Revision: 8394
http://playerstage.svn.sourceforge.net/playerstage/?rev=8394&view=rev
Author: natepak
Date: 2009-11-12 15:28:37 +0000 (Thu, 12 Nov 2009)
Log Message:
-----------
Got map shape to work again
Modified Paths:
--------------
code/gazebo/trunk/server/physics/CMakeLists.txt
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/MapShape.cc
code/gazebo/trunk/server/physics/MapShape.hh
code/gazebo/trunk/server/physics/TrimeshShape.cc
code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.cc
code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.hh
code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/worlds/map.world
Modified: code/gazebo/trunk/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -23,8 +23,8 @@
RayShape.cc
MultiRayShape.cc
TrimeshShape.cc
+ MapShape.cc
#HeightmapGeom.cc
- #MapGeom.cc
)
set (headers BallJoint.hh
@@ -41,13 +41,13 @@
Geom.hh
BoxShape.hh
CylinderShape.hh
- #HeightmapShape.hh
- #MapShape.hh
+ MapShape.hh
PlaneShape.hh
RayShape.hh
MultiRayShape.hh
SphereShape.hh
TrimeshShape.hh
+ #HeightmapShape.hh
)
#add_library(gazebo_physics STATIC ${sources})
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-12 04:36:21 UTC (rev
8393)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-12 15:28:37 UTC (rev
8394)
@@ -156,7 +156,7 @@
void Geom::CreateBoundingBox()
{
// Create the bounding box
- if (this->GetType() != Shape::PLANE)
+ if (this->GetType() != Shape::PLANE && this->GetType() != Shape::MAP)
{
Vector3 min;
Vector3 max;
Modified: code/gazebo/trunk/server/physics/MapShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapShape.cc 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/physics/MapShape.cc 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -18,38 +18,39 @@
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
-/* Desc: Map geometry
+/* Desc: Map shape
* Author: Nate Koenig
* Date: 14 July 2008
- * CVS: $Id$
+ * SVN: $Id$
*/
#include <iostream>
#include <string.h>
#include <math.h>
+#include "PhysicsEngine.hh"
#include "GazeboConfig.hh"
#include "OgreVisual.hh"
#include "Image.hh"
-#include "BoxGeom.hh"
+#include "BoxShape.hh"
#include "GazeboError.hh"
#include "Simulator.hh"
#include "Global.hh"
#include "Body.hh"
-#include "MapGeom.hh"
+#include "Geom.hh"
+#include "MapShape.hh"
using namespace gazebo;
-unsigned int MapGeom::geomCounter = 0;
+unsigned int MapShape::geomCounter = 0;
//////////////////////////////////////////////////////////////////////////////
// Constructor
-MapGeom::MapGeom(Body *body)
- : Geom(body)
+MapShape::MapShape(Geom *parent)
+ : Shape(parent)
{
+ this->type = Shape::MAP;
- this->type = Geom::MAP;
-
this->root = new QuadNode(NULL);
Param::Begin(&this->parameters);
@@ -61,12 +62,13 @@
this->granularityP = new ParamT<int>("granularity", 5, 0);
Param::End();
+ this->visualNode = parent->GetVisualNode();
}
//////////////////////////////////////////////////////////////////////////////
// Destructor
-MapGeom::~MapGeom()
+MapShape::~MapShape()
{
if (this->root)
delete this->root;
@@ -85,15 +87,14 @@
//////////////////////////////////////////////////////////////////////////////
/// Update function.
