Convert light directional boolean into a type enum.

PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8

python/mujoco/indexer_xmacro.h

@@ -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

@@ -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

@@ -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

@@ -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);