Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add lightmap demo #471

Merged
merged 9 commits into from
Feb 1, 2021
Merged

Add lightmap demo #471

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
69f4c07
add lightamp to material and conversion functions, and lightmap world
iche033 Dec 2, 2020
b2bd070
removed topics
iche033 Dec 10, 2020
31c8410
Bump to ign-transport10 and msgs7
Dec 23, 2020
08fe4f9
use lightmap in msg
iche033 Jan 9, 2021
f76a128
Merge from main
iche033 Jan 9, 2021
94f382a
Merge remote-tracking branch 'origin/ign-gazebo5' into lightmap
iche033 Jan 9, 2021
d28afcc
remove todos
iche033 Jan 30, 2021
1659774
fix build, use asFullPath
iche033 Jan 30, 2021
bc3e0eb
Merge branch 'main' into lightmap
iche033 Jan 30, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
94 changes: 94 additions & 0 deletions examples/worlds/lightmap.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,94 @@
<?xml version="1.0" ?>
<!--

A world demonstrating an indoor environment model that uses a lightmap.
There are no dynamic lights or shadows in the scene.

-->

<sdf version="1.7">
<world name="lightmap">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<grid>false</grid>
</scene>

<gui fullscreen="0">

<!-- 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>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-5.5 -2 0.5 0 0.0 0</camera_pose>
</plugin>

<!-- World control -->
<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>

<!-- World statistics -->
<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>
</gui>

<include>
<static>true</static>
<name>Indoor Lightmap</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap</uri>
</include>

</world>
</sdf>
5 changes: 5 additions & 0 deletions src/Conversions.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -316,6 +316,9 @@ msgs::Material ignition::gazebo::convert(const sdf::Material &_in)
asFullPath(workflow->EnvironmentMap(), _in.FilePath()));
pbrMsg->set_emissive_map(workflow->EmissiveMap().empty() ? "" :
asFullPath(workflow->EmissiveMap(), _in.FilePath()));
pbrMsg->set_light_map(workflow->LightMap().empty() ? "" :
asFullPath(workflow->LightMap(), _in.FilePath()));
pbrMsg->set_light_map_texcoord_set(workflow->LightMapTexCoordSet());
}
}
return out;
Expand Down Expand Up @@ -363,6 +366,8 @@ sdf::Material ignition::gazebo::convert(const msgs::Material &_in)
workflow.SetEnvironmentMap(pbrMsg.environment_map());
workflow.SetAmbientOcclusionMap(pbrMsg.ambient_occlusion_map());
workflow.SetEmissiveMap(pbrMsg.emissive_map());
workflow.SetLightMap(pbrMsg.light_map(), pbrMsg.light_map_texcoord_set());

pbr.SetWorkflow(workflow.Type(), workflow);
out.SetPbrMaterial(pbr);
}
Expand Down
6 changes: 6 additions & 0 deletions src/Conversions_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -222,6 +222,7 @@ TEST(Conversions, Material)
workflow.SetEmissiveMap("emissive_map.png");
workflow.SetGlossinessMap("dummy_glossiness_map.png");
workflow.SetSpecularMap("dummy_specular_map.png");
workflow.SetLightMap("light_map.png", 1u);
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Is the light_map.png file suppose to exist?

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

No, I think this is just testing that the conversion between SDF and messages works fine, without worrying about resolving the file.

workflow.SetMetalness(0.3);
workflow.SetRoughness(0.9);
workflow.SetGlossiness(0.1);
Expand Down Expand Up @@ -257,6 +258,9 @@ TEST(Conversions, Material)
EXPECT_EQ("ambient_occlusion_map.png", pbrMsg.ambient_occlusion_map());
EXPECT_EQ("dummy_glossiness_map.png", pbrMsg.glossiness_map());
EXPECT_EQ("dummy_specular_map.png", pbrMsg.specular_map());
EXPECT_EQ("light_map.png", pbrMsg.light_map());
EXPECT_EQ(1u, pbrMsg.light_map_texcoord_set());

EXPECT_DOUBLE_EQ(0.3, pbrMsg.metalness());
EXPECT_DOUBLE_EQ(0.9, pbrMsg.roughness());
EXPECT_DOUBLE_EQ(0.1, pbrMsg.glossiness());
Expand Down Expand Up @@ -284,6 +288,8 @@ TEST(Conversions, Material)
EXPECT_EQ("ambient_occlusion_map.png", newWorkflow->AmbientOcclusionMap());
EXPECT_EQ("dummy_glossiness_map.png", newWorkflow->GlossinessMap());
EXPECT_EQ("dummy_specular_map.png", newWorkflow->SpecularMap());
EXPECT_EQ("light_map.png", newWorkflow->LightMap());
EXPECT_EQ(1u, newWorkflow->LightMapTexCoordSet());
EXPECT_DOUBLE_EQ(0.3, newWorkflow->Metalness());
EXPECT_DOUBLE_EQ(0.9, newWorkflow->Roughness());
EXPECT_DOUBLE_EQ(0.1, newWorkflow->Glossiness());
Expand Down
17 changes: 17 additions & 0 deletions src/rendering/SceneManager.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -538,6 +538,23 @@ rendering::MaterialPtr SceneManager::LoadMaterial(
else
ignerr << "Unable to find file [" << emissiveMap << "]\n";
}

// light map
std::string lightMap = workflow->LightMap();
if (!lightMap.empty())
{
std::string fullPath = common::findFile(
asFullPath(lightMap, _material.FilePath()));
if (!fullPath.empty())
{
unsigned int uvSet = workflow->LightMapTexCoordSet();
material->SetLightMap(fullPath, uvSet);
}
else
{
ignerr << "Unable to find file [" << lightMap << "]\n";
}
}
}
return material;
}
Expand Down