-void MapGeom::UpdateChild()
+void MapShape::Update()
{
}
////////////////////////////////////////////////////////////////////////////////
/// Load the heightmap
-void MapGeom::LoadChild(XMLConfigNode *node)
+void MapShape::Load(XMLConfigNode *node)
{
-
std::string imageFilename = node->GetString("image","",1);
this->negativeP->Load(node);
@@ -139,7 +140,7 @@
//////////////////////////////////////////////////////////////////////////////
// Create the ODE boxes
-void MapGeom::CreateBoxes(QuadNode *node)
+void MapShape::CreateBoxes(QuadNode *node)
{
if (node->leaf)
{
@@ -149,7 +150,7 @@
std::ostringstream stream;
// Create the box geometry
- BoxGeom* newBox = new BoxGeom( this->body );
+ Geom *geom =
this->physicsEngine->CreateGeom("box",this->parent->GetBody());
XMLConfig *boxConfig = new XMLConfig();
@@ -166,7 +167,6 @@
sprintf(geomName,"map_geom_%d",geomCounter++);
stream << "<geom:box name='" << geomName << "'>";
- stream << " <mass>0.0</mass>";
stream << " <xyz>" << x << " " << y << " " << z << "</xyz>";
stream << " <rpy>0 0 0</rpy>";
stream << " <size>" << xSize << " " << ySize << " " << zSize << "</size>";
@@ -180,7 +180,9 @@
boxConfig->LoadString( stream.str() );
- newBox->Load( boxConfig->GetRootNode()->GetChild() );
+ geom->Load( boxConfig->GetRootNode()->GetChild() );
+ geom->SetStatic(true);
+
delete boxConfig;
}
else
@@ -195,7 +197,7 @@
//////////////////////////////////////////////////////////////////////////////
// Reduce the size of the quad tree
-void MapGeom::ReduceTree(QuadNode *node)
+void MapShape::ReduceTree(QuadNode *node)
{
std::deque<QuadNode*>::iterator iter;
@@ -254,7 +256,7 @@
//////////////////////////////////////////////////////////////////////////////
// Merege quad tree cells
-void MapGeom::Merge(QuadNode *nodeA, QuadNode *nodeB)
+void MapShape::Merge(QuadNode *nodeA, QuadNode *nodeB)
{
std::deque<QuadNode*>::iterator iter;
@@ -304,7 +306,7 @@
//////////////////////////////////////////////////////////////////////////////
// Construct the quad tree
-void MapGeom::BuildTree(QuadNode *node)
+void MapShape::BuildTree(QuadNode *node)
{
QuadNode *newNode = NULL;
unsigned int freePixels, occPixels;
@@ -379,7 +381,7 @@
//////////////////////////////////////////////////////////////////////////////
// Get a count of pixels within a given area
-void MapGeom::GetPixelCount(unsigned int xStart, unsigned int yStart,
+void MapShape::GetPixelCount(unsigned int xStart, unsigned int yStart,
unsigned int width, unsigned int height,
unsigned int &freePixels,
unsigned int &occPixels )
@@ -410,7 +412,7 @@
//////////////////////////////////////////////////////////////////////////////
/// Save child parameters
-void MapGeom::SaveChild(std::string &prefix, std::ostream &stream)
+void MapShape::Save(std::string &prefix, std::ostream &stream)
{
stream << prefix << *(this->negativeP) << "\n";
stream << prefix << *(this->thresholdP) << "\n";
Modified: code/gazebo/trunk/server/physics/MapShape.hh
===================================================================
--- code/gazebo/trunk/server/physics/MapShape.hh 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/physics/MapShape.hh 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -24,8 +24,8 @@
* CVS: $Id$
*/
-#ifndef MAPGEOM_HH
-#define MAPGEOM_HH
+#ifndef MAPSHAPE_HH
+#define MAPSHAPE_HH
#include <deque>
@@ -88,22 +88,22 @@
class QuadNode;
/// \brief Map geom
- class MapGeom : public Geom
+ class MapShape : public Shape
{
/// \brief Constructor
- public: MapGeom(Body *body);
+ public: MapShape(Geom *parent);
/// \brief Destructor
- public: virtual ~MapGeom();
+ public: virtual ~MapShape();
