Added LightVisual

[ahcorde]

This PR adds LightVisual. It's related with this issue gazebosim/gz-sim#193

Ogre2 is working fine:

But in Ogre I'm only able to see the LightVisual attached to an object.

When I run the simple_demo which includes some lights I'm able to see it in both cases:

• Ogre

• Ogre2
  

@iche033, any idea why in Gazebo the LightVisual is not being rendered ?

Signed-off-by: ahcorde [email protected]

[codecov]

Codecov Report

Merging #202 (a4f25d0) into main (55498bf) will increase coverage by 3.97%.
The diff coverage is 68.76%.

@@            Coverage Diff             @@
##             main     #202      +/-   ##
==========================================
+ Coverage   53.01%   56.99%   +3.97%     
==========================================
  Files         143      151       +8     
  Lines       13600    14988    +1388     
==========================================
+ Hits         7210     8542    +1332     
- Misses       6390     6446      +56     

Impacted Files	Coverage Δ
include/ignition/rendering/Scene.hh	0.00% <ø> (ø)
include/ignition/rendering/base/BaseScene.hh	0.00% <ø> (ø)
ogre/src/OgreCamera.cc	0.00% <0.00%> (ø)
ogre/src/OgreLightVisual.cc	0.00% <0.00%> (ø)
ogre/src/OgreVisual.cc	27.55% <28.57%> (+27.55%)	⬆️
include/ignition/rendering/base/BaseLightVisual.hh	30.09% <30.09%> (ø)
ogre/src/OgreScene.cc	28.46% <44.44%> (+28.46%)	⬆️
ogre2/src/Ogre2Scene.cc	88.70% <44.44%> (-1.74%)	⬇️
ogre2/src/Ogre2LightVisual.cc	72.34% <72.34%> (ø)
ogre/src/OgreHeightmap.cc	72.70% <72.70%> (ø)
... and 25 more

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[iche033]

@iche033, any idea why in Gazebo the LightVisual is not being rendered ?

turns out to be an issue on the ign-gazebo side. We are not attaching the light to the scene. By default ogre2 attaches a light without parent to the root but ogre1.x does not and we have to manually attach it to the scene tree ourselves. Here's a patch to make light visuals appear in ign-gazebo:

diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index 6aa73f78..1377def0 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -926,6 +926,8 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id,
 
   if (parent)
     parent->AddChild(light);
+  else
+    this->dataPtr->scene->RootVisual()->AddChild(light);
 
   return light;
 }

[iche033]

Can we move the code for creating the light visual to ign-gazebo gui plugin? So instead of always creating the LightVisual when a Light is created, we create them in ign-gazebo only when the users requests to visualize them. Similar to the idea of lidar visualization (and we can then also toggle their visibility on/off). These visualizations are gui only so we don't need to always create them.

[iche033]

add /// \brief

[iche033]

can you also change the naming convention of these enums to match others in ign-rendering?
e.g.
https://github.com/ignitionrobotics/ign-rendering/blob/ign-rendering4/include/ignition/rendering/Marker.hh#L38

so this would be something like LVT_NONE

[ahcorde]

There is a conflict with LidarVisualType. Any recomendations ?

[iche033]

ah that's unfortunate, how about LVT_EMPTY?

[ahcorde]

@iche033 Resolved! 69232c0

[iche033]

I added some doc in a4f25d0. Changes look good. I think windows build failure is an issue with the CI machine

[peci1]

@ahcorde can you check spotlights do not suffer from the same bug as Gazebo Classic doubling their FOV? gazebosim/gazebo-classic#2947 . Looking at the code it seems to me the same bug was copied...

[ahcorde]

@peci1 FYI: PR #308