diff --git a/build/yuka.js b/build/yuka.js
index 664c6a8b..4bacfc95 100644
--- a/build/yuka.js
+++ b/build/yuka.js
@@ -8716,19 +8716,19 @@
 		}
 
 		/**
-		 * Returns a new geometry without containing indices.
+		 * Returns a new geometry without containing indices. If the geometry is already
+		 * non-indexed, the method performs no changes.
 		 *
-		 * @return {MeshGeometry} The new geometry.
+		 * @return {MeshGeometry} The new non-indexed geometry.
 		 */
 		toTriangleSoup() {
 
 			const indices = this.indices;
-			const vertices = this.vertices;
-			let newVertices;
 
 			if ( indices ) {
 
-				newVertices = new Float32Array( indices.length * 3 );
+				const vertices = this.vertices;
+				const newVertices = new Float32Array( indices.length * 3 );
 
 				for ( let i = 0, l = indices.length; i < l; i ++ ) {
 
@@ -8741,14 +8741,14 @@
 
 				}
 
+				return new MeshGeometry( newVertices );
+
 			} else {
 
-				newVertices = new Float32Array( vertices );
+				return this;
 
 			}
 
-			return new MeshGeometry( newVertices );
-
 		}
 
 		/**
@@ -14059,8 +14059,9 @@
 
 			// primitives
 
-			const nonIndexedGeometry = geometry.toTriangleSoup();
-			const vertices = nonIndexedGeometry.vertices;
+			if ( geometry.indices !== null ) geometry = geometry.toTriangleSoup();
+
+			const vertices = geometry.vertices;
 
