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Add instructions to bitmask world #377

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Sep 28, 2020
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Add instructions to bitmask world #377

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98 changes: 14 additions & 84 deletions examples/worlds/shapes_bitmask.sdf
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Original file line number Diff line number Diff line change
@@ -1,4 +1,15 @@
<?xml version="1.0" ?>
<!--
Demonstrates the use of collide bitmasks.

The world has 3 boxes with the following bitmasks:
* redBox: 0x01 (01)
* greenBox: 0x02 (10)
* yellowBox: 0x03 (11)

Which means that green and red can't collide with each other, but they both
collide with yellow. Move them around to see it working!
-->
<sdf version="1.6">
<world name="shapes_bitmask">
<physics name="1ms" type="ignored">
Expand All @@ -23,87 +34,6 @@
<background>0.8 0.8 0.8</background>
</scene>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/shapes_bitmask/control</service>
<stats_topic>/world/shapes_bitmask/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/shapes_bitmask/stats</topic>

</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Transform Control -->
<plugin filename="TransformControl" name="Transform Control">
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down Expand Up @@ -144,7 +74,7 @@
</link>
</model>

<model name="boxA">
<model name="redBox">
<pose>0 0 1.0 0 0 0</pose>
<link name="link">
<inertial>
Expand Down Expand Up @@ -185,7 +115,7 @@
</link>
</model>

<model name="boxB">
<model name="greenBox">
<pose>0 0 3.0 0 0 0</pose>
<link name="link">
<inertial>
Expand Down Expand Up @@ -226,7 +156,7 @@
</link>
</model>

<model name="boxC">
<model name="yellowBox">
<pose>0 0 6.0 0 0 0</pose>
<link name="link">
<inertial>
Expand Down