Add texture attribute to lights.

PiperOrigin-RevId: 763739805 Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:03:04 -07:00
parent 441ca838a1
commit 568620dd2f
18 changed files with 106 additions and 4 deletions
@@ -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