ColladaLoader: Add support for `instance_joint`. (#33293)

examples/jsm/loaders/collada/ColladaParser.js

@@ -140,7 +140,8 @@ class ColladaParser {
 			visualScenes: {},
 			kinematicsModels: {},
 			physicsModels: {},
-			kinematicsScenes: {}
+			kinematicsScenes: {},
+			joints: {}
 		};
 
 		this.library = library;
@@ -157,6 +158,7 @@ class ColladaParser {
 		this.parseLibrary( collada, 'library_geometries', 'geometry', this.parseGeometry.bind( this ) );
 		this.parseLibrary( collada, 'library_nodes', 'node', this.parseNode.bind( this ) );
 		this.parseLibrary( collada, 'library_visual_scenes', 'visual_scene', this.parseVisualScene.bind( this ) );
+		this.parseLibrary( collada, 'library_joints', 'joint', this.parseLibraryJoint.bind( this ) );
 		this.parseLibrary( collada, 'library_kinematics_models', 'kinematics_model', this.parseKinematicsModel.bind( this ) );
 		this.parseLibrary( collada, 'library_physics_models', 'physics_model', this.parsePhysicsModel.bind( this ) );
 		this.parseLibrary( collada, 'scene', 'instance_kinematics_scene', this.parseKinematicsScene.bind( this ) );
@@ -1362,6 +1364,12 @@ class ColladaParser {
 
 	// kinematics
 
+	parseLibraryJoint( xml ) {
+
+		this.library.joints[ xml.getAttribute( 'id' ) ] = this.parseKinematicsJoint( xml );
+
+	}
+
 	parseKinematicsModel( xml ) {
 
 		const data = {
@@ -1404,6 +1412,10 @@ class ColladaParser {
 					data.joints[ child.getAttribute( 'sid' ) ] = this.parseKinematicsJoint( child );
 					break;
 
+				case 'instance_joint':
+					data.joints[ child.getAttribute( 'sid' ) ] = this.library.joints[ parseId( child.getAttribute( 'url' ) ) ];
+					break;
+
 				case 'link':
 					data.links.push( this.parseKinematicsLink( child ) );
 					break;