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fix: compile against UE 5.8 #1

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Merged
finger563 merged 1 commit into from
Sep 17, 2026
Merged

fix: compile against UE 5.8 #1

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3 changes: 2 additions & 1 deletion Source/URLab/Private/Bridge/MsgpackHelpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,8 @@ void PackJsonObjectInner(clmdep_msgpack::packer<Stream>& Packer,
Packer.pack_map(Obj->Values.Num());
for (const auto& Kv : Obj->Values)
{
const FString& Key = Kv.Key;
// UE 5.8 keys FJsonObject::Values by TSharedString; *Key works on 5.7 and 5.8.
const FString Key(*Kv.Key);
// Keys with kBinSuffix emit real msgpack bin (the suffix is stripped from
// the wire field name). The value is either our raw-binary carrier
// (EJson::Null, bytes packed directly) or a legacy base64 string (from a
Expand Down
8 changes: 4 additions & 4 deletions Source/URLab/Private/Bridge/RpcHandlers_Camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -305,7 +305,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetCameraStreaming(
// { "zmq": b, "shm": b } -> per-transport; an omitted sub-field is off
// UNLESS both are omitted, which means "both on"
TMap<FString, TPair<bool, bool>> Requests; // key -> {zmq, shm}
for (const TPair<FString, TSharedPtr<FJsonValue>>& Kv : (*CamObj)->Values)
for (const auto& Kv : (*CamObj)->Values)
{
if (!Kv.Value.IsValid())
continue;
Expand All @@ -330,7 +330,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetCameraStreaming(
}
// else leave both true (default = enable both)
}
Requests.Add(Kv.Key, TPair<bool, bool>(bZmq, bShm));
Requests.Add(FString(*Kv.Key), TPair<bool, bool>(bZmq, bShm));
}

if (Requests.Num() == 0)
Expand Down Expand Up @@ -397,7 +397,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetCameraDelay(
// Parse per-camera requests. A bare number means delay_s with defaults; an
// object carries delay_s / jitter_s / clock / seed / on_state_change / max_fps.
TMap<FString, FCameraDelayReq> Requests;
for (const TPair<FString, TSharedPtr<FJsonValue>>& Kv : (*CamObj)->Values)
for (const auto& Kv : (*CamObj)->Values)
{
if (!Kv.Value.IsValid())
continue;
Expand Down Expand Up @@ -435,7 +435,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetCameraDelay(
R.bSetCapture = true;
}
}
Requests.Add(Kv.Key, R);
Requests.Add(FString(*Kv.Key), R);
}

if (Requests.Num() == 0)
Expand Down
6 changes: 3 additions & 3 deletions Source/URLab/Private/Bridge/RpcHandlers_Control.cpp
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Expand Up @@ -204,7 +204,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetUserChannels(const TShared
const FString& RejectPrefix) {
if (!Channels.IsValid())
return;
for (const TPair<FString, TSharedPtr<FJsonValue>>& Pair : Channels->Values)
for (const auto& Pair : Channels->Values)
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{
const FName Channel(*Pair.Key);
FMjUserChannel Value;
Expand All @@ -225,11 +225,11 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleSetUserChannels(const TShared
const TSharedPtr<FJsonObject>* ArtsObj = nullptr;
if (Req->TryGetObjectField(TEXT("arts"), ArtsObj))
{
for (const TPair<FString, TSharedPtr<FJsonValue>>& ArtPair : (*ArtsObj)->Values)
for (const auto& ArtPair : (*ArtsObj)->Values)
{
const TSharedPtr<FJsonObject>* ArtChannels = nullptr;
if (ArtPair.Value.IsValid() && ArtPair.Value->TryGetObject(ArtChannels))
ApplyScope(*ArtChannels, FName(*ArtPair.Key), ArtPair.Key + TEXT("/"));
ApplyScope(*ArtChannels, FName(*ArtPair.Key), FString(*ArtPair.Key) + TEXT("/"));
}
}

Expand Down
28 changes: 13 additions & 15 deletions Source/URLab/Private/Bridge/RpcHandlers_Step.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,14 +168,14 @@ static void ParseStepPerArticulation(const TSharedPtr<FJsonObject>& Req,
FString CtlMode;
if ((*ArtObj)->TryGetStringField(TEXT("control_mode"), CtlMode))
{
Out.PerArticulationControlMode.Add(Pair.Key, CtlMode);
Out.PerArticulationControlMode.Add(FString(*Pair.Key), CtlMode);
}