 			for ( let i = 0, l = vertices.length; i < l; i ++ ) {
 
diff --git a/build/yuka.min.js b/build/yuka.min.js
index f2525c9b..b7ca6c87 100644
--- a/build/yuka.min.js
+++ b/build/yuka.min.js
@@ -172,38 +172,38 @@ b).cross(Lc.subVectors(a,b)).normalize();this.fromNormalAndCoplanarPoint(eb,a);r
 b.subVectors(a,eb);return b};X.prototype.equals=function(a){return a.normal.equals(this.normal)&&a.constant===this.constant};var Gd=new M,N={a:new f,b:new f,c:new f},fb=new I,Hd=new X,Id=new D,Mc=new f,Nc=new f,Oc=new f,Pc=new f,Sa=function(a,b){this.vertices=a=void 0===a?new Float32Array:a;this.indices=void 0===b?null:b;this.backfaceCulling=!0;this.aabb=new E;this.boundingSphere=new M;this.computeBoundingVolume()};Sa.prototype.computeBoundingVolume=function(){var a=this.vertices,b=new f,c=this.aabb,
 e=this.boundingSphere;c.min.set(Infinity,Infinity,Infinity);c.max.set(-Infinity,-Infinity,-Infinity);for(var d=0,k=a.length;d<k;d+=3)b.x=a[d],b.y=a[d+1],b.z=a[d+2],c.expand(b);c.getCenter(e.center);e.radius=e.center.distanceTo(c.max);return this};Sa.prototype.intersectRay=function(a,b,c,e,d){d=void 0===d?null:d;Gd.copy(this.boundingSphere).applyMatrix4(b);if(a.intersectsBoundingSphere(Gd)&&(b.getInverse(Id),fb.copy(a).applyMatrix4(Id),fb.intersectsAABB(this.aabb))){a=this.vertices;var n=this.indices,
 f=Infinity,g=!1;if(null===n){n=0;for(var h=a.length;n<h;n+=9)if(N.a.set(a[n],a[n+1],a[n+2]),N.b.set(a[n+3],a[n+4],a[n+5]),N.c.set(a[n+6],a[n+7],a[n+8]),null!==fb.intersectTriangle(N,this.backfaceCulling,e))if(c){var l=e.squaredDistanceTo(fb.origin);l<f&&(f=l,Mc.copy(e),Nc.copy(N.a),Oc.copy(N.b),Pc.copy(N.c),g=!0)}else{g=!0;break}}else for(h=0,l=n.length;h<l;h+=3){var v=n[h],m=n[h+1],p=n[h+2];N.a.set(a[3*v],a[3*v+1],a[3*v+2]);N.b.set(a[3*m],a[3*m+1],a[3*m+2]);N.c.set(a[3*p],a[3*p+1],a[3*p+2]);if(null!==
-fb.intersectTriangle(N,this.backfaceCulling,e))if(c)v=e.squaredDistanceTo(fb.origin),v<f&&(f=v,Mc.copy(e),Nc.copy(N.a),Oc.copy(N.b),Pc.copy(N.c),g=!0);else{g=!0;break}}if(g)return c&&(e.copy(Mc),N.a.copy(Nc),N.b.copy(Oc),N.c.copy(Pc)),e.applyMatrix4(b),null!==d&&(Hd.fromCoplanarPoints(N.a,N.b,N.c),d.copy(Hd.normal),d.transformDirection(b)),e}return null};Sa.prototype.toTriangleSoup=function(){var a=this.indices,b=this.vertices;if(a){var c=new Float32Array(3*a.length);for(var e=0,d=a.length;e<d;e++){var k=
-a[e];c[3*e]=b[3*k];c[3*e+1]=b[3*k+1];c[3*e+2]=b[3*k+2]}}else c=new Float32Array(b);return new Sa(c)};Sa.prototype.toJSON=function(){var a={type:this.constructor.name};a.indices={type:this.indices?this.indices.constructor.name:"null",data:this.indices?Array.from(this.indices):null};a.vertices=Array.from(this.vertices);a.backfaceCulling=this.backfaceCulling;a.aabb=this.aabb.toJSON();a.boundingSphere=this.boundingSphere.toJSON();return a};Sa.prototype.fromJSON=function(a){this.aabb=(new E).fromJSON(a.aabb);
-this.boundingSphere=(new M).fromJSON(a.boundingSphere);this.backfaceCulling=a.backfaceCulling;this.vertices=new Float32Array(a.vertices);switch(a.indices.type){case "Uint16Array":this.indices=new Uint16Array(a.indices.data);break;case "Uint32Array":this.indices=new Uint32Array(a.indices.data);break;case "null":this.indices=null}return this};var Y=function(){this._elapsed=this._delta=this._currentTime=this._previousTime=0;this._timescale=1;this._useFixedDelta=!1;this._fixedDelta=16.67;this._usePageVisibilityAPI=
-"undefined"!==typeof document&&void 0!==document.hidden;!0===this._usePageVisibilityAPI&&(this._pageVisibilityHandler=h.bind(this),document.addEventListener("visibilitychange",this._pageVisibilityHandler,!1))};Y.prototype.disableFixedDelta=function(){this._useFixedDelta=!1;return this};Y.prototype.dispose=function(){!0===this._usePageVisibilityAPI&&document.removeEventListener("visibilitychange",this._pageVisibilityHandler);return this};Y.prototype.enableFixedDelta=function(){this._useFixedDelta=
-!0;return this};Y.prototype.getDelta=function(){return this._delta/1E3};Y.prototype.getElapsed=function(){return this._elapsed/1E3};Y.prototype.getFixedDelta=function(){return this._fixedDelta/1E3};Y.prototype.getTimescale=function(){return this._timescale};Y.prototype.reset=function(){this._currentTime=this._now();return this};Y.prototype.setFixedDelta=function(a){this._fixedDelta=1E3*a;return this};Y.prototype.setTimescale=function(a){this._timescale=a;return this};Y.prototype.update=function(){!0===
-this._useFixedDelta?this._delta=this._fixedDelta:(this._previousTime=this._currentTime,this._currentTime=this._now(),this._delta=this._currentTime-this._previousTime);this._delta*=this._timescale;this._elapsed+=this._delta;return this};Y.prototype._now=function(){return("undefined"===typeof performance?Date:performance).now()};var Jd=function(a){this.updateFrequency=void 0===a?0:a;this._time=new Y;this._nextUpdateTime=0};Jd.prototype.ready=function(){this._time.update();var a=this._time.getElapsed();
-return a>=this._nextUpdateTime?(this._nextUpdateTime=a+1/this.updateFrequency,!0):!1};var za=function(){};za.prototype.enter=function(){};za.prototype.execute=function(){};za.prototype.exit=function(){};za.prototype.toJSON=function(){};za.prototype.fromJSON=function(){};za.prototype.resolveReferences=function(){};za.prototype.onMessage=function(){return!1};var Z=function(a){this.owner=void 0===a?null:a;this.globalState=this.previousState=this.currentState=null;this.states=new Map;this._typesMap=new Map};
-Z.prototype.update=function(){null!==this.globalState&&this.globalState.execute(this.owner);null!==this.currentState&&this.currentState.execute(this.owner);return this};Z.prototype.add=function(a,b){b instanceof za?this.states.set(a,b):C.warn('YUKA.StateMachine: .add() needs a parameter of type "YUKA.State".');return this};Z.prototype.remove=function(a){this.states.delete(a);return this};Z.prototype.get=function(a){return this.states.get(a)};Z.prototype.changeTo=function(a){a=this.get(a);this._change(a);
-return this};Z.prototype.revert=function(){this._change(this.previousState);return this};Z.prototype.in=function(a){return this.get(a)===this.currentState};Z.prototype.handleMessage=function(a){return null!==this.currentState&&!0===this.currentState.onMessage(this.owner,a)||null!==this.globalState&&!0===this.globalState.onMessage(this.owner,a)?!0:!1};Z.prototype.toJSON=function(){for(var a={owner:this.owner.uuid,currentState:null,previousState:null,globalState:null,states:[]},b=new Map,c=$jscomp.makeIterator(this.states),
-e=c.next();!e.done;e=c.next()){var d=$jscomp.makeIterator(e.value);e=d.next().value;d=d.next().value;a.states.push({type:d.constructor.name,id:e,state:d.toJSON()});b.set(d,e)}a.currentState=b.get(this.currentState)||null;a.previousState=b.get(this.previousState)||null;a.globalState=b.get(this.globalState)||null;return a};Z.prototype.fromJSON=function(a){this.owner=a.owner;for(var b=a.states,c=0,e=b.length;c<e;c++){var d=b[c],k=d.type,f=this._typesMap.get(k);void 0!==f?(k=d.id,d=(new f).fromJSON(d.state),
