| 152 | |
| 153 | SetWorldLocationAndRotation(CorrectedPos, MuJoCoWorldQuat); |
| 154 | } |
| 155 | |
| 156 | void UMjBody::ExportTo(mjsBody* Element, mjsDefault* Default) |
| 157 | { |
| 158 | if (!Element) |
| 159 | return; |
| 160 | |
| 161 | // --- CODEGEN_EXPORT_START --- |
| 162 | if (bOverride_SleepPolicy) |
| 163 | { |
| 164 | Element->sleep = static_cast<mjtSleepPolicy>(static_cast<uint8>(SleepPolicy)); |
| 165 | } |
| 166 | if (bOverride_childclass) |
| 167 | MjSetString(Element->childclass, childclass); |
| 168 | if (bOverride_mocap) |
| 169 | Element->mocap = mocap ? 1 : 0; |
| 170 | if (bOverride_gravcomp) |
| 171 | Element->gravcomp = gravcomp; |
| 172 | // --- CODEGEN_EXPORT_END --- |
| 173 | } |
| 174 | |
| 175 | void UMjBody::Setup(USceneComponent* Parent, mjsBody* ParentBody, FMujocoSpecWrapper* Wrapper) |
| 176 | { |
| 177 | FTransform TargetTransform; |
| 178 | |
| 179 | bool bIsAttachingToWorld = (ParentBody && mjs_getId(ParentBody->element) == 0); |
| 180 | |
| 181 | if (bIsAttachingToWorld) |
| 182 | { |
| 183 | TargetTransform = GetComponentTransform(); |
| 184 | } |
| 185 | else |
| 186 | { |
| 187 | TargetTransform = GetRelativeTransform(); |
| 188 | } |
| 189 | |
| 190 | FString NameToRegister = MjName.IsEmpty() ? GetName() : MjName; |
| 191 | mjsBody* BodyToAttachTo = Wrapper->CreateBody( |
| 192 | NameToRegister, |
| 193 | ParentBody, |
| 194 | TargetTransform); |
| 195 | if (BodyToAttachTo) |
| 196 | { |
| 197 | m_SpecElement = BodyToAttachTo->element; |
| 198 | // All per-attr writes (gravcomp / mocap / sleep / childclass) are |
| 199 | // codegen-owned inside ExportTo's CODEGEN_EXPORT block. |
| 200 | ExportTo(BodyToAttachTo, nullptr); |
| 201 | } |
| 202 | |
| 203 | m_Root = Parent; |
| 204 | |
| 205 | TArray<USceneComponent*> DirectChildren = GetAttachChildren(); |
| 206 | |
| 207 | for (USceneComponent* CurrentComponent : DirectChildren) |
| 208 | { |
| 209 | if (UMjBody* MjBodyComp = Cast<UMjBody>(CurrentComponent)) |
| 210 | { |
| 211 | UE_LOG(LogURLab, Verbose, TEXT("LEVEL N: Detected MjsBody: %s. Creating external articulated body."), |
nothing calls this directly
no test coverage detected