Merge pull request 'FIX - Delegate could be in header only' (#52) from fix-physic-post-step-delegate into main

Reviewed-on: #52

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp

@@ -111,7 +111,12 @@ template <typename ComponentType> void AMujocoVolumeActor::AssignComponentsToArr
 
 void AMujocoVolumeActor::InitializeMujoco()
 {
-	if (!Options)
+	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
+}
+
+void AMujocoVolumeActor::InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion)
+{
+		if (!Options)
 	{
 		return;
 	}
@@ -149,7 +154,7 @@ void AMujocoVolumeActor::InitializeMujoco()
 		}
 
 		TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
-		TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename);
+		TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename, ContactExclusion);
 
 		FString XmlString;
 		tinyxml2::XMLPrinter Printer;
@@ -164,6 +169,8 @@ void AMujocoVolumeActor::InitializeMujoco()
 			return;
 		}
 
+		// TODO Here we should check for mujoco dll if we are on windows and LOG an error if there is not + gently quit the game
+		
 		std::array<char, 1024> ErrMsg{};
 		MujocoModel = MakeMujocoModelPtr(mj_loadXML(TCHAR_TO_ANSI(*ExportFilename), nullptr, ErrMsg.data(), ErrMsg.size()));
 		if (!MujocoModel)
@@ -196,6 +203,12 @@ void AMujocoVolumeActor::InitializeMujoco()
 	}
 }
 
+mjData_& AMujocoVolumeActor::GetMujocoData() const
+{
+	check(MujocoData.IsValid());
+	return *MujocoData.Get();
+}
+
 void AMujocoVolumeActor::SetActuatorValue(const FString& ActuatorName, double Value)
 {
 	if (MujocoModel)
@@ -391,11 +404,13 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
 {
 	if (MujocoData)
 	{
-		mj_step(MujocoModel.Get(), MujocoData.Get());
-
-		for (int32 Frame = 0; Frame < FrameSkip; ++Frame)
+		// Default SimStepsPerGameFrame = 16 x 1ms for roughly 60FPS
+		// If ticks are strictly 16.666 ms then simulation will lag behind UE clock
+		// Anyway, we need a proper synchronisation between UE and Sim times - probably using TempoTime?
+		for (int32 SimStep = 0; SimStep < SimStepsPerGameFrame; ++SimStep)
 		{
 			mj_step(MujocoModel.Get(), MujocoData.Get());
+			PostPhysicStepDelegate.ExecuteIfBound(MujocoData->time);
 		}
 
 		for (int32 i = 1; i < BodyComponents.Num(); ++i)

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/MujocoXmlGenerator.cpp

@@ -1255,7 +1255,11 @@ bool FMujocoXmlGenerator::ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* R
 	return true;
 }
 
-TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename)
+TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(
+	const TObjectPtr<UMujocoExportOptions>& ExportOptions,
+	const TArray<UObject*>& Objects,
+	const FString& ExportFilename,
+	TMap<FString, FString> ContactExclusion)
 {
 	TUniquePtr<tinyxml2::XMLDocument> Doc = MakeUnique<tinyxml2::XMLDocument>();
 	Doc->InsertFirstChild(Doc->NewDeclaration("xml version=\"1.0\" encoding=\"utf-8\""));
@@ -1268,6 +1272,30 @@ TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const T
 	Root->InsertEndChild(Doc->NewElement("equality"));
 	Root->InsertEndChild(Doc->NewElement("tendon"));
 	Root->InsertEndChild(Doc->NewElement("actuator"));
+
+	// TODO Refacto using property from the MujocoActor aka the robot
+	// TODO Maybe using a ParentObject as parameter which holds that information?
+	// TODO Need actor refactoring anyway - Merge Pawn and Mujoco Actor?
+	if (!ContactExclusion.IsEmpty())
+	{
+		Root->InsertEndChild(Doc->NewElement("contact"));
+
+		for (auto& [Body1, Body2] : ContactExclusion)
+		{
+			// Don't add empty strings to the map please!
+			if (Body1.IsEmpty() || Body2.IsEmpty()) continue;
+
+			// Create the contact exclusion - formatted as (SO100 example)
+			// <exclude body1="Body_Base" body2="Body_Rotation_Pitch"/> 
+			const auto Exclude = Doc->NewElement("exclude");
+			Exclude->SetAttribute("body1", TCHAR_TO_ANSI(*Body1));
+			Exclude->SetAttribute("body2", TCHAR_TO_ANSI(*Body2));
+
+			// Add exclusion to the contact tag
+			Root->FirstChildElement("contact")->InsertEndChild(Exclude); 
+		}
+	}
+	
 	if (ExportOptions->bAddSkyBox)
 	{
 		tinyxml2::XMLElement* TextureElement = AssetRoot->GetDocument()->NewElement("texture");

