LuckyRobots/LuckyWorldV2
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Push before testing

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This commit is contained in:
Vyktori 2025-04-27 19:59:36 -04:00
parent cbb0bc5fc2
commit 42770f7234
5 changed files with 25 additions and 9 deletions
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Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset
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Content/Developers/Wdev/Robots/BP_Stretch.uasset
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Content/Map/EmptyTestLevel.umap
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Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
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@ -11,6 +11,7 @@
#include "LuckyMujoco.h" #include "LuckyMujoco.h"
#include "fstream" #include "fstream"
#include "filesystem" #include "filesystem"
#include "Kismet/KismetMathLibrary.h"
AMujocoVolumeActor::AMujocoVolumeActor() AMujocoVolumeActor::AMujocoVolumeActor()
{ {
@ -391,12 +392,22 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
{ {
if (MujocoData) if (MujocoData)
{ {
mj_step(MujocoModel.Get(), MujocoData.Get()); // const int32 FixedSteps = UKismetMathLibrary::SafeDivide(DeltaTime, Options->Options.TimeStep);
//
// if (FixedSteps > 0)
// {
// for (int x = 0; x < FixedSteps; ++x)
// {
// mj_step(MujocoModel.Get(), MujocoData.Get());
// }
// }
for (int32 Frame = 0; Frame < FrameSkip; ++Frame) //mj_step(MujocoModel.Get(), MujocoData.Get());
{ //mj_forward(MujocoModel.Get(), MujocoData.Get());
mj_step(MujocoModel.Get(), MujocoData.Get()); for (int32 Frame = 0; Frame <= FrameSkip; ++Frame)
} {
mj_step(MujocoModel.Get(), MujocoData.Get());
}
for (int32 i = 1; i < BodyComponents.Num(); ++i) for (int32 i = 1; i < BodyComponents.Num(); ++i)
{ {
@ -405,7 +416,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
mjtNum* Pos = MujocoData->xpos + 3 * i; mjtNum* Pos = MujocoData->xpos + 3 * i;
mjtNum* Quat = MujocoData->xquat + 4 * i; mjtNum* Quat = MujocoData->xquat + 4 * i;
FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f; FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.f;
FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]); FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]);
BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation); BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation);

5
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
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@ -107,12 +107,17 @@ public:
double GetJointValueByIndex(int32 JointIndex) const; double GetJointValueByIndex(int32 JointIndex) const;
///////// *********************************************
virtual void PostRegisterAllComponents() override; virtual void PostRegisterAllComponents() override;
virtual void Tick(float DeltaTime) override; virtual void Tick(float DeltaTime) override;
virtual void PostInitializeComponents() override; virtual void PostInitializeComponents() override;
//////&&&&&&&&&&&&&&&&&&&&
protected: protected:
virtual void BeginPlay() override; virtual void BeginPlay() override;