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Add intensity and range parameters to lights.

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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
This commit is contained in:
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/includes/references.h
+9 -1
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@@ -1178,6 +1178,8 @@ struct mjModel_ {
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)
float* light_intensity; // intensity, in candela (nlight x 1)
float* light_range; // range of effectiveness (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)
@@ -2030,7 +2032,9 @@ typedef struct mjsLight_ { // light specification
mjtByte active; // is light active
mjtByte directional; // is light directional or spot
mjtByte castshadow; // does light cast shadows
double bulbradius; // bulb radius, for soft shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
@@ -2838,6 +2842,8 @@ struct mjvLight_ { // OpenGL light
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
};
typedef struct mjvLight_ mjvLight;
struct mjvOption_ { // abstract visualization options
@@ -3055,6 +3061,8 @@ struct mjvSceneState_ {
mjtByte* light_directional;
mjtByte* light_castshadow;
float* light_bulbradius;
float* light_intensity;
float* light_range;
mjtByte* light_active;
float* light_attenuation;
float* light_cutoff;