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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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src/xml/xml_native_reader.cc
+8 -5
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@@ -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);