Toggle Light visuals (#1387)

Signed-off-by: ahcorde <ahcorde@gmail.com>

examples/worlds/lights.sdf

@@ -52,6 +52,7 @@
         <quadratic>0.01</quadratic>
       </attenuation>
       <cast_shadows>false</cast_shadows>
+      <visualize>false</visualize>
     </light>
 
     <light type="spot" name="spot">

src/Conversions.cc

@@ -569,12 +569,23 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
   out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
   out.set_spot_falloff(_in.SpotFalloff());
 
-  // todo(ahcorde) Use the field is_light_off in light.proto from
-  // Garden on.
-  auto header = out.mutable_header()->add_data();
-  header->set_key("isLightOn");
-  std::string *value = header->add_value();
-  *value = std::to_string(_in.LightOn());
+  {
+    // todo(ahcorde) Use the field is_light_off in light.proto from
+    // Garden on.
+    auto header = out.mutable_header()->add_data();
+    header->set_key("isLightOn");
+    std::string *value = header->add_value();
+    *value = std::to_string(_in.LightOn());
+  }
+
+  {
+    // todo(ahcorde) Use the field visualize_visual in light.proto from
+    // Garden on.
+    auto header = out.mutable_header()->add_data();
+    header->set_key("visualizeVisual");
+    std::string *value = header->add_value();
+    *value = std::to_string(_in.Visualize());
+  }
 
   if (_in.Type() == sdf::LightType::POINT)
     out.set_type(msgs::Light_LightType_POINT);
@@ -606,6 +617,24 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in)
   out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
   out.SetSpotFalloff(_in.spot_falloff());
 
+  // todo(ahcorde) Use the field is_light_off in light.proto from
+  // Garden on.
+  bool visualizeVisual = true;
+  for (int i = 0; i < _in.header().data_size(); ++i)
+  {
+    for (int j = 0;
+        j < _in.header().data(i).value_size(); ++j)
+    {
+      if (_in.header().data(i).key() ==
+          "visualizeVisual")
+      {
+        visualizeVisual = ignition::math::parseInt(
+          _in.header().data(i).value(0));
+      }
+    }
+  }
+  out.SetVisualize(visualizeVisual);
+
   // todo(ahcorde) Use the field is_light_off in light.proto from
   // Garden on.
   bool isLightOn = true;

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -153,6 +153,21 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
     lightType = 2;
   }
 
+  bool visualizeVisual = true;
+  for (int i = 0; i < _data.header().data_size(); ++i)
+  {
+    for (int j = 0;
+        j < _data.header().data(i).value_size(); ++j)
+    {
+      if (_data.header().data(i).key() ==
+          "visualizeVisual")
+      {
+        visualizeVisual = ignition::math::parseInt(
+          _data.header().data(i).value(0));
+      }
+    }
+  }
+
   bool isLightOn = true;
   for (int i = 0; i < _data.header().data_size(); ++i)
   {
@@ -192,7 +207,8 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
     QVariant(_data.spot_falloff()),
     QVariant(_data.intensity()),
     QVariant(lightType),
-    QVariant(isLightOn)
+    QVariant(isLightOn),
+    QVariant(visualizeVisual)
   }), ComponentsModel::RoleNames().key("data"));
 }
 
@@ -1006,7 +1022,7 @@ void ComponentInspector::OnLight(
   double _attQuadratic, bool _castShadows, double _directionX,
   double _directionY, double _directionZ, double _innerAngle,
   double _outerAngle, double _falloff, double _intensity, int _type,
-  bool _isLightOn)
+  bool _isLightOn, bool _visualizeVisual)
 {
   std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
       [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
@@ -1016,13 +1032,22 @@ void ComponentInspector::OnLight(
   };
 
   ignition::msgs::Light req;
-
-  // todo(ahcorde) Use the field is_light_off in light.proto from
-  // Garden on.
-  auto header = req.mutable_header()->add_data();
-  header->set_key("isLightOn");
-  std::string *value = header->add_value();
-  *value = std::to_string(_isLightOn);
+  {
+    // todo(ahcorde) Use the field is_light_off in light.proto from
+    // Garden on.
+    auto header = req.mutable_header()->add_data();
+    header->set_key("isLightOn");
+    std::string *value = header->add_value();
+    *value = std::to_string(_isLightOn);
+  }
+  {
+    // todo(ahcorde) Use the field visualize_visual in light.proto from
+    // Garden on.
+    auto header = req.mutable_header()->add_data();
+    header->set_key("visualizeVisual");
+    std::string *value = header->add_value();
+    *value = std::to_string(_visualizeVisual);
+  }
 
   req.set_name(this->dataPtr->entityName);
   req.set_id(this->dataPtr->entity);

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -253,14 +253,16 @@ namespace gazebo
     /// \param[in] _intensity Intensity of the light
     /// \param[in] _type light type
     /// \param[in] _isLightOn is light on
+    /// \param[in] _visualizeVisual is visual enabled
     public: Q_INVOKABLE void OnLight(
       double _rSpecular, double _gSpecular, double _bSpecular,
       double _aSpecular, double _rDiffuse, double _gDiffuse,
       double _bDiffuse, double _aDiffuse, double _attRange,
       double _attLinear, double _attConstant, double _attQuadratic,
       bool _castShadows, double _directionX, double _directionY,
       double _directionZ, double _innerAngle, double _outerAngle,
-      double _falloff, double _intensity, int _type, bool _isLightOn);
+      double _falloff, double _intensity, int _type, bool _isLightOn,
+      bool _visualizeVisual);
 
