Object

The Object XML block, instantiates an object (terrain, amphora, shipwreck... anything is not an AUV) setting its physical characteristics. It is possible to add as many objects as needed just adding object blocks when Configuring and creating scenes.

XML syntax

In order to add an object a name, file, position and orientation must be set.

• name: This parameters sets the object's name that will identify it.
• file: The 3D mesh file that describes the object. About the formats, input is supported through OSG, so it depends on osg plugins, but most common 3d formats such as .3ds, .osg, .ive, .stl, .obj are supported. Some others may need additional OSG libraries such as .dae or .wrl.
• position: Initial position of the object.
• orientation: Initial rotation of the object, stated in RPY.
• scaleFactor: Scale of the object. (XYZ)
• offsetp: Object's position offset, it moves the pivot point.
• offsetr: Object's rotation offset.
• physics This tag allows to set some physical properties for the bullet physics simulation.

Furthermore objects can be buried in sand. To do so an attribute named buried can be configured with a number that will set the percent of object under the sand.