File size: 3,624 Bytes
e5f58d9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 | // Custom materials for the home_room world.
// Loaded via GAZEBO_RESOURCE_PATH (see run.sh, which adds the project dir so
// Gazebo registers <proj>/media/materials/{scripts,textures}).
//
// Design goal: keep Gazebo's bundled textures (no extra files) but push the
// look toward photorealism by adding (a) real specular highlights + shininess,
// and (b) finer, anisotropically-filtered texture tiling. OGRE1 fixed-function
// only (no PBR / normal maps) -- the realism comes from texture detail plus a
// believable specular response to the ceiling lamps.
// ----------------------------------------------------------------------------
// Muted oak floor: reuse Gazebo's hardwood texture but modulate it with a cool
// grey so the bright orange reads as a desaturated, ordinary wood floor. Adds a
// soft satin sheen (low spec, wide highlight) so the lamps reflect off it.
material Home/MutedWoodFloor
{
technique
{
pass
{
ambient 0.46 0.46 0.46 1.0
diffuse 0.66 0.66 0.66 1.0
specular 0.10 0.10 0.09 18.0
texture_unit
{
texture hardwood_floor.jpg
// blend 62% wood texture + 38% muted taupe-grey: keeps the wood grain
// but desaturates the bright orange toward an ordinary, greyed floor
colour_op_ex blend_manual src_texture src_manual 0.62 1.0 1.0 1.0 0.46 0.43 0.40
filtering anisotropic
max_anisotropy 8
scale 0.34 0.34
}
}
}
}
// ----------------------------------------------------------------------------
// Warm matte interior paint. Real matte paint has no visible texture at room
// scale, and tiling paintedWall.jpg over a 15 m wall produced glowing bands
// under the warm lamps -- so this is a clean flat warm off-white, fully matte,
// and lets the lighting do all the shading work.
material Home/WallPaint
{
technique
{
pass
{
ambient 0.60 0.59 0.56 1.0
diffuse 0.74 0.72 0.68 1.0
specular 0.02 0.02 0.02 4.0
}
}
}
// ----------------------------------------------------------------------------
// Exposed-brick accent wall. bricks.png tiled finer than the default, with a
// little spec so mortar/edges catch the kitchen + living lamps.
material Home/Brick
{
technique
{
pass
{
ambient 0.48 0.42 0.38 1.0
diffuse 0.78 0.66 0.58 1.0
specular 0.06 0.05 0.04 10.0
texture_unit
{
texture bricks.png
filtering anisotropic
max_anisotropy 8
scale 0.18 0.18
}
}
}
}
// ----------------------------------------------------------------------------
// Polished wood for furniture (tables, cabinets, bed frame, doors). Keep the
// texture near full brightness (diffuse ~white) so the grain reads, and add a
// tight glossy highlight so varnished surfaces pop under the lamps.
material Home/WoodPolished
{
technique
{
pass
{
ambient 0.42 0.34 0.24 1.0
diffuse 0.82 0.74 0.62 1.0
specular 0.34 0.30 0.24 48.0
texture_unit
{
texture wood.jpg
filtering anisotropic
max_anisotropy 8
scale 0.7 0.7
}
}
}
}
// ----------------------------------------------------------------------------
// Ceiling plaster/tile -- subtle texture, fully matte, slightly warm so it
// doesn't read as a flat grey lid.
material Home/Ceiling
{
technique
{
pass
{
ambient 0.60 0.59 0.57 1.0
diffuse 0.86 0.85 0.82 1.0
specular 0.02 0.02 0.02 4.0
texture_unit
{
texture ceiling_tiled.jpg
filtering trilinear
scale 0.5 0.5
}
}
}
}
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