LoadGlobals

Fully qualified name: isaacsim::asset::importer::mjcf::LoadGlobals

void isaacsim::asset::importer::mjcf::LoadGlobals(

tinyxml2::XMLElement *root,

std::string &defaultClassName,

std::string baseDirPath,

MJCFBody &worldBody,

std::vector<MJCFBody*> &bodies,

std::vector<MJCFActuator*> &actuators,

std::vector<MJCFTendon*> &tendons,

std::vector<MJCFContact*> &contacts,

std::vector<MJCFEqualityConnect*> &equalityConnects,

std::map<std::string, MeshInfo> &simulationMeshCache,

std::map<std::string, MJCFMesh> &meshes,

std::map<std::string, MJCFMaterial> &materials,

std::map<std::string, MJCFTexture> &textures,

MJCFCompiler &compiler,

std::map<std::string, MJCFClass> &classes,

std::map<std::string, int> &jointToActuatorIdx,

ImportConfig &config,

)