Add intensity and range parameters to lights.

PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7

src/engine/engine_vis_visualize.c

@@ -2172,6 +2172,8 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
       thislight->directional = m->light_directional[i];
       thislight->castshadow = m->light_castshadow[i];
       thislight->bulbradius = m->light_bulbradius[i];
+      thislight->intensity = m->light_intensity[i];
+      thislight->range = m->light_range[i];
       if (!thislight->directional) {
         f2f(thislight->attenuation, m->light_attenuation+3*i, 3);
         thislight->exponent = m->light_exponent[i];

src/user/user_init.c

@@ -203,6 +203,8 @@ void mjs_defaultLight(mjsLight* light) {
   // intrinsics
   light->castshadow = 1;
   light->bulbradius = 0.02;
+  light->intensity = 1000.0;
+  light->range = 10.0;
   light->active = 1;
   light->attenuation[0] = 1;
   light->cutoff = 45;
@@ -404,4 +406,3 @@ void mjs_defaultKey(mjsKey* key) {
 void mjs_defaultPlugin(mjsPlugin* plugin) {
   memset(plugin, 0, sizeof(mjsPlugin));
 }
-

src/user/user_model.cc

@@ -2675,6 +2675,8 @@ void mjCModel::CopyTree(mjModel* m) {
       mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
       mjuu_copyvec(m->light_dir+3*lid, pl->dir, 3);
       m->light_bulbradius[lid] = pl->bulbradius;
+      m->light_intensity[lid] = pl->intensity;
+      m->light_range[lid] = pl->range;
       mjuu_copyvec(m->light_attenuation+3*lid, pl->attenuation, 3);
       m->light_cutoff[lid] = pl->cutoff;
       m->light_exponent[lid] = pl->exponent;

src/xml/xml_native_reader.cc

@@ -167,8 +167,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "?", "17", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
             "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
             "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "?", "13", "pos", "dir", "bulbradius", "directional", "castshadow", "active",
-            "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
+        {"light", "?", "15", "pos", "dir", "bulbradius", "intensity", "range",
+            "directional", "castshadow", "active", "attenuation", "cutoff", "exponent",
+            "ambient", "diffuse", "specular", "mode"},
         {"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
          "gap", "margin"},
         {"equality", "?", "3", "active", "solref", "solimp"},
@@ -280,9 +281,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "16", "name", "class", "directional", "castshadow", "active",
-            "pos", "dir", "bulbradius", "attenuation", "cutoff", "exponent", "ambient", "diffuse",
-            "specular", "mode", "target"},
+        {"light", "*", "18", "name", "class", "directional", "castshadow", "active",
+            "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
+            "exponent", "ambient", "diffuse", "specular", "mode", "target"},
         {"plugin", "*", "2", "plugin", "instance"},
         {"<"},
           {"config", "*", "2", "key", "value"},
@@ -1856,6 +1857,8 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   ReadAttr(elem, "pos", 3, light->pos, text);
   ReadAttr(elem, "dir", 3, light->dir, text);
   ReadAttr(elem, "bulbradius", 1, &light->bulbradius, text);
+  ReadAttr(elem, "intensity", 1, &light->intensity, text);
+  ReadAttr(elem, "range", 1, &light->range, text);
   ReadAttr(elem, "attenuation", 3, light->attenuation, text);
   ReadAttr(elem, "cutoff", 1, &light->cutoff, text);
   ReadAttr(elem, "exponent", 1, &light->exponent, text);

src/xml/xml_native_writer.cc

@@ -604,6 +604,8 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
 
   // defaults and regular
   WriteAttr(elem, "bulbradius", 1, &light->bulbradius, &def->Light().bulbradius);
+  WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
+  WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
   WriteAttrKey(elem, "directional", bool_map, 2, light->directional, def->Light().directional);
   WriteAttrKey(elem, "castshadow", bool_map, 2, light->castshadow, def->Light().castshadow);
   WriteAttrKey(elem, "active", bool_map, 2, light->active, def->Light().active);