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

@@ -109,6 +109,13 @@ template <typename ComponentType> void AMujocoVolumeActor::AssignComponentsToArr
 	}
 }
 
+template <typename UserClass>
+void AMujocoVolumeActor::BindPostPhysicDelegate(UserClass* Object, void(UserClass::* Func)(float))
+{
+	PostPhysicUpdateDelegate.BindUObject(Object, Func);
+}
+
+
 void AMujocoVolumeActor::InitializeMujoco()
 {
 	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
@@ -410,7 +417,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
 		for (int32 SimStep = 0; SimStep < SimStepsPerGameFrame; ++SimStep)
 		{
 			mj_step(MujocoModel.Get(), MujocoData.Get());
-			PostPhysicStepDelegate.ExecuteIfBound(MujocoData->time);
+			PostPhysicUpdateDelegate.ExecuteIfBound(MujocoData->time);
 		}
 
 		for (int32 i = 1; i < BodyComponents.Num(); ++i)

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

@@ -114,7 +114,7 @@ public:
 	// ------- POST UPDATE -------
 	// ---------------------------
 private:
-	FPostPhysicUpdate PostPhysicStepDelegate;
+	FPostPhysicUpdate PostPhysicUpdateDelegate;
 public:	
 	/**
 	 * Register a delegate to be executed after mj_step, useful to fine control actuators 
@@ -122,10 +122,7 @@ public:
 	 * @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);
-	}
+	void BindPostPhysicDelegate(UserClass* Object, void (UserClass::*Func)(float));
 	
 
 	// -------------------------

win_build.bat

@@ -6,38 +6,6 @@ set "UE_PATH=C:\Program Files\UE_5.5"
 set "PROJECT_PATH=%~dp0"
 set "UAT_PATH=%UE_PATH%\Engine\Build\BatchFiles\RunUAT.bat"
 
-
-:: Check if MuJoCo DLL exists in bin directory
-if not exist "%MUJOCO_BIN_PATH%\mujoco.dll" (
-    echo Error: MuJoCo DLL not found at %MUJOCO_BIN_PATH%\mujoco.dll
-    echo Please ensure the MuJoCo DLL is properly built and placed in the correct location.
-    pause
-    exit /b 1
-)
-
-:: Copy MuJoCo DLL to the plugin binaries directory if it doesn't exist there
-if not exist "%MUJOCO_DLL_PATH%\mujoco.dll" (
-    echo Copying MuJoCo DLL to plugin binaries directory...
-    copy "%MUJOCO_BIN_PATH%\mujoco.dll" "%MUJOCO_DLL_PATH%\"
-    if errorlevel 1 (
-        echo Failed to copy MuJoCo DLL
-        pause
-        exit /b 1
-    )
-)
-
-:: Add UE and MuJoCo paths to PATH environment variable
-set "PATH=%UE_PATH%\Engine\Binaries\Win64;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%;%PATH%"
-
-:: Set the DLL search path for the current process
-set "PATH=%PATH%;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%"
-
-:: Run the Unreal Editor
-:: echo Starting Unreal Editor...
-:: start "" "%UE_PATH%\Engine\Binaries\Win64\UnrealEditor.exe" "%PROJECT_PATH%LuckyWorldV2.uproject"
-
-endlocal 
-
 :: Build and package command
 "%UAT_PATH%" ^
     -ScriptsForProject="%PROJECT_PATH%LuckyWorldV2.uproject" ^