPlane.geometry.dispose();
+		this.lightPlane.material.dispose();
+		this.targetLine.geometry.dispose();
+		this.targetLine.material.dispose();
+
+	}
+
+	update() {
+
+		this.light.updateWorldMatrix( true, false );
+		this.light.target.updateWorldMatrix( true, false );
+
+		_v1.setFromMatrixPosition( this.light.matrixWorld );
+		_v2.setFromMatrixPosition( this.light.target.matrixWorld );
+		_v3.subVectors( _v2, _v1 );
+
+		this.lightPlane.lookAt( _v2 );
+
+		if ( this.color !== undefined ) {
+
+			this.lightPlane.material.color.set( this.color );
+			this.targetLine.material.color.set( this.color );
+
+		} else {
+
+			this.lightPlane.material.color.copy( this.light.color );
+			this.targetLine.material.color.copy( this.light.color );
+
+		}
+
+		this.targetLine.lookAt( _v2 );
+		this.targetLine.scale.z = _v3.length();
+
+	}
+
+}
+
+const _vector = /*@__PURE__*/ new Vector3();
+const _camera = /*@__PURE__*/ new Camera();
+
+/**
+ *	- shows frustum, line of sight and up of the camera
+ *	- suitable for fast updates
+ * 	- based on frustum visualization in lightgl.js shadowmap example
+ *		https://github.com/evanw/lightgl.js/blob/master/tests/shadowmap.html
+ */
+
+class CameraHelper extends LineSegments {
+
+	constructor( camera ) {
+
+		const geometry = new BufferGeometry();
+		const material = new LineBasicMaterial( { color: 0xffffff, vertexColors: true, toneMapped: false } );
+
+		const vertices = [];
+		const colors = [];
+
+		const pointMap = {};
+
+		// near
+
+		addLine( 'n1', 'n2' );
+		addLine( 'n2', 'n4' );
+		addLine( 'n4', 'n3' );
+		addLine( 'n3', 'n1' );
+
+		// far
+
+		addLine( 'f1', 'f2' );
+		addLine( 'f2', 'f4' );
+		addLine( 'f4', 'f3' );
+		addLine( 'f3', 'f1' );
+
+		// sides
+
+		addLine( 'n1', 'f1' );
+		addLine( 'n2', 'f2' );
+		addLine( 'n3', 'f3' );
+		addLine( 'n4', 'f4' );
+
+		// cone
+
+		addLine( 'p', 'n1' );
+		addLine( 'p', 'n2' );
+		addLine( 'p', 'n3' );
+		addLine( 'p', 'n4' );
+
+		// up
+
+		addLine( 'u1', 'u2' );
+		addLine( 'u2', 'u3' );
+		addLine( 'u3', 'u1' );
+
+		// target
+
+		addLine( 'c', 't' );
+		addLine( 'p', 'c' );
+
+		// cross
+
+		addLine( 'cn1', 'cn2' );
+		addLine( 'cn3', 'cn4' );
+
+		addLine( 'cf1', 'cf2' );
+		addLine( 'cf3', 'cf4' );
+
+		function addLine( a, b ) {
+
+			addPoint( a );
+			addPoint( b );
+
+		}
+
+		function addPoint( id ) {
+
+			vertices.push( 0, 0, 0 );
+			colors.push( 0, 0, 0 );
+
+			if ( pointMap[ id ] === undefined ) {
+
+				pointMap[ id ] = [];
+
+			}
+
+			pointMap[ id ].push( ( vertices.length / 3 ) - 1 );
+
+		}
+
+		geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) );
+
+		super( geometry, material );
+
+		this.type = 'CameraHelper';
+
+		this.camera = camera;
+		if ( this.camera.updateProjectionMatrix ) this.camera.updateProjectionMatrix();
+
+		this.matrix = camera.matrixWorld;
+		this.matrixAutoUpdate = false;
+
+		this.pointMap = pointMap;
+
+		this.update();
+
+		// colors
+
+		const colorFrustum = new Color( 0xffaa00 );
+		const colorCone = new Color( 0xff0000 );
+		const colorUp = new Color( 0x00aaff );
+		const colorTarget = new Color( 0xffffff );
+		const colorCross = new Color( 0x333333 );
+
+		this.setColors( colorFrustum, colorCone, colorUp, colorTarget, colorCross );
+
+	}
+
+	setColors( frustum, cone, up, target, cross ) {
+
+		const geometry = this.geometry;
+
+		const colorAttribute = geometry.getAttribute( 'color' );
+
+		// near
+
+		colorAttribute.setXYZ( 0, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 1, frustum.r, frustum.g, frustum.b ); // n1, n2
+		colorAttribute.setXYZ( 2, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 3, frustum.r, frustum.g, frustum.b ); // n2, n4
+		colorAttribute.setXYZ( 4, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 5, frustum.r, frustum.g, frustum.b ); // n4, n3
+		colorAttribute.setXYZ( 6, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 7, frustum.r, frustum.g, frustum.b ); // n3, n1
+
+		// far
+
