Method ApplyStepCtrl

Source/URLab/Private/Bridge/RpcDispatcher.cpp:1335–1395

}

void FURLabRpcDispatcher::ApplyStepCtrl(AAMjManager* Manager, const FMjStepRequest& Req,
	mjModel* m, mjData* d)
{
	if (!Manager)
		return;
	for (auto& Pair : Req.PerArticulationCtrl)
	{
		AMjArticulation* Art = Manager->GetArticulation(Pair.Key);
		if (!Art)
			continue;

		const FString Prefix = Art->GetName() + TEXT("_");
		TMap<FString, UMjActuator*> ByName;
		ByName.Reserve(Art->GetActuators().Num() * 2);
		for (UMjActuator* A : Art->GetActuators())
		{
			if (!A)
				continue;
			FString FullName = A->GetMjName();
			FString Local = FullName.StartsWith(Prefix) ? FullName.Mid(Prefix.Len()) : FullName;
			ByName.Add(Local, A);
			ByName.Add(FullName, A);
		}

		// Stage to actuator NetworkValue; AMjArticulation::ApplyControls
		// copies it into d->ctrl every sub-step. Writing d->ctrl directly
		// would be overwritten on the next sub-step.
		for (const TPair<FString, float>& KV : Pair.Value)
		{
			UMjActuator** Found = ByName.Find(KV.Key);
			if (!Found || !*Found)
				continue;
			(*Found)->SetNetworkControl(KV.Value);
		}
	}

	// xfrc_applied writes: per_articulation -> body_name -> 6-vec.
	// MuJoCo clears d->xfrc_applied on every mj_step, so this is a one-shot
	// impulse for the next mj_step n_steps loop. Body name lookup tries both
	// the local (no-prefix) form and the prefixed full name.
	if (m && d)
	{
		for (auto& APair : Req.PerArticulationXfrc)
		{
			FString ArtPrefix = APair.Key + TEXT("_");
			for (auto& BPair : APair.Value)
			{
				if (BPair.Value.Num() != 6)
					continue;
				FString FullName = ArtPrefix + BPair.Key;
				int Bid = mj_name2id(m, mjOBJ_BODY, TCHAR_TO_UTF8(*FullName));
				if (Bid < 0)
					Bid = mj_name2id(m, mjOBJ_BODY, TCHAR_TO_UTF8(*BPair.Key));
				if (Bid < 0 || Bid >= m->nbody)
					continue;
				for (int i = 0; i < 6; ++i)
					d->xfrc_applied[6 * Bid + i] = (mjtNum)BPair.Value[i];
			}