From abdea379af7b609a92a7aab0107d0b80eecedbbd Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Wed, 25 Feb 2026 08:33:59 -0800
Subject: [PATCH] Allow the shadow type and map size to be configured in data.

PiperOrigin-RevId: 875179785
Change-Id: I638c8c8c9e45dd58f393684a09f2ab4871911f7a
---
 src/experimental/filament/filament/light.cc      | 1 +
 src/experimental/filament/filament/light.h       | 2 ++
 src/experimental/filament/filament/model_util.h  | 3 +++
 src/experimental/filament/filament/scene_view.cc | 9 +++++++++
 src/experimental/filament/filament/scene_view.h  | 1 +
 5 files changed, 16 insertions(+)

diff --git a/src/experimental/filament/filament/light.cc b/src/experimental/filament/filament/light.cc
index 50f75388..d26fd370 100644
--- a/src/experimental/filament/filament/light.cc
+++ b/src/experimental/filament/filament/light.cc
@@ -71,6 +71,7 @@ Light::Light(ObjectManager* object_mgr, const Params& params)
   opts.shadowCascades =
       type == filament::LightManager::Type::DIRECTIONAL ? 4 : 1;
   opts.shadowBulbRadius = params.bulbradius;
+  opts.mapSize = params.shadow_map_size;
   builder.shadowOptions(opts);
 
   entity_ = utils::EntityManager::get().create();
diff --git a/src/experimental/filament/filament/light.h b/src/experimental/filament/filament/light.h
index b1f0930e..64dc0b8c 100644
--- a/src/experimental/filament/filament/light.h
+++ b/src/experimental/filament/filament/light.h
@@ -43,6 +43,8 @@ class Light {
     float spot_cone_angle = 180.f;
     // The radius of the bulb used for soft shadows.
     float bulbradius = 0.0f;
+    // The size of the shadow map.
+    int shadow_map_size = 2048;
     // Whether or not the light is a headlight.
     bool headlight = false;
   };
diff --git a/src/experimental/filament/filament/model_util.h b/src/experimental/filament/filament/model_util.h
index b1dcbd90..46f9beec 100644
--- a/src/experimental/filament/filament/model_util.h
+++ b/src/experimental/filament/filament/model_util.h
@@ -79,6 +79,9 @@ T ReadElement(const mjModel* model, const char* name, T default_value = T()) {
   } else if constexpr (std::is_arithmetic_v<T>) {
     const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
     return static_cast<T>(*ptr);
+  } else if constexpr (std::is_enum_v<T>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    return static_cast<T>(static_cast<int>(*ptr));
   } else if constexpr (std::is_same_v<T, filament::math::float2>) {
     const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
     if (model->numeric_size[id] != 2) mju_error("Invalid numeric size.");
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index 2fdd6d14..3b25faaf 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -132,6 +132,13 @@ SceneView::SceneView(filament::Engine* engine, ObjectManager* object_mgr)
   msaa.enabled = ReadElement(m, "filament.msaa.enabled", true);
   views_[kNormalIndex]->setMultiSampleAntiAliasingOptions(msaa);
 
+  default_shadow_map_size_ = ReadElement(
+      m, "filament.shadows.map_size", default_shadow_map_size_);
+
+  auto shadow_type = views_[kNormalIndex]->getShadowType();
+  shadow_type = ReadElement(m, "filament.shadows.type", shadow_type);
+  views_[kNormalIndex]->setShadowType(shadow_type);
+
   // Disable post processing for the depth and segmentation views to preserve
   // the values.
   views_[kDepthIndex]->setPostProcessingEnabled(false);
@@ -290,9 +297,11 @@ void SceneView::PrepareLights() {
       params.bulbradius = model->light_bulbradius[i];
       params.range = model->light_range[i];
       params.intensity = model->light_intensity[i];
+      params.shadow_map_size = default_shadow_map_size_;
       if (params.type == mjLIGHT_SPOT) {
         params.spot_cone_angle = model->light_cutoff[i];
       }
+
       auto light_obj = std::make_unique<Light>(object_mgr_, params);
 #ifndef __EMSCRIPTEN__
       // TODO(b/458045799): Re-enable when lights work on glinux and chromebook.
diff --git a/src/experimental/filament/filament/scene_view.h b/src/experimental/filament/filament/scene_view.h
index d805bcfd..94d1ac9a 100644
--- a/src/experimental/filament/filament/scene_view.h
+++ b/src/experimental/filament/filament/scene_view.h
@@ -100,6 +100,7 @@ class SceneView {
   ColorGradingOptions color_grading_options_;
   DrawMode active_mode_ = DrawMode::kNumDrawModes;
   float aspect_ratio_ = 1.0f;
+  int default_shadow_map_size_ = 2048;
   float fallback_head_light_intensity_ = 0.f;
   float fallback_scene_light_intensity_ = 80'000.f;
   float fallback_environment_light_intensity_ = 5'000.f;