TrackForge

Physics-driven tracked vehicles for Unreal Engine: a ready-to-drive tank pawn with ground-tracing suspension, track friction, engine torque curve, automatic/manual gearb…

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TrackForge β€” screenshot 1
TrackForge β€” screenshot 2
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Ready-to-drive tracked vehicle pawn with throttle and steering input and differential…
Engine torque curve (Curve Float or built-in), idle speed, rev limiter, engine braking…
Gearbox with automatic and manual modes, gear ratios, reverse, final drive and shift time
Service brakes and parking brakes per track
Neutral steer: pivot turns on the spot when stationary
Surface friction data asset: friction scale and rolling resistance per physical surface
$38.00$20.70

TrackForge brings real tracked-vehicle physics to Unreal Engine. Every road-wheel is a suspension stack that traces the ground with a ray, a sphere or the shape of your wheel mesh and pushes the hull with spring and damper force. Every wheel touching the ground produces track-to-ground friction with separate static and kinetic coefficients along and across the track, and each track has its own speed: the engine drives it, the brakes slow it and the ground friction couples it to the vehicle. The result is a tank that accelerates, slides, climbs, rolls over obstacles and turns the way tracked vehicles do.

The TrackForge Tracked Vehicle pawn is ready to drive: drop a Blueprint child in a level, assign your hull mesh, call Set Throttle Input and Set Steering Input from your input and drive. It has an engine with a torque curve (your own Curve Float or the built-in curve), idle speed, rev limiter and engine braking; a gearbox with automatic or manual mode, any number of forward gears, reverse, final drive and shift time; service brakes and parking brakes per track; differential steering in motion and neutral steer, where the tracks counter-rotate to pivot on the spot when the vehicle is stationary. An anti-roll stabiliser links the left and right suspension, and cruise control and a speed limiter drive the throttle through the included PID controller.

A surface friction data asset sets the friction scale and rolling resistance of every physical surface, so ice, mud, sand and asphalt feel different. The Track Animation component moves tread instances along a spline, rotates sprockets, idlers and road-wheels, sags the upper run of the track according to the track tension and scrolls the UVs of your track materials with the speed of each side. The Wheel Sync component spins road-wheel meshes with their track and moves them with the suspension. The Turret component turns a turret and pitches its gun toward a target, by input or to given angles, with turning speeds and angle limits.

TrackForge is multiplayer ready with a server-authoritative model: the controlling client sends its input to the server, the server runs the physics and the movement, drive train state and turret angles replicate, while clients predict with the same physics. A telemetry struct gives speed, RPM, torque, gear, track speeds, slip and grounded wheels for HUDs and sounds, and the TrackForge.Debug console variable draws suspension rays, contact forces, friction forces and the telemetry on screen.

For custom machines, every building block is exposed: a physics pawn with an event on every physics step, suspension stacks, track and friction components, a vehicle suspension component, the PID controller and a library of sub-stepping friendly Blueprint nodes for forces, torques and body transforms.

TrackForge is part of the Alpha XP collection for Unreal Engine 4.27 and 5.8. Every feature is exposed to Blueprints and C++, it ships with styled HTML documentation, and it is compiled and verified warning-free against clean UE 4.27 and UE 5.8 projects.

135Blueprint nodes
1Event
2Engine builds
2Platforms

Key features

  • Ready-to-drive tracked vehicle pawn with throttle and steering input and differential
  • Engine torque curve (Curve Float or built-in), idle speed, rev limiter, engine braking
  • Gearbox with automatic and manual modes, gear ratios, reverse, final drive and shift time
  • Service brakes and parking brakes per track
  • Neutral steer: pivot turns on the spot when stationary
  • Surface friction data asset: friction scale and rolling resistance per physical surface
  • Track tension that sags the upper run of the track animation
  • Track speed per side with automatic material UV scrolling
  • Road-wheel visual sync: wheels spin with the track and follow the suspension
  • Telemetry struct: speed, RPM, torque, gear, track speeds, slip and grounded wheels
  • Anti-roll stabiliser between left and right suspension
  • Cruise control and speed limiter driven by a PID controller
  • Turret and gun aim rig with turning speeds and angle limits
  • Server-authoritative network replication with client prediction
  • Suspension stacks with ray check, sphere check or shape sweep
  • Anisotropic track friction (friction ellipse) with static and kinetic coefficients
  • Physics pawn with an event on every physics step and sub-stepping friendly Blueprint nodes
  • TrackForge.Debug console variable for rays, forces and telemetry

