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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/includes/references.h
+7 -1
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@@ -1079,10 +1079,10 @@ struct mjModel_ {
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
mjtByte* light_directional; // directional light (nlight x 1)
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
mjtByte* light_active; // is light on (nlight x 1)
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
mjtNum* light_radius; // radius of the light (nlight x 1)
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
@@ -1219,6 +1219,8 @@ struct mjModel_ {
float* mat_specular; // specular (x white) (nmat x 1)
float* mat_shininess; // shininess coef (nmat x 1)
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
float* mat_metallic; // metallic coef (nmat x 1)
float* mat_roughness; // roughness coef (nmat x 1)
float* mat_rgba; // rgba (nmat x 4)
// predefined geom pairs for collision detection; has precedence over exclude
@@ -2022,6 +2024,7 @@ struct mjvLight_ { // OpenGL light
mjtByte headlight; // headlight
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
};
typedef struct mjvLight_ mjvLight;
struct mjvOption_ { // abstract visualization options
@@ -2236,6 +2239,7 @@ struct mjvSceneState_ {
mjtByte* light_directional;
mjtByte* light_castshadow;
float* light_bulbradius;
mjtByte* light_active;
float* light_attenuation;
float* light_cutoff;
@@ -2303,6 +2307,8 @@ struct mjvSceneState_ {
float* mat_specular;
float* mat_shininess;
float* mat_reflectance;
float* mat_metallic;
float* mat_roughness;
float* mat_rgba;
int* eq_type;