Revision: 7717
http://playerstage.svn.sourceforge.net/playerstage/?rev=7717&view=rev
Author: natepak
Date: 2009-05-26 13:44:38 +0000 (Tue, 26 May 2009)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/bullet/cmake/SearchForStuff.cmake
code/gazebo/branches/bullet/server/CMakeLists.txt
code/gazebo/branches/bullet/server/Quatern.cc
code/gazebo/branches/bullet/server/Quatern.hh
code/gazebo/branches/bullet/server/gui/GLWindow.cc
code/gazebo/branches/bullet/server/physics/Body.cc
code/gazebo/branches/bullet/server/physics/CMakeLists.txt
code/gazebo/branches/bullet/server/physics/Geom.cc
code/gazebo/branches/bullet/server/physics/Geom.hh
code/gazebo/branches/bullet/server/physics/Mass.cc
code/gazebo/branches/bullet/server/physics/Mass.hh
code/gazebo/branches/bullet/server/physics/PhysicsFactory.cc
code/gazebo/branches/bullet/server/physics/ode/ODESphereGeom.hh
code/gazebo/branches/bullet/server/physics/ode/ODETrimeshGeom.hh
code/gazebo/branches/bullet/server/rendering/OgreCreator.cc
code/gazebo/branches/bullet/server/rendering/OgreVisual.cc
code/gazebo/branches/bullet/worlds/test.world
Modified: code/gazebo/branches/bullet/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/branches/bullet/cmake/SearchForStuff.cmake 2009-05-26
08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/cmake/SearchForStuff.cmake 2009-05-26
13:44:38 UTC (rev 7717)
@@ -340,3 +340,61 @@
IF (libtool_library AND libtool_include_dir)
SET (HAVE_LTDL TRUE)
ENDIF (libtool_library AND libtool_include_dir)
+
+########################################
+# Find bullet
+FIND_PATH( bullet_include_dir btBulletDynamicsCommon.h /usr/include
/usr/local/include ENV CPATH)
+IF (NOT bullet_include_dir)
+ MESSAGE (STATUS "Looking for btBulletDynamicsCommon.h - not found")
+ SET (bullet_include_dir /usr/include)
+ELSE (NOT bullet_include_dir)
+ MESSAGE (STATUS "Looking for btBulletDynamicsCommon.h - found")
+ENDIF (NOT bullet_include_dir)
+
+FIND_LIBRARY(bullet_dynamics_library NAMES BulletDynamics
+ PATHS /usr/lib /usr/local/lib ENV LD_LIBRARY_PATH)
+FIND_LIBRARY(bullet_collision_library NAMES BulletCollision
+ PATHS /usr/lib /usr/local/lib ENV LD_LIBRARY_PATH)
+FIND_LIBRARY(bullet_softbody_library NAMES BulletSoftBody
+ PATHS /usr/lib /usr/local/lib ENV LD_LIBRARY_PATH)
+FIND_LIBRARY(bullet_math_library NAMES LinearMath
+ PATHS /usr/lib /usr/local/lib ENV LD_LIBRARY_PATH)
+
+IF (NOT bullet_dynamics_library OR
+ NOT bullet_collision_library OR
+ NOT bullet_softbody_library OR
+ NOT bullet_math_library)
+ MESSAGE (STATUS "Looking for bullet libraries - not found")
+ELSE (NOT bullet_dynamics_library OR
+ NOT bullet_collision_library OR
+ NOT bullet_softbody_library OR
+ NOT bullet_math_library)
+ MESSAGE (STATUS "Looking for bullet libraries - found")
+ENDIF (NOT bullet_dynamics_library OR
+ NOT bullet_collision_library OR
+ NOT bullet_softbody_library OR
+ NOT bullet_math_library)
+
+SET (BULLET_LIBRARIES ${bullet_dynamics_library}
+ ${bullet_collision_library}
+ ${bullet_softbody_library}
+ ${bullet_math_library}
+ CACHE INTERNAL "bullet libraries")
+
+IF (bullet_dynamics_library AND
+ bullet_collision_library AND
+ bullet_softbody_library AND
+ bullet_math_library AND
+ bullet_include_dir)
+ SET (INCLUDE_BULLET TRUE CACHE BOOL "Include support for Bullet")
+ELSE (bullet_dynamics_library AND
+ bullet_collision_library AND
+ bullet_softbody_library AND
+ bullet_math_library AND
+ bullet_include_dir)
+ MESSAGE (STATUS "Warning: Unable to find bullet. The bullet physics engine
will not be supported.")
+ENDIF (bullet_dynamics_library AND
+ bullet_collision_library AND
+ bullet_softbody_library AND
+ bullet_math_library AND
+ bullet_include_dir)
Modified: code/gazebo/branches/bullet/server/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet/server/CMakeLists.txt 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/CMakeLists.txt 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -9,6 +9,7 @@
gui
physics
physics/ode
+ physics/bullet
audio_video
controllers
rendering
@@ -115,6 +116,7 @@
gazebo_av
gazebo_gui
gazebo_physics_ode
+ gazebo_physics_bullet
gazebo
)
Modified: code/gazebo/branches/bullet/server/Quatern.cc
===================================================================
--- code/gazebo/branches/bullet/server/Quatern.cc 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/Quatern.cc 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -60,6 +60,17 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the quatern
+void Quatern::Set(double _x, double _y, double _z, double _u)
+{
+ this->x = _x;
+ this->y = _y;
+ this->z = _z;
+ this->u = _u;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
// Equal operator
const Quatern &Quatern::operator=(const Quatern &qt)
{
Modified: code/gazebo/branches/bullet/server/Quatern.hh
===================================================================
--- code/gazebo/branches/bullet/server/Quatern.hh 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/Quatern.hh 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -61,6 +61,9 @@
/// \brief Destructor
public: ~Quatern();
+ /// \brief Set the quatern
+ public: void Set(double x, double y, double z, double u);
+
/// \brief Equal operator
/// \param qt Quatern to copy
public: const Quatern &operator=(const Quatern &qt);
Modified: code/gazebo/branches/bullet/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/branches/bullet/server/gui/GLWindow.cc 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/gui/GLWindow.cc 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -228,7 +228,6 @@
if (currModel == model)
{
- printf("Same\n");
Simulator::Instance()->SetSelectedEntity(NULL);
return;
}
Modified: code/gazebo/branches/bullet/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/Body.cc 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/physics/Body.cc 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -197,9 +197,9 @@
}
// If no geoms are attached, then don't let gravity affect the body.
- if (this->geoms.size()==0 || this->turnGravityOffP->GetValue())
+ if (this->geoms.size()==0 || (**this->turnGravityOffP) == true)
{
- //std::cout << "setting gravity to zero for: " << this->nameP->GetValue()
<< std::endl;
+ std::cout << "setting gravity to zero for: " << this->nameP->GetValue() <<
std::endl;
this->SetGravityMode(false);
}
@@ -453,6 +453,9 @@
newPose += this->staticPose;
iter->second->SetPose(newPose);
}
+
+ this->SetPosition(this->pose.pos);
+ this->SetRotation(this->pose.rot);
}
else
{
@@ -492,8 +495,9 @@
Geom *geom;
geom = this->physicsEngine->CreateGeom(node->GetName(), this);
+ geom->Load(node);
- geom->Load(node);
+ this->geoms[geom->GetName()] = geom;
}
////////////////////////////////////////////////////////////////////////////////
@@ -609,3 +613,12 @@
{
return this->sensors;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the mass of the body
+const Mass *Body::GetMass() const
+{
+ return this->mass;
+}
+
+
Modified: code/gazebo/branches/bullet/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet/server/physics/CMakeLists.txt 2009-05-26
08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/physics/CMakeLists.txt 2009-05-26
13:44:38 UTC (rev 7717)
@@ -2,6 +2,10 @@
ADD_SUBDIRECTORY(ode)
+IF (INCLUDE_BULLET)
+ ADD_SUBDIRECTORY(bullet)
+ENDIF (INCLUDE_BULLET)
+
SET (sources Joint.cc
Body.cc
Geom.cc
Modified: code/gazebo/branches/bullet/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/Geom.cc 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/physics/Geom.cc 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -62,7 +62,7 @@
this->transparency = 0;
Param::Begin(&this->parameters);
- this->massP = new ParamT<double>("mass",0.001,0);
+ this->massP = new ParamT<double>("mass",0.0,0);
this->massP->Callback( &Geom::SetMass, this);
this->xyzP = new ParamT<Vector3>("xyz", Vector3(), 0);
@@ -117,11 +117,7 @@
this->laserFiducialIdP->Load(node);
this->laserRetroP->Load(node);
- if (this->massP->GetValue() <= 0)
- {
- this->massP->SetValue( 0.001 );
- }
-
+ this->mass->SetMass(**this->massP);
this->contact->Load(node);
this->body->AttachGeom(this);
@@ -242,6 +238,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the mass
+Mass *Geom::GetMass() const
+{
+ return this->mass;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Set the laser fiducial integer id
void Geom::SetLaserFiducialId(int id)
{
Modified: code/gazebo/branches/bullet/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/Geom.hh 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/physics/Geom.hh 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -97,6 +97,9 @@
/// \brief Get the mass of the geom
public: virtual Mass GetBodyMassMatrix() = 0;
+ /// \brief Get the mass
+ public: Mass *GetMass() const;
+
/// \brief Set the mass
public: virtual void SetMass(const Mass &mass) = 0;
Modified: code/gazebo/branches/bullet/server/physics/Mass.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/Mass.cc 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/physics/Mass.cc 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -121,3 +121,43 @@
this->principals = mass.principals;
this->products = mass.products;
}
+
+Mass Mass::operator+(const Mass &_mass ) const
+{
+ Mass result;
+ result.mass = this->mass + _mass.mass;
+ result.cog = this->cog + _mass.cog;
+ result.principals = this->principals + _mass.principals;
+ result.products = this->products + _mass.products;
+ return result;
+}
+
+const Mass &Mass::operator+=(const Mass &_mass )
+{
+ this->mass += _mass.mass;
+ this->cog += _mass.cog;
+ this->principals += _mass.principals;
+ this->products += _mass.products;
+
+ return *this;
+}
+
+Mass Mass::operator-(const Mass &_mass ) const
+{
+ Mass result;
+ result.mass = this->mass - _mass.mass;
+ result.cog = this->cog - _mass.cog;
+ result.principals = this->principals - _mass.principals;
+ result.products = this->products - _mass.products;
+ return result;
+}
+
+const Mass &Mass::operator-=(const Mass &_mass )
+{
+ this->mass -= _mass.mass;
+ this->cog -= _mass.cog;
+ this->principals -= _mass.principals;
+ this->products -= _mass.products;
+
+ return *this;
+}
Modified: code/gazebo/branches/bullet/server/physics/Mass.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/Mass.hh 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/server/physics/Mass.hh 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -72,6 +72,12 @@
/// \brief Equal operator
public: void operator=(const Mass &mass);
+ public: Mass operator+(const Mass &_mass ) const;
+ public: const Mass &operator+=(const Mass &_mass );
+
+ public: Mass operator-(const Mass &_mass ) const;
+ public: const Mass &operator-=(const Mass &_mass );
+
private: double mass;
private: Vector3 cog;
private: Vector3 principals;
Modified: code/gazebo/branches/bullet/server/physics/PhysicsFactory.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/PhysicsFactory.cc
