Merged in vrc_model_improvements (pull request #34)

Use normal maps properly, updated starting pen, and construction barrel
2025-09-15 12:58:56 +08:00 · 2013-05-02 15:40:49 -07:00 · 2013-05-02 15:40:49 -07:00 · beb4486394
commit beb4486394
parent 94d4457f82 55f832a741
18 changed files with 144 additions and 14 deletions
--- a/construction_barrel/meshes/construction_barrel.dae
+++ b/construction_barrel/meshes/construction_barrel.dae
@ -39,7 +39,7 @@
              <color>0 0 0 1</color>
            </emission>
            <ambient>
-              <color>0.5882353 0.5882353 0.5882353 1</color>
+              <color>1.0 1.0 1.0 1</color>
            </ambient>
            <diffuse>
              <texture texture="Construction_Barrel_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
--- a/construction_barrel/model.sdf
+++ b/construction_barrel/model.sdf
@ -2,6 +2,17 @@
 <sdf version="1.4">
  <model name="Construction Barrel">
    <link name="link">
+      <inertial>
+        <pose>0 0 0.4 0 0 0</pose>
+        <mass>500</mass>
+        <inertia>
+          <ixx>51.2096</ixx>
+          <iyy>51.2096</iyy>
+          <izz>25</izz>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+        </inertia>
+      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
--- a/fast_food/model.sdf
+++ b/fast_food/model.sdf
@ -3,7 +3,7 @@
  <model name="Fast Food">
    <static>true</static>
    <link name="link">
-      <pose>0 0 0 0 0 0</pose>
+      <pose>0 0 1.57965648 0 0 0</pose>
      <collision name="collision">
        <geometry>
          <mesh>
@ -23,6 +23,10 @@
            <uri>model://fast_food/materials/textures</uri>
            <name>FastFood/Diffuse</name>
          </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>FastFood_Normal.tga</normal_map>
+          </shader>
        </material>
      </visual>
    </link>
--- a/gas_station/materials/textures/GasStation_Diffuse.tga
+++ b/gas_station/materials/textures/GasStation_Diffuse.tga
--- a/house_1/materials/scripts/house_1.material
+++ b/house_1/materials/scripts/house_1.material
@ -9,6 +9,11 @@ material House_1/Diffuse
      {
        texture House_1_Diffuse.tga
      }
+
+      rtshader_system
+      {
+        lighting_stage normal_map House_1_Normal.tga tangent_space 0
+      }
    }
  }
 }
--- a/house_1/materials/textures/House_1_Normal.tga
+++ b/house_1/materials/textures/House_1_Normal.tga
--- a/house_1/meshes/house_1.dae
+++ b/house_1/meshes/house_1.dae
@ -161,4 +161,4 @@
  <scene>
    <instance_visual_scene url="#MaxScene"/>
  </scene>
-</COLLADA>
+</COLLADA>
--- a/house_1/model.sdf
+++ b/house_1/model.sdf
@ -22,6 +22,7 @@
            <uri>model://house_1/materials/textures</uri>
            <name>House_1/Diffuse</name>
          </script>
+
          <shader type="normal_map_object_space">
            <normal_map>House_1_Normal.tga</normal_map>
          </shader>
--- a/house_2/model.sdf
+++ b/house_2/model.sdf
@ -20,8 +20,13 @@
          <script>
            <uri>model://house_2/materials/scripts</uri>
            <uri>model://house_2/materials/textures</uri>
+            <uri>model://house_1/materials/textures</uri>
            <name>House_2/Diffuse</name>
          </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>model://house_1/materials/textures/House_1_Normal.tga</normal_map>
+          </shader>
        </material>
      </visual>
    </link>
--- a/house_3/meshes/house_3.dae
+++ b/house_3/meshes/house_3.dae
@ -105,13 +105,13 @@
              <color sid="emission">0 0 0 1</color>
            </emission>
            <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">1 1 1 1</color>
            </ambient>
            <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1.0 1.0 1.0 1</color>
            </diffuse>
            <specular>
-              <color sid="specular">8.999999 8.999999 8.999999 1</color>
+              <color sid="specular">0.999999 0.999999 0.999999 1</color>
            </specular>
            <shininess>
              <float sid="shininess">50</float>
@ -232,4 +232,4 @@
  <scene>
    <instance_visual_scene url="#Scene"/>
  </scene>
-</COLLADA>
+</COLLADA>
--- a/house_3/model.sdf
+++ b/house_3/model.sdf
@ -20,8 +20,14 @@
          <script>
            <uri>model://house_3/materials/scripts</uri>