/// \brief Update function
- public: void UpdateChild();
+ public: void Update();
- /// \brief Load the heightmap
- protected: virtual void LoadChild(XMLConfigNode *node);
+ /// \brief Load the map
+ protected: virtual void Load(XMLConfigNode *node);
- /// \brief Save child parameters
- protected: void SaveChild(std::string &prefix, std::ostream &stream);
+ /// \brief Save parameters
+ protected: void Save(std::string &prefix, std::ostream &stream);
/// \brief Build the quadtree
private: void BuildTree(QuadNode *node);
@@ -148,6 +148,7 @@
private: bool merged;
private: static unsigned int geomCounter;
+ private: OgreVisual *visualNode;
};
Modified: code/gazebo/trunk/server/physics/TrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -45,12 +45,6 @@
this->meshNameP = new ParamT<std::string>("mesh","",1);
this->scaleP = new ParamT<Vector3>("scale",Vector3(1,1,1),0);
Param::End();
-
- /*this->numVertices = 0;
- this->numIndices = 0;
- this->vertices = NULL;
- this->indices = NULL;
- */
}
@@ -122,24 +116,6 @@
delete config;
}
}
-
- /*const Mesh *mesh = meshManager->Load( **this->meshNameP );
-
- if (!mesh)
- gzthrow("Invalid mesh");
-
- mesh->FillArrays(&this->vertices, &this->indices);
-
- this->numIndices = mesh->GetIndexCount();
- this->numVertices = mesh->GetVertexCount();
-
- for (unsigned int i=0; i < this->numVertices; i++)
- {
- this->vertices[i*3+0] = this->vertices[i*3+0] * (**this->scaleP).x;
- this->vertices[i*3+1] = this->vertices[i*3+1] * (**this->scaleP).y;
- this->vertices[i*3+2] = this->vertices[i*3+2] * (**this->scaleP).z;
- }
- */
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-12
04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-12
15:28:37 UTC (rev 8394)
@@ -29,7 +29,8 @@
#include "BulletSphereShape.hh"
#include "BulletBoxShape.hh"
#include "BulletCylinderShape.hh"
-//#include "BulletTrimeshShape.hh"
+#include "BulletTrimeshShape.hh"
+#include "MapShape.hh"
#include "BulletHingeJoint.hh"
#include "BulletHinge2Joint.hh"
@@ -216,6 +217,12 @@
case Shape::PLANE:
shape = new BulletPlaneShape(geom);
break;
+ case Shape::TRIMESH:
+ shape = new BulletTrimeshShape(geom);
+ break;
+ case Shape::MAP:
+ shape = new MapShape(geom);
+ break;
default:
gzthrow("Unable to create a geom of type[" << type << "]");
}
Modified: code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.cc
2009-11-12 04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.cc
2009-11-12 15:28:37 UTC (rev 8394)
@@ -18,7 +18,7 @@
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
-/* Desc: Trimesh geometry
+/* Desc: Trimesh shape
* Author: Nate Keonig
* Date: 21 May 2009
* SVN: $Id:$
@@ -27,53 +27,36 @@
#include "BulletPhysics.hh"
#include "OgreVisual.hh"
#include "Body.hh"
-#include "BulletTrimeshGeom.hh"
#include "GazeboError.hh"
#include "Simulator.hh"
#include "OgreAdaptor.hh"
+#include "BulletTrimeshShape.hh"
+
using namespace gazebo;
//////////////////////////////////////////////////////////////////////////////
// Constructor
-BulletTrimeshGeom::BulletTrimeshGeom(Body *body)
- : BulletGeom(body)
+BulletTrimeshShape::BulletTrimeshShape(Geom *parent)
+ : TrimeshShape(parent)
{
- Param::Begin(&this->parameters);
- this->meshNameP = new ParamT<std::string>("mesh","",1);
- this->scaleP = new ParamT<Vector3>("scale",Vector3(1,1,1),0);
- Param::End();
}
//////////////////////////////////////////////////////////////////////////////
// Destructor
-BulletTrimeshGeom::~BulletTrimeshGeom()
+BulletTrimeshShape::~BulletTrimeshShape()
{
- delete this->meshNameP;
- delete this->scaleP;
}
//////////////////////////////////////////////////////////////////////////////
/// Update function.
-void BulletTrimeshGeom::Update()
+void BulletTrimeshShape::Update()
{
- BulletGeom::Update();
}
//////////////////////////////////////////////////////////////////////////////
/// Load the trimesh
-void BulletTrimeshGeom::Load(XMLConfigNode *node)
+void BulletTrimeshShape::Load(XMLConfigNode *node)
{
- BulletGeom::Load(node);
}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Save child parameters
-void BulletTrimeshGeom::Save(std::string &prefix, std::ostream &stream)
-{
- BulletGeom::Save(prefix, stream);
- stream << prefix << *(this->meshNameP) << "\n";
- stream << prefix << *(this->scaleP) << "\n";
-}
-
Modified: code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.hh
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.hh
2009-11-12 04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/bullet/BulletTrimeshShape.hh
2009-11-12 15:28:37 UTC (rev 8394)
@@ -24,10 +24,10 @@
* SVN: $Id:$
*/
-#ifndef BULLETTRIMESHGEOM_HH
-#define BULLETTRIMESHGEOM_HH
+#ifndef BULLETTRIMESHSHAPE_HH
+#define BULLETTRIMESHSHAPE_HH
-#include "BulletGeom.hh"
+#include "TrimeshShape.hh"
namespace gazebo
{
@@ -68,27 +68,19 @@
/// \brief Triangle mesh geom
- class BulletTrimeshGeom : public BulletGeom
+ class BulletTrimeshShape : public TrimeshShape
{
/// \brief Constructor
- public: BulletTrimeshGeom(Body *body);
+ public: BulletTrimeshShape(Geom *parent);
/// \brief Destructor
- public: virtual ~BulletTrimeshGeom();
+ public: virtual ~BulletTrimeshShape();
/// \brief Update function
public: void Update();
/// \brief Load the trimesh
public: virtual void Load(XMLConfigNode *node);
-
- /// \brief Save child parameters
- public: void Save(std::string &prefix, std::ostream &stream);
-
- /// name of the mesh
- private: ParamT<std::string> *meshNameP;
-
- private: ParamT<Vector3> *scaleP;
};
/// \}
Modified: code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-11-12
04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-11-12
15:28:37 UTC (rev 8394)
@@ -10,6 +10,7 @@
BulletHinge2Joint.cc
BulletUniversalJoint.cc
BulletBallJoint.cc
+ BulletTrimeshShape.cc
#BulletRayGeom.cc
)
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -50,6 +50,7 @@
#include "ODEPlaneShape.hh"
#include "ODETrimeshShape.hh"
#include "ODEMultiRayShape.hh"
+#include "MapShape.hh"
#include "ODEPhysics.hh"
@@ -340,6 +341,9 @@
case Shape::TRIMESH:
shape = new ODETrimeshShape(geom);
break;
+ case Shape::MAP:
+ shape = new MapShape(geom);
+ break;
default:
gzerr(0) << "Unable to create geom of type["<<type<<"]\n";
}
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-12
04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-12
15:28:37 UTC (rev 8394)
@@ -50,7 +50,7 @@
/// Update function.
void ODETrimeshShape::Update()
{
- /*ODEGeom *ogeom = ((ODEGeom*)this->parent);
+ ODEGeom *ogeom = ((ODEGeom*)this->parent);
/// FIXME: use below to update trimesh geometry for collision without using
above Ogre codes
// tell the tri-tri collider the current transform of the trimesh --
@@ -83,7 +83,6 @@
dGeomTriMeshSetLastTransform( ogeom->GetGeomId(),
*(dMatrix4*)( this->matrix_dblbuff + this->last_matrix_index * 16) );
- */
}
//////////////////////////////////////////////////////////////////////////////
@@ -97,56 +96,49 @@
TrimeshShape::Load(node);
- /*if (this->mesh->GetSubMeshCount() > 1)
- {
- printf("ODETrimesh submesh count >1\n");
- return;
- }*/
-
mass = this->parent->GetMass();
unsigned int i =0;
- dTriMeshDataID odeData;
+ dTriMeshDataID odeData;
- const SubMesh *subMesh = mesh->GetSubMesh(i);
- if (subMesh->GetVertexCount() < 3)
- {
- printf("ODETrimesh invalid mesh\n");
- return;
- }
+ const SubMesh *subMesh = mesh->GetSubMesh(i);
+ if (subMesh->GetVertexCount() < 3)
+ {
+ gzerr(0) << "ODETrimesh invalid mesh\n";
+ return;
+ }
- /// This will hold the vertex data of the triangle mesh
- odeData = dGeomTriMeshDataCreate();
+ /// This will hold the vertex data of the triangle mesh
+ odeData = dGeomTriMeshDataCreate();
- unsigned int numVertices = 0;
- unsigned int numIndices = 0;
- float *vertices = NULL;
- unsigned int *indices = NULL;
+ unsigned int numVertices = 0;
+ unsigned int numIndices = 0;
