FMjDirectStepCommand

Heap-allocated wrapper passed by raw pointer through the SPSC queue

TMap>> PerArticulationCtrl; / Per-articulation control mode: "ue_controller" (default) or "raw". */ TMap PerArticulationControlMode; / Per-articulation xfrc_applied: prefix -> body_name -> [fx,fy,fz,tx,ty,tz]. / TMap>> PerArticulationXfrc; / Echo'd request envelope for downstream reply building. / FString Op; }; /** in Direct mode. The RPC thread enqueues, the physics-thread custom step handler dequeues, drains the request, and signals via FEvent. Captures observations inline so the reply can be built off the physics thread without re-touching d.

Attribute	Value
Kind	Struct

Properties

Properties

Public Properties

Property	Type	Description
Request	FMjStepRequest
bDone	bool	Set true by the handler when mj_step has completed.
Observations	TSharedPtr<FJsonObject>	Observations captured under the engine's CallbackMutex.
Entities	TSharedPtr<FJsonObject>
ResultTime	double
ResultStep	int64
Completion	FEvent*	Physics thread signals this when the step has completed.

Request

• Type: FMjStepRequest

bDone

Set true by the handler when mj_step has completed.

• Type: bool

Observations

Observations captured under the engine's CallbackMutex.

• Type: TSharedPtr

Entities

• Type: TSharedPtr

ResultTime

• Type: double

ResultStep

• Type: int64

Completion

Physics thread signals this when the step has completed.

• Type: FEvent*