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

data/two_cubes.sdf
241 строка7 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'>
    <light name='sun' type='directional'>
     <yunfei>99.2</yunfei> 
	<cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <audio>
      <device>default</device>
    </audio>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='unit_box_0'>
 <static>1</static>
      <pose>0.512455 -1.58317 0.5 0 -0 0</pose>
      <link name='unit_box_0::link'>
      
        <inertial>
          <mass>1</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'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>cube.obj</uri>
          </mesh>
        </geometry>
          <material>
            <diffuse>1 1 1 1</diffuse>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <model name='unit_box_0_clone'>
      <pose>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
      <link name='unit_box_0::link'>
        <inertial>
          <mass>1</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='collision1'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
         <visual name='visual'>
          <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>cube.obj</uri>
          </mesh>
        </geometry>
          <material>
            <diffuse>1 1 1 1</diffuse>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <state world_name='default'>
      <sim_time>0 0</sim_time>
      <real_time>0 0</real_time>
      <wall_time>1462824251 956472000</wall_time>
      <iterations>0</iterations>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
        <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
        <scale>1 1 1</scale>
        <link name='unit_box_0::link'>
          <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
          <velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
          <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
          <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0_clone'>
        <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
        <scale>1 1 1</scale>
        <link name='unit_box_0::link'>
          <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>