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Convert light directional boolean into a type enum.

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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
This commit is contained in:
Google DeepMind
2025-05-22 08:50:23 -07:00
committed by Copybara-Service
parent 373b4c0437
commit 74cc904edc
21 changed files with 130 additions and 49 deletions
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doc/APIreference/APItypes.rst
+11
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@@ -165,6 +165,17 @@ values are used in ``m->cam_mode`` and ``m->light_mode``.
.. mujoco-include:: mjtCamLight
.. _mjtLightType:
mjtLightType
~~~~~~~~~~~~
The type of a light source describing how its position, orientation and other properties will interact with the
objects in the scene. These values are used in ``m->light_type``.
.. mujoco-include:: mjtLightType
.. _mjtTexture:
mjtTexture
doc/XMLreference.rst
+10 -1
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@@ -2909,10 +2909,17 @@ Attributes may be applied or ignored depending on the lighting model being used.
This is identical to the target attribute of :ref:`camera <body-camera>` above. It specifies which body should be
targeted in "targetbody" and "targetbodycom" modes.
.. _body-light-type:
:at:`type`: :at-val:`[spot, directional, point, image], "spot"`
Determines the type of light. Note that some light types may not be supported by some renderers (e.g. only spot and
directional lights are supported by the default native renderer).
.. _body-light-directional:
:at:`directional`: :at-val:`[false, true], "false"`
The light is directional if this attribute is "true", otherwise it is a spotlight.
This is a deprecated legacy attribute. Please use :ref:`light <light-type>` type instead. If set to "true", and no
type is specified, this will change the light type to be directional.
.. _body-light-castshadow:
@@ -8288,6 +8295,8 @@ if omitted.
.. _default-light-dir:
.. _default-light-type:
.. _default-light-directional:
.. _default-light-castshadow:
doc/XMLschema.rst
+8 -8
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@@ -313,15 +313,15 @@
| :ref:`light | \* | :class: mjcf-attributes |
| <body-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`type<body-light-type>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`bulbradius<body-light-bulbradius>` | |
| | | | :ref:`castshadow<body-light-castshadow>` | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`intensity<body-light-intensity>` | :ref:`range<body-light-range>` | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | |
| | | | :ref:`bulbradius<body-light-bulbradius>` | :ref:`intensity<body-light-intensity>` | :ref:`range<body-light-range>` | :ref:`attenuation<body-light-attenuation>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | |
| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :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>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1465,11 +1465,11 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`intensity<default-light-intensity>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<default-light-range>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | |
| | | | :ref:`range<default-light-range>` | :ref:`directional<default-light-directional>` | :ref:`type<default-light-type>` | :ref:`castshadow<default-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | |
| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | | |
| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+3
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@@ -11,6 +11,9 @@ General
solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
types.
Simulate
^^^^^^^^
doc/includes/references.h
+9 -3
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@@ -526,6 +526,12 @@ typedef enum mjtCamLight_ { // tracking mode for camera and light
mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
} mjtCamLight;
typedef enum mjtLightType_ { // type of light
mjLIGHT_SPOT = 0, // spot
mjLIGHT_DIRECTIONAL, // directional
mjLIGHT_POINT, // point
mjLIGHT_IMAGE, // image-based
} mjtLightType;
typedef enum mjtTexture_ { // type of texture
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
@@ -1179,7 +1185,7 @@ struct mjModel_ {
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
mjtByte* light_directional; // directional light (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (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)