2009-05-26 08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/physics/PhysicsFactory.cc
2009-05-26 13:44:38 UTC (rev 7717)
@@ -31,6 +31,7 @@
#include "PhysicsFactory.hh"
void RegisterODEPhysics();
+void RegisterBulletPhysics();
using namespace gazebo;
@@ -41,6 +42,7 @@
void PhysicsFactory::RegisterAll()
{
RegisterODEPhysics();
+ RegisterBulletPhysics();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/bullet/server/physics/ode/ODESphereGeom.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/ode/ODESphereGeom.hh
2009-05-26 08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/physics/ode/ODESphereGeom.hh
2009-05-26 13:44:38 UTC (rev 7717)
@@ -24,8 +24,8 @@
* CVS: $Id: ODESphereGeom.hh 7039 2008-09-24 18:06:29Z natepak $
*/
-#ifndef SPHEREGEOM_HH
-#define SPHEREGEOM_HH
+#ifndef ODESPHEREGEOM_HH
+#define ODESPHEREGEOM_HH
#include "Param.hh"
#include "ODEGeom.hh"
Modified: code/gazebo/branches/bullet/server/physics/ode/ODETrimeshGeom.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/ode/ODETrimeshGeom.hh
2009-05-26 08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/physics/ode/ODETrimeshGeom.hh
2009-05-26 13:44:38 UTC (rev 7717)
@@ -24,8 +24,8 @@
* CVS: $Id: ODETrimeshGeom.hh 7039 2008-09-24 18:06:29Z natepak $
*/
-#ifndef TRIMESHGEOM_HH
-#define TRIMESHGEOM_HH
+#ifndef ODETRIMESHGEOM_HH
+#define ODETRIMESHGEOM_HH
#include "ODEGeom.hh"
Modified: code/gazebo/branches/bullet/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/bullet/server/rendering/OgreCreator.cc 2009-05-26
08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/rendering/OgreCreator.cc 2009-05-26
13:44:38 UTC (rev 7717)
@@ -749,7 +749,6 @@
{
boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMutex());
-
// Update the visuals
for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
{
Modified: code/gazebo/branches/bullet/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/branches/bullet/server/rendering/OgreVisual.cc 2009-05-26
08:01:44 UTC (rev 7716)
+++ code/gazebo/branches/bullet/server/rendering/OgreVisual.cc 2009-05-26
13:44:38 UTC (rev 7717)
@@ -170,7 +170,6 @@
}
}
- std::cout << "Creating Mesh[" << meshName << "]\n";
obj = (Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(
stream.str(), meshName);
}
Modified: code/gazebo/branches/bullet/worlds/test.world
===================================================================
--- code/gazebo/branches/bullet/worlds/test.world 2009-05-26 08:01:44 UTC
(rev 7716)
+++ code/gazebo/branches/bullet/worlds/test.world 2009-05-26 13:44:38 UTC
(rev 7717)
@@ -1,155 +1,148 @@
<?xml version="1.0"?>
<gazebo:world
- xmlns:xi="http://www.w3.org/2001/XInclude";
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
- xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
- xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
- xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
<verbosity>5</verbosity>
- <physics:ode>
- <stepTime>0.03</stepTime>
+ <physics:bullet>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>10e-5</cfm>
- <erp>0.8</erp>
- <maxUpdateRate>0</maxUpdateRate>
- </physics:ode>
+ </physics:bullet>
<rendering:gui>
+ <type>fltk</type>
<size>800 600</size>
- <pos>100 100</pos>
- <frames>
- <row height="50%">
- <camera width="50%">
- <xyz>-1 0 4</xyz>
- <rpy>0 34 0</rpy>
- </camera>
- <camera width="50%">
- <xyz>0 0 10</xyz>
- <rpy>0 90 0</rpy>
- </camera>
- </row>
- <row height="50%">
- <camera width="50%">
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- </camera>
- <camera width="50%">
- <xyz>10 0 1</xyz>
- <rpy>0 0 90</rpy>
- </camera>
- </row>
- </frames>
+ <pos>0 0</pos>
</rendering:gui>
<rendering:ogre>
- <ambient>0.5 0.5 0.5 1.0</ambient>