+		colorAttribute.setXYZ( 8, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 9, frustum.r, frustum.g, frustum.b ); // f1, f2
+		colorAttribute.setXYZ( 10, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 11, frustum.r, frustum.g, frustum.b ); // f2, f4
+		colorAttribute.setXYZ( 12, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 13, frustum.r, frustum.g, frustum.b ); // f4, f3
+		colorAttribute.setXYZ( 14, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 15, frustum.r, frustum.g, frustum.b ); // f3, f1
+
+		// sides
+
+		colorAttribute.setXYZ( 16, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 17, frustum.r, frustum.g, frustum.b ); // n1, f1
+		colorAttribute.setXYZ( 18, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 19, frustum.r, frustum.g, frustum.b ); // n2, f2
+		colorAttribute.setXYZ( 20, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 21, frustum.r, frustum.g, frustum.b ); // n3, f3
+		colorAttribute.setXYZ( 22, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 23, frustum.r, frustum.g, frustum.b ); // n4, f4
+
+		// cone
+
+		colorAttribute.setXYZ( 24, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 25, cone.r, cone.g, cone.b ); // p, n1
+		colorAttribute.setXYZ( 26, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 27, cone.r, cone.g, cone.b ); // p, n2
+		colorAttribute.setXYZ( 28, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 29, cone.r, cone.g, cone.b ); // p, n3
+		colorAttribute.setXYZ( 30, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 31, cone.r, cone.g, cone.b ); // p, n4
+
+		// up
+
+		colorAttribute.setXYZ( 32, up.r, up.g, up.b ); colorAttribute.setXYZ( 33, up.r, up.g, up.b ); // u1, u2
+		colorAttribute.setXYZ( 34, up.r, up.g, up.b ); colorAttribute.setXYZ( 35, up.r, up.g, up.b ); // u2, u3
+		colorAttribute.setXYZ( 36, up.r, up.g, up.b ); colorAttribute.setXYZ( 37, up.r, up.g, up.b ); // u3, u1
+
+		// target
+
+		colorAttribute.setXYZ( 38, target.r, target.g, target.b ); colorAttribute.setXYZ( 39, target.r, target.g, target.b ); // c, t
+		colorAttribute.setXYZ( 40, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 41, cross.r, cross.g, cross.b ); // p, c
+
+		// cross
+
+		colorAttribute.setXYZ( 42, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 43, cross.r, cross.g, cross.b ); // cn1, cn2
+		colorAttribute.setXYZ( 44, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 45, cross.r, cross.g, cross.b ); // cn3, cn4
+
+		colorAttribute.setXYZ( 46, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 47, cross.r, cross.g, cross.b ); // cf1, cf2
+		colorAttribute.setXYZ( 48, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 49, cross.r, cross.g, cross.b ); // cf3, cf4
+
+		colorAttribute.needsUpdate = true;
+
+	}
+
+	update() {
+
+		const geometry = this.geometry;
+		const pointMap = this.pointMap;
+
+		const w = 1, h = 1;
+
+		// we need just camera projection matrix inverse
+		// world matrix must be identity
+
+		_camera.projectionMatrixInverse.copy( this.camera.projectionMatrixInverse );
+
+		// center / target
+
+		setPoint( 'c', pointMap, geometry, _camera, 0, 0, - 1 );
+		setPoint( 't', pointMap, geometry, _camera, 0, 0, 1 );
+
+		// near
+
+		setPoint( 'n1', pointMap, geometry, _camera, - w, - h, - 1 );
+		setPoint( 'n2', pointMap, geometry, _camera, w, - h, - 1 );
+		setPoint( 'n3', pointMap, geometry, _camera, - w, h, - 1 );
+		setPoint( 'n4', pointMap, geometry, _camera, w, h, - 1 );
+
+		// far
+
+		setPoint( 'f1', pointMap, geometry, _camera, - w, - h, 1 );
+		setPoint( 'f2', pointMap, geometry, _camera, w, - h, 1 );
+		setPoint( 'f3', pointMap, geometry, _camera, - w, h, 1 );
+		setPoint( 'f4', pointMap, geometry, _camera, w, h, 1 );
+
+		// up
+
+		setPoint( 'u1', pointMap, geometry, _camera, w * 0.7, h * 1.1, - 1 );
+		setPoint( 'u2', pointMap, geometry, _camera, - w * 0.7, h * 1.1, - 1 );
+		setPoint( 'u3', pointMap, geometry, _camera, 0, h * 2, - 1 );
+
+		// cross
+