// Positional ctrl array: indexed in articulation actuator order.
const TArray<TSharedPtr<FJsonValue>>* CtrlList = nullptr;
if ((*ArtObj)->TryGetArrayField(TEXT("ctrl"), CtrlList) && CtrlList)
{
if (AMjArticulation* Art = Cast<AMjArticulation>(Mgr->GetArticulation(Pair.Key)))
if (AMjArticulation* Art = Cast<AMjArticulation>(Mgr->GetArticulation(FString(*Pair.Key))))
{
const TArray<UMjNodeComponent*> Acts = Art->GetActuators();
const FString Prefix = Art->GetCompiledPrefix();
Expand All @@ -187,8 +187,7 @@ static void ParseStepPerArticulation(const TSharedPtr<FJsonObject>& Req,
FString LocalName = A->MjName.Get(A->GetName());
if (LocalName.StartsWith(Prefix))
LocalName = LocalName.Mid(Prefix.Len());
Out.PerArticulationCtrl.FindOrAdd(Pair.Key).Add(
{LocalName, (*CtrlList)[i]->AsNumber()});
Out.PerArticulationCtrl.FindOrAdd(FString(*Pair.Key)).Add({LocalName, (*CtrlList)[i]->AsNumber()});
}
}
}
Expand All @@ -199,22 +198,21 @@ static void ParseStepPerArticulation(const TSharedPtr<FJsonObject>& Req,
{
for (auto& KV : (*CtrlMap)->Values)
{
Out.PerArticulationCtrl.FindOrAdd(Pair.Key).Add(
{KV.Key, (float)KV.Value->AsNumber()});
Out.PerArticulationCtrl.FindOrAdd(FString(*Pair.Key)).Add({FString(*KV.Key), (float)KV.Value->AsNumber()});
}
}

// xfrc_applied: { body_name: [fx,fy,fz,tx,ty,tz] }. Cleared after step.
const TSharedPtr<FJsonObject>* XfrcMap = nullptr;
if ((*ArtObj)->TryGetObjectField(TEXT("xfrc_applied"), XfrcMap) && XfrcMap && XfrcMap->IsValid())
{
TMap<FString, TArray<double>>& BodyMap = Out.PerArticulationXfrc.FindOrAdd(Pair.Key);
TMap<FString, TArray<double>>& BodyMap = Out.PerArticulationXfrc.FindOrAdd(FString(*Pair.Key));
for (auto& KV : (*XfrcMap)->Values)
{
const TArray<TSharedPtr<FJsonValue>>* Arr = nullptr;
if (KV.Value->TryGetArray(Arr) && Arr && Arr->Num() == 6)
{
TArray<double>& Six = BodyMap.FindOrAdd(KV.Key);
TArray<double>& Six = BodyMap.FindOrAdd(FString(*KV.Key));
Six.SetNum(6);
for (int i = 0; i < 6; ++i)
Six[i] = (*Arr)[i]->AsNumber();
Expand Down Expand Up @@ -265,20 +263,20 @@ void FURLabRpcDispatcher::ParseStepCommon(const TSharedPtr<FJsonObject>& Req,
ECameraInclude E = Mode.Equals(TEXT("sync"), ESearchCase::IgnoreCase)
? ECameraInclude::Sync
: ECameraInclude::Latest;
Out.CameraSpec.Add(Kv.Key, E);
Out.CameraSpec.Add(FString(*Kv.Key), E);
}
else if (Kv.Value->TryGetNumber(Num))
{
Out.CameraSpec.Add(Kv.Key, ECameraInclude::Latest);
Out.CameraSpec.Add(FString(*Kv.Key), ECameraInclude::Latest);
if (Num > 0.0)
Out.CameraMinFrameIds.Add(Kv.Key, static_cast<uint64>(Num));
Out.CameraMinFrameIds.Add(FString(*Kv.Key), static_cast<uint64>(Num));
}
else if (Kv.Value->TryGetObject(Obj) && Obj && Obj->IsValid())
{
Out.CameraSpec.Add(Kv.Key, ECameraInclude::Latest);
Out.CameraSpec.Add(FString(*Kv.Key), ECameraInclude::Latest);
double Fid = 0.0;
if ((*Obj)->TryGetNumberField(TEXT("frame_id"), Fid) && Fid > 0.0)
Out.CameraMinFrameIds.Add(Kv.Key, static_cast<uint64>(Fid));
Out.CameraMinFrameIds.Add(FString(*Kv.Key), static_cast<uint64>(Fid));
}
}
}
Expand Down Expand Up @@ -363,7 +361,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleStep(const TSharedPtr<FJsonOb
if (!bCarriesControl)
continue;

