diff --git a/docs/manual/en/introduction/Import-via-modules.html b/docs/manual/en/introduction/Import-via-modules.html
index 6fd2ddb9fd8101c08ee8b9cfc9ba777b49885602..f0926bf7bf216a35eae8825b1bf2d00de0b0ff5e 100644
--- a/docs/manual/en/introduction/Import-via-modules.html
+++ b/docs/manual/en/introduction/Import-via-modules.html
@@ -105,6 +105,7 @@
 				<li>loaders
 					<ul>
 						<li>BVHLoader</li>
+						<li>ColladaLoader</li>
 						<li>GLTFLoader</li>
 						<li>MTLLoader</li>
 						<li>OBJLoader</li>
diff --git a/examples/jsm/loaders/ColladaLoader.d.ts b/examples/jsm/loaders/ColladaLoader.d.ts
new file mode 100644
index 0000000000000000000000000000000000000000..10a1cc6e9d1eee8839198743dbe96b7f8f523745
--- /dev/null
+++ b/examples/jsm/loaders/ColladaLoader.d.ts
@@ -0,0 +1,28 @@
+import {
+	AnimationClip,
+	LoadingManager,
+  Scene
+} from '../../../src/Three';
+
+
+export interface Collada {
+  animations: AnimationClip[];
+  kinematics: object;
+  library: object;
+	scene: Scene;
+}
+
+export class Collada {
+  constructor(manager?: LoadingManager);
+  manager: LoadingManager;
+  crossOrigin: string;
+  path: string;
+  resourcePath: string;
+
+  load(url: string, onLoad: (collada: Collada) => void, onProgress?: (event: ProgressEvent) => void, onError?: (event: ErrorEvent) => void) : void;
+	setPath(path: string) : this;
+  setResourcePath(path: string) : this;
+  setCrossOrigin(value: string): void;
+
+  parse(text: string, path: string) : Collada;
+}
diff --git a/examples/jsm/loaders/ColladaLoader.js b/examples/jsm/loaders/ColladaLoader.js
new file mode 100644
index 0000000000000000000000000000000000000000..81f2aca587a79bd196eaedaebb89405ced3f857e
--- /dev/null
+++ b/examples/jsm/loaders/ColladaLoader.js
@@ -0,0 +1,4013 @@
+/**
+ * @author mrdoob / http://mrdoob.com/
+ * @author Mugen87 / https://github.com/Mugen87
+ */
+
+import {
+	AmbientLight,
+	AnimationClip,
+	Bone,
+	BufferGeometry,
+	ClampToEdgeWrapping,
+	Color,
+	DefaultLoadingManager,
+	DirectionalLight,
+	DoubleSide,
+	Euler,
+	FileLoader,
+	Float32BufferAttribute,
+	Group,
+	Line,
+	LineBasicMaterial,
+	LineSegments,
+	LoaderUtils,
+	Math as _Math,
+	Matrix4,
+	Mesh,
+	MeshBasicMaterial,
+	MeshLambertMaterial,
+	MeshPhongMaterial,
+	OrthographicCamera,
+	PerspectiveCamera,
+	PointLight,
+	Quaternion,
+	QuaternionKeyframeTrack,
+	RepeatWrapping,
+	Scene,
+	Skeleton,
+	SkinnedMesh,
+	SpotLight,
+	TextureLoader,
+	Vector3,
+	VectorKeyframeTrack
+} from "../../../build/three.module.js";
+import { TGALoader } from "../loaders/TGALoader.js";
+
+var ColladaLoader = function ( manager ) {
+
+	this.manager = ( manager !== undefined ) ? manager : DefaultLoadingManager;
+
+};
+
+ColladaLoader.prototype = {
+
+	constructor: ColladaLoader,
+
+	crossOrigin: 'anonymous',
+
+	load: function ( url, onLoad, onProgress, onError ) {
+
+		var scope = this;
+
+		var path = ( scope.path === undefined ) ? LoaderUtils.extractUrlBase( url ) : scope.path;
+
+		var loader = new FileLoader( scope.manager );
+		loader.setPath( scope.path );
+		loader.load( url, function ( text ) {
+
+			onLoad( scope.parse( text, path ) );
+
+		}, onProgress, onError );
+
+	},
+
+	setPath: function ( value ) {
+
+		this.path = value;
+		return this;
+
+	},
+
+	setResourcePath: function ( value ) {
+
+		this.resourcePath = value;
+		return this;
+
+	},
+
+	options: {
+
+		set convertUpAxis( value ) {
+
+			console.warn( 'THREE.ColladaLoader: options.convertUpAxis() has been removed. Up axis is converted automatically.' );
+
+		}
+
+	},
+
+	setCrossOrigin: function ( value ) {
+
+		this.crossOrigin = value;
+		return this;
+
+	},
+
+	parse: function ( text, path ) {
+
+		function getElementsByTagName( xml, name ) {
+
+			// Non recursive xml.getElementsByTagName() ...
+
+			var array = [];
+			var childNodes = xml.childNodes;
+
+			for ( var i = 0, l = childNodes.length; i < l; i ++ ) {
+
+				var child = childNodes[ i ];
+
+				if ( child.nodeName === name ) {
+
+					array.push( child );
+
+				}
+
+			}
+
+			return array;
+
+		}
+
+		function parseStrings( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parts[ i ];
+
+			}
+
+			return array;
+
+		}
+
+		function parseFloats( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parseFloat( parts[ i ] );
+
+			}
+
+			return array;
+
+		}
+
+		function parseInts( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parseInt( parts[ i ] );
+
+			}
+
+			return array;
+
+		}
+
+		function parseId( text ) {
+
+			return text.substring( 1 );
+
+		}
+
+		function generateId() {
+
+			return 'three_default_' + ( count ++ );
+
+		}
+
+		function isEmpty( object ) {
+
+			return Object.keys( object ).length === 0;
+
+		}
+
+		// asset
+
+		function parseAsset( xml ) {
+
+			return {
+				unit: parseAssetUnit( getElementsByTagName( xml, 'unit' )[ 0 ] ),
+				upAxis: parseAssetUpAxis( getElementsByTagName( xml, 'up_axis' )[ 0 ] )
+			};
+
+		}
+
+		function parseAssetUnit( xml ) {
+
+			if ( ( xml !== undefined ) && ( xml.hasAttribute( 'meter' ) === true ) ) {
+
+				return parseFloat( xml.getAttribute( 'meter' ) );
+
+			} else {
+
+				return 1; // default 1 meter
+
+			}
+
+		}
+
+		function parseAssetUpAxis( xml ) {
+
+			return xml !== undefined ? xml.textContent : 'Y_UP';
+
+		}
+
+		// library
+
+		function parseLibrary( xml, libraryName, nodeName, parser ) {
+
+			var library = getElementsByTagName( xml, libraryName )[ 0 ];
+
+			if ( library !== undefined ) {
+
+				var elements = getElementsByTagName( library, nodeName );
+
+				for ( var i = 0; i < elements.length; i ++ ) {
+
+					parser( elements[ i ] );
+
+				}
+
+			}
+
+		}
+
+		function buildLibrary( data, builder ) {
+
+			for ( var name in data ) {
+
+				var object = data[ name ];
+				object.build = builder( data[ name ] );
+
+			}
+
+		}
+
+		// get
+
+		function getBuild( data, builder ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			data.build = builder( data );
+
+			return data.build;
+
+		}
+
+		// animation
+
+		function parseAnimation( xml ) {
+
+			var data = {
+				sources: {},
+				samplers: {},
+				channels: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				var id;
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						id = child.getAttribute( 'id' );
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'sampler':
+						id = child.getAttribute( 'id' );
+						data.samplers[ id ] = parseAnimationSampler( child );
+						break;
+
+					case 'channel':
+						id = child.getAttribute( 'target' );
+						data.channels[ id ] = parseAnimationChannel( child );
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			library.animations[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseAnimationSampler( xml ) {
+
+			var data = {
+				inputs: {},
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var id = parseId( child.getAttribute( 'source' ) );
+						var semantic = child.getAttribute( 'semantic' );
+						data.inputs[ semantic ] = id;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseAnimationChannel( xml ) {
+
+			var data = {};
+
+			var target = xml.getAttribute( 'target' );
+
+			// parsing SID Addressing Syntax
+
+			var parts = target.split( '/' );
+
+			var id = parts.shift();
+			var sid = parts.shift();
+
+			// check selection syntax
+
+			var arraySyntax = ( sid.indexOf( '(' ) !== - 1 );
+			var memberSyntax = ( sid.indexOf( '.' ) !== - 1 );
+
+			if ( memberSyntax ) {
+
+				//  member selection access
+
+				parts = sid.split( '.' );
+				sid = parts.shift();
+				data.member = parts.shift();
+
+			} else if ( arraySyntax ) {
+
+				// array-access syntax. can be used to express fields in one-dimensional vectors or two-dimensional matrices.
