Method BeginPlay

Source/URLab/Private/MuJoCo/Core/AMjManager.cpp:145–363

}

void AAMjManager::BeginPlay()
{
	Super::BeginPlay();

	if (Instance != nullptr && Instance != this)
	{
		UE_LOG(LogURLab, Error, TEXT("[AAMjManager] Multiple AAMjManager actors detected in level. Only one is supported — this instance (%s) will be ignored."), *GetName());
		return;
	}
	Instance = this;

	// Auto-create ReplayManager BEFORE the dispatcher / ZMQ components so the
	// dispatcher's Init can cache its pointer. (Transport worker threads later
	// read this cache to avoid TActorIterator, which asserts IsInGameThread.)
	{
		AMjReplayManager* ExistingReplay = Cast<AMjReplayManager>(
			UGameplayStatics::GetActorOfClass(GetWorld(), AMjReplayManager::StaticClass()));
		if (!ExistingReplay)
		{
			FActorSpawnParameters SpawnParams;
			AMjReplayManager* ReplayMgr = GetWorld()->SpawnActor<AMjReplayManager>(SpawnParams);
			if (ReplayMgr)
			{
				UE_LOG(LogURLab, Log, TEXT("[AAMjManager] Auto-created AMjReplayManager"));
			}
		}
	}

	// Resolve a bridge server. In editor builds the URLabEditor module
	// installs a resolver via URLabBridgeProvider that hands back the
	// subsystem's server (lifetime spans PIE sessions). Cooked builds
	// have no resolver, fall through to creating our own and marking it
	// as owned-by-manager so EndPlay tears it down.
	UURLabBridgeServer* ResolvedServer = URLabBridgeProvider::ResolveEditorServer();
	if (ResolvedServer)
	{
		BridgeServer = ResolvedServer;
		// Don't claim ownership — subsystem controls lifetime.
	}
	else
	{
		// Cooked path: no editor subsystem. Manager owns its bridge and
		// brings up both RPC transports inline. Bridge owns all RPC
		// transports; manager only owns publish/subscribe streams.
		BridgeServer = NewObject<UURLabBridgeServer>(this, TEXT("BridgeServer"));
		BridgeServer->SetOwnedByManager(true);
		BridgeServer->Start();          // ZMQ on tcp://0.0.0.0:5559
		BridgeServer->EnsureShmBound(); // SHM under "live"
	}
	BridgeServer->RegisterManager(this);

	// Auto-create the streaming transports (PIE-only producers — they
	// tap PhysicsEngine pre/post-step callbacks). Bridge-style UObject
	// lifecycle: NewObject + SetOwningManager + TransportInit. Manager
	// owns streaming; bridge owns RPC.
	{
		UE_LOG(LogURLab, Log, TEXT("[AAMjManager] Creating manager-owned streaming transports"));