Add intensity and range parameters to lights.

PiperOrigin-RevId: 758603199 Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:27:06 -07:00
parent a6c3a287d6
commit fa95fe0c59
15 changed files with 160 additions and 52 deletions
@@ -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)