From a9cd14ae7faf8bc985451974bdc157c086a6c14d Mon Sep 17 00:00:00 2001
From: Jb win <jbbriant@outlook.fr>
Date: Wed, 30 Apr 2025 15:53:13 +0700
Subject: [PATCH] FT - Access low level mujoco data from anywhere + be careful,
 this is not const!

---
 .../Private/Actors/MujocoVolumeActor.cpp      |  6 ++++
 .../Public/Actors/MujocoVolumeActor.h         | 36 +++++++++++--------
 2 files changed, 28 insertions(+), 14 deletions(-)

diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
index d2c585b0..1e6fdc8c 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
@@ -202,6 +202,12 @@ void AMujocoVolumeActor::InitializeMujoco()
 	}
 }
 
+mjData_& AMujocoVolumeActor::GetMujocoData() const
+{
+	check(MujocoData.IsValid());
+	return *MujocoData.Get();
+}
+
 void AMujocoVolumeActor::SetActuatorValue(const FString& ActuatorName, double Value)
 {
 	if (MujocoModel)
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
index 8140dcc2..cdbe2cc1 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
@@ -60,8 +60,16 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 	template <typename ComponentType> void AssignComponentsToArray(UWorld* World, TArray<TSoftObjectPtr<ComponentType>>& ComponentArray);
 
 public:
-	AMujocoVolumeActor();	
+	AMujocoVolumeActor();
 
+protected:
+	virtual void BeginPlay() override;
+	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+	virtual void PostRegisterAllComponents() override;	
+	virtual void Tick(float DeltaTime) override;
+	virtual void PostInitializeComponents() override;
+	
+public:
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100))
 	int32 FrameSkip = 0;
 
@@ -80,6 +88,12 @@ public:
 	UPROPERTY(BlueprintAssignable, Category = "Mujoco | Events")
 	FOnMujocoCompileSuccess OnMujocoCompileSuccess;
 
+	/**
+	 * @description 
+	 * @return mjData_ - Full access to mujoco scene options and data 
+	 */
+	mjData_& GetMujocoData() const;
+	
 	// ---------------------------
 	// ------- POST UPDATE -------
 	// ---------------------------
@@ -93,7 +107,10 @@ public:
 	template<typename UserClass>
 	void BindPostPhysicDelegate(UserClass* Object, void (UserClass::*Func)(float));
 	
-	
+
+	// -------------------------
+	// ------- ACTUATORS -------
+	// -------------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetActuatorValue(const FString& ActuatorName, double Value);
 
@@ -112,6 +129,9 @@ public:
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	FVector2D GetActuatorRangeByIndex(int32 ActuatorIndex) const;
 
+	// ----------------------
+	// ------- JOINTS -------
+	// ----------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetJointValue(const FString& JointName, double Value);
 
@@ -123,16 +143,4 @@ public:
 
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	double GetJointValueByIndex(int32 JointIndex) const;
-
-	
-	virtual void PostRegisterAllComponents() override;	
-
-	virtual void Tick(float DeltaTime) override;
-
-	virtual void PostInitializeComponents() override;
-
-protected:
-
-	virtual void BeginPlay() override;
-	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 };