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Add intensity and range parameters to lights.

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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
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Google DeepMind
2025-05-14 03:27:06 -07:00
committed by Copybara-Service
parent a6c3a287d6
commit fa95fe0c59
15 changed files with 160 additions and 52 deletions
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doc/XMLschema.rst
+8 -6
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@@ -317,9 +317,11 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`bulbradius<body-light-bulbradius>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | |
| | | | :ref:`intensity<body-light-intensity>` | :ref:`range<body-light-range>` | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | |
| | | | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1457,13 +1459,13 @@
| :ref:`light | ? | :class: mjcf-attributes |
| <default-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`directional<default-light-directional>` | |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`intensity<default-light-intensity>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | |
| | | | :ref:`range<default-light-range>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | |
| | | | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<default-light-mode>` | | | | |
| | | | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |