Merge branch 'release-6.11'

# Conflicts: # CHANGELOG.md # package.xml
dartsim · Oct 29, 2021 · 0cc469b · 0cc469b
2 parents e8f84a8 + ddc4b1d
commit 0cc469b
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -25,6 +25,12 @@
 
   * Added Python bindings for ResourceRetriever and SdfParser: [#1610](https://github.com/dartsim/dart/pull/1610)
 
+### [DART 6.11.2 (2021-10-29)](https://github.com/dartsim/dart/milestone/68?closed=1)
+
+* dartpy
+
+  * Added Python binding for global lighting mode setting: [#1615](https://github.com/dartsim/dart/pull/1615)
+
 ### [DART 6.11.1 (2021-08-23)](https://github.com/dartsim/dart/milestone/67?closed=1)
 
 * Dynamics

diff --git a/python/dartpy/gui/osg/Viewer.cpp b/python/dartpy/gui/osg/Viewer.cpp
@@ -53,7 +53,7 @@ void Viewer(py::module& m)
           },
           ::py::arg("eventHandler"));
 
-  ::py::class_<
+  auto viewer = ::py::class_<
       dart::gui::osg::Viewer,
       osgViewer::View,
       dart::common::Subject,
@@ -131,6 +131,13 @@ void Viewer(py::module& m)
           +[](const dart::gui::osg::Viewer* self) -> bool {
             return self->checkHeadlights();
           })
+      .def(
+          "setLightingMode",
+          &dart::gui::osg::Viewer::setLightingMode,
+        ::py::arg("lightingMode"))
+      .def(
+          "getLightingMode",
+          &dart::gui::osg::Viewer::getLightingMode)
       .def(
           "addWorldNode",
           +[](dart::gui::osg::Viewer* self,
@@ -351,6 +358,11 @@ void Viewer(py::module& m)
 
             self->setCameraManipulator(self->getCameraManipulator());
           });
+
+  ::py::enum_<dart::gui::osg::Viewer::LightingMode>(viewer, "LightingMode")
+      .value("NO_LIGHT", dart::gui::osg::Viewer::NO_LIGHT)
+      .value("HEADLIGHT", dart::gui::osg::Viewer::HEADLIGHT)
+      .value("SKY_LIGHT", dart::gui::osg::Viewer::SKY_LIGHT);
 } // namespace python
 
 } // namespace python