chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add light radius attribute.

Browse Source 
Also fix bug: light defaults were not being saved.

PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
This commit is contained in:
Yuval Tassa
2024-04-15 17:54:05 -07:00
committed by Copybara-Service
parent 683929ab34
commit 0cd28d2423
14 changed files with 135 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+8
View File
@@ -3181,6 +3181,12 @@ the direction specified by the dir attribute. It does not have a full spatial fr
:at:`dir`: :at-val:`real(3), "0 0 -1"`
Direction of the light.
.. _body-light-radius:
:at:`radius`: :at-val:`real, "0"`
Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
useful when rendering scenes with an external renderer.
.. _body-light-attenuation:
:at:`attenuation`: :at-val:`real(3), "1 0 0"`
@@ -7586,6 +7592,8 @@ if omitted.
.. _default-light-dir:
.. _default-light-radius:
.. _default-light-directional:
.. _default-light-castshadow:
doc/XMLschema.rst
+8 -6
View File
@@ -369,11 +369,11 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`attenuation<body-light-attenuation>` | |
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`radius<body-light-radius>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
| | | | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | |
| | | | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1378,11 +1378,13 @@
| :ref:`light | ? | :class: mjcf-attributes |
| <default-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`radius<default-light-radius>` | :ref:`directional<default-light-directional>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
| | | | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<default-light-mode>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+6 -2
View File
@@ -9,12 +9,16 @@ General
^^^^^^^
1. Added `mjModel.mesh_scale`: the scaling applied to asset vertices, as specified in the :ref:`scale<asset-mesh-scale>`
attribute.
2. Added the :ref:`light/radius<body-light-radius>` attribute and corresponding ``mjModel.light_radius`` field. This
value has no effect in MuJoCo's native renderer, but can be usful when rendering scenes with an external renderer.
MJX
^^^
3. Added cylinder plane collisions.
1. Add cylinder plane collisions.
Bug fixes
^^^^^^^^^
4. Defaults of lights were not being saved, now fixed.
Version 3.1.4 (April 10th, 2024)
doc/includes/references.h
+13 -12
View File
@@ -1082,6 +1082,7 @@ struct mjModel_ {
mjtByte* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_radius; // radius of the light (nlight x 1)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
@@ -1195,20 +1196,20 @@ struct mjModel_ {
int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
// height fields
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of asset path for hfield; -1: none (nhfield x 1)
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_adr; // address in rgb (ntex x 1)
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
int* tex_pathadr; // address of asset path for texture; -1: none (ntex x 1)
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_adr; // address in rgb (ntex x 1)
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
// materials
int* mat_texid; // texture id; -1: none (nmat x 1)
include/mujoco/mjmodel.h
+13 -12
View File
@@ -797,6 +797,7 @@ struct mjModel_ {
mjtByte* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_radius; // radius of the light (nlight x 1)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
@@ -910,20 +911,20 @@ struct mjModel_ {
int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
// height fields
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of asset path for hfield; -1: none (nhfield x 1)
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
int* hfield_nrow; // number of rows in grid (nhfield x 1)
int* hfield_ncol; // number of columns in grid (nhfield x 1)
int* hfield_adr; // address in hfield_data (nhfield x 1)
float* hfield_data; // elevation data (nhfielddata x 1)
int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_adr; // address in rgb (ntex x 1)
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
int* tex_pathadr; // address of asset path for texture; -1: none (ntex x 1)
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_adr; // address in rgb (ntex x 1)
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
// materials
int* mat_texid; // texture id; -1: none (nmat x 1)
include/mujoco/mjxmacro.h
+1
View File
@@ -295,6 +295,7 @@
XMJV( mjtByte, light_active, nlight, 1 ) \
X ( mjtNum, light_pos, nlight, 3 ) \
X ( mjtNum, light_dir, nlight, 3 ) \
X ( mjtNum, light_radius, nlight, 1 ) \
X ( mjtNum, light_poscom0, nlight, 3 ) \
X ( mjtNum, light_pos0, nlight, 3 ) \
X ( mjtNum, light_dir0, nlight, 3 ) \
introspect/structs.py
+19 -12
View File
@@ -2116,6 +2116,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='direction rel. to body frame (nlight x 3)',
),
StructFieldDecl(
name='light_radius',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='radius of the light (nlight x 1)',
),
StructFieldDecl(
name='light_poscom0',
type=PointerType(
@@ -2842,84 +2849,84 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='(x, y, z_top, z_bottom) (nhfield x 4)',
doc='(x, y, z_top, z_bottom) (nhfield x 4)',
),
StructFieldDecl(
name='hfield_nrow',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of rows in grid (nhfield x 1)',
doc='number of rows in grid (nhfield x 1)',
),
StructFieldDecl(
name='hfield_ncol',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of columns in grid (nhfield x 1)',
doc='number of columns in grid (nhfield x 1)',
),
StructFieldDecl(
name='hfield_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in hfield_data (nhfield x 1)',
doc='address in hfield_data (nhfield x 1)',
),
StructFieldDecl(
name='hfield_data',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='elevation data (nhfielddata x 1)', # pylint: disable=line-too-long
