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Add metallic and roughness scalar attributes to materials.

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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.

PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
This commit is contained in:
Yuval Tassa
2024-04-22 07:37:52 -07:00
committed by Copybara-Service
parent c2d0c5dd1b
commit caf215e342
18 changed files with 170 additions and 45 deletions
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doc/XMLreference.rst
+23 -7
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@@ -1788,6 +1788,18 @@ properties are grouped together.
instead. Only the first reflective geom in the model is rendered as such. This adds one extra rendering pass through
all geoms, in addition to the extra rendering pass added by each shadow-casting light.
.. _asset-material-metallic:
:at:`metallic`: :at-val:`real, "0"`
This attribute corresponds to uniform metallicity coefficient applied to the entire material. This attribute has no
effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
.. _asset-material-roughness:
:at:`roughness`: :at-val:`real, "1"`
This attribute corresponds to uniform roughness coefficient applied to the entire material. This attribute has no
effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
.. _asset-material-rgba:
:at:`rgba`: :at-val:`real(4), "1 1 1 1"`
@@ -3165,6 +3177,12 @@ the direction specified by the dir attribute. It does not have a full spatial fr
these clipping planes bound the cone or box shadow volume in the light direction. As a result, some shadows
(especially those very close to the light) may be clipped.
.. _body-light-bulbradius:
:at:`radius`: :at-val:`real, "0.02"`
Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
useful when rendering scenes with an external renderer.
.. _body-light-active:
:at:`active`: :at-val:`[false, true], "true"`
@@ -3181,12 +3199,6 @@ the direction specified by the dir attribute. It does not have a full spatial fr
:at:`dir`: :at-val:`real(3), "0 0 -1"`
Direction of the light.
.. _body-light-radius:
:at:`radius`: :at-val:`real, "0"`
Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
useful when rendering scenes with an external renderer.
.. _body-light-attenuation:
:at:`attenuation`: :at-val:`real(3), "1 0 0"`
@@ -7372,6 +7384,10 @@ if omitted.
.. _default-material-reflectance:
.. _default-material-metallic:
.. _default-material-roughness:
.. _default-material-rgba:
.. _default-material-texrepeat:
@@ -7592,7 +7608,7 @@ if omitted.
.. _default-light-dir:
.. _default-light-radius:
.. _default-light-bulbradius:
.. _default-light-directional: