From 3aa06768d04bb8c6beccc59d48187513db2b6ff7 Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <luca@openrobotics.org>
Date: Mon, 3 Feb 2020 10:46:08 +0800
Subject: [PATCH 1/5] Ported collide bitmask example to ignition gazebo

---
 examples/worlds/shapes_bitmask.sdf | 278 +++++++++++++++++++++++++++++
 1 file changed, 278 insertions(+)
 create mode 100644 examples/worlds/shapes_bitmask.sdf

diff --git a/examples/worlds/shapes_bitmask.sdf b/examples/worlds/shapes_bitmask.sdf
new file mode 100644
index 0000000000..2c259be4ad
--- /dev/null
+++ b/examples/worlds/shapes_bitmask.sdf
@@ -0,0 +1,278 @@
+<?xml version="1.0" ?>
+<!--
+
+Try moving a model:
+
+    ign service -s /world/shapes/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 300 --req 'name: "box", position: {z: 5.0}'
+
+-->
+<sdf version="1.6">
+  <world name="shapes">
+    <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/control</service>
+        <stats_topic>/world/shapes/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/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>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+          </geometry>
+        </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>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 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>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>

From a06f8763ea42691a1cee5c467aa26ef023458aab Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <luca@openrobotics.org>
Date: Mon, 3 Feb 2020 11:00:13 +0800
Subject: [PATCH 2/5] Fix names in world

---
 examples/worlds/shapes_bitmask.sdf | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

diff --git a/examples/worlds/shapes_bitmask.sdf b/examples/worlds/shapes_bitmask.sdf
index 2c259be4ad..40a10ad030 100644
--- a/examples/worlds/shapes_bitmask.sdf
+++ b/examples/worlds/shapes_bitmask.sdf
@@ -1,13 +1,6 @@
 <?xml version="1.0" ?>
-<!--
-
-Try moving a model:
-
-    ign service -s /world/shapes/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 300 --req 'name: "box", position: {z: 5.0}'
-
--->
 <sdf version="1.6">
-  <world name="shapes">
+  <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>
@@ -67,8 +60,8 @@ Try moving a model:
         <play_pause>true</play_pause>
         <step>true</step>
         <start_paused>true</start_paused>
-        <service>/world/shapes/control</service>
-        <stats_topic>/world/shapes/stats</stats_topic>
+        <service>/world/shapes_bitmask/control</service>
+        <stats_topic>/world/shapes_bitmask/stats</stats_topic>
 
       </plugin>
 
@@ -93,7 +86,7 @@ Try moving a model:
         <real_time>true</real_time>
         <real_time_factor>true</real_time_factor>
         <iterations>true</iterations>
-        <topic>/world/shapes/stats</topic>
+        <topic>/world/shapes_bitmask/stats</topic>
 
       </plugin>
 

From 7ac78f81f65289f6e2ead55bd12d4369c930bdb0 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@osrfoundation.org>
Date: Mon, 3 Feb 2020 18:10:44 -0800
Subject: [PATCH 3/5] fix material sdf elem

---
 examples/worlds/shapes_bitmask.sdf | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/examples/worlds/shapes_bitmask.sdf b/examples/worlds/shapes_bitmask.sdf
index 40a10ad030..4258985d6e 100644
--- a/examples/worlds/shapes_bitmask.sdf
+++ b/examples/worlds/shapes_bitmask.sdf
@@ -175,12 +175,12 @@
             <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>
-          </geometry>
         </visual>
       </link>
     </model>
@@ -218,9 +218,9 @@
             </box>
           </geometry>
           <material>
-            <ambient>1 0 0 1</ambient>
-            <diffuse>1 0 0 1</diffuse>
-            <specular>1 0 0 1</specular>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0 1 0 1</specular>
           </material>
         </visual>
       </link>
@@ -257,12 +257,12 @@
             <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>
+            <ambient>1 1 0 1</ambient>
+            <diffuse>1 1 0 1</diffuse>
+            <specular>1 1 0 1</specular>
           </material>
-          </geometry>
         </visual>
       </link>
     </model>

From 7e5d885f67303c7e44711f22a1c25e1444245c1d Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <luca@openrobotics.org>
Date: Tue, 4 Feb 2020 16:39:07 +0800
Subject: [PATCH 4/5] Add changelog

---
 Changelog.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Changelog.md b/Changelog.md
index cd10e66158..863328c5d6 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -4,6 +4,9 @@
 
 ### 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)

From 342edb4c41ef509a727ea02b91c8c68ebca853b1 Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadellavr@gmail.com>
Date: Wed, 4 Mar 2020 06:54:24 +0000
Subject: [PATCH 5/5] Close branch collide_bitmask_example