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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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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
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@@ -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);