Added lights intensity field

include/sdf/Light.hh

@@ -147,6 +147,14 @@ namespace sdf
     /// \param[in] _cast True to indicate that the light casts shadows.
     public: void SetCastShadows(const bool _cast);
 
+    /// \brief Get the light intensity
+    /// \return The light intensity
+    public: double Intensity() const;
+
+    /// \brief Set the light intensity
+    /// \param[in] _intensity New light intensity
+    public: void SetIntensity(const double _intensity);
+
     /// \brief Get the diffuse color. The diffuse color is
     /// specified by a set of three numbers representing red/green/blue,
     /// each in the range of [0,1].

sdf/1.8/light.sdf

@@ -14,6 +14,10 @@
     <description>When true, the light will cast shadows.</description>
   </element>
 
+  <element name="intensity" type="double" default="1" required="0">
+    <description>Scale factor to set the relative power of a light.</description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
 
   <element name="diffuse" type="color" default="1 1 1 1" required="0">

src/Light.cc

@@ -51,6 +51,9 @@ class sdf::LightPrivate
   /// \brief True if the light should cast shadows.
   public: bool castShadows = false;
 
+  /// \brief Spot light falloff.
+  public: double intensity = 1.0;
+
   /// \brief The attenation range.
   public: double attenuationRange = 10.0;
 
@@ -140,6 +143,7 @@ void Light::CopyFrom(const Light &_light)
   this->dataPtr->spotInnerAngle = _light.dataPtr->spotInnerAngle;
   this->dataPtr->spotOuterAngle = _light.dataPtr->spotOuterAngle;
   this->dataPtr->spotFalloff = _light.dataPtr->spotFalloff;
+  this->dataPtr->intensity = _light.dataPtr->intensity;
 }
 
 /////////////////////////////////////////////////
@@ -195,6 +199,9 @@ Errors Light::Load(ElementPtr _sdf)
   this->dataPtr->castShadows = _sdf->Get<bool>("cast_shadows",
       this->dataPtr->castShadows).first;
 
+  this->dataPtr->intensity = _sdf->Get<double>("intensity",
+      this->dataPtr->intensity).first;
+
   this->dataPtr->diffuse = _sdf->Get<ignition::math::Color>("diffuse",
       this->dataPtr->diffuse).first;
 
@@ -340,6 +347,18 @@ sdf::ElementPtr Light::Element() const
   return this->dataPtr->sdf;
 }
 
+/////////////////////////////////////////////////
+double Light::Intensity() const
+{
+  return this->dataPtr->intensity;
+}
+
+/////////////////////////////////////////////////
+void Light::SetIntensity(const double _intensity)
+{
+  this->dataPtr->intensity = _intensity;
+}
+
 /////////////////////////////////////////////////
 bool Light::CastShadows() const
 {

src/Light_TEST.cc

@@ -98,6 +98,10 @@ TEST(DOMLight, DefaultConstruction)
   EXPECT_DOUBLE_EQ(0.0, light.SpotFalloff());
   light.SetSpotFalloff(4.3);
   EXPECT_DOUBLE_EQ(4.3, light.SpotFalloff());
+
+  EXPECT_DOUBLE_EQ(1.0, light.Intensity());
+  light.SetIntensity(0.3);
+  EXPECT_DOUBLE_EQ(0.3, light.Intensity());
 }
 
 /////////////////////////////////////////////////
@@ -119,6 +123,7 @@ TEST(DOMLight, CopyConstructor)
   light.SetSpotInnerAngle(1.9);
   light.SetSpotOuterAngle(3.3);
   light.SetSpotFalloff(0.9);
+  light.SetIntensity(1.7);
 
   sdf::Light light2(light);
   EXPECT_EQ("test_copy_light", light2.Name());
@@ -136,6 +141,7 @@ TEST(DOMLight, CopyConstructor)
   EXPECT_EQ(ignition::math::Angle(1.9), light2.SpotInnerAngle());
   EXPECT_EQ(ignition::math::Angle(3.3), light2.SpotOuterAngle());
   EXPECT_DOUBLE_EQ(0.9, light2.SpotFalloff());
+  EXPECT_DOUBLE_EQ(1.7, light2.Intensity());
 }
 