-this.add(k,d)):C.warn("YUKA.StateMachine: Unsupported state type:",k)}this.currentState=null!==a.currentState?this.get(a.currentState)||null:null;this.previousState=null!==a.previousState?this.get(a.previousState)||null:null;this.globalState=null!==a.globalState?this.get(a.globalState)||null:null;return this};Z.prototype.resolveReferences=function(a){this.owner=a.get(this.owner)||null;for(var b=$jscomp.makeIterator(this.states.values()),c=b.next();!c.done;c=b.next())c.value.resolveReferences(a);return this};
-Z.prototype.registerType=function(a,b){this._typesMap.set(a,b);return this};Z.prototype._change=function(a){this.previousState=this.currentState;null!==this.currentState&&this.currentState.exit(this.owner);this.currentState=a;this.currentState.enter(this.owner)};var Aa=function(){};Aa.prototype.clearDegreeOfMembership=function(){};Aa.prototype.getDegreeOfMembership=function(){};Aa.prototype.updateDegreeOfMembership=function(){};Aa.prototype.toJSON=function(){return{type:this.constructor.name}};var U=
-function(a){this.terms=a=void 0===a?[]:a;return this};$jscomp.inherits(U,Aa);U.prototype.clearDegreeOfMembership=function(){for(var a=this.terms,b=0,c=a.length;b<c;b++)a[b].clearDegreeOfMembership();return this};U.prototype.updateDegreeOfMembership=function(a){for(var b=this.terms,c=0,e=b.length;c<e;c++)b[c].updateDegreeOfMembership(a);return this};U.prototype.toJSON=function(){var a=Aa.prototype.toJSON.call(this);a.terms=[];for(var b=0,c=this.terms.length;b<c;b++){var e=this.terms[b];e instanceof
-U?a.terms.push(e.toJSON()):a.terms.push(e.uuid)}return a};var gc=function(){var a=Array.from(arguments);return U.call(this,a)||this};$jscomp.inherits(gc,U);gc.prototype.getDegreeOfMembership=function(){for(var a=this.terms,b=Infinity,c=0,e=a.length;c<e;c++){var d=a[c].getDegreeOfMembership();d<b&&(b=d)}return b};var gb=function(a){a=void 0===a?null:a;return U.call(this,null!==a?[a]:[])||this};$jscomp.inherits(gb,U);gb.prototype.clearDegreeOfMembership=function(){this.terms[0].clearDegreeOfMembership();
-return this};gb.prototype.getDegreeOfMembership=function(){var a=this.terms[0].getDegreeOfMembership();return Math.sqrt(a)};gb.prototype.updateDegreeOfMembership=function(a){this.terms[0].updateDegreeOfMembership(Math.sqrt(a));return this};var hc=function(){var a=Array.from(arguments);return U.call(this,a)||this};$jscomp.inherits(hc,U);hc.prototype.getDegreeOfMembership=function(){for(var a=this.terms,b=-Infinity,c=0,e=a.length;c<e;c++){var d=a[c].getDegreeOfMembership();d>b&&(b=d)}return b};var hb=
-function(a){a=void 0===a?null:a;return U.call(this,null!==a?[a]:[])||this};$jscomp.inherits(hb,U);hb.prototype.clearDegreeOfMembership=function(){this.terms[0].clearDegreeOfMembership();return this};hb.prototype.getDegreeOfMembership=function(){var a=this.terms[0].getDegreeOfMembership();return a*a};hb.prototype.updateDegreeOfMembership=function(a){this.terms[0].updateDegreeOfMembership(a*a);return this};var w=function(a){this.degreeOfMembership=0;this.representativeValue=void 0===a?0:a;this.right=
-this.left=0;this._uuid=null;return this};$jscomp.inherits(w,Aa);w.prototype.computeDegreeOfMembership=function(){};w.prototype.clearDegreeOfMembership=function(){this.degreeOfMembership=0;return this};w.prototype.getDegreeOfMembership=function(){return this.degreeOfMembership};w.prototype.updateDegreeOfMembership=function(a){a>this.degreeOfMembership&&(this.degreeOfMembership=a);return this};w.prototype.toJSON=function(){var a=Aa.prototype.toJSON.call(this);a.degreeOfMembership=this.degreeOfMembership;
-a.representativeValue=this.representativeValue;a.left=this.left;a.right=this.right;a.uuid=this.uuid;return a};w.prototype.fromJSON=function(a){this.degreeOfMembership=a.degreeOfMembership;this.representativeValue=a.representativeValue;this.left=a.left;this.right=a.right;this.uuid=a.uuid;return this};$jscomp.global.Object.defineProperties(w.prototype,{uuid:{configurable:!0,enumerable:!0,get:function(){null===this._uuid&&(this._uuid=J.generateUUID());return this._uuid},set:function(a){this._uuid=a}}});
-var Db=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+a)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(Db,w);Db.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.right;return a>=this.left&&a<=b?1:a>b&&a<=c?a>=(b+c)/2?2*Math.pow((a-c)/(b-c),2):1-2*Math.pow((a-b)/(b-c),2):0};Db.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};Db.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,
-a);this.midpoint=a.midpoint;return this};var ib=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+a)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(ib,w);ib.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.right;return a>=this.left&&a<=b?1:a>b&&a<=c?1/(c-b)*(c-a):0};ib.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};ib.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,
-a);this.midpoint=a.midpoint;return this};var jb=function(a,b,c,e){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;e=void 0===e?0:e;var d=w.call(this,b)||this;d.left=a;d.midpoint=b;d.right=c;d.standardDeviation=e;d._cache={};return d};$jscomp.inherits(jb,w);jb.prototype.computeDegreeOfMembership=function(a){this._updateCache();return a>=this.right||a<=this.left?0:p(a,this.midpoint,this._cache.variance)/this._cache.normalizationFactor};jb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);
-a.midpoint=this.midpoint;a.standardDeviation=this.standardDeviation;return a};jb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;this.standardDeviation=a.standardDeviation;return this};jb.prototype._updateCache=function(){var a=this._cache,b=this.midpoint,c=this.standardDeviation;if(b!==a.midpoint||c!==a.standardDeviation){var e=c*c;a.midpoint=b;a.standardDeviation=c;a.variance=e;a.normalizationFactor=p(b,b,e)}return this};var Eb=function(a,b,c){a=void 0===
-a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+c)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(Eb,w);Eb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?a<=(c+b)/2?2*Math.pow((a-c)/(b-c),2):1-2*Math.pow((a-b)/(b-c),2):a>b&&a<=e?1:0};Eb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};Eb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);
-this.midpoint=a.midpoint;return this};var kb=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+c)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(kb,w);kb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?1/(b-c)*(a-c):a>b&&a<=e?1:0};kb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};kb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,