@@ -2036,7 +2042,7 @@ typedef struct mjsLight_ { // light specification
// intrinsics
mjtByte active; // is light active
mjtByte directional; // is light directional or spot
mjtLightType type; // type of light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
@@ -2840,6 +2846,7 @@ typedef struct mjvGeom_ mjvGeom;
struct mjvLight_ { // OpenGL light
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
@@ -2847,7 +2854,6 @@ struct mjvLight_ { // OpenGL light
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
include/mujoco/mjmodel.h
+9 -1
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@@ -129,6 +129,14 @@ typedef enum mjtCamLight_ { // tracking mode for camera and light
} mjtCamLight;
typedef enum mjtLightType_ { // type of light
mjLIGHT_SPOT = 0, // spot
mjLIGHT_DIRECTIONAL, // directional
mjLIGHT_POINT, // point
mjLIGHT_IMAGE, // image-based
} mjtLightType;
typedef enum mjtTexture_ { // type of texture
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
@@ -849,7 +857,7 @@ struct mjModel_ {
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
int* light_bodyid; // id of light's body (nlight x 1)
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
mjtByte* light_directional; // directional light (nlight x 1)
int* light_type; // spot, directional, etc. (mjtLightType) (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
+1 -1
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@@ -394,7 +394,7 @@ typedef struct mjsLight_ { // light specification
// intrinsics
mjtByte active; // is light active
mjtByte directional; // is light directional or spot
mjtLightType type; // type of light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
include/mujoco/mjvisualize.h
+1 -1
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@@ -261,6 +261,7 @@ typedef struct mjvGeom_ mjvGeom;
struct mjvLight_ { // OpenGL light
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
@@ -268,7 +269,6 @@ struct mjvLight_ { // OpenGL light
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
include/mujoco/mjxmacro.h
+1 -1
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@@ -299,7 +299,7 @@
X ( int, light_mode, nlight, 1 ) \
X ( int, light_bodyid, nlight, 1 ) \
X ( int, light_targetbodyid, nlight, 1 ) \
X ( mjtByte, light_directional, nlight, 1 ) \
X ( int, light_type, nlight, 1 ) \
X ( mjtByte, light_castshadow, nlight, 1 ) \
X ( float, light_bulbradius, nlight, 1 ) \
X ( float, light_intensity, nlight, 1 ) \
mjx/mujoco/mjx/_src/types.py
+1 -1
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@@ -725,7 +725,7 @@ class Model(PyTreeNode):
cam_sensorsize: np.ndarray
cam_intrinsic: np.ndarray
light_mode: np.ndarray
light_directional: jax.Array
light_type: jax.Array
light_castshadow: jax.Array
light_pos: jax.Array
light_dir: jax.Array
python/mujoco/indexer_xmacro.h
+1 -1
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@@ -152,7 +152,7 @@
X( int, light_, mode, nlight, 1 ) \
X( int, light_, bodyid, nlight, 1 ) \
X( int, light_, targetbodyid, nlight, 1 ) \
X( mjtByte, light_, directional, nlight, 1 ) \
X( int, light_, type, nlight, 1 ) \
X( mjtByte, light_, castshadow, nlight, 1 ) \
X( mjtByte, light_, active, nlight, 1 ) \
X( mjtNum, light_, pos, nlight, 3 ) \
python/mujoco/introspect/enums.py
+11
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@@ -111,6 +111,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjCAMLIGHT_TARGETBODYCOM', 4),
]),
)),
('mjtLightType',
EnumDecl(
name='mjtLightType',
declname='enum mjtLightType_',
values=dict([
('mjLIGHT_SPOT', 0),
('mjLIGHT_DIRECTIONAL', 1),
('mjLIGHT_POINT', 2),
('mjLIGHT_IMAGE', 3),
]),
)),
('mjtTexture',
EnumDecl(
name='mjtTexture',
python/mujoco/introspect/structs.py
+11 -11
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@@ -2220,11 +2220,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
array_extent=('nlight',),
),
StructFieldDecl(
name='light_directional',
name='light_type',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
inner_type=ValueType(name='int'),
),
doc='directional light',
doc='spot, directional, etc. (mjtLightType)',
array_extent=('nlight',),
),
StructFieldDecl(
@@ -6697,6 +6697,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='direction rel. to body frame',
),
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='type (mjtLightType)',
),
StructFieldDecl(
name='attenuation',
type=ArrayType(
@@ -6744,11 +6749,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtByte'),
doc='headlight',
),
StructFieldDecl(
name='directional',
type=ValueType(name='mjtByte'),
doc='directional light',
),
StructFieldDecl(
name='castshadow',
type=ValueType(name='mjtByte'),
@@ -8992,9 +8992,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='is light active',
),
StructFieldDecl(
name='directional',
type=ValueType(name='mjtByte'),
doc='is light directional or spot',
name='type',
type=ValueType(name='mjtLightType'),
doc='type of light',
),
StructFieldDecl(
name='castshadow',
python/mujoco/structs.cc
+1 -1
View File
@@ -1073,7 +1073,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(cutoff);
X(exponent);
X(headlight);
X(directional);
X(type);
X(castshadow);
X(bulbradius);
X(intensity);
src/engine/engine_vis_visualize.c
+3 -3
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@@ -2143,7 +2143,7 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
// set default properties
memset(thislight, 0, sizeof(mjvLight));
thislight->headlight = 1;
thislight->directional = 1;
thislight->type = mjLIGHT_DIRECTIONAL;
thislight->castshadow = 0;
// compute head position and gaze direction in model space
@@ -2169,12 +2169,12 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
// copy properties
memset(thislight, 0, sizeof(mjvLight));
thislight->directional = m->light_directional[i];
thislight->type = m->light_type[i];
thislight->castshadow = m->light_castshadow[i];
thislight->bulbradius = m->light_bulbradius[i];
thislight->intensity = m->light_intensity[i];
thislight->range = m->light_range[i];
if (!thislight->directional) {
if (thislight->type == mjLIGHT_SPOT) {
f2f(thislight->attenuation, m->light_attenuation+3*i, 3);
thislight->exponent = m->light_exponent[i];
thislight->cutoff = m->light_cutoff[i];
src/render/render_gl3.c
+14 -6
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@@ -672,7 +672,7 @@ static void initLights(mjvScene* scn) {
glLightfv(GL_LIGHT0+i, GL_SPECULAR, scn->lights[i].specular);
// parameters for directional light
if (scn->lights[i].directional) {
if (scn->lights[i].type == mjLIGHT_DIRECTIONAL) {
glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT, 0);
glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF, 180);
glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION, 1);
@@ -681,13 +681,17 @@ static void initLights(mjvScene* scn) {
}
// parameters for spot light
else {
else if (scn->lights[i].type == mjLIGHT_SPOT) {
glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT, scn->lights[i].exponent);
glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF, scn->lights[i].cutoff);
glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION, scn->lights[i].attenuation[0]);
glLightf(GL_LIGHT0+i, GL_LINEAR_ATTENUATION, scn->lights[i].attenuation[1]);
glLightf(GL_LIGHT0+i, GL_QUADRATIC_ATTENUATION, scn->lights[i].attenuation[2]);
}
else {
mju_error("Unsupported light type: %d", scn->lights[i].type);
}
}
// disable all lights (enable selectively in render)
@@ -790,14 +794,16 @@ static void adjustLight(const mjvLight* thislight, int n) {
float temp[4];
// set position and direction according to type
if (thislight->directional) {
if (thislight->type == mjLIGHT_DIRECTIONAL) {
mjr_setf4(temp, -thislight->dir[0], -thislight->dir[1], -thislight->dir[2], 0);
glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
} else {
} else if (thislight->type == mjLIGHT_SPOT) {
mjr_setf4(temp, thislight->dir[0], thislight->dir[1], thislight->dir[2], 0);
glLightfv(GL_LIGHT0+n, GL_SPOT_DIRECTION, temp);
mjr_setf4(temp, thislight->pos[0], thislight->pos[1], thislight->pos[2], 1);
glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
} else {
mju_error("Unsupported light type: %d", thislight->type);
}
}
@@ -1183,13 +1189,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
// reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
glScalef(1.0f, 1.0f, -1.0f);
}
if (thislight->directional) {
if (thislight->type == mjLIGHT_DIRECTIONAL) {
glOrtho(-con->shadowClip, con->shadowClip,
-con->shadowClip, con->shadowClip,
cam.frustum_near, cam.frustum_far);
} else {
} else if (thislight->type == mjLIGHT_SPOT) {
mjr_perspective(mju_min(2*thislight->cutoff*con->shadowScale, 160), 1,
cam.frustum_near, cam.frustum_far);
} else {
mju_error("Unsupported light type: %d", thislight->type);
}
glGetFloatv(GL_PROJECTION_MATRIX, lightProject);
src/user/user_model.cc
+1 -1
View File
@@ -2669,7 +2669,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->light_bodyid[lid] = pl->body->id;
m->light_mode[lid] = (int)pl->mode;
m->light_targetbodyid[lid] = pl->targetbodyid;
m->light_directional[lid] = (mjtByte)pl->directional;
m->light_type[lid] = pl->type;
