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Add light radius attribute.

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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
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src/xml/xml_native_reader.cc
+5 -4
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@@ -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);