-a);this.midpoint=a.midpoint;return this};var lb=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,b)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(lb,w);lb.prototype.computeDegreeOfMembership=function(a){var b=this.right;return a>=this.left&&a<=b?1:0};lb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};lb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;
-return this};var mb=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,b)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(mb,w);mb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?1/(b-c)*(a-c):a>b&&a<=e?1/(e-b)*(e-a):0};mb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};mb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,
-a);this.midpoint=a.midpoint;return this};var nb=function(a,b){this.antecedent=void 0===a?null:a;this.consequence=void 0===b?null:b};nb.prototype.initConsequence=function(){this.consequence.clearDegreeOfMembership();return this};nb.prototype.evaluate=function(){this.consequence.updateDegreeOfMembership(this.antecedent.getDegreeOfMembership());return this};nb.prototype.toJSON=function(){var a={},b=this.antecedent,c=this.consequence;a.type=this.constructor.name;a.antecedent=b instanceof U?b.toJSON():
-b.uuid;a.consequence=c instanceof U?c.toJSON():c.uuid;return a};nb.prototype.fromJSON=function(a,b){function c(a){if("string"===typeof a)return b.get(a)||null;var e=a.type;switch(e){case "FuzzyAND":e=new gc;break;case "FuzzyOR":e=new hc;break;case "FuzzyVERY":e=new hb;break;case "FuzzyFAIRLY":e=new gb;break;default:C.error("YUKA.FuzzyRule: Unsupported operator type:",e);return}a=a.terms;for(var d=0,f=a.length;d<f;d++)e.terms.push(c(a[d]));return e}this.antecedent=c(a.antecedent);this.consequence=
-c(a.consequence);return this};var Ba=function(){this.fuzzySets=[];this.minRange=Infinity;this.maxRange=-Infinity};Ba.prototype.add=function(a){this.fuzzySets.push(a);a.left<this.minRange&&(this.minRange=a.left);a.right>this.maxRange&&(this.maxRange=a.right);return this};Ba.prototype.remove=function(a){var b=this.fuzzySets;a=b.indexOf(a);b.splice(a,1);this.minRange=Infinity;this.maxRange=-Infinity;a=0;for(var c=b.length;a<c;a++){var e=b[a];e.left<this.minRange&&(this.minRange=e.left);e.right>this.maxRange&&
-(this.maxRange=e.right)}return this};Ba.prototype.fuzzify=function(a){if(a<this.minRange||a>this.maxRange)C.warn("YUKA.FuzzyVariable: Value for fuzzification out of range.");else{for(var b=this.fuzzySets,c=0,e=b.length;c<e;c++){var d=b[c];d.degreeOfMembership=d.computeDegreeOfMembership(a)}return this}};Ba.prototype.defuzzifyMaxAv=function(){for(var a=this.fuzzySets,b=0,c=0,e=0,d=a.length;e<d;e++){var k=a[e];b+=k.degreeOfMembership;c+=k.representativeValue*k.degreeOfMembership}return 0===b?0:c/b};
-Ba.prototype.defuzzifyCentroid=function(a){a=void 0===a?10:a;for(var b=this.fuzzySets,c=(this.maxRange-this.minRange)/a,e=0,d=0,k=1;k<=a;k++)for(var f=this.minRange+k*c,g=0,h=b.length;g<h;g++){var l=b[g];l=Math.min(l.degreeOfMembership,l.computeDegreeOfMembership(f));e+=l;d+=f*l}return 0===e?0:d/e};Ba.prototype.toJSON=function(){for(var a={type:this.constructor.name,fuzzySets:[],minRange:this.minRange.toString(),maxRange:this.maxRange.toString()},b=0,c=this.fuzzySets.length;b<c;b++)a.fuzzySets.push(this.fuzzySets[b].toJSON());
-return a};Ba.prototype.fromJSON=function(a){this.minRange=parseFloat(a.minRange);this.maxRange=parseFloat(a.maxRange);for(var b=0,c=a.fuzzySets.length;b<c;b++){var e=a.fuzzySets[b];switch(e.type){case "LeftShoulderFuzzySet":this.fuzzySets.push((new ib).fromJSON(e));break;case "RightShoulderFuzzySet":this.fuzzySets.push((new kb).fromJSON(e));break;case "SingletonFuzzySet":this.fuzzySets.push((new lb).fromJSON(e));break;case "TriangularFuzzySet":this.fuzzySets.push((new mb).fromJSON(e));break;default:C.error("YUKA.FuzzyVariable: Unsupported fuzzy set type:",
+fb.intersectTriangle(N,this.backfaceCulling,e))if(c)v=e.squaredDistanceTo(fb.origin),v<f&&(f=v,Mc.copy(e),Nc.copy(N.a),Oc.copy(N.b),Pc.copy(N.c),g=!0);else{g=!0;break}}if(g)return c&&(e.copy(Mc),N.a.copy(Nc),N.b.copy(Oc),N.c.copy(Pc)),e.applyMatrix4(b),null!==d&&(Hd.fromCoplanarPoints(N.a,N.b,N.c),d.copy(Hd.normal),d.transformDirection(b)),e}return null};Sa.prototype.toTriangleSoup=function(){var a=this.indices;if(a){for(var b=this.vertices,c=new Float32Array(3*a.length),e=0,d=a.length;e<d;e++){var k=
+a[e];c[3*e]=b[3*k];c[3*e+1]=b[3*k+1];c[3*e+2]=b[3*k+2]}return new Sa(c)}return this};Sa.prototype.toJSON=function(){var a={type:this.constructor.name};a.indices={type:this.indices?this.indices.constructor.name:"null",data:this.indices?Array.from(this.indices):null};a.vertices=Array.from(this.vertices);a.backfaceCulling=this.backfaceCulling;a.aabb=this.aabb.toJSON();a.boundingSphere=this.boundingSphere.toJSON();return a};Sa.prototype.fromJSON=function(a){this.aabb=(new E).fromJSON(a.aabb);this.boundingSphere=
+(new M).fromJSON(a.boundingSphere);this.backfaceCulling=a.backfaceCulling;this.vertices=new Float32Array(a.vertices);switch(a.indices.type){case "Uint16Array":this.indices=new Uint16Array(a.indices.data);break;case "Uint32Array":this.indices=new Uint32Array(a.indices.data);break;case "null":this.indices=null}return this};var Y=function(){this._elapsed=this._delta=this._currentTime=this._previousTime=0;this._timescale=1;this._useFixedDelta=!1;this._fixedDelta=16.67;this._usePageVisibilityAPI="undefined"!==
+typeof document&&void 0!==document.hidden;!0===this._usePageVisibilityAPI&&(this._pageVisibilityHandler=h.bind(this),document.addEventListener("visibilitychange",this._pageVisibilityHandler,!1))};Y.prototype.disableFixedDelta=function(){this._useFixedDelta=!1;return this};Y.prototype.dispose=function(){!0===this._usePageVisibilityAPI&&document.removeEventListener("visibilitychange",this._pageVisibilityHandler);return this};Y.prototype.enableFixedDelta=function(){this._useFixedDelta=!0;return this};
+Y.prototype.getDelta=function(){return this._delta/1E3};Y.prototype.getElapsed=function(){return this._elapsed/1E3};Y.prototype.getFixedDelta=function(){return this._fixedDelta/1E3};Y.prototype.getTimescale=function(){return this._timescale};Y.prototype.reset=function(){this._currentTime=this._now();return this};Y.prototype.setFixedDelta=function(a){this._fixedDelta=1E3*a;return this};Y.prototype.setTimescale=function(a){this._timescale=a;return this};Y.prototype.update=function(){!0===this._useFixedDelta?
+this._delta=this._fixedDelta:(this._previousTime=this._currentTime,this._currentTime=this._now(),this._delta=this._currentTime-this._previousTime);this._delta*=this._timescale;this._elapsed+=this._delta;return this};Y.prototype._now=function(){return("undefined"===typeof performance?Date:performance).now()};var Jd=function(a){this.updateFrequency=void 0===a?0:a;this._time=new Y;this._nextUpdateTime=0};Jd.prototype.ready=function(){this._time.update();var a=this._time.getElapsed();return a>=this._nextUpdateTime?