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/xml/xml_base.h
+2 -2
View File
@@ -27,7 +27,7 @@
// keyword maps (defined in implementation files)
extern const int joint_sz;
extern const int camlight_sz;
extern const int light_sz;
extern const int lighttype_sz;
extern const int integrator_sz;
extern const int collision_sz;
extern const int cone_sz;
@@ -51,7 +51,7 @@ extern const mjMap TFAuto_map[];
extern const mjMap joint_map[];
extern const mjMap geom_map[];
extern const mjMap camlight_map[];
extern const mjMap light_map[];
extern const mjMap lighttype_map[];
extern const mjMap integrator_map[];
extern const mjMap collision_map[];
extern const mjMap impedance_map[];
src/xml/xml_native_reader.cc
+23 -4
View File
@@ -167,8 +167,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"camera", "?", "17", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
"principal", "principalpixel", "sensorsize", "user"},
{"light", "?", "15", "pos", "dir", "bulbradius", "intensity", "range",
"directional", "castshadow", "active", "attenuation", "cutoff", "exponent",
{"light", "?", "16", "pos", "dir", "bulbradius", "intensity", "range",
"directional", "type", "castshadow", "active", "attenuation", "cutoff", "exponent",
"ambient", "diffuse", "specular", "mode"},
{"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
"gap", "margin"},
@@ -281,7 +281,7 @@ 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", "*", "18", "name", "class", "directional", "castshadow", "active",
{"light", "*", "19", "name", "class", "directional", "type", "castshadow", "active",
"pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
"exponent", "ambient", "diffuse", "specular", "mode", "target"},
{"plugin", "*", "2", "plugin", "instance"},
@@ -580,6 +580,17 @@ const mjMap camlight_map[camlight_sz] = {
{"targetbodycom", mjCAMLIGHT_TARGETBODYCOM}
};
// light type
const int lighttype_sz = 4;
const mjMap lighttype_map[lighttype_sz] = {
{"spot", mjLIGHT_SPOT},
{"directional", mjLIGHT_DIRECTIONAL},
{"point", mjLIGHT_POINT},
{"image", mjLIGHT_IMAGE}
};
// texmat role type
const int texrole_sz = mjNTEXROLE - 1;
const mjMap texrole_map[texrole_sz] = {
@@ -1852,6 +1863,7 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
// light element parser
void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
int n;
bool has_directional = false;
string text, name, targetbody;
// read attributes
@@ -1865,7 +1877,14 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
light->mode = (mjtCamLight)n;
}
if (MapValue(elem, "directional", &n, bool_map, 2)) {
light->directional = (n == 1);
light->type = (n == 1) ? mjLIGHT_DIRECTIONAL : mjLIGHT_SPOT;
has_directional = true;
}
if (MapValue(elem, "type", &n, lighttype_map, lighttype_sz)) {
if (has_directional) {
throw mjXError(elem, "type and directional cannot both be defined");
}
light->type = (mjtLightType)n;
}
if (MapValue(elem, "castshadow", &n, bool_map, 2)) {
light->castshadow = (n == 1);
src/xml/xml_native_writer.cc
+1 -1
View File
@@ -607,7 +607,7 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
WriteAttr(elem, "bulbradius", 1, &light->bulbradius, &def->Light().bulbradius);
WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
WriteAttrKey(elem, "directional", bool_map, 2, light->directional, def->Light().directional);
WriteAttrKey(elem, "type", lighttype_map, lighttype_sz, light->type, def->Light().type);
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);
unity/Runtime/Bindings/MjBindings.cs
+8 -2
View File
@@ -207,6 +207,12 @@ public enum mjtCamLight : int{
mjCAMLIGHT_TARGETBODY = 3,
mjCAMLIGHT_TARGETBODYCOM = 4,
}
public enum mjtLightType : int{
mjLIGHT_SPOT = 0,
mjLIGHT_DIRECTIONAL = 1,
mjLIGHT_POINT = 2,
mjLIGHT_IMAGE = 3,
}
public enum mjtTexture : int{
mjTEXTURE_2D = 0,
mjTEXTURE_CUBE = 1,
@@ -5434,7 +5440,7 @@ public unsafe struct mjModel_ {
public int* light_mode;
public int* light_bodyid;
public int* light_targetbodyid;
public byte* light_directional;
public int* light_type;
public byte* light_castshadow;
public float* light_bulbradius;
public float* light_intensity;
@@ -6075,6 +6081,7 @@ public unsafe struct mjvGeom_ {
public unsafe struct mjvLight_ {
public fixed float pos[3];
public fixed float dir[3];
public int type;
public fixed float attenuation[3];
public float cutoff;
public float exponent;
@@ -6082,7 +6089,6 @@ public unsafe struct mjvLight_ {
public fixed float diffuse[3];
public fixed float specular[3];
public byte headlight;
public byte directional;
public byte castshadow;
public float bulbradius;
public float intensity;