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Change default light softness from 0 to 0.2.

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PiperOrigin-RevId: 960218397
Change-Id: I58f211f5a275f8f19254424facd02c14eaa8c668
This commit is contained in:
Yuval Tassa
2026-08-06 04:27:35 -07:00
committed by Copybara-Service
parent ed13bf5647
commit 7fd2061f5c
7 changed files with 11 additions and 10 deletions
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doc/XMLreference.rst
+1 -1
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@@ -3323,7 +3323,7 @@ Attributes may be applied or ignored depending on the lighting model being used.
.. _body-light-softness:
:at:`softness`: :at-val:`real, "0"`
:at:`softness`: :at-val:`real, "0.2"`
Edge softness for spotlights, as a fraction of the :ref:`cutoff<body-light-cutoff>` angle in [0, 1], used by
physically-based lighting models. The light delivers its full :ref:`intensity<body-light-intensity>` inside the
cone, falling to zero over the outer softness fraction of the cone angle; the default corresponds to a sharp-edged
doc/changelog.rst
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@@ -75,7 +75,7 @@ Rendering
:class: attention
- Added :ref:`light/softness<body-light-softness>`: edge softness for spotlights under physically-based lighting
models, given as the fraction of the cone over which intensity falls to zero. The default of 0 is a sharp-edged
models, given as the fraction of the cone over which intensity falls to zero. The default of 0.2 is a semi-soft
cone which delivers the full :ref:`intensity<body-light-intensity>` everywhere inside it, so that illuminance
follows :math:`E = I/d^2` independent of the :ref:`cutoff<body-light-cutoff>` angle. Previously the filament
renderer treated the entire cone as penumbra, dimming spotlights well below their rated intensity, increasingly
src/user/user_init.c
+1
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@@ -204,6 +204,7 @@ void mjs_defaultLight(mjsLight* light) {
light->active = 1;
light->attenuation[0] = 1;
light->cutoff = 45;
light->softness = 0.2;
light->exponent = 10;
light->diffuse[0] = light->diffuse[1] = light->diffuse[2] = 0.7;
light->specular[0] = light->specular[1] = light->specular[2] = 0.3;
src/xml/generated/dmcontrol_schema.xml
+4 -4
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@@ -397,7 +397,7 @@
<attribute name="range" type="float" default="10"/>
<attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
<attribute name="cutoff" type="float" default="45"/>
<attribute name="softness" type="float" default="0"/>
<attribute name="softness" type="float" default="0.2"/>
<attribute name="exponent" type="float" default="10"/>
<attribute name="ambient" type="array" array_type="float" array_size="3"/>
<attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
@@ -793,7 +793,7 @@
<attribute name="range" type="float" default="10"/>
<attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
<attribute name="cutoff" type="float" default="45"/>
<attribute name="softness" type="float" default="0"/>
<attribute name="softness" type="float" default="0.2"/>
<attribute name="exponent" type="float" default="10"/>
<attribute name="ambient" type="array" array_type="float" array_size="3"/>
<attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
@@ -1378,7 +1378,7 @@
<attribute name="range" type="float" default="10"/>
<attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
<attribute name="cutoff" type="float" default="45"/>
<attribute name="softness" type="float" default="0"/>
<attribute name="softness" type="float" default="0.2"/>
<attribute name="exponent" type="float" default="10"/>
<attribute name="ambient" type="array" array_type="float" array_size="3"/>
<attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
@@ -1700,7 +1700,7 @@
<attribute name="range" type="float" default="10"/>
<attribute name="attenuation" type="array" array_type="float" array_size="3" default="1 0 0"/>
<attribute name="cutoff" type="float" default="45"/>
<attribute name="softness" type="float" default="0"/>
<attribute name="softness" type="float" default="0.2"/>
<attribute name="exponent" type="float" default="10"/>
<attribute name="ambient" type="array" array_type="float" array_size="3"/>
<attribute name="diffuse" type="array" array_type="float" array_size="3" default="0.7 0.7 0.7"/>
src/xml/generated/mjcf.xsd
+2 -2
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@@ -1495,7 +1495,7 @@
<xs:attribute name="range" type="xs:float" default="10"/>
<xs:attribute name="attenuation" type="float3" default="1 0 0"/>
<xs:attribute name="cutoff" type="xs:float" default="45"/>
<xs:attribute name="softness" type="xs:float" default="0"/>
<xs:attribute name="softness" type="xs:float" default="0.2"/>
<xs:attribute name="exponent" type="xs:float" default="10"/>
<xs:attribute name="ambient" type="float3"/>
<xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
@@ -2274,7 +2274,7 @@
<xs:attribute name="range" type="xs:float" default="10"/>
<xs:attribute name="attenuation" type="float3" default="1 0 0"/>
<xs:attribute name="cutoff" type="xs:float" default="45"/>
<xs:attribute name="softness" type="xs:float" default="0"/>
<xs:attribute name="softness" type="xs:float" default="0.2"/>
<xs:attribute name="exponent" type="xs:float" default="10"/>
<xs:attribute name="ambient" type="float3"/>
<xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
src/xml/generated/mjcf_default_table.inc
+1 -1
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@@ -394,7 +394,7 @@ static const mjXDefaultEntry kDefaults_mjsLight[] = {
{"range", (int)offsetof(mjsLight, range), 1, 1, 1, 0, {10.0}},
{"attenuation", (int)offsetof(mjsLight, attenuation), 1, 3, 3, 0, {1.0, 0.0, 0.0}},
{"cutoff", (int)offsetof(mjsLight, cutoff), 1, 1, 1, 0, {45.0}},
{"softness", (int)offsetof(mjsLight, softness), 1, 1, 1, 0, {0.0}},
{"softness", (int)offsetof(mjsLight, softness), 1, 1, 1, 0, {0.2}},
{"exponent", (int)offsetof(mjsLight, exponent), 1, 1, 1, 0, {10.0}},
{"ambient", (int)offsetof(mjsLight, ambient), 1, 3, 0, 0, {0}},
{"diffuse", (int)offsetof(mjsLight, diffuse), 1, 3, 3, 0, {0.7, 0.7, 0.7}},
src/xml/mjcf.schema
+1 -1
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@@ -1117,7 +1117,7 @@ element light : mjsLight {
range : float = 10
attenuation : float[3] = {1, 0, 0}
cutoff : float = 45
softness : float = 0
softness : float = 0.2
exponent : float = 10
ambient : float[3]
diffuse : float[3] = {0.7, 0.7, 0.7}