+		setPoint( 'cf1', pointMap, geometry, _camera, - w, 0, 1 );
+		setPoint( 'cf2', pointMap, geometry, _camera, w, 0, 1 );
+		setPoint( 'cf3', pointMap, geometry, _camera, 0, - h, 1 );
+		setPoint( 'cf4', pointMap, geometry, _camera, 0, h, 1 );
+
+		setPoint( 'cn1', pointMap, geometry, _camera, - w, 0, - 1 );
+		setPoint( 'cn2', pointMap, geometry, _camera, w, 0, - 1 );
+		setPoint( 'cn3', pointMap, geometry, _camera, 0, - h, - 1 );
+		setPoint( 'cn4', pointMap, geometry, _camera, 0, h, - 1 );
+
+		geometry.getAttribute( 'position' ).needsUpdate = true;
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+
+function setPoint( point, pointMap, geometry, camera, x, y, z ) {
+
+	_vector.set( x, y, z ).unproject( camera );
+
+	const points = pointMap[ point ];
+
+	if ( points !== undefined ) {
+
+		const position = geometry.getAttribute( 'position' );
+
+		for ( let i = 0, l = points.length; i < l; i ++ ) {
+
+			position.setXYZ( points[ i ], _vector.x, _vector.y, _vector.z );
+
+		}
+
+	}
+
+}
+
+const _box = /*@__PURE__*/ new Box3();
+
+class BoxHelper extends LineSegments {
+
+	constructor( object, color = 0xffff00 ) {
+
+		const indices = new Uint16Array( [ 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 0, 4, 1, 5, 2, 6, 3, 7 ] );
+		const positions = new Float32Array( 8 * 3 );
+
+		const geometry = new BufferGeometry();
+		geometry.setIndex( new BufferAttribute( indices, 1 ) );
+		geometry.setAttribute( 'position', new BufferAttribute( positions, 3 ) );
+
+		super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) );
+
+		this.object = object;
+		this.type = 'BoxHelper';
+
+		this.matrixAutoUpdate = false;
+
+		this.update();
+
+	}
+
+	update( object ) {
+
+		if ( object !== undefined ) {
+
+			console.warn( 'THREE.BoxHelper: .update() has no longer arguments.' );
+
+		}
+
+		if ( this.object !== undefined ) {
+
+			_box.setFromObject( this.object );
+
+		}
+
+		if ( _box.isEmpty() ) return;
+
+		const min = _box.min;
+		const max = _box.max;
+
+		/*
+			5____4
+		1/___0/|
+		| 6__|_7
+		2/___3/
+
+		0: max.x, max.y, max.z
+		1: min.x, max.y, max.z
+		2: min.x, min.y, max.z
+		3: max.x, min.y, max.z
+		4: max.x, max.y, min.z
+		5: min.x, max.y, min.z
+		6: min.x, min.y, min.z
+		7: max.x, min.y, min.z
+		*/
+
+		const position = this.geometry.attributes.position;
+		const array = position.array;
+
+		array[ 0 ] = max.x; array[ 1 ] = max.y; array[ 2 ] = max.z;
+		array[ 3 ] = min.x; array[ 4 ] = max.y; array[ 5 ] = max.z;
+		array[ 6 ] = min.x; array[ 7 ] = min.y; array[ 8 ] = max.z;
+		array[ 9 ] = max.x; array[ 10 ] = min.y; array[ 11 ] = max.z;
+		array[ 12 ] = max.x; array[ 13 ] = max.y; array[ 14 ] = min.z;
+		array[ 15 ] = min.x; array[ 16 ] = max.y; array[ 17 ] = min.z;
+		array[ 18 ] = min.x; array[ 19 ] = min.y; array[ 20 ] = min.z;
+		array[ 21 ] = max.x; array[ 22 ] = min.y; array[ 23 ] = min.z;
+
+		position.needsUpdate = true;
+
+		this.geometry.computeBoundingSphere();
+
+	}
+
+	setFromObject( object ) {
+
+		this.object = object;
+		this.update();
+
+		return this;
+
+	}
+
+	copy( source, recursive ) {
+
+		super.copy( source, recursive );
+
+		this.object = source.object;
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+class Box3Helper extends LineSegments {
+
+	constructor( box, color = 0xffff00 ) {
+
+		const indices = new Uint16Array( [ 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 0, 4, 1, 5, 2, 6, 3, 7 ] );
+
+		const positions = [ 1, 1, 1, - 1, 1, 1, - 1, - 1, 1, 1, - 1, 1, 1, 1, - 1, - 1, 1, - 1, - 1, - 1, - 1, 1, - 1, - 1 ];
+
+		const geometry = new BufferGeometry();
+
+		geometry.setIndex( new BufferAttribute( indices, 1 ) );
+
+		geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) );
+
+		super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) );
+
+		this.box = box;
+
+		this.type = 'Box3Helper';
+
+		this.geometry.computeBoundingSphere();
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		const box = this.box;
+
+		if ( box.isEmpty() ) return;
