FMuJoCoDebugData¶

Thread-safe buffer for debug visualization data.

Attribute	Value
Kind	`Struct`

Properties¶

Property	Type	Description
`ContactPoints`	`TArray<FVector>`
`ContactNormals`	`TArray<FVector>`
`ContactForces`	`TArray<float>`
`BodyAwake`	`TArray<int32>`	Per-body awake state snapshot (`mjData.body_awake`), size nbody. 0 = asleep.
`BodyIslandSeed`	`TArray<int32>`	Halton colour seed per body. `island_dofadr[island]` when in an active
`WrapObj`	`TArray<int32>`	Mirror of `mjData.wrap_obj` (nwrap * 2 ints). -2 = pulley, skip when drawing.
`TendonWrapAdr`	`TArray<int32>`	Per-tendon: `ten_wrapadr` / `ten_wrapnum`, length, and limit range. Sizes = ntendon.
`TendonWrapNum`	`TArray<int32>`
`TendonLength`	`TArray<float>`
`TendonLimited`	`TArray<uint8>`
`TendonRangeLo`	`TArray<float>`
`TendonRangeHi`	`TArray<float>`
`TendonActivation`	`TArray<float>`	Per-tendon muscle activation in [0, 1] if any muscle actuator drives this
`GeomXPos`	`TArray<FVector>`	Geom world positions (UE coords), size ngeom. Used to centre wrap-arc interpolation.

Per-body awake state snapshot (mjData.body_awake), size nbody. 0 = asleep.

Halton colour seed per body. island_dofadr[island] when in an active

Mirror of mjData.wrap_obj (nwrap * 2 ints). -2 = pulley, skip when drawing.

Per-tendon: ten_wrapadr / ten_wrapnum, length, and limit range. Sizes = ntendon.

Per-tendon muscle activation in [0, 1] if any muscle actuator drives this

Geom world positions (UE coords), size ngeom. Used to centre wrap-arc interpolation.