Added option to visualize light in GUI (#877)

Signed-off-by: ahcorde <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

Author: ahcorde

include/sdf/Light.hh

@@ -134,6 +134,14 @@ namespace sdf
     /// \param[in] _cast True to indicate that the light is on, False otherwise.
     public: void SetLightOn(const bool _isLightOn);
 
+    /// \brief Whether light visualization in the GUI is enabled.
+    /// \return True if visualization is enabled.
+    public: bool Visualize() const;
+
+    /// \brief Set whether light visualization in the GUI is enabled.
+    /// \param[in] _visualize True to view the light on the GUI.
+    public: void SetVisualize(const bool _visualize);
+
     /// \brief Get the light intensity
     /// \return The light intensity
     public: double Intensity() const;

sdf/1.8/light.sdf

@@ -18,6 +18,10 @@
     <description>When true, the light is on.</description>
   </element>
 
+  <element name="visualize" type="bool" default="true" required="0">
+    <description>If true, the light is visualized in the GUI</description>
+  </element>
+
   <element name="intensity" type="double" default="1" required="0">
     <description>Scale factor to set the relative power of a light.</description>
   </element>

src/Light.cc

@@ -86,6 +86,9 @@ class sdf::Light::Implementation
 
   /// \brief Is light on ?
   public: bool isLightOn = true;
+
+  /// \brief is visual light enabled ?
+  public: bool visualize = true;
 };
 
 /////////////////////////////////////////////////
@@ -147,6 +150,9 @@ Errors Light::Load(ElementPtr _sdf)
   this->dataPtr->isLightOn = _sdf->Get<bool>("light_on",
       this->dataPtr->isLightOn).first;
 
+  this->dataPtr->visualize = _sdf->Get<bool>("visualize",
+      this->dataPtr->visualize).first;
+
   this->dataPtr->castShadows = _sdf->Get<bool>("cast_shadows",
       this->dataPtr->castShadows).first;
 
@@ -334,6 +340,18 @@ void Light::SetLightOn(const bool _isLightOn)
   this->dataPtr->isLightOn = _isLightOn;
 }
 
+/////////////////////////////////////////////////
+bool Light::Visualize() const
+{
+  return this->dataPtr->visualize;
+}
+
+/////////////////////////////////////////////////
+void Light::SetVisualize(const bool _visualize)
+{
+  this->dataPtr->visualize = _visualize;
+}
+
 /////////////////////////////////////////////////
 ignition::math::Color Light::Diffuse() const
 {

src/Light_TEST.cc

@@ -59,6 +59,10 @@ TEST(DOMLight, DefaultConstruction)
   light.SetLightOn(false);
   EXPECT_FALSE(light.LightOn());
 
+  EXPECT_TRUE(light.Visualize());
+  light.SetVisualize(false);
+  EXPECT_FALSE(light.Visualize());
+
   EXPECT_FALSE(light.CastShadows());
   light.SetCastShadows(true);
   EXPECT_TRUE(light.CastShadows());
@@ -118,6 +122,7 @@ TEST(DOMLight, CopyConstructor)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -137,6 +142,7 @@ TEST(DOMLight, CopyConstructor)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -160,6 +166,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -180,6 +187,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -203,6 +211,7 @@ TEST(DOMLight, MoveConstructor)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -222,6 +231,7 @@ TEST(DOMLight, MoveConstructor)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -245,6 +255,7 @@ TEST(DOMLight, MoveAssignment)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -265,6 +276,7 @@ TEST(DOMLight, MoveAssignment)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());