Blueprint & C++ API

The API is organised into these entry points:

ClassTypeNodesUse it for
TrackForgeVehiclePawnPawn27Ready-to-drive tracked vehicle: a physics chassis on two TrackForge tracks with an engine torque curve, an automatic or manual gearbox, service and parking brak…
TrackForgeLibraryFunction library20Sub-stepping friendly physics nodes and utility helpers.
TrackForgeTrackComponentScene component18One caterpillar track: a row of suspension stacks, track-to-ground friction and the track's own speed.
TrackForgeSuspensionStackObject17One suspension stack: finds the road-wheel position with a ray, sphere or shape sweep, applies spring and damper force to the sprung component and exposes conta…
TrackForgeTrackAnimationComponentScene component14Animates a track: rotates sprockets, idlers and road-wheels, moves tread instances along a spline, sags the upper run by the track tension and scrolls track mat…
TrackForgeTurretComponentScene component12Turret / aim rig: this component is the yaw ring (it turns around its Z axis) and an optional child component is the gun (it pitches around its Y axis).
TrackForgeFrictionComponentScene component10Friction processor for registered contact points (collision hits or suspension contacts).
TrackForgeSurfaceFrictionAssetData asset5Friction coefficients per physical surface (Project Settings > Physics > Physical Surface).
TrackForgePIDControllerActor component4Proportional-integral-derivative controller working on a short history of measured errors.
TrackForgeWheelSyncComponentActor component4Road-wheel visual sync helper: spins wheel components by the speed of their track and moves them with the compression of their suspension stack.
+ 2 more classesFunction libraries & objects4Grouped by feature in the node tables below.

Callable runs when executed Β· Pure no exec pin, returns a value

Friction Component 10
NodeTypeAvailable onDescription
Register Friction Point(Impact Force Or Impulse At Point: Vector, Treat As Impulse: Boolean, Contact Point Location: Vector, Contact Point Normal: Vector, Physical Material: Physical Material, …)CallableComponentRegister collision event of the component related to Friction Component
Is Friction Point Active() β†’ BooleanCallableComponentChecks if registered friction point is active
Reset Friction PointsCallableComponentEmpties array of stored friction points, this needs to be done after physics sub-stepping or before new collision information come in
Set Friction Surface Velocity(Friction Surface Vel: Vector)CallableComponentSets velocity of the friction surface. In case of the tank it would be linear velocity of the track.
Set Friction Surface Speed(Friction Surface Speed: Float)CallableComponentSets speed of the friction surface. In case of the tank it would be linear velocity of the track.
Physics Update(Number Of Contact Points: Float, Delta Time: Float) β†’ Boolean, Normalized Reaction Force, Rolling Friction ForceCallableComponentRuns calculations on friction component, applies friction force to effected component and returns reaction forces (forces that can effect track or a wheel)
Toggle Debug ModeCallableComponentSwitches debug mode on/off with every call

+ 3 more Friction Component nodes β€” full node reference

Physics Sub-stepping 8
NodeTypeAvailable onDescription
TrackForge Get Transform -Comp(Target: Scene Component, In Socket Name: Name) β†’ TransformCallableStaticGet world-space component's transform. BodyInstance is used to retrieve transform, its up-to date with physics sub-stepping.
TrackForge Set Transform -Comp(Target: Scene Component, Transform: Transform, Teleport: Boolean)CallableStaticSets component's BodyInstance transform. To be used during sub-stepping to move/rotate physics bodies directly.
TrackForge Get Transform -Actor(Actor: Actor) β†’ TransformCallableStaticGet world-space actor's root component transform. BodyInstance is used to retrieve transform, its up-to date with physics sub-stepping.
TrackForge Add Force -Comp(Target: Primitive Component, Force: Vector, Accel Change: Boolean)CallableStaticAdd a force to a component. Can apply force during physics sub-steps.
TrackForge Add Force At Location -Comp(Target: Primitive Component, Force: Vector, Location: Vector)CallableStaticAdd a force to a component at a particular location. Can apply force during physics sub-steps.
TrackForge Add Torque -Comp(Target: Primitive Component, Torque: Vector, Accel Change: Boolean)CallableStaticAdd a torque to a component. Can apply torque during physics sub-steps.

