Commit Graph

10 Commits

Author SHA1 Message Date
Yuval Tassa f9a00bd5b5 Add light softness: spotlight edge softness for physically-based rendering.
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
2026-08-04 18:11:48 -07:00
Yuval Tassa 7bc1aa9b05 Add Filament lighting and shadow features and fixes.
- Add a hidden directional light to Filament scenes with no lights to work around soft shadow blackout bug.
- Respect quality/shadowsize as default shadow map resolution.
- Interpret light/bulbradius in correct units for each shadow type and update XML reference docs.
- Support updating the shadow map resolution of live Filament lights.
- Clamp light intensities to non-negative values in the Filament debug panel.

PiperOrigin-RevId: 957305808
Change-Id: Ic7a3430aaa3b117be7fbb7ace836d68e54cdf65a
2026-07-31 13:28:01 -07:00
Haroon Qureshi ba9a65031b Allow mesh data to be reuploaded without having to recreate the mesh.
Splits mjrfMeshData into config+data parts.

PiperOrigin-RevId: 952042545
Change-Id: I19a572a0f591fa0d33bbc2c32b974efc075310f4
2026-07-22 04:56:30 -07:00
Haroon Qureshi 1e85ce176f Migrate filament header documentation to docs.
PiperOrigin-RevId: 948294877
Change-Id: I6e110bbdc4d2e329a243f1b96d560698174de26b
2026-07-15 06:14:40 -07:00
devshahofficial d23ff84c59 Add renderer info query API 2026-07-07 11:44:46 -07:00
Haroon Qureshi 07e292bc6b Make mjrf types opaque in header.
PiperOrigin-RevId: 938409081
Change-Id: I8b9680dcb04f56aadf9ffd601b08025fc624c656
2026-06-25 23:41:49 -07:00
Haroon Qureshi a3039224ba Add attributes for codegen assistance.
PiperOrigin-RevId: 937219243
Change-Id: If3a0830b7020d52ef346d97886a90950941f4908
2026-06-24 03:17:03 -07:00
Haroon Qureshi 29b49991a2 Rename mjrf_getSamplerType to mjrf_getTextureSamplerType.
PiperOrigin-RevId: 937193469
Change-Id: I56f856e257fa1cf99b643f794139ef85817a0bb9
2026-06-24 02:18:07 -07:00
Kyle Bayes 0fd7bea973 Modernize struct and enum style in MuJoCo headers.
PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
2026-06-23 00:48:11 -07:00
Haroon Qureshi d93c102190 Move mjrfilament.h to mujoco/include.
PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
2026-06-19 08:01:05 -07:00