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h

@@ -21,11 +21,44 @@ DECLARE_DYNAMIC_MULTICAST_DELEGATE(FOnMujocoCompileBegin);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnMujocoCompileError, FString, Error);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE(FOnMujocoCompileSuccess);
 
+// To be called after mj_step
+DECLARE_DELEGATE_OneParam(FPostPhysicUpdate, float);
+
+
 UCLASS(Blueprintable, BlueprintType)
 class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 {
 	GENERATED_BODY()
 
+public:
+	AMujocoVolumeActor();
+
+
+	/**
+	 * Initialize the sim scene in headless mujoco
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void InitializeMujoco();
+
+
+	/**
+	* Initialize the sim scene in headless mujoco with a list of contact exclusion
+	* @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
+	* TODO Can't use a default empty map as parameter in blueprints? We shouldn't need to have 2 functions 
+	* TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
+	* TODO This require to cast the Actor in addition to the components list
+	*/
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion);
+
+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;
+
+private:
 	TMujocoModelPtr MujocoModel;
 	TMujocoDataPtr MujocoData;
 
@@ -50,16 +83,11 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 	UPROPERTY(Transient, VisibleAnywhere, Category = "Mujoco | Debug")
 	TArray<TSoftObjectPtr<UMujocoTendonComponent>> TendonComponents;	
 
-	UFUNCTION(BlueprintCallable, Category = "Mujoco")
-	void InitializeMujoco();
-
 	template <typename ComponentType> void AssignComponentsToArray(UWorld* World, TArray<TSoftObjectPtr<ComponentType>>& ComponentArray);
 
 public:
-	AMujocoVolumeActor();	
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100))
-	int32 FrameSkip = 0;
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 1, Max = 100, ClampMin = 0, ClampMax = 100))
+	int32 SimStepsPerGameFrame = 16;
 
 	UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco")
 	TObjectPtr<UBillboardComponent> SpriteComponent;
@@ -76,6 +104,33 @@ public:
 	UPROPERTY(BlueprintAssignable, Category = "Mujoco | Events")
 	FOnMujocoCompileSuccess OnMujocoCompileSuccess;
 
+	/**
+	 * Access MuJoCo scene options and data (e.g. Simulation time) - This is mutable, be careful
+	 * @return mjData_ - Full access to mujoco scene options and data 
+	 */
+	mjData_& GetMujocoData() const;
+	
+	// ---------------------------
+	// ------- POST UPDATE -------
+	// ---------------------------
+private:
+	FPostPhysicUpdate PostPhysicStepDelegate;
+public:	
+	/**
+	 * Register a delegate to be executed after mj_step, useful to fine control actuators 
+	 * @param Object - The Class to call
+	 * @param Func - The Function to call - takes a float as parameter which is the current simulation timestamp
+	 */
+	template<typename UserClass>
+	void BindPostPhysicStepDelegate(UserClass* Object, void (UserClass::*Func)(float))
+	{
+		PostPhysicStepDelegate.BindUObject(Object, Func);
+	}
+	
+
+	// -------------------------
+	// ------- ACTUATORS -------
+	// -------------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetActuatorValue(const FString& ActuatorName, double Value);
 
@@ -94,6 +149,9 @@ public:
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	FVector2D GetActuatorRangeByIndex(int32 ActuatorIndex) const;
 
+	// ----------------------
+	// ------- JOINTS -------
+	// ----------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetJointValue(const FString& JointName, double Value);
 
@@ -105,16 +163,4 @@ 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;
 };

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/MujocoOptions.h

@@ -307,13 +307,13 @@ struct LUCKYMUJOCO_API FMujocoOptions
 {
 	GENERATED_BODY()
 
-	/** Override TimeStep setting. When enabled, the default value (0.002) is applied. */
+	/** Override TimeStep setting. When enabled, the default value (0.001) is applied. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))
 	bool bOverrideTimeStep = false;
 
 	/** Simulation time step in seconds. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (Attribute = "timestep", EditCondition = "bOverrideTimeStep", ClampMin = 0.0001, ClampMax = 0.01, UIMin = 0.0001, UIMax = 0.01))
-	float TimeStep = 0.002f;
+	float TimeStep = 0.001f; // Default to 1ms
 
 	/** Override API Rate setting. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/MujocoXmlGenerator.h