+ 2 more Physics Sub-stepping nodes β€” full node reference

Utility 13
NodeTypeAvailable onDescription
TrackForge Get Mesh Component Reference by Name(Target: Actor Component, Name: String) β†’ Mesh ComponentCallableStaticReturns reference to mesh component by the name of the component.
TrackForge Get Primitive Component Reference by Name(Target: Actor Component, Name: String) β†’ Primitive ComponentCallableStaticReturns reference to any primitive component (mesh, box, sphere, capsule...) by the name of the component.
TrackForge Get Scene Component Reference by Name(Target: Actor Component, Name: String) β†’ Scene ComponentCallableStaticReturns reference to any scene component by the name of the component.
TrackForge Get Spline Component Reference by Name(Target: Actor Component, Name: String) β†’ Spline ComponentCallableStaticReturns reference to spline component by the name of the component.
TrackForge Get Instanced Static Mesh Component Reference by Name(Target: Actor Component, Name: String) β†’ Instanced Static Mesh ComponentCallableStaticReturns reference to instanced static mesh component by the name of the component.
TrackForge Get Friction Coefficients from Friction Ellipse(Velocity Direction Normalized WS: Vector, Forward Vector WS: Vector, Mu X Static: Float, Mu X Kinetic: Float, Mu Y Static: Float, …) β†’ Mu Static, Mu KineticCallableStaticReturns static and kinetic friction coefficients from friction ellipse in relation to direction of velocity vector
TrackForge Set Physics Constraint Linear Break Threshold(Target: Physics Constraint Component, Linear Break Threshold: Float)CallableStaticSets linear break threshold on physics constraint component as such functionality is not exposed to BP.
Spherical to Unit Cartesian(Input Angles: Vector 2D) β†’ VectorPureStaticConverts from Spherical coordinates to Unit Cartesian
Unit Cartesian to Spherical(Input Unit Vector: Vector) β†’ Vector 2DPureStaticConverts from Unit Cartesian to Spherical

+ 4 more Utility nodes β€” full node reference

PID Controller 4
NodeTypeAvailable onDescription
Add Measured Error(PID Error Item: Track Forge PID Error Item)CallableComponentAdd measurement error and delta time to PID Controller's memory
Get Control Coefficient() β†’ FloatCallableComponentGet calculated control signal
Reset ControllerCallableComponentResets PID Controller by deleting all previously measured errors

+ 1 more PID Controller nodes β€” full node reference

Surface Friction 5
NodeTypeAvailable onDescription
Find Surface(Surface: TEnumAsByte<EPhysicalSurface>) β†’ Boolean, Out FrictionCallableData assetFinds the entry of a surface. Returns false (and the defaults) when the surface is not listed.
Get Friction Scale(Surface: TEnumAsByte<EPhysicalSurface>) β†’ FloatPureData assetFriction scale of a surface (DefaultFrictionScale when not listed).
Get Rolling Friction Coefficient(Surface: TEnumAsByte<EPhysicalSurface>) β†’ FloatPureData assetRolling friction coefficient of a surface (DefaultRollingFrictionCoefficient when not listed).
Get Friction Scale For Material(Physical Material: Physical Material) β†’ FloatPureData assetFriction scale of the surface type of a physical material.

+ 1 more Surface Friction nodes β€” full node reference

Suspension Stack 17
NodeTypeAvailable onDescription
Physics Update(Delta Time: Float)CallableObjectRuns calculations of suspension stack, applies spring force to sprung component and calculates new position of the road-wheels
InitializeCallableObjectInitializes class logic, finds references and pre-calculates parameters. Expected to be called from BeginPlay only
Toggle Debug ModeCallableObjectToggle debug mode on/off
Get Suspension Force() β†’ Magnitude, World Space, Local SpaceCallableObjectGet last calculated suspension force
Get Contact Data() β†’ Point Active, Force At Point, Point Location, Surface NormalCallableObjectGet contact data at point where trace or sweep has succeeded. This information is necessary for friction component
Get Wheel Hub Position(In World Space: Boolean) β†’ VectorCallableObjectGet wheel hub position
Get Wheel Hub Transform(In World Space: Boolean) β†’ TransformCallableObjectGet wheel hub transform
Set Sprung Component Reference(Sprung Mesh Component Ref: Primitive Component) β†’ BooleanCallableObjectSet reference of sprung component manually
Set Sweep Shape Component Reference(Sweep Shape Mesh Component Ref: Primitive Component) β†’ BooleanCallableObjectSet reference of the component used for sweeps
Set Spring Stiffness(New Spring Stiffness: Float)CallableObjectSet stiffness of the spring
Set Spring Offsets(Spring Top Offset: Vector, Spring Bottom Offset: Vector, Update All Parameters: Boolean)CallableObjectSet new spring offsets
Set Suspension Force Scale(New Suspension Force Scale: Float)CallableObjectSets scale of the final suspension force (spring + damping), useful for active suspension

