Only one spotlight casts shadows

[SoshinK]

Hello! I have found that when I try to add spotlights that cast shadows, only one (the first one) really casts shadow (see screenshot below). According to the default shader code, there are 10 spotlights supported. Am I missing something and how to cast shadows from all spotlights?

Code to reproduce the scene:

import gymnasium as gym
from tqdm import tqdm
import numpy as np
import sapien
import mani_skill.envs
from mani_skill.utils.building import actors
from mani_skill.utils.registration import register_env
from mani_skill.utils.scene_builder.table import TableSceneBuilder
from mani_skill.envs.sapien_env import BaseEnv
@register_env("MyEnv", max_episode_steps=50)
class MyEnv(BaseEnv):
    cube_half_size = 0.02
    SUPPORTED_REWARD_MODES = ["none"]
    def _load_agent(self, options: dict):
        # set a reasonable initial pose for the agent that doesn't intersect other objects
        super()._load_agent(options, sapien.Pose(p=[-0.615, 0, 0]))

    def _load_lighting(self, options: dict):
        shadow = self.enable_shadow

        intensity = 10.0
        self.scene.add_spot_light([0, 0, 0.3],
                                        [0, 0, -1],
                                        inner_fov=10,
                                        outer_fov=20,
                                        color=[intensity, intensity, intensity],
                                        shadow=shadow,
                                        )
        self.scene.add_spot_light([0.0, 0.8, 0.3],
                                        [0, 0, -1],
                                        inner_fov=10,
                                        outer_fov=20,
                                        color=[intensity, intensity, intensity],
                                        shadow=shadow,
                                        )
    def _load_scene(self, options: dict):
        self.table_scene = TableSceneBuilder(
            env=self,
        )
        self.table_scene.build()
       
        self.obj1 = actors.build_cube(
            self.scene,
            half_size=self.cube_half_size,
            color=np.array([255, 0, 0, 255]) / 255,
            name="cube1",
            body_type="static",
            initial_pose=sapien.Pose(p=[0.1, 0, 0.15]),
        )

        self.obj2 = actors.build_cube(
            self.scene,
            half_size=self.cube_half_size,
            color=np.array([255, 0, 0, 255]) / 255,
            name="cube2",
            body_type="static",
            initial_pose=sapien.Pose(p=[0.1, 0.8, 0.15]),
        )

        

def main():
    env_kwargs = dict(
        render_mode='human',
        num_envs=1,
        enable_shadow=True,
        viewer_camera_configs={'shader_pack': 'default'}, 
        human_render_camera_configs={'shader_pack': 'default'},
        robot_uids='panda',
    )
    env = gym.make(
        'MyEnv',
        **env_kwargs
    )
    env.reset()
    episode_length = 10

    for i in tqdm(range(episode_length)):
        _, _, _, _, _ = env.step(None)
        
        env.render()

    viewer = env.render()
    viewer.paused = True
    while True:
        if viewer.closed:
            exit()
        if viewer.window.key_down("c"):
            break
        env.render()

    env.close()

if __name__ == '__main__':
    main()

[StoneT2000]

@fbxiang

[fbxiang]

I have found the problem and pushed the fix. There will soon be a nightly build for you to test.

[SoshinK]

@fbxiang yeah now it works. Thank You!

[fbxiang]

Sounds good. I will publish to pypi soon.