+
+				var indices = sid.split( '(' );
+				sid = indices.shift();
+
+				for ( var i = 0; i < indices.length; i ++ ) {
+
+					indices[ i ] = parseInt( indices[ i ].replace( /\)/, '' ) );
+
+				}
+
+				data.indices = indices;
+
+			}
+
+			data.id = id;
+			data.sid = sid;
+
+			data.arraySyntax = arraySyntax;
+			data.memberSyntax = memberSyntax;
+
+			data.sampler = parseId( xml.getAttribute( 'source' ) );
+
+			return data;
+
+		}
+
+		function buildAnimation( data ) {
+
+			var tracks = [];
+
+			var channels = data.channels;
+			var samplers = data.samplers;
+			var sources = data.sources;
+
+			for ( var target in channels ) {
+
+				if ( channels.hasOwnProperty( target ) ) {
+
+					var channel = channels[ target ];
+					var sampler = samplers[ channel.sampler ];
+
+					var inputId = sampler.inputs.INPUT;
+					var outputId = sampler.inputs.OUTPUT;
+
+					var inputSource = sources[ inputId ];
+					var outputSource = sources[ outputId ];
+
+					var animation = buildAnimationChannel( channel, inputSource, outputSource );
+
+					createKeyframeTracks( animation, tracks );
+
+				}
+
+			}
+
+			return tracks;
+
+		}
+
+		function getAnimation( id ) {
+
+			return getBuild( library.animations[ id ], buildAnimation );
+
+		}
+
+		function buildAnimationChannel( channel, inputSource, outputSource ) {
+
+			var node = library.nodes[ channel.id ];
+			var object3D = getNode( node.id );
+
+			var transform = node.transforms[ channel.sid ];
+			var defaultMatrix = node.matrix.clone().transpose();
+
+			var time, stride;
+			var i, il, j, jl;
+
+			var data = {};
+
+			// the collada spec allows the animation of data in various ways.
+			// depending on the transform type (matrix, translate, rotate, scale), we execute different logic
+
+			switch ( transform ) {
+
+				case 'matrix':
+
+					for ( i = 0, il = inputSource.array.length; i < il; i ++ ) {
+
+						time = inputSource.array[ i ];
+						stride = i * outputSource.stride;
+
+						if ( data[ time ] === undefined ) data[ time ] = {};
+
+						if ( channel.arraySyntax === true ) {
+
+							var value = outputSource.array[ stride ];
+							var index = channel.indices[ 0 ] + 4 * channel.indices[ 1 ];
+
+							data[ time ][ index ] = value;
+
+						} else {
+
+							for ( j = 0, jl = outputSource.stride; j < jl; j ++ ) {
+
+								data[ time ][ j ] = outputSource.array[ stride + j ];
+
+							}
+
+						}
+
+					}
+
+					break;
+
+				case 'translate':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+				case 'rotate':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+				case 'scale':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+			}
+
+			var keyframes = prepareAnimationData( data, defaultMatrix );
+
+			var animation = {
+				name: object3D.uuid,
+				keyframes: keyframes
+			};
+
+			return animation;
+
+		}
+
+		function prepareAnimationData( data, defaultMatrix ) {
+
+			var keyframes = [];
+
+			// transfer data into a sortable array
+
+			for ( var time in data ) {
+
+				keyframes.push( { time: parseFloat( time ), value: data[ time ] } );
+
+			}
+
+			// ensure keyframes are sorted by time
+
+			keyframes.sort( ascending );
+
+			// now we clean up all animation data, so we can use them for keyframe tracks
+
+			for ( var i = 0; i < 16; i ++ ) {
+
+				transformAnimationData( keyframes, i, defaultMatrix.elements[ i ] );
+
+			}
+
+			return keyframes;
+
+			// array sort function
+
+			function ascending( a, b ) {
+
+				return a.time - b.time;
+
+			}
+
+		}
+
+		var position = new Vector3();
+		var scale = new Vector3();
+		var quaternion = new Quaternion();
+
+		function createKeyframeTracks( animation, tracks ) {
+
+			var keyframes = animation.keyframes;
+			var name = animation.name;
+
+			var times = [];
+			var positionData = [];
+			var quaternionData = [];
+			var scaleData = [];
+
+			for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				var keyframe = keyframes[ i ];
+
+				var time = keyframe.time;
+				var value = keyframe.value;
+
+				matrix.fromArray( value ).transpose();
+				matrix.decompose( position, quaternion, scale );
+
+				times.push( time );
+				positionData.push( position.x, position.y, position.z );
+				quaternionData.push( quaternion.x, quaternion.y, quaternion.z, quaternion.w );
+				scaleData.push( scale.x, scale.y, scale.z );
+
+			}
+
+			if ( positionData.length > 0 ) tracks.push( new VectorKeyframeTrack( name + '.position', times, positionData ) );
+			if ( quaternionData.length > 0 ) tracks.push( new QuaternionKeyframeTrack( name + '.quaternion', times, quaternionData ) );
+			if ( scaleData.length > 0 ) tracks.push( new VectorKeyframeTrack( name + '.scale', times, scaleData ) );
+
+			return tracks;
+
+		}
+
+		function transformAnimationData( keyframes, property, defaultValue ) {
+
+			var keyframe;
+
+			var empty = true;
+			var i, l;
+
+			// check, if values of a property are missing in our keyframes
+
+			for ( i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] === undefined ) {
+
+					keyframe.value[ property ] = null; // mark as missing
+
+				} else {
+
+					empty = false;
+
+				}
+
+			}
+
+			if ( empty === true ) {
+
+				// no values at all, so we set a default value
+
+				for ( i = 0, l = keyframes.length; i < l; i ++ ) {
+
+					keyframe = keyframes[ i ];
+
+					keyframe.value[ property ] = defaultValue;
+
+				}
+
+			} else {
+
+				// filling gaps
+
+				createMissingKeyframes( keyframes, property );
+
+			}
+
+		}
+
+		function createMissingKeyframes( keyframes, property ) {
+
+			var prev, next;
+
+			for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] === null ) {
+
+					prev = getPrev( keyframes, i, property );
+					next = getNext( keyframes, i, property );
+
+					if ( prev === null ) {
+
+						keyframe.value[ property ] = next.value[ property ];
+						continue;
+
+					}
+
+					if ( next === null ) {
+
+						keyframe.value[ property ] = prev.value[ property ];
+						continue;
+
+					}
+
+					interpolate( keyframe, prev, next, property );
+
+				}
+
+			}
+
+		}
+
+		function getPrev( keyframes, i, property ) {
+
+			while ( i >= 0 ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] !== null ) return keyframe;
+
+				i --;
+
+			}
+
+			return null;
+
+		}
+
+		function getNext( keyframes, i, property ) {
+
+			while ( i < keyframes.length ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] !== null ) return keyframe;
+
+				i ++;
+
+			}
+
+			return null;
+
+		}
+
+		function interpolate( key, prev, next, property ) {
+
+			if ( ( next.time - prev.time ) === 0 ) {
+
+				key.value[ property ] = prev.value[ property ];
+				return;
+
+			}
+
+			key.value[ property ] = ( ( key.time - prev.time ) * ( next.value[ property ] - prev.value[ property ] ) / ( next.time - prev.time ) ) + prev.value[ property ];
+
+		}
+
+		// animation clips
+
+		function parseAnimationClip( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'id' ) || 'default',
+				start: parseFloat( xml.getAttribute( 'start' ) || 0 ),
+				end: parseFloat( xml.getAttribute( 'end' ) || 0 ),
+				animations: []
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'instance_animation':
+						data.animations.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+				}
+
+			}
+
+			library.clips[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildAnimationClip( data ) {
+
+			var tracks = [];
+
+			var name = data.name;
+			var duration = ( data.end - data.start ) || - 1;
+			var animations = data.animations;
+
+			for ( var i = 0, il = animations.length; i < il; i ++ ) {
+
+				var animationTracks = getAnimation( animations[ i ] );
+
+				for ( var j = 0, jl = animationTracks.length; j < jl; j ++ ) {
+
+					tracks.push( animationTracks[ j ] );
+
+				}
+
+			}
+
+			return new AnimationClip( name, duration, tracks );
+
+		}
+
+		function getAnimationClip( id ) {
+
+			return getBuild( library.clips[ id ], buildAnimationClip );
+
+		}
+
+		// controller
+
+		function parseController( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'skin':
+						// there is exactly one skin per controller
+						data.id = parseId( child.getAttribute( 'source' ) );
+						data.skin = parseSkin( child );
+						break;
+
+					case 'morph':
+						data.id = parseId( child.getAttribute( 'source' ) );
+						console.warn( 'THREE.ColladaLoader: Morph target animation not supported yet.' );
+						break;
+
+				}
+
+			}
+
+			library.controllers[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseSkin( xml ) {
+
+			var data = {
+				sources: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'bind_shape_matrix':
+						data.bindShapeMatrix = parseFloats( child.textContent );
+						break;
+
+					case 'source':
+						var id = child.getAttribute( 'id' );
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'joints':
+						data.joints = parseJoints( child );
+						break;
+
+					case 'vertex_weights':
+						data.vertexWeights = parseVertexWeights( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseJoints( xml ) {
+
+			var data = {
+				inputs: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var semantic = child.getAttribute( 'semantic' );
+						var id = parseId( child.getAttribute( 'source' ) );
+						data.inputs[ semantic ] = id;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseVertexWeights( xml ) {
+
+			var data = {
+				inputs: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var semantic = child.getAttribute( 'semantic' );
+						var id = parseId( child.getAttribute( 'source' ) );
+						var offset = parseInt( child.getAttribute( 'offset' ) );
+						data.inputs[ semantic ] = { id: id, offset: offset };
+						break;
+
+					case 'vcount':
+						data.vcount = parseInts( child.textContent );
+						break;
+
+					case 'v':
+						data.v = parseInts( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildController( data ) {
+
+			var build = {
+				id: data.id
+			};
+
+			var geometry = library.geometries[ build.id ];
+
+			if ( data.skin !== undefined ) {
+
+				build.skin = buildSkin( data.skin );
+
+				// we enhance the 'sources' property of the corresponding geometry with our skin data
+
+				geometry.sources.skinIndices = build.skin.indices;
+				geometry.sources.skinWeights = build.skin.weights;
+
+			}
+
+			return build;
+
+		}
+
+		function buildSkin( data ) {
+
+			var BONE_LIMIT = 4;
+
+			var build = {
+				joints: [], // this must be an array to preserve the joint order
+				indices: {
+					array: [],
+					stride: BONE_LIMIT
+				},
+				weights: {
+					array: [],
+					stride: BONE_LIMIT
+				}
+			};
+
+			var sources = data.sources;
+			var vertexWeights = data.vertexWeights;
+
+			var vcount = vertexWeights.vcount;
+			var v = vertexWeights.v;
+			var jointOffset = vertexWeights.inputs.JOINT.offset;
+			var weightOffset = vertexWeights.inputs.WEIGHT.offset;
+
+			var jointSource = data.sources[ data.joints.inputs.JOINT ];
+			var inverseSource = data.sources[ data.joints.inputs.INV_BIND_MATRIX ];
+
+			var weights = sources[ vertexWeights.inputs.WEIGHT.id ].array;
+			var stride = 0;
+
+			var i, j, l;
+
+			// procces skin data for each vertex
+
+			for ( i = 0, l = vcount.length; i < l; i ++ ) {
+
+				var jointCount = vcount[ i ]; // this is the amount of joints that affect a single vertex
+				var vertexSkinData = [];
+
+				for ( j = 0; j < jointCount; j ++ ) {
+
+					var skinIndex = v[ stride + jointOffset ];
+					var weightId = v[ stride + weightOffset ];
+					var skinWeight = weights[ weightId ];
+
+					vertexSkinData.push( { index: skinIndex, weight: skinWeight } );
+
+					stride += 2;
+
+				}
+
+				// we sort the joints in descending order based on the weights.
