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Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-)

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Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
This commit is contained in:
Erwin Coumans
2017-05-31 20:32:45 -07:00
parent 83f910711a
commit 3157093125
8 changed files with 174 additions and 76 deletions
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40
data/kitchens/1.sdf
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@@ -4291,45 +4291,7 @@
</visual>
</link>
</model>
<model name='part110.obj'>
<static>1</static>
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
<link name='link_d110'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision concave='yes' name='collision_110'>
<geometry>
<mesh>
<scale>.1 .1 .1</scale>
<uri>fatihrmutfak/part110.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>.1 .1 .1</scale>
<uri>fatihrmutfak/part110.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1.000000 1.000000 1.000000 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part111.obj'>
<static>1</static>
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>