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Merged in collide_bitmask_example (pull request #525)
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Port collide bitmask example world to ignition gazebo

Approved-by: Ian Chen
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@luca-della-vedova
luca-della-vedova committed Mar 4, 2020
2 parents c66b467 + 342edb4 commit 373699a
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3 changes: 3 additions & 0 deletions Changelog.md
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### Ignition Gazebo 3.0.0 (2019-12-10)

1. Add example world for collide bitmask feature
* [Pull Request 525](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/525)

1. Remove <emissive> sdf element from visuals that do not emit light in the example worlds
* [Pull Request 478](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/478)
* [Pull Request 480](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/480)
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271 changes: 271 additions & 0 deletions examples/worlds/shapes_bitmask.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="shapes_bitmask">
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/shapes_bitmask/control</service>
<stats_topic>/world/shapes_bitmask/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/shapes_bitmask/stats</topic>

</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Transform Control -->
<plugin filename="TransformControl" name="Transform Control">
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 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>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="boxA">
<pose>0 0 1.0 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x01</collide_bitmask>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="boxB">
<pose>0 0 3.0 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x02</collide_bitmask>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="boxC">
<pose>0 0 6.0 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<contact>
<collide_bitmask>0x03</collide_bitmask>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
</material>
</visual>
</link>
</model>

</world>
</sdf>

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