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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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src/xml/xml_native_reader.cc
+6 -3
View File
@@ -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
+1
View File
@@ -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);