+				// this ensures, we only procced the most important joints of the vertex
+
+				vertexSkinData.sort( descending );
+
+				// now we provide for each vertex a set of four index and weight values.
+				// the order of the skin data matches the order of vertices
+
+				for ( j = 0; j < BONE_LIMIT; j ++ ) {
+
+					var d = vertexSkinData[ j ];
+
+					if ( d !== undefined ) {
+
+						build.indices.array.push( d.index );
+						build.weights.array.push( d.weight );
+
+					} else {
+
+						build.indices.array.push( 0 );
+						build.weights.array.push( 0 );
+
+					}
+
+				}
+
+			}
+
+			// setup bind matrix
+
+			if ( data.bindShapeMatrix ) {
+
+				build.bindMatrix = new Matrix4().fromArray( data.bindShapeMatrix ).transpose();
+
+			} else {
+
+				build.bindMatrix = new Matrix4().identity();
+
+			}
+
+			// process bones and inverse bind matrix data
+
+			for ( i = 0, l = jointSource.array.length; i < l; i ++ ) {
+
+				var name = jointSource.array[ i ];
+				var boneInverse = new Matrix4().fromArray( inverseSource.array, i * inverseSource.stride ).transpose();
+
+				build.joints.push( { name: name, boneInverse: boneInverse } );
+
+			}
+
+			return build;
+
+			// array sort function
+
+			function descending( a, b ) {
+
+				return b.weight - a.weight;
+
+			}
+
+		}
+
+		function getController( id ) {
+
+			return getBuild( library.controllers[ id ], buildController );
+
+		}
+
+		// image
+
+		function parseImage( xml ) {
+
+			var data = {
+				init_from: getElementsByTagName( xml, 'init_from' )[ 0 ].textContent
+			};
+
+			library.images[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildImage( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data.init_from;
+
+		}
+
+		function getImage( id ) {
+
+			var data = library.images[ id ];
+
+			if ( data !== undefined ) {
+
+				return getBuild( data, buildImage );
+
+			}
+
+			console.warn( 'THREE.ColladaLoader: Couldn\'t find image with ID:', id );
+
+			return null;
+
+		}
+
+		// effect
+
+		function parseEffect( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'profile_COMMON':
+						data.profile = parseEffectProfileCOMMON( child );
+						break;
+
+				}
+
+			}
+
+			library.effects[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseEffectProfileCOMMON( xml ) {
+
+			var data = {
+				surfaces: {},
+				samplers: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'newparam':
+						parseEffectNewparam( child, data );
+						break;
+
+					case 'technique':
+						data.technique = parseEffectTechnique( child );
+						break;
+
+					case 'extra':
+						data.extra = parseEffectExtra( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectNewparam( xml, data ) {
+
+			var sid = xml.getAttribute( 'sid' );
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'surface':
+						data.surfaces[ sid ] = parseEffectSurface( child );
+						break;
+
+					case 'sampler2D':
+						data.samplers[ sid ] = parseEffectSampler( child );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseEffectSurface( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'init_from':
+						data.init_from = child.textContent;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectSampler( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						data.source = child.textContent;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'constant':
+					case 'lambert':
+					case 'blinn':
+					case 'phong':
+						data.type = child.nodeName;
+						data.parameters = parseEffectParameters( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'emission':
+					case 'diffuse':
+					case 'specular':
+					case 'bump':
+					case 'ambient':
+					case 'shininess':
+					case 'transparency':
+						data[ child.nodeName ] = parseEffectParameter( child );
+						break;
+					case 'transparent':
+						data[ child.nodeName ] = {
+							opaque: child.getAttribute( 'opaque' ),
+							data: parseEffectParameter( child )
+						};
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameter( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'color':
+						data[ child.nodeName ] = parseFloats( child.textContent );
+						break;
+
+					case 'float':
+						data[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+					case 'texture':
+						data[ child.nodeName ] = { id: child.getAttribute( 'texture' ), extra: parseEffectParameterTexture( child ) };
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameterTexture( xml ) {
+
+			var data = {
+				technique: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'extra':
+						parseEffectParameterTextureExtra( child, data );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameterTextureExtra( xml, data ) {
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique':
+						parseEffectParameterTextureExtraTechnique( child, data );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseEffectParameterTextureExtraTechnique( xml, data ) {
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'repeatU':
+					case 'repeatV':
+					case 'offsetU':
+					case 'offsetV':
+						data.technique[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+					case 'wrapU':
+					case 'wrapV':
+
+						// some files have values for wrapU/wrapV which become NaN via parseInt
+
+						if ( child.textContent.toUpperCase() === 'TRUE' ) {
+
+							data.technique[ child.nodeName ] = 1;
+
+						} else if ( child.textContent.toUpperCase() === 'FALSE' ) {
+
+							data.technique[ child.nodeName ] = 0;
+
+						} else {
+
+							data.technique[ child.nodeName ] = parseInt( child.textContent );
+
+						}
+
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseEffectExtra( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique':
+						data.technique = parseEffectExtraTechnique( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectExtraTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'double_sided':
+						data[ child.nodeName ] = parseInt( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildEffect( data ) {
+
+			return data;
+
+		}
+
+		function getEffect( id ) {
+
+			return getBuild( library.effects[ id ], buildEffect );
+
+		}
+
+		// material
+
+		function parseMaterial( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' )
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'instance_effect':
+						data.url = parseId( child.getAttribute( 'url' ) );
+						break;
+
+				}
+
+			}
+
+			library.materials[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function getTextureLoader( image ) {
+
+			var loader;
+
+			var extension = image.slice( ( image.lastIndexOf( '.' ) - 1 >>> 0 ) + 2 ); // http://www.jstips.co/en/javascript/get-file-extension/
+			extension = extension.toLowerCase();
+
+			switch ( extension ) {
+
+				case 'tga':
+					loader = tgaLoader;
+					break;
+
+				default:
+					loader = textureLoader;
+
+			}
+
+			return loader;
+
+		}
+
+		function buildMaterial( data ) {
+
+			var effect = getEffect( data.url );
+			var technique = effect.profile.technique;
+			var extra = effect.profile.extra;
+
+			var material;
+
+			switch ( technique.type ) {
+
+				case 'phong':
+				case 'blinn':
+					material = new MeshPhongMaterial();
+					break;
+
+				case 'lambert':
+					material = new MeshLambertMaterial();
+					break;
+
+				default:
+					material = new MeshBasicMaterial();
+					break;
+
+			}
+
+			material.name = data.name || '';
+
+			function getTexture( textureObject ) {
+
+				var sampler = effect.profile.samplers[ textureObject.id ];
+				var image = null;
+
+				// get image
+
+				if ( sampler !== undefined ) {
+
+					var surface = effect.profile.surfaces[ sampler.source ];
+					image = getImage( surface.init_from );
+
+				} else {
+
+					console.warn( 'THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530).' );
+					image = getImage( textureObject.id );
+
+				}
+
+				// create texture if image is avaiable
+
+				if ( image !== null ) {
+
+					var loader = getTextureLoader( image );
+
+					if ( loader !== undefined ) {
+
+						var texture = loader.load( image );
+
+						var extra = textureObject.extra;
+
+						if ( extra !== undefined && extra.technique !== undefined && isEmpty( extra.technique ) === false ) {
+
+							var technique = extra.technique;
+
+							texture.wrapS = technique.wrapU ? RepeatWrapping : ClampToEdgeWrapping;
+							texture.wrapT = technique.wrapV ? RepeatWrapping : ClampToEdgeWrapping;
+
+							texture.offset.set( technique.offsetU || 0, technique.offsetV || 0 );
+							texture.repeat.set( technique.repeatU || 1, technique.repeatV || 1 );
+
+						} else {
+
+							texture.wrapS = RepeatWrapping;
+							texture.wrapT = RepeatWrapping;
+
+						}
+
+						return texture;
+
+					} else {
+
+						console.warn( 'THREE.ColladaLoader: Loader for texture %s not found.', image );
+
+						return null;
+
+					}
+
+				} else {
+
+					console.warn( 'THREE.ColladaLoader: Couldn\'t create texture with ID:', textureObject.id );
+
+					return null;
+
+				}
+
+			}
+
+			var parameters = technique.parameters;
+
+			for ( var key in parameters ) {
+
+				var parameter = parameters[ key ];
+
+				switch ( key ) {
+
+					case 'diffuse':
+						if ( parameter.color ) material.color.fromArray( parameter.color );
+						if ( parameter.texture ) material.map = getTexture( parameter.texture );
+						break;
+					case 'specular':
+						if ( parameter.color && material.specular ) material.specular.fromArray( parameter.color );