+ 5 more Suspension Stack nodes β€” full node reference

Track Animation Component 14
NodeTypeAvailable onDescription
Set Track Parts Angular Velocity(Angular Velocity: Float)CallableComponentSets new angular velocity of the sprocket, idlers, roadwheels and treads
Set Track Linear Speed(Speed Cm Per Second: Float, Sprocket Radius: Float)CallableComponentSets the linear speed of the track surface; the parts rotate at Speed / Sprocket Radius.
Get Track Linear Speed() β†’ FloatPureComponentLinear speed of the track used for material scrolling, in cm/s.
Update Track Animation(Delta Time: Float) β†’ Tread Angular Position, Track Parts Angular Position, Track Parts RotatorCallableComponentUpdates animation of track elements. Should be called on each tick for maximum fidelity. Call less frequently for LODs.
Build Track Mesh And SplineCallableComponentCall from BP constructor to set track spline component into default state and add tread instances to Treads Instanced Mesh component.
Get Treads Transform Array() β†’ Array of TransformCallableComponentRetrieve array of local space transforms of treads, to be used for custom rendering of treads or any other purpose
Get Secondary Treads Transform Array() β†’ Array of TransformCallableComponentRetrieve array of local space transforms of secondary treads
Get Track Angular Position() β†’ FloatCallableComponentFractional angular travel of the track inside the current sprocket tooth sector, in degrees.
Set Track Tension(New Tension: Float)CallableComponentSets the track tension (0 = slack, 1 = taut).
Get Current Sag() β†’ FloatPureComponentCurrent sag of the middle of the upper run, in cm.

+ 4 more Track Animation Component nodes β€” full node reference

Track 18
NodeTypeAvailable onDescription
Create Sub ObjectsCallableComponentCreates the suspension stacks from Suspended Wheels (called by BeginPlay; call again after changing the array at runtime).
Set Effected Mesh Reference(Effected Mesh Component Ref: Primitive Component)CallableComponentSet effected component reference, usually chassis/root component.
Update Physics(Delta Time: Float)CallableComponentUpdates all suspension stacks of the track (suspension only). Call from the physics tick.
Simulate Track(Delta Time: Float, Drive Force: Float, Brake Force: Float, Locked: Boolean, Total Contact Points: Integer)CallableComponentDrives the track for one physics step after Update Physics: applies drive and brake force to the track, solves track-to-ground friction for every grounded road-…
Toggle Debug ModeCallableComponentToggle debug mode of all suspension stacks on/off.
Get Track Linear Speed() β†’ FloatPureComponentLinear speed of the track surface in cm/s (positive moves the vehicle forward).
Set Track Linear Speed(New Speed: Float)CallableComponentOverrides the linear speed of the track surface in cm/s.
Get Sprocket Angular Speed() β†’ FloatPureComponentAngular speed of the drive sprocket in rad/s.
Get Ground Speed() β†’ FloatPureComponentSpeed of the vehicle over the ground along the track, at the track center, in cm/s (last simulated step).
Get Track Slip() β†’ FloatPureComponentSlip of the track: (track speed - ground speed) / max(|track speed|, |ground speed|, 100 cm/s), between -1 and 1.
Get Num Grounded Wheels() β†’ IntegerPureComponentNumber of road-wheels in contact with the ground after the last update.
Get Num Suspension Stacks() β†’ IntegerPureComponentNumber of suspension stacks of the track.

+ 6 more Track nodes β€” full node reference

Turret 12
NodeTypeAvailable onDescription
Set Aim Target(World Location: Vector)CallableComponentAim at a world location.
Clear Aim TargetCallableComponentStop aiming and keep the current angles.
Set Aim Input(Yaw Input: Float, Pitch Input: Float)CallableComponentTurn with rate input: -1..1 fractions of Yaw Speed and Pitch Speed.
Set Desired Angles(Yaw: Float, Pitch: Float)CallableComponentTurn to explicit angles (degrees, relative to the rest rotation).
Get Current Yaw() β†’ FloatPureComponentCurrent yaw in degrees relative to the rest rotation.
Get Current Pitch() β†’ FloatPureComponentCurrent gun pitch in degrees relative to the rest rotation.
Get Desired Yaw() β†’ FloatPureComponentYaw the turret is turning to.
Get Desired Pitch() β†’ FloatPureComponentPitch the gun is turning to.

+ 4 more Turret nodes β€” full node reference

Vehicle Input 8
NodeTypeAvailable onDescription
Set Throttle Input(Value: Float)CallablePawn
Set Steering Input(Value: Float)CallablePawn
Set Brake Input(Value: Float)CallablePawnService brake on both tracks, 0-1.
Set Service Brakes(Left: Float, Right: Float)CallablePawnService brake per track, 0-1.
Set Parking Brake(Engaged: Boolean)CallablePawnParking brake on both tracks.
Set Parking Brake Side(In Side: Track Forge Side, Engaged: Boolean)CallablePawnParking brake of one track.

+ 2 more Vehicle Input nodes β€” full node reference

Gearbox 9
NodeTypeAvailable onDescription
Shift UpCallablePawn
Shift DownCallablePawn
Set Gear(Gear: Integer)CallablePawnManual mode: selects a gear (-1 reverse, 0 neutral, 1..N forward). Switches the gearbox to manual.
Set Gearbox Mode(New Mode: Track Forge Gearbox Mode)CallablePawn
Get Gearbox Mode() β†’ Track Forge Gearbox ModePurePawn
Get Current Gear() β†’ IntegerPurePawn

+ 3 more Gearbox nodes β€” full node reference

Engine 2
NodeTypeAvailable onDescription
Get Engine RPM() β†’ FloatPurePawn
Get Engine Torque At RPM(RPM: Float) β†’ FloatPurePawnTorque in N*m produced at full throttle at the given RPM (Torque Curve or the built-in curve).
Speed Control 3
NodeTypeAvailable onDescription
Set Cruise Control(Enabled: Boolean, Target Speed Kmh: Float)CallablePawnEnables cruise control at a target forward speed (km/h); the PID controller drives the throttle.
Is Cruise Control Active() β†’ BooleanPurePawn
Set Speed Limit(Speed Limit Kmh: Float)CallablePawnSets the speed limiter (km/h, 0 = off).
Telemetry 4
NodeTypeAvailable onDescription
Get Telemetry() β†’ Track Forge TelemetryPurePawn
Get Track Speed(In Side: Track Forge Side) β†’ FloatPurePawnTrack surface speed in cm/s (use it for UV scrolling or sounds).
Get Forward Speed Kmh() β†’ FloatPurePawn

+ 1 more Telemetry nodes β€” full node reference

Network 1
NodeTypeAvailable onDescription
Is Simulating Locally() β†’ BooleanPurePawnTrue when this machine runs the vehicle physics (server, standalone, or a client with Clients Simulate Physics).
Vehicle Suspension Component 3
NodeTypeAvailable onDescription
Get Effected Component Mesh Reference() β†’ Primitive ComponentCallableComponent
Update Physics(Delta Time: Float)CallableComponentUpdates the suspension of every track. Call from the physics tick.
Get Tracks() β†’ Array of Track Forge Track ComponentPureComponentTracks driven by this component.
Wheel Sync 4
NodeTypeAvailable onDescription
Refresh WheelsCallableComponentRe-resolves the wheel components and stores their rest transforms (call after editing Wheels at runtime).
Update Wheels(Delta Time: Float)CallableComponentUpdates every wheel for DeltaTime seconds (called automatically every frame).
Get Wheel Angle(Wheel Index: Integer) β†’ FloatPureComponentCurrent spin angle of a wheel in degrees.

+ 1 more Wheel Sync nodes β€” full node reference

Events & delegates

Bind these in Blueprint (drag off the object β†’ Bind Event) or with AddDynamic in C++.

