Replace flat ElevationGrids with Planes

cyberbotics · Sep 1, 2020 · 699e57b · 699e57b
1 parent 486dcf6
commit 699e57b
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Showing 6 changed files with 27 additions and 94 deletions.
diff --git a/projects/robots/irobot/create/worlds/create.wbt b/projects/robots/irobot/create/worlds/create.wbt
@@ -102,19 +102,16 @@ DEF IROBOT_CREATE Create {
 Robot {
   children [
     Transform {
-      translation -4.95 0 -4.95
+      translation 0 0 0
       children [
         Shape {
           appearance Parquetry {
             textureTransform TextureTransform {
               scale 7 7
             }
           }
-          geometry ElevationGrid {
-            xDimension 7
-            xSpacing 1.65
-            zDimension 7
-            zSpacing 1.65
+          geometry Plane {
+            size 10 10
           }
         }
       ]

diff --git a/projects/robots/neuronics/ipr/worlds/ipr_factory.wbt b/projects/robots/neuronics/ipr/worlds/ipr_factory.wbt
@@ -44,33 +44,26 @@ DEF FLOOR Solid {
 DEF WALLS Solid {
   children [
     Transform {
-      translation -10 4 -4
+      translation -10 2 0
       rotation 0 0 1 -1.57
       children [
-        Shape {
-          appearance DEF WALL_COLOR PBRAppearance {
-            baseColor 0.905882 0.72549 0.72549
-            roughness 0.10196099999999997
+        DEF WALL_SHAPE Shape {
+          appearance PBRAppearance {
+            baseColor 0.9 0.72 0.72
+            roughness 0.1
             metalness 0
           }
-          geometry ElevationGrid {
-            xDimension 5
-            zDimension 9
+          geometry Plane {
+            size 4 8
           }
         }
       ]
     }
     Transform {
-      translation 10 0 -4
+      translation 10 2 0
       rotation 0 0 1 1.57
       children [
-        Shape {
-          appearance USE WALL_COLOR
-          geometry ElevationGrid {
-            xDimension 5
-            zDimension 9
-          }
-        }
+        USE WALL_SHAPE
       ]
     }
   ]

diff --git a/projects/samples/curriculum/worlds/advanced_path_planning.wbt b/projects/samples/curriculum/worlds/advanced_path_planning.wbt
@@ -11,44 +11,21 @@ TexturedBackground {
 }
 TexturedBackgroundLight {
 }
-Transform {
-  translation 0.15 -0.0001 0.21
-  children [
-    Shape {
-      appearance PBRAppearance {
-        roughness 1
-        metalness 0
-      }
-      geometry Box {
-        size 0.5 0.0001 0.62
-      }
-    }
-  ]
-}
 DEF FLOOR Solid {
+  translation 0.15 0 0.205
   children [
     Shape {
       appearance PBRAppearance {
         baseColor 0.8 0.8 0.8
         roughness 1
         metalness 0
       }
-      geometry ElevationGrid {
-        xDimension 31
-        xSpacing 0.01
-        zDimension 43
-        zSpacing 0.01
+      geometry DEF FLOOR_PLANE Plane {
+        size 0.52 0.63
       }
     }
   ]
-  boundingObject Transform {
-    translation 0.15 0 0.205
-    children [
-      Plane {
-        size 0.52 0.63
-      }
-    ]
-  }
+  boundingObject USE FLOOR_PLANE
 }
 Shape {
   appearance PBRAppearance {

diff --git a/projects/samples/environments/indoor/worlds/apartment.wbt b/projects/samples/environments/indoor/worlds/apartment.wbt
@@ -19,34 +19,25 @@ TexturedBackground {
   ]
 }
 DEF FLOOR Solid {
+  translation 3.3 0 4.95
   children [
     Shape {
       appearance Parquetry {
         textureTransform TextureTransform {
           scale 6 9
         }
       }
-      geometry ElevationGrid {
-        xDimension 5
-        xSpacing 1.65
-        zDimension 7
-        zSpacing 1.65
+      geometry DEF FLOOR_PLANE Plane {
+        size 6.6 9.9
       }
     }
   ]
   name "floor"
-  boundingObject Transform {
-    translation 3.3 0 4.96
-    children [
-      Plane {
-        size 6.6 9.9
-      }
-    ]
-  }
+  boundingObject USE FLOOR_PLANE
   locked TRUE
 }
 DEF ROOF Solid {
-  translation 0 2.4 9.9
+  translation 3.3 2.4 4.95
   rotation 1 0 0 3.14159
   children [
     Shape {
@@ -63,23 +54,11 @@ DEF ROOF Solid {
           scale 8 8
         }
       }
-      geometry ElevationGrid {
-        xDimension 5
-        xSpacing 1.65
-        zDimension 7
-        zSpacing 1.65
-      }
+      geometry USE FLOOR_PLANE
     }
   ]
   name "roof"
-  boundingObject Transform {
-    translation 3.3 0 4.96
-    children [
-      Plane {
-        size 6.6 9.9
-      }
-    ]
-  }
+  boundingObject USE FLOOR_PLANE
   locked TRUE
 }
 Wall {

diff --git a/projects/samples/howto/worlds/biped.wbt b/projects/samples/howto/worlds/biped.wbt
@@ -15,29 +15,18 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 DEF FLOOR Solid {
-  translation -0.5 0 -0.5
   children [
     Shape {
       appearance PBRAppearance {
         baseColor 0.8 0.8 0.8
         roughness 1
         metalness 0
       }
-      geometry ElevationGrid {
-        xDimension 11
-        xSpacing 0.1
-        zDimension 11
-        zSpacing 0.1
+      geometry DEF PLANE Plane {
       }
     }
   ]
-  boundingObject Transform {
-    translation 0.5 0 0.5
-    children [
-      Plane {
-      }
-    ]
-  }
+  boundingObject USE PLANE
 }
 DEF BIPED Robot {
   translation 0.1 0.18 -0.2

diff --git a/projects/samples/howto/worlds/sick_terrain_scanning.wbt b/projects/samples/howto/worlds/sick_terrain_scanning.wbt
@@ -28,7 +28,6 @@ Robot {
       height 180
     }
     Transform {
-      translation -50 0 -50
       children [
         Shape {
           appearance PBRAppearance {
@@ -43,9 +42,8 @@ Robot {
               scale 3 3
             }
           }
-          geometry ElevationGrid {
-            xDimension 100
-            zDimension 100
+          geometry Plane {
+            size 100 100
           }
         }
       ]