| 123 | } |
| 124 | |
| 125 | bool MjUtils::DecomposeFromTo(const FXmlNode* Node, |
| 126 | FVector& OutPos, FQuat& OutQuat, |
| 127 | float& OutHalfLength) |
| 128 | { |
| 129 | if (!Node) |
| 130 | return false; |
| 131 | const FString FromToStr = Node->GetAttribute(TEXT("fromto")); |
| 132 | if (FromToStr.IsEmpty()) |
| 133 | return false; |
| 134 | |
| 135 | FVector Start, End; |
| 136 | if (!ParseFromTo(FromToStr, Start, End)) |
| 137 | return false; |
| 138 | |
| 139 | OutPos = (Start + End) * 0.5f; |
| 140 | |
| 141 | const FVector Dir = (End - Start).GetSafeNormal(); |
| 142 | OutQuat = Dir.IsNearlyZero() |
| 143 | ? FQuat::Identity |
| 144 | : FQuat::FindBetweenNormals(FVector(0.f, 0.f, 1.f), Dir); |
| 145 | |
| 146 | // UE cm -> MuJoCo m for the half-length. |
| 147 | OutHalfLength = (End - Start).Size() * 0.5f / 100.0f; |
| 148 | return true; |
| 149 | } |
| 150 | |
| 151 | void MjUtils::DrawDebugGeom(UWorld* World, const mjModel* m, const GeomView& geom_view, const FColor& DrawColor, float Multiplier) |
| 152 | { |