three.js/examples/js/loaders/ColladaLoader.js

/**
* @author Tim Knip / http://www.floorplanner.com/ / tim at floorplanner.com
* @author Tony Parisi / http://www.tonyparisi.com/
*/


(function(){

	var COLLADA = null;
	var scene = null;
	var visualScene;
	var kinematicsModel;

	var readyCallbackFunc = null;

	var sources = {};
	var images = {};
	var animations = {};
	var controllers = {};
	var geometries = {};
	var materials = {};
	var effects = {};
	var cameras = {};
	var lights = {};

	var animData;
	var kinematics;
	var visualScenes;
	var kinematicsModel;
	var baseUrl;
	var morphs;
	var skins;

	var flip_uv = true;
	var preferredShading = THREE.SmoothShading;

	var colladaUnit = 1.0;
	var colladaUp = 'Y';
	var upConversion = null;

	options = {
		// Force Geometry to always be centered at the local origin of the
		// containing Mesh.
		centerGeometry: false,

		// Axis conversion is done for geometries, animations, and controllers.
		// If we ever pull cameras or lights out of the COLLADA file, they'll
		// need extra work.
		convertUpAxis: false,

		subdivideFaces: true,

		upAxis: 'Y',

		// For reflective or refractive materials we'll use this cubemap
		defaultEnvMap: null

	};

	THREE.ColladaLoader = function ( manager ) {

		this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;

		/*

		return {

			load: load,
			parse: parse,
			setPreferredShading: setPreferredShading,
			applySkin: applySkin,
			geometries : geometries,
			options: options

		};

		*/

	};

	THREE.ColladaLoader.prototype = {

		constructor: THREE.ColladaLoader,

		options: options, //hack

		load: function ( url, onLoad, onProgress, onError ) {

			var length = 0;

			if ( document.implementation && document.implementation.createDocument ) {

				var scope = this;

				var loader = new THREE.XHRLoader( this.manager );
				loader.setCrossOrigin( this.crossOrigin );
				loader.load( url, function ( text ) {

					var xmlParser = new DOMParser();
					var responseXML = xmlParser.parseFromString( text, "application/xml" );
					onLoad( scope.parse( responseXML, url ) );

				}, onProgress, onError );

			} else {

				alert( "Don't know how to parse XML!" );

			}

		},

		setCrossOrigin: function ( value ) {

			this.crossOrigin = value;

		},

		parse: function( doc, url ) {

			COLLADA = doc;

			if ( url !== undefined ) {

				var parts = url.split( '/' );
				parts.pop();
				baseUrl = ( parts.length < 1 ? '.' : parts.join( '/' ) ) + '/';

			}

			this.parseAsset();
			this.setUpConversion();
			images = this.parseLib( "library_images image", _Image, "image" );
			materials = this.parseLib( "library_materials material", Material, "material" );
			effects = this.parseLib( "library_effects effect", Effect, "effect" );
			geometries = this.parseLib( "library_geometries geometry", Geometry, "geometry" );
			cameras = this.parseLib( "library_cameras camera", Camera, "camera" );
			lights = this.parseLib( "library_lights light", Light, "light" );
			controllers = this.parseLib( "library_controllers controller", Controller, "controller" );
			animations = this.parseLib( "library_animations animation", Animation, "animation" );
			visualScenes = this.parseLib( "library_visual_scenes visual_scene", VisualScene, "visual_scene" );
			kinematicsModels = this.parseLib( "library_kinematics_models kinematics_model", KinematicsModel, "kinematics_model" );

			morphs = [];
			skins = [];

			visualScene = this.parseScene();
			scene = new THREE.Scene();

			for ( var i = 0; i < visualScene.nodes.length; i ++ ) {

				scene.add( createSceneGraph( visualScene.nodes[ i ] ) );

			}

			// unit conversion
			scene.scale.multiplyScalar( colladaUnit );

			this.createAnimations();

			kinematicsModel = this.parseKinematicsModel();
			this.createKinematics();

			var result = {
				scene: scene,
				morphs: morphs,
				skins: skins,
				animations: animData,
				kinematics: kinematics,
				dae: {
					images: images,
					materials: materials,
					cameras: cameras,
					lights: lights,
					effects: effects,
					geometries: geometries,
					controllers: controllers,
					animations: animations,
					visualScenes: visualScenes,
					visualScene: visualScene,
					scene: visualScene,
					kinematicsModels: kinematicsModels,
					kinematicsModel: kinematicsModel
				}
			};

			return result;

		},

		setPreferredShading: function ( shading ) {

			preferredShading = shading;

		},

		parseAsset: function () {

			var elements = COLLADA.querySelectorAll('asset');

			var element = elements[0];

			if ( element && element.childNodes ) {

				for ( var i = 0; i < element.childNodes.length; i ++ ) {

					var child = element.childNodes[ i ];

					switch ( child.nodeName ) {

						case 'unit':

							var meter = child.getAttribute( 'meter' );

							if ( meter ) {

								colladaUnit = parseFloat( meter );

							}

							break;

						case 'up_axis':

							colladaUp = child.textContent.charAt(0);
							break;

					}

				}

			}

		},

		parseLib: function ( q, classSpec, prefix ) {

			var elements = COLLADA.querySelectorAll(q);

			var lib = {};

			var i = 0;

			var elementsLength = elements.length;

			for ( var j = 0; j < elementsLength; j ++ ) {

				var element = elements[j];
				var daeElement = ( new classSpec() ).parse( element );

				if ( !daeElement.id || daeElement.id.length === 0 ) daeElement.id = prefix + ( i ++ );
				lib[ daeElement.id ] = daeElement;

			}

			return lib;

		},

		parseScene: function () {

			var sceneElement = COLLADA.querySelectorAll('scene instance_visual_scene')[0];

			if ( sceneElement ) {

				var url = sceneElement.getAttribute( 'url' ).replace( /^#/, '' );
				return visualScenes[ url.length > 0 ? url : 'visual_scene0' ];

			} else {

				return null;

			}

		},

		parseKinematicsModel: function () {

			var kinematicsModelElement = COLLADA.querySelectorAll('instance_kinematics_model')[0];

			if ( kinematicsModelElement ) {

				var url = kinematicsModelElement.getAttribute( 'url' ).replace(/^#/, '');
				return kinematicsModels[ url.length > 0 ? url : 'kinematics_model0' ];

			} else {

				return null;

			}

		},

		createAnimations: function () {

			animData = [];

			// fill in the keys
			recurseHierarchy( scene );

		},

		ecurseHierarchy: function ( node ) {

			var n = visualScene.getChildById( node.colladaId, true ),
				newData = null;

			if ( n && n.keys ) {

				newData = {
					fps: 60,
					hierarchy: [ {
						node: n,
						keys: n.keys,
						sids: n.sids
					} ],
					node: node,
					name: 'animation_' + node.name,
					length: 0
				};

				animData.push(newData);

				for ( var i = 0, il = n.keys.length; i < il; i++ ) {

					newData.length = Math.max( newData.length, n.keys[i].time );

				}

			} else {

				newData = {
					hierarchy: [ {
						keys: [],
						sids: []
					} ]
				}

			}

			for ( var i = 0, il = node.children.length; i < il; i++ ) {

				var d = recurseHierarchy( node.children[i] );

				for ( var j = 0, jl = d.hierarchy.length; j < jl; j ++ ) {

					newData.hierarchy.push( {
						keys: [],
						sids: []
					} );

				}

			}

			return newData;

		},

		createMorph: function ( geometry, ctrl ) {

			var morphCtrl = ctrl instanceof InstanceController ? controllers[ ctrl.url ] : ctrl;

			if ( !morphCtrl || !morphCtrl.morph ) {

				console.log("could not find morph controller!");
				return;

			}

			var morph = morphCtrl.morph;

			for ( var i = 0; i < morph.targets.length; i ++ ) {

				var target_id = morph.targets[ i ];
				var daeGeometry = geometries[ target_id ];

				if ( !daeGeometry.mesh ||
					 !daeGeometry.mesh.primitives ||
					 !daeGeometry.mesh.primitives.length ) {
					 continue;
				}

				var target = daeGeometry.mesh.primitives[ 0 ].geometry;

				if ( target.vertices.length === geometry.vertices.length ) {

					geometry.morphTargets.push( { name: "target_1", vertices: target.vertices } );

				}

			}

			geometry.morphTargets.push( { name: "target_Z", vertices: geometry.vertices } );

		},

		createSkin: function ( geometry, ctrl, applyBindShape ) {

			var skinCtrl = controllers[ ctrl.url ];

			if ( !skinCtrl || !skinCtrl.skin ) {

				console.log( "could not find skin controller!" );
				return;

			}

			if ( !ctrl.skeleton || !ctrl.skeleton.length ) {

				console.log( "could not find the skeleton for the skin!" );
				return;

			}

			var skin = skinCtrl.skin;
			var skeleton = visualScene.getChildById( ctrl.skeleton[ 0 ] );
			var hierarchy = [];

			applyBindShape = applyBindShape !== undefined ? applyBindShape : true;

			var bones = [];
			geometry.skinWeights = [];
			geometry.skinIndices = [];

			//createBones( geometry.bones, skin, hierarchy, skeleton, null, -1 );
			//createWeights( skin, geometry.bones, geometry.skinIndices, geometry.skinWeights );

			/*
			geometry.animation = {
				name: 'take_001',
				fps: 30,
				length: 2,
				JIT: true,
				hierarchy: hierarchy
			};
			*/

			if ( applyBindShape ) {

				for ( var i = 0; i < geometry.vertices.length; i ++ ) {

					geometry.vertices[ i ].applyMatrix4( skin.bindShapeMatrix );

				}

			}

		},

		createKinematics: function () {

			if ( kinematicsModel && kinematicsModel.joints.length === 0 ) {
				kinematics = undefined;
				return;
			}

			var jointMap = {};

			var _addToMap = function( jointIndex, parentVisualElement ) {

				var parentVisualElementId = parentVisualElement.getAttribute( 'id' );
				var colladaNode = visualScene.getChildById( parentVisualElementId, true );
				var joint = kinematicsModel.joints[ jointIndex ];

				scene.traverse(function( node ) {

					if ( node.colladaId == parentVisualElementId ) {

						jointMap[ jointIndex ] = {
							node: node,
							transforms: colladaNode.transforms,
							joint: joint,
							position: joint.zeroPosition
						};

					}

				});

			};

			kinematics = {

				joints: kinematicsModel && kinematicsModel.joints,

				getJointValue: function( jointIndex ) {

					var jointData = jointMap[ jointIndex ];

					if ( jointData ) {

						return jointData.position;

					} else {

						console.log( 'getJointValue: joint ' + jointIndex + ' doesn\'t exist' );

					}

				},

				setJointValue: function( jointIndex, value ) {

					var jointData = jointMap[ jointIndex ];

					if ( jointData ) {

						var joint = jointData.joint;

						if ( value > joint.limits.max || value < joint.limits.min ) {

							console.log( 'setJointValue: joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ')' );

						} else if ( joint.static ) {

							console.log( 'setJointValue: joint ' + jointIndex + ' is static' );

						} else {

							var threejsNode = jointData.node;
							var axis = joint.axis;
							var transforms = jointData.transforms;

							var matrix = new THREE.Matrix4();

							for (i = 0; i < transforms.length; i++ ) {

								var transform = transforms[ i ];

								// kinda ghetto joint detection
								if ( transform.sid && transform.sid.indexOf( 'joint' + jointIndex ) !== -1 ) {

									// apply actual joint value here
									switch ( joint.type ) {

										case 'revolute':

											matrix.multiply( m1.makeRotationAxis( axis, THREE.Math.degToRad(value) ) );
											break;

										case 'prismatic':

											matrix.multiply( m1.makeTranslation(axis.x * value, axis.y * value, axis.z * value ) );
											break;

										default:

											console.warn( 'setJointValue: unknown joint type: ' + joint.type );
											break;

									}

								} else {

									var m1 = new THREE.Matrix4();

									switch ( transform.type ) {

										case 'matrix':

											matrix.multiply( transform.obj );

											break;

										case 'translate':

											matrix.multiply( m1.makeTranslation( transform.obj.x, transform.obj.y, transform.obj.z ) );

											break;

										case 'rotate':

											matrix.multiply( m1.makeRotationAxis( transform.obj, transform.angle ) );

											break;

