forked from xtdrone/XTDrone
77 lines
2.0 KiB
XML
Executable File
77 lines
2.0 KiB
XML
Executable File
<?xml version="1.0" ?>
|
|
<sdf version="1.6">
|
|
<model name="city_terrain">
|
|
<static>true</static>
|
|
<link name="link">
|
|
<pose>0 0 -5 0 0 0</pose>
|
|
|
|
<collision name="collision">
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>500 500</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<kp>1e+06</kp>
|
|
<kd>100</kd>
|
|
<max_vel>1</max_vel>
|
|
<min_depth>0</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>100</mu>
|
|
<mu2>50</mu2>
|
|
</ode>
|
|
</friction>
|
|
|
|
</surface>
|
|
</collision>
|
|
|
|
<visual name="visual">
|
|
<geometry>
|
|
<heightmap>
|
|
<use_terrain_paging>false</use_terrain_paging>
|
|
|
|
<texture>
|
|
<diffuse>model://ocean/materials/textures/soil_sand_0045_01.jpg</diffuse>
|
|
<normal>file://media/materials/textures/flat_normal.png</normal>
|
|
<size>10</size>
|
|
</texture>
|
|
|
|
<blend>
|
|
<min_height>0</min_height>
|
|
<fade_dist>1.5</fade_dist>
|
|
</blend>
|
|
|
|
<texture>
|
|
<diffuse>model://ocean/materials/textures/soil_sand_0045_01.jpg</diffuse>
|
|
<normal>file://media/materials/textures/flat_normal.png</normal>
|
|
<size>10</size>
|
|
</texture>
|
|
|
|
<blend>
|
|
<min_height>2.5</min_height>
|
|
<fade_dist>5</fade_dist>
|
|
</blend>
|
|
|
|
<texture>
|
|
<diffuse>model://city_terrain/materials/textures/forest.jpg</diffuse>
|
|
<normal>file://media/materials/textures/flat_normal.png</normal>
|
|
<size>10</size>
|
|
</texture>
|
|
|
|
<uri>model://city_terrain/materials/textures/city_terrain.jpg</uri>
|
|
<size>500 500 75</size>
|
|
<pos>40 -20 -5</pos>
|
|
</heightmap>
|
|
</geometry>
|
|
</visual>
|
|
|
|
</link>
|
|
</model>
|
|
</sdf>
|