+ float *vertices = NULL;
+ unsigned int *indices = NULL;
- subMesh->FillArrays(&vertices, &indices);
+ subMesh->FillArrays(&vertices, &indices);
- numIndices = subMesh->GetIndexCount();
- numVertices = subMesh->GetVertexCount();
+ numIndices = subMesh->GetIndexCount();
+ numVertices = subMesh->GetVertexCount();
- for (unsigned int j=0; j < numVertices; j++)
- {
- vertices[j*3+0] = vertices[j*3+0] * (**this->scaleP).x;
- vertices[j*3+1] = vertices[j*3+1] * (**this->scaleP).y;
- vertices[j*3+2] = vertices[j*3+2] * (**this->scaleP).z;
- }
+ for (unsigned int j=0; j < numVertices; j++)
+ {
+ vertices[j*3+0] = vertices[j*3+0] * (**this->scaleP).x;
+ vertices[j*3+1] = vertices[j*3+1] * (**this->scaleP).y;
+ vertices[j*3+2] = vertices[j*3+2] * (**this->scaleP).z;
+ }
- // Build the ODE triangle mesh
- dGeomTriMeshDataBuildSingle( odeData,
- (float*)vertices, 3*sizeof(float), numVertices,
- (int*)indices, numIndices, 3*sizeof(int));
+ // Build the ODE triangle mesh
+ dGeomTriMeshDataBuildSingle( odeData,
+ (float*)vertices, 3*sizeof(float), numVertices,
+ (int*)indices, numIndices, 3*sizeof(int));
- pgeom->SetSpaceId( dSimpleSpaceCreate(pgeom->GetSpaceId()) );
- pgeom->SetGeom( dCreateTriMesh(pgeom->GetSpaceId(), odeData,0,0,0 ), true);
+ pgeom->SetSpaceId( dSimpleSpaceCreate(pgeom->GetSpaceId()) );
+ pgeom->SetGeom( dCreateTriMesh(pgeom->GetSpaceId(), odeData,0,0,0 ), true);
- if (!pgeom->IsStatic())
- dMassSetTrimeshTotal(&odeMass, mass.GetAsDouble(), pgeom->GetGeomId());
- //}
+ if (!pgeom->IsStatic())
+ dMassSetTrimeshTotal(&odeMass, mass.GetAsDouble(), pgeom->GetGeomId());
physics->ConvertMass(&mass, &odeMass);
this->parent->SetMass(mass);
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh 2009-11-12
04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh 2009-11-12
15:28:37 UTC (rev 8394)
@@ -80,8 +80,6 @@
/// \brief Load the trimesh
protected: virtual void Load(XMLConfigNode *node);
- //private: dTriMeshDataID odeData;
-
private: dReal matrix_dblbuff[16*2];
private: int last_matrix_index;
};
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-12 04:36:21 UTC
(rev 8393)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-12 15:28:37 UTC
(rev 8394)
@@ -83,11 +83,11 @@
this->InitCam();
this->visual = new OgreVisual(this->pitchNode);
+
+ // The lines draw a visualization of the camera
OgreDynamicLines *line = OgreCreator::Instance()->CreateDynamicLine(
OgreDynamicRenderable::OT_LINE_LIST);
- float d = 0.5;
- float b = 0.01;
float f = 0.2;
// Create the front face
Modified: code/gazebo/trunk/worlds/map.world
===================================================================
--- code/gazebo/trunk/worlds/map.world 2009-11-12 04:36:21 UTC (rev 8393)
+++ code/gazebo/trunk/worlds/map.world 2009-11-12 15:28:37 UTC (rev 8394)
@@ -42,6 +42,7 @@
<linearStart>10</linearStart>
<linearEnd>100</linearEnd>
</fog>
+ <grid>false</grid>
</rendering:ogre>
<!-- Ground Plane -->
@@ -55,13 +56,12 @@
<normal>0 0 1</normal>
<size>2000 2000</size>
<segments>10 10</segments>
- <uvTile>100 100</uvTile>
- <material>Gazebo/Grey</material>
+ <uvTile>1000 1000</uvTile>
+ <material>Gazebo/GrayGrid</material>
</geom:plane>
</body:plane>
</model:physical>
-
<model:physical name="map">
<static>true</static>
<body:map name="map_body">
@@ -76,20 +76,6 @@
</body:map>
</model:physical>
- <model:renderable name="directional_white">
- <static>true</static>
- <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>
- <range>100</range>
-
- <!-- Constant(0-1) Linear(0-1) Quadratic -->
- <attenuation>1.0 0.0 0</attenuation>
- </light>
- </model:renderable>
-
<model:physical name="pioneer2dx_model1">
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
@@ -112,5 +98,21 @@
</include>
</model:physical>
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>-4 4 5</xyz>
+ <static>true</static>
+ <light>
+ <type>point</type>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <range>20</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.01 0.001</attenuation>
+ </light>
+ </model:renderable>
+
+
</gazebo:world>
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