UMjSphere

Sphere primitive geometry.

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

Properties Functions

Properties

Public Properties

Property	Type	Description
Radius	float
VisualizerMesh	class UStaticMeshComponent*	Internal-only visual mesh for the editor.
m_GeomView	GeomView	The runtime view of the MuJoCo geom. Valid only after Bind() is called.
Type	EMjGeomType
Size	FVector
bWasImported	bool	True when this component was created via ImportFromXml (i.e. loaded from a .xml file).
MeshName	FString	Name of the mesh asset if Type is Mesh.
bComplexMeshRequired	bool	Legacy: use complex collision mesh. Hidden — use "Decompose Mesh" button instead.
CoACDThreshold	float	CoACD decomposition threshold. Lower = more accurate but more hulls. Range [0.01, 1.0].
bIsDecomposedHull	bool	True if this geom was created by CoACD decomposition of another geom.
bDisabledByDecomposition	bool	True if this geom's mesh was decomposed into hull sub-geoms.
FromToStart	FVector	Start point for fromto definition.
FromToEnd	FVector	End point for fromto definition.
bFromToResolvedHalfLength	bool	True when fromto was resolved at import — only the half-length slot is valid, radius comes from defaults.
MjClassName	FString	Optional MuJoCo class name to inherit defaults from.
MaterialName	FString	Optional MuJoCo material name for visual properties.
Density	float	Density of the material (used for mass calculation if mass not implicit).
Mass	float	Explicit mass of the geom (if provided, density is ignored).
Margin	float	Collision margin (excludes contacts within this distance).
Gap	float	Contact generation gap (includes contacts within this distance).
Condim	int32	Contact dimensionality (1, 3, 4, 6).
Contype	int32	Content type bitmask for collision filtering.
Conaffinity	int32	Content affinity bitmask for collision filtering (matches against other's contype).
Priority	int32	Collision priority (higher priority interactions override lower).
Group	int32	Visual/Collision group ID.
SizeParamsCount	int32	Number of size parameters explicitly provided in XML.
Rgba	FLinearColor	RGBA Color of the geom.
m_RefDefault	UMjDefault*

Radius

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

VisualizerMesh

Internal-only visual mesh for the editor.

• Type: class UStaticMeshComponent*

m_GeomView

The runtime view of the MuJoCo geom. Valid only after Bind() is called.

• Type: GeomView

Type

Override-enabled (bOverride_Type)

• Type: EMjGeomType
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom

Size

Override-enabled (bOverride_Size)

• Type: FVector
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom

bWasImported

True when this component was created via ImportFromXml (i.e. loaded from a .xml file).

• Type: bool
• Editor: 👁 VisibleAnywhere
• Category: MuJoCo|Geom

MeshName

Name of the mesh asset if Type is Mesh.

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

bComplexMeshRequired

Legacy: use complex collision mesh. Hidden — use "Decompose Mesh" button instead.

• Type: bool
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom

CoACDThreshold

CoACD decomposition threshold. Lower = more accurate but more hulls. Range [0.01, 1.0].

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom
• Notes: Override-enabled (Type)

bIsDecomposedHull

True if this geom was created by CoACD decomposition of another geom.

• Type: bool
• Editor: 👁 VisibleAnywhere
• Category: MuJoCo|Geom

bDisabledByDecomposition

True if this geom's mesh was decomposed into hull sub-geoms.

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

FromToStart

Start point for fromto definition.

• Type: FVector
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom
• Notes: Override-enabled (bOverride_FromTo)

FromToEnd

End point for fromto definition.

• Type: FVector
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom
• Notes: Override-enabled (bOverride_FromTo)

bFromToResolvedHalfLength

True when fromto was resolved at import — only the half-length slot is valid, radius comes from defaults.

• Type: bool

MjClassName

Optional MuJoCo class name to inherit defaults from.

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

MaterialName

Optional MuJoCo material name for visual properties.

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

Density

Density of the material (used for mass calculation if mass not implicit).

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Physics
• Notes: Override-enabled (bOverride_Density)

Mass

Explicit mass of the geom (if provided, density is ignored).

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Physics
• Notes: Override-enabled (bOverride_Mass)

Margin

Collision margin (excludes contacts within this distance).