+
+		box.getCenter( this.position );
+
+		box.getSize( this.scale );
+
+		this.scale.multiplyScalar( 0.5 );
+
+		super.updateMatrixWorld( force );
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+class PlaneHelper extends Line {
+
+	constructor( plane, size = 1, hex = 0xffff00 ) {
+
+		const color = hex;
+
+		const positions = [ 1, - 1, 0, - 1, 1, 0, - 1, - 1, 0, 1, 1, 0, - 1, 1, 0, - 1, - 1, 0, 1, - 1, 0, 1, 1, 0 ];
+
+		const geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) );
+		geometry.computeBoundingSphere();
+
+		super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) );
+
+		this.type = 'PlaneHelper';
+
+		this.plane = plane;
+
+		this.size = size;
+
+		const positions2 = [ 1, 1, 0, - 1, 1, 0, - 1, - 1, 0, 1, 1, 0, - 1, - 1, 0, 1, - 1, 0 ];
+
+		const geometry2 = new BufferGeometry();
+		geometry2.setAttribute( 'position', new Float32BufferAttribute( positions2, 3 ) );
+		geometry2.computeBoundingSphere();
+
+		this.add( new Mesh( geometry2, new MeshBasicMaterial( { color: color, opacity: 0.2, transparent: true, depthWrite: false, toneMapped: false } ) ) );
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		this.position.set( 0, 0, 0 );
+
+		this.scale.set( 0.5 * this.size, 0.5 * this.size, 1 );
+
+		this.lookAt( this.plane.normal );
+
+		this.translateZ( - this.plane.constant );
+
+		super.updateMatrixWorld( force );
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+		this.children[ 0 ].geometry.dispose();
+		this.children[ 0 ].material.dispose();
+
+	}
+
+}
+
+const _axis = /*@__PURE__*/ new Vector3();
+let _lineGeometry, _coneGeometry;
+
+class ArrowHelper extends Object3D {
+
+	// dir is assumed to be normalized
+
+	constructor( dir = new Vector3( 0, 0, 1 ), origin = new Vector3( 0, 0, 0 ), length = 1, color = 0xffff00, headLength = length * 0.2, headWidth = headLength * 0.2 ) {
+
+		super();
+
+		this.type = 'ArrowHelper';
+
+		if ( _lineGeometry === undefined ) {
+
+			_lineGeometry = new BufferGeometry();
+			_lineGeometry.setAttribute( 'position', new Float32BufferAttribute( [ 0, 0, 0, 0, 1, 0 ], 3 ) );
+
+			_coneGeometry = new CylinderGeometry( 0, 0.5, 1, 5, 1 );
+			_coneGeometry.translate( 0, - 0.5, 0 );
+
+		}
+
+		this.position.copy( origin );
+
+		this.line = new Line( _lineGeometry, new LineBasicMaterial( { color: color, toneMapped: false } ) );
+		this.line.matrixAutoUpdate = false;
+		this.add( this.line );
+
+		this.cone = new Mesh( _coneGeometry, new MeshBasicMaterial( { color: color, toneMapped: false } ) );
+		this.cone.matrixAutoUpdate = false;
+		this.add( this.cone );
+
+		this.setDirection( dir );
+		this.setLength( length, headLength, headWidth );
+
+	}
+
+	setDirection( dir ) {
+
+		// dir is assumed to be normalized
+
+		if ( dir.y > 0.99999 ) {
+
+			this.quaternion.set( 0, 0, 0, 1 );
+
+		} else if ( dir.y < - 0.99999 ) {
+
+			this.quaternion.set( 1, 0, 0, 0 );
+
+		} else {
+
+			_axis.set( dir.z, 0, - dir.x ).normalize();
+
+			const radians = Math.acos( dir.y );
+
+			this.quaternion.setFromAxisAngle( _axis, radians );
+
+		}
+
+	}
+
+	setLength( length, headLength = length * 0.2, headWidth = headLength * 0.2 ) {
+
+		this.line.scale.set( 1, Math.max( 0.0001, length - headLength ), 1 ); // see #17458
+		this.line.updateMatrix();
+
+		this.cone.scale.set( headWidth, headLength, headWidth );
+		this.cone.position.y = length;
+		this.cone.updateMatrix();
+
+	}
+
+	setColor( color ) {
+
+		this.line.material.color.set( color );
+		this.cone.material.color.set( color );
+
+	}
+
+	copy( source ) {
+
+		super.copy( source, false );
+
+		this.line.copy( source.line );
+		this.cone.copy( source.cone );
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.line.geometry.dispose();
+		this.line.material.dispose();
+		this.cone.geometry.dispose();
+		this.cone.material.dispose();
+
+	}
+
+}
+
+class AxesHelper extends LineSegments {
+
+	constructor( size = 1 ) {
+
+		const vertices = [
+			0, 0, 0,	size, 0, 0,
