redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

data/stadium.sdf

107 строк2 KB

Erwin Coumans

don't use empty frame for pose in sdf files

30 авг 2021, 22:40

30 авг 2021, 22:4068424fe

<sdf version='1.6'>
	<world name='default'>
	<gravity>0 0 -9.8</gravity>
		<model name='roboschool/models_outdoor/stadium/part0.obj'>
			<static>1</static>
			<pose>0 0 0 0 0 0</pose>
			<link name='link_d0'>
			<inertial>
			<mass>0</mass>
			<inertia>
			<ixx>0.166667</ixx>
			<ixy>0</ixy>
			<ixz>0</ixz>
			<iyy>0.166667</iyy>
			<iyz>0</iyz>
			<izz>0.166667</izz>
			</inertia>
			</inertial>
			<visual name='visual'>
				<geometry>
				<mesh>
					<scale>1 1 1</scale>
					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
				</mesh>
				</geometry>
			<material>
				<ambient>1 1 1 1</ambient>
				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
				<specular>0.1 .1 .1 1</specular>
				<emissive>0 0 0 0</emissive>
			 </material>
			 </visual>
			 </link>
			</model>
		<model name='roboschool/models_outdoor/stadium/part1.obj'>
			<static>1</static>
			<pose>0 0 0 0 0 0</pose>
			<link name='link_d1'>
			<inertial>
			<mass>0</mass>
			<inertia>
			<ixx>0.166667</ixx>
			<ixy>0</ixy>
			<ixz>0</ixz>
			<iyy>0.166667</iyy>
			<iyz>0</iyz>
			<izz>0.166667</izz>
			</inertia>
			</inertial>
			<collision name='collision_1'>
			<geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
			  </collision>
			<visual name='visual'>
				<geometry>
				<mesh>
					<scale>1 1 1</scale>
					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
				</mesh>
				</geometry>
			<material>
				<ambient>1 1 1 1</ambient>
				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
				<specular>.5 .5 .5 1</specular>
				<emissive>0 0 0 0</emissive>
			 </material>
			 </visual>
			 </link>
			</model>
		<model name='part2.obj'>
			<static>1</static>
			<pose>0 0 0 0 0 0</pose>
			<link name='link_d2'>
			<inertial>
			<mass>0</mass>
			<inertia>
			<ixx>0.166667</ixx>
			<ixy>0</ixy>
			<ixz>0</ixz>
			<iyy>0.166667</iyy>
			<iyz>0</iyz>
			<izz>0.166667</izz>
			</inertia>
			</inertial>
			
			<visual name='visual'>
				<geometry>
				<mesh>
					<scale>1 1 1</scale>
					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
				</mesh>
				</geometry>
			<material>
				<ambient>1 0 0 1</ambient>
				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
				<specular>0.4 0.4 0.4 1</specular>
				<emissive>0 0 0 0</emissive>
			 </material>
			 </visual>
			 </link>
			</model>
	</world>
</sdf>