Add metallic and roughness scalar attributes to materials.
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02. PiperOrigin-RevId: 627032170 Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
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Yuval Tassa
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Copybara-Service
Copybara-Service
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c2d0c5dd1b
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caf215e342
+23
-7
@@ -1788,6 +1788,18 @@ properties are grouped together.
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instead. Only the first reflective geom in the model is rendered as such. This adds one extra rendering pass through
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all geoms, in addition to the extra rendering pass added by each shadow-casting light.
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.. _asset-material-metallic:
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:at:`metallic`: :at-val:`real, "0"`
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This attribute corresponds to uniform metallicity coefficient applied to the entire material. This attribute has no
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effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
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.. _asset-material-roughness:
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:at:`roughness`: :at-val:`real, "1"`
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This attribute corresponds to uniform roughness coefficient applied to the entire material. This attribute has no
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effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
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.. _asset-material-rgba:
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:at:`rgba`: :at-val:`real(4), "1 1 1 1"`
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@@ -3165,6 +3177,12 @@ the direction specified by the dir attribute. It does not have a full spatial fr
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these clipping planes bound the cone or box shadow volume in the light direction. As a result, some shadows
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(especially those very close to the light) may be clipped.
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.. _body-light-bulbradius:
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:at:`radius`: :at-val:`real, "0.02"`
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Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
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useful when rendering scenes with an external renderer.
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.. _body-light-active:
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:at:`active`: :at-val:`[false, true], "true"`
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@@ -3181,12 +3199,6 @@ the direction specified by the dir attribute. It does not have a full spatial fr
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:at:`dir`: :at-val:`real(3), "0 0 -1"`
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Direction of the light.
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.. _body-light-radius:
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:at:`radius`: :at-val:`real, "0"`
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Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
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useful when rendering scenes with an external renderer.
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.. _body-light-attenuation:
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:at:`attenuation`: :at-val:`real(3), "1 0 0"`
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@@ -7372,6 +7384,10 @@ if omitted.
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.. _default-material-reflectance:
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.. _default-material-metallic:
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.. _default-material-roughness:
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.. _default-material-rgba:
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.. _default-material-texrepeat:
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@@ -7592,7 +7608,7 @@ if omitted.
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.. _default-light-dir:
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.. _default-light-radius:
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.. _default-light-bulbradius:
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.. _default-light-directional:
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+6
-4
@@ -213,7 +213,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texuniform<asset-material-texuniform>` | :ref:`emission<asset-material-emission>` | :ref:`specular<asset-material-specular>` | :ref:`shininess<asset-material-shininess>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`rgba<asset-material-rgba>` | | | |
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| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`metallic<asset-material-metallic>` | :ref:`roughness<asset-material-roughness>` | :ref:`rgba<asset-material-rgba>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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@@ -369,7 +369,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`radius<body-light-radius>` | |
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| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`bulbradius<body-light-bulbradius>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -1307,7 +1307,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | :ref:`shininess<default-material-shininess>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | |
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| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`metallic<default-material-metallic>` | :ref:`roughness<default-material-roughness>` | :ref:`rgba<default-material-rgba>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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@@ -1378,7 +1380,7 @@
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| :ref:`light | ? | :class: mjcf-attributes |
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| <default-light>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`radius<default-light-radius>` | :ref:`directional<default-light-directional>` | |
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| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`directional<default-light-directional>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+7
-3
@@ -9,8 +9,12 @@ General
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^^^^^^^
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1. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
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:ref:`scale<asset-mesh-scale>` attribute.
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2. Added the :ref:`light/radius<body-light-radius>` attribute and corresponding ``mjModel.light_radius`` field. This
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value has no effect in MuJoCo's native renderer, but can be usful when rendering scenes with an external renderer.
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2. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
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- :ref:`light/bulbradius<body-light-bulbradius>` attribute and corresponding ``mjModel.light_bulbradius`` field.
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- :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
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- :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
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field.
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MJX
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^^^
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@@ -36,7 +40,7 @@ MJX
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Bug fixes
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^^^^^^^^^
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12. Defaults of lights were not being saved, now fixed.
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13. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
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13. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
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14. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
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not optional.
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@@ -1079,10 +1079,10 @@ struct mjModel_ {
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int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
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mjtByte* light_directional; // directional light (nlight x 1)
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mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
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float* light_bulbradius; // light radius for soft shadows (nlight x 1)
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mjtByte* light_active; // is light on (nlight x 1)
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mjtNum* light_pos; // position rel. to body frame (nlight x 3)
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mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
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mjtNum* light_radius; // radius of the light (nlight x 1)
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mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
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mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
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mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
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@@ -1219,6 +1219,8 @@ struct mjModel_ {
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float* mat_specular; // specular (x white) (nmat x 1)
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float* mat_shininess; // shininess coef (nmat x 1)
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float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
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float* mat_metallic; // metallic coef (nmat x 1)
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float* mat_roughness; // roughness coef (nmat x 1)
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float* mat_rgba; // rgba (nmat x 4)
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// predefined geom pairs for collision detection; has precedence over exclude
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@@ -2022,6 +2024,7 @@ struct mjvLight_ { // OpenGL light
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mjtByte headlight; // headlight
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mjtByte directional; // directional light
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mjtByte castshadow; // does light cast shadows
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float bulbradius; // bulb radius for soft shadows
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};
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typedef struct mjvLight_ mjvLight;
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struct mjvOption_ { // abstract visualization options
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@@ -2236,6 +2239,7 @@ struct mjvSceneState_ {
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mjtByte* light_directional;
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mjtByte* light_castshadow;
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float* light_bulbradius;
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mjtByte* light_active;
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float* light_attenuation;
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float* light_cutoff;
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@@ -2303,6 +2307,8 @@ struct mjvSceneState_ {
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float* mat_specular;
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float* mat_shininess;
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float* mat_reflectance;
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float* mat_metallic;
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float* mat_roughness;
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float* mat_rgba;
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int* eq_type;
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