     /// \brief Callback in Qt thread when physics' properties change.
     /// \param[in] _stepSize step size

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -102,13 +102,13 @@ Rectangle {
                    _attRange, _attLinear, _attConstant, _attQuadratic,
                    _castShadows, _directionX, _directionY, _directionZ,
                    _innerAngle, _outerAngle, _falloff, _intensity, _type,
-                   _isLightOn) {
+                   _isLightOn, _visualizeVisual) {
     ComponentInspector.OnLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular,
                                _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
                                _attRange, _attLinear, _attConstant, _attQuadratic,
                                _castShadows, _directionX, _directionY, _directionZ,
                                _innerAngle, _outerAngle, _falloff, _intensity, _type,
-                               _isLightOn)
+                               _isLightOn, _visualizeVisual)
   }
 
   /*

src/gui/plugins/component_inspector/Light.qml

@@ -102,6 +102,9 @@ Rectangle {
   // Loaded item for isLightOn
   property var isLightOnItem: {}
 
+  // Loaded item for visualizeVisuals
+  property var visualizeVisualItem: {}
+
   // Send new light data to C++
   function sendLight() {
     // TODO(anyone) There's a loss of precision when these values get to C++
@@ -127,7 +130,8 @@ Rectangle {
       falloffItem.value,
       intensityItem.value,
       model.data[20],
-      isLightOnItem.checked
+      isLightOnItem.checked,
+      visualizeVisualItem.checked
     );
   }
 
@@ -289,6 +293,37 @@ Rectangle {
         id: grid
         width: parent.width
 
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: visualizeVisualText.width + indentation*3
+
+            Text {
+              id : visualizeVisualText
+              text: ' View gizmo'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+
+            Loader {
+              id: visualizeVisualLoader
+              anchors.fill: parent
+              property double numberValue: model.data[22]
+              sourceComponent: ignSwitch
+              onLoaded: {
+                visualizeVisualItem = visualizeVisualLoader.item
+              }
+            }
+          }
+        }
+
         RowLayout {
           Rectangle {
             color: "transparent"

src/rendering/RenderUtil.cc

@@ -279,6 +279,7 @@ class ignition::gazebo::RenderUtilPrivate
           lightEql { [](const sdf::Light &_a, const sdf::Light &_b)
             {
              return
+                _a.Visualize() == _b.Visualize() &&
                 _a.Type() == _b.Type() &&
                 _a.Name() == _b.Name() &&
                 _a.Diffuse() == _b.Diffuse() &&
@@ -2131,6 +2132,29 @@ void RenderUtilPrivate::UpdateLights(
     auto l = std::dynamic_pointer_cast<rendering::Light>(node);
     if (l)
     {
+      // todo(ahcorde) Use the field visualize_visual in light.proto from
+      // Garden on.
+      bool visualizeVisual = true;
+      for (int i = 0; i < light.second.header().data_size(); ++i)
+      {
+        for (int j = 0;
+            j < light.second.header().data(i).value_size(); ++j)
+        {
+          if (light.second.header().data(i).key() ==
+              "visualizeVisual")
+          {
+            visualizeVisual = ignition::math::parseInt(
+              light.second.header().data(i).value(0));
+          }
+        }
+      }
+
+      rendering::VisualPtr lightVisual =
+          this->sceneManager.VisualById(
+            this->matchLightWithVisuals[light.first]);
+      if (lightVisual)
+        lightVisual->SetVisible(visualizeVisual);
+
       // todo(ahcorde) Use the field is_light_off in light.proto from
       // Garden on.
       bool isLightOn = true;

src/rendering/SceneManager.cc

@@ -1066,6 +1066,9 @@ rendering::VisualPtr SceneManager::CreateLightVisual(Entity _id,
     lightVisual->SetInnerAngle(_light.SpotInnerAngle().Radian());
     lightVisual->SetOuterAngle(_light.SpotOuterAngle().Radian());
   }
+
+  lightVisual->SetVisible(_light.Visualize());
+
   rendering::VisualPtr lightVis = std::dynamic_pointer_cast<rendering::Visual>(
     lightVisual);
   lightVis->SetUserData("gazebo-entity", static_cast<int>(_id));

src/systems/user_commands/UserCommands.cc

@@ -159,6 +159,27 @@ class LightCommand : public UserCommandBase
   public: std::function<bool(const msgs::Light &, const msgs::Light &)>
           lightEql { [](const msgs::Light &_a, const msgs::Light &_b)
             {
+              // todo(ahcorde) Use the field is_light_off in light.proto from
+              // Garden on.
+              auto getVisualizeVisual = [](const msgs::Light &_light) -> bool
+              {
+                bool visualizeVisual = true;
+                for (int i = 0; i < _light.header().data_size(); ++i)
+                {
+                  for (int j = 0;
+                      j < _light.header().data(i).value_size(); ++j)
+                  {
+                    if (_light.header().data(i).key() ==
+                        "visualizeVisual")
+                    {
+                      visualizeVisual = ignition::math::parseInt(
+                        _light.header().data(i).value(0));
+                    }
+                  }
+                }
+                return visualizeVisual;
+              };
+
               // todo(ahcorde) Use the field is_light_off in light.proto from
               // Garden on.
               auto getIsLightOn = [](const msgs::Light &_light) -> bool
@@ -180,6 +201,7 @@ class LightCommand : public UserCommandBase
                 return isLightOn;
                };
              return
+                getVisualizeVisual(_a) == getVisualizeVisual(_b) &&
                 getIsLightOn(_a) == getIsLightOn(_b) &&
                 _a.type() == _b.type() &&
                 _a.name() == _b.name() &&