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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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include/mujoco/mjxmacro.h
+3 -1
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@@ -292,10 +292,10 @@
X ( int, light_targetbodyid, nlight, 1 ) \
XMJV( mjtByte, light_directional, nlight, 1 ) \
XMJV( mjtByte, light_castshadow, nlight, 1 ) \
XMJV( float, light_bulbradius, nlight, 1 ) \
XMJV( mjtByte, light_active, nlight, 1 ) \
X ( mjtNum, light_pos, nlight, 3 ) \
X ( mjtNum, light_dir, nlight, 3 ) \
X ( mjtNum, light_radius, nlight, 1 ) \
X ( mjtNum, light_poscom0, nlight, 3 ) \
X ( mjtNum, light_pos0, nlight, 3 ) \
X ( mjtNum, light_dir0, nlight, 3 ) \
@@ -418,6 +418,8 @@
XMJV( float, mat_specular, nmat, 1 ) \
XMJV( float, mat_shininess, nmat, 1 ) \
XMJV( float, mat_reflectance, nmat, 1 ) \
XMJV( float, mat_metallic, nmat, 1 ) \
XMJV( float, mat_roughness, nmat, 1 ) \
XMJV( float, mat_rgba, nmat, 4 ) \
X ( int, pair_dim, npair, 1 ) \
X ( int, pair_geom1, npair, 1 ) \