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Add texture attribute to lights.

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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
This commit is contained in:
Google DeepMind
2025-05-27 05:03:04 -07:00
committed by Copybara-Service
parent 441ca838a1
commit 568620dd2f
18 changed files with 106 additions and 4 deletions
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doc/XMLreference.rst
+5
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@@ -2961,6 +2961,11 @@ Attributes may be applied or ignored depending on the lighting model being used.
The color of the light. For the Phong (default) lighting model, this defines the diffuse color of
the light.
.. _body-light-texture:
:at:`texture`: :at-val:`string, optional`
The texture to use for image-based lighting. This is unused by the default Phong lighting model.
.. _body-light-intensity:
:at:`intensity`: :at-val:`real, "1000.0"`
doc/XMLschema.rst
+1 -1
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@@ -321,7 +321,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | |
| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | :ref:`texture<body-light-texture>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
doc/includes/references.h
+3
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@@ -1186,6 +1186,7 @@ struct mjModel_ {
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
int* light_texid; // texture id for image lights (nlight x 1)
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
float* light_intensity; // intensity, in candela (nlight x 1)
@@ -2043,6 +2044,7 @@ typedef struct mjsLight_ { // light specification
// intrinsics
mjtByte active; // is light active
mjtLightType type; // type of light
mjString* texture; // texture name for image lights
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
@@ -2847,6 +2849,7 @@ struct mjvLight_ { // OpenGL light
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
int texid; // texture id for image lights
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent