FMuJoCoOptions¶
MuJoCo simulation options (mjOption).
Used in two contexts: - On AMjArticulation: ALL fields are written to the child spec's option. The bOverride_ toggles are ignored (all values apply). - On AAMjManager: acts as post-compile overrides on m_model->opt. Only fields with bOverride_ = true are applied; others keep the compiled model's values (from the articulation specs).
| Attribute | Value |
|---|---|
| Kind | Struct |
| UE Macro | USTRUCT |
Properties¶
Public Properties¶
| Property | Type | Description |
|---|---|---|
Timestep |
float |
|
MemoryMB |
int32 |
MuJoCo spec-level arena size in megabytes. Maps to |
Gravity |
FVector |
Gravity in UE coordinates (cm/s²). Converted to MuJoCo (m/s², Y-negated) at apply time. |
Wind |
FVector |
|
Magnetic |
FVector |
|
Density |
float |
|
Viscosity |
float |
|
Impratio |
float |
|
Tolerance |
float |
|
Iterations |
int |
|
LsIterations |
int |
|
Integrator |
EMjIntegrator | |
Cone |
EMjCone | |
Solver |
EMjSolver | |
NoslipIterations |
int |
|
NoslipTolerance |
float |
|
CCD_Iterations |
int |
|
CCD_Tolerance |
float |
|
bEnableMultiCCD |
bool |
|
bEnableSleep |
bool |
|
SleepTolerance |
float |
Timestep¶
Override-enabled (
bOverride_Timestep)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
MemoryMB¶
MuJoCo spec-level arena size in megabytes. Maps to
- Type: int32
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
- Notes: Override-enabled (
bOverride_MemoryMB)
Gravity¶
Gravity in UE coordinates (cm/s²). Converted to MuJoCo (m/s², Y-negated) at apply time.
- Type: FVector
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
- Notes: Override-enabled (
bOverride_Gravity)
Wind¶
Override-enabled (
bOverride_Wind)
- Type: FVector
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Magnetic¶
Override-enabled (
bOverride_Magnetic)
- Type: FVector
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Density¶
Override-enabled (
bOverride_Density)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Viscosity¶
Override-enabled (
bOverride_Viscosity)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Impratio¶
Override-enabled (
bOverride_Impratio)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Tolerance¶
Override-enabled (
bOverride_Tolerance)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Iterations¶
Override-enabled (
bOverride_Iterations)
- Type: int
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
LsIterations¶
Override-enabled (
bOverride_LsIterations)
- Type: int
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Integrator¶
Override-enabled (
bOverride_Integrator)
- Type: EMjIntegrator
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Cone¶
Override-enabled (
bOverride_Cone)
- Type: EMjCone
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
Solver¶
Override-enabled (
bOverride_Solver)
- Type: EMjSolver
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
NoslipIterations¶
Override-enabled (
bOverride_NoslipIterations)
- Type: int
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
NoslipTolerance¶
Override-enabled (
bOverride_NoslipTolerance)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
CCD_Iterations¶
Override-enabled (
bOverride_CCD_Iterations)
- Type: int
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
CCD_Tolerance¶
Override-enabled (
bOverride_CCD_Tolerance)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options
bEnableMultiCCD¶
- Type: bool
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options|Collision
bEnableSleep¶
- Type: bool
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options|Sleep
SleepTolerance¶
Override-enabled (
bEnableSleep)
- Type: float
- Editor: ✏️ EditAnywhere
- Blueprint: 🔵 ReadWrite
- Category: MuJoCo Options|Sleep
Functions¶
Public Functions¶
General¶
| Function | Returns | Description |
|---|---|---|
ApplyToSpec() |
void | Writes ALL option values to an mjSpec's option struct. |
ApplyOverridesToModel() |
void | Applies only overridden values to a compiled mjModel. |
ApplyToSpec¶
Writes ALL option values to an mjSpec's option struct.
- Signature:
ApplyToSpec(mjSpec*Spec)
ApplyOverridesToModel¶
Applies only overridden values to a compiled mjModel.
- Signature:
ApplyOverridesToModel(mjModel*Model)