+						if ( parameter.texture ) material.specularMap = getTexture( parameter.texture );
+						break;
+					case 'bump':
+						if ( parameter.texture ) material.normalMap = getTexture( parameter.texture );
+						break;
+					case 'ambient':
+						if ( parameter.texture ) material.lightMap = getTexture( parameter.texture );
+						break;
+					case 'shininess':
+						if ( parameter.float && material.shininess ) material.shininess = parameter.float;
+						break;
+					case 'emission':
+						if ( parameter.color && material.emissive ) material.emissive.fromArray( parameter.color );
+						if ( parameter.texture ) material.emissiveMap = getTexture( parameter.texture );
+						break;
+
+				}
+
+			}
+
+			//
+
+			var transparent = parameters[ 'transparent' ];
+			var transparency = parameters[ 'transparency' ];
+
+			// <transparency> does not exist but <transparent>
+
+			if ( transparency === undefined && transparent ) {
+
+				transparency = {
+					float: 1
+				};
+
+			}
+
+			// <transparent> does not exist but <transparency>
+
+			if ( transparent === undefined && transparency ) {
+
+				transparent = {
+					opaque: 'A_ONE',
+					data: {
+						color: [ 1, 1, 1, 1 ]
+					} };
+
+			}
+
+			if ( transparent && transparency ) {
+
+				// handle case if a texture exists but no color
+
+				if ( transparent.data.texture ) {
+
+					// we do not set an alpha map (see #13792)
+
+					material.transparent = true;
+
+				} else {
+
+					var color = transparent.data.color;
+
+					switch ( transparent.opaque ) {
+
+						case 'A_ONE':
+							material.opacity = color[ 3 ] * transparency.float;
+							break;
+						case 'RGB_ZERO':
+							material.opacity = 1 - ( color[ 0 ] * transparency.float );
+							break;
+						case 'A_ZERO':
+							material.opacity = 1 - ( color[ 3 ] * transparency.float );
+							break;
+						case 'RGB_ONE':
+							material.opacity = color[ 0 ] * transparency.float;
+							break;
+						default:
+							console.warn( 'THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.', transparent.opaque );
+
+					}
+
+					if ( material.opacity < 1 ) material.transparent = true;
+
+				}
+
+			}
+
+			//
+
+			if ( extra !== undefined && extra.technique !== undefined && extra.technique.double_sided === 1 ) {
+
+				material.side = DoubleSide;
+
+			}
+
+			return material;
+
+		}
+
+		function getMaterial( id ) {
+
+			return getBuild( library.materials[ id ], buildMaterial );
+
+		}
+
+		// camera
+
+		function parseCamera( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' )
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'optics':
+						data.optics = parseCameraOptics( child );
+						break;
+
+				}
+
+			}
+
+			library.cameras[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseCameraOptics( xml ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						return parseCameraTechnique( child );
+
+				}
+
+			}
+
+			return {};
+
+		}
+
+		function parseCameraTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'perspective':
+					case 'orthographic':
+
+						data.technique = child.nodeName;
+						data.parameters = parseCameraParameters( child );
+
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseCameraParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'xfov':
+					case 'yfov':
+					case 'xmag':
+					case 'ymag':
+					case 'znear':
+					case 'zfar':
+					case 'aspect_ratio':
+						data[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildCamera( data ) {
+
+			var camera;
+
+			switch ( data.optics.technique ) {
+
+				case 'perspective':
+					camera = new PerspectiveCamera(
+						data.optics.parameters.yfov,
+						data.optics.parameters.aspect_ratio,
+						data.optics.parameters.znear,
+						data.optics.parameters.zfar
+					);
+					break;
+
+				case 'orthographic':
+					var ymag = data.optics.parameters.ymag;
+					var xmag = data.optics.parameters.xmag;
+					var aspectRatio = data.optics.parameters.aspect_ratio;
+
+					xmag = ( xmag === undefined ) ? ( ymag * aspectRatio ) : xmag;
+					ymag = ( ymag === undefined ) ? ( xmag / aspectRatio ) : ymag;
+
+					xmag *= 0.5;
+					ymag *= 0.5;
+
+					camera = new OrthographicCamera(
+						- xmag, xmag, ymag, - ymag, // left, right, top, bottom
+						data.optics.parameters.znear,
+						data.optics.parameters.zfar
+					);
+					break;
+
+				default:
+					camera = new PerspectiveCamera();
+					break;
+
+			}
+
+			camera.name = data.name || '';
+
+			return camera;
+
+		}
+
+		function getCamera( id ) {
+
+			var data = library.cameras[ id ];
+
+			if ( data !== undefined ) {
+
+				return getBuild( data, buildCamera );
+
+			}
+
+			console.warn( 'THREE.ColladaLoader: Couldn\'t find camera with ID:', id );
+
+			return null;
+
+		}
+
+		// light
+
+		function parseLight( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						data = parseLightTechnique( child );
+						break;
+
+				}
+
+			}
+
+			library.lights[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseLightTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'directional':
+					case 'point':
+					case 'spot':
+					case 'ambient':
+
+						data.technique = child.nodeName;
+						data.parameters = parseLightParameters( child );
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseLightParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'color':
+						var array = parseFloats( child.textContent );
+						data.color = new Color().fromArray( array );
+						break;
+
+					case 'falloff_angle':
+						data.falloffAngle = parseFloat( child.textContent );
+						break;
+
+					case 'quadratic_attenuation':
+						var f = parseFloat( child.textContent );
+						data.distance = f ? Math.sqrt( 1 / f ) : 0;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildLight( data ) {
+
+			var light;
+
+			switch ( data.technique ) {
+
+				case 'directional':
+					light = new DirectionalLight();
+					break;
+
+				case 'point':
+					light = new PointLight();
+					break;
+
+				case 'spot':
+					light = new SpotLight();
+					break;
+
+				case 'ambient':
+					light = new AmbientLight();
+					break;
+
+			}
+
+			if ( data.parameters.color ) light.color.copy( data.parameters.color );
+			if ( data.parameters.distance ) light.distance = data.parameters.distance;
+
+			return light;
+
+		}
+
+		function getLight( id ) {
+
+			var data = library.lights[ id ];
+
+			if ( data !== undefined ) {
+
+				return getBuild( data, buildLight );
+
+			}
+
+			console.warn( 'THREE.ColladaLoader: Couldn\'t find light with ID:', id );
+
+			return null;
+
+		}
+
+		// geometry
+
+		function parseGeometry( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ),
+				sources: {},
+				vertices: {},
+				primitives: []
+			};
+
+			var mesh = getElementsByTagName( xml, 'mesh' )[ 0 ];
+
+			// the following tags inside geometry are not supported yet (see https://github.com/mrdoob/three.js/pull/12606): convex_mesh, spline, brep
+			if ( mesh === undefined ) return;
+
+			for ( var i = 0; i < mesh.childNodes.length; i ++ ) {
+
+				var child = mesh.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				var id = child.getAttribute( 'id' );
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'vertices':
+						// data.sources[ id ] = data.sources[ parseId( getElementsByTagName( child, 'input' )[ 0 ].getAttribute( 'source' ) ) ];
+						data.vertices = parseGeometryVertices( child );
+						break;
+
+					case 'polygons':
+						console.warn( 'THREE.ColladaLoader: Unsupported primitive type: ', child.nodeName );
+						break;
+
+					case 'lines':
+					case 'linestrips':
+					case 'polylist':
+					case 'triangles':
+						data.primitives.push( parseGeometryPrimitive( child ) );
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			library.geometries[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseSource( xml ) {
+
+			var data = {
+				array: [],
+				stride: 3
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'float_array':
+						data.array = parseFloats( child.textContent );
+						break;
+
+					case 'Name_array':
+						data.array = parseStrings( child.textContent );
+						break;
+
+					case 'technique_common':
+						var accessor = getElementsByTagName( child, 'accessor' )[ 0 ];
+
+						if ( accessor !== undefined ) {
+
+							data.stride = parseInt( accessor.getAttribute( 'stride' ) );
+
+						}
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseGeometryVertices( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				data[ child.getAttribute( 'semantic' ) ] = parseId( child.getAttribute( 'source' ) );
+
+			}
+
+			return data;
+
+		}
+
+		function parseGeometryPrimitive( xml ) {
+
+			var primitive = {
+				type: xml.nodeName,
+				material: xml.getAttribute( 'material' ),
+				count: parseInt( xml.getAttribute( 'count' ) ),
+				inputs: {},
+				stride: 0,
+				hasUV: false
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var id = parseId( child.getAttribute( 'source' ) );
+						var semantic = child.getAttribute( 'semantic' );
+						var offset = parseInt( child.getAttribute( 'offset' ) );
+						var set = parseInt( child.getAttribute( 'set' ) );
+						var inputname = ( set > 0 ? semantic + set : semantic );
+						primitive.inputs[ inputname ] = { id: id, offset: offset };
+						primitive.stride = Math.max( primitive.stride, offset + 1 );
+						if ( semantic === 'TEXCOORD' ) primitive.hasUV = true;
