Convert light directional boolean into a type enum.
PiperOrigin-RevId: 761983728 Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
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Google DeepMind
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Copybara-Service
Copybara-Service
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@@ -165,6 +165,17 @@ values are used in ``m->cam_mode`` and ``m->light_mode``.
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.. mujoco-include:: mjtCamLight
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.. _mjtLightType:
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mjtLightType
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~~~~~~~~~~~~
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The type of a light source describing how its position, orientation and other properties will interact with the
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objects in the scene. These values are used in ``m->light_type``.
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.. mujoco-include:: mjtLightType
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.. _mjtTexture:
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mjtTexture
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+10
-1
@@ -2909,10 +2909,17 @@ Attributes may be applied or ignored depending on the lighting model being used.
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This is identical to the target attribute of :ref:`camera <body-camera>` above. It specifies which body should be
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targeted in "targetbody" and "targetbodycom" modes.
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.. _body-light-type:
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:at:`type`: :at-val:`[spot, directional, point, image], "spot"`
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Determines the type of light. Note that some light types may not be supported by some renderers (e.g. only spot and
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directional lights are supported by the default native renderer).
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.. _body-light-directional:
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:at:`directional`: :at-val:`[false, true], "false"`
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The light is directional if this attribute is "true", otherwise it is a spotlight.
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This is a deprecated legacy attribute. Please use :ref:`light <light-type>` type instead. If set to "true", and no
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type is specified, this will change the light type to be directional.
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.. _body-light-castshadow:
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@@ -8288,6 +8295,8 @@ if omitted.
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.. _default-light-dir:
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.. _default-light-type:
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.. _default-light-directional:
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.. _default-light-castshadow:
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+8
-8
@@ -313,15 +313,15 @@
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| :ref:`light | \* | :class: mjcf-attributes |
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| <body-light>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
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| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`type<body-light-type>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`bulbradius<body-light-bulbradius>` | |
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| | | | :ref:`castshadow<body-light-castshadow>` | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`intensity<body-light-intensity>` | :ref:`range<body-light-range>` | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | |
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| | | | :ref:`bulbradius<body-light-bulbradius>` | :ref:`intensity<body-light-intensity>` | :ref:`range<body-light-range>` | :ref:`attenuation<body-light-attenuation>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | |
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| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | | |
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| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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@@ -1465,11 +1465,11 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`intensity<default-light-intensity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`range<default-light-range>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | |
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| | | | :ref:`range<default-light-range>` | :ref:`directional<default-light-directional>` | :ref:`type<default-light-type>` | :ref:`castshadow<default-light-castshadow>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | |
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| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | | |
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| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -11,6 +11,9 @@ General
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solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
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- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
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the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
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- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
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:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
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types.
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Simulate
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^^^^^^^^
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@@ -526,6 +526,12 @@ typedef enum mjtCamLight_ { // tracking mode for camera and light
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mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
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mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
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} mjtCamLight;
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typedef enum mjtLightType_ { // type of light
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mjLIGHT_SPOT = 0, // spot
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mjLIGHT_DIRECTIONAL, // directional
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mjLIGHT_POINT, // point
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mjLIGHT_IMAGE, // image-based
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} mjtLightType;
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typedef enum mjtTexture_ { // type of texture
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mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
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mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
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@@ -1179,7 +1185,7 @@ struct mjModel_ {
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int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
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int* light_bodyid; // id of light's body (nlight x 1)
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int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
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mjtByte* light_directional; // directional light (nlight x 1)
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int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
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mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
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float* light_bulbradius; // light radius for soft shadows (nlight x 1)
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float* light_intensity; // intensity, in candela (nlight x 1)
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@@ -2036,7 +2042,7 @@ typedef struct mjsLight_ { // light specification
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// intrinsics
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mjtByte active; // is light active
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mjtByte directional; // is light directional or spot
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mjtLightType type; // type of light
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mjtByte castshadow; // does light cast shadows
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float bulbradius; // bulb radius, for soft shadows
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float intensity; // intensity, in candelas
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@@ -2840,6 +2846,7 @@ typedef struct mjvGeom_ mjvGeom;
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struct mjvLight_ { // OpenGL light
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float pos[3]; // position rel. to body frame
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float dir[3]; // direction rel. to body frame
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int type; // type (mjtLightType)
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float attenuation[3]; // OpenGL attenuation (quadratic model)
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float cutoff; // OpenGL cutoff
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float exponent; // OpenGL exponent
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@@ -2847,7 +2854,6 @@ struct mjvLight_ { // OpenGL light
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float diffuse[3]; // diffuse rgb (alpha=1)
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float specular[3]; // specular rgb (alpha=1)
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mjtByte headlight; // headlight
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mjtByte directional; // directional light
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mjtByte castshadow; // does light cast shadows
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float bulbradius; // bulb radius for soft shadows
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float intensity; // intensity, in candelas
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