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Add support for sky #445

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merged 7 commits into from
Dec 18, 2020
Merged

Add support for sky #445

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7e5fcd2
add sky
iche033 Oct 26, 2020
9db34db
Merge branch 'main' into sky
iche033 Nov 4, 2020
fccdf5a
update sun dir, print warning
iche033 Dec 1, 2020
2f9835c
Merge branch 'main' into sky
iche033 Dec 1, 2020
fb23955
undo changes
iche033 Dec 2, 2020
a079d9a
Merge branch 'sky' of github.com:ignitionrobotics/ign-gazebo into sky
iche033 Dec 2, 2020
efbc71b
merge from main
iche033 Dec 18, 2020
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305 changes: 305 additions & 0 deletions examples/worlds/sky.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,305 @@
<?xml version="1.0" ?>
<!--

Showcase a world with sky enabled.
Currently only supported using ogre2 rendering engine plugin.

-->

<sdf version="1.7">

<world name="sky">

<gui>
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<sky></sky>
<camera_pose>6 0 1.0 0 0.0 3.14</camera_pose>
</plugin>

<!-- Play / pause / step -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>

<!-- Time / RTF -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>

</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<title>RGB camera</title>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</ignition-gui>
<topic>camera</topic>
</plugin>

</gui>


<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<sky></sky>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<direction>0.0 0.6 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="cylinder">
<pose>0 -1.5 0.5 0 0 0</pose>
<link name="cylinder_link">
<inertial>
<inertia>
<ixx>2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
<mass>2.0</mass>
</inertial>
<collision name="cylinder_collision">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>

<visual name="cylinder_visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>

<model name="camera">
<static>true</static>
<pose>-3 0 0.5 0 0.0 0</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>
</link>
</model>

</world>
</sdf>

4 changes: 4 additions & 0 deletions include/ignition/gazebo/rendering/RenderUtil.hh
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Expand Up @@ -94,6 +94,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
/// \param[in] _ambient Color of ambient light
public: void SetAmbientLight(const math::Color &_ambient);

/// \brief Set whether to enable sky in the scene
/// \param[in] _enabled True to enable sky, false to disable sky
public: void SetSkyEnabled(bool _enabled);

/// \brief Show grid view in the scene
public: void ShowGrid();

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29 changes: 29 additions & 0 deletions src/Conversions.cc
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Expand Up @@ -624,6 +624,21 @@ msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in)
out.set_shadows(_in.Shadows());
out.set_grid(_in.Grid());
out.set_origin_visual(_in.OriginVisual());

if (_in.Sky())
{
msgs::Sky *skyMsg = out.mutable_sky();
skyMsg->set_time(_in.Sky()->Time());
skyMsg->set_sunrise(_in.Sky()->Sunrise());
skyMsg->set_sunset(_in.Sky()->Sunset());
skyMsg->set_wind_speed(_in.Sky()->CloudSpeed());
skyMsg->set_wind_direction(_in.Sky()->CloudDirection().Radian());
skyMsg->set_humidity(_in.Sky()->CloudHumidity());
skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize());
msgs::Set(skyMsg->mutable_cloud_ambient(),
_in.Sky()->CloudAmbient());
}

return out;
}

Expand All @@ -639,6 +654,20 @@ sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in)
out.SetShadows(_in.shadows());
out.SetGrid(_in.grid());
out.SetOriginVisual(_in.origin_visual());

if (_in.has_sky())
{
sdf::Sky sky;
sky.SetTime(_in.sky().time());
sky.SetSunrise(_in.sky().sunrise());
sky.SetSunset(_in.sky().sunset());
sky.SetCloudSpeed(_in.sky().wind_speed());
sky.SetCloudDirection(math::Angle(_in.sky().wind_direction()));
sky.SetCloudHumidity(_in.sky().humidity());
sky.SetCloudMeanSize(_in.sky().mean_cloud_size());
sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient()));
out.SetSky(sky);
}
return out;
}

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