Free world and engine context. */

* Create world, spawn manager + minimal articulation, optionally configure * components, then compile. * * @param ConfigCallback Optional lambd

True if model and data are valid. */

Build a standard error reply. Single source of truth for the * `{"op": "error", "code": ..., "message": ...}` shape. */

Local alias so existing call sites can keep saying MakeJsonError(...).

Each editor op carries its category + namespace metadata so the * bridge can synthesise method bindings from the `meta` payload. */

Wrap a raw handler in the game-thread marshaller. The dispatcher runs on a ZMQ worker thread, but every editor API the body touches (asset registry, l

Access the compiled mjModel (only valid after Compile()). */

Read a 3-element float array under Key. Falls back to Default * if missing or wrong size. Returns true if the field was present * and well-formed.

* Spawn a test world, create a Manager, spawn the imported Blueprint * actor and call Manager->Compile(). Requires Init() to have succeeded. *

Compile an inline MJCF XML string. Returns true on success. */

Wrap ``body`` in an ``if ({toggle})`` guard and return the indented emission. ``extra_cond=None``: ``if ({toggle}) {body}``

``bOverride_<X>`` is the codegen-emitted toggle field that gates whether the corresponding UPROPERTY's value gets written back to the mjs stru

Emit UPROPERTY + import/export blocks for a list of schema attrs. Applies global exclusions, element exclusions, canonicalisation absorption,

* @brief Write a UE FString to an mjString* field, but only if non-empty. * * Replaces the gated pattern: * if (!Name.IsEmpty()) mjs_setString(El

Inject ``body`` between the ``CODEGEN_<tag>`` markers in ``text``. When the markers are missing AND the body is non-empty, fire a diagnostic t

No-op: contact pairs are global static data, no per-instance runtime binding. Required by IMjSpecElement. */

Read the target-actor key from the request envelope. Wire * format: `{"target": "<key>", "target_by": "actor_id" | * "actor_name"}` (default `"act

Strip any residual raw comment markers from a brief/description field.

Replace the content between ``// --- CODEGEN_<tag>_START ---`` and ``// --- CODEGEN_<tag>_END ---`` with ``new_inner``. Returns (new_text, was

Reset simulation to initial state. */

Get geom ID by name. Returns -1 if not found. */

* @brief Overwrite an mjDoubleVec* with the contents of a TArray<float>. * * The mjs spec exposes mjsKey::qpos / qvel / ... as ``mjDoubleVec*`` * (

FString.Len() returns TCHAR count; the zmq frame needs UTF-8 byte count. Non-ASCII topics (any multibyte character) diverge.

Emit ``Element->data[N]`` packed export for an attr that the mjs struct can't represent directly (e.g. mjsEquality polycoef -> data[0..10], to

Escape pipe characters for Markdown table cells.

Emit one .h and one .cpp per subtype for layout=single_uclass_per_file. For files that do not exist yet (new subclasses): emit from template.

For each view in `rules['views']`, return (fields_block, bind_block).

Helper to format 3D vectors

Step physics N times on the manager's model/data. */

Scrape ``Sensor()``'s per-type if/else cascade. Returns a dict keyed by XML element name; each entry has: objtype: "mjOBJ_X" | "from_x

Read an attribute list at a dotted path, e.g. ``actuator_common.attrs``. Returns [] if missing.

Read a rotation from the request: `rotation_quat` (xyzw) preferred, * fall back to `rotation_euler` (degrees). Returns true if either * field was

Parse a /** ... */ comment block. Returns (brief: str, description: str). Strips leading * and processes @brief, @param, @return tags.

Emit a switch on ``cat_rules['objtype_dispatch']`` that assigns each case's ``expr`` to ``target``. Used by categories where mjs's objtype fie

Return the ``{xml_val -> [UE_enum_member, mj_const]}`` table for an xml_enum attr. The rule must carry an explicit ``value_map``.

Helper: invoke _emit_setto_call with the rules-real args for one actuator subtype.

Collapse a libclang raw doc comment into one line, stripping leading ``//`` / ``/*`` decoration.

Yield attrs that pass the standard codegen exclusion gates plus any site-specific ``extra_excl`` set the caller assembles (xml_enum_attrs, tar