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Title: Add studio shading style and edge overlay to GL viewer #2300

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Title: Add studio shading style and edge overlay to GL viewer #2300

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b03225a
Add studio shading style and edge overlay to GL viewer
AnkaChan Apr 15, 2026
f338502
Address PR review: exposure kwarg, draw_sky toggle, license, changelog
AnkaChan Apr 15, 2026
d4d3671
Restore classic Cook-Torrance PBR shader, add exposure to studio
AnkaChan Apr 15, 2026
2ff8da0
Fix studio shader missing uniforms, roughness leak, sky wireframe
AnkaChan Apr 15, 2026
b031b42
Restore neutral ambient colors for classic shader ground plane
AnkaChan Apr 15, 2026
2c2693b
Add screen-space gradient background for studio style
AnkaChan Apr 15, 2026
ccefe2f
Use sky dome with subtle gradient for studio background
AnkaChan Apr 15, 2026
ee56dee
Fix TypeError from sky dome overrides leaking into shape shader
AnkaChan Apr 15, 2026
c9e1a83
Widen studio sky dome gradient for visible contrast
AnkaChan Apr 15, 2026
626fd8d
Increase studio sky dome gradient contrast
AnkaChan Apr 15, 2026
739876f
Upgrade studio shader from Blinn-Phong to Cook-Torrance PBR
AnkaChan Apr 15, 2026
e8bacd6
Clamp studio ground plane to matte roughness
AnkaChan Apr 15, 2026
a8eaa8e
Darken studio sky dome and fog to match classic brightness
AnkaChan Apr 15, 2026
9d5e1de
Reduce studio lighting intensity to match classic's subdued feel
AnkaChan Apr 15, 2026
6511e5e
Darken studio ground and skip ground edges in edge overlay
AnkaChan Apr 15, 2026
3dfb087
Dampen direct lighting on studio ground plane
AnkaChan Apr 15, 2026
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -5,6 +5,10 @@
### Added

- Add `SolverXPBD.update_contacts()` to populate `contacts.force` with per-contact spatial forces (linear force and torque) derived from XPBD constraint impulses
- Add `shading_style` parameter to `ViewerGL` for selecting ``"classic"`` or ``"studio"`` rendering styles at construction or runtime
- Add studio shading style with 3-point lighting, shadow mapping, rim highlights, and neutral matte ground plane
- Add edge overlay toggle (`renderer.draw_edges`) for wireframe visualization on top of solid geometry
- Add registry-based shading system (`ShadingStyleConfig` / `STYLE_REGISTRY`) for extensible style registration
- Add repeatable `--warp-config KEY=VALUE` CLI option for overriding `warp.config` attributes when running examples
- Add 3D texture-based SDF, replacing NanoVDB volumes in the mesh-mesh collision pipeline for improved performance and CPU compatibility.
- Parse URDF joint `limit effort="..."` values and propagate them to imported revolute and prismatic joint `effort_limit` settings
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