@@ -35,6 +35,19 @@ class LUCKYMUJOCO_API FMujocoXmlGenerator
 
 	TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;
 
-public:	
-	TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename);
+public:
+
+	/**
+	 * Generate the XML file used by the MuJoCo headless scene representing the physics simulation
+	 * @param ExportOptions TODO - What they can be?
+	 * @param Objects Actors and Components to be added to the scene
+	 * @param ExportFilename pretty much that 
+	 * @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
+	 * TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
+	 */
+	TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(
+		const TObjectPtr<UMujocoExportOptions>& ExportOptions,
+		const TArray<UObject*>& Objects,
+		const FString& ExportFilename,
+		TMap<FString, FString> ContactExclusion);
 };

Plugins/LuckyMujoco/Source/LuckyMujocoEditor/Private/MujocoExporter.cpp

@@ -141,8 +141,8 @@ public:
 			CancelButton->SetEnabled(false);
 			RequestDestroyWindow();
 
-			TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();			
-			TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename);
+			const TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
+			const TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename, TMap<FString, FString>{});
 
 			FString XmlString;
 			tinyxml2::XMLPrinter Printer;

Source/LuckyWorldV2/LuckyWorldV2.Build.cs

@@ -19,7 +19,8 @@ public class LuckyWorldV2 : ModuleRules
 			"SocketIOClient",
 			"VaRest",
             "SIOJson",
-            "NavigationSystem"
+            "NavigationSystem",
+            "RenderCore"
         });
 
 		PrivateDependencyModuleNames.AddRange(new string[] {  });

Source/LuckyWorldV2/Private/LRRenderUtilLibrary.cpp

@@ -0,0 +1,180 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#include "LRRenderUtilLibrary.h"
+
+#include "Components/SceneCaptureComponent2D.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "Kismet/KismetRenderingLibrary.h"
+#include "GameFramework/Actor.h"
+#include "Engine/World.h"
+
+void ULRRenderUtilLibrary::SetupSceneCaptureForMesh(
+    USceneCaptureComponent2D* SceneCapture, 
+    UStaticMeshComponent* MeshComp,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!SceneCapture || !MeshComp)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: Invalid SceneCapture or MeshComp"));
+		return;
+	}
+
+	if (!MeshComp->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: MeshComp is not valid"));
+		return;
+	}
+
+	// Set the scene capture to focus on the mesh
+	SceneCapture->ShowOnlyComponent(MeshComp);
+    
+	SceneCapture->CaptureSource = CaptureSource;
+	SceneCapture->bCaptureEveryFrame = false;
+	SceneCapture->bCaptureOnMovement = false;
+	SceneCapture->FOVAngle = 90.f;
+    
+	// Set a solid background color
+	SceneCapture->CompositeMode = ESceneCaptureCompositeMode::SCCM_Overwrite;
+	
+	// Ensure we have a valid texture target
+	if (SceneCapture->TextureTarget)
+	{
+		SceneCapture->TextureTarget->ClearColor = FLinearColor::Transparent;
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: TextureTarget is null"));
+		return;
+	}
+
+	// Adjust the transform to frame the mesh
+	FVector MeshBounds = MeshComp->Bounds.BoxExtent;
+	FVector MeshOrigin = MeshComp->Bounds.Origin;
+
+	// Calculate the camera distance based on mesh size
+	float MaxExtent = FMath::Max3(MeshBounds.X, MeshBounds.Y, MeshBounds.Z);
+	float CameraDistance = MaxExtent * 2.5f; // Adjusted to ensure mesh fits in view
+
+	// Calculate the camera location - position from front of mesh (+X axis)
+	FVector CameraLocation = MeshOrigin + FVector(CameraDistance, 0.f, 0.f);
+
+	// Calculate the camera rotation to look at mesh center
+	FRotator CameraRotation = (MeshOrigin - CameraLocation).Rotation();
+    
+	SceneCapture->SetWorldLocationAndRotation(CameraLocation, CameraRotation);
+	
+	// Register component to make sure it will render
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+}
+
+UTextureRenderTarget2D* ULRRenderUtilLibrary::CaptureMeshToRenderTarget(
+    UStaticMeshComponent* MeshComp, 
+    const FVector2D& ImageSize, 
+    UObject* WorldContextObject,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!MeshComp || !WorldContextObject || !WorldContextObject->GetWorld())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Invalid parameters"));
+		return nullptr;
+	}
+
+	// Create a render target with proper size
+	UTextureRenderTarget2D* RenderTarget = UKismetRenderingLibrary::CreateRenderTarget2D(
+		WorldContextObject, 
+		FMath::Max(32, static_cast<int32>(ImageSize.X)), 
+		FMath::Max(32, static_cast<int32>(ImageSize.Y)), 
+		ETextureRenderTargetFormat::RTF_RGBA8);
+
+	if (!RenderTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create render target"));
+		return nullptr;
+	}
+
+	// Create a temporary actor to hold the scene capture component
+	AActor* TempActor = WorldContextObject->GetWorld()->SpawnActor<AActor>();
+	if (!TempActor)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to spawn temporary actor"));
+		return RenderTarget;
+	}
+	
+	// Create a root component if it doesn't exist
+	if (!TempActor->GetRootComponent())
+	{
+		USceneComponent* RootComponent = NewObject<USceneComponent>(TempActor, TEXT("RootComponent"));
+		TempActor->SetRootComponent(RootComponent);
+		RootComponent->RegisterComponent();
+	}
+	
+	// Create and set up scene capture component
+	USceneCaptureComponent2D* SceneCapture = NewObject<USceneCaptureComponent2D>(TempActor);
+	if (SceneCapture)
+	{
+		SceneCapture->RegisterComponent();
+		SceneCapture->AttachToComponent(TempActor->GetRootComponent(), FAttachmentTransformRules::KeepRelativeTransform);
+		SceneCapture->TextureTarget = RenderTarget;
+
+		// Setup the scene capture
+		SetupSceneCaptureForMesh(SceneCapture, MeshComp, CaptureSource);
+
+		// Clear the render target
+		UKismetRenderingLibrary::ClearRenderTarget2D(WorldContextObject, RenderTarget, FLinearColor::Transparent);
+
+		// Disable post-processing effects
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureMethod = true;
+		SceneCapture->PostProcessSettings.AutoExposureMethod = EAutoExposureMethod::AEM_Manual;
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureBias = true;
+		SceneCapture->PostProcessSettings.AutoExposureBias = 1.0f;
+		SceneCapture->PostProcessSettings.bOverride_BloomIntensity = true;
+		SceneCapture->PostProcessSettings.BloomIntensity = 0.0f;
+		
+		// Trigger a one-time capture
+		SceneCapture->CaptureScene();
+		
+		// Force the GPU to complete rendering
+		FlushRenderingCommands();
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create scene capture component"));
+	}
+
+	// Clean up the temporary actor
+	TempActor->Destroy();
+    
+	return RenderTarget;
+}
+
+bool ULRRenderUtilLibrary::CaptureSceneNow(USceneCaptureComponent2D* SceneCapture)
+{
+	if (!SceneCapture || !SceneCapture->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Invalid scene capture component"));
+		return false;
+	}
+	
+	if (!SceneCapture->TextureTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Scene capture has no texture target"));
+		return false;
+	}
+	
+	// Ensure component is registered
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+	
+	// Trigger the capture
+	SceneCapture->CaptureScene();
+	
+	// Force the GPU to complete rendering
+	FlushRenderingCommands();
+	
+	return true;
+}