+(this._nextUpdateTime=a+1/this.updateFrequency,!0):!1};var za=function(){};za.prototype.enter=function(){};za.prototype.execute=function(){};za.prototype.exit=function(){};za.prototype.toJSON=function(){};za.prototype.fromJSON=function(){};za.prototype.resolveReferences=function(){};za.prototype.onMessage=function(){return!1};var Z=function(a){this.owner=void 0===a?null:a;this.globalState=this.previousState=this.currentState=null;this.states=new Map;this._typesMap=new Map};Z.prototype.update=function(){null!==
+this.globalState&&this.globalState.execute(this.owner);null!==this.currentState&&this.currentState.execute(this.owner);return this};Z.prototype.add=function(a,b){b instanceof za?this.states.set(a,b):C.warn('YUKA.StateMachine: .add() needs a parameter of type "YUKA.State".');return this};Z.prototype.remove=function(a){this.states.delete(a);return this};Z.prototype.get=function(a){return this.states.get(a)};Z.prototype.changeTo=function(a){a=this.get(a);this._change(a);return this};Z.prototype.revert=
+function(){this._change(this.previousState);return this};Z.prototype.in=function(a){return this.get(a)===this.currentState};Z.prototype.handleMessage=function(a){return null!==this.currentState&&!0===this.currentState.onMessage(this.owner,a)||null!==this.globalState&&!0===this.globalState.onMessage(this.owner,a)?!0:!1};Z.prototype.toJSON=function(){for(var a={owner:this.owner.uuid,currentState:null,previousState:null,globalState:null,states:[]},b=new Map,c=$jscomp.makeIterator(this.states),e=c.next();!e.done;e=
+c.next()){var d=$jscomp.makeIterator(e.value);e=d.next().value;d=d.next().value;a.states.push({type:d.constructor.name,id:e,state:d.toJSON()});b.set(d,e)}a.currentState=b.get(this.currentState)||null;a.previousState=b.get(this.previousState)||null;a.globalState=b.get(this.globalState)||null;return a};Z.prototype.fromJSON=function(a){this.owner=a.owner;for(var b=a.states,c=0,e=b.length;c<e;c++){var d=b[c],k=d.type,f=this._typesMap.get(k);void 0!==f?(k=d.id,d=(new f).fromJSON(d.state),this.add(k,d)):
+C.warn("YUKA.StateMachine: Unsupported state type:",k)}this.currentState=null!==a.currentState?this.get(a.currentState)||null:null;this.previousState=null!==a.previousState?this.get(a.previousState)||null:null;this.globalState=null!==a.globalState?this.get(a.globalState)||null:null;return this};Z.prototype.resolveReferences=function(a){this.owner=a.get(this.owner)||null;for(var b=$jscomp.makeIterator(this.states.values()),c=b.next();!c.done;c=b.next())c.value.resolveReferences(a);return this};Z.prototype.registerType=
+function(a,b){this._typesMap.set(a,b);return this};Z.prototype._change=function(a){this.previousState=this.currentState;null!==this.currentState&&this.currentState.exit(this.owner);this.currentState=a;this.currentState.enter(this.owner)};var Aa=function(){};Aa.prototype.clearDegreeOfMembership=function(){};Aa.prototype.getDegreeOfMembership=function(){};Aa.prototype.updateDegreeOfMembership=function(){};Aa.prototype.toJSON=function(){return{type:this.constructor.name}};var U=function(a){this.terms=
+a=void 0===a?[]:a;return this};$jscomp.inherits(U,Aa);U.prototype.clearDegreeOfMembership=function(){for(var a=this.terms,b=0,c=a.length;b<c;b++)a[b].clearDegreeOfMembership();return this};U.prototype.updateDegreeOfMembership=function(a){for(var b=this.terms,c=0,e=b.length;c<e;c++)b[c].updateDegreeOfMembership(a);return this};U.prototype.toJSON=function(){var a=Aa.prototype.toJSON.call(this);a.terms=[];for(var b=0,c=this.terms.length;b<c;b++){var e=this.terms[b];e instanceof U?a.terms.push(e.toJSON()):
+a.terms.push(e.uuid)}return a};var gc=function(){var a=Array.from(arguments);return U.call(this,a)||this};$jscomp.inherits(gc,U);gc.prototype.getDegreeOfMembership=function(){for(var a=this.terms,b=Infinity,c=0,e=a.length;c<e;c++){var d=a[c].getDegreeOfMembership();d<b&&(b=d)}return b};var gb=function(a){a=void 0===a?null:a;return U.call(this,null!==a?[a]:[])||this};$jscomp.inherits(gb,U);gb.prototype.clearDegreeOfMembership=function(){this.terms[0].clearDegreeOfMembership();return this};gb.prototype.getDegreeOfMembership=
+function(){var a=this.terms[0].getDegreeOfMembership();return Math.sqrt(a)};gb.prototype.updateDegreeOfMembership=function(a){this.terms[0].updateDegreeOfMembership(Math.sqrt(a));return this};var hc=function(){var a=Array.from(arguments);return U.call(this,a)||this};$jscomp.inherits(hc,U);hc.prototype.getDegreeOfMembership=function(){for(var a=this.terms,b=-Infinity,c=0,e=a.length;c<e;c++){var d=a[c].getDegreeOfMembership();d>b&&(b=d)}return b};var hb=function(a){a=void 0===a?null:a;return U.call(this,
+null!==a?[a]:[])||this};$jscomp.inherits(hb,U);hb.prototype.clearDegreeOfMembership=function(){this.terms[0].clearDegreeOfMembership();return this};hb.prototype.getDegreeOfMembership=function(){var a=this.terms[0].getDegreeOfMembership();return a*a};hb.prototype.updateDegreeOfMembership=function(a){this.terms[0].updateDegreeOfMembership(a*a);return this};var w=function(a){this.degreeOfMembership=0;this.representativeValue=void 0===a?0:a;this.right=this.left=0;this._uuid=null;return this};$jscomp.inherits(w,
+Aa);w.prototype.computeDegreeOfMembership=function(){};w.prototype.clearDegreeOfMembership=function(){this.degreeOfMembership=0;return this};w.prototype.getDegreeOfMembership=function(){return this.degreeOfMembership};w.prototype.updateDegreeOfMembership=function(a){a>this.degreeOfMembership&&(this.degreeOfMembership=a);return this};w.prototype.toJSON=function(){var a=Aa.prototype.toJSON.call(this);a.degreeOfMembership=this.degreeOfMembership;a.representativeValue=this.representativeValue;a.left=
+this.left;a.right=this.right;a.uuid=this.uuid;return a};w.prototype.fromJSON=function(a){this.degreeOfMembership=a.degreeOfMembership;this.representativeValue=a.representativeValue;this.left=a.left;this.right=a.right;this.uuid=a.uuid;return this};$jscomp.global.Object.defineProperties(w.prototype,{uuid:{configurable:!0,enumerable:!0,get:function(){null===this._uuid&&(this._uuid=J.generateUUID());return this._uuid},set:function(a){this._uuid=a}}});var Db=function(a,b,c){a=void 0===a?0:a;b=void 0===
+b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+a)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(Db,w);Db.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.right;return a>=this.left&&a<=b?1:a>b&&a<=c?a>=(b+c)/2?2*Math.pow((a-c)/(b-c),2):1-2*Math.pow((a-b)/(b-c),2):0};Db.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};Db.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;
+return this};var ib=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+a)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(ib,w);ib.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.right;return a>=this.left&&a<=b?1:a>b&&a<=c?1/(c-b)*(c-a):0};ib.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};ib.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=
