UMjDebugVisualizer

Handles debug visualization for the MuJoCo simulation (contact forces, collision wireframes, etc.).

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

Properties Functions

Properties

Public Properties

Property	Type	Description
bShowDebug	bool	If true, draws contact force visualization.
DebugForceScale	float	Scaling factor for contact force visualization.
DebugMaxForce	float	Maximum force value for clamping visual size.
DebugContactPointSize	float	Size of the drawn contact point.
DebugContactArrowThickness	float	Base thickness of the contact force arrow.
bGlobalDrawDebugCollision	bool	Toggles debug collision drawing globally for all articulations.
bGlobalDrawDebugJoints	bool	Toggles debug joint axis/range drawing globally for all articulations.
bGlobalShowGroup3	bool	Toggles debug Group 3 drawing globally for all articulations.
bGlobalQuickConvertCollision	bool	Toggles debug collision drawing globally for all QuickConvert components.

bShowDebug

If true, draws contact force visualization.

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

DebugForceScale

Scaling factor for contact force visualization.

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

DebugMaxForce

Maximum force value for clamping visual size.

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

DebugContactPointSize

Size of the drawn contact point.

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

DebugContactArrowThickness

Base thickness of the contact force arrow.

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

bGlobalDrawDebugCollision

Toggles debug collision drawing globally for all articulations.

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

bGlobalDrawDebugJoints

Toggles debug joint axis/range drawing globally for all articulations.

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

bGlobalShowGroup3

Toggles debug Group 3 drawing globally for all articulations.

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

bGlobalQuickConvertCollision

Toggles debug collision drawing globally for all QuickConvert components.

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

Functions

Public Functions

General

Function	Returns	Description
CaptureDebugData()	void	Captures debug info from m_data to DebugData. Called on Physics Thread.
UpdateAllGlobalVisibility()	void	Applies global debug visibility settings to all active articulations.
ToggleDebugContacts()	void	Toggle contact force visualization (key: 1).
ToggleArticulationCollisions()	void	Toggle collision wireframes on articulations (key: 3).
ToggleQuickConvertCollisions()	void	Toggle collision wireframes on Quick Convert objects (key: 5).
ToggleDebugJoints()	void	Toggle joint axes on all articulations (key: 4).
ToggleVisuals()	void	Toggle visual mesh visibility on all articulations (key: 2).

CaptureDebugData

Captures debug info from m_data to DebugData. Called on Physics Thread.

• Signature: CaptureDebugData()

UpdateAllGlobalVisibility

Applies global debug visibility settings to all active articulations.

• Signature: UpdateAllGlobalVisibility()

ToggleDebugContacts

Toggle contact force visualization (key: 1).

• Signature: ToggleDebugContacts()

ToggleArticulationCollisions

Toggle collision wireframes on articulations (key: 3).

• Signature: ToggleArticulationCollisions()

ToggleQuickConvertCollisions

Toggle collision wireframes on Quick Convert objects (key: 5).

• Signature: ToggleQuickConvertCollisions()

ToggleDebugJoints

Toggle joint axes on all articulations (key: 4).

• Signature: ToggleDebugJoints()

ToggleVisuals

Toggle visual mesh visibility on all articulations (key: 2).

• Signature: ToggleVisuals()