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Add Filament lighting and shadow features and fixes.

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- Add a hidden directional light to Filament scenes with no lights to work around soft shadow blackout bug.
- Respect quality/shadowsize as default shadow map resolution.
- Interpret light/bulbradius in correct units for each shadow type and update XML reference docs.
- Support updating the shadow map resolution of live Filament lights.
- Clamp light intensities to non-negative values in the Filament debug panel.

PiperOrigin-RevId: 957305808
Change-Id: Ic7a3430aaa3b117be7fbb7ace836d68e54cdf65a
This commit is contained in:
Yuval Tassa
2026-07-31 13:27:31 -07:00
committed by Copybara-Service
parent 0ca53dacf8
commit 7bc1aa9b05
11 changed files with 141 additions and 13 deletions
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include/mujoco/mjrfilament.h
+3
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@@ -281,6 +281,9 @@ void mjrf_setLightEnabled(mjrfLight* light, mjtBool enabled);
// Sets the intensity of the light, in candela.
void mjrf_setLightIntensity(mjrfLight* light, float intensity);
// Sets the resolution of the light's shadow map, in texels.
void mjrf_setLightShadowMapSize(mjrfLight* light, int map_size);
// Sets the RGB color of the light.
void mjrf_setLightColor(mjrfLight* light, const float color[3]);