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test/worlds/lights.sdf

 

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<?xml version="1.0" ?>

 

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<sdf version="1.6">

 

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  <world name="lights">

 

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    <physics name="1ms" type="ode">

 

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      <max_step_size>0.001</max_step_size>

 

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      <real_time_factor>0</real_time_factor>

 

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    </physics>

 

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    <plugin

 

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      filename="ignition-gazebo-physics-system"

 

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      name="ignition::gazebo::systems::Physics">

 

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    </plugin>

 

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    <plugin

 

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      filename="ignition-gazebo-scene-broadcaster-system"

 

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      name="ignition::gazebo::systems::SceneBroadcaster">

 

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    </plugin>

 

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    <light type="directional" name="directional">

 

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      <cast_shadows>true</cast_shadows>

 

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      <pose>0 0 10 0 0 0</pose>

 

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      <diffuse>0.8 0.8 0.8 1</diffuse>

 

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      <specular>0.2 0.2 0.2 1</specular>

 

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      <attenuation>

 

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        <range>100</range>

 

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        <constant>0.9</constant>

 

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        <linear>0.01</linear>

 

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        <quadratic>0.001</quadratic>

 

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      </attenuation>

 

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      <direction>0.5 0.2 -0.9</direction>

 

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    </light>

 

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    <light type="point" name="point">

 

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      <pose>0 -1.5 3 0 0 0</pose>

 

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      <diffuse>1 0 0 1</diffuse>

 

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      <specular>.1 .1 .1 1</specular>

 

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      <attenuation>

 

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        <range>4</range>

 

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        <constant>0.2</constant>

 

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        <linear>0.5</linear>

 

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        <quadratic>0.01</quadratic>

 

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      </attenuation>

 

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      <cast_shadows>false</cast_shadows>

 

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    </light>

 

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    <light type="spot" name="spot">

 

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      <pose>0 1.5 3 0 0 0</pose>

 

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      <diffuse>0 1 0 1</diffuse>

 

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      <specular>.2 .2 .2 1</specular>

 

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      <attenuation>

 

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        <range>5</range>

 

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        <constant>0.3</constant>

 

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        <linear>0.4</linear>

 

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        <quadratic>0.001</quadratic>

 

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      </attenuation>

 

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      <direction>0 0 -1</direction>

 

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      <spot>

 

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        <inner_angle>0.1</inner_angle>

 

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        <outer_angle>0.5</outer_angle>

 

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        <falloff>0.8</falloff>

 

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      </spot>

 

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      <cast_shadows>false</cast_shadows>

 

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    </light>

 

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    <model name="sphere">

 

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      <pose>0 0.0 0.0 0 0 0</pose>

 

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      <link name="sphere_link">

 

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        <visual name="sphere_visual">

 

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          <geometry>

 

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            <sphere>

 

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              <radius>0.5</radius>

 

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            </sphere>

 

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          </geometry>

 

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          <material>

 

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            <ambient>0.3 0.3 0.3 1</ambient>

 

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            <diffuse>0.3 0.3 0.3 1</diffuse>

 

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            <specular>0.3 0.3 0.3 1</specular>

 

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          </material>

 

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        </visual>

 

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        <light type="point" name="link_light_point">

 

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          <pose>0 0 1.0 0 0 0</pose>

 

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          <diffuse>0 0 1 1</diffuse>

 

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          <specular>.1 .1 .1 1</specular>

 

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          <attenuation>

 

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            <range>2</range>

 

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            <constant>0.05</constant>

 

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            <linear>0.02</linear>

 

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            <quadratic>0.01</quadratic>

 

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          </attenuation>

 

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          <cast_shadows>false</cast_shadows>

 

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        </light>

 

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      </link>

 

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    </model>

 

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  </world>

 

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</sdf>

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