BodyView¶

Lightweight wrapper around MuJoCo body data.

Can spawn children views for traversal.

Attribute	Value
Kind	`Struct`

Properties Functions

Properties¶

Public Properties¶

Property	Type	Description
`obj_type`	`static constexpr mjtObj`
`id`	`int`
`name`	`const char*`
`mass`	`mjtNum*`
`inertia`	`mjtNum*`
`ipos`	`mjtNum*`
`iquat`	`mjtNum*`
`gravcomp`	`mjtNum*`
`pos_offset`	`mjtNum*`
`quat_offset`	`mjtNum*`
`user`	`mjtNum*`
`mocap_id`	`int`
`xpos`	`mjtNum*`
`xquat`	`mjtNum*`
`xipos`	`mjtNum*`
`ximat`	`mjtNum*`
`cvel`	`mjtNum*`
`cacc`	`mjtNum*`
`xfrc_applied`	`mjtNum*`
`const`	``
`const`	``
`const`	``

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

mass¶

Type: mjtNum*

inertia¶

Type: mjtNum*

ipos¶

Type: mjtNum*

iquat¶

Type: mjtNum*

gravcomp¶

Type: mjtNum*

pos_offset¶

Type: mjtNum*

quat_offset¶

Type: mjtNum*

user¶

Type: mjtNum*

mocap_id¶

Type: int

xpos¶

Type: mjtNum*

xquat¶

Type: mjtNum*

xipos¶

Type: mjtNum*

ximat¶

Type: mjtNum*

cvel¶

Type: mjtNum*

cacc¶

Type: mjtNum*

xfrc_applied¶

Type: mjtNum*

const¶

Type:

const¶

Type:

const¶

Type:

Functions¶

Public Functions¶

General¶

Function	Returns	Description
`ApplyForce()`	void	Applies a world-space force (Unreal units/direction) to this body.
`ApplyWrench()`	void	Applies a world-space wrench (Force and Torque) to this body.

ApplyForce¶

Applies a world-space force (Unreal units/direction) to this body.

Signature: ApplyForce(FVector UEForce)

ApplyWrench¶

Applies a world-space wrench (Force and Torque) to this body.

Signature: ApplyWrench(FVector UEForce, FVector UETorque)