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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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21
vrc_driving_terrain/materials/scripts/grass.material Normal file
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material vrc/grass
{
receive_shadows on
technique
{
pass
{
ambient 0.8 1.0 0.8 1.0
diffuse 0.8 1.0 0.8 1.0
specular 0.1 0.1 0.1 1.0 12.5
texture_unit
{
scale .02 .02
texture grass_dry.png
filtering anistropic
max_anisotropy 16
}
}
}
}

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vrc_driving_terrain/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>VRC Driving Terrain</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.com</email>
</author>
<description>
One of the terrains for the driving task in the Virtual Robotics Challenge (VRC).
</description>
</model>

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vrc_driving_terrain/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="vrc_driving_terrain">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<heightmap>
<uri>model://vrc_driving_terrain/materials/textures/heightmap.png</uri>
<size>500 500 118</size>
<pos>0 0 -15</pos>
</heightmap>
</geometry>
</collision>
<visual name="visual">
<geometry>
<heightmap>
<texture>
<diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>5</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>5</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>20</size>
</texture>
<blend>
<min_height>15</min_height>
<fade_dist>5</fade_dist>
</blend>
<blend>
<min_height>30</min_height>
<fade_dist>10</fade_dist>
</blend>
<uri>model://vrc_driving_terrain/materials/textures/heightmap.png</uri>
<size>500 500 118</size>
<pos>0 0 -15</pos>
</heightmap>
</geometry>
</visual>
</link>
<link name="grass_plane">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 500</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>.5</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual_0">
<pose>0 0 0 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 500</size>
</plane>
</geometry>
<material>
<script>
<uri>model://vrc_driving_terrain/materials/scripts</uri>
<uri>model://vrc_driving_terrain/materials/textures</uri>
<name>vrc/grass</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>