model.sdf

<?xml version='1.0' ?>
<sdf version="1.6">
  <model name="regular_waves">
    <static>true</static>

    <plugin
        filename="gz-waves1-waves-model-system"
        name="gz::sim::systems::WavesModel">
      <static>0</static>
      <update_rate>30</update_rate>
      <wave>
        <algorithm>sinusoid</algorithm>
        <number>1</number>
        <amplitude>2.0</amplitude>
        <period>6.0</period>
        <direction>1 0</direction>
      </wave>
    </plugin>

    <link name="base_link">
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>models://waves/materials/mesh_L256m_N256.dae</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>0.0 0.05 0.8 0.92</ambient>
          <diffuse>0.0 0.1 0.7 0.92</diffuse>
          <specular>0.7 0.7 0.7 0.92</specular>
          <pbr>
            <metal>
              <albedo_map>models://waves/materials/water.jpg</albedo_map>
              <normal_map>models://waves/materials/wave_normals.dds</normal_map>
              <environment_map>models://waves/materials/skybox_lowres.dds</environment_map>
              <roughness>0.3</roughness>
              <metalness>0.1</metalness>
            </metal>
          </pbr>
        </material>

        <plugin
            filename="gz-waves1-waves-visual-system"
            name="gz::sim::systems::WavesVisual">
          <static>0</static>
          <mesh_deformation_method>DYNAMIC_GEOMETRY</mesh_deformation_method>
          <tiles_x>-0 0</tiles_x>
          <tiles_y>-0 0</tiles_y>
          <wave>
            <algorithm>sinusoid</algorithm>
            <number>1</number>
            <amplitude>2.0</amplitude>
            <period>6.0</period>
            <direction>1 0</direction>
          </wave>

          <!-- TODO: should not be required if using PBS shader -->
          <shader language="metal">
            <vertex>models://waves/materials/waves_vs.metal</vertex>
            <fragment>models://waves/materials/waves_fs.metal</fragment>
          </shader>

        </plugin>
      </visual>
    </link>
  </model>
</sdf>