+ <ambient>0.0 0.0 0.0 1.0</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
-
- <fog>
- <color>1.0 1.0 1.0</color>
- <linearStart>10</linearStart>
- <linearEnd>100</linearEnd>
- </fog>
+ <shadowTechnique>stencilAdditive</shadowTechnique>
+ <grid>true</grid>
</rendering:ogre>
- <model:physical name="plane1_model">
- <xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
-
- <body:plane name="plane1_body">
- <geom:plane name="plane1_geom">
- <normal>0 0 1</normal>
- <size>2000 2000</size>
- <segments>10 10</segments>
- <uvTile>100 100</uvTile>
- <material>Gazebo/Grey</material>
- </geom:plane>
- </body:plane>
- </model:physical>
-
<model:physical name="sphere1_model">
- <xyz>2.15 -1.68 .7</xyz>
+ <xyz>1 0 1.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
<static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
- <size>0.1</size>
+ <size>0.2</size>
+ <mass>.1</mass>
+ <mu1>109999.0</mu1>
+
<visual>
- <scale>0.1 0.1 0.1</scale>
+ <size>0.4 0.4 0.4</size>
<mesh>unit_sphere</mesh>
<material>Gazebo/Rocky</material>
</visual>
</geom:sphere>
+
+ <geom:sphere name="sphere2_geom">
+ <xyz>0.5 0 0.5</xyz>
+ <size>0.1</size>
+ <mass>1</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>0.2 0.2 0.2</size>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:sphere>
+
</body:sphere>
</model:physical>
- <!--
- Include the complete model described in the .model file
- This assumes the root node is a <model:...>
- -->
- <!-- <include embedded="false">
- <xi:include href="pioneer2dx.model" />
- </include>
- -->
+ <!--<model:physical name="box1_model">
+ <xyz>1 1 0.8</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <enableGravity>false</enableGravity>
+ <static>false</static>
- <model:physical name="pioneer2dx_model1">
- <xyz>0 0 0.145</xyz>
+ <body:box name="box1_body">
+ <geom:box name="box1_geom">
+ <size>0.2 0.2 0.2</size>
+ <mass>1</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="cylinder1_model">
+ <xyz>1 -1 0.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <static>false</static>
- <controller:differential_position2d name="controller1">
- <leftJoint>left_wheel_hinge</leftJoint>
- <rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.39</wheelSeparation>
- <wheelDiameter>0.15</wheelDiameter>
- <torque>5</torque>
- <interface:position name="position_iface_0"/>
- </controller:differential_position2d>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <size>0.2 0.2</size>
+ <mass>1</mass>
- <model:physical name="laser">
- <xyz>0.15 0 0.18</xyz>
+ <mu1>109999.0</mu1>
- <attach>
- <parentBody>chassis_body</parentBody>
- <myBody>laser_body</myBody>
- </attach>
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+ </model:physical>
+ -->
- <include embedded="true">
- <xi:include href="models/sicklms200.model" />
- </include>
- </model:physical>
- <include embedded="true">
- <xi:include href="models/pioneer2dx.model" />
- </include>
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/Rockwall</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ </geom:plane>
+ </body:plane>
</model:physical>
- <!-- White Directional light -->
- <model:renderable name="directional_white">
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 0 5</xyz>
<enableGravity>false</enableGravity>
+
<light>
- <type>directional</type>
- <direction>0 -0.6 -0.4</direction>
- <diffuseColor>1.0 1.0 1.0</diffuseColor>
- <specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <type>point</type>
+ <diffuseColor>0.9 0.9 0.9</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <attenuation>20 0.8 0.1 0.0</attenuation>
</light>
</model:renderable>
-
+
</gazebo:world>
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