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Adds sky cubemap URI to the sky.proto's header #1739

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merged 2 commits into from
Sep 28, 2022
Merged

Adds sky cubemap URI to the sky.proto's header #1739

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a36e979
Adds sky cubemap URI to the sky.proto's header
Sep 27, 2022
79d53f5
require sdf 12.6
Sep 27, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# as protobuf could be find transitively by any dependency
set(protobuf_MODULE_COMPATIBLE TRUE)

ign_find_package(sdformat12 REQUIRED VERSION 12.4)
ign_find_package(sdformat12 REQUIRED VERSION 12.6)
set(SDF_VER ${sdformat12_VERSION_MAJOR})

#--------------------------------------
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17 changes: 17 additions & 0 deletions src/Conversions.cc
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Expand Up @@ -863,6 +863,13 @@ msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in)
skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize());
msgs::Set(skyMsg->mutable_cloud_ambient(),
_in.Sky()->CloudAmbient());

if (!_in.Sky()->CubemapUri().empty())
{
auto header = skyMsg->mutable_header()->add_data();
header->set_key("cubemap_uri");
header->add_value(_in.Sky()->CubemapUri());
}
}

return out;
Expand Down Expand Up @@ -893,6 +900,16 @@ sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in)
sky.SetCloudHumidity(_in.sky().humidity());
sky.SetCloudMeanSize(_in.sky().mean_cloud_size());
sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient()));

for (int i = 0; i < _in.sky().header().data_size(); ++i)
{
auto data = _in.sky().header().data(i);
if (data.key() == "cubemap_uri" && data.value_size() > 0)
{
sky.SetCubemapUri(data.value(0));
}
}

out.SetSky(sky);
}
return out;
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6 changes: 6 additions & 0 deletions src/Conversions_TEST.cc
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Expand Up @@ -710,6 +710,7 @@ TEST(Conversions, Scene)
sky.SetCloudHumidity(0.11);
sky.SetCloudMeanSize(0.88);
sky.SetCloudAmbient(math::Color::Red);
sky.SetCubemapUri("test.dds");
scene.SetSky(sky);

auto sceneSkyMsg = convert<msgs::Scene>(scene);
Expand All @@ -723,6 +724,10 @@ TEST(Conversions, Scene)
EXPECT_DOUBLE_EQ(0.88, sceneSkyMsg.sky().mean_cloud_size());
EXPECT_EQ(math::Color::Red,
msgs::Convert(sceneSkyMsg.sky().cloud_ambient()));
ASSERT_GT(sceneSkyMsg.sky().header().data_size(), 0);
auto header = sceneSkyMsg.sky().header().data(0);
EXPECT_EQ("cubemap_uri", header.key());
EXPECT_EQ("test.dds", header.value(0));

auto newSceneSky = convert<sdf::Scene>(sceneSkyMsg);
ASSERT_NE(nullptr, newSceneSky.Sky());
Expand All @@ -734,6 +739,7 @@ TEST(Conversions, Scene)
EXPECT_DOUBLE_EQ(0.11, newSceneSky.Sky()->CloudHumidity());
EXPECT_DOUBLE_EQ(0.88, newSceneSky.Sky()->CloudMeanSize());
EXPECT_EQ(math::Color::Red, newSceneSky.Sky()->CloudAmbient());
EXPECT_EQ("test.dds", newSceneSky.Sky()->CubemapUri());
}

/////////////////////////////////////////////////
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