+a.midpoint;return this};var jb=function(a,b,c,e){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;e=void 0===e?0:e;var d=w.call(this,b)||this;d.left=a;d.midpoint=b;d.right=c;d.standardDeviation=e;d._cache={};return d};$jscomp.inherits(jb,w);jb.prototype.computeDegreeOfMembership=function(a){this._updateCache();return a>=this.right||a<=this.left?0:p(a,this.midpoint,this._cache.variance)/this._cache.normalizationFactor};jb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=
+this.midpoint;a.standardDeviation=this.standardDeviation;return a};jb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;this.standardDeviation=a.standardDeviation;return this};jb.prototype._updateCache=function(){var a=this._cache,b=this.midpoint,c=this.standardDeviation;if(b!==a.midpoint||c!==a.standardDeviation){var e=c*c;a.midpoint=b;a.standardDeviation=c;a.variance=e;a.normalizationFactor=p(b,b,e)}return this};var Eb=function(a,b,c){a=void 0===a?0:a;b=void 0===
+b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+c)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(Eb,w);Eb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?a<=(c+b)/2?2*Math.pow((a-c)/(b-c),2):1-2*Math.pow((a-b)/(b-c),2):a>b&&a<=e?1:0};Eb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};Eb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;
+return this};var kb=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,(b+c)/2)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(kb,w);kb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?1/(b-c)*(a-c):a>b&&a<=e?1:0};kb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};kb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=
+a.midpoint;return this};var lb=function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,b)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(lb,w);lb.prototype.computeDegreeOfMembership=function(a){var b=this.right;return a>=this.left&&a<=b?1:0};lb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};lb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;return this};var mb=
+function(a,b,c){a=void 0===a?0:a;b=void 0===b?0:b;c=void 0===c?0:c;var e=w.call(this,b)||this;e.left=a;e.midpoint=b;e.right=c;return e};$jscomp.inherits(mb,w);mb.prototype.computeDegreeOfMembership=function(a){var b=this.midpoint,c=this.left,e=this.right;return a>=c&&a<=b?1/(b-c)*(a-c):a>b&&a<=e?1/(e-b)*(e-a):0};mb.prototype.toJSON=function(){var a=w.prototype.toJSON.call(this);a.midpoint=this.midpoint;return a};mb.prototype.fromJSON=function(a){w.prototype.fromJSON.call(this,a);this.midpoint=a.midpoint;
+return this};var nb=function(a,b){this.antecedent=void 0===a?null:a;this.consequence=void 0===b?null:b};nb.prototype.initConsequence=function(){this.consequence.clearDegreeOfMembership();return this};nb.prototype.evaluate=function(){this.consequence.updateDegreeOfMembership(this.antecedent.getDegreeOfMembership());return this};nb.prototype.toJSON=function(){var a={},b=this.antecedent,c=this.consequence;a.type=this.constructor.name;a.antecedent=b instanceof U?b.toJSON():b.uuid;a.consequence=c instanceof
+U?c.toJSON():c.uuid;return a};nb.prototype.fromJSON=function(a,b){function c(a){if("string"===typeof a)return b.get(a)||null;var e=a.type;switch(e){case "FuzzyAND":e=new gc;break;case "FuzzyOR":e=new hc;break;case "FuzzyVERY":e=new hb;break;case "FuzzyFAIRLY":e=new gb;break;default:C.error("YUKA.FuzzyRule: Unsupported operator type:",e);return}a=a.terms;for(var d=0,f=a.length;d<f;d++)e.terms.push(c(a[d]));return e}this.antecedent=c(a.antecedent);this.consequence=c(a.consequence);return this};var Ba=
+function(){this.fuzzySets=[];this.minRange=Infinity;this.maxRange=-Infinity};Ba.prototype.add=function(a){this.fuzzySets.push(a);a.left<this.minRange&&(this.minRange=a.left);a.right>this.maxRange&&(this.maxRange=a.right);return this};Ba.prototype.remove=function(a){var b=this.fuzzySets;a=b.indexOf(a);b.splice(a,1);this.minRange=Infinity;this.maxRange=-Infinity;a=0;for(var c=b.length;a<c;a++){var e=b[a];e.left<this.minRange&&(this.minRange=e.left);e.right>this.maxRange&&(this.maxRange=e.right)}return this};
+Ba.prototype.fuzzify=function(a){if(a<this.minRange||a>this.maxRange)C.warn("YUKA.FuzzyVariable: Value for fuzzification out of range.");else{for(var b=this.fuzzySets,c=0,e=b.length;c<e;c++){var d=b[c];d.degreeOfMembership=d.computeDegreeOfMembership(a)}return this}};Ba.prototype.defuzzifyMaxAv=function(){for(var a=this.fuzzySets,b=0,c=0,e=0,d=a.length;e<d;e++){var k=a[e];b+=k.degreeOfMembership;c+=k.representativeValue*k.degreeOfMembership}return 0===b?0:c/b};Ba.prototype.defuzzifyCentroid=function(a){a=
+void 0===a?10:a;for(var b=this.fuzzySets,c=(this.maxRange-this.minRange)/a,e=0,d=0,k=1;k<=a;k++)for(var f=this.minRange+k*c,g=0,h=b.length;g<h;g++){var l=b[g];l=Math.min(l.degreeOfMembership,l.computeDegreeOfMembership(f));e+=l;d+=f*l}return 0===e?0:d/e};Ba.prototype.toJSON=function(){for(var a={type:this.constructor.name,fuzzySets:[],minRange:this.minRange.toString(),maxRange:this.maxRange.toString()},b=0,c=this.fuzzySets.length;b<c;b++)a.fuzzySets.push(this.fuzzySets[b].toJSON());return a};Ba.prototype.fromJSON=
+function(a){this.minRange=parseFloat(a.minRange);this.maxRange=parseFloat(a.maxRange);for(var b=0,c=a.fuzzySets.length;b<c;b++){var e=a.fuzzySets[b];switch(e.type){case "LeftShoulderFuzzySet":this.fuzzySets.push((new ib).fromJSON(e));break;case "RightShoulderFuzzySet":this.fuzzySets.push((new kb).fromJSON(e));break;case "SingletonFuzzySet":this.fuzzySets.push((new lb).fromJSON(e));break;case "TriangularFuzzySet":this.fuzzySets.push((new mb).fromJSON(e));break;default:C.error("YUKA.FuzzyVariable: Unsupported fuzzy set type:",
 e.type)}}return this};var aa=function(){this.rules=[];this.flvs=new Map};aa.prototype.addFLV=function(a,b){this.flvs.set(a,b);return this};aa.prototype.removeFLV=function(a){this.flvs.delete(a);return this};aa.prototype.addRule=function(a){this.rules.push(a);return this};aa.prototype.removeRule=function(a){var b=this.rules;a=b.indexOf(a);b.splice(a,1);return this};aa.prototype.fuzzify=function(a,b){this.flvs.get(a).fuzzify(b);return this};aa.prototype.defuzzify=function(a,b){b=void 0===b?aa.DEFUZ_TYPE.MAXAV:
 b;var c=this.flvs,e=this.rules;this._initConsequences();for(var d=0,k=e.length;d<k;d++)e[d].evaluate();a=c.get(a);switch(b){case aa.DEFUZ_TYPE.MAXAV:b=a.defuzzifyMaxAv();break;case aa.DEFUZ_TYPE.CENTROID:b=a.defuzzifyCentroid();break;default:C.warn("YUKA.FuzzyModule: Unknown defuzzification method:",b),b=a.defuzzifyMaxAv()}return b};aa.prototype._initConsequences=function(){for(var a=this.rules,b=0,c=a.length;b<c;b++)a[b].initConsequence();return this};aa.prototype.toJSON=function(){for(var a={rules:[],
