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Add pyramid heightmap script and demo world
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This adds a python script to the media/materials/textures
folder that can be used to generate a png file with a
square grayscale gradient that corresponds to a pyramid
heightmap.

Due to gazebosim#2838, the triangulation pattern differs between
OGRE and ODE, so some contact behavior can look wrong
in the places where this visualization differs.

Signed-off-by: Steve Peters <[email protected]>
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@scpeters
scpeters committed Sep 9, 2020
1 parent cf4a7f0 commit 9fd36f8
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1 change: 1 addition & 0 deletions media/materials/textures/CMakeLists.txt
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Expand Up @@ -17,6 +17,7 @@ set (files
grass_normal.png
hardwood_floor.jpg
heightmap_bowl.png
heightmap_pyramid_65x65.png
heightmap_valley.png
motorway.jpg
noise_rgba.png
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12 changes: 12 additions & 0 deletions media/materials/textures/heightmap_pyramid.py
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#!/usr/bin/env python3

from PIL import Image

N = 64
im = Image.new("L", [N+1, N+1])

for i in range(N + 1):
for j in range(N + 1):
im.putpixel((i,j), int(256/N * (N/2 - max((abs(i - N/2), abs(j - N/2))))))

im.save("heightmap_pyramid_%ix%i.png" % (N + 1, N + 1))
Binary file added media/materials/textures/heightmap_pyramid_65x65.png
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238 changes: 238 additions & 0 deletions worlds/heightmap_pyramid.world
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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<physics type="ode">
<dart>
<collision_detector>bullet</collision_detector>
</dart>
</physics>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
<pose>0 0 50 0 0 0</pose>
</include>
<!-- CPU LIDAR sensors to show how physics represents the heightmap -->
<include>
<uri>model://hokuyo</uri>
<name>hokuyo_corner_jagged_edge</name>
<pose>28.066 -28.000 7.148 1.5708 0 2.356</pose>
<static>true</static>
</include>
<include>
<uri>model://hokuyo</uri>
<name>hokuyo_corner_smooth_edge</name>
<pose>-28.066 -28.000 7.148 1.5708 0 0.785</pose>
<static>true</static>
</include>
<include>
<uri>model://hokuyo</uri>
<name>hokuyo_top_jagged</name>
<pose>0 0 35 1.5708 1.5708 2.356</pose>
<static>true</static>
</include>
<include>
<uri>model://hokuyo</uri>
<name>hokuyo_top_smooth</name>
<pose>0 0.061 35 1.5708 1.5708 0.785</pose>
<static>true</static>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_jagged_01</name>
<pose>0.75 -0.75 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_jagged_02</name>
<pose>1.75 -1.75 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_jagged_03</name>
<pose>2.75 -2.75 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y1</name>
<pose>0.75 0.65 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y2</name>
<pose>1.75 1.65 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y3</name>
<pose>2.75 2.65 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x1</name>
<pose>0.65 0.75 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x2</name>
<pose>1.65 1.75 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x3</name>
<pose>2.65 2.75 35 0 0 0</pose>
</include>
<model name="unit_sphere_jagged_01">
<pose>-0.75 0.75 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_jagged_02">
<pose>-1.5 1.5 34 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_smooth_y">
<pose>-1.5 -1.9 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_smooth_x">
<pose>-2.9 -2.5 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="heightmap">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<heightmap>
<uri>file://media/materials/textures/heightmap_pyramid_65x65.png</uri>
<size>65 65 33</size>
<pos>0 0 0</pos>
<sampling>1</sampling>
</heightmap>
</geometry>
</collision>
<visual name="visual">
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<texture>
<diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<texture>
<diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>1</size>
</texture>
<blend>
<min_height>2</min_height>
<fade_dist>5</fade_dist>
</blend>
<blend>
<min_height>4</min_height>
<fade_dist>5</fade_dist>
</blend>
<uri>file://media/materials/textures/heightmap_pyramid_65x65.png</uri>
<size>65 65 33</size>
<pos>0 0 0</pos>
<sampling>1</sampling>
</heightmap>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>

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