From 313b6d09a1f92cc5ea382a52fe3bba375e7b05a9 Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Tue, 27 Jun 2023 14:02:18 +0000
Subject: [PATCH] Better Lighting

---
 src/ign_world/world/world.sdf | 29 ++++++++++++++++++-----------
 1 file changed, 18 insertions(+), 11 deletions(-)

diff --git a/src/ign_world/world/world.sdf b/src/ign_world/world/world.sdf
index bc8854d..53b45cc 100644
--- a/src/ign_world/world/world.sdf
+++ b/src/ign_world/world/world.sdf
@@ -9,20 +9,27 @@
         <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
         <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
     
-          <light type="directional" name="sun">
+        <light type="point" name="point_light_1">
             <cast_shadows>true</cast_shadows>
-            <pose>0 0 10 0 0 0</pose>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.2 0.2 0.2 1</specular>
-            <attenuation>
-                <range>1000</range>
-                <constant>0.9</constant>
-                <linear>0.01</linear>
-                <quadratic>0.001</quadratic>
-            </attenuation>
-            <direction>-0.1 0.1 -0.9  </direction>
+            <pose>1 1 2.5 0 0 0</pose>
         </light>
         
+        <light type="point" name="point_light_2">
+            <cast_shadows>true</cast_shadows>
+            <pose>5 1 2.5 0 0 0</pose>
+        </light>
+        
+        <light type="point" name="point_light_3">
+            <cast_shadows>true</cast_shadows>
+            <pose>1 5 2.5 0 0 0</pose>
+        </light>
+        
+        <light type="point" name="point_light_4">
+            <cast_shadows>true</cast_shadows>
+            <pose>5 5 2.5 0 0 0</pose>
+        </light>
+        
+        
         <actor name="actor_walking">
             <plugin name="ignition::gazebo::ActorSystem" filename="$(find ign_actor_plugin)/libign_actor_plugin.so">
                 <x>2</x>