All links are added to a custom collision channel during robot creation. Self-collision is disabled on certain links by setting them to ignore this channel.
Implemented RStaticMeshComponent which inherits from UStaticMeshComponents and overrides certain functions to demonstrate sub-stepping. Can be enabled to see an example of force applied with sub-stepping by ticking the checkbox under the actor's properties once the robot has been created.
Includes a URoboSimEd component which can be enabled by adding it to the URoboSim.uplugin file.
Main changes: