Change test model to include submeshes

Signed-off-by: Jorge Perez <[email protected]>

test/worlds/collada_world_exporter_submesh.sdf

@@ -17,7 +17,7 @@
     <include>
       <static>true</static>
       <pose>22 111 -10 0 -0 0</pose>
-      <uri>model://cordless_drill</uri>
+      <uri>model://mesh_with_submeshes</uri>
     </include>
 
   </world>

test/worlds/models/mesh_with_submeshes/meshes/box.dae

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material-material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 -1 0 0 1 1 -2.83122e-7 0 -2.83122e-7 -1 0 -1 2.23517e-7 -1.3411e-7 2.38419e-7 1 2.08616e-7</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="6">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>4 4 4 4 4 4 </vcount>
+          <p>0 0 1 0 2 0 3 0 4 1 7 1 6 1 5 1 0 2 4 2 5 2 1 2 1 3 5 3 6 3 2 3 2 4 6 4 7 4 3 4 4 5 0 5 3 5 7 5</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

test/worlds/models/mesh_with_submeshes/model.config

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<model>
+    <name>mesh_with_submeshes</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+</model>
+

test/worlds/models/cordless_drill/model.sdf → test/worlds/models/mesh_with_submeshes/model.sdf

@@ -1,22 +1,23 @@
 <?xml version='1.0'?>
-<sdf version='1.8'>
-  <model name='cordless_drill'>
+<sdf version='1.6'>
+  <model name='scheme_resource_uri'>
     <pose>0 0 1 0 0 0</pose>
     <link name='the_link'>
       <visual name='the_visual'>
         <geometry>
           <mesh>
-            <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
+            <uri>model://mesh_with_submeshes/meshes/box.dae</uri>
           </mesh>
         </geometry>
       </visual>
       <collision name='the_collision'>
         <geometry>
           <mesh>
-            <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
+            <uri>model://mesh_with_submeshes/meshes/box.dae</uri>
           </mesh>
         </geometry>
       </collision>
     </link>
   </model>
 </sdf>
+