doc='elevation data (nhfielddata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='hfield_pathadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of asset path for hfield; -1: none (nhfield x 1)',
doc='address of hfield asset path; -1: none (nhfield x 1)',
),
StructFieldDecl(
name='tex_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture type (mjtTexture) (ntex x 1)',
doc='texture type (mjtTexture) (ntex x 1)',
),
StructFieldDecl(
name='tex_height',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of rows in texture image (ntex x 1)',
doc='number of rows in texture image (ntex x 1)',
),
StructFieldDecl(
name='tex_width',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of columns in texture image (ntex x 1)',
doc='number of columns in texture image (ntex x 1)',
),
StructFieldDecl(
name='tex_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in rgb (ntex x 1)',
doc='address in rgb (ntex x 1)',
),
StructFieldDecl(
name='tex_rgb',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='rgb (alpha = 1) (ntexdata x 1)', # pylint: disable=line-too-long
doc='rgb (alpha = 1) (ntexdata x 1)',
),
StructFieldDecl(
name='tex_pathadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of asset path for texture; -1: none (ntex x 1)',
doc='address of texture asset path; -1: none (ntex x 1)',
),
StructFieldDecl(
name='mat_texid',
src/user/user_api.h
+1
View File
@@ -347,6 +347,7 @@ typedef struct _mjsLight { // light specification
// frame
double pos[3]; // position
double dir[3]; // direction
double radius; // radius
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for targeting
src/user/user_model.cc
+1
View File
@@ -1985,6 +1985,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->light_active[lid] = (mjtByte)pl->active;
copyvec(m->light_pos+3*lid, pl->pos, 3);
copyvec(m->light_dir+3*lid, pl->dir, 3);
m->light_radius[lid] = pl->radius;
copyvec(m->light_attenuation+3*lid, pl->attenuation, 3);
m->light_cutoff[lid] = pl->cutoff;
m->light_exponent[lid] = pl->exponent;
src/xml/xml_native_reader.cc
+5 -4
View File
@@ -153,7 +153,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"camera", "?", "16", "fovy", "ipd", "resolution", "pos", "quat", "axisangle", "xyaxes",
"zaxis", "euler", "mode", "focal", "focalpixel", "principal", "principalpixel",
"sensorsize", "user"},
{"light", "?", "12", "pos", "dir", "directional", "castshadow", "active",
{"light", "?", "13", "pos", "dir", "radius", "directional", "castshadow", "active",
"attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
{"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
"gap", "margin"},
@@ -263,9 +263,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"camera", "*", "19", "name", "class", "fovy", "ipd", "resolution", "pos", "quat",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "focal", "focalpixel",
"principal", "principalpixel", "sensorsize", "user"},
{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
"mode", "target"},
{"light", "*", "16", "name", "class", "directional", "castshadow", "active",
"pos", "dir", "radius", "attenuation", "cutoff", "exponent", "ambient", "diffuse",
"specular", "mode", "target"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
@@ -1783,6 +1783,7 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* plight) {
}
ReadAttr(elem, "pos", 3, plight->pos, text);
ReadAttr(elem, "dir", 3, plight->dir, text);
ReadAttr(elem, "radius", 1, &plight->radius, text);
ReadAttr(elem, "attenuation", 3, plight->attenuation, text);
ReadAttr(elem, "cutoff", 1, &plight->cutoff, text);
ReadAttr(elem, "exponent", 1, &plight->exponent, text);
src/xml/xml_native_writer.cc
+6
View File
@@ -508,6 +508,7 @@ void mjXWriter::OneLight(XMLElement* elem, mjCLight* plight, mjCDef* def) {
}
// defaults and regular
WriteAttr(elem, "radius", 1, &plight->radius, &def->light.radius);
WriteAttrKey(elem, "directional", bool_map, 2, plight->directional, def->light.directional);
WriteAttrKey(elem, "castshadow", bool_map, 2, plight->castshadow, def->light.castshadow);
WriteAttrKey(elem, "active", bool_map, 2, plight->active, def->light.active);
@@ -1172,6 +1173,11 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
OneCamera(elem, &def->camera, par);
if (!elem->FirstAttribute()) section->DeleteChild(elem);
// light
elem = InsertEnd(section, "light");
OneLight(elem, &def->light, par);
if (!elem->FirstAttribute()) section->DeleteChild(elem);
// pair
elem = InsertEnd(section, "pair");
OnePair(elem, &def->pair, par);
test/xml/xml_native_reader_test.cc
+24
View File
@@ -1868,5 +1868,29 @@ TEST_F(XMLReaderTest, ExtentNegativeNotAllowed) {
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, LightRadius) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="r1">
<light radius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" radius="2"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->light_radius[0], 0);
EXPECT_EQ(model->light_radius[1], 1);
EXPECT_EQ(model->light_radius[2], 2);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
test/xml/xml_native_writer_test.cc
+29
View File
@@ -935,6 +935,35 @@ TEST_F(XMLWriterTest, WritesHfield) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesLight) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="r1">
<light radius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" radius="2"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(mtemp->nlight, 3);
EXPECT_EQ(mtemp->light_radius[0], 0);
EXPECT_EQ(mtemp->light_radius[1], 1);
EXPECT_EQ(mtemp->light_radius[2], 2);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SpringlengthOneValue) {
static constexpr char xml[] = R"(
<mujoco>
unity/Runtime/Bindings/MjBindings.cs
+1
View File
@@ -5297,6 +5297,7 @@ public unsafe struct mjModel_ {
public byte* light_active;
public double* light_pos;
public double* light_dir;
public double* light_radius;
public double* light_poscom0;
public double* light_pos0;
public double* light_dir0;