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iche033Nate Koenig
iche033
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Nate Koenig
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Add lightmap demo (#471)
Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
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‎examples/worlds/lightmap.sdf

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<?xml version="1.0" ?>
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<!--
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A world demonstrating an indoor environment model that uses a lightmap.
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There are no dynamic lights or shadows in the scene.
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-->
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<sdf version="1.7">
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<world name="lightmap">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<background>0.8 0.8 0.8</background>
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<grid>false</grid>
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</scene>
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<gui fullscreen="0">
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<!-- 3D scene -->
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>1.0 1.0 1.0</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>-5.5 -2 0.5 0 0.0 0</camera_pose>
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</plugin>
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<!-- World control -->
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<plugin filename="WorldControl" name="World control">
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<ignition-gui>
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<title>World control</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">72</property>
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<property type="double" key="width">121</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="left" target="left"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<play_pause>true</play_pause>
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<step>true</step>
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<start_paused>true</start_paused>
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</plugin>
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<!-- World statistics -->
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<plugin filename="WorldStats" name="World stats">
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<ignition-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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</gui>
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<include>
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<static>true</static>
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<name>Indoor Lightmap</name>
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<pose>0 0 0 0 0 0</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap</uri>
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</include>
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</world>
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</sdf>

‎src/Conversions.cc

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@@ -316,6 +316,9 @@ msgs::Material ignition::gazebo::convert(const sdf::Material &_in)
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asFullPath(workflow->EnvironmentMap(), _in.FilePath()));
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pbrMsg->set_emissive_map(workflow->EmissiveMap().empty() ? "" :
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asFullPath(workflow->EmissiveMap(), _in.FilePath()));
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pbrMsg->set_light_map(workflow->LightMap().empty() ? "" :
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asFullPath(workflow->LightMap(), _in.FilePath()));
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pbrMsg->set_light_map_texcoord_set(workflow->LightMapTexCoordSet());
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}
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}
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return out;
@@ -363,6 +366,8 @@ sdf::Material ignition::gazebo::convert(const msgs::Material &_in)
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workflow.SetEnvironmentMap(pbrMsg.environment_map());
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workflow.SetAmbientOcclusionMap(pbrMsg.ambient_occlusion_map());
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workflow.SetEmissiveMap(pbrMsg.emissive_map());
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workflow.SetLightMap(pbrMsg.light_map(), pbrMsg.light_map_texcoord_set());
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pbr.SetWorkflow(workflow.Type(), workflow);
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out.SetPbrMaterial(pbr);
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}

‎src/Conversions_TEST.cc

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@@ -222,6 +222,7 @@ TEST(Conversions, Material)
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workflow.SetEmissiveMap("emissive_map.png");
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workflow.SetGlossinessMap("dummy_glossiness_map.png");
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workflow.SetSpecularMap("dummy_specular_map.png");
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workflow.SetLightMap("light_map.png", 1u);
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workflow.SetMetalness(0.3);
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workflow.SetRoughness(0.9);
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workflow.SetGlossiness(0.1);
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EXPECT_EQ("ambient_occlusion_map.png", pbrMsg.ambient_occlusion_map());
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EXPECT_EQ("dummy_glossiness_map.png", pbrMsg.glossiness_map());
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EXPECT_EQ("dummy_specular_map.png", pbrMsg.specular_map());
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EXPECT_EQ("light_map.png", pbrMsg.light_map());
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EXPECT_EQ(1u, pbrMsg.light_map_texcoord_set());
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EXPECT_DOUBLE_EQ(0.3, pbrMsg.metalness());
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EXPECT_DOUBLE_EQ(0.9, pbrMsg.roughness());
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EXPECT_DOUBLE_EQ(0.1, pbrMsg.glossiness());
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EXPECT_EQ("ambient_occlusion_map.png", newWorkflow->AmbientOcclusionMap());
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EXPECT_EQ("dummy_glossiness_map.png", newWorkflow->GlossinessMap());
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EXPECT_EQ("dummy_specular_map.png", newWorkflow->SpecularMap());
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EXPECT_EQ("light_map.png", newWorkflow->LightMap());
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EXPECT_EQ(1u, newWorkflow->LightMapTexCoordSet());
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EXPECT_DOUBLE_EQ(0.3, newWorkflow->Metalness());
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EXPECT_DOUBLE_EQ(0.9, newWorkflow->Roughness());
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EXPECT_DOUBLE_EQ(0.1, newWorkflow->Glossiness());

‎src/rendering/SceneManager.cc

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

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