Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -260,6 +260,8 @@ int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struc
 
 	//setting the initial position, orientation and other arguments are optional
 
+	b3LoadUrdfCommandSetFlags(command,args.m_flags);
+
 	b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
 									  args.m_startPosition[1],
 									  args.m_startPosition[2]);

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	b3Quaternion m_startOrientation;
 	bool m_forceOverrideFixedBase;
 	bool m_useMultiBody;
+	int m_flags;
 
 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
 		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true)
+		  m_useMultiBody(true),
+		  m_flags(0)
 	{
 	}
 };