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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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introspect/structs.py
+47 -7
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@@ -2095,6 +2095,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='does light cast shadows (nlight x 1)',
),
StructFieldDecl(
name='light_bulbradius',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='light radius for soft shadows (nlight x 1)',
),
StructFieldDecl(
name='light_active',
type=PointerType(
@@ -2116,13 +2123,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='direction rel. to body frame (nlight x 3)',
),
StructFieldDecl(
name='light_radius',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='radius of the light (nlight x 1)',
),
StructFieldDecl(
name='light_poscom0',
type=PointerType(
@@ -2977,6 +2977,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='reflectance (0: disable) (nmat x 1)',
),
StructFieldDecl(
name='mat_metallic',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='metallic coef (nmat x 1)',
),
StructFieldDecl(
name='mat_roughness',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='roughness coef (nmat x 1)',
),
StructFieldDecl(
name='mat_rgba',
type=PointerType(
@@ -5624,6 +5638,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtByte'),
doc='does light cast shadows',
),
StructFieldDecl(
name='bulbradius',
type=ValueType(name='float'),
doc='bulb radius for soft shadows',
),
),
)),
('mjvOption',
@@ -6719,6 +6738,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='light_bulbradius',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_active',
type=PointerType(
@@ -7146,6 +7172,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='mat_metallic',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_roughness',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_rgba',
type=PointerType(