The new spotlight attribute softness (real in [0, 1], default 0) is the
fraction of the cone, measured inward from the cutoff, over which
intensity falls to zero. It is used by physically-based lighting models;
the Phong model's corresponding knob remains exponent.
The filament renderer previously hardcoded the inner cone angle to 0,
making the entire beam penumbra: the shader attenuates by the squared
smoothstep ((cos(theta) - cos(outer)) / (cos(inner) - cos(outer)))^2, so
a cutoff-25 spot delivered its rated candela only exactly on-axis and
about a third of it averaged over the light pool, with the deficit
shrinking as the cutoff widens. The inner angle is now
(1 - softness) * cutoff, so at the default the light delivers its full
intensity everywhere inside the cone and illuminance follows E = I/d^2
independent of the cutoff. Setting softness to 1 reproduces the previous
appearance exactly (verified bit-identical), which is the migration path
for models tuned against the old behavior.
The filament light type also changes from FOCUSED_SPOT to SPOT. With
intensity given in candela and the cone set at build time the two types
produce identical output (FOCUSED_SPOT's power-conserving rescale only
applies when the cone changes after the intensity is set), but SPOT
guarantees that candela never rescales with cone angle should the cone
ever become runtime-editable.
Verified with headless renders under a linear tone mapper against an
equal-candela point light at cutoffs 25/45/80: softness 0 gives
spot/point luminance ratio 1.000 at all sampled angles inside the cone;
softness 0.2 is flat over the inner 80% of the cone; softness 1 matches
the previous renderer with zero linear-pixel difference. XML round-trip
and the [0, 1] compile-time check verified. Introspect and wasm bindings
regenerated.
PiperOrigin-RevId: 959334706
Change-Id: I0f0729781899880de1729ea9b3d8c055d715a025
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
1. Create an arena for the mjData instance used by the passive viewer visualization.
When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.
2. Add missing a missing field in scene state for flex visualization.
3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.
4. Add some locks in places where the render thread and Simulate::Sync collide.
This fixes#1280.
PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".
Fixes#876.
PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
Required for constraint solver islanding.
Replace linked lists with `island_{dof,efc}_{num,adr,ind}`, corresponding to the standard `{rownnz,rowadr,colind}` sparse matrix representation. By effectively defining two sparse matrix structures of dimensions `nisland x nv` and `nisland x nefc`, respectively, this representation is more conducive to reuse of existing sparse matrix utility functions, while being cache-friendlier by making sequential indices adjacent in memory.
PiperOrigin-RevId: 559704957
Change-Id: I919362cbef0d5fe5acc4aa2bb4ffb17eee8223a2
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
Yuval Tassa