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Physics
• Notes: Override-enabled (bOverride_Margin)

Gap

Contact generation gap (includes contacts within this distance).

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Physics
• Notes: Override-enabled (bOverride_Gap)

Condim

Contact dimensionality (1, 3, 4, 6).

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Physics
• Notes: Override-enabled (bOverride_Condim)

Contype

Content type bitmask for collision filtering.

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Collision
• Notes: Override-enabled (bOverride_Contype)

Conaffinity

Content affinity bitmask for collision filtering (matches against other's contype).

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Collision
• Notes: Override-enabled (bOverride_Conaffinity)

Priority

Collision priority (higher priority interactions override lower).

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Collision
• Notes: Override-enabled (bOverride_Priority)

Group

Visual/Collision group ID.

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Collision
• Notes: Override-enabled (bOverride_Group)

SizeParamsCount

Number of size parameters explicitly provided in XML.

• Type: int32
• Editor: 👁 VisibleAnywhere
• Category: MuJoCo|Geom

Rgba

RGBA Color of the geom.

• Type: FLinearColor
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom|Visual
• Notes: Override-enabled (bOverride_Rgba)

m_RefDefault

• Type: UMjDefault*
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Geom

Functions

Public Functions

General

Function	Returns	Description
SyncUnrealTransformFromMj()	void	Synchronizes the Unreal Component transform (Scale/Location/Rotation)
SetGeomVisibility()	void	Sets visibility for this geom and its child visual components.
GetVisualizerMesh()	class UStaticMeshComponent*	Returns the built-in visualizer mesh if it exists.
GetMj()	GeomView&	Semantic accessor for raw MuJoCo data and helper methods.
ShouldOverrideSize()	bool	Returns true if the geom's size should be written to MuJoCo on export
GetResolvedMaterialName()	FString	Resolves MaterialName through the default class chain. Returns empty if none found.
RegisterToSpec()	void	Registers this geom to the MuJoCo spec.

SyncUnrealTransformFromMj

Synchronizes the Unreal Component transform (Scale/Location/Rotation)

• Signature: SyncUnrealTransformFromMj()

SetGeomVisibility

Sets visibility for this geom and its child visual components.

• Signature: SetGeomVisibility(bool bNewVisibility)

GetVisualizerMesh

Returns the built-in visualizer mesh if it exists.

• Signature: GetVisualizerMesh()
• Returns: class UStaticMeshComponent*

GetMj

Semantic accessor for raw MuJoCo data and helper methods.

• Signature: GetMj()
• Returns: GeomView&

ShouldOverrideSize

Returns true if the geom's size should be written to MuJoCo on export

• Signature: ShouldOverrideSize()
• Returns: bool

GetResolvedMaterialName

Resolves MaterialName through the default class chain. Returns empty if none found.

• Signature: GetResolvedMaterialName()
• Returns: FString

RegisterToSpec

Registers this geom to the MuJoCo spec.

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

MuJoCo|Geom

Function	Returns	Description
DecomposeMesh()	void	Runs CoACD decomposition on this geom's mesh and creates persistent hull sub-geom components.
RemoveDecomposition()	void	Removes all hull sub-geoms created by decomposition and re-enables this geom.

DecomposeMesh

Runs CoACD decomposition on this geom's mesh and creates persistent hull sub-geom components.

• Signature: DecomposeMesh()
• Blueprint: 🔧 CallInEditor

RemoveDecomposition

Removes all hull sub-geoms created by decomposition and re-enables this geom.

• Signature: RemoveDecomposition()
• Blueprint: 🔧 CallInEditor

MuJoCo|Runtime

Function	Returns	Description
UpdateGlobalTransform()	void	Updates the Unreal SceneComponent transform to match the MuJoCo simulation state.
GetWorldLocation()	FVector	Gets the current world location from MuJoCo.
SetFriction()	void	Sets the sliding friction at runtime.

UpdateGlobalTransform

Updates the Unreal SceneComponent transform to match the MuJoCo simulation state.

• Signature: UpdateGlobalTransform()
• Blueprint: 🔵 Callable

GetWorldLocation

Gets the current world location from MuJoCo.

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

SetFriction

Sets the sliding friction at runtime.

• Signature: SetFriction(float NewFriction)
• Blueprint: 🔵 Callable