Add texture attribute to lights.

PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9

include/mujoco/mjmodel.h

@@ -858,6 +858,7 @@ 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)

include/mujoco/mjspec.h

@@ -395,6 +395,7 @@ 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

include/mujoco/mjvisualize.h

@@ -262,6 +262,7 @@ 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

include/mujoco/mjxmacro.h

@@ -300,6 +300,7 @@
     X   ( int,     light_bodyid,          nlight,        1                    ) \
     X   ( int,     light_targetbodyid,    nlight,        1                    ) \
     X   ( int,     light_type,            nlight,        1                    ) \
+    X   ( int,     light_texid,           nlight,        1                    ) \
     X   ( mjtByte, light_castshadow,      nlight,        1                    ) \
     X   ( float,   light_bulbradius,      nlight,        1                    ) \
     X   ( float,   light_intensity,       nlight,        1                    ) \