            <uri>model://house_3/materials/textures</uri>
+            <uri>model://house_1/materials/textures</uri>
            <name>House_3/Diffuse</name>
          </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>model://house_1/materials/textures/House_1_Normal.tga</normal_map>
+          </shader>
+
        </material>
      </visual>
    </link>
--- a/speed_limit_sign/meshes/speed_limit_sign.dae
+++ b/speed_limit_sign/meshes/speed_limit_sign.dae
@ -36,10 +36,10 @@
        <technique sid="common">
          <phong>
            <emission>
-              <color>0 0 0 1</color>
+              <color>.4 .4 .4 1</color>
            </emission>
            <ambient>
-              <color>0.5882353 0.5882353 0.5882353 1</color>
+              <color>1.0 1.0 1.0 1</color>
            </ambient>
            <diffuse>
              <texture texture="StopSign_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
@ -116,7 +116,7 @@
        <technique sid="common">
          <phong>
            <emission>
-              <color>0 0 0 1</color>
+              <color>.4 .4 .4 1</color>
            </emission>
            <ambient>
              <color>0.588 0.588 0.588 1</color>
--- a/starting_pen/materials/scripts/starting_pen.material
+++ b/starting_pen/materials/scripts/starting_pen.material
@ -0,0 +1,41 @@
+material StartingPen/Floor
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 1 1 1 1
+      diffuse 1 1 1 1
+
+      texture_unit
+      {
+        texture metal_ripped.jpg
+        filtering anistorpic
+        max_anisotropy 16
+        scale 0.1 0.1
+      }
+    }
+  }
+}
+
+material StartingPen/OSRF
+{
+  receive_shadows off
+  technique
+  {
+    pass
+    {
+      ambient 1 1 1 1
+      diffuse 1 1 1 1
+      emissive .5 .5 .5 1.0
+
+      texture_unit
+      {
+        texture osrf.png
+        filtering anistorpic
+        max_anisotropy 16
+      }
+    }
+  }
+}
--- a/starting_pen/materials/textures/metal_ripped.jpg
+++ b/starting_pen/materials/textures/metal_ripped.jpg
--- a/starting_pen/materials/textures/osrf.png
+++ b/starting_pen/materials/textures/osrf.png
--- a/starting_pen/meshes/starting_pen.dae
+++ b/starting_pen/meshes/starting_pen.dae
@ -40,7 +40,7 @@
              <color>0 0 0 1</color>
            </emission>
            <ambient>
-              <color>0.588 0.588 0.588 1</color>
+              <color>1.0 1.0 1.0 1</color>
            </ambient>
            <diffuse>
              <texture texture="Starting_Pen_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
@ -147,7 +147,7 @@
    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
      <technique_common>
        <ambient>
-          <color>0 0 0</color>
+          <color>1 1 1</color>
        </ambient>
      </technique_common>
    </light>
--- a/starting_pen/model.sdf
+++ b/starting_pen/model.sdf
@ -10,6 +10,63 @@
          </mesh>
        </geometry>
      </collision>
+
+      <collision name="collision_floor">
+        <pose>-3.31 7.19 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>18.8 14.68 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual_floor_hall">
+        <pose>-3.31 7.19 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>18.8 14.68 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/Floor</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name="visual_osrf">
+        <pose>-5.74 4.99 3 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 6 1.0</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/OSRF</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name="visual_osrf_2">
+        <pose>5.74 4.99 3 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 6 1.0</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/OSRF</name>
+          </script>
+        </material>
+      </visual>
+
      <visual name="visual">
        <geometry>
          <mesh>
--- a/sun/model.sdf
+++ b/sun/model.sdf
@ -6,7 +6,7 @@

    <pose>0 0 10 0 0 0</pose>
    <diffuse>0.8 0.8 0.8 1</diffuse>
-    <specular>0.1 0.1 0.1 1</specular>
+    <specular>0.2 0.2 0.2 1</specular>

    <attenuation>
      <range>1000</range>
@ -15,6 +15,6 @@
      <quadratic>0.001</quadratic>
    </attenuation>

-    <direction>-0.5 0.5 -1.0</direction>
+    <direction>0.5 0.1 -0.9</direction>
  </light>
 </sdf>