Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

16
data/kuka_iiwa/model.urdf
View File

@@ -70,7 +70,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
<mesh filename="meshes/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -99,7 +99,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
<mesh filename="meshes/link_1.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -128,7 +128,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
<mesh filename="meshes/link_2.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -157,7 +157,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
<mesh filename="meshes/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -186,7 +186,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
<mesh filename="meshes/link_4.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -215,7 +215,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
<mesh filename="meshes/link_5.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -244,7 +244,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
<mesh filename="meshes/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -273,7 +273,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
<mesh filename="meshes/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>