+						break;
+
+					case 'vcount':
+						primitive.vcount = parseInts( child.textContent );
+						break;
+
+					case 'p':
+						primitive.p = parseInts( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return primitive;
+
+		}
+
+		function groupPrimitives( primitives ) {
+
+			var build = {};
+
+			for ( var i = 0; i < primitives.length; i ++ ) {
+
+				var primitive = primitives[ i ];
+
+				if ( build[ primitive.type ] === undefined ) build[ primitive.type ] = [];
+
+				build[ primitive.type ].push( primitive );
+
+			}
+
+			return build;
+
+		}
+
+		function checkUVCoordinates( primitives ) {
+
+			var count = 0;
+
+			for ( var i = 0, l = primitives.length; i < l; i ++ ) {
+
+				var primitive = primitives[ i ];
+
+				if ( primitive.hasUV === true ) {
+
+					count ++;
+
+				}
+
+			}
+
+			if ( count > 0 && count < primitives.length ) {
+
+				primitives.uvsNeedsFix = true;
+
+			}
+
+		}
+
+		function buildGeometry( data ) {
+
+			var build = {};
+
+			var sources = data.sources;
+			var vertices = data.vertices;
+			var primitives = data.primitives;
+
+			if ( primitives.length === 0 ) return {};
+
+			// our goal is to create one buffer geometry for a single type of primitives
+			// first, we group all primitives by their type
+
+			var groupedPrimitives = groupPrimitives( primitives );
+
+			for ( var type in groupedPrimitives ) {
+
+				var primitiveType = groupedPrimitives[ type ];
+
+				// second, ensure consistent uv coordinates for each type of primitives (polylist,triangles or lines)
+
+				checkUVCoordinates( primitiveType );
+
+				// third, create a buffer geometry for each type of primitives
+
+				build[ type ] = buildGeometryType( primitiveType, sources, vertices );
+
+			}
+
+			return build;
+
+		}
+
+		function buildGeometryType( primitives, sources, vertices ) {
+
+			var build = {};
+
+			var position = { array: [], stride: 0 };
+			var normal = { array: [], stride: 0 };
+			var uv = { array: [], stride: 0 };
+			var uv2 = { array: [], stride: 0 };
+			var color = { array: [], stride: 0 };
+
+			var skinIndex = { array: [], stride: 4 };
+			var skinWeight = { array: [], stride: 4 };
+
+			var geometry = new BufferGeometry();
+
+			var materialKeys = [];
+
+			var start = 0;
+
+			for ( var p = 0; p < primitives.length; p ++ ) {
+
+				var primitive = primitives[ p ];
+				var inputs = primitive.inputs;
+
+				// groups
+
+				var count = 0;
+
+				switch ( primitive.type ) {
+
+					case 'lines':
+					case 'linestrips':
+						count = primitive.count * 2;
+						break;
+
+					case 'triangles':
+						count = primitive.count * 3;
+						break;
+
+					case 'polylist':
+
+						for ( var g = 0; g < primitive.count; g ++ ) {
+
+							var vc = primitive.vcount[ g ];
+
+							switch ( vc ) {
+
+								case 3:
+									count += 3; // single triangle
+									break;
+
+								case 4:
+									count += 6; // quad, subdivided into two triangles
+									break;
+
+								default:
+									count += ( vc - 2 ) * 3; // polylist with more than four vertices
+									break;
+
+							}
+
+						}
+
+						break;
+
+					default:
+						console.warn( 'THREE.ColladaLoader: Unknow primitive type:', primitive.type );
+
+				}
+
+				geometry.addGroup( start, count, p );
+				start += count;
+
+				// material
+
+				if ( primitive.material ) {
+
+					materialKeys.push( primitive.material );
+
+				}
+
+				// geometry data
+
+				for ( var name in inputs ) {
+
+					var input = inputs[ name ];
+
+					switch ( name )	{
+
+						case 'VERTEX':
+							for ( var key in vertices ) {
+
+								var id = vertices[ key ];
+
+								switch ( key ) {
+
+									case 'POSITION':
+										var prevLength = position.array.length;
+										buildGeometryData( primitive, sources[ id ], input.offset, position.array );
+										position.stride = sources[ id ].stride;
+
+										if ( sources.skinWeights && sources.skinIndices ) {
+
+											buildGeometryData( primitive, sources.skinIndices, input.offset, skinIndex.array );
+											buildGeometryData( primitive, sources.skinWeights, input.offset, skinWeight.array );
+
+										}
+
+										// see #3803
+
+										if ( primitive.hasUV === false && primitives.uvsNeedsFix === true ) {
+
+											var count = ( position.array.length - prevLength ) / position.stride;
+
+											for ( var i = 0; i < count; i ++ ) {
+
+												// fill missing uv coordinates
+
+												uv.array.push( 0, 0 );
+
+											}
+
+										}
+										break;
+
+									case 'NORMAL':
+										buildGeometryData( primitive, sources[ id ], input.offset, normal.array );
+										normal.stride = sources[ id ].stride;
+										break;
+
+									case 'COLOR':
+										buildGeometryData( primitive, sources[ id ], input.offset, color.array );
+										color.stride = sources[ id ].stride;
+										break;
+
+									case 'TEXCOORD':
+										buildGeometryData( primitive, sources[ id ], input.offset, uv.array );
+										uv.stride = sources[ id ].stride;
+										break;
+
+									case 'TEXCOORD1':
+										buildGeometryData( primitive, sources[ id ], input.offset, uv2.array );
+										uv.stride = sources[ id ].stride;
+										break;
+
+									default:
+										console.warn( 'THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key );
+
+								}
+
+							}
+							break;
+
+						case 'NORMAL':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, normal.array );
+							normal.stride = sources[ input.id ].stride;
+							break;
+
+						case 'COLOR':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, color.array );
+							color.stride = sources[ input.id ].stride;
+							break;
+
+						case 'TEXCOORD':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, uv.array );
+							uv.stride = sources[ input.id ].stride;
+							break;
+
+						case 'TEXCOORD1':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, uv2.array );
+							uv2.stride = sources[ input.id ].stride;
+							break;
+
+					}
+
+				}
+
+			}
+
+			// build geometry
+
+			if ( position.array.length > 0 ) geometry.addAttribute( 'position', new Float32BufferAttribute( position.array, position.stride ) );
+			if ( normal.array.length > 0 ) geometry.addAttribute( 'normal', new Float32BufferAttribute( normal.array, normal.stride ) );
+			if ( color.array.length > 0 ) geometry.addAttribute( 'color', new Float32BufferAttribute( color.array, color.stride ) );
+			if ( uv.array.length > 0 ) geometry.addAttribute( 'uv', new Float32BufferAttribute( uv.array, uv.stride ) );
+			if ( uv2.array.length > 0 ) geometry.addAttribute( 'uv2', new Float32BufferAttribute( uv2.array, uv2.stride ) );
+
+			if ( skinIndex.array.length > 0 ) geometry.addAttribute( 'skinIndex', new Float32BufferAttribute( skinIndex.array, skinIndex.stride ) );
+			if ( skinWeight.array.length > 0 ) geometry.addAttribute( 'skinWeight', new Float32BufferAttribute( skinWeight.array, skinWeight.stride ) );
+
+			build.data = geometry;
+			build.type = primitives[ 0 ].type;
+			build.materialKeys = materialKeys;
+
+			return build;
+
+		}
+
+		function buildGeometryData( primitive, source, offset, array ) {
+
+			var indices = primitive.p;
+			var stride = primitive.stride;
+			var vcount = primitive.vcount;
+
+			function pushVector( i ) {
+
+				var index = indices[ i + offset ] * sourceStride;
+				var length = index + sourceStride;
+
+				for ( ; index < length; index ++ ) {
+
+					array.push( sourceArray[ index ] );
+
+				}
+
+			}
+
+			var sourceArray = source.array;
+			var sourceStride = source.stride;
+
+			if ( primitive.vcount !== undefined ) {
+
+				var index = 0;
+
+				for ( var i = 0, l = vcount.length; i < l; i ++ ) {
+
+					var count = vcount[ i ];
+
+					if ( count === 4 ) {
+
+						var a = index + stride * 0;
+						var b = index + stride * 1;
+						var c = index + stride * 2;
+						var d = index + stride * 3;
+
+						pushVector( a ); pushVector( b ); pushVector( d );
+						pushVector( b ); pushVector( c ); pushVector( d );
+
+					} else if ( count === 3 ) {
+
+						var a = index + stride * 0;
+						var b = index + stride * 1;
+						var c = index + stride * 2;
+
+						pushVector( a ); pushVector( b ); pushVector( c );
+
+					} else if ( count > 4 ) {
+
+						for ( var k = 1, kl = ( count - 2 ); k <= kl; k ++ ) {
+
+							var a = index + stride * 0;
+							var b = index + stride * k;
+							var c = index + stride * ( k + 1 );
+
+							pushVector( a ); pushVector( b ); pushVector( c );
+
+						}
+
+					}
+
+					index += stride * count;
+
+				}
+
+			} else {
+
+				for ( var i = 0, l = indices.length; i < l; i += stride ) {
+
+					pushVector( i );
+
+				}
+
+			}
+
+		}
+
+		function getGeometry( id ) {
+
+			return getBuild( library.geometries[ id ], buildGeometry );
+
+		}
+
+		// kinematics
+
+		function parseKinematicsModel( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ) || '',
+				joints: {},
+				links: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						parseKinematicsTechniqueCommon( child, data );
+						break;
+
+				}
+
+			}
+
+			library.kinematicsModels[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildKinematicsModel( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data;
+
+		}
+
+		function getKinematicsModel( id ) {
+
+			return getBuild( library.kinematicsModels[ id ], buildKinematicsModel );
+
+		}
+
+		function parseKinematicsTechniqueCommon( xml, data ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'joint':
+						data.joints[ child.getAttribute( 'sid' ) ] = parseKinematicsJoint( child );
+						break;
+
+					case 'link':
+						data.links.push( parseKinematicsLink( child ) );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseKinematicsJoint( xml ) {
+
+			var data;
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'prismatic':
+					case 'revolute':
+						data = parseKinematicsJointParameter( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsJointParameter( xml, data ) {
+
+			var data = {
+				sid: xml.getAttribute( 'sid' ),
+				name: xml.getAttribute( 'name' ) || '',
+				axis: new Vector3(),
+				limits: {
+					min: 0,
+					max: 0
+				},
+				type: xml.nodeName,
+				static: false,
+				zeroPosition: 0,
+				middlePosition: 0
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'axis':
+						var array = parseFloats( child.textContent );
+						data.axis.fromArray( array );
+						break;
+					case 'limits':
+						var max = child.getElementsByTagName( 'max' )[ 0 ];
+						var min = child.getElementsByTagName( 'min' )[ 0 ];
+
+						data.limits.max = parseFloat( max.textContent );
+						data.limits.min = parseFloat( min.textContent );
+						break;
+
+				}
+
+			}
+
+			// if min is equal to or greater than max, consider the joint static
+
+			if ( data.limits.min >= data.limits.max ) {
+
+				data.static = true;
+
+			}
+
+			// calculate middle position
+
+			data.middlePosition = ( data.limits.min + data.limits.max ) / 2.0;
+
+			return data;
+
+		}
+
+		function parseKinematicsLink( xml ) {
+
+			var data = {
+				sid: xml.getAttribute( 'sid' ),
+				name: xml.getAttribute( 'name' ) || '',
+				attachments: [],
+				transforms: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'attachment_full':
+						data.attachments.push( parseKinematicsAttachment( child ) );
+						break;
+
+					case 'matrix':
+					case 'translate':
+					case 'rotate':
+						data.transforms.push( parseKinematicsTransform( child ) );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsAttachment( xml ) {
+
+			var data = {
+				joint: xml.getAttribute( 'joint' ).split( '/' ).pop(),
+				transforms: [],
+				links: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'link':
+						data.links.push( parseKinematicsLink( child ) );
+						break;
+
+					case 'matrix':
+					case 'translate':
+					case 'rotate':
+						data.transforms.push( parseKinematicsTransform( child ) );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsTransform( xml ) {
+
+			var data = {
+				type: xml.nodeName
+			};
+
+			var array = parseFloats( xml.textContent );
+
+			switch ( data.type ) {
+
+				case 'matrix':
+					data.obj = new Matrix4();
+					data.obj.fromArray( array ).transpose();
+					break;
+
+				case 'translate':
+					data.obj = new Vector3();
+					data.obj.fromArray( array );
+					break;
+
+				case 'rotate':
+					data.obj = new Vector3();
+					data.obj.fromArray( array );
+					data.angle = _Math.degToRad( array[ 3 ] );
+					break;
+
+			}
+
+			return data;
+
+		}
+
+		// physics
+
+		function parsePhysicsModel( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ) || '',
+				rigidBodies: {}
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'rigid_body':
+						data.rigidBodies[ child.getAttribute( 'name' ) ] = {};
+						parsePhysicsRigidBody( child, data.rigidBodies[ child.getAttribute( 'name' ) ] );
+						break;
+
+				}
+
+			}
+
+			library.physicsModels[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parsePhysicsRigidBody( xml, data ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						parsePhysicsTechniqueCommon( child, data );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parsePhysicsTechniqueCommon( xml, data ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'inertia':
+						data.inertia = parseFloats( child.textContent );
+						break;
+
+					case 'mass':
+						data.mass = parseFloats( child.textContent )[ 0 ];
+						break;
+
+				}
+
+			}
+
+		}
+
+		// scene
+
+		function parseKinematicsScene( xml ) {
+
+			var data = {
+				bindJointAxis: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'bind_joint_axis':
+						data.bindJointAxis.push( parseKinematicsBindJointAxis( child ) );
+						break;
+
+				}
+
+			}
+
+			library.kinematicsScenes[ parseId( xml.getAttribute( 'url' ) ) ] = data;
+
+		}
+
+		function parseKinematicsBindJointAxis( xml ) {
+
+			var data = {
+				target: xml.getAttribute( 'target' ).split( '/' ).pop()
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'axis':
+						var param = child.getElementsByTagName( 'param' )[ 0 ];
+						data.axis = param.textContent;
+						var tmpJointIndex = data.axis.split( 'inst_' ).pop().split( 'axis' )[ 0 ];
+						data.jointIndex = tmpJointIndex.substr( 0, tmpJointIndex.length - 1 );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildKinematicsScene( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data;
+
+		}
+
+		function getKinematicsScene( id ) {
+
+			return getBuild( library.kinematicsScenes[ id ], buildKinematicsScene );
+
+		}
+
+		function setupKinematics() {
+
+			var kinematicsModelId = Object.keys( library.kinematicsModels )[ 0 ];
+			var kinematicsSceneId = Object.keys( library.kinematicsScenes )[ 0 ];
+			var visualSceneId = Object.keys( library.visualScenes )[ 0 ];
+
+			if ( kinematicsModelId === undefined || kinematicsSceneId === undefined ) return;
+
+			var kinematicsModel = getKinematicsModel( kinematicsModelId );
+			var kinematicsScene = getKinematicsScene( kinematicsSceneId );
+			var visualScene = getVisualScene( visualSceneId );
+
+			var bindJointAxis = kinematicsScene.bindJointAxis;
+			var jointMap = {};
+
+			for ( var i = 0, l = bindJointAxis.length; i < l; i ++ ) {
+
+				var axis = bindJointAxis[ i ];
+
+				// the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'
+
+				var targetElement = collada.querySelector( '[sid="' + axis.target + '"]' );
+
+				if ( targetElement ) {
+
+					// get the parent of the transfrom element
+
+					var parentVisualElement = targetElement.parentElement;
+
+					// connect the joint of the kinematics model with the element in the visual scene
+
+					connect( axis.jointIndex, parentVisualElement );
+
+				}
+
+			}
+
+			function connect( jointIndex, visualElement ) {
+
+				var visualElementName = visualElement.getAttribute( 'name' );
+				var joint = kinematicsModel.joints[ jointIndex ];
+
+				visualScene.traverse( function ( object ) {
+
+					if ( object.name === visualElementName ) {
+
+						jointMap[ jointIndex ] = {
+							object: object,
+							transforms: buildTransformList( visualElement ),
+							joint: joint,
+							position: joint.zeroPosition
+						};
+
+					}
+
+				} );
+
+			}
+
+			var m0 = new Matrix4();
+
+			kinematics = {
+
+				joints: kinematicsModel && kinematicsModel.joints,
+
+				getJointValue: function ( jointIndex ) {
+
+					var jointData = jointMap[ jointIndex ];
+
+					if ( jointData ) {
+
+						return jointData.position;
+
+					} else {
+
+						console.warn( 'THREE.ColladaLoader: 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.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ').' );
+
+						} else if ( joint.static ) {
+
+							console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' is static.' );
+
+						} else {
+
+							var object = jointData.object;
+							var axis = joint.axis;
+							var transforms = jointData.transforms;
+
+							matrix.identity();
+
+							// each update, we have to apply all transforms in the correct order
+
+							for ( var i = 0; i < transforms.length; i ++ ) {
+
+								var transform = transforms[ i ];
+
+								// if there is a connection of the transform node with a joint, apply the joint value
+
+								if ( transform.sid && transform.sid.indexOf( jointIndex ) !== - 1 ) {
+
+									switch ( joint.type ) {
+
+										case 'revolute':
+											matrix.multiply( m0.makeRotationAxis( axis, _Math.degToRad( value ) ) );
+											break;
+
+										case 'prismatic':
+											matrix.multiply( m0.makeTranslation( axis.x * value, axis.y * value, axis.z * value ) );
+											break;
+
+										default:
+											console.warn( 'THREE.ColladaLoader: Unknown joint type: ' + joint.type );
+											break;
+
+									}
+
+								} else {
+
+									switch ( transform.type ) {
+
+										case 'matrix':
+											matrix.multiply( transform.obj );
+											break;
+
+										case 'translate':
+											matrix.multiply( m0.makeTranslation( transform.obj.x, transform.obj.y, transform.obj.z ) );
+											break;
+
+										case 'scale':
+											matrix.scale( transform.obj );
+											break;
+
+										case 'rotate':
+											matrix.multiply( m0.makeRotationAxis( transform.obj, transform.angle ) );
+											break;
+
+									}
+
+								}
+
+							}
+
+							object.matrix.copy( matrix );
+							object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+							jointMap[ jointIndex ].position = value;
+
+						}
+
+					} else {
+
+						console.log( 'THREE.ColladaLoader: ' + jointIndex + ' does not exist.' );
+
+					}
+
+				}
+
+			};
+
+		}
+
+		function buildTransformList( node ) {
+
+			var transforms = [];
+
+			var xml = collada.querySelector( '[id="' + node.id + '"]' );
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'matrix':
+						var array = parseFloats( child.textContent );
+						var matrix = new Matrix4().fromArray( array ).transpose();
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: matrix
+						} );
+						break;
+
+					case 'translate':
+					case 'scale':
+						var array = parseFloats( child.textContent );
+						var vector = new Vector3().fromArray( array );
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: vector
+						} );
+						break;
+
+					case 'rotate':
+						var array = parseFloats( child.textContent );
+						var vector = new Vector3().fromArray( array );
+						var angle = _Math.degToRad( array[ 3 ] );
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: vector,
+							angle: angle
+						} );
+						break;
+
+				}
+
+			}
+
+			return transforms;
+
+		}
+
+		// nodes
+
+		function prepareNodes( xml ) {
+
+			var elements = xml.getElementsByTagName( 'node' );
+
+			// ensure all node elements have id attributes
+
+			for ( var i = 0; i < elements.length; i ++ ) {
+
+				var element = elements[ i ];
+
+				if ( element.hasAttribute( 'id' ) === false ) {
+
+					element.setAttribute( 'id', generateId() );
+
+				}
+
+			}
+
+		}
+
+		var matrix = new Matrix4();
+		var vector = new Vector3();
+
+		function parseNode( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ) || '',
+				type: xml.getAttribute( 'type' ),
+				id: xml.getAttribute( 'id' ),
+				sid: xml.getAttribute( 'sid' ),
+				matrix: new Matrix4(),
+				nodes: [],
+				instanceCameras: [],
+				instanceControllers: [],
+				instanceLights: [],
+				instanceGeometries: [],
+				instanceNodes: [],
+				transforms: {}
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'node':
+						data.nodes.push( child.getAttribute( 'id' ) );
+						parseNode( child );
+						break;
+
+					case 'instance_camera':
+						data.instanceCameras.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'instance_controller':
+						data.instanceControllers.push( parseNodeInstance( child ) );
+						break;
+
+					case 'instance_light':
+						data.instanceLights.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'instance_geometry':
+						data.instanceGeometries.push( parseNodeInstance( child ) );
+						break;
+
+					case 'instance_node':
+						data.instanceNodes.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'matrix':
+						var array = parseFloats( child.textContent );
+						data.matrix.multiply( matrix.fromArray( array ).transpose() );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'translate':
+						var array = parseFloats( child.textContent );
+						vector.fromArray( array );
+						data.matrix.multiply( matrix.makeTranslation( vector.x, vector.y, vector.z ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'rotate':
+						var array = parseFloats( child.textContent );
+						var angle = _Math.degToRad( array[ 3 ] );
+						data.matrix.multiply( matrix.makeRotationAxis( vector.fromArray( array ), angle ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'scale':
+						var array = parseFloats( child.textContent );
+						data.matrix.scale( vector.fromArray( array ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'extra':
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			if ( hasNode( data.id ) ) {
+
+				console.warn( 'THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.', data.id );
+
+			} else {
+
+				library.nodes[ data.id ] = data;
+
+			}
+
+			return data;
+
+		}
+
+		function parseNodeInstance( xml ) {
+
+			var data = {
+				id: parseId( xml.getAttribute( 'url' ) ),
+				materials: {},
+				skeletons: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'bind_material':
+						var instances = child.getElementsByTagName( 'instance_material' );
+
+						for ( var j = 0; j < instances.length; j ++ ) {
+
+							var instance = instances[ j ];
+							var symbol = instance.getAttribute( 'symbol' );
+							var target = instance.getAttribute( 'target' );
+
+							data.materials[ symbol ] = parseId( target );
+
+						}
+
+						break;
+
+					case 'skeleton':
+						data.skeletons.push( parseId( child.textContent ) );
+						break;
+
+					default:
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildSkeleton( skeletons, joints ) {
+
+			var boneData = [];
+			var sortedBoneData = [];
+
+			var i, j, data;
+
+			// a skeleton can have multiple root bones. collada expresses this
+			// situtation with multiple "skeleton" tags per controller instance
+
+			for ( i = 0; i < skeletons.length; i ++ ) {
+
+				var skeleton = skeletons[ i ];
+
+				var root;
+
+				if ( hasNode( skeleton ) ) {
+
+					root = getNode( skeleton );
+					buildBoneHierarchy( root, joints, boneData );
+
+				} else if ( hasVisualScene( skeleton ) ) {
+
+					// handle case where the skeleton refers to the visual scene (#13335)
+
+					var visualScene = library.visualScenes[ skeleton ];
+					var children = visualScene.children;
+
+					for ( var j = 0; j < children.length; j ++ ) {
+
+						var child = children[ j ];
+
+						if ( child.type === 'JOINT' ) {
+
+							var root = getNode( child.id );
+							buildBoneHierarchy( root, joints, boneData );
+
+						}
+
+					}
+
+				} else {
+
+					console.error( 'THREE.ColladaLoader: Unable to find root bone of skeleton with ID:', skeleton );
+
+				}
+
+			}
+
+			// sort bone data (the order is defined in the corresponding controller)
+
+			for ( i = 0; i < joints.length; i ++ ) {
+
+				for ( j = 0; j < boneData.length; j ++ ) {
+
+					data = boneData[ j ];
+
+					if ( data.bone.name === joints[ i ].name ) {
+
+						sortedBoneData[ i ] = data;
+						data.processed = true;
+						break;
+
+					}
+
+				}
+
+			}
+
+			// add unprocessed bone data at the end of the list
+
+			for ( i = 0; i < boneData.length; i ++ ) {
+
+				data = boneData[ i ];
+
+				if ( data.processed === false ) {
+
+					sortedBoneData.push( data );
+					data.processed = true;
+
+				}
+
+			}
+
+			// setup arrays for skeleton creation
+
+			var bones = [];
+			var boneInverses = [];
+
+			for ( i = 0; i < sortedBoneData.length; i ++ ) {
+
+				data = sortedBoneData[ i ];
+
+				bones.push( data.bone );
+				boneInverses.push( data.boneInverse );
+
+			}
+
+			return new Skeleton( bones, boneInverses );
+
+		}
+
+		function buildBoneHierarchy( root, joints, boneData ) {
+
+			// setup bone data from visual scene
+
+			root.traverse( function ( object ) {
+
+				if ( object.isBone === true ) {
+
+					var boneInverse;
+
+					// retrieve the boneInverse from the controller data
+
+					for ( var i = 0; i < joints.length; i ++ ) {
+
+						var joint = joints[ i ];
+
+						if ( joint.name === object.name ) {
+
+							boneInverse = joint.boneInverse;
+							break;
+
+						}
+
+					}
+
+					if ( boneInverse === undefined ) {
+
+						// Unfortunately, there can be joints in the visual scene that are not part of the
+						// corresponding controller. In this case, we have to create a dummy boneInverse matrix
+						// for the respective bone. This bone won't affect any vertices, because there are no skin indices
+						// and weights defined for it. But we still have to add the bone to the sorted bone list in order to
+						// ensure a correct animation of the model.
+
+						boneInverse = new Matrix4();
+
+					}
+
+					boneData.push( { bone: object, boneInverse: boneInverse, processed: false } );
+
+				}
+
+			} );
+
+		}
+
+		function buildNode( data ) {
+
+			var objects = [];
+
+			var matrix = data.matrix;
+			var nodes = data.nodes;
+			var type = data.type;
+			var instanceCameras = data.instanceCameras;
+			var instanceControllers = data.instanceControllers;
+			var instanceLights = data.instanceLights;
+			var instanceGeometries = data.instanceGeometries;
+			var instanceNodes = data.instanceNodes;
+
+			// nodes
+
+			for ( var i = 0, l = nodes.length; i < l; i ++ ) {
+
+				objects.push( getNode( nodes[ i ] ) );
+
+			}
+
+			// instance cameras
+
+			for ( var i = 0, l = instanceCameras.length; i < l; i ++ ) {
+
+				var instanceCamera = getCamera( instanceCameras[ i ] );
+
+				if ( instanceCamera !== null ) {
+
+					objects.push( instanceCamera.clone() );
+
+				}
+
+			}
+
+			// instance controllers
+
+			for ( var i = 0, l = instanceControllers.length; i < l; i ++ ) {
+
+				var instance = instanceControllers[ i ];
+				var controller = getController( instance.id );
+				var geometries = getGeometry( controller.id );
+				var newObjects = buildObjects( geometries, instance.materials );
+
+				var skeletons = instance.skeletons;
+				var joints = controller.skin.joints;
+
+				var skeleton = buildSkeleton( skeletons, joints );
+
+				for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+					var object = newObjects[ j ];
+
+					if ( object.isSkinnedMesh ) {
+
+						object.bind( skeleton, controller.skin.bindMatrix );
+						object.normalizeSkinWeights();
+
+					}
+
+					objects.push( object );
+
+				}
+
+			}
+
+			// instance lights
+
+			for ( var i = 0, l = instanceLights.length; i < l; i ++ ) {
+
+				var instanceLight = getLight( instanceLights[ i ] );
+
+				if ( instanceLight !== null ) {
+
+					objects.push( instanceLight.clone() );
+
+				}
+
+			}
+
+			// instance geometries
+
+			for ( var i = 0, l = instanceGeometries.length; i < l; i ++ ) {
+
+				var instance = instanceGeometries[ i ];
+
+				// a single geometry instance in collada can lead to multiple object3Ds.
