Hello, The pyramid model that you include in your email work for me. At the end of this email is the world file that I used. I don't plan on putting in support for physX, primarily because it's not opensource and I don't want to pay for a physics engine.
-nate <?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: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:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"; xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; > <verbosity>5</verbosity> <physics:ode> <stepTime>0.02</stepTime> <gravity>0 0 -9.80665</gravity> <cfm>1e-5</cfm> <erp>0.8</erp> </physics:ode> <rendering:gui> <type>fltk</type> <size>640 480</size> <pos>0 0</pos> </rendering:gui> <rendering:ogre> <ambient>1.0 1.0 1.0 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> </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/GrassFloor</material> </geom:plane> </body:plane> </model:physical> <model:physical name="cam2_model"> <xyz>0 3.5 0.9</xyz> <rpy>0 -15 90</rpy> <static>true</static> <body:empty name="cam2_body"> <sensor:camera name="cam2_sensor"> <imageSize>800 600</imageSize> <hfov>60</hfov> <nearClip>0.1</nearClip> <farClip>100</farClip> <saveFrames>false</saveFrames> <saveFramePath>frames</saveFramePath> </sensor:camera> </body:empty> </model:physical> <model:physical name="pyramid"> <xyz>-2 0 1.5</xyz> <static>false</static> <body:trimesh name="pyramid_body"> <geom:trimesh name="pyramid_geom"> <xyz>0 0 0.25</xyz> <mesh>unitpyramid.mesh</mesh> <material>Gazebo/WoodPallet</material> <mass>1.0</mass> </geom:trimesh> </body:trimesh> </model:physical> <model:physical name="laser"> <rpy> 0 0 180</rpy> <include embedded="false"> <xi:include href="laser.model" /> </include> </model:physical> </gazebo:world> On Dec 3, 2007 10:18 AM, Volker Darius <[EMAIL PROTECTED]> wrote: > Hello list, > > I do have some problems with trimesh files in Gazebo. Ok, many people > had problems with that before, I know, but.. in the end I tried a very > simple example of a pyramid (see attached Ogre XML), which worked fine > for visualization but not for collision / physics. The config file works > fine for other, even far more complex meshes. By trying several > variations, I found out that it must have something to do with the order > of faces/vertices. Manually transforming a Cube to a Pyramid works, too > (different face/vertice order..) and I do not really see the problem > within that pyramid mesh file. Does anyone have an idea? > > The mesh file is exported from Maya via the Ogre-Exporter Plugin, which > works with many, but unfortunately not all meshes. I attached the XML > Code of the pyramid which can be easily converted to a mesh file using > the OgreXMLExport tool which comes with Ogre. > > Btw, has someone thought about integrating PhysX into Gazebo, as it > seems to be a bit more powerful with trimesh-trimesh collisions and can > support a higher number of objects? > > Kind regards, > > Volker > > \\ ------------------------ UnitPyramid.mesh.xml > ------------------------ > <mesh> > <submeshes> > <submesh material="lambert1" usesharedvertices="false" > use32bitindexes="false" operationtype="triangle_list"> > <faces count="6"> > <face v1="0" v2="1" v3="2" /> > <face v1="3" v2="4" v3="5" /> > <face v1="6" v2="7" v3="8" /> > <face v1="9" v2="10" v3="11" /> > <face v1="12" v2="13" v3="14" /> > <face v1="15" v2="16" v3="17" /> > </faces> > <geometry vertexcount="18"> > <vertexbuffer positions="true" texture_coord_dimensions_0="2" > texture_coords="1"> > <vertex> > <position x="-0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.5" v="1" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.75" v="0.75" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.25" v="0.75" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.25" v="0.75" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.75" v="0.75" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.5" v="0.5" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.5" v="1" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.25" v="0.75" /> > </vertex> > <vertex> > <position x="0" y="0.353553" z="0" /> > <texcoord u="0.5" v="-0" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.25" v="0.75" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.5" v="0.5" /> > </vertex> > <vertex> > <position x="0" y="0.353553" z="0" /> > <texcoord u="0.5" v="-0" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="0.5" /> > <texcoord u="0.5" v="0.5" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.75" v="0.75" /> > </vertex> > <vertex> > <position x="0" y="0.353553" z="0" /> > <texcoord u="0.5" v="-0" /> > </vertex> > <vertex> > <position x="0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.75" v="0.75" /> > </vertex> > <vertex> > <position x="-0.5" y="-0.353553" z="-0.5" /> > <texcoord u="0.5" v="1" /> > </vertex> > <vertex> > <position x="0" y="0.353553" z="0" /> > <texcoord u="0.5" v="-0" /> > </vertex> > </vertexbuffer> > </geometry> > </submesh> > </submeshes> > </mesh> > \\ ------------------------ UnitPyramid.mesh.xml > ------------------------ > __ > > volker darius > > > > > ------------------------------------------------------------------------- > SF.Net email is sponsored by: The Future of Linux Business White Paper > from Novell. From the desktop to the data center, Linux is going > mainstream. Let it simplify your IT future. > http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- SF.Net email is sponsored by: The Future of Linux Business White Paper from Novell. From the desktop to the data center, Linux is going mainstream. Let it simplify your IT future. http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
