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Toggle Light visuals #1387

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Mar 18, 2022
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1 change: 1 addition & 0 deletions examples/worlds/lights.sdf
Original file line number Diff line number Diff line change
@@ -52,6 +52,7 @@
<quadratic>0.01</quadratic>
</attenuation>
<cast_shadows>false</cast_shadows>
<visualize>false</visualize>
</light>

<light type="spot" name="spot">
41 changes: 35 additions & 6 deletions src/Conversions.cc
Original file line number Diff line number Diff line change
@@ -569,12 +569,23 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
out.set_spot_falloff(_in.SpotFalloff());

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_in.LightOn());
{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_in.LightOn());
}

{
// todo(ahcorde) Use the field visualize_visual in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("visualizeVisual");
std::string *value = header->add_value();
*value = std::to_string(_in.Visualize());
}

if (_in.Type() == sdf::LightType::POINT)
out.set_type(msgs::Light_LightType_POINT);
@@ -606,6 +617,24 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in)
out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
out.SetSpotFalloff(_in.spot_falloff());

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool visualizeVisual = true;
for (int i = 0; i < _in.header().data_size(); ++i)
{
for (int j = 0;
j < _in.header().data(i).value_size(); ++j)
{
if (_in.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
_in.header().data(i).value(0));
}
}
}
out.SetVisualize(visualizeVisual);

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool isLightOn = true;
43 changes: 34 additions & 9 deletions src/gui/plugins/component_inspector/ComponentInspector.cc
Original file line number Diff line number Diff line change
@@ -153,6 +153,21 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
lightType = 2;
}

bool visualizeVisual = true;
for (int i = 0; i < _data.header().data_size(); ++i)
{
for (int j = 0;
j < _data.header().data(i).value_size(); ++j)
{
if (_data.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
_data.header().data(i).value(0));
}
}
}

bool isLightOn = true;
for (int i = 0; i < _data.header().data_size(); ++i)
{
@@ -192,7 +207,8 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
QVariant(_data.spot_falloff()),
QVariant(_data.intensity()),
QVariant(lightType),
QVariant(isLightOn)
QVariant(isLightOn),
QVariant(visualizeVisual)
}), ComponentsModel::RoleNames().key("data"));
}

@@ -1006,7 +1022,7 @@ void ComponentInspector::OnLight(
double _attQuadratic, bool _castShadows, double _directionX,
double _directionY, double _directionZ, double _innerAngle,
double _outerAngle, double _falloff, double _intensity, int _type,
bool _isLightOn)
bool _isLightOn, bool _visualizeVisual)
{
std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
[](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
@@ -1016,13 +1032,22 @@ void ComponentInspector::OnLight(
};

ignition::msgs::Light req;

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_isLightOn);
{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_isLightOn);
}
{
// todo(ahcorde) Use the field visualize_visual in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("visualizeVisual");
std::string *value = header->add_value();
*value = std::to_string(_visualizeVisual);
}

req.set_name(this->dataPtr->entityName);
req.set_id(this->dataPtr->entity);
4 changes: 3 additions & 1 deletion src/gui/plugins/component_inspector/ComponentInspector.hh
Original file line number Diff line number Diff line change
@@ -253,14 +253,16 @@ namespace gazebo
/// \param[in] _intensity Intensity of the light
/// \param[in] _type light type
/// \param[in] _isLightOn is light on
/// \param[in] _visualizeVisual is visual enabled
public: Q_INVOKABLE void OnLight(
double _rSpecular, double _gSpecular, double _bSpecular,
double _aSpecular, double _rDiffuse, double _gDiffuse,
double _bDiffuse, double _aDiffuse, double _attRange,
double _attLinear, double _attConstant, double _attQuadratic,
bool _castShadows, double _directionX, double _directionY,
double _directionZ, double _innerAngle, double _outerAngle,
double _falloff, double _intensity, int _type, bool _isLightOn);
double _falloff, double _intensity, int _type, bool _isLightOn,
bool _visualizeVisual);

/// \brief Callback in Qt thread when physics' properties change.
/// \param[in] _stepSize step size
4 changes: 2 additions & 2 deletions src/gui/plugins/component_inspector/ComponentInspector.qml
Original file line number Diff line number Diff line change
@@ -102,13 +102,13 @@ Rectangle {
_attRange, _attLinear, _attConstant, _attQuadratic,
_castShadows, _directionX, _directionY, _directionZ,
_innerAngle, _outerAngle, _falloff, _intensity, _type,
_isLightOn) {
_isLightOn, _visualizeVisual) {
ComponentInspector.OnLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular,
_rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
_attRange, _attLinear, _attConstant, _attQuadratic,
_castShadows, _directionX, _directionY, _directionZ,
_innerAngle, _outerAngle, _falloff, _intensity, _type,
_isLightOn)
_isLightOn, _visualizeVisual)
}