 flvs:[]},b=this.rules,c=0,e=b.length;c<e;c++)a.rules.push(b[c].toJSON());b=$jscomp.makeIterator(this.flvs);for(c=b.next();!c.done;c=b.next())e=$jscomp.makeIterator(c.value),c=e.next().value,e=e.next().value,a.flvs.push({name:c,flv:e.toJSON()});return a};aa.prototype.fromJSON=function(a){for(var b=new Map,c=a.flvs,e=0,d=c.length;e<d;e++){var k=c[e],f=k.name;k=(new Ba).fromJSON(k.flv);this.addFLV(f,k);f=$jscomp.makeIterator(k.fuzzySets);for(k=f.next();!k.done;k=f.next())k=k.value,b.set(k.uuid,k)}a=
@@ -234,9 +234,9 @@ return this};var Hb=function(a,b,c){this.graph=void 0===a?null:a;this.source=voi
 b.length;e<d;e++){var k=b[e];!1===this._visited.has(k.to)&&a.push(k)}}this.found=!1;return this};Hb.prototype.getPath=function(){var a=[];if(!1===this.found||-1===this.target)return a;var b=this.target;for(a.push(b);b!==this.source;)b=this._route.get(b),a.unshift(b);return a};Hb.prototype.getSearchTree=function(){return[].concat($jscomp.arrayFromIterable(this._spanningTree))};Hb.prototype.clear=function(){this.found=!1;this._route.clear();this._visited.clear();this._spanningTree.clear();return this};
 var Ib=function(a,b,c){this.graph=void 0===a?null:a;this.source=void 0===b?-1:b;this.target=void 0===c?-1:c;this.found=!1;this._cost=new Map;this._shortestPathTree=new Map;this._searchFrontier=new Map};Ib.prototype.search=function(){var a=[],b=new Da(l);for(b.push({cost:0,index:this.source});0<b.length;){var c=b.pop().index;if(!this._shortestPathTree.has(c)){!0===this._searchFrontier.has(c)&&this._shortestPathTree.set(c,this._searchFrontier.get(c));if(c===this.target)return this.found=!0,this;this.graph.getEdgesOfNode(c,
 a);for(var e=0,d=a.length;e<d;e++){var k=a[e],f=(this._cost.get(c)||0)+k.cost;if(!1===this._searchFrontier.has(k.to)||f<this._cost.get(k.to))this._cost.set(k.to,f),this._searchFrontier.set(k.to,k),b.push({cost:f,index:k.to})}}}this.found=!1;return this};Ib.prototype.getPath=function(){var a=[];if(!1===this.found||-1===this.target)return a;var b=this.target;for(a.push(b);b!==this.source;)b=this._shortestPathTree.get(b).from,a.unshift(b);return a};Ib.prototype.getSearchTree=function(){return[].concat($jscomp.arrayFromIterable(this._shortestPathTree.values()))};
-Ib.prototype.clear=function(){this.found=!1;this._cost.clear();this._shortestPathTree.clear();this._searchFrontier.clear();return this};var P=new f,qb=new f,rb=new f,ke=new f(1,0,0),le=new f(0,1,0),me=new f(0,0,1),Ea={a:new f,b:new f,c:new f},Nd=new f,sb=[],Rc=function(a,b,c){this.branchingFactor=void 0===a?2:a;this.primitivesPerNode=void 0===b?1:b;this.depth=void 0===c?10:c;this.root=null};Rc.prototype.fromMeshGeometry=function(a){this.root=new fa;a=a.toTriangleSoup().vertices;for(var b=0,c=a.length;b<
-c;b++)this.root.primitives.push(a[b]);a=this.root.primitives;b=0;for(c=a.length;b<c;b+=9)P.fromArray(a,b),qb.fromArray(a,b+3),rb.fromArray(a,b+6),P.add(qb).add(rb).divideScalar(3),this.root.centroids.push(P.x,P.y,P.z);this.root.build(this.branchingFactor,this.primitivesPerNode,this.depth,1);return this};Rc.prototype.traverse=function(a){this.root.traverse(a);return this};var fa=function(){this.parent=null;this.children=[];this.boundingVolume=new E;this.primitives=[];this.centroids=[]};fa.prototype.root=
-function(){return null===this.parent};fa.prototype.leaf=function(){return 0===this.children.length};fa.prototype.getDepth=function(){for(var a=0,b=this.parent;null!==b;)b=b.parent,a++;return a};fa.prototype.traverse=function(a){a(this);for(var b=0,c=this.children.length;b<c;b++)this.children[b].traverse(a);return this};fa.prototype.build=function(a,b,c,e){this.computeBoundingVolume();var d=Math.floor(this.primitives.length/9/a);if(e<=c&&d>=b)for(this.split(a),d=0;d<a;d++)this.children[d].build(a,
+Ib.prototype.clear=function(){this.found=!1;this._cost.clear();this._shortestPathTree.clear();this._searchFrontier.clear();return this};var P=new f,qb=new f,rb=new f,ke=new f(1,0,0),le=new f(0,1,0),me=new f(0,0,1),Ea={a:new f,b:new f,c:new f},Nd=new f,sb=[],Rc=function(a,b,c){this.branchingFactor=void 0===a?2:a;this.primitivesPerNode=void 0===b?1:b;this.depth=void 0===c?10:c;this.root=null};Rc.prototype.fromMeshGeometry=function(a){this.root=new fa;null!==a.indices&&(a=a.toTriangleSoup());a=a.vertices;
+for(var b=0,c=a.length;b<c;b++)this.root.primitives.push(a[b]);a=this.root.primitives;b=0;for(c=a.length;b<c;b+=9)P.fromArray(a,b),qb.fromArray(a,b+3),rb.fromArray(a,b+6),P.add(qb).add(rb).divideScalar(3),this.root.centroids.push(P.x,P.y,P.z);this.root.build(this.branchingFactor,this.primitivesPerNode,this.depth,1);return this};Rc.prototype.traverse=function(a){this.root.traverse(a);return this};var fa=function(){this.parent=null;this.children=[];this.boundingVolume=new E;this.primitives=[];this.centroids=
+[]};fa.prototype.root=function(){return null===this.parent};fa.prototype.leaf=function(){return 0===this.children.length};fa.prototype.getDepth=function(){for(var a=0,b=this.parent;null!==b;)b=b.parent,a++;return a};fa.prototype.traverse=function(a){a(this);for(var b=0,c=this.children.length;b<c;b++)this.children[b].traverse(a);return this};fa.prototype.build=function(a,b,c,e){this.computeBoundingVolume();var d=Math.floor(this.primitives.length/9/a);if(e<=c&&d>=b)for(this.split(a),d=0;d<a;d++)this.children[d].build(a,
 b,c,e+1);return this};fa.prototype.computeBoundingVolume=function(){var a=this.primitives,b=this.boundingVolume;b.min.set(Infinity,Infinity,Infinity);b.max.set(-Infinity,-Infinity,-Infinity);for(var c=0,e=a.length;c<e;c+=3)P.x=a[c],P.y=a[c+1],P.z=a[c+2],b.expand(P);return this};fa.prototype.computeSplitAxis=function(){for(var a,b,c=b=a=-Infinity,e,d,k=d=e=Infinity,f=this.centroids,g=0,h=f.length;g<h;g+=3){var l=f[g],v=f[g+1],m=f[g+2];l>a&&(a=l);v>b&&(b=v);m>c&&(c=m);l<e&&(e=l);v<d&&(d=v);m<k&&(k=
 m)}a-=e;b-=d;c-=k;return a>b&&a>c?ke:b>c?le:me};fa.prototype.split=function(a){for(var b=this.centroids,c=this.primitives,e=0;e<a;e++)this.children[e]=new fa,this.children[e].parent=this;var d=this.computeSplitAxis();e=[];for(var k=0,f=b.length;k<f;k+=3){P.fromArray(b,k);var g=P.dot(d);e.push({index:k/3,p:g})}e.sort(Za);d=e.length;k=Math.floor(d/a);for(var h=g=f=0;h<d;h++){g++;g>k&&f<a-1&&(g=1,f++);var l=this.children[f],v=e[h].index,m=9*v;P.fromArray(c,m);qb.fromArray(c,m+3);rb.fromArray(c,m+6);
 l.primitives.push(P.x,P.y,P.z);l.primitives.push(qb.x,qb.y,qb.z);l.primitives.push(rb.x,rb.y,rb.z);P.fromArray(b,3*v);l.centroids.push(P.x,P.y,P.z)}this.centroids.length=0;this.primitives.length=0;return this};fa.prototype.intersectRay=function(a,b){if(null!==a.intersectAABB(this.boundingVolume,b))if(!0===this.leaf())for(var c=this.primitives,e=0,d=c.length;e<d;e+=9)Ea.a.fromArray(c,e),Ea.b.fromArray(c,e+3),Ea.c.fromArray(c,e+6),null!==a.intersectTriangle(Ea,!0,b)&&sb.push(b.clone());else for(c=0,
diff --git a/build/yuka.module.js b/build/yuka.module.js
index 60dfdd5b..427a20fb 100644
--- a/build/yuka.module.js
+++ b/build/yuka.module.js
@@ -8710,19 +8710,19 @@ class MeshGeometry {
 	}
 
