JointView¶

Lightweight wrapper around MuJoCo joint data.

void SetFriction(float Value) { if (friction) friction[0] = (mjtNum)Value; } / @brief Sets the contact solver reference parameters (time constant, damping ratio). */ void SetSolRef(float TimeConst, float DampRatio) { if (solref) { solref[0] = (mjtNum)TimeConst; solref[1] = (mjtNum)DampRatio; } } / @brief Sets the contact solver impedance parameters. / void SetSolImp(float Dmin, float Dmax, float Width) { if (solimp) { solimp[0] = (mjtNum)Dmin; solimp[1] = (mjtNum)Dmax; solimp[2] = (mjtNum)Width; } } FString ToString() const { FString Info = FString::Printf(TEXT("=== Geom ID: %d (%s) ===\n"), id, name ? MjUtils::MjToString(name) : TEXT("None")); Info += FString::Printf(TEXT(" Type: %d | Size: %s\n"), type, FormatVec3(size)); Info += FString::Printf(TEXT(" World Pos: %s\n"), FormatVec3(xpos)); return Info; } }; /**

Attribute	Value
Kind	`Struct`

Properties Functions

Properties¶

Public Properties¶

Property	Type	Description
`obj_type`	`static constexpr mjtObj`
`id`	`int`
`name`	`const char*`
`type`	`int`
`pos_offset`	`mjtNum*`
`axis_local`	`mjtNum*`
`stiffness`	`mjtNum*`
`stiffnesspoly`	`mjtNum*`
`range`	`mjtNum*`
`margin`	`mjtNum*`
`solref_limit`	`mjtNum*`
`solimp_limit`	`mjtNum*`
`damping`	`mjtNum*`
`dampingpoly`	`mjtNum*`
`armature`	`mjtNum*`
`frictionloss`	`mjtNum*`
`solref_friction`	`mjtNum*`
`solimp_friction`	`mjtNum*`
`user`	`mjtNum*`
`qpos`	`mjtNum*`
`qvel`	`mjtNum*`
`qacc`	`mjtNum*`
`xanchor`	`mjtNum*`
`xaxis`	`mjtNum*`

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

type¶

Type: int

pos_offset¶

Type: mjtNum*

axis_local¶

Type: mjtNum*

stiffness¶

Type: mjtNum*

stiffnesspoly¶

Type: mjtNum*

range¶

Type: mjtNum*

margin¶

Type: mjtNum*

solref_limit¶

Type: mjtNum*

solimp_limit¶

Type: mjtNum*

damping¶

Type: mjtNum*

dampingpoly¶

Type: mjtNum*

armature¶

Type: mjtNum*

frictionloss¶

Type: mjtNum*

solref_friction¶

Type: mjtNum*

solimp_friction¶

Type: mjtNum*

user¶

Type: mjtNum*

qpos¶

Type: mjtNum*

qvel¶

Type: mjtNum*

qacc¶

Type: mjtNum*

xanchor¶

Type: mjtNum*

xaxis¶

Type: mjtNum*

Functions¶

Public Functions¶

General¶

Function	Returns	Description
`GetPosition()`	`float`	Gets the current joint position (radians for hinges, meters for sliders).
`SetPosition()`	void	Directly sets the joint position. Warning: teleports the physics state.

GetPosition¶

Gets the current joint position (radians for hinges, meters for sliders).

Signature: GetPosition()
Returns: float

SetPosition¶

Directly sets the joint position. Warning: teleports the physics state.

Signature: SetPosition(float Value)