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Contributing to URLab

Thank you for your interest in contributing. This document covers the process for submitting changes.

Before You Start

  • Check existing issues to avoid duplicate work.
  • For large changes (new features, architectural refactors), open an issue first to discuss the approach.

Development Setup

  1. Clone the repo into your UE project's Plugins/ folder.
  2. Build third-party libraries: cd third_party && .\build_all.ps1
  3. Regenerate project files and build.
  4. Verify the plugin loads in the Unreal Editor.

Making Changes

  1. Fork the repository and create a branch from main.

  2. Make your changes. Follow existing code style:

    • UPROPERTYs use PascalCase (Options, SimSpeedPercent)
    • Non-UPROPERTY private members use m_ prefix (m_model, m_data)
    • All .h and .cpp files must have the Apache 2.0 license header

  3. Build and verify compilation succeeds, then run the URLab automation suite. The Scripts/build_and_test.{sh,ps1} helpers do both in one shot and print a summary block you paste straight into the PR template — with a UTC timestamp, your git HEAD, build status, passed / total counts, and a SHA-256 of the full test log. Close the Unreal editor first — live-coding holds the build mutex and the test runner silently returns an empty log against a locked project.

    Git-bash / WSL:

    ./Scripts/build_and_test.sh \
    --engine "/c/Program Files/Epic Games/UE_5.7" \
    --project "C:/path/to/your.uproject"

    PowerShell:

    .\Scripts\build_and_test.ps1 `
    -Engine  'C:\Program Files\Epic Games\UE_5.7' `
    -Project 'C:\path\to\your.uproject'

    Prefer that flow. If you only need to re-run a single step you can invoke UnrealEditor-Cmd.exe or UnrealBuildTool.exe directly — see the script source for the canonical flags. You can also run individual tests from the Session Frontend inside the editor.

  4. Test your changes in PIE (Play in Editor).

Submitting a Pull Request

  1. Push to your fork and open a PR against main.
  2. Fill in the PR template. It asks for a summary, motivation, linked issue, and the build+test summary block produced by Scripts/build_and_test.{sh,ps1} (see step 3 above). That block is the primary gate.
  3. We spot-check every PR in the editor before merging, but because Unreal Engine projects can't use standard CI the pasted build + test output is the primary gate. A PR without them will bounce back for that evidence.

Code Style

  • Keep comments concise. The code should explain itself. Use comments only for non-obvious decisions.
  • No TODO/FIXME comments — open an issue instead.
  • New MJCF attributes should follow the pattern in /add-mjcf-attribute (header property, ImportFromXml, ExportTo, test).
  • New component types should follow the existing pattern: subclass UMjComponent, implement RegisterToSpec, ExportTo, ImportFromXml, Bind.

Filing Issues

Use the issue templates to file a bug or a feature request. They collect the environment, reproduction steps, and logs we need upfront — filling them in properly is the fastest path to a fix.

License

By contributing, you agree that your contributions will be licensed under the Apache License 2.0.