 	/**
-	 * Returns a new geometry without containing indices.
+	 * Returns a new geometry without containing indices. If the geometry is already
+	 * non-indexed, the method performs no changes.
 	 *
-	 * @return {MeshGeometry} The new geometry.
+	 * @return {MeshGeometry} The new non-indexed geometry.
 	 */
 	toTriangleSoup() {
 
 		const indices = this.indices;
-		const vertices = this.vertices;
-		let newVertices;
 
 		if ( indices ) {
 
-			newVertices = new Float32Array( indices.length * 3 );
+			const vertices = this.vertices;
+			const newVertices = new Float32Array( indices.length * 3 );
 
 			for ( let i = 0, l = indices.length; i < l; i ++ ) {
 
@@ -8735,14 +8735,14 @@ class MeshGeometry {
 
 			}
 
+			return new MeshGeometry( newVertices );
+
 		} else {
 
-			newVertices = new Float32Array( vertices );
+			return this;
 
 		}
 
-		return new MeshGeometry( newVertices );
-
 	}
 
 	/**
@@ -14053,8 +14053,9 @@ class BVH {
 
 		// primitives
 
-		const nonIndexedGeometry = geometry.toTriangleSoup();
-		const vertices = nonIndexedGeometry.vertices;
+		if ( geometry.indices !== null ) geometry = geometry.toTriangleSoup();
+
+		const vertices = geometry.vertices;
 
 		for ( let i = 0, l = vertices.length; i < l; i ++ ) {
 
diff --git a/examples/math/bvh/index.html b/examples/math/bvh/index.html
index e5f1dbde..dffb493a 100644
--- a/examples/math/bvh/index.html
+++ b/examples/math/bvh/index.html
@@ -80,9 +80,9 @@
 			dirLight.shadow.camera.far = 20;
 			scene.add( dirLight );
 
-			var sphereGeometry = new THREE.TorusKnotBufferGeometry( 1, 0.2, 64, 16 );
-			var sphereMaterial = new THREE.MeshPhongMaterial( { color: 0xee0808 } );
-			var icoSphere = new THREE.Mesh( sphereGeometry, sphereMaterial );
+			const sphereGeometry = new THREE.TorusKnotBufferGeometry( 1, 0.2, 64, 16 ).toNonIndexed();
+			const sphereMaterial = new THREE.MeshPhongMaterial( { color: 0xee0808 } );
+			const icoSphere = new THREE.Mesh( sphereGeometry, sphereMaterial );
 			icoSphere.position.set( 0, 1.5, 0 );
 			icoSphere.updateMatrix();
 			icoSphere.castShadow = true;
@@ -122,8 +122,7 @@
 			threeGeometry.applyMatrix( icoSphere.matrix ); // transform vertices to world space
 
 			const vertices = threeGeometry.attributes.position.array;
-			const indices = threeGeometry.index.array;
-			meshGeometry = new YUKA.MeshGeometry( vertices, indices );
+			meshGeometry = new YUKA.MeshGeometry( vertices );
 
 			createBVH();
 
diff --git a/src/core/MeshGeometry.js b/src/core/MeshGeometry.js
index db4ee3dc..c038fb23 100644
--- a/src/core/MeshGeometry.js
+++ b/src/core/MeshGeometry.js
@@ -264,19 +264,19 @@ class MeshGeometry {
 	}
 
 	/**
-	 * Returns a new geometry without containing indices.
+	 * Returns a new geometry without containing indices. If the geometry is already
+	 * non-indexed, the method performs no changes.
 	 *
-	 * @return {MeshGeometry} The new geometry.
+	 * @return {MeshGeometry} The new non-indexed geometry.
 	 */
 	toTriangleSoup() {
 
 		const indices = this.indices;
-		const vertices = this.vertices;
-		let newVertices;
 
 		if ( indices ) {
 
-			newVertices = new Float32Array( indices.length * 3 );
+			const vertices = this.vertices;
+			const newVertices = new Float32Array( indices.length * 3 );
 
 			for ( let i = 0, l = indices.length; i < l; i ++ ) {
 
@@ -289,14 +289,14 @@ class MeshGeometry {
 
 			}
 
+			return new MeshGeometry( newVertices );
+
 		} else {
 
-			newVertices = new Float32Array( vertices );
+			return this;
 
 		}
 
-		return new MeshGeometry( newVertices );
-
 	}
 
 	/**
diff --git a/src/math/BVH.js b/src/math/BVH.js
index 055d1e23..d22db6f1 100644
--- a/src/math/BVH.js
+++ b/src/math/BVH.js
@@ -79,8 +79,9 @@ class BVH {
 
 		// primitives
 
-		const nonIndexedGeometry = geometry.toTriangleSoup();
-		const vertices = nonIndexedGeometry.vertices;
+		if ( geometry.indices !== null ) geometry = geometry.toTriangleSoup();
+
+		const vertices = geometry.vertices;
 
 		for ( let i = 0, l = vertices.length; i < l; i ++ ) {
 
diff --git a/test/unit_test/core/MeshGeometry.tests.js b/test/unit_test/core/MeshGeometry.tests.js
index e11bd27c..a43f085d 100644
--- a/test/unit_test/core/MeshGeometry.tests.js
+++ b/test/unit_test/core/MeshGeometry.tests.js
@@ -235,6 +235,35 @@ describe( 'MeshGeometry', function () {
 
 	} );
 
+	describe( '#toTriangleSoup()', function () {
+
+		it( 'should convert an indexed to a non-indexed geometry.', function () {
+
+			const vertices = new Float32Array( [ 0, 0, 0, 0.5, 0, 1, 1, 0, 0 ] );
+			const indices = new Uint16Array( [ 0, 1, 2, 2, 1, 0 ] );
+
+			const geometry = new MeshGeometry( vertices, indices ).toTriangleSoup();
+
+			expect( geometry.vertices ).to.deep.equal( new Float32Array( [
+				0, 0, 0, 0.5, 0, 1, 1, 0, 0, // 0, 1, 2
+				1, 0, 0, 0.5, 0, 1, 0, 0, 0, // 2, 1, 0
+			] ) );
+			expect( geometry.indices ).to.be.null;
+
+		} );
+
+		it( 'should perform no changes if the geometry is already non-indexed', function () {
+
+			const vertices = new Float32Array( [ 0, 0, 0, 0.5, 0, 1, 1, 0, 0 ] );
+
+			const geometry = new MeshGeometry( vertices );
+
+			expect( geometry ).to.be.equal( geometry.toTriangleSoup() );
+
+		} );
+
+	} );
+
 	describe( '#toJSON()', function () {
 
 		it( 'should serialize this instance to a JSON object', function () {