Add intensity and range parameters to lights.

PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7

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;