EventParametersWhen it fires
On Gear ChangedNew Gear (Integer)Fires when the gearbox finishes a gear change.

Options & enums

EnumValues
Suspension ModeRay Check Sphere Check Shape Sweep
Aim ModeHold Target Input Angles
SideLeft Right
Gearbox ModeAutomatic Manual

Compatibility

UE 4.27TrackForge 4.27.zipUE 5.8TrackForge 5.8.zip

One ready-made build per engine version is included in the download β€” copy the one that matches your project.

PlatformSupported in
WindowsEditor & packaged
macOSEditor & packaged
ModuleTypeLoading phase
TrackForgeRuntimeDefault

Technical details

Code modulesTrackForge (Runtime)
Blueprints0 Β· C++ classes: 13
Network replicatedYes
Development platformsWindows: Yes, Mac: Yes
Target build platformsWin64, Mac
Third-party softwareNo
Engine versionsUnreal Engine 4.27 Β· 5.8 β€” a build for each is included
C++ classes13 + 20 structs
Blueprint nodes135
Events1
DocumentationDocumentation.html (in the download)
DownloadTrackForge.zip Β· 279 KB
Versionv1.0.0

What's in the download

FileWhat it is
TrackForge 4.27.zipPlugin build for Unreal Engine 4.27
TrackForge 5.8.zipPlugin build for Unreal Engine 5.8
Documentation.htmlDocumentation (open in a browser)

Quick start

  1. Unzip the download and pick the build that matches your engine (4.27 Β· 5.8).
  2. Copy the TrackForge folder into your project's Plugins/ folder (create it if needed).
  3. Open the project, enable TrackForge under Edit β€Ί Plugins and restart the editor.
  4. Right-click in any Blueprint graph and search Friction Component β€” or include the public headers from C++.
  5. Package for your target platform (Windows, macOS).

Good to know

Built and verified warning-free for Unreal Engine 4.27 and 5.8. C++ classes: TrackForge Tracked Vehicle (pawn), TrackForge Physics Pawn, Track, Suspension Stack (object), Suspension Stack component, Vehicle Suspension, Friction, Track Animation, Wheel Sync, Turret, PID Controller, Surface Friction (data asset) and TrackForge Library. Physics runs on PhysX in UE 4.27 and on Chaos in UE 5.8; on Chaos the physics-step event runs once per frame. The server is authoritative; clients predict with the replicated input and are corrected by replicated movement. No content assets are included; bring your own meshes. The module is enabled for Win64 and Mac; the code is platform-independent engine C++ with no OS-specific calls. Developed and maintained by Alpha XP.

Everything included

  • Ready-to-drive tracked vehicle pawn with throttle and steering input and differential…
  • Engine torque curve (Curve Float or built-in), idle speed, rev limiter, engine braking…
  • Gearbox with automatic and manual modes, gear ratios, reverse, final drive and shift time
  • Service brakes and parking brakes per track
  • Neutral steer: pivot turns on the spot when stationary
  • Surface friction data asset: friction scale and rolling resistance per physical surface
  • Track tension that sags the upper run of the track animation
  • Track speed per side with automatic material UV scrolling
  • Road-wheel visual sync: wheels spin with the track and follow the suspension
  • Telemetry struct: speed, RPM, torque, gear, track speeds, slip and grounded wheels
  • Anti-roll stabiliser between left and right suspension
  • Cruise control and speed limiter driven by a PID controller
  • Turret and gun aim rig with turning speeds and angle limits
  • Server-authoritative network replication with client prediction
  • Suspension stacks with ray check, sphere check or shape sweep
  • Anisotropic track friction (friction ellipse) with static and kinetic coefficients
  • Physics pawn with an event on every physics step and sub-stepping friendly Blueprint nodes
  • TrackForge.Debug console variable for rays, forces and telemetry

Platforms

WindowsmacOS

Requirements

  • Unreal Engine 4.27 and 5.8
  • Develop on Windows (Win64)
  • Blueprints and C++

In the download

FileTrackForge.zip
FormatZIP
Size279 KB
Versionv1.0.0
SHA-25641730f8a8c89c4cb…

Personal

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  1. v1.0.0Latest
    • Unreal Engine 4.27 and 5.8
    • Blueprint and C++ API, HTML documentation
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