Source/LuckyWorldV2/Public/LRRenderUtilLibrary.h

@@ -0,0 +1,57 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintFunctionLibrary.h"
+#include "LRRenderUtilLibrary.generated.h"
+
+class USceneCaptureComponent2D;
+class UTextureRenderTarget2D;
+class UStaticMeshComponent;
+
+/**
+ * Utility library for capturing and rendering objects in the Lucky Robots system
+ */
+UCLASS(BlueprintType, Blueprintable)
+class LUCKYWORLDV2_API ULRRenderUtilLibrary : public UBlueprintFunctionLibrary
+{
+	GENERATED_BODY()
+
+public:
+	/**
+	 * Captures a static mesh component to a render target texture
+	 * @param MeshComp The static mesh component to capture
+	 * @param ImageSize The size of the output image
+	 * @param WorldContextObject The world context
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 * @return The rendered texture
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static UTextureRenderTarget2D* CaptureMeshToRenderTarget(
+		UStaticMeshComponent* MeshComp, 
+		const FVector2D& ImageSize,
+
+		UObject* WorldContextObject,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Sets up a scene capture component to focus on a specific mesh
+	 * @param SceneCapture The scene capture component to set up
+	 * @param MeshComp The static mesh component to focus on
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static void SetupSceneCaptureForMesh(
+		USceneCaptureComponent2D* SceneCapture, 
+		UStaticMeshComponent* MeshComp,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Captures the current view of a scene capture component to its render target
+	 * @param SceneCapture The scene capture component to trigger
+	 * @return Success status
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static bool CaptureSceneNow(USceneCaptureComponent2D* SceneCapture);
+};