Environment

• OS Version: all
• Source or binary build? 8.6.0

Description

• Expected behavior: Calling sim::Light::SetDiffuseColor followed by sim::Light::SetSpecularColor to work. Example:

gz::sim::Light light(light_entity);
light.SetDiffuseColor(ecm, gz::math::Color(1.0, 0.0, 0.0, 0.0));
light.SetSpecularColor(ecm, gz::math::Color(1.0, 0.0, 0.0, 0.0));

• Actual behavior: Only the last set value takes effect. Looking at the code in

  gz-sim/src/Light.cc

  Lines 326 to 344 in 523b01b

  	void Light::SetDiffuseColor(EntityComponentManager &_ecm,
  	const math::Color &_color)
  	{
  	auto lightCmd =
  	_ecm.Component<components::LightCmd>(this->dataPtr->id);
  	msgs::Light lightMsg;
  	msgs::Set(lightMsg.mutable_diffuse(), _color);
  	if (!lightCmd)
  	{
  	_ecm.CreateComponent(
  	this->dataPtr->id,
  	components::LightCmd(lightMsg));
  	}
  	else
  	{
  	lightCmd->Data() = lightMsg;
  	}
  	}

  calling SetDiffuseColor or SetSpecularColor will set the LightCmd component. But if you call one after the other without a whole step in between, the LightCmd from one will overwrite the other. The code already checks if there's a LightCmd component, but instead of updating the value of the component, it always replaces it with a new value.