const AMjArticulation* Art = Mgr->GetArticulation(Pair.Key);
const AMjArticulation* Art = Mgr->GetArticulation(FString(*Pair.Key));
const FName Key(Art ? *Art->GetName() : *Pair.Key);
FString CurrentOwner;
if (ControlOwnership.CheckWrite(Key, Source, CurrentOwner)
Expand Down Expand Up @@ -555,7 +553,7 @@ TSharedPtr<FJsonObject> FURLabRpcDispatcher::HandleReset(const TSharedPtr<FJsonO
{
for (auto& APair : (*PerArt)->Values)
{
AMjArticulation* Art = Mgr->GetArticulation(APair.Key);
AMjArticulation* Art = Mgr->GetArticulation(FString(*APair.Key));
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if (!Art)
continue;
const TSharedPtr<FJsonObject>* QObj = nullptr;
Expand Down
2 changes: 0 additions & 2 deletions Source/URLab/Private/Cinematics/MjOrbitCameraActor.cpp
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Expand Up @@ -120,8 +120,6 @@ void AMjOrbitCameraActor::SetTarget(AMjArticulation* NewTarget)
UMjBody* FirstNonDefault = nullptr;
for (UMjBody* B : Bodies)
{
if (false)
continue;
if (!FirstNonDefault)
FirstNonDefault = B;

Expand Down
6 changes: 3 additions & 3 deletions Source/URLab/Private/MuJoCo/Convert/MjQuickConvertComponent.cpp
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Expand Up @@ -507,14 +507,14 @@ void UMjQuickConvertComponent::AuthorSceneSpec()
// The visual hull is the undecomposed mesh with contact switched
// off: it exists so the viewer sees the shape the artist made
// rather than the decomposition that collides.
for (const FMjConvertedHull& Hull : ExportHulls(*Smc, Owner->GetName(), false, CoACDThreshold))
const TArray<FMjConvertedHull> VisualHulls = ExportHulls(*Smc, Owner->GetName(), false, CoACDThreshold);
if (VisualHulls.Num() > 0)
{
UMjGeomBase& Visual =
AddGeom(FString::Printf(TEXT("Geom_%d_visual"), MeshIndex), AddMeshAsset(Hull));
AddGeom(FString::Printf(TEXT("Geom_%d_visual"), MeshIndex), AddMeshAsset(VisualHulls[0]));
Visual.Contype = 0;
Visual.Conaffinity = 0;
Visual.Group = 2;
break;
}

int32 HullIndex = 0;
Expand Down
3 changes: 1 addition & 2 deletions Source/URLabEditor/Private/MjEditorOpHandlers.cpp
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Expand Up @@ -300,10 +300,9 @@ TSharedPtr<FJsonObject> HandleEnsureManager(const TSharedPtr<FJsonObject>& /*Req
return MakeJsonError(TEXT("no_world"), TEXT("editor world unavailable"));

AAMjManager* Existing = nullptr;
for (TActorIterator<AAMjManager> It(World); It; ++It)
if (TActorIterator<AAMjManager> It(World); It)
{
Existing = *It;
break;
}
const bool bWasExisting = (Existing != nullptr);

Expand Down
5 changes: 2 additions & 3 deletions Source/URLabEditor/Private/Tests/MjStateCollectorTests.cpp
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Expand Up @@ -393,10 +393,9 @@ bool FMjStateSensorRawParity::RunTest(const FString& Parameters)
const TArray<double>* IRValues = nullptr;
for (const FMjArticulationState& AS : Snap.Articulations)
{
for (const FMjSensorState& Sen : AS.Sensors)
if (AS.Sensors.Num() > 0)
{
IRValues = &Sen.Values;
break;
IRValues = &AS.Sensors[0].Values;
}
if (IRValues)
break;
Expand Down