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]>
gazebosim · Feb 1, 2021 · d719838 · d719838
1 parent 55ddac7
commit d719838
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diff --git a/examples/worlds/lightmap.sdf b/examples/worlds/lightmap.sdf
@@ -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>
diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -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;
@@ -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);
   }

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -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);
   workflow.SetMetalness(0.3);
   workflow.SetRoughness(0.9);
   workflow.SetGlossiness(0.1);
@@ -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());
@@ -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());

diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
@@ -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;
 }