UMjBody

Attribute	Value
Kind	Class
UE Macro	UCLASS
Inherits	UMjComponent
Blueprint Spawnable	✅ Yes

Properties Functions

Properties

Public Properties

Property	Type	Description
Pos	FVector
Quat	FQuat
childclass	FString
mocap	bool
gravcomp	float
bIsQuickConverted	bool	If true, this body was created via Quick Convert, enabling specific logic like pivot correction.
SleepPolicy	EMjBodySleepPolicy	Per-body sleep policy (MuJoCo 3.4+). Default lets the global option decide.

Pos

Override-enabled (bOverride_Pos)

• Type: FVector
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|MjBody|Spatial Pose

Quat

Override-enabled (bOverride_Quat)

• Type: FQuat
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|MjBody|Orientation

childclass

Override-enabled (bOverride_childclass)

• Type: FString
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|MjBody

mocap

Override-enabled (bOverride_mocap)

• Type: bool
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|MjBody

gravcomp

Override-enabled (bOverride_gravcomp)

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|MjBody

bIsQuickConverted

If true, this body was created via Quick Convert, enabling specific logic like pivot correction.

• Type: bool
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Body

SleepPolicy

Per-body sleep policy (MuJoCo 3.4+). Default lets the global option decide.

• Type: EMjBodySleepPolicy
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Body|sleep

Private Properties

Property	Type	Description
m_Geoms	TArray<UMjGeom*>	Cached list of child Geoms for runtime binding.
m_Joints	TArray<UMjJoint*>	Cached list of child Joints for runtime binding.

m_Geoms

Cached list of child Geoms for runtime binding.

• Type: TArray<UMjGeom*>

m_Joints

Cached list of child Joints for runtime binding.

• Type: TArray<UMjJoint*>

Functions

Public Functions

General

Function	Returns	Description
RegisterToSpec()	void	Registers this body to the MuJoCo spec.
ExportTo()	void	Writes this body's codegen-owned UPROPERTYs to an existing mjsBody.
TickComponent()	void	Called every frame.
ImportFromXml()	void	Imports properties with orientation handling respecting compiler settings.
GetMj()	BodyView&	Semantic accessor for raw MuJoCo data and helper methods.

RegisterToSpec

Registers this body to the MuJoCo spec.

• Signature: RegisterToSpec(FMujocoSpecWrapper& Wrapper, mjsBody* ParentBody)

ExportTo

Writes this body's codegen-owned UPROPERTYs to an existing mjsBody.

• Signature: ExportTo(mjsBody* Element, mjsDefault* Default)

TickComponent

Called every frame.

• Signature: TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)

ImportFromXml

Imports properties with orientation handling respecting compiler settings.

• Signature: ImportFromXml(const class FXmlNode* Node, const struct FMjCompilerSettings& CompilerSettings)

GetMj

Semantic accessor for raw MuJoCo data and helper methods.

• Signature: GetMj()
• Returns: BodyView&

MuJoCo|Body|sleep

Function	Returns	Description
IsAwake()	bool	Returns true if this body is currently awake (not sleeping).
Wake()	void	Wakes this body and its kinematic tree, forcing it out of sleep.
PutToSleep()	void	Forces this body and its kinematic tree to sleep immediately.

IsAwake

Returns true if this body is currently awake (not sleeping).

• Signature: IsAwake()
• Blueprint: 🔵 Callable 💎 Pure
• Returns: bool

Wake

Wakes this body and its kinematic tree, forcing it out of sleep.

• Signature: Wake()
• Blueprint: 🔵 Callable

PutToSleep

Forces this body and its kinematic tree to sleep immediately.

• Signature: PutToSleep()
• Blueprint: 🔵 Callable

MuJoCo|Runtime

Function	Returns	Description
GetWorldPosition()	FVector	Gets this body's world position in Unreal Engine coordinates (cm).
GetWorldRotation()	FQuat	Gets this body's world rotation as a quaternion (UE convention).
GetSpatialVelocity()	FMuJoCoSpatialVelocity	Gets the body's spatial velocity in Unreal coordinates (cm/s and deg/s).
ApplyForce()	void	Applies an external wrench to this body for the next simulation step.
ClearForce()	void	Clears any external force/torque applied via ApplyForce on this body.

GetWorldPosition

Gets this body's world position in Unreal Engine coordinates (cm).

• Signature: GetWorldPosition()
• Blueprint: 🔵 Callable
• Returns: FVector

GetWorldRotation

Gets this body's world rotation as a quaternion (UE convention).

• Signature: GetWorldRotation()
• Blueprint: 🔵 Callable
• Returns: FQuat

GetSpatialVelocity

Gets the body's spatial velocity in Unreal coordinates (cm/s and deg/s).

• Signature: GetSpatialVelocity()
• Blueprint: 🔵 Callable
• Returns: FMuJoCoSpatialVelocity

ApplyForce

Applies an external wrench to this body for the next simulation step.

• Signature: ApplyForce(FVector Force, FVector Torque)
• Blueprint: 🔵 Callable

ClearForce

Clears any external force/torque applied via ApplyForce on this body.

• Signature: ClearForce()
• Blueprint: 🔵 Callable