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v0.1.14; add wave terrain; finish LevelPipeline

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wty-yy
2025-12-25 00:02:43 +08:00
parent 50126ec9aa
commit 11908747ce
19 changed files with 296 additions and 57 deletions
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20
resources/terrains/wave/wave_10.xml Normal file
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<mujoco model="wave_10">
<!-- Terrain Type: wave, Level: 10, Wave amplitude: 0.2000 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
<hfield name="wave_hfield" file="wave.png" size="5 5 0.8 0.1" />
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom type="hfield" hfield="wave_hfield" pos="5 0 0" rgba="0.5 0.5 0.5 1" />
</worldbody>
</mujoco>