+			0, 0, 0,	0, size, 0,
+			0, 0, 0,	0, 0, size
+		];
+
+		const colors = [
+			1, 0, 0,	1, 0.6, 0,
+			0, 1, 0,	0.6, 1, 0,
+			0, 0, 1,	0, 0.6, 1
+		];
+
+		const geometry = new BufferGeometry();
+		geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) );
+		geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) );
+
+		const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } );
+
+		super( geometry, material );
+
+		this.type = 'AxesHelper';
+
+	}
+
+	setColors( xAxisColor, yAxisColor, zAxisColor ) {
+
+		const color = new Color();
+		const array = this.geometry.attributes.color.array;
+
+		color.set( xAxisColor );
+		color.toArray( array, 0 );
+		color.toArray( array, 3 );
+
+		color.set( yAxisColor );
+		color.toArray( array, 6 );
+		color.toArray( array, 9 );
+
+		color.set( zAxisColor );
+		color.toArray( array, 12 );
+		color.toArray( array, 15 );
+
+		this.geometry.attributes.color.needsUpdate = true;
+
+		return this;
+
+	}
+
+	dispose() {
+
+		this.geometry.dispose();
+		this.material.dispose();
+
+	}
+
+}
+
+class ShapePath {
+
+	constructor() {
+
+		this.type = 'ShapePath';
+
+		this.color = new Color();
+
+		this.subPaths = [];
+		this.currentPath = null;
+
+	}
+
+	moveTo( x, y ) {
+
+		this.currentPath = new Path();
+		this.subPaths.push( this.currentPath );
+		this.currentPath.moveTo( x, y );
+
+		return this;
+
+	}
+
+	lineTo( x, y ) {
+
+		this.currentPath.lineTo( x, y );
+
+		return this;
+
+	}
+
+	quadraticCurveTo( aCPx, aCPy, aX, aY ) {
+
+		this.currentPath.quadraticCurveTo( aCPx, aCPy, aX, aY );
+
+		return this;
+
+	}
+
+	bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY ) {
+
+		this.currentPath.bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY );
+
+		return this;
+
+	}
+
+	splineThru( pts ) {
+
+		this.currentPath.splineThru( pts );
+
+		return this;
+
+	}
+
+	toShapes( isCCW ) {
+
+		function toShapesNoHoles( inSubpaths ) {
+
+			const shapes = [];
+
+			for ( let i = 0, l = inSubpaths.length; i < l; i ++ ) {
+
+				const tmpPath = inSubpaths[ i ];
+
+				const tmpShape = new Shape();
+				tmpShape.curves = tmpPath.curves;
+
+				shapes.push( tmpShape );
+
+			}
+
+			return shapes;
+
+		}
+
+		function isPointInsidePolygon( inPt, inPolygon ) {
+
+			const polyLen = inPolygon.length;
+
+			// inPt on polygon contour => immediate success    or
+			// toggling of inside/outside at every single! intersection point of an edge
+			//  with the horizontal line through inPt, left of inPt
+			//  not counting lowerY endpoints of edges and whole edges on that line
+			let inside = false;
+			for ( let p = polyLen - 1, q = 0; q < polyLen; p = q ++ ) {
+
+				let edgeLowPt = inPolygon[ p ];
+				let edgeHighPt = inPolygon[ q ];
+
+				let edgeDx = edgeHighPt.x - edgeLowPt.x;
+				let edgeDy = edgeHighPt.y - edgeLowPt.y;
+
+				if ( Math.abs( edgeDy ) > Number.EPSILON ) {
+
+					// not parallel
+					if ( edgeDy < 0 ) {
+
+						edgeLowPt = inPolygon[ q ]; edgeDx = - edgeDx;
+						edgeHighPt = inPolygon[ p ]; edgeDy = - edgeDy;
+
+					}
+
+					if ( ( inPt.y < edgeLowPt.y ) || ( inPt.y > edgeHighPt.y ) ) 		continue;
+
+					if ( inPt.y === edgeLowPt.y ) {
+
+						if ( inPt.x === edgeLowPt.x )		return	true;		// inPt is on contour ?
+						// continue;				// no intersection or edgeLowPt => doesn't count !!!
+
+					} else {
+
+						const perpEdge = edgeDy * ( inPt.x - edgeLowPt.x ) - edgeDx * ( inPt.y - edgeLowPt.y );
+						if ( perpEdge === 0 )				return	true;		// inPt is on contour ?
+						if ( perpEdge < 0 ) 				continue;
+						inside = ! inside;		// true intersection left of inPt
+
+					}
+
+				} else {
+
+					// parallel or collinear
+					if ( inPt.y !== edgeLowPt.y ) 		continue;			// parallel
+					// edge lies on the same horizontal line as inPt
+					if ( ( ( edgeHighPt.x <= inPt.x ) && ( inPt.x <= edgeLowPt.x ) ) ||
+						 ( ( edgeLowPt.x <= inPt.x ) && ( inPt.x <= edgeHighPt.x ) ) )		return	true;	// inPt: Point on contour !
+					// continue;
+
+				}
+
+			}
+
+			return	inside;
+
+		}
+
+		const isClockWise = ShapeUtils.isClockWise;
+
+		const subPaths = this.subPaths;
+		if ( subPaths.length === 0 ) return [];
+
+		let solid, tmpPath, tmpShape;
+		const shapes = [];
+
+		if ( subPaths.length === 1 ) {
+
+			tmpPath = subPaths[ 0 ];
+			tmpShape = new Shape();
+			tmpShape.curves = tmpPath.curves;
+			shapes.push( tmpShape );
+			return shapes;
+
+		}
+
+		let holesFirst = ! isClockWise( subPaths[ 0 ].getPoints() );
+		holesFirst = isCCW ? ! holesFirst : holesFirst;
+
+		// console.log("Holes first", holesFirst);
+
+		const betterShapeHoles = [];
+		const newShapes = [];
+		let newShapeHoles = [];
+		let mainIdx = 0;
+		let tmpPoints;
+
+		newShapes[ mainIdx ] = undefined;
+		newShapeHoles[ mainIdx ] = [];
+
+		for ( let i = 0, l = subPaths.length; i < l; i ++ ) {
+
+			tmpPath = subPaths[ i ];
+			tmpPoints = tmpPath.getPoints();
+			solid = isClockWise( tmpPoints );
+			solid = isCCW ? ! solid : solid;
+
+			if ( solid ) {
+
+				if ( ( ! holesFirst ) && ( newShapes[ mainIdx ] ) )	mainIdx ++;
+
+				newShapes[ mainIdx ] = { s: new Shape(), p: tmpPoints };
+				newShapes[ mainIdx ].s.curves = tmpPath.curves;
+
+				if ( holesFirst )	mainIdx ++;
+				newShapeHoles[ mainIdx ] = [];
+
+				//console.log('cw', i);
+
+			} else {
+
+				newShapeHoles[ mainIdx ].push( { h: tmpPath, p: tmpPoints[ 0 ] } );
+
+				//console.log('ccw', i);
+
+			}
+
+		}
+
+		// only Holes? -> probably all Shapes with wrong orientation
+		if ( ! newShapes[ 0 ] )	return	toShapesNoHoles( subPaths );
+
+
+		if ( newShapes.length > 1 ) {
+
+			let ambiguous = false;
+			let toChange = 0;
+
+			for ( let sIdx = 0, sLen = newShapes.length; sIdx < sLen; sIdx ++ ) {
+
+				betterShapeHoles[ sIdx ] = [];
+
+			}
+
+			for ( let sIdx = 0, sLen = newShapes.length; sIdx < sLen; sIdx ++ ) {
+
+				const sho = newShapeHoles[ sIdx ];
+
+				for ( let hIdx = 0; hIdx < sho.length; hIdx ++ ) {
+
+					const ho = sho[ hIdx ];
+					let hole_unassigned = true;
+
+					for ( let s2Idx = 0; s2Idx < newShapes.length; s2Idx ++ ) {
+
+						if ( isPointInsidePolygon( ho.p, newShapes[ s2Idx ].p ) ) {
+
+							if ( sIdx !== s2Idx )	toChange ++;
+
+							if ( hole_unassigned ) {
+
+								hole_unassigned = false;
+								betterShapeHoles[ s2Idx ].push( ho );
+
+							} else {
+
+								ambiguous = true;
+
+							}
+
+						}
+
+					}
+
+					if ( hole_unassigned ) {
+
+						betterShapeHoles[ sIdx ].push( ho );
+
+					}
+
+				}
+
+			}
+
+			if ( toChange > 0 && ambiguous === false ) {
+
+				newShapeHoles = betterShapeHoles;
+
+			}
+
+		}
+
+		let tmpHoles;
+
+		for ( let i = 0, il = newShapes.length; i < il; i ++ ) {
+
+			tmpShape = newShapes[ i ].s;
+			shapes.push( tmpShape );
+			tmpHoles = newShapeHoles[ i ];
+
+			for ( let j = 0, jl = tmpHoles.length; j < jl; j ++ ) {
+
+				tmpShape.holes.push( tmpHoles[ j ].h );
+
+			}
+
+		}
+
+		//console.log("shape", shapes);
+
+		return shapes;
+
+	}
+
+}
+
+if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) {
+
+	__THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'register', { detail: {
+		revision: REVISION,
+	} } ) );
+
+}
+
+if ( typeof window !== 'undefined' ) {
+
+	if ( window.__THREE__ ) {
+
+		console.warn( 'WARNING: Multiple instances of Three.js being imported.' );
+
+	} else {
+
+		window.__THREE__ = REVISION;
+
+	}
+
+}
+
