Add texture attribute to lights.

PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9

src/engine/engine_vis_visualize.c

@@ -2143,8 +2143,12 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
     // set default properties
     memset(thislight, 0, sizeof(mjvLight));
     thislight->headlight = 1;
+    thislight->texid = -1;
     thislight->type = mjLIGHT_DIRECTIONAL;
     thislight->castshadow = 0;
+    thislight->bulbradius = 0.02;
+    thislight->intensity = 1000;
+    thislight->range = 10;
 
     // compute head position and gaze direction in model space
     mjtNum hpos[3], hfwd[3];
@@ -2170,6 +2174,7 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
       // copy properties
       memset(thislight, 0, sizeof(mjvLight));
       thislight->type = m->light_type[i];
+      thislight->texid = m->light_texid[i];
       thislight->castshadow = m->light_castshadow[i];
       thislight->bulbradius = m->light_bulbradius[i];
       thislight->intensity = m->light_intensity[i];

src/user/user_model.cc

@@ -2670,6 +2670,7 @@ void mjCModel::CopyTree(mjModel* m) {
       m->light_mode[lid] = (int)pl->mode;
       m->light_targetbodyid[lid] = pl->targetbodyid;
       m->light_type[lid] = pl->type;
+      m->light_texid[lid] = pl->texid;
       m->light_castshadow[lid] = (mjtByte)pl->castshadow;
       m->light_active[lid] = (mjtByte)pl->active;
       mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);

src/user/user_objects.cc

@@ -3553,7 +3553,10 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
   // clear private variables
   body = 0;
   targetbodyid = -1;
+  texid = -1;
   spec_targetbody_.clear();
+  spec_texture_.clear();
+
 
   // reset to default if given
   if (_def) {
@@ -3593,6 +3596,7 @@ void mjCLight::PointToLocal() {
   spec.element = static_cast<mjsElement*>(this);
   spec.name = &name;
   spec.targetbody = &spec_targetbody_;
+  spec.texture = &spec_texture_;
   spec.info = &info;
   targetbody = nullptr;
 }
@@ -3604,6 +3608,9 @@ void mjCLight::NameSpace(const mjCModel* m) {
   if (!spec_targetbody_.empty()) {
     spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
   }
+  if (!spec_texture_.empty()) {
+    spec_texture_ = m->prefix + spec_texture_ + m->suffix;
+  }
 }
 
 
@@ -3611,6 +3618,7 @@ void mjCLight::NameSpace(const mjCModel* m) {
 void mjCLight::CopyFromSpec() {
   *static_cast<mjsLight*>(this) = spec;
   targetbody_ = spec_targetbody_;
+  texture_ = spec_texture_;
 }
 
 
@@ -3643,6 +3651,16 @@ void mjCLight::Compile(void) {
       throw mjCError(this, "unknown target body in light");
     }
   }
+
+  // get texture
+  if (!texture_.empty()) {
+    mjCTexture* tex = (mjCTexture*)model->FindObject(mjOBJ_TEXTURE, texture_);
+    if (tex) {
+      texid = tex->id;
+    } else {
+      throw mjCError(this, "unknown target body in light");
+    }
+  }
 }
 
 

src/user/user_objects.h

@@ -793,6 +793,9 @@ class mjCLight_ : public mjCBase {
  protected:
   mjCBody* body;                  // light's body
   int targetbodyid;               // id of target body; -1: none
+  int texid;                      // id of texture; -1: none
+  std::string texture_;
+  std::string spec_texture_;
   std::string targetbody_;
   std::string spec_targetbody_;
 };
@@ -814,6 +817,7 @@ class mjCLight : public mjCLight_, private mjsLight {
 
   // used by mjXWriter and mjCModel
   const std::string& get_targetbody() const { return targetbody_; }
+  const std::string& get_texture() const { return texture_; }
 
   void SetParent(mjCBody* _body) { body = _body; }
   mjCBody* GetParent() const { return body; }

src/xml/xml_native_reader.cc

@@ -281,9 +281,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "19", "name", "class", "directional", "type", "castshadow", "active",
+        {"light", "*", "20", "name", "class", "directional", "type", "castshadow", "active",
             "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
-            "exponent", "ambient", "diffuse", "specular", "mode", "target"},
+            "exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"},
         {"plugin", "*", "2", "plugin", "instance"},
         {"<"},
           {"config", "*", "2", "key", "value"},
@@ -1864,12 +1864,15 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
 void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   int n;
   bool has_directional = false;
-  string text, name, targetbody;
+  string text, name, texture, targetbody;
 
   // read attributes
   if (ReadAttrTxt(elem, "name", name)) {
     mjs_setString(light->name, name.c_str());
   }
+  if (ReadAttrTxt(elem, "texture", texture)) {
+    mjs_setString(light->texture, texture.c_str());
+  }
   if (ReadAttrTxt(elem, "target", targetbody)) {
     mjs_setString(light->targetbody, targetbody.c_str());
   }

src/xml/xml_native_writer.cc

@@ -608,6 +608,7 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
   WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
   WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
   WriteAttrKey(elem, "type", lighttype_map, lighttype_sz, light->type, def->Light().type);
+  WriteAttrTxt(elem, "texture", light->get_texture());
   WriteAttrKey(elem, "castshadow", bool_map, 2, light->castshadow, def->Light().castshadow);
   WriteAttrKey(elem, "active", bool_map, 2, light->active, def->Light().active);
   WriteAttr(elem, "attenuation", 3, light->attenuation, def->Light().attenuation);