+				// this is the case when primitives are combined like triangles and lines
+
+				var geometries = getGeometry( instance.id );
+				var newObjects = buildObjects( geometries, instance.materials );
+
+				for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+					objects.push( newObjects[ j ] );
+
+				}
+
+			}
+
+			// instance nodes
+
+			for ( var i = 0, l = instanceNodes.length; i < l; i ++ ) {
+
+				objects.push( getNode( instanceNodes[ i ] ).clone() );
+
+			}
+
+			var object;
+
+			if ( nodes.length === 0 && objects.length === 1 ) {
+
+				object = objects[ 0 ];
+
+			} else {
+
+				object = ( type === 'JOINT' ) ? new Bone() : new Group();
+
+				for ( var i = 0; i < objects.length; i ++ ) {
+
+					object.add( objects[ i ] );
+
+				}
+
+			}
+
+			if ( object.name === '' ) {
+
+				object.name = ( type === 'JOINT' ) ? data.sid : data.name;
+
+			}
+
+			object.matrix.copy( matrix );
+			object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+			return object;
+
+		}
+
+		var fallbackMaterial = new MeshBasicMaterial( { color: 0xff00ff } );
+
+		function resolveMaterialBinding( keys, instanceMaterials ) {
+
+			var materials = [];
+
+			for ( var i = 0, l = keys.length; i < l; i ++ ) {
+
+				var id = instanceMaterials[ keys[ i ] ];
+
+				if ( id === undefined ) {
+
+					console.warn( 'THREE.ColladaLoader: Material with key %s not found. Apply fallback material.', keys[ i ] );
+					materials.push( fallbackMaterial );
+
+				} else {
+
+					materials.push( getMaterial( id ) );
+
+				}
+
+			}
+
+			return materials;
+
+		}
+
+		function buildObjects( geometries, instanceMaterials ) {
+
+			var objects = [];
+
+			for ( var type in geometries ) {
+
+				var geometry = geometries[ type ];
+
+				var materials = resolveMaterialBinding( geometry.materialKeys, instanceMaterials );
+
+				// handle case if no materials are defined
+
+				if ( materials.length === 0 ) {
+
+					if ( type === 'lines' || type === 'linestrips' ) {
+
+						materials.push( new LineBasicMaterial() );
+
+					} else {
+
+						materials.push( new MeshPhongMaterial() );
+
+					}
+
+				}
+
+				// regard skinning
+
+				var skinning = ( geometry.data.attributes.skinIndex !== undefined );
+
+				if ( skinning ) {
+
+					for ( var i = 0, l = materials.length; i < l; i ++ ) {
+
+						materials[ i ].skinning = true;
+
+					}
+
+				}
+
+				// choose between a single or multi materials (material array)
+
+				var material = ( materials.length === 1 ) ? materials[ 0 ] : materials;
+
+				// now create a specific 3D object
+
+				var object;
+
+				switch ( type ) {
+
+					case 'lines':
+						object = new LineSegments( geometry.data, material );
+						break;
+
+					case 'linestrips':
+						object = new Line( geometry.data, material );
+						break;
+
+					case 'triangles':
+					case 'polylist':
+						if ( skinning ) {
+
+							object = new SkinnedMesh( geometry.data, material );
+
+						} else {
+
+							object = new Mesh( geometry.data, material );
+
+						}
+						break;
+
+				}
+
+				objects.push( object );
+
+			}
+
+			return objects;
+
+		}
+
+		function hasNode( id ) {
+
+			return library.nodes[ id ] !== undefined;
+
+		}
+
+		function getNode( id ) {
+
+			return getBuild( library.nodes[ id ], buildNode );
+
+		}
+
+		// visual scenes
+
+		function parseVisualScene( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ),
+				children: []
+			};
+
+			prepareNodes( xml );
+
+			var elements = getElementsByTagName( xml, 'node' );
+
+			for ( var i = 0; i < elements.length; i ++ ) {
+
+				data.children.push( parseNode( elements[ i ] ) );
+
+			}
+
+			library.visualScenes[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildVisualScene( data ) {
+
+			var group = new Group();
+			group.name = data.name;
+
+			var children = data.children;
+
+			for ( var i = 0; i < children.length; i ++ ) {
+
+				var child = children[ i ];
+
+				group.add( getNode( child.id ) );
+
+			}
+
+			return group;
+
+		}
+
+		function hasVisualScene( id ) {
+
+			return library.visualScenes[ id ] !== undefined;
+
+		}
+
+		function getVisualScene( id ) {
+
+			return getBuild( library.visualScenes[ id ], buildVisualScene );
+
+		}
+
+		// scenes
+
+		function parseScene( xml ) {
+
+			var instance = getElementsByTagName( xml, 'instance_visual_scene' )[ 0 ];
+			return getVisualScene( parseId( instance.getAttribute( 'url' ) ) );
+
+		}
+
+		function setupAnimations() {
+
+			var clips = library.clips;
+
+			if ( isEmpty( clips ) === true ) {
+
+				if ( isEmpty( library.animations ) === false ) {
+
+					// if there are animations but no clips, we create a default clip for playback
+
+					var tracks = [];
+
+					for ( var id in library.animations ) {
+
+						var animationTracks = getAnimation( id );
+
+						for ( var i = 0, l = animationTracks.length; i < l; i ++ ) {
+
+							tracks.push( animationTracks[ i ] );
+
+						}
+
+					}
+
+					animations.push( new AnimationClip( 'default', - 1, tracks ) );
+
+				}
+
+			} else {
+
+				for ( var id in clips ) {
+
+					animations.push( getAnimationClip( id ) );
+
+				}
+
+			}
+
+		}
+
+		// convert the parser error element into text with each child elements text
+		// separated by new lines.
+
+		function parserErrorToText( parserError ) {
+
+			var result = '';
+			var stack = [ parserError ];
+
+			while ( stack.length ) {
+
+				var node = stack.shift();
+
+				if ( node.nodeType === Node.TEXT_NODE ) {
+
+					result += node.textContent;
+
+				} else {
+
+					result += '\n';
+					stack.push.apply( stack, node.childNodes );
+
+				}
+
+			}
+
+			return result.trim();
+
+		}
+
+		if ( text.length === 0 ) {
+
+			return { scene: new Scene() };
+
+		}
+
+		var xml = new DOMParser().parseFromString( text, 'application/xml' );
+
+		var collada = getElementsByTagName( xml, 'COLLADA' )[ 0 ];
+
+		var parserError = xml.getElementsByTagName( 'parsererror' )[ 0 ];
+		if ( parserError !== undefined ) {
+
+			// Chrome will return parser error with a div in it
+
+			var errorElement = getElementsByTagName( parserError, 'div' )[ 0 ];
+			var errorText;
+
+			if ( errorElement ) {
+
+				errorText = errorElement.textContent;
+
+			} else {
+
+				errorText = parserErrorToText( parserError );
+
+			}
+
+			console.error( 'THREE.ColladaLoader: Failed to parse collada file.\n', errorText );
+
+			return null;
+
+		}
+
+		// metadata
+
+		var version = collada.getAttribute( 'version' );
+		console.log( 'THREE.ColladaLoader: File version', version );
+
+		var asset = parseAsset( getElementsByTagName( collada, 'asset' )[ 0 ] );
+		var textureLoader = new TextureLoader( this.manager );
+		textureLoader.setPath( this.resourcePath || path ).setCrossOrigin( this.crossOrigin );
+
+		var tgaLoader;
+
+		if ( TGALoader ) {
+
+			tgaLoader = new TGALoader( this.manager );
+			tgaLoader.setPath( this.resourcePath || path );
+
+		}
+
+		//
+
+		var animations = [];
+		var kinematics = {};
+		var count = 0;
+
+		//
+
+		var library = {
+			animations: {},
+			clips: {},
+			controllers: {},
+			images: {},
+			effects: {},
+			materials: {},
+			cameras: {},
+			lights: {},
+			geometries: {},
+			nodes: {},
+			visualScenes: {},
+			kinematicsModels: {},
+			physicsModels: {},
+			kinematicsScenes: {}
+		};
+
+		parseLibrary( collada, 'library_animations', 'animation', parseAnimation );
+		parseLibrary( collada, 'library_animation_clips', 'animation_clip', parseAnimationClip );
+		parseLibrary( collada, 'library_controllers', 'controller', parseController );
+		parseLibrary( collada, 'library_images', 'image', parseImage );
+		parseLibrary( collada, 'library_effects', 'effect', parseEffect );
+		parseLibrary( collada, 'library_materials', 'material', parseMaterial );
+		parseLibrary( collada, 'library_cameras', 'camera', parseCamera );
+		parseLibrary( collada, 'library_lights', 'light', parseLight );
+		parseLibrary( collada, 'library_geometries', 'geometry', parseGeometry );
+		parseLibrary( collada, 'library_nodes', 'node', parseNode );
+		parseLibrary( collada, 'library_visual_scenes', 'visual_scene', parseVisualScene );
+		parseLibrary( collada, 'library_kinematics_models', 'kinematics_model', parseKinematicsModel );
+		parseLibrary( collada, 'library_physics_models', 'physics_model', parsePhysicsModel );
+		parseLibrary( collada, 'scene', 'instance_kinematics_scene', parseKinematicsScene );
+
+		buildLibrary( library.animations, buildAnimation );
+		buildLibrary( library.clips, buildAnimationClip );
+		buildLibrary( library.controllers, buildController );
+		buildLibrary( library.images, buildImage );
+		buildLibrary( library.effects, buildEffect );
+		buildLibrary( library.materials, buildMaterial );
+		buildLibrary( library.cameras, buildCamera );
+		buildLibrary( library.lights, buildLight );
+		buildLibrary( library.geometries, buildGeometry );
+		buildLibrary( library.visualScenes, buildVisualScene );
+
+		setupAnimations();
+		setupKinematics();
+
+		var scene = parseScene( getElementsByTagName( collada, 'scene' )[ 0 ] );
+
+		if ( asset.upAxis === 'Z_UP' ) {
+
+			scene.quaternion.setFromEuler( new Euler( - Math.PI / 2, 0, 0 ) );
+
+		}
+
+		scene.scale.multiplyScalar( asset.unit );
+
+		return {
+			animations: animations,
+			kinematics: kinematics,
+			library: library,
+			scene: scene
+		};
+
+	}
+
+};
+
+export { ColladaLoader };
diff --git a/utils/modularize.js b/utils/modularize.js
index ca7e080ac039838bfcb211b6d1b8ccf1ba85d607..39400524e2d99ff73fd3e3865165b61ab93ee8fb 100644
--- a/utils/modularize.js
+++ b/utils/modularize.js
@@ -29,6 +29,7 @@ var files = [
 	{ path: 'exporters/TypedGeometryExporter.js', dependencies: [], ignoreList: [] },
 
 	{ path: 'loaders/BVHLoader.js', dependencies: [], ignoreList: [ 'Bones' ] },
+	{ path: 'loaders/ColladaLoader.js', dependencies: [ { name: 'TGALoader', path: 'loaders/TGALoader.js' } ], ignoreList: [] },
 	{ path: 'loaders/PCDLoader.js', dependencies: [], ignoreList: [] },
 	{ path: 'loaders/GLTFLoader.js', dependencies: [], ignoreList: [ 'NoSide', 'Matrix2', 'DDSLoader' ] },
 	{ path: 'loaders/OBJLoader.js', dependencies: [], ignoreList: [] },