+export { ACESFilmicToneMapping, AddEquation, AddOperation, AdditiveAnimationBlendMode, AdditiveBlending, AgXToneMapping, AlphaFormat, AlwaysCompare, AlwaysDepth, AlwaysStencilFunc, AmbientLight, AnimationAction, AnimationClip, AnimationLoader, AnimationMixer, AnimationObjectGroup, AnimationUtils, ArcCurve, ArrayCamera, ArrowHelper, AttachedBindMode, Audio, AudioAnalyser, AudioContext, AudioListener, AudioLoader, AxesHelper, BackSide, BasicDepthPacking, BasicShadowMap, BatchedMesh, Bone, BooleanKeyframeTrack, Box2, Box3, Box3Helper, BoxGeometry, BoxHelper, BufferAttribute, BufferGeometry, BufferGeometryLoader, ByteType, Cache, Camera, CameraHelper, CanvasTexture, CapsuleGeometry, CatmullRomCurve3, CineonToneMapping, CircleGeometry, ClampToEdgeWrapping, Clock, Color, ColorKeyframeTrack, ColorManagement, CompressedArrayTexture, CompressedCubeTexture, CompressedTexture, CompressedTextureLoader, ConeGeometry, ConstantAlphaFactor, ConstantColorFactor, CubeCamera, CubeReflectionMapping, CubeRefractionMapping, CubeTexture, CubeTextureLoader, CubeUVReflectionMapping, CubicBezierCurve, CubicBezierCurve3, CubicInterpolant, CullFaceBack, CullFaceFront, CullFaceFrontBack, CullFaceNone, Curve, CurvePath, CustomBlending, CustomToneMapping, CylinderGeometry, Cylindrical, Data3DTexture, DataArrayTexture, DataTexture, DataTextureLoader, DataUtils, DecrementStencilOp, DecrementWrapStencilOp, DefaultLoadingManager, DepthFormat, DepthStencilFormat, DepthTexture, DetachedBindMode, DirectionalLight, DirectionalLightHelper, DiscreteInterpolant, DisplayP3ColorSpace, DodecahedronGeometry, DoubleSide, DstAlphaFactor, DstColorFactor, DynamicCopyUsage, DynamicDrawUsage, DynamicReadUsage, EdgesGeometry, EllipseCurve, EqualCompare, EqualDepth, EqualStencilFunc, EquirectangularReflectionMapping, EquirectangularRefractionMapping, Euler, EventDispatcher, ExtrudeGeometry, FileLoader, Float16BufferAttribute, Float32BufferAttribute, Float64BufferAttribute, FloatType, Fog, FogExp2, FramebufferTexture, FrontSide, Frustum, GLBufferAttribute, GLSL1, GLSL3, GreaterCompare, GreaterDepth, GreaterEqualCompare, GreaterEqualDepth, GreaterEqualStencilFunc, GreaterStencilFunc, GridHelper, Group, HalfFloatType, HemisphereLight, HemisphereLightHelper, IcosahedronGeometry, ImageBitmapLoader, ImageLoader, ImageUtils, IncrementStencilOp, IncrementWrapStencilOp, InstancedBufferAttribute, InstancedBufferGeometry, InstancedInterleavedBuffer, InstancedMesh, Int16BufferAttribute, Int32BufferAttribute, Int8BufferAttribute, IntType, InterleavedBuffer, InterleavedBufferAttribute, Interpolant, InterpolateDiscrete, InterpolateLinear, InterpolateSmooth, InvertStencilOp, KeepStencilOp, KeyframeTrack, LOD, LatheGeometry, Layers, LessCompare, LessDepth, LessEqualCompare, LessEqualDepth, LessEqualStencilFunc, LessStencilFunc, Light, LightProbe, Line, Line3, LineBasicMaterial, LineCurve, LineCurve3, LineDashedMaterial, LineLoop, LineSegments, LinearDisplayP3ColorSpace, LinearEncoding, LinearFilter, LinearInterpolant, LinearMipMapLinearFilter, LinearMipMapNearestFilter, LinearMipmapLinearFilter, LinearMipmapNearestFilter, LinearSRGBColorSpace, LinearToneMapping, LinearTransfer, Loader, LoaderUtils, LoadingManager, LoopOnce, LoopPingPong, LoopRepeat, LuminanceAlphaFormat, LuminanceFormat, MOUSE, Material, MaterialLoader, MathUtils, Matrix3, Matrix4, MaxEquation, Mesh, MeshBasicMaterial, MeshDepthMaterial, MeshDistanceMaterial, MeshLambertMaterial, MeshMatcapMaterial, MeshNormalMaterial, MeshPhongMaterial, MeshPhysicalMaterial, MeshStandardMaterial, MeshToonMaterial, MinEquation, MirroredRepeatWrapping, MixOperation, MultiplyBlending, MultiplyOperation, NearestFilter, NearestMipMapLinearFilter, NearestMipMapNearestFilter, NearestMipmapLinearFilter, NearestMipmapNearestFilter, NeverCompare, NeverDepth, NeverStencilFunc, NoBlending, NoColorSpace, NoToneMapping, NormalAnimationBlendMode, NormalBlending, NotEqualCompare, NotEqualDepth, NotEqualStencilFunc, NumberKeyframeTrack, Object3D, ObjectLoader, ObjectSpaceNormalMap, OctahedronGeometry, OneFactor, OneMinusConstantAlphaFactor, OneMinusConstantColorFactor, OneMinusDstAlphaFactor, OneMinusDstColorFactor, OneMinusSrcAlphaFactor, OneMinusSrcColorFactor, OrthographicCamera, P3Primaries, PCFShadowMap, PCFSoftShadowMap, PMREMGenerator, Path, PerspectiveCamera, Plane, PlaneGeometry, PlaneHelper, PointLight, PointLightHelper, Points, PointsMaterial, PolarGridHelper, PolyhedronGeometry, PositionalAudio, PropertyBinding, PropertyMixer, QuadraticBezierCurve, QuadraticBezierCurve3, Quaternion, QuaternionKeyframeTrack, QuaternionLinearInterpolant, RED_GREEN_RGTC2_Format, RED_RGTC1_Format, REVISION, RGBADepthPacking, RGBAFormat, RGBAIntegerFormat, RGBA_ASTC_10x10_Format, RGBA_ASTC_10x5_Format, RGBA_ASTC_10x6_Format, RGBA_ASTC_10x8_Format, RGBA_ASTC_12x10_Format, RGBA_ASTC_12x12_Format, RGBA_ASTC_4x4_Format, RGBA_ASTC_5x4_Format, RGBA_ASTC_5x5_Format, RGBA_ASTC_6x5_Format, RGBA_ASTC_6x6_Format, RGBA_ASTC_8x5_Format, RGBA_ASTC_8x6_Format, RGBA_ASTC_8x8_Format, RGBA_BPTC_Format, RGBA_ETC2_EAC_Format, RGBA_PVRTC_2BPPV1_Format, RGBA_PVRTC_4BPPV1_Format, RGBA_S3TC_DXT1_Format, RGBA_S3TC_DXT3_Format, RGBA_S3TC_DXT5_Format, RGB_BPTC_SIGNED_Format, RGB_BPTC_UNSIGNED_Format, RGB_ETC1_Format, RGB_ETC2_Format, RGB_PVRTC_2BPPV1_Format, RGB_PVRTC_4BPPV1_Format, RGB_S3TC_DXT1_Format, RGFormat, RGIntegerFormat, RawShaderMaterial, Ray, Raycaster, Rec709Primaries, RectAreaLight, RedFormat, RedIntegerFormat, ReinhardToneMapping, RenderTarget, RepeatWrapping, ReplaceStencilOp, ReverseSubtractEquation, RingGeometry, SIGNED_RED_GREEN_RGTC2_Format, SIGNED_RED_RGTC1_Format, SRGBColorSpace, SRGBTransfer, Scene, ShaderChunk, ShaderLib, ShaderMaterial, ShadowMaterial, Shape, ShapeGeometry, ShapePath, ShapeUtils, ShortType, Skeleton, SkeletonHelper, SkinnedMesh, Source, Sphere, SphereGeometry, Spherical, SphericalHarmonics3, SplineCurve, SpotLight, SpotLightHelper, Sprite, SpriteMaterial, SrcAlphaFactor, SrcAlphaSaturateFactor, SrcColorFactor, StaticCopyUsage, StaticDrawUsage, StaticReadUsage, StereoCamera, StreamCopyUsage, StreamDrawUsage, StreamReadUsage, StringKeyframeTrack, SubtractEquation, SubtractiveBlending, TOUCH, TangentSpaceNormalMap, TetrahedronGeometry, Texture, TextureLoader, TorusGeometry, TorusKnotGeometry, Triangle, TriangleFanDrawMode, TriangleStripDrawMode, TrianglesDrawMode, TubeGeometry, TwoPassDoubleSide, UVMapping, Uint16BufferAttribute, Uint32BufferAttribute, Uint8BufferAttribute, Uint8ClampedBufferAttribute, Uniform, UniformsGroup, UniformsLib, UniformsUtils, UnsignedByteType, UnsignedInt248Type, UnsignedIntType, UnsignedShort4444Type, UnsignedShort5551Type, UnsignedShortType, VSMShadowMap, Vector2, Vector3, Vector4, VectorKeyframeTrack, VideoTexture, WebGL1Renderer, WebGL3DRenderTarget, WebGLArrayRenderTarget, WebGLCoordinateSystem, WebGLCubeRenderTarget, WebGLMultipleRenderTargets, WebGLRenderTarget, WebGLRenderer, WebGLUtils, WebGPUCoordinateSystem, WireframeGeometry, WrapAroundEnding, ZeroCurvatureEnding, ZeroFactor, ZeroSlopeEnding, ZeroStencilOp, _SRGBAFormat, createCanvasElement, sRGBEncoding };