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Add directional light to scene_system #762

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merged 2 commits into from
Mar 12, 2021
Merged

Add directional light to scene_system #762

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ce96f51
Add directional light to scene_system
scpeters Mar 9, 2021
247ad17
Use static private variables
scpeters Mar 11, 2021
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14 changes: 12 additions & 2 deletions src/backend/scene_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -83,8 +83,18 @@ void SceneSystem::CalcSceneMessage(const drake::systems::Context<double>& contex
}
}

// TODO(caguero): Populate the rest of the scene fields, such as lights.
// See https://github.com/ToyotaResearchInstitute/delphyne/issues/204
// Add a directional light to the scene
{
const ignition::msgs::Color kLightColorMsg = ignition::msgs::Convert(kLightColor);
ignition::msgs::Light directionalLight;
directionalLight.set_name("directional_light");
directionalLight.set_type(ignition::msgs::Light_LightType_DIRECTIONAL);
directionalLight.mutable_diffuse()->CopyFrom(kLightColorMsg);
directionalLight.mutable_specular()->CopyFrom(kLightColorMsg);
directionalLight.mutable_direction()->CopyFrom(ignition::msgs::Convert(kLightDirection));
directionalLight.set_cast_shadows(kCastShadowsByDefault);
scene_message->add_light()->CopyFrom(directionalLight);
}
}

} // namespace delphyne
11 changes: 11 additions & 0 deletions src/backend/scene_system.h
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Expand Up @@ -8,6 +8,8 @@

#include <drake/systems/framework/leaf_system.h>

#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/msgs.hh>

namespace delphyne {
Expand Down Expand Up @@ -39,6 +41,15 @@ class SceneSystem : public drake::systems::LeafSystem<double> {

int get_updated_pose_models_input_port_index() const { return updated_pose_models_input_port_index_; }

// This is the color used by the directional light added to each scene.
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Would you make these three variables static?

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done in 247ad17

const ignition::math::Color kLightColor{0.9, 0.9, 0.9};

// This is the direction of the directional light added to each scene.
const ignition::math::Vector3d kLightDirection{-0.5, -0.5, -1};

// Cast shadows by default.
bool kCastShadowsByDefault{true};

private:
// Calculates a new scene message from the geometry description and the
// updated poses of mobile elements.
Expand Down