<?xml version="1.0"?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <plugin name="SimEvents" filename="libSimEventsPlugin.so">

    <session></session>

    <region>
      <name>start</name>
      <volume>
          <!-- min and max are ignition::math::Vector3d -->
          <!-- around the origin -->
          <min>-3 -3 -3</min>
          <max>3 3 3</max>
     </volume>
    </region>

    <region>
      <name>end</name>
      <volume>
        <!-- around 10,10  -->
        <min>7 7 0</min>
        <max>13 13 3</max>
      </volume>
    </region>

<!--   this only works in Mentor2
    <event>
      <name>connect</name>
      <type>topic</type>
      <topic_name>~/simple/connection</topic_name>
    </event>
-->

    <event>
      <name>NewBeer</name>
      <type>existence</type>
      <model>beer</model>
    </event>

    <event>
      <name>Inactive</name>
      <type>sim_state</type>
      <!-- elements can be active or not,
      and this property can be set at runtime or in the world file
      with the active element
      by default, they are.
      -->
      <active>false</active>
    </event>

    <event>
      <name>All_spawn_and_delete</name>
      <type>existence</type>
      <!-- no model  is specified -->
    </event>

    <!-- when the simulation state changes (pause/play) -->
    <event>
      <name>Sim</name>
      <type>sim_state</type>
    </event>

    <!-- bounding box intersection event-->
    <event>
      <name>Can1_in_0_0</name>
      <type>inclusion</type>
      <model>can1</model>
      <region>start</region>
    </event>

    <!-- bounding box inclusion event -->
    <event>
      <name>Can1_in_10_10</name>
      <type>inclusion</type>
      <model>can1</model>
      <region>end</region>
    </event>
    </plugin>

    <!--
    spawn a few beers in the world (not coke cans, they have
    meshes that can't be loaded with all engines yet
    -->
    <include>
      <pose>0 0 0 0 0 0</pose>
      <name>can1</name>
      <uri>model://beer</uri>
    </include>

    <include>
      <pose>5 0 0 0 0 0</pose>
      <name>can2</name>
      <uri>model://beer</uri>
    </include>

    <include>
      <pose>10 0 0 0 0 0</pose>
      <uri>model://beer</uri>
      <name>can3</name>
    </include>

    <include>
      <pose>15 0 0 0 0 0</pose>
      <name>can4</name>
      <uri>model://beer</uri>
    </include>


  </world>
</sdf>