/*
37 changes: 36 additions & 1 deletion src/gui/plugins/component_inspector/Light.qml
Original file line number Diff line number Diff line change
@@ -102,6 +102,9 @@ Rectangle {
// Loaded item for isLightOn
property var isLightOnItem: {}

// Loaded item for visualizeVisuals
property var visualizeVisualItem: {}

// Send new light data to C++
function sendLight() {
// TODO(anyone) There's a loss of precision when these values get to C++
@@ -127,7 +130,8 @@ Rectangle {
falloffItem.value,
intensityItem.value,
model.data[20],
isLightOnItem.checked
isLightOnItem.checked,
visualizeVisualItem.checked
);
}

@@ -289,6 +293,37 @@ Rectangle {
id: grid
width: parent.width

RowLayout {
Rectangle {
color: "transparent"
height: 40
Layout.preferredWidth: visualizeVisualText.width + indentation*3

Text {
id : visualizeVisualText
text: ' View gizmo'
leftPadding: 5
color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
font.pointSize: 12
anchors.centerIn: parent
}
}
Item {
Layout.fillWidth: true
height: 40

Loader {
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id: visualizeVisualLoader
anchors.fill: parent
property double numberValue: model.data[22]
sourceComponent: ignSwitch
onLoaded: {
visualizeVisualItem = visualizeVisualLoader.item
}
}
}
}

RowLayout {
Rectangle {
color: "transparent"
24 changes: 24 additions & 0 deletions src/rendering/RenderUtil.cc
Original file line number Diff line number Diff line change
@@ -279,6 +279,7 @@ class ignition::gazebo::RenderUtilPrivate
lightEql { [](const sdf::Light &_a, const sdf::Light &_b)
{
return
_a.Visualize() == _b.Visualize() &&
_a.Type() == _b.Type() &&
_a.Name() == _b.Name() &&
_a.Diffuse() == _b.Diffuse() &&
@@ -2131,6 +2132,29 @@ void RenderUtilPrivate::UpdateLights(
auto l = std::dynamic_pointer_cast<rendering::Light>(node);
if (l)
{
// todo(ahcorde) Use the field visualize_visual in light.proto from
// Garden on.
bool visualizeVisual = true;
for (int i = 0; i < light.second.header().data_size(); ++i)
{
for (int j = 0;
j < light.second.header().data(i).value_size(); ++j)
{
if (light.second.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
light.second.header().data(i).value(0));
}
}
}

rendering::VisualPtr lightVisual =
this->sceneManager.VisualById(
this->matchLightWithVisuals[light.first]);
if (lightVisual)
lightVisual->SetVisible(visualizeVisual);

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool isLightOn = true;
3 changes: 3 additions & 0 deletions src/rendering/SceneManager.cc
Original file line number Diff line number Diff line change
@@ -1066,6 +1066,9 @@ rendering::VisualPtr SceneManager::CreateLightVisual(Entity _id,
lightVisual->SetInnerAngle(_light.SpotInnerAngle().Radian());
lightVisual->SetOuterAngle(_light.SpotOuterAngle().Radian());
}

lightVisual->SetVisible(_light.Visualize());

rendering::VisualPtr lightVis = std::dynamic_pointer_cast<rendering::Visual>(
lightVisual);
lightVis->SetUserData("gazebo-entity", static_cast<int>(_id));
22 changes: 22 additions & 0 deletions src/systems/user_commands/UserCommands.cc
Original file line number Diff line number Diff line change
@@ -159,6 +159,27 @@ class LightCommand : public UserCommandBase
public: std::function<bool(const msgs::Light &, const msgs::Light &)>
lightEql { [](const msgs::Light &_a, const msgs::Light &_b)
{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto getVisualizeVisual = [](const msgs::Light &_light) -> bool
{
bool visualizeVisual = true;
for (int i = 0; i < _light.header().data_size(); ++i)
{
for (int j = 0;
j < _light.header().data(i).value_size(); ++j)
{
if (_light.header().data(i).key() ==
"visualizeVisual")
{
visualizeVisual = ignition::math::parseInt(
_light.header().data(i).value(0));
}
}
}
return visualizeVisual;
};

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto getIsLightOn = [](const msgs::Light &_light) -> bool
@@ -180,6 +201,7 @@ class LightCommand : public UserCommandBase
return isLightOn;
};
return
getVisualizeVisual(_a) == getVisualizeVisual(_b) &&
getIsLightOn(_a) == getIsLightOn(_b) &&
_a.type() == _b.type() &&
_a.name() == _b.name() &&