Add light softness: spotlight edge softness for physically-based rendering.

The new spotlight attribute softness (real in [0, 1], default 0) is the
fraction of the cone, measured inward from the cutoff, over which
intensity falls to zero. It is used by physically-based lighting models;
the Phong model's corresponding knob remains exponent.

The filament renderer previously hardcoded the inner cone angle to 0,
making the entire beam penumbra: the shader attenuates by the squared
smoothstep ((cos(theta) - cos(outer)) / (cos(inner) - cos(outer)))^2, so
a cutoff-25 spot delivered its rated candela only exactly on-axis and
about a third of it averaged over the light pool, with the deficit
shrinking as the cutoff widens. The inner angle is now
(1 - softness) * cutoff, so at the default the light delivers its full
intensity everywhere inside the cone and illuminance follows E = I/d^2
independent of the cutoff. Setting softness to 1 reproduces the previous
appearance exactly (verified bit-identical), which is the migration path
for models tuned against the old behavior.

The filament light type also changes from FOCUSED_SPOT to SPOT. With
intensity given in candela and the cone set at build time the two types
produce identical output (FOCUSED_SPOT's power-conserving rescale only
applies when the cone changes after the intensity is set), but SPOT
guarantees that candela never rescales with cone angle should the cone
ever become runtime-editable.

Verified with headless renders under a linear tone mapper against an
equal-candela point light at cutoffs 25/45/80: softness 0 gives
spot/point luminance ratio 1.000 at all sampled angles inside the cone;
softness 0.2 is flat over the inner 80% of the cone; softness 1 matches
the previous renderer with zero linear-pixel difference. XML round-trip
and the [0, 1] compile-time check verified. Introspect and wasm bindings
regenerated.

PiperOrigin-RevId: 959334706
Change-Id: I0f0729781899880de1729ea9b3d8c055d715a025

include/mujoco/mjmodel.h

@@ -532,6 +532,7 @@ typedef struct mjModel_ {
   mjtNum*   light_dir0;           // global direction in qpos0                (nlight x 3)
   float*    light_attenuation;    // OpenGL attenuation (quadratic model)     (nlight x 3)
   float*    light_cutoff;         // OpenGL cutoff                            (nlight x 1)
+  float*    light_softness;       // spotlight edge softness                  (nlight x 1)
   float*    light_exponent;       // OpenGL exponent                          (nlight x 1)
   float*    light_ambient;        // ambient rgb (alpha=1)                    (nlight x 3)
   float*    light_diffuse;        // diffuse rgb (alpha=1)                    (nlight x 3)

include/mujoco/mjrfilament.h

@@ -261,6 +261,7 @@ typedef struct mjrfLightParams_ {
   mjtBool cast_shadows;            // if true, cast shadows
   float range;                     // effective range of light, in meters
   float spot_cone_angle;           // spot light cone angle, in degrees
+  float spot_softness;             // spot light edge softness, fraction of cone angle in [0, 1]
   int shadow_map_size;             // size of shadow map texture, 0 to use default size
   float bulb_radius;               // bulb radius, used for soft shadows
   float vsm_blur_width;            // variance shadow map blur width

include/mujoco/mjspec.h

@@ -455,6 +455,7 @@ typedef struct mjsLight_ {         // light specification
   float range;                     // range of effectiveness
   float attenuation[3];            // OpenGL attenuation (quadratic model)
   float cutoff;                    // OpenGL cutoff
+  float softness;                  // spotlight edge softness
   float exponent;                  // OpenGL exponent
   float ambient[3];                // ambient color
   float diffuse[3];                // diffuse color

include/mujoco/mjspecmacro.h

@@ -258,6 +258,7 @@
     X   ( float,        range,       1 ) \
     XVEC( float,        attenuation, 3 ) \
     X   ( float,        cutoff,      1 ) \
+    X   ( float,        softness,    1 ) \
     X   ( float,        exponent,    1 ) \
     XVEC( float,        ambient,     3 ) \
     XVEC( float,        diffuse,     3 ) \

include/mujoco/mjvisualize.h

@@ -277,6 +277,7 @@ typedef struct mjvLight_ {        // OpenGL light
   float    bulbradius;            // bulb radius for soft shadows
   float    intensity;             // intensity, in candelas
   float    range;                 // range of effectiveness
+  float    softness;              // spotlight edge softness
 } mjvLight;
 
 

include/mujoco/mjxmacro.h

@@ -439,6 +439,7 @@
     X   ( mjtNum,  light_dir0,            nlight,        3                    ) \
     X   ( float,   light_attenuation,     nlight,        3                    ) \
     X   ( float,   light_cutoff,          nlight,        1                    ) \
+    X   ( float,   light_softness,        nlight,        1                    ) \
     X   ( float,   light_exponent,        nlight,        1                    ) \
     X   ( float,   light_ambient,         nlight,        3                    ) \
     X   ( float,   light_diffuse,         nlight,        3                    ) \