									}
								}
							}

							// apply the matrix to the threejs node
							var elementsFloat32Arr = matrix.elements;
							var elements = Array.prototype.slice.call( elementsFloat32Arr );

							var elementsRowMajor = [
								elements[ 0 ],
								elements[ 4 ],
								elements[ 8 ],
								elements[ 12 ],
								elements[ 1 ],
								elements[ 5 ],
								elements[ 9 ],
								elements[ 13 ],
								elements[ 2 ],
								elements[ 6 ],
								elements[ 10 ],
								elements[ 14 ],
								elements[ 3 ],
								elements[ 7 ],
								elements[ 11 ],
								elements[ 15 ]
							];

							threejsNode.matrix.set.apply( threejsNode.matrix, elementsRowMajor );
							threejsNode.matrix.decompose( threejsNode.position, threejsNode.quaternion, threejsNode.scale );
						}

					} else {

						console.log( 'setJointValue: joint ' + jointIndex + ' doesn\'t exist' );

					}

				}

			};

			var element = COLLADA.querySelector('scene instance_kinematics_scene');

			if ( element ) {

				for ( var i = 0; i < element.childNodes.length; i ++ ) {

					var child = element.childNodes[ i ];

					if ( child.nodeType != 1 ) continue;

					switch ( child.nodeName ) {

						case 'bind_joint_axis':

							var visualTarget = child.getAttribute( 'target' ).split( '/' ).pop();
							var axis = child.querySelector('axis param').textContent;
							var jointIndex = parseInt( axis.split( 'joint' ).pop().split( '.' )[0] );
							var visualTargetElement = COLLADA.querySelector( '[sid="' + visualTarget + '"]' );

							if ( visualTargetElement ) {
								var parentVisualElement = visualTargetElement.parentElement;
								_addToMap(jointIndex, parentVisualElement);
							}

							break;

						default:

							break;

					}

				}
			}

		},

		getJointId: function ( skin, id ) {

			for ( var i = 0; i < skin.joints.length; i ++ ) {

				if ( skin.joints[ i ] === id ) {

					return i;

				}

			}

		},

		calcFrameDuration: function ( node ) {

			var minT = 10000000;

			for ( var i = 0; i < node.channels.length; i ++ ) {

				var sampler = node.channels[i].sampler;

				for ( var j = 0; j < sampler.input.length - 1; j ++ ) {

					var t0 = sampler.input[ j ];
					var t1 = sampler.input[ j + 1 ];
					minT = Math.min( minT, t1 - t0 );

				}
			}

			return minT;

		},

		calcMatrixAt: function ( node, t ) {

			var animated = {};

			var i, j;

			for ( i = 0; i < node.channels.length; i ++ ) {

				var channel = node.channels[ i ];
				animated[ channel.sid ] = channel;

			}

			var matrix = new THREE.Matrix4();

			for ( i = 0; i < node.transforms.length; i ++ ) {

				var transform = node.transforms[ i ];
				var channel = animated[ transform.sid ];

				if ( channel !== undefined ) {

					var sampler = channel.sampler;
					var value;

					for ( j = 0; j < sampler.input.length - 1; j ++ ) {

						if ( sampler.input[ j + 1 ] > t ) {

							value = sampler.output[ j ];
							//console.log(value.flatten)
							break;

						}

					}

					if ( value !== undefined ) {

						if ( value instanceof THREE.Matrix4 ) {

							matrix.multiplyMatrices( matrix, value );

						} else {

							// FIXME: handle other types

							matrix.multiplyMatrices( matrix, transform.matrix );

						}

					} else {

						matrix.multiplyMatrices( matrix, transform.matrix );

					}

				} else {

					matrix.multiplyMatrices( matrix, transform.matrix );

				}

			}

			return matrix;

		},

		// Up axis conversion
		setUpConversion: function () {

			if ( options.convertUpAxis !== true || colladaUp === options.upAxis ) {

				upConversion = null;

			} else {

				switch ( colladaUp ) {

					case 'X':

						upConversion = options.upAxis === 'Y' ? 'XtoY' : 'XtoZ';
						break;

					case 'Y':

						upConversion = options.upAxis === 'X' ? 'YtoX' : 'YtoZ';
						break;

					case 'Z':

						upConversion = options.upAxis === 'X' ? 'ZtoX' : 'ZtoY';
						break;

				}

			}

		}


	};

	function _Image() {

		this.id = "";
		this.init_from = "";

	};

	_Image.prototype.parse = function(element) {

		this.id = element.getAttribute('id');

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			if ( child.nodeName === 'init_from' ) {

				this.init_from = child.textContent;

			}

		}

		return this;

	};

	function Controller() {

		this.id = "";
		this.name = "";
		this.type = "";
		this.skin = null;
		this.morph = null;

	};

	Controller.prototype.parse = function( element ) {

		this.id = element.getAttribute('id');
		this.name = element.getAttribute('name');
		this.type = "none";

		for ( var i = 0; i < element.childNodes.length; i++ ) {

			var child = element.childNodes[ i ];

			switch ( child.nodeName ) {

				case 'skin':

					this.skin = (new Skin()).parse(child);
					this.type = child.nodeName;
					break;

				case 'morph':

					this.morph = (new Morph()).parse(child);
					this.type = child.nodeName;
					break;

				default:
					break;

			}
		}

		return this;

	};

	function Morph() {

		this.method = null;
		this.source = null;
		this.targets = null;
		this.weights = null;

	};

	Morph.prototype.parse = function( element ) {

		var sources = {};
		var inputs = [];
		var i;

		this.method = element.getAttribute( 'method' );
		this.source = element.getAttribute( 'source' ).replace( /^#/, '' );

		for ( i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'source':

					var source = ( new Source() ).parse( child );
					sources[ source.id ] = source;
					break;

				case 'targets':

					inputs = this.parseInputs( child );
					break;

				default:

					console.log( child.nodeName );
					break;

			}

		}

		for ( i = 0; i < inputs.length; i ++ ) {

			var input = inputs[ i ];
			var source = sources[ input.source ];

			switch ( input.semantic ) {

				case 'MORPH_TARGET':

					this.targets = source.read();
					break;

				case 'MORPH_WEIGHT':

					this.weights = source.read();
					break;

				default:
					break;

			}
		}

		return this;

	};

	Morph.prototype.parseInputs = function(element) {

		var inputs = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1) continue;

			switch ( child.nodeName ) {

				case 'input':

					inputs.push( (new Input()).parse(child) );
					break;

				default:
					break;
			}
		}

		return inputs;

	};

	function Skin() {

		this.source = "";
		this.bindShapeMatrix = null;
		this.invBindMatrices = [];
		this.joints = [];
		this.weights = [];

	};

	Skin.prototype.parse = function( element ) {

		var sources = {};
		var joints, weights;

		this.source = element.getAttribute( 'source' ).replace( /^#/, '' );
		this.invBindMatrices = [];
		this.joints = [];
		this.weights = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'bind_shape_matrix':

					var f = _floats(child.textContent);
					this.bindShapeMatrix = getConvertedMat4( f );
					break;

				case 'source':

					var src = new Source().parse(child);
					sources[ src.id ] = src;
					break;

				case 'joints':

					joints = child;
					break;

				case 'vertex_weights':

					weights = child;
					break;

				default:

					console.log( child.nodeName );
					break;

			}
		}

		this.parseJoints( joints, sources );
		this.parseWeights( weights, sources );

		return this;

	};

	Skin.prototype.parseJoints = function ( element, sources ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'input':

					var input = ( new Input() ).parse( child );
					var source = sources[ input.source ];

					if ( input.semantic === 'JOINT' ) {

						this.joints = source.read();

					} else if ( input.semantic === 'INV_BIND_MATRIX' ) {

						this.invBindMatrices = source.read();

					}

					break;

				default:
					break;
			}

		}

	};

	Skin.prototype.parseWeights = function ( element, sources ) {

		var v, vcount, inputs = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'input':

					inputs.push( ( new Input() ).parse( child ) );
					break;

				case 'v':

					v = _ints( child.textContent );
					break;

				case 'vcount':

					vcount = _ints( child.textContent );
					break;

				default:
					break;

			}

		}

		var index = 0;

		for ( var i = 0; i < vcount.length; i ++ ) {

			var numBones = vcount[i];
			var vertex_weights = [];

			for ( var j = 0; j < numBones; j++ ) {

				var influence = {};

				for ( var k = 0; k < inputs.length; k ++ ) {

					var input = inputs[ k ];
					var value = v[ index + input.offset ];

					switch ( input.semantic ) {

						case 'JOINT':

							influence.joint = value;//this.joints[value];
							break;

						case 'WEIGHT':

							influence.weight = sources[ input.source ].data[ value ];
							break;

						default:
							break;

					}

				}

				vertex_weights.push( influence );
				index += inputs.length;
			}

			for ( var j = 0; j < vertex_weights.length; j ++ ) {

				vertex_weights[ j ].index = i;

			}

			this.weights.push( vertex_weights );

		}

	};

	function VisualScene () {

		this.id = "";
		this.name = "";
		this.nodes = [];
		this.scene = new THREE.Group();

	};

	VisualScene.prototype.getChildById = function( id, recursive ) {

		for ( var i = 0; i < this.nodes.length; i ++ ) {

			var node = this.nodes[ i ].getChildById( id, recursive );

			if ( node ) {

				return node;

			}

		}

		return null;

	};

	VisualScene.prototype.getChildBySid = function( sid, recursive ) {

		for ( var i = 0; i < this.nodes.length; i ++ ) {

			var node = this.nodes[ i ].getChildBySid( sid, recursive );

			if ( node ) {

				return node;

			}

		}

		return null;

	};

	VisualScene.prototype.parse = function( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );
		this.nodes = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'node':

					this.nodes.push( ( new Node() ).parse( child ) );
					break;

				default:
					break;

			}

		}

		return this;

	};

	function Node() {

		this.id = "";
		this.name = "";
		this.sid = "";
		this.nodes = [];
		this.controllers = [];
		this.transforms = [];
		this.geometries = [];
		this.channels = [];
		this.matrix = new THREE.Matrix4();

	};

	Node.prototype.getChannelForTransform = function( transformSid ) {

		for ( var i = 0; i < this.channels.length; i ++ ) {

			var channel = this.channels[i];
			var parts = channel.target.split('/');
			var id = parts.shift();
			var sid = parts.shift();
			var dotSyntax = (sid.indexOf(".") >= 0);
			var arrSyntax = (sid.indexOf("(") >= 0);
			var arrIndices;
			var member;

			if ( dotSyntax ) {

				parts = sid.split(".");
				sid = parts.shift();
				member = parts.shift();

			} else if ( arrSyntax ) {

				arrIndices = sid.split("(");
				sid = arrIndices.shift();

				for ( var j = 0; j < arrIndices.length; j ++ ) {

					arrIndices[ j ] = parseInt( arrIndices[ j ].replace( /\)/, '' ) );

				}

			}

			if ( sid === transformSid ) {

				channel.info = { sid: sid, dotSyntax: dotSyntax, arrSyntax: arrSyntax, arrIndices: arrIndices };
				return channel;

			}

		}

		return null;

	};

	Node.prototype.getChildById = function ( id, recursive ) {

		if ( this.id === id ) {

			return this;

		}

		if ( recursive ) {

			for ( var i = 0; i < this.nodes.length; i ++ ) {

				var n = this.nodes[ i ].getChildById( id, recursive );

				if ( n ) {

					return n;

				}

			}

		}

		return null;

	};

	Node.prototype.getChildBySid = function ( sid, recursive ) {

		if ( this.sid === sid ) {

			return this;

		}

		if ( recursive ) {

			for ( var i = 0; i < this.nodes.length; i ++ ) {

				var n = this.nodes[ i ].getChildBySid( sid, recursive );

				if ( n ) {

					return n;

				}

			}
		}

		return null;

	};

	Node.prototype.getTransformBySid = function ( sid ) {

		for ( var i = 0; i < this.transforms.length; i ++ ) {

			if ( this.transforms[ i ].sid === sid ) return this.transforms[ i ];

		}

		return null;

	};

	Node.prototype.parse = function( element ) {

		var url;

		this.id = element.getAttribute('id');
		this.sid = element.getAttribute('sid');
		this.name = element.getAttribute('name');
		this.type = element.getAttribute('type');
		this.layer = element.getAttribute('layer');

		this.type = this.type === 'JOINT' ? this.type : 'NODE';

		this.nodes = [];
		this.transforms = [];
		this.geometries = [];
		this.cameras = [];
		this.lights = [];
		this.controllers = [];
		this.matrix = new THREE.Matrix4();

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'node':

					this.nodes.push( ( new Node() ).parse( child ) );
					break;

				case 'instance_camera':

					this.cameras.push( ( new InstanceCamera() ).parse( child ) );
					break;

				case 'instance_controller':

					this.controllers.push( ( new InstanceController() ).parse( child ) );
					break;

				case 'instance_geometry':

					this.geometries.push( ( new InstanceGeometry() ).parse( child ) );
					break;

				case 'instance_light':

					this.lights.push( ( new InstanceLight() ).parse( child ) );
					break;

				case 'instance_node':

					url = child.getAttribute( 'url' ).replace( /^#/, '' );
					var iNode = getLibraryNode( url );

					if ( iNode ) {

						this.nodes.push( ( new Node() ).parse( iNode )) ;

					}

					break;

				case 'rotate':
				case 'translate':
				case 'scale':
				case 'matrix':
				case 'lookat':
				case 'skew':

					this.transforms.push( ( new Transform() ).parse( child ) );
					break;

				case 'extra':
					break;

				default:

					console.log( child.nodeName );
					break;

			}

		}

		this.channels = getChannelsForNode( this );
		bakeAnimations( this );

		this.updateMatrix();

		return this;

	};

	Node.prototype.updateMatrix = function () {

		this.matrix.identity();

		for ( var i = 0; i < this.transforms.length; i ++ ) {

			this.transforms[ i ].apply( this.matrix );

		}

	};

	function Transform () {

		this.sid = "";
		this.type = "";
		this.data = [];
		this.obj = null;

	};

	Transform.prototype.parse = function ( element ) {

		this.sid = element.getAttribute( 'sid' );
		this.type = element.nodeName;
		this.data = _floats( element.textContent );
		this.convert();

		return this;

	};

	Transform.prototype.convert = function () {

		switch ( this.type ) {

			case 'matrix':

				this.obj = getConvertedMat4( this.data );
				break;

			case 'rotate':

				this.angle = THREE.Math.degToRad( this.data[3] );

			case 'translate':

				fixCoords( this.data, -1 );
				this.obj = new THREE.Vector3( this.data[ 0 ], this.data[ 1 ], this.data[ 2 ] );
				break;

			case 'scale':

				fixCoords( this.data, 1 );
				this.obj = new THREE.Vector3( this.data[ 0 ], this.data[ 1 ], this.data[ 2 ] );
				break;

			default:
				console.log( 'Can not convert Transform of type ' + this.type );
				break;

		}

	};

	Transform.prototype.apply = function () {

		var m1 = new THREE.Matrix4();

		return function ( matrix ) {

			switch ( this.type ) {

				case 'matrix':

					matrix.multiply( this.obj );

					break;

				case 'translate':

					matrix.multiply( m1.makeTranslation( this.obj.x, this.obj.y, this.obj.z ) );

					break;

				case 'rotate':

					matrix.multiply( m1.makeRotationAxis( this.obj, this.angle ) );

					break;

				case 'scale':

					matrix.scale( this.obj );

					break;

			}

		};

	}();

	Transform.prototype.update = function ( data, member ) {

		var members = [ 'X', 'Y', 'Z', 'ANGLE' ];

		switch ( this.type ) {

			case 'matrix':

				if ( ! member ) {

					this.obj.copy( data );

				} else if ( member.length === 1 ) {

					switch ( member[ 0 ] ) {

						case 0:

							this.obj.n11 = data[ 0 ];
							this.obj.n21 = data[ 1 ];
							this.obj.n31 = data[ 2 ];
							this.obj.n41 = data[ 3 ];

							break;

						case 1:

							this.obj.n12 = data[ 0 ];
							this.obj.n22 = data[ 1 ];
							this.obj.n32 = data[ 2 ];
							this.obj.n42 = data[ 3 ];

							break;

						case 2:

							this.obj.n13 = data[ 0 ];
							this.obj.n23 = data[ 1 ];
							this.obj.n33 = data[ 2 ];
							this.obj.n43 = data[ 3 ];

							break;

						case 3:

							this.obj.n14 = data[ 0 ];
							this.obj.n24 = data[ 1 ];
							this.obj.n34 = data[ 2 ];
							this.obj.n44 = data[ 3 ];

							break;

					}

				} else if ( member.length === 2 ) {

					var propName = 'n' + ( member[ 0 ] + 1 ) + ( member[ 1 ] + 1 );
					this.obj[ propName ] = data;

				} else {

					console.log('Incorrect addressing of matrix in transform.');

				}

				break;

			case 'translate':
			case 'scale':

				if ( Object.prototype.toString.call( member ) === '[object Array]' ) {

					member = members[ member[ 0 ] ];

				}

				switch ( member ) {

					case 'X':

						this.obj.x = data;
						break;

					case 'Y':

						this.obj.y = data;
						break;

					case 'Z':

						this.obj.z = data;
						break;

					default:

						this.obj.x = data[ 0 ];
						this.obj.y = data[ 1 ];
						this.obj.z = data[ 2 ];
						break;

				}

				break;

			case 'rotate':

				if ( Object.prototype.toString.call( member ) === '[object Array]' ) {

					member = members[ member[ 0 ] ];

				}

				switch ( member ) {

					case 'X':

						this.obj.x = data;
						break;

					case 'Y':

						this.obj.y = data;
						break;

					case 'Z':

						this.obj.z = data;
						break;

					case 'ANGLE':

						this.angle = THREE.Math.degToRad( data );
						break;

					default:

						this.obj.x = data[ 0 ];
						this.obj.y = data[ 1 ];
						this.obj.z = data[ 2 ];
						this.angle = THREE.Math.degToRad( data[ 3 ] );
						break;

				}
				break;

		}

	};

	function InstanceController() {

		this.url = "";
		this.skeleton = [];
		this.instance_material = [];

	};

	InstanceController.prototype.parse = function ( element ) {

		this.url = element.getAttribute('url').replace(/^#/, '');
		this.skeleton = [];
		this.instance_material = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType !== 1 ) continue;

			switch ( child.nodeName ) {

				case 'skeleton':

					this.skeleton.push( child.textContent.replace(/^#/, '') );
					break;

				case 'bind_material':

					var instances = child.querySelectorAll('instance_material');

					for ( var j = 0; j < instances.length; j ++ ){

						var instance = instances[j];
						this.instance_material.push( (new InstanceMaterial()).parse(instance) );

					}


					break;

				case 'extra':
					break;

				default:
					break;

			}
		}

		return this;

	};

	function InstanceMaterial () {

		this.symbol = "";
		this.target = "";

	};

	InstanceMaterial.prototype.parse = function ( element ) {

		this.symbol = element.getAttribute('symbol');
		this.target = element.getAttribute('target').replace(/^#/, '');
		return this;

	};

	function InstanceGeometry() {

		this.url = "";
		this.instance_material = [];

	};

	InstanceGeometry.prototype.parse = function ( element ) {

		this.url = element.getAttribute('url').replace(/^#/, '');
		this.instance_material = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1 ) continue;

			if ( child.nodeName === 'bind_material' ) {

				var instances = child.querySelectorAll('instance_material');

				for ( var j = 0; j < instances.length; j ++ ) {

					var instance = instances[j];
					this.instance_material.push( (new InstanceMaterial()).parse(instance) );

				}

				break;

			}

		}

		return this;

	};

	function Geometry() {

		this.id = "";
		this.mesh = null;

	};

	Geometry.prototype.parse = function ( element ) {

		this.id = element.getAttribute('id');

		extractDoubleSided( this, element );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];

			switch ( child.nodeName ) {

				case 'mesh':

					this.mesh = (new Mesh(this)).parse(child);
					break;

				case 'extra':

					// console.log( child );
					break;

				default:
					break;
			}
		}

		return this;

	};

	function Mesh( geometry ) {

		this.geometry = geometry.id;
		this.primitives = [];
		this.vertices = null;
		this.geometry3js = null;

	};

	Mesh.prototype.parse = function ( element ) {

		this.primitives = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			switch ( child.nodeName ) {

				case 'source':

					_source( child );
					break;

				case 'vertices':

					this.vertices = ( new Vertices() ).parse( child );
					break;

				case 'linestrips':

					this.primitives.push( ( new LineStrips().parse( child ) ) );
					break;

				case 'triangles':

					this.primitives.push( ( new Triangles().parse( child ) ) );
					break;

				case 'polygons':

					this.primitives.push( ( new Polygons().parse( child ) ) );
					break;

				case 'polylist':

					this.primitives.push( ( new Polylist().parse( child ) ) );
					break;

				default:
					break;

			}

		}

		this.geometry3js = new THREE.Geometry();

		var vertexData = sources[ this.vertices.input['POSITION'].source ].data;

		for ( var i = 0; i < vertexData.length; i += 3 ) {

			this.geometry3js.vertices.push( getConvertedVec3( vertexData, i ).clone() );

		}

		for ( var i = 0; i < this.primitives.length; i ++ ) {

			var primitive = this.primitives[ i ];
			primitive.setVertices( this.vertices );
			this.handlePrimitive( primitive, this.geometry3js );

		}

		if ( this.geometry3js.calcNormals ) {

			this.geometry3js.computeVertexNormals();
			delete this.geometry3js.calcNormals;

		}

		return this;

	};

	Mesh.prototype.handlePrimitive = function ( primitive, geom ) {

		if ( primitive instanceof LineStrips ) {

			// TODO: Handle indices. Maybe easier with BufferGeometry?

			geom.isLineStrip = true;
			return;

		}

		var j, k, pList = primitive.p, inputs = primitive.inputs;
		var input, index, idx32;
		var source, numParams;
		var vcIndex = 0, vcount = 3, maxOffset = 0;
		var texture_sets = [];

		for ( j = 0; j < inputs.length; j ++ ) {

			input = inputs[ j ];

			var offset = input.offset + 1;
			maxOffset = (maxOffset < offset)? offset : maxOffset;

			switch ( input.semantic ) {

				case 'TEXCOORD':
					texture_sets.push( input.set );
					break;

			}

		}

		for ( var pCount = 0; pCount < pList.length; ++pCount ) {

			var p = pList[ pCount ], i = 0;

			while ( i < p.length ) {

				var vs = [];
				var ns = [];
				var ts = null;
				var cs = [];

				if ( primitive.vcount ) {

					vcount = primitive.vcount.length ? primitive.vcount[ vcIndex ++ ] : primitive.vcount;

				} else {

					vcount = p.length / maxOffset;

				}


				for ( j = 0; j < vcount; j ++ ) {

					for ( k = 0; k < inputs.length; k ++ ) {

						input = inputs[ k ];
						source = sources[ input.source ];

						index = p[ i + ( j * maxOffset ) + input.offset ];
						numParams = source.accessor.params.length;
						idx32 = index * numParams;

						switch ( input.semantic ) {

							case 'VERTEX':

								vs.push( index );

								break;

							case 'NORMAL':

								ns.push( getConvertedVec3( source.data, idx32 ) );

								break;

							case 'TEXCOORD':

								ts = ts || { };
								if ( ts[ input.set ] === undefined ) ts[ input.set ] = [];
								// invert the V
								ts[ input.set ].push( new THREE.Vector2( source.data[ idx32 ], source.data[ idx32 + 1 ] ) );

								break;

							case 'COLOR':

								cs.push( new THREE.Color().setRGB( source.data[ idx32 ], source.data[ idx32 + 1 ], source.data[ idx32 + 2 ] ) );

								break;

							default:

								break;

						}

					}

				}

				if ( ns.length === 0 ) {

					// check the vertices inputs
					input = this.vertices.input.NORMAL;

					if ( input ) {

						source = sources[ input.source ];
						numParams = source.accessor.params.length;

						for ( var ndx = 0, len = vs.length; ndx < len; ndx++ ) {

							ns.push( getConvertedVec3( source.data, vs[ ndx ] * numParams ) );

						}

					} else {

						geom.calcNormals = true;

					}

				}

				if ( !ts ) {

					ts = { };
					// check the vertices inputs
					input = this.vertices.input.TEXCOORD;

					if ( input ) {

						texture_sets.push( input.set );
						source = sources[ input.source ];
						numParams = source.accessor.params.length;

						for ( var ndx = 0, len = vs.length; ndx < len; ndx++ ) {

							idx32 = vs[ ndx ] * numParams;
							if ( ts[ input.set ] === undefined ) ts[ input.set ] = [ ];
							// invert the V
							ts[ input.set ].push( new THREE.Vector2( source.data[ idx32 ], 1.0 - source.data[ idx32 + 1 ] ) );

						}

					}

				}

				if ( cs.length === 0 ) {

					// check the vertices inputs
					input = this.vertices.input.COLOR;

					if ( input ) {

						source = sources[ input.source ];
						numParams = source.accessor.params.length;

						for ( var ndx = 0, len = vs.length; ndx < len; ndx++ ) {

							idx32 = vs[ ndx ] * numParams;
							cs.push( new THREE.Color().setRGB( source.data[ idx32 ], source.data[ idx32 + 1 ], source.data[ idx32 + 2 ] ) );

						}

					}

				}

				var face = null, faces = [], uv, uvArr;

				if ( vcount === 3 ) {

					faces.push( new THREE.Face3( vs[0], vs[1], vs[2], ns, cs.length ? cs : new THREE.Color() ) );

				} else if ( vcount === 4 ) {

					faces.push( new THREE.Face3( vs[0], vs[1], vs[3], [ns[0], ns[1], ns[3]], cs.length ? [cs[0], cs[1], cs[3]] : new THREE.Color() ) );

					faces.push( new THREE.Face3( vs[1], vs[2], vs[3], [ns[1], ns[2], ns[3]], cs.length ? [cs[1], cs[2], cs[3]] : new THREE.Color() ) );

				} else if ( vcount > 4 && options.subdivideFaces ) {

					var clr = cs.length ? cs : new THREE.Color(),
						vec1, vec2, vec3, v1, v2, norm;

					// subdivide into multiple Face3s

					for ( k = 1; k < vcount - 1; ) {

						// FIXME: normals don't seem to be quite right

						faces.push( new THREE.Face3( vs[0], vs[k], vs[k+1], [ ns[0], ns[k++], ns[k] ],  clr ) );

					}

				}

				if ( faces.length ) {

					for ( var ndx = 0, len = faces.length; ndx < len; ndx ++ ) {

						face = faces[ndx];
						face.daeMaterial = primitive.material;
						geom.faces.push( face );

						for ( k = 0; k < texture_sets.length; k++ ) {

							uv = ts[ texture_sets[k] ];

							if ( vcount > 4 ) {

								// Grab the right UVs for the vertices in this face
								uvArr = [ uv[0], uv[ndx+1], uv[ndx+2] ];

							} else if ( vcount === 4 ) {

								if ( ndx === 0 ) {

									uvArr = [ uv[0], uv[1], uv[3] ];

								} else {

									uvArr = [ uv[1].clone(), uv[2], uv[3].clone() ];

								}

							} else {

								uvArr = [ uv[0], uv[1], uv[2] ];

							}

							if ( geom.faceVertexUvs[k] === undefined ) {

								geom.faceVertexUvs[k] = [];

							}

							geom.faceVertexUvs[k].push( uvArr );

						}

					}

				} else {

					console.log( 'dropped face with vcount ' + vcount + ' for geometry with id: ' + geom.id );

				}

				i += maxOffset * vcount;

			}

		}

	};

	function Polygons () {

		this.material = "";
		this.count = 0;
		this.inputs = [];
		this.vcount = null;
		this.p = [];
		this.geometry = new THREE.Geometry();

	};

	Polygons.prototype.setVertices = function ( vertices ) {

		for ( var i = 0; i < this.inputs.length; i ++ ) {

			if ( this.inputs[ i ].source === vertices.id ) {

				this.inputs[ i ].source = vertices.input[ 'POSITION' ].source;

			}

		}

	};

	Polygons.prototype.parse = function ( element ) {

		this.material = element.getAttribute( 'material' );
		this.count = _attr_as_int( element, 'count', 0 );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			switch ( child.nodeName ) {

				case 'input':

					this.inputs.push( ( new Input() ).parse( element.childNodes[ i ] ) );
					break;

				case 'vcount':

					this.vcount = _ints( child.textContent );
					break;

				case 'p':

					this.p.push( _ints( child.textContent ) );
					break;

				case 'ph':

					console.warn( 'polygon holes not yet supported!' );
					break;

				default:
					break;

			}

		}

		return this;

	};

	function Polylist () {

		Polygons.call( this );

		this.vcount = [];

	};

	Polylist.prototype = Object.create( Polygons.prototype );
	Polylist.prototype.constructor = Polylist;

	function LineStrips() {

		Polygons.call( this );

		this.vcount = 1;

	};

	LineStrips.prototype = Object.create( Polygons.prototype );
	LineStrips.prototype.constructor = LineStrips;

	function Triangles () {

		Polygons.call( this );

		this.vcount = 3;

	};

	Triangles.prototype = Object.create( Polygons.prototype );
	Triangles.prototype.constructor = Triangles;

	function Accessor() {

		this.source = "";
		this.count = 0;
		this.stride = 0;
		this.params = [];

	};

	Accessor.prototype.parse = function ( element ) {

		this.params = [];
		this.source = element.getAttribute( 'source' );
		this.count = _attr_as_int( element, 'count', 0 );
		this.stride = _attr_as_int( element, 'stride', 0 );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			if ( child.nodeName === 'param' ) {

				var param = {};
				param[ 'name' ] = child.getAttribute( 'name' );
				param[ 'type' ] = child.getAttribute( 'type' );
				this.params.push( param );

			}

		}

		return this;

	};

	function Vertices() {

		this.input = {};

	};

	Vertices.prototype.parse = function ( element ) {

		this.id = element.getAttribute('id');

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			if ( element.childNodes[i].nodeName === 'input' ) {

				var input = ( new Input() ).parse( element.childNodes[ i ] );
				this.input[ input.semantic ] = input;

			}

		}

		return this;

	};

	function Input () {

		this.semantic = "";
		this.offset = 0;
		this.source = "";
		this.set = 0;

	};

	Input.prototype.parse = function ( element ) {

		this.semantic = element.getAttribute('semantic');
		this.source = element.getAttribute('source').replace(/^#/, '');
		this.set = _attr_as_int(element, 'set', -1);
		this.offset = _attr_as_int(element, 'offset', 0);

		if ( this.semantic === 'TEXCOORD' && this.set < 0 ) {

			this.set = 0;

		}

		return this;

	};

	function Source ( id ) {

		this.id = id;
		this.type = null;

	};

	Source.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];

			switch ( child.nodeName ) {

				case 'bool_array':

					this.data = _bools( child.textContent );
					this.type = child.nodeName;
					break;

				case 'float_array':

					this.data = _floats( child.textContent );
					this.type = child.nodeName;
					break;

				case 'int_array':

					this.data = _ints( child.textContent );
					this.type = child.nodeName;
					break;

				case 'IDREF_array':
				case 'Name_array':

					this.data = _strings( child.textContent );
					this.type = child.nodeName;
					break;

				case 'technique_common':

					for ( var j = 0; j < child.childNodes.length; j ++ ) {

						if ( child.childNodes[ j ].nodeName === 'accessor' ) {

							this.accessor = ( new Accessor() ).parse( child.childNodes[ j ] );
							break;

						}
					}
					break;

				default:
					// console.log(child.nodeName);
					break;

			}

		}

		return this;

	};

	Source.prototype.read = function () {

		var result = [];

		//for (var i = 0; i < this.accessor.params.length; i++) {

			var param = this.accessor.params[ 0 ];

			//console.log(param.name + " " + param.type);

			switch ( param.type ) {

				case 'IDREF':
				case 'Name': case 'name':
				case 'float':

					return this.data;

				case 'float4x4':

					for ( var j = 0; j < this.data.length; j += 16 ) {

						var s = this.data.slice( j, j + 16 );
						var m = getConvertedMat4( s );
						result.push( m );
					}

					break;

				default:

					console.log( 'ColladaLoader: Source: Read dont know how to read ' + param.type + '.' );
					break;

			}

		//}

		return result;

	};

	function Material () {

		this.id = "";
		this.name = "";
		this.instance_effect = null;

	};

	Material.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			if ( element.childNodes[ i ].nodeName === 'instance_effect' ) {

				this.instance_effect = ( new InstanceEffect() ).parse( element.childNodes[ i ] );
				break;

			}

		}

		return this;

	};

	function ColorOrTexture () {

		this.color = new THREE.Color();
		this.color.setRGB( Math.random(), Math.random(), Math.random() );
		this.color.a = 1.0;

		this.texture = null;
		this.texcoord = null;
		this.texOpts = null;

	};

	ColorOrTexture.prototype.isColor = function () {

		return ( this.texture === null );

	};

	ColorOrTexture.prototype.isTexture = function () {

		return ( this.texture != null );

	};

	ColorOrTexture.prototype.parse = function ( element ) {

		if (element.nodeName === 'transparent') {

			this.opaque = element.getAttribute('opaque');

		}

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'color':

					var rgba = _floats( child.textContent );
					this.color = new THREE.Color();
					this.color.setRGB( rgba[0], rgba[1], rgba[2] );
					this.color.a = rgba[3];
					break;

				case 'texture':

					this.texture = child.getAttribute('texture');
					this.texcoord = child.getAttribute('texcoord');
					// Defaults from:
					// https://collada.org/mediawiki/index.php/Maya_texture_placement_MAYA_extension
					this.texOpts = {
						offsetU: 0,
						offsetV: 0,
						repeatU: 1,
						repeatV: 1,
						wrapU: 1,
						wrapV: 1
					};
					this.parseTexture( child );
					break;

				default:
					break;

			}

		}

		return this;

	};

	ColorOrTexture.prototype.parseTexture = function ( element ) {

		if ( ! element.childNodes ) return this;

		// This should be supported by Maya, 3dsMax, and MotionBuilder

		if ( element.childNodes[1] && element.childNodes[1].nodeName === 'extra' ) {

			element = element.childNodes[1];

			if ( element.childNodes[1] && element.childNodes[1].nodeName === 'technique' ) {

				element = element.childNodes[1];

			}

		}

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			switch ( child.nodeName ) {

				case 'offsetU':
				case 'offsetV':
				case 'repeatU':
				case 'repeatV':

					this.texOpts[ child.nodeName ] = parseFloat( child.textContent );

					break;

				case 'wrapU':
				case 'wrapV':

					// some dae have a value of true which becomes NaN via parseInt

					if ( child.textContent.toUpperCase() === 'TRUE' ) {

						this.texOpts[ child.nodeName ] = 1;

					} else {

						this.texOpts[ child.nodeName ] = parseInt( child.textContent );

					}
					break;

				default:

					this.texOpts[ child.nodeName ] = child.textContent;

					break;

			}

		}

		return this;

	};

	function Shader ( type, effect ) {

		this.type = type;
		this.effect = effect;
		this.material = null;

	};

	Shader.prototype.parse = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'ambient':
				case 'emission':
				case 'diffuse':
				case 'specular':
				case 'transparent':

					this[ child.nodeName ] = ( new ColorOrTexture() ).parse( child );
					break;

				case 'bump':

					// If 'bumptype' is 'heightfield', create a 'bump' property
					// Else if 'bumptype' is 'normalmap', create a 'normal' property
					// (Default to 'bump')
					var bumpType = child.getAttribute( 'bumptype' );
					if ( bumpType ) {
						if ( bumpType.toLowerCase() === "heightfield" ) {
							this[ 'bump' ] = ( new ColorOrTexture() ).parse( child );
						} else if ( bumpType.toLowerCase() === "normalmap" ) {
							this[ 'normal' ] = ( new ColorOrTexture() ).parse( child );
						} else {
							console.error( "Shader.prototype.parse: Invalid value for attribute 'bumptype' (" + bumpType +
										   ") - valid bumptypes are 'HEIGHTFIELD' and 'NORMALMAP' - defaulting to 'HEIGHTFIELD'" );
							this[ 'bump' ] = ( new ColorOrTexture() ).parse( child );
						}
					} else {
						console.warn( "Shader.prototype.parse: Attribute 'bumptype' missing from bump node - defaulting to 'HEIGHTFIELD'" );
						this[ 'bump' ] = ( new ColorOrTexture() ).parse( child );
					}

					break;

				case 'shininess':
				case 'reflectivity':
				case 'index_of_refraction':
				case 'transparency':

					var f = child.querySelectorAll('float');

					if ( f.length > 0 )
						this[ child.nodeName ] = parseFloat( f[ 0 ].textContent );

					break;

				default:
					break;

			}

		}

		this.create();
		return this;

	};

	Shader.prototype.create = function() {

		var props = {};

		var transparent = false;

		if (this['transparency'] !== undefined && this['transparent'] !== undefined) {
			// convert transparent color RBG to average value
			var transparentColor = this['transparent'];
			var transparencyLevel = (this.transparent.color.r + this.transparent.color.g + this.transparent.color.b) / 3 * this.transparency;

			if (transparencyLevel > 0) {
				transparent = true;
				props[ 'transparent' ] = true;
				props[ 'opacity' ] = 1 - transparencyLevel;

			}

		}

		var keys = {
			'diffuse':'map',
			'ambient':'lightMap' ,
			'specular':'specularMap',
			'emission':'emissionMap',
			'bump':'bumpMap',
			'normal':'normalMap'
			};

		for ( var prop in this ) {

			switch ( prop ) {

				case 'ambient':
				case 'emission':
				case 'diffuse':
				case 'specular':
				case 'bump':
				case 'normal':

					var cot = this[ prop ];

					if ( cot instanceof ColorOrTexture ) {

						if ( cot.isTexture() ) {

							var samplerId = cot.texture;
							var surfaceId = this.effect.sampler[samplerId];

							if ( surfaceId !== undefined && surfaceId.source !== undefined ) {

								var surface = this.effect.surface[surfaceId.source];

								if ( surface !== undefined ) {

									var image = images[ surface.init_from ];

									if ( image ) {

										var url = baseUrl + image.init_from;

										var texture;
										var loader = THREE.Loader.Handlers.get( url );

										if ( loader !== null ) {

											texture = loader.load( url );

										} else {

											texture = new THREE.Texture();

											loadTextureImage( texture, url );

										}

										texture.wrapS = cot.texOpts.wrapU ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
										texture.wrapT = cot.texOpts.wrapV ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
										texture.offset.x = cot.texOpts.offsetU;
										texture.offset.y = cot.texOpts.offsetV;
										texture.repeat.x = cot.texOpts.repeatU;
										texture.repeat.y = cot.texOpts.repeatV;
										props[keys[prop]] = texture;

										// Texture with baked lighting?
										if (prop === 'emission') props['emissive'] = 0xffffff;

									}

								}

							}

						} else if ( prop === 'diffuse' || !transparent ) {

							if ( prop === 'emission' ) {

								props[ 'emissive' ] = cot.color.getHex();

							} else {

								props[ prop ] = cot.color.getHex();

							}

						}

					}

					break;

				case 'shininess':

					props[ prop ] = this[ prop ];
					break;

				case 'reflectivity':

					props[ prop ] = this[ prop ];
					if( props[ prop ] > 0.0 ) props['envMap'] = options.defaultEnvMap;
					props['combine'] = THREE.MixOperation;	//mix regular shading with reflective component
					break;

				case 'index_of_refraction':

					props[ 'refractionRatio' ] = this[ prop ]; //TODO: "index_of_refraction" becomes "refractionRatio" in shader, but I'm not sure if the two are actually comparable
					if ( this[ prop ] !== 1.0 ) props['envMap'] = options.defaultEnvMap;
					break;

				case 'transparency':
					// gets figured out up top
					break;

				default:
					break;

			}

		}

		props[ 'shading' ] = preferredShading;
		props[ 'side' ] = this.effect.doubleSided ? THREE.DoubleSide : THREE.FrontSide;

		switch ( this.type ) {

			case 'constant':

				if (props.emissive != undefined) props.color = props.emissive;
				this.material = new THREE.MeshBasicMaterial( props );
				break;

			case 'phong':
			case 'blinn':

				if (props.diffuse != undefined) props.color = props.diffuse;
				this.material = new THREE.MeshPhongMaterial( props );
				break;

			case 'lambert':
			default:

				if (props.diffuse != undefined) props.color = props.diffuse;
				this.material = new THREE.MeshLambertMaterial( props );
				break;

		}

		return this.material;

	};

	function Surface ( effect ) {

		this.effect = effect;
		this.init_from = null;
		this.format = null;

	};

	Surface.prototype.parse = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'init_from':

					this.init_from = child.textContent;
					break;

				case 'format':

					this.format = child.textContent;
					break;

				default:

					console.log( "unhandled Surface prop: " + child.nodeName );
					break;

			}

		}

		return this;

	};

	function Sampler2D ( effect ) {

		this.effect = effect;
		this.source = null;
		this.wrap_s = null;
		this.wrap_t = null;
		this.minfilter = null;
		this.magfilter = null;
		this.mipfilter = null;

	};

	Sampler2D.prototype.parse = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'source':

					this.source = child.textContent;
					break;

				case 'minfilter':

					this.minfilter = child.textContent;
					break;

				case 'magfilter':

					this.magfilter = child.textContent;
					break;

				case 'mipfilter':

					this.mipfilter = child.textContent;
					break;

				case 'wrap_s':

					this.wrap_s = child.textContent;
					break;

				case 'wrap_t':

					this.wrap_t = child.textContent;
					break;

				default:

					console.log( "unhandled Sampler2D prop: " + child.nodeName );
					break;

			}

		}

		return this;

	};

	function Effect () {

		this.id = "";
		this.name = "";
		this.shader = null;
		this.surface = {};
		this.sampler = {};

	};

	Effect.prototype.create = function () {

		if ( this.shader === null ) {

			return null;

		}

	};

	Effect.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );

		extractDoubleSided( this, element );

		this.shader = null;

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'profile_COMMON':

					this.parseTechnique( this.parseProfileCOMMON( child ) );
					break;

				default:
					break;

			}

		}

		return this;

	};

	Effect.prototype.parseNewparam = function ( element ) {

		var sid = element.getAttribute( 'sid' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'surface':

					this.surface[sid] = ( new Surface( this ) ).parse( child );
					break;

				case 'sampler2D':

					this.sampler[sid] = ( new Sampler2D( this ) ).parse( child );
					break;

				case 'extra':

					break;

				default:

					console.log( child.nodeName );
					break;

			}

		}

	};

	Effect.prototype.parseProfileCOMMON = function ( element ) {

		var technique;

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'profile_COMMON':

					this.parseProfileCOMMON( child );
					break;

				case 'technique':

					technique = child;
					break;

				case 'newparam':

					this.parseNewparam( child );
					break;

				case 'image':

					var _image = ( new _Image() ).parse( child );
					images[ _image.id ] = _image;
					break;

				case 'extra':
					break;

				default:

					console.log( child.nodeName );
					break;

			}

		}

		return technique;

	};

	Effect.prototype.parseTechnique= function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'constant':
				case 'lambert':
				case 'blinn':
				case 'phong':

					this.shader = ( new Shader( child.nodeName, this ) ).parse( child );
					break;
				case 'extra':
					this.parseExtra(child);
					break;
				default:
					break;

			}

		}

	};

	Effect.prototype.parseExtra = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'technique':
					this.parseExtraTechnique( child );
					break;
				default:
					break;

			}

		}

	};

	Effect.prototype.parseExtraTechnique= function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[i];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'bump':
					this.shader.parse( element );
					break;
				default:
					break;

			}

		}

	};

	function InstanceEffect () {

		this.url = "";

	};

	InstanceEffect.prototype.parse = function ( element ) {

		this.url = element.getAttribute( 'url' ).replace( /^#/, '' );
		return this;

	};

	function Animation() {

		this.id = "";
		this.name = "";
		this.source = {};
		this.sampler = [];
		this.channel = [];

	};

	Animation.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );
		this.source = {};

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'animation':

					var anim = ( new Animation() ).parse( child );

					for ( var src in anim.source ) {

						this.source[ src ] = anim.source[ src ];

					}

					for ( var j = 0; j < anim.channel.length; j ++ ) {

						this.channel.push( anim.channel[ j ] );
						this.sampler.push( anim.sampler[ j ] );

					}

					break;

				case 'source':

					var src = ( new Source() ).parse( child );
					this.source[ src.id ] = src;
					break;

				case 'sampler':

					this.sampler.push( ( new Sampler( this ) ).parse( child ) );
					break;

				case 'channel':

					this.channel.push( ( new Channel( this ) ).parse( child ) );
					break;

				default:
					break;

			}

		}

		return this;

	};

	function Channel( animation ) {

		this.animation = animation;
		this.source = "";
		this.target = "";
		this.fullSid = null;
		this.sid = null;
		this.dotSyntax = null;
		this.arrSyntax = null;
		this.arrIndices = null;
		this.member = null;

	};

	Channel.prototype.parse = function ( element ) {

		this.source = element.getAttribute( 'source' ).replace( /^#/, '' );
		this.target = element.getAttribute( 'target' );

		var parts = this.target.split( '/' );

		var id = parts.shift();
		var sid = parts.shift();

		var dotSyntax = ( sid.indexOf(".") >= 0 );
		var arrSyntax = ( sid.indexOf("(") >= 0 );

		if ( dotSyntax ) {

			parts = sid.split(".");
			this.sid = parts.shift();
			this.member = parts.shift();

		} else if ( arrSyntax ) {

			var arrIndices = sid.split("(");
			this.sid = arrIndices.shift();

			for (var j = 0; j < arrIndices.length; j ++ ) {

				arrIndices[j] = parseInt( arrIndices[j].replace(/\)/, '') );

			}

			this.arrIndices = arrIndices;

		} else {

			this.sid = sid;

		}

		this.fullSid = sid;
		this.dotSyntax = dotSyntax;
		this.arrSyntax = arrSyntax;

		return this;

	};

	function Sampler ( animation ) {

		this.id = "";
		this.animation = animation;
		this.inputs = [];
		this.input = null;
		this.output = null;
		this.strideOut = null;
		this.interpolation = null;
		this.startTime = null;
		this.endTime = null;
		this.duration = 0;

	};

	Sampler.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.inputs = [];

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'input':

					this.inputs.push( (new Input()).parse( child ) );
					break;

				default:
					break;

			}

		}

		return this;

	};

	Sampler.prototype.create = function () {

		for ( var i = 0; i < this.inputs.length; i ++ ) {

			var input = this.inputs[ i ];
			var source = this.animation.source[ input.source ];

			switch ( input.semantic ) {

				case 'INPUT':

					this.input = source.read();
					break;

				case 'OUTPUT':

					this.output = source.read();
					this.strideOut = source.accessor.stride;
					break;

				case 'INTERPOLATION':

					this.interpolation = source.read();
					break;

				case 'IN_TANGENT':

					break;

				case 'OUT_TANGENT':

					break;

				default:

					console.log(input.semantic);
					break;

			}

		}

		this.startTime = 0;
		this.endTime = 0;
		this.duration = 0;

		if ( this.input.length ) {

			this.startTime = 100000000;
			this.endTime = -100000000;

			for ( var i = 0; i < this.input.length; i ++ ) {

				this.startTime = Math.min( this.startTime, this.input[ i ] );
				this.endTime = Math.max( this.endTime, this.input[ i ] );

			}

			this.duration = this.endTime - this.startTime;

		}

	};

	Sampler.prototype.getData = function ( type, ndx, member ) {

		var data;

		if ( type === 'matrix' && this.strideOut === 16 ) {

			data = this.output[ ndx ];

		} else if ( this.strideOut > 1 ) {

			data = [];
			ndx *= this.strideOut;

			for ( var i = 0; i < this.strideOut; ++i ) {

				data[ i ] = this.output[ ndx + i ];

			}

			if ( this.strideOut === 3 ) {

				switch ( type ) {

					case 'rotate':
					case 'translate':

						fixCoords( data, -1 );
						break;

					case 'scale':

						fixCoords( data, 1 );
						break;

				}

			} else if ( this.strideOut === 4 && type === 'matrix' ) {

				fixCoords( data, -1 );

			}

		} else {

			data = this.output[ ndx ];

			if ( member && type === 'translate' ) {
				data = getConvertedTranslation( member, data );
			}

		}

		return data;

	};

	function Key ( time ) {

		this.targets = [];
		this.time = time;

	};

	Key.prototype.addTarget = function ( fullSid, transform, member, data ) {

		this.targets.push( {
			sid: fullSid,
			member: member,
			transform: transform,
			data: data
		} );

	};

	Key.prototype.apply = function ( opt_sid ) {

		for ( var i = 0; i < this.targets.length; ++i ) {

			var target = this.targets[ i ];

			if ( !opt_sid || target.sid === opt_sid ) {

				target.transform.update( target.data, target.member );

			}

		}

	};

	Key.prototype.getTarget = function ( fullSid ) {

		for ( var i = 0; i < this.targets.length; ++i ) {

			if ( this.targets[ i ].sid === fullSid ) {

				return this.targets[ i ];

			}

		}

		return null;

	};

	Key.prototype.hasTarget = function ( fullSid ) {

		for ( var i = 0; i < this.targets.length; ++i ) {

			if ( this.targets[ i ].sid === fullSid ) {

				return true;

			}

		}

		return false;

	};

	// TODO: Currently only doing linear interpolation. Should support full COLLADA spec.
	Key.prototype.interpolate = function ( nextKey, time ) {

		for ( var i = 0, l = this.targets.length; i < l; i ++ ) {

			var target = this.targets[ i ],
				nextTarget = nextKey.getTarget( target.sid ),
				data;

			if ( target.transform.type !== 'matrix' && nextTarget ) {

				var scale = ( time - this.time ) / ( nextKey.time - this.time ),
					nextData = nextTarget.data,
					prevData = target.data;

				if ( scale < 0 ) scale = 0;
				if ( scale > 1 ) scale = 1;

				if ( prevData.length ) {

					data = [];

					for ( var j = 0; j < prevData.length; ++j ) {

						data[ j ] = prevData[ j ] + ( nextData[ j ] - prevData[ j ] ) * scale;

					}

				} else {

					data = prevData + ( nextData - prevData ) * scale;

				}

			} else {

				data = target.data;

			}

			target.transform.update( data, target.member );

		}

	};

	// Camera
	function Camera() {

		this.id = "";
		this.name = "";
		this.technique = "";

	};

	Camera.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'optics':

					this.parseOptics( child );
					break;

				default:
					break;

			}

		}

		return this;

	};

	Camera.prototype.parseOptics = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			if ( element.childNodes[ i ].nodeName === 'technique_common' ) {

				var technique = element.childNodes[ i ];

				for ( var j = 0; j < technique.childNodes.length; j ++ ) {

					this.technique = technique.childNodes[ j ].nodeName;

					if ( this.technique === 'perspective' ) {

						var perspective = technique.childNodes[ j ];

						for ( var k = 0; k < perspective.childNodes.length; k ++ ) {

							var param = perspective.childNodes[ k ];

							switch ( param.nodeName ) {

								case 'yfov':
									this.yfov = param.textContent;
									break;
								case 'xfov':
									this.xfov = param.textContent;
									break;
								case 'znear':
									this.znear = param.textContent;
									break;
								case 'zfar':
									this.zfar = param.textContent;
									break;
								case 'aspect_ratio':
									this.aspect_ratio = param.textContent;
									break;

							}

						}

					} else if ( this.technique === 'orthographic' ) {

						var orthographic = technique.childNodes[ j ];

						for ( var k = 0; k < orthographic.childNodes.length; k ++ ) {

							var param = orthographic.childNodes[ k ];

							switch ( param.nodeName ) {

								case 'xmag':
									this.xmag = param.textContent;
									break;
								case 'ymag':
									this.ymag = param.textContent;
									break;
								case 'znear':
									this.znear = param.textContent;
									break;
								case 'zfar':
									this.zfar = param.textContent;
									break;
								case 'aspect_ratio':
									this.aspect_ratio = param.textContent;
									break;

							}

						}

					}

				}

			}

		}

		return this;

	};

	function InstanceCamera() {

		this.url = "";

	};

	InstanceCamera.prototype.parse = function ( element ) {

		this.url = element.getAttribute('url').replace(/^#/, '');

		return this;

	};

	// Light

	function Light() {

		this.id = "";
		this.name = "";
		this.technique = "";

	};

	Light.prototype.parse = function ( element ) {

		this.id = element.getAttribute( 'id' );
		this.name = element.getAttribute( 'name' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'technique_common':

					this.parseCommon( child );
					break;

				case 'technique':

					this.parseTechnique( child );
					break;

				default:
					break;

			}

		}

		return this;

	};

	Light.prototype.parseCommon = function ( element ) {

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			switch ( element.childNodes[ i ].nodeName ) {

				case 'directional':
				case 'point':
				case 'spot':
				case 'ambient':

					this.technique = element.childNodes[ i ].nodeName;

					var light = element.childNodes[ i ];

					for ( var j = 0; j < light.childNodes.length; j ++ ) {

						var child = light.childNodes[j];

						switch ( child.nodeName ) {

							case 'color':

								var rgba = _floats( child.textContent );
								this.color = new THREE.Color(0);
								this.color.setRGB( rgba[0], rgba[1], rgba[2] );
								this.color.a = rgba[3];
								break;

							case 'falloff_angle':

								this.falloff_angle = parseFloat( child.textContent );
								break;

							case 'quadratic_attenuation':
								var f = parseFloat( child.textContent );
								this.distance = f ? Math.sqrt( 1/f ) : 0;
						}

					}

			}

		}

		return this;

	};

	Light.prototype.parseTechnique = function ( element ) {

		this.profile = element.getAttribute( 'profile' );

		for ( var i = 0; i < element.childNodes.length; i ++ ) {

			var child = element.childNodes[ i ];

			switch ( child.nodeName ) {

				case 'intensity':

					this.intensity = parseFloat(child.textContent);
					break;

			}

		}

		return this;

	};

	function InstanceLight() {

		this.url = "";

	};

	InstanceLight.prototype.parse = function ( element ) {

		this.url = element.getAttribute('url').replace(/^#/, '');

		return this;

	};

	function KinematicsModel( ) {

		this.id = '';
		this.name = '';
		this.joints = [];
		this.links = [];

	}

	KinematicsModel.prototype.parse = function( element ) {

		this.id = element.getAttribute('id');
		this.name = element.getAttribute('name');
		this.joints = [];
		this.links = [];

		for (var i = 0; i < element.childNodes.length; i++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'technique_common':

					this.parseCommon(child);
					break;

				default:
					break;

			}

		}

		return this;

	};

	KinematicsModel.prototype.parseCommon = function( element ) {

		for (var i = 0; i < element.childNodes.length; i++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( element.childNodes[ i ].nodeName ) {

				case 'joint':
					this.joints.push( (new Joint()).parse(child) );
					break;

				case 'link':
					this.links.push( (new Link()).parse(child) );
					break;

				default:
					break;

			}

		}

		return this;

	};

	function Joint( ) {

		this.sid = '';
		this.name = '';
		this.axis = new THREE.Vector3();
		this.limits = {
			min: 0,
			max: 0
		};
		this.type = '';
		this.static = false;
		this.zeroPosition = 0.0;
		this.middlePosition = 0.0;

	}

	Joint.prototype.parse = function( element ) {

		this.sid = element.getAttribute('sid');
		this.name = element.getAttribute('name');
		this.axis = new THREE.Vector3();
		this.limits = {
			min: 0,
			max: 0
		};
		this.type = '';
		this.static = false;
		this.zeroPosition = 0.0;
		this.middlePosition = 0.0;

		var axisElement = element.querySelector('axis');
		var _axis = _floats(axisElement.textContent);
		this.axis = getConvertedVec3(_axis, 0);

		var min = element.querySelector('limits min') ? parseFloat(element.querySelector('limits min').textContent) : -360;
		var max = element.querySelector('limits max') ? parseFloat(element.querySelector('limits max').textContent) : 360;

		this.limits = {
			min: min,
			max: max
		};

		var jointTypes = ['prismatic', 'revolute'];
		for (var i = 0; i < jointTypes.length; i++ ) {

			var type = jointTypes[ i ];

			var jointElement = element.querySelector(type);

			if ( jointElement ) {

				this.type = type;

			}

		}

		// if the min is equal to or somehow greater than the max, consider the joint static
		if ( this.limits.min >= this.limits.max ) {

			this.static = true;

		}

		this.middlePosition = (this.limits.min + this.limits.max) / 2.0;
		return this;

	};

	function Link( ) {

		this.sid = '';
		this.name = '';
		this.transforms = [];
		this.attachments = [];

	}

	Link.prototype.parse = function( element ) {

		this.sid = element.getAttribute('sid');
		this.name = element.getAttribute('name');
		this.transforms = [];
		this.attachments = [];

		for (var i = 0; i < element.childNodes.length; i++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'attachment_full':
					this.attachments.push( (new Attachment()).parse(child) );
					break;

				case 'rotate':
				case 'translate':
				case 'matrix':

					this.transforms.push( (new Transform()).parse(child) );
					break;

				default:

					break;

			}

		}

		return this;

	};

	function Attachment( ) {

		this.joint = '';
		this.transforms = [];
		this.links = [];

	}

	Attachment.prototype.parse = function( element ) {

		this.joint = element.getAttribute('joint').split('/').pop();
		this.links = [];

		for (var i = 0; i < element.childNodes.length; i++ ) {

			var child = element.childNodes[ i ];
			if ( child.nodeType != 1 ) continue;

			switch ( child.nodeName ) {

				case 'link':
					this.links.push( (new Link()).parse(child) );
					break;

				case 'rotate':
				case 'translate':
				case 'matrix':

					this.transforms.push( (new Transform()).parse(child) );
					break;

				default:

					break;

			}

		}

		return this;

	};

	function _source( element ) {

		var id = element.getAttribute( 'id' );

		if ( sources[ id ] != undefined ) {

			return sources[ id ];

		}

		sources[ id ] = ( new Source(id )).parse( element );
		return sources[ id ];

	};

	function _nsResolver( nsPrefix ) {

		if ( nsPrefix === "dae" ) {

			return "http://www.collada.org/2005/11/COLLADASchema";

		}

		return null;

	};

	function _bools( str ) {

		var raw = _strings( str );
		var data = [];

		for ( var i = 0, l = raw.length; i < l; i ++ ) {

			data.push( (raw[i] === 'true' || raw[i] === '1') ? true : false );

		}

		return data;

	};

	function _floats( str ) {

		var raw = _strings(str);
		var data = [];

		for ( var i = 0, l = raw.length; i < l; i ++ ) {

			data.push( parseFloat( raw[ i ] ) );

		}

		return data;

	};

	function _ints( str ) {

		var raw = _strings( str );
		var data = [];

		for ( var i = 0, l = raw.length; i < l; i ++ ) {

			data.push( parseInt( raw[ i ], 10 ) );

		}

		return data;

	};

	function _strings( str ) {

		return ( str.length > 0 ) ? _trimString( str ).split( /\s+/ ) : [];

	};

	function _trimString( str ) {

		return str.replace( /^\s+/, "" ).replace( /\s+$/, "" );

	};

	function _attr_as_float( element, name, defaultValue ) {

		if ( element.hasAttribute( name ) ) {

			return parseFloat( element.getAttribute( name ) );

		} else {

			return defaultValue;

		}

	};

	function _attr_as_int( element, name, defaultValue ) {

		if ( element.hasAttribute( name ) ) {

			return parseInt( element.getAttribute( name ), 10) ;

		} else {

			return defaultValue;

		}

	};

	function _attr_as_string( element, name, defaultValue ) {

		if ( element.hasAttribute( name ) ) {

			return element.getAttribute( name );

		} else {

			return defaultValue;

		}

	};

	function _format_float( f, num ) {

		if ( f === undefined ) {

			var s = '0.';

			while ( s.length < num + 2 ) {

				s += '0';

			}

			return s;

		}

		num = num || 2;

		var parts = f.toString().split( '.' );
		parts[ 1 ] = parts.length > 1 ? parts[ 1 ].substr( 0, num ) : "0";

		while( parts[ 1 ].length < num ) {

			parts[ 1 ] += '0';

		}

		return parts.join( '.' );

	};

	function loadTextureImage ( texture, url ) {

		loader = new THREE.ImageLoader();

		loader.load( url, function ( image ) {

			texture.image = image;
			texture.needsUpdate = true;

		} );

	};

	function applySkin ( geometry, instanceCtrl, frame ) {

		var skinController = controllers[ instanceCtrl.url ];

		frame = frame !== undefined ? frame : 40;

		if ( !skinController || !skinController.skin ) {

			console.log( 'ColladaLoader: Could not find skin controller.' );
			return;

		}

		if ( !instanceCtrl.skeleton || !instanceCtrl.skeleton.length ) {

			console.log( 'ColladaLoader: Could not find the skeleton for the skin. ' );
			return;

		}

		var animationBounds = calcAnimationBounds();
		var skeleton = visualScene.getChildById( instanceCtrl.skeleton[0], true ) ||
					   visualScene.getChildBySid( instanceCtrl.skeleton[0], true );

		//flatten the skeleton into a list of bones
		var bonelist = flattenSkeleton(skeleton);
		var joints = skinController.skin.joints;

		//sort that list so that the order reflects the order in the joint list
		var sortedbones = [];
		for(var i = 0; i < joints.length; i++) {

			for(var j =0; j < bonelist.length; j++) {

				if(bonelist[j].name === joints[i]) {

					sortedbones[i] = bonelist[j];

				}

			}

		}

		//hook up the parents by index instead of name
		for(var i = 0; i < sortedbones.length; i++) {

			for(var j =0; j < sortedbones.length; j++) {

				if(sortedbones[i].parent === sortedbones[j].name) {

					sortedbones[i].parent = j;

				}

			}

		}


		var i, j, w, vidx, weight;
		var v = new THREE.Vector3(), o, s;

		// move vertices to bind shape
		for ( i = 0; i < geometry.vertices.length; i ++ ) {
					geometry.vertices[i].applyMatrix4( skinController.skin.bindShapeMatrix );
		}

		var skinIndices = [];
		var skinWeights = [];
		var weights = skinController.skin.weights;

		//hook up the skin weights
		// TODO -  this might be a good place to choose greatest 4 weights
		for(var i =0; i < weights.length; i++) {

			var indicies = new THREE.Vector4(weights[i][0]?weights[i][0].joint:0,weights[i][1]?weights[i][1].joint:0,weights[i][2]?weights[i][2].joint:0,weights[i][3]?weights[i][3].joint:0);
			var weight = new THREE.Vector4(weights[i][0]?weights[i][0].weight:0,weights[i][1]?weights[i][1].weight:0,weights[i][2]?weights[i][2].weight:0,weights[i][3]?weights[i][3].weight:0);

			skinIndices.push(indicies);
			skinWeights.push(weight);

		}

		geometry.skinIndices = skinIndices;
		geometry.skinWeights = skinWeights;
		geometry.bones = sortedbones;
		// process animation, or simply pose the rig if no animation

		//create an animation for the animated bones
		//NOTE: this has no effect when using morphtargets
		var animationdata = {"name":animationBounds.ID,"fps":30,"length":animationBounds.frames/30,"hierarchy":[]};

		for(var j =0; j < sortedbones.length; j++) {

			animationdata.hierarchy.push({parent:sortedbones[j].parent, name:sortedbones[j].name, keys:[]});

		}

		console.log( 'ColladaLoader:', animationBounds.ID + ' has ' + sortedbones.length + ' bones.' );



		skinToBindPose(geometry,skeleton,skinController);


		for ( frame = 0; frame < animationBounds.frames; frame ++ ) {

			var bones = [];
			var skinned = [];
			// process the frame and setup the rig with a fresh
			// transform, possibly from the bone's animation channel(s)

			setupSkeleton( skeleton, bones, frame );
			setupSkinningMatrices( bones, skinController.skin );

			for(var i = 0; i < bones.length; i ++) {

				for(var j = 0; j < animationdata.hierarchy.length; j ++) {

					if(animationdata.hierarchy[j].name === bones[i].sid) {

						var key = {};
						key.time = (frame/30);
						key.matrix = bones[i].animatrix;

						if(frame === 0)
							bones[i].matrix = key.matrix;

						var data = [new THREE.Vector3(),new THREE.Quaternion(),new THREE.Vector3()];
						key.matrix.decompose(data[0],data[1],data[2]);

						key.pos = [data[0].x,data[0].y,data[0].z];

						key.scl = [data[2].x,data[2].y,data[2].z];
						key.rot = data[1];

						animationdata.hierarchy[j].keys.push(key);

					}

				}

			}

			geometry.animation = animationdata;

		}

	};

	function calcAnimationBounds () {

		var start = 1000000;
		var end = -start;
		var frames = 0;
		var ID;
		for ( var id in animations ) {

			var animation = animations[ id ];
			ID = ID || animation.id;
			for ( var i = 0; i < animation.sampler.length; i ++ ) {

				var sampler = animation.sampler[ i ];

				sampler.create();

				start = Math.min( start, sampler.startTime );
				end = Math.max( end, sampler.endTime );
				frames = Math.max( frames, sampler.input.length );

			}

		}

		return { start:start, end:end, frames:frames,ID:ID };

	};

	function createSceneGraph ( node, parent ) {

		var obj = new THREE.Object3D();
		var skinned = false;
		var skinController;
		var morphController;
		var i, j;

		// FIXME: controllers

		for ( i = 0; i < node.controllers.length; i ++ ) {

			var controller = controllers[ node.controllers[ i ].url ];

			switch ( controller.type ) {

				case 'skin':

					if ( geometries[ controller.skin.source ] ) {

						var inst_geom = new InstanceGeometry();

						inst_geom.url = controller.skin.source;
						inst_geom.instance_material = node.controllers[ i ].instance_material;

						node.geometries.push( inst_geom );
						skinned = true;
						skinController = node.controllers[ i ];

					} else if ( controllers[ controller.skin.source ] ) {

						// urgh: controller can be chained
						// handle the most basic case...

						var second = controllers[ controller.skin.source ];
						morphController = second;
					//	skinController = node.controllers[i];

						if ( second.morph && geometries[ second.morph.source ] ) {

							var inst_geom = new InstanceGeometry();

							inst_geom.url = second.morph.source;
							inst_geom.instance_material = node.controllers[ i ].instance_material;

							node.geometries.push( inst_geom );

						}

					}

					break;

				case 'morph':

					if ( geometries[ controller.morph.source ] ) {

						var inst_geom = new InstanceGeometry();

						inst_geom.url = controller.morph.source;
						inst_geom.instance_material = node.controllers[ i ].instance_material;

						node.geometries.push( inst_geom );
						morphController = node.controllers[ i ];

					}

					console.log( 'ColladaLoader: Morph-controller partially supported.' );

				default:
					break;

			}

		}

		// geometries

		var double_sided_materials = {};

		for ( i = 0; i < node.geometries.length; i ++ ) {

			var instance_geometry = node.geometries[i];
			var instance_materials = instance_geometry.instance_material;
			var geometry = geometries[ instance_geometry.url ];
			var used_materials = {};
			var used_materials_array = [];
			var num_materials = 0;
			var first_material;

			if ( geometry ) {

				if ( !geometry.mesh || !geometry.mesh.primitives )
					continue;

				if ( obj.name.length === 0 ) {

					obj.name = geometry.id;

				}

				// collect used fx for this geometry-instance

				if ( instance_materials ) {

					for ( j = 0; j < instance_materials.length; j ++ ) {

						var instance_material = instance_materials[ j ];
						var mat = materials[ instance_material.target ];
						var effect_id = mat.instance_effect.url;
						var shader = effects[ effect_id ].shader;
						var material3js = shader.material;

						if ( geometry.doubleSided ) {

							if ( !( instance_material.symbol in double_sided_materials ) ) {

								var _copied_material = material3js.clone();
								_copied_material.side = THREE.DoubleSide;
								double_sided_materials[ instance_material.symbol ] = _copied_material;

							}

							material3js = double_sided_materials[ instance_material.symbol ];

						}

						material3js.opacity = !material3js.opacity ? 1 : material3js.opacity;
						used_materials[ instance_material.symbol ] = num_materials;
						used_materials_array.push( material3js );
						first_material = material3js;
						first_material.name = mat.name === null || mat.name === '' ? mat.id : mat.name;
						num_materials ++;

					}

				}

				var mesh;
				var material = first_material || new THREE.MeshLambertMaterial( { color: 0xdddddd, side: geometry.doubleSided ? THREE.DoubleSide : THREE.FrontSide } );
				var geom = geometry.mesh.geometry3js;

				if ( num_materials > 1 ) {

					material = new THREE.MeshFaceMaterial( used_materials_array );

					for ( j = 0; j < geom.faces.length; j ++ ) {

						var face = geom.faces[ j ];
						face.materialIndex = used_materials[ face.daeMaterial ]

					}

				}

				if ( skinController !== undefined ) {


					applySkin( geom, skinController );

					if ( geom.morphTargets.length > 0 ) {

						material.morphTargets = true;
						material.skinning = false;

					} else {

						material.morphTargets = false;
						material.skinning = true;

					}


					mesh = new THREE.SkinnedMesh( geom, material, false );


					//mesh.skeleton = skinController.skeleton;
					//mesh.skinController = controllers[ skinController.url ];
					//mesh.skinInstanceController = skinController;
					mesh.name = 'skin_' + skins.length;



					//mesh.animationHandle.setKey(0);
					skins.push( mesh );

				} else if ( morphController !== undefined ) {

					createMorph( geom, morphController );

					material.morphTargets = true;

					mesh = new THREE.Mesh( geom, material );
					mesh.name = 'morph_' + morphs.length;

					morphs.push( mesh );

				} else {

					if ( geom.isLineStrip === true ) {

						mesh = new THREE.Line( geom );

					} else {

						mesh = new THREE.Mesh( geom, material );

					}

				}

				obj.add(mesh);

			}

		}

		for ( i = 0; i < node.cameras.length; i ++ ) {

			var instance_camera = node.cameras[i];
			var cparams = cameras[instance_camera.url];

			var cam = new THREE.PerspectiveCamera(cparams.yfov, parseFloat(cparams.aspect_ratio),
					parseFloat(cparams.znear), parseFloat(cparams.zfar));

			obj.add(cam);
		}

		for ( i = 0; i < node.lights.length; i ++ ) {

			var light = null;
			var instance_light = node.lights[i];
			var lparams = lights[instance_light.url];

			if ( lparams && lparams.technique ) {

				var color = lparams.color.getHex();
				var intensity = lparams.intensity;
				var distance = lparams.distance;
				var angle = lparams.falloff_angle;
				var exponent; // Intentionally undefined, don't know what this is yet

				switch ( lparams.technique ) {

					case 'directional':

						light = new THREE.DirectionalLight( color, intensity, distance );
						light.position.set(0, 0, 1);
						break;

					case 'point':

						light = new THREE.PointLight( color, intensity, distance );
						break;

					case 'spot':

						light = new THREE.SpotLight( color, intensity, distance, angle, exponent );
						light.position.set(0, 0, 1);
						break;

					case 'ambient':

						light = new THREE.AmbientLight( color );
						break;

				}

			}

			if (light) {
				obj.add(light);
			}
		}

		obj.name = node.name || node.id || "";
		obj.colladaId = node.id || "";
		obj.layer = node.layer || "";
		obj.matrix = node.matrix;
		obj.matrix.decompose( obj.position, obj.quaternion, obj.scale );

		if ( options.centerGeometry && obj.geometry ) {

			var delta = obj.geometry.center();
			delta.multiply( obj.scale );
			delta.applyQuaternion( obj.quaternion );

			obj.position.sub( delta );

		}

		for ( i = 0; i < node.nodes.length; i ++ ) {

			obj.add( createSceneGraph( node.nodes[i], node ) );

		}

		return obj;

	};

	function bakeAnimations ( node ) {

		if ( node.channels && node.channels.length ) {

			var keys = [],
				sids = [];

			for ( var i = 0, il = node.channels.length; i < il; i++ ) {

				var channel = node.channels[i],
					fullSid = channel.fullSid,
					sampler = channel.sampler,
					input = sampler.input,
					transform = node.getTransformBySid( channel.sid ),
					member;

				if ( channel.arrIndices ) {

					member = [];

					for ( var j = 0, jl = channel.arrIndices.length; j < jl; j++ ) {

						member[ j ] = getConvertedIndex( channel.arrIndices[ j ] );

					}

				} else {

					member = getConvertedMember( channel.member );

				}

				if ( transform ) {

					if ( sids.indexOf( fullSid ) === -1 ) {

						sids.push( fullSid );

					}

					for ( var j = 0, jl = input.length; j < jl; j++ ) {

						var time = input[j],
							data = sampler.getData( transform.type, j, member ),
							key = findKey( keys, time );

						if ( !key ) {

							key = new Key( time );
							var timeNdx = findTimeNdx( keys, time );
							keys.splice( timeNdx === -1 ? keys.length : timeNdx, 0, key );

						}

						key.addTarget( fullSid, transform, member, data );

					}

				} else {

					console.log( 'Could not find transform "' + channel.sid + '" in node ' + node.id );

				}

			}

			// post process
			for ( var i = 0; i < sids.length; i++ ) {

				var sid = sids[ i ];

				for ( var j = 0; j < keys.length; j++ ) {

					var key = keys[ j ];

					if ( !key.hasTarget( sid ) ) {

						interpolateKeys( keys, key, j, sid );

					}

				}

			}

			node.keys = keys;
			node.sids = sids;

		}

	};

	function extractDoubleSided( obj, element ) {

		obj.doubleSided = false;

		var node = element.querySelectorAll('extra double_sided')[0];

		if ( node ) {

			if ( node && parseInt( node.textContent, 10 ) === 1 ) {

				obj.doubleSided = true;

			}

		}

	};

	function findKey ( keys, time) {

		var retVal = null;

		for ( var i = 0, il = keys.length; i < il && retVal === null; i++ ) {

			var key = keys[i];

			if ( key.time === time ) {

				retVal = key;

			} else if ( key.time > time ) {

				break;

			}

		}

		return retVal;

	};

	function findTimeNdx ( keys, time) {

		var ndx = -1;

		for ( var i = 0, il = keys.length; i < il && ndx === -1; i++ ) {

			var key = keys[i];

			if ( key.time >= time ) {

				ndx = i;

			}

		}

		return ndx;

	};

	function fixCoords( data, sign ) {

		if ( options.convertUpAxis !== true || colladaUp === options.upAxis ) {

			return;

		}

		switch ( upConversion ) {

			case 'XtoY':

				var tmp = data[ 0 ];
				data[ 0 ] = sign * data[ 1 ];
				data[ 1 ] = tmp;
				break;

			case 'XtoZ':

				var tmp = data[ 2 ];
				data[ 2 ] = data[ 1 ];
				data[ 1 ] = data[ 0 ];
				data[ 0 ] = tmp;
				break;

			case 'YtoX':

				var tmp = data[ 0 ];
				data[ 0 ] = data[ 1 ];
				data[ 1 ] = sign * tmp;
				break;

			case 'YtoZ':

				var tmp = data[ 1 ];
				data[ 1 ] = sign * data[ 2 ];
				data[ 2 ] = tmp;
				break;

			case 'ZtoX':

				var tmp = data[ 0 ];
				data[ 0 ] = data[ 1 ];
				data[ 1 ] = data[ 2 ];
				data[ 2 ] = tmp;
				break;

			case 'ZtoY':

				var tmp = data[ 1 ];
				data[ 1 ] = data[ 2 ];
				data[ 2 ] = sign * tmp;
				break;

		}

	};

	//Walk the Collada tree and flatten the bones into a list, extract the position, quat and scale from the matrix
	function flattenSkeleton (skeleton) {

		var list = [];
		var walk = function(parentid, node, list) {

			var bone = {};
			bone.name = node.sid;
			bone.parent = parentid;
			bone.matrix = node.matrix;
			var data = [new THREE.Vector3(),new THREE.Quaternion(),new THREE.Vector3()];
			bone.matrix.decompose(data[0],data[1],data[2]);

			bone.pos = [data[0].x,data[0].y,data[0].z];

			bone.scl = [data[2].x,data[2].y,data[2].z];
			bone.rotq = [data[1].x,data[1].y,data[1].z,data[1].w];
			list.push(bone);

			for(var i in node.nodes) {

				walk(node.sid,node.nodes[i],list);

			}

		};

		walk(-1,skeleton,list);
		return list;

	};

	function getConvertedTranslation( axis, data ) {

		if ( options.convertUpAxis !== true || colladaUp === options.upAxis ) {

			return data;

		}

		switch ( axis ) {
			case 'X':
				data = upConversion === 'XtoY' ? data * -1 : data;
				break;
			case 'Y':
				data = upConversion === 'YtoZ' || upConversion === 'YtoX' ? data * -1 : data;
				break;
			case 'Z':
				data = upConversion === 'ZtoY' ? data * -1 : data ;
				break;
			default:
				break;
		}

		return data;
	};

	function getConvertedVec3( data, offset ) {

		var arr = [ data[ offset ], data[ offset + 1 ], data[ offset + 2 ] ];
		fixCoords( arr, -1 );
		return new THREE.Vector3( arr[ 0 ], arr[ 1 ], arr[ 2 ] );

	};

	function getConvertedMat4( data ) {

		if ( options.convertUpAxis ) {

			// First fix rotation and scale

			// Columns first
			var arr = [ data[ 0 ], data[ 4 ], data[ 8 ] ];
			fixCoords( arr, -1 );
			data[ 0 ] = arr[ 0 ];
			data[ 4 ] = arr[ 1 ];
			data[ 8 ] = arr[ 2 ];
			arr = [ data[ 1 ], data[ 5 ], data[ 9 ] ];
			fixCoords( arr, -1 );
			data[ 1 ] = arr[ 0 ];
			data[ 5 ] = arr[ 1 ];
			data[ 9 ] = arr[ 2 ];
			arr = [ data[ 2 ], data[ 6 ], data[ 10 ] ];
			fixCoords( arr, -1 );
			data[ 2 ] = arr[ 0 ];
			data[ 6 ] = arr[ 1 ];
			data[ 10 ] = arr[ 2 ];
			// Rows second
			arr = [ data[ 0 ], data[ 1 ], data[ 2 ] ];
			fixCoords( arr, -1 );
			data[ 0 ] = arr[ 0 ];
			data[ 1 ] = arr[ 1 ];
			data[ 2 ] = arr[ 2 ];
			arr = [ data[ 4 ], data[ 5 ], data[ 6 ] ];
			fixCoords( arr, -1 );
			data[ 4 ] = arr[ 0 ];
			data[ 5 ] = arr[ 1 ];
			data[ 6 ] = arr[ 2 ];
			arr = [ data[ 8 ], data[ 9 ], data[ 10 ] ];
			fixCoords( arr, -1 );
			data[ 8 ] = arr[ 0 ];
			data[ 9 ] = arr[ 1 ];
			data[ 10 ] = arr[ 2 ];

			// Now fix translation
			arr = [ data[ 3 ], data[ 7 ], data[ 11 ] ];
			fixCoords( arr, -1 );
			data[ 3 ] = arr[ 0 ];
			data[ 7 ] = arr[ 1 ];
			data[ 11 ] = arr[ 2 ];

		}

		return new THREE.Matrix4().set(
			data[0], data[1], data[2], data[3],
			data[4], data[5], data[6], data[7],
			data[8], data[9], data[10], data[11],
			data[12], data[13], data[14], data[15]
			);

	};

	function getConvertedIndex( index ) {

		if ( index > -1 && index < 3 ) {

			var members = ['X', 'Y', 'Z'],
				indices = { X: 0, Y: 1, Z: 2 };

			index = getConvertedMember( members[ index ] );
			index = indices[ index ];

		}

		return index;

	};

	function getChannelsForNode ( node ) {

		var channels = [];
		var startTime = 1000000;
		var endTime = -1000000;

		for ( var id in animations ) {

			var animation = animations[id];

			for ( var i = 0; i < animation.channel.length; i ++ ) {

				var channel = animation.channel[i];
				var sampler = animation.sampler[i];
				var id = channel.target.split('/')[0];

				if ( id == node.id ) {

					sampler.create();
					channel.sampler = sampler;
					startTime = Math.min(startTime, sampler.startTime);
					endTime = Math.max(endTime, sampler.endTime);
					channels.push(channel);

				}

			}

		}

		if ( channels.length ) {

			node.startTime = startTime;
			node.endTime = endTime;

		}

		return channels;

	};

	function getConvertedMember( member ) {

		if ( options.convertUpAxis ) {

			switch ( member ) {

				case 'X':

					switch ( upConversion ) {

						case 'XtoY':
						case 'XtoZ':
						case 'YtoX':

							member = 'Y';
							break;

						case 'ZtoX':

							member = 'Z';
							break;

					}

					break;

				case 'Y':

					switch ( upConversion ) {

						case 'XtoY':
						case 'YtoX':
						case 'ZtoX':

							member = 'X';
							break;

						case 'XtoZ':
						case 'YtoZ':
						case 'ZtoY':

							member = 'Z';
							break;

					}

					break;

				case 'Z':

					switch ( upConversion ) {

						case 'XtoZ':

							member = 'X';
							break;

						case 'YtoZ':
						case 'ZtoX':
						case 'ZtoY':

							member = 'Y';
							break;

					}

					break;

			}

		}

		return member;

	};

	function getLibraryNode ( id ) {

		var nodes = COLLADA.querySelectorAll('library_nodes node');

		for ( var i = 0; i < nodes.length; i++ ) {

			var attObj = nodes[i].attributes.getNamedItem('id');
			if ( attObj && attObj.value === id ) {
				return nodes[i];
		}
		}

		return undefined;

	};

	// Get next key with given sid
	function getNextKeyWith ( keys, fullSid, ndx ) {

		for ( ; ndx < keys.length; ndx++ ) {

			var key = keys[ ndx ];

			if ( key.hasTarget( fullSid ) ) {

				return key;

			}

		}

		return null;

	};

	// Get previous key with given sid
	function getPrevKeyWith ( keys, fullSid, ndx ) {

		ndx = ndx >= 0 ? ndx : ndx + keys.length;

		for ( ; ndx >= 0; ndx-- ) {

			var key = keys[ ndx ];

			if ( key.hasTarget( fullSid ) ) {

				return key;

			}

		}

		return null;

	};

	function interpolateKeys ( keys, key, ndx, fullSid ) {

		var prevKey = getPrevKeyWith( keys, fullSid, ndx ? ndx-1 : 0 ),
			nextKey = getNextKeyWith( keys, fullSid, ndx+1 );

		if ( prevKey && nextKey ) {

			var scale = (key.time - prevKey.time) / (nextKey.time - prevKey.time),
				prevTarget = prevKey.getTarget( fullSid ),
				nextData = nextKey.getTarget( fullSid ).data,
				prevData = prevTarget.data,
				data;

			if ( prevTarget.type === 'matrix' ) {

				data = prevData;

			} else if ( prevData.length ) {

				data = [];

				for ( var i = 0; i < prevData.length; ++i ) {

					data[ i ] = prevData[ i ] + ( nextData[ i ] - prevData[ i ] ) * scale;

				}

			} else {

				data = prevData + ( nextData - prevData ) * scale;

			}

			key.addTarget( fullSid, prevTarget.transform, prevTarget.member, data );

		}

	};

	function recurseHierarchy( node ) {

		var n = visualScene.getChildById( node.colladaId, true ),
			newData = null;

		if ( n && n.keys ) {

			newData = {
				fps: 60,
				hierarchy: [ {
					node: n,
					keys: n.keys,
					sids: n.sids
				} ],
				node: node,
				name: 'animation_' + node.name,
				length: 0
			};

			animData.push(newData);

			for ( var i = 0, il = n.keys.length; i < il; i++ ) {

				newData.length = Math.max( newData.length, n.keys[i].time );

			}

		} else {

			newData = {
				hierarchy: [ {
					keys: [],
					sids: []
				} ]
			}

		}

		for ( var i = 0, il = node.children.length; i < il; i++ ) {

			var d = recurseHierarchy( node.children[i] );

			for ( var j = 0, jl = d.hierarchy.length; j < jl; j ++ ) {

				newData.hierarchy.push( {
					keys: [],
					sids: []
				} );

			}

		}

		return newData;

	};

	function setupSkeleton ( node, bones, frame, parent ) {

		node.world = node.world || new THREE.Matrix4();
		node.localworld = node.localworld || new THREE.Matrix4();
		node.world.copy( node.matrix );
		node.localworld.copy( node.matrix );

		if ( node.channels && node.channels.length ) {

			var channel = node.channels[ 0 ];
			var m = channel.sampler.output[ frame ];

			if ( m instanceof THREE.Matrix4 ) {

				node.world.copy( m );
				node.localworld.copy(m);
				if(frame === 0)
					node.matrix.copy(m);
			}

		}

		if ( parent ) {

			node.world.multiplyMatrices( parent, node.world );

		}

		bones.push( node );

		for ( var i = 0; i < node.nodes.length; i ++ ) {

			setupSkeleton( node.nodes[ i ], bones, frame, node.world );

		}

	};

	function setupSkinningMatrices ( bones, skin ) {

		// FIXME: this is dumb...

		for ( var i = 0; i < bones.length; i ++ ) {

			var bone = bones[ i ];
			var found = -1;

			if ( bone.type != 'JOINT' ) continue;

			for ( var j = 0; j < skin.joints.length; j ++ ) {

				if ( bone.sid === skin.joints[ j ] ) {

					found = j;
					break;

				}

			}

			if ( found >= 0 ) {

				var inv = skin.invBindMatrices[ found ];

				bone.invBindMatrix = inv;
				bone.skinningMatrix = new THREE.Matrix4();
				bone.skinningMatrix.multiplyMatrices(bone.world, inv); // (IBMi * JMi)
				bone.animatrix = new THREE.Matrix4();

				bone.animatrix.copy(bone.localworld);
				bone.weights = [];

				for ( var j = 0; j < skin.weights.length; j ++ ) {

					for (var k = 0; k < skin.weights[ j ].length; k ++ ) {

						var w = skin.weights[ j ][ k ];

						if ( w.joint === found ) {

							bone.weights.push( w );

						}

					}

				}

			} else {

				console.warn( "ColladaLoader: Could not find joint '" + bone.sid + "'." );

				bone.skinningMatrix = new THREE.Matrix4();
				bone.weights = [];

			}
		}

	};

	//Move the vertices into the pose that is proper for the start of the animation
	function skinToBindPose (geometry,skeleton,skinController) {

		var bones = [];
		setupSkeleton( skeleton, bones, -1 );
		setupSkinningMatrices( bones, skinController.skin );
		v = new THREE.Vector3();
		var skinned = [];

		for(var i =0; i < geometry.vertices.length; i++) {

			skinned.push(new THREE.Vector3());

		}

		for ( i = 0; i < bones.length; i ++ ) {

			if ( bones[ i ].type != 'JOINT' ) continue;

			for ( j = 0; j < bones[ i ].weights.length; j ++ ) {

				w = bones[ i ].weights[ j ];
				vidx = w.index;
				weight = w.weight;

				o = geometry.vertices[vidx];
				s = skinned[vidx];

				v.x = o.x;
				v.y = o.y;
				v.z = o.z;

				v.applyMatrix4( bones[i].skinningMatrix );

				s.x += (v.x * weight);
				s.y += (v.y * weight);
				s.z += (v.z * weight);
			}

		}

		for(var i =0; i < geometry.vertices.length; i++) {

			geometry.vertices[i] = skinned[i];

		}

	};


})();