From ddc4b1d8690a4de9b99ca1846b9b9649ac021600 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@users.noreply.github.com>
Date: Fri, 29 Oct 2021 12:54:12 -0700
Subject: [PATCH] Add python binding for global lighting setting (#1615)

---
 CHANGELOG.md                     |  8 +++++++-
 package.xml                      |  2 +-
 python/dartpy/gui/osg/Viewer.cpp | 14 +++++++++++++-
 3 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9dbe466913006..ebb89172ebec9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,10 +1,16 @@
 ## DART 6
 
+### [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
 
-  * Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints : [#1597](https://github.com/dartsim/dart/pull/1597)
+  * Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints: [#1597](https://github.com/dartsim/dart/pull/1597)
 
 ### [DART 6.11.0 (2021-07-15)](https://github.com/dartsim/dart/milestone/64?closed=1)
 
diff --git a/package.xml b/package.xml
index 488c8e96c2af8..9b6814eff14c2 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dartsim</name>
-  <version>6.11.1</version>
+  <version>6.11.2</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics
diff --git a/python/dartpy/gui/osg/Viewer.cpp b/python/dartpy/gui/osg/Viewer.cpp
index 6448702b2030e..cee2ac5d33073 100644
--- 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,
@@ -350,6 +357,11 @@ 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