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

@@ -115,15 +115,9 @@ void AMujocoVolumeActor::BindPostPhysicDelegate(UserClass* Object, void(UserClas
 	PostPhysicUpdateDelegate.BindUObject(Object, Func);
 }
 
-
-void AMujocoVolumeActor::InitializeMujoco()
+void AMujocoVolumeActor::InitializeMujoco(TMap<FString, FString> ContactExclusion)
 {
-	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
-}
-
-void AMujocoVolumeActor::InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion)
-{
-		if (!Options)
+	if (!Options)
 	{
 		return;
 	}
@@ -176,8 +170,6 @@ void AMujocoVolumeActor::InitializeMujocoScene_WithContactExclusion(const TMap<F
 			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)

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

@@ -33,23 +33,15 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 public:
 	AMujocoVolumeActor();
 
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 
 	/**
 	 * Initialize the sim scene in headless mujoco
+	 * @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
+	 * TODO This require to cast the Actor in addition to the components list
 	 */
-	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);
+	void InitializeMujoco(TMap<FString, FString> ContactExclusion);
 
 protected:
 	virtual void BeginPlay() override;

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

@@ -307,7 +307,7 @@ struct LUCKYMUJOCO_API FMujocoOptions
 {
 	GENERATED_BODY()
 
-	/** Override TimeStep setting. When enabled, the default value (0.001) is applied. */
+	/** Override TimeStep setting. When enabled, the default value (0.002) is applied. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))
 	bool bOverrideTimeStep = false;