 /////////////////////////////////////////////////
@@ -157,6 +163,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   light.SetSpotInnerAngle(1.9);
   light.SetSpotOuterAngle(3.3);
   light.SetSpotFalloff(0.9);
+  light.SetIntensity(1.7);
 
   sdf::Light light2;
   light2 = light;
@@ -175,6 +182,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   EXPECT_EQ(ignition::math::Angle(1.9), light2.SpotInnerAngle());
   EXPECT_EQ(ignition::math::Angle(3.3), light2.SpotOuterAngle());
   EXPECT_DOUBLE_EQ(0.9, light2.SpotFalloff());
+  EXPECT_DOUBLE_EQ(1.7, light2.Intensity());
 }
 
 /////////////////////////////////////////////////
@@ -196,6 +204,7 @@ TEST(DOMLight, MoveConstructor)
   light.SetSpotInnerAngle(1.9);
   light.SetSpotOuterAngle(3.3);
   light.SetSpotFalloff(0.9);
+  light.SetIntensity(1.7);
 
   sdf::Light light2(std::move(light));
   EXPECT_EQ("test_light_assignment", light2.Name());
@@ -213,6 +222,7 @@ TEST(DOMLight, MoveConstructor)
   EXPECT_EQ(ignition::math::Angle(1.9), light2.SpotInnerAngle());
   EXPECT_EQ(ignition::math::Angle(3.3), light2.SpotOuterAngle());
   EXPECT_DOUBLE_EQ(0.9, light2.SpotFalloff());
+  EXPECT_DOUBLE_EQ(1.7, light2.Intensity());
 }
 
 /////////////////////////////////////////////////
@@ -234,6 +244,7 @@ TEST(DOMLight, MoveAssignment)
   light.SetSpotInnerAngle(1.9);
   light.SetSpotOuterAngle(3.3);
   light.SetSpotFalloff(0.9);
+  light.SetIntensity(1.7);
 
   sdf::Light light2;
   light2 = std::move(light);
@@ -252,6 +263,7 @@ TEST(DOMLight, MoveAssignment)
   EXPECT_EQ(ignition::math::Angle(1.9), light2.SpotInnerAngle());
   EXPECT_EQ(ignition::math::Angle(3.3), light2.SpotOuterAngle());
   EXPECT_DOUBLE_EQ(0.9, light2.SpotFalloff());
+  EXPECT_DOUBLE_EQ(1.7, light2.Intensity());
 }
 
 /////////////////////////////////////////////////

test/integration/light_dom.cc

@@ -59,6 +59,7 @@ TEST(DOMWorld, LoadLights)
   EXPECT_DOUBLE_EQ(1.0, pointLight->LinearAttenuationFactor());
   EXPECT_DOUBLE_EQ(0.0, pointLight->ConstantAttenuationFactor());
   EXPECT_DOUBLE_EQ(20.2, pointLight->QuadraticAttenuationFactor());
+  EXPECT_DOUBLE_EQ(1.0, pointLight->Intensity());
 
   const sdf::Light *spotLight = world->LightByIndex(1);
   ASSERT_NE(nullptr, spotLight);
@@ -68,6 +69,7 @@ TEST(DOMWorld, LoadLights)
   EXPECT_DOUBLE_EQ(0.1, spotLight->SpotInnerAngle().Radian());
   EXPECT_DOUBLE_EQ(0.5, spotLight->SpotOuterAngle().Radian());
   EXPECT_DOUBLE_EQ(2.2, spotLight->SpotFalloff());
+  EXPECT_DOUBLE_EQ(1.0, spotLight->Intensity());
 
   const sdf::Light *dirLight = world->LightByIndex(2);
   ASSERT_NE(nullptr, dirLight);
@@ -84,6 +86,7 @@ TEST(DOMWorld, LoadLights)
   EXPECT_DOUBLE_EQ(0.0, dirLight->LinearAttenuationFactor());
   EXPECT_DOUBLE_EQ(1.0, dirLight->ConstantAttenuationFactor());
   EXPECT_DOUBLE_EQ(0.0, dirLight->QuadraticAttenuationFactor());
+  EXPECT_DOUBLE_EQ(1.8, dirLight->Intensity());
 
   const sdf::Model *model = world->ModelByIndex(0);
   ASSERT_NE(nullptr, model);

test/sdf/world_complete.sdf

@@ -58,6 +58,7 @@
         <constant>2.0</constant>
         <quadratic>-100.2</quadratic>
       </attenuation>
+      <intensity>1.8</intensity>
     </light>
 
     <frame name="frame1" attached_to="world">