Change default light softness from 0 to 0.2.

PiperOrigin-RevId: 960218397
Change-Id: I58f211f5a275f8f19254424facd02c14eaa8c668

doc/XMLreference.rst

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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}