UMjFrame¶
Represents a MuJoCo (mjsFrame).
Frames supply a coordinate offset that the MuJoCo compiler bakes into the pos/quat of their child elements; they don't survive into mjModel/mjData, so no runtime view or Bind work is needed. Spec creation goes through MjFrame::Setup, which is dispatched by the parent UMjBody during its own Setup walk and recursively visits the frame's UE child components.
| Attribute | Value |
|---|---|
| Kind | Class |
| UE Macro | UCLASS |
| Inherits | UMjComponent |
| Blueprint Spawnable | ✅ Yes |
Properties¶
Public Properties¶
| Property | Type | Description |
|---|---|---|
Pos |
FVector |
|
Quat |
FQuat |
|
childclass |
FString |
Pos¶
Override-enabled (
bOverride_Pos)
- Type: FVector
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo|MjFrame|Spatial Pose
Quat¶
Override-enabled (
bOverride_Quat)
- Type: FQuat
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo|MjFrame|Orientation
childclass¶
Override-enabled (
bOverride_childclass)
- Type: FString
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo|MjFrame
Private Properties¶
| Property | Type | Description |
|---|---|---|
m_SpecElements |
TArray<TScriptInterface<IMjSpecElement>> | Cached list of child elements for registration. |
m_SpecElements¶
Cached list of child elements for registration.
- Type: TArray<TScriptInterface<IMjSpecElement>>
Functions¶
Public Functions¶
General¶
| Function | Returns | Description |
|---|---|---|
Setup() |
void | Recursive spec registration entry point for frames. Creates the |
ExportTo() |
void | Codegen-owned: writes the frame's hand-rolled childclass and any |
Bind() |
void | Empty: frames are compiled away. |
RegisterToSpec() |
void | Frame registration is driven by Setup (called from UMjBody). |
ImportFromXml() |
void | Codegen-owned: imports pos/orientation/childclass from . |
Setup¶
Recursive spec registration entry point for frames. Creates the
- Signature:
Setup(USceneComponent*Parent,mjsBody*ParentBody, class FMujocoSpecWrapper* Wrapper)
ExportTo¶
Codegen-owned: writes the frame's hand-rolled childclass and any
- Signature:
ExportTo(mjsFrame*Element,mjsDefault*Default)
Bind¶
Empty: frames are compiled away.
- Signature:
Bind(mjModel*Model,mjData*Data,const FString&Prefix)
RegisterToSpec¶
Frame registration is driven by Setup (called from UMjBody).
- Signature:
RegisterToSpec(class FMujocoSpecWrapper& Wrapper,mjsBody*ParentBody)
ImportFromXml¶
Codegen-owned: imports pos/orientation/childclass from .
- Signature:
ImportFromXml(const class FXmlNode*Node, const struct FMjCompilerSettings& CompilerSettings)