Add intensity and range parameters to lights.

PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7

include/mujoco/mjmodel.h

@@ -845,6 +845,8 @@ 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)

include/mujoco/mjspec.h

@@ -396,7 +396,9 @@ 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

include/mujoco/mjvisualize.h

@@ -271,6 +271,8 @@ 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;
 
@@ -504,6 +506,8 @@ 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;

include/mujoco/mjxmacro.h

@@ -302,6 +302,8 @@
     XMJV( mjtByte, light_directional,     nlight,        1                    ) \
     XMJV( mjtByte, light_castshadow,      nlight,        1                    ) \
     XMJV( float,   light_bulbradius,      nlight,        1                    ) \
+    XMJV( float,   light_intensity,       nlight,        1                    ) \
+    XMJV( float,   light_range,           nlight,        1                    ) \
     XMJV( mjtByte, light_active,          nlight,        1                    ) \
     X   ( mjtNum,  light_pos,             nlight,        3                    ) \
     X   ( mjtNum,  light_dir,             nlight,        3                    ) \