MjUtils

Static utility class for common MuJoCo <-> Unreal Engine conversions and helper functions.

This class provides standardized methods for: - Coordinate system conversion (Right-Handed Z-up <-> Left-Handed Z-up) - String conversions (char* <-> FString) - Common math type mappings

Attribute	Value
Kind	Class

Functions

Functions

Public Functions

General

Function	Returns	Description
MjToUEPosition()	FVector	Converts a MuJoCo position array (double[3]) to an Unreal Engine FVector.
UEToMjPosition()	void	Converts an Unreal Engine FVector to a MuJoCo position array.
MjToUERotation()	FQuat	Converts a MuJoCo quaternion array (double[4]: w, x, y, z) to an Unreal Engine FQuat.
UEToMjRotation()	void	Converts an Unreal Engine FQuat to a MuJoCo quaternion array.
MjToString()	FString	Converts a C-style string (possibly null) to an Unreal Engine FString.
StringToMj()	void	Copies an Unreal Engine FString into a fixed-size char buffer.
ParseFromTo()	bool	Parses a "fromto" string ("x1 y1 z1 x2 y2 z2") into Start and End vectors.
DrawDebugGeom()	void	Renders the collision geometries for a specific MuJoCo Geom (Primitives and Convex Hulls).
DrawDebugJoint()	void	Draws joint range arc (hinge) or range bar (slide) with position indicator.
PrettifyName()	FString	Prettifies an Unreal/MuJoCo name by stripping common unique ID suffixes (like UAID).

MjToUEPosition

Converts a MuJoCo position array (double[3]) to an Unreal Engine FVector.

• Signature: MjToUEPosition(const double* pos)
• Returns: FVector

UEToMjPosition

Converts an Unreal Engine FVector to a MuJoCo position array.

• Signature: UEToMjPosition(const FVector& pos, double* outPos)

MjToUERotation

Converts a MuJoCo quaternion array (double[4]: w, x, y, z) to an Unreal Engine FQuat.

• Signature: MjToUERotation(const double* quat)
• Returns: FQuat

UEToMjRotation

Converts an Unreal Engine FQuat to a MuJoCo quaternion array.

• Signature: UEToMjRotation(const FQuat& quat, double* outQuat)

MjToString

Converts a C-style string (possibly null) to an Unreal Engine FString.

• Signature: MjToString(const char* text)
• Returns: FString

StringToMj

Copies an Unreal Engine FString into a fixed-size char buffer.

• Signature: StringToMj(const FString& text, char* buffer, int bufferSize)

ParseFromTo

Parses a "fromto" string ("x1 y1 z1 x2 y2 z2") into Start and End vectors.

• Signature: ParseFromTo(const FString& FromToStr, FVector& OutStart, FVector& OutEnd)
• Returns: bool

DrawDebugGeom

Renders the collision geometries for a specific MuJoCo Geom (Primitives and Convex Hulls).

• Signature: DrawDebugGeom(UWorld* World, const mjModel* m, const GeomView& geom_view, const FColor& DrawColor, float Multiplier)

DrawDebugJoint

Draws joint range arc (hinge) or range bar (slide) with position indicator.

• Signature: DrawDebugJoint(UWorld* World, const FVector& Anchor, const FVector& Axis, int JointType, bool bLimited, float RangeMin, float RangeMax, float CurrentPos, float RefPos, float ArcRadius)

PrettifyName

Prettifies an Unreal/MuJoCo name by stripping common unique ID suffixes (like UAID).

• Signature: PrettifyName(const FString& Name, const FString& PrefixToStrip)
• Returns: FString