From 8aff1fbd493932c7fe263d25587d7b9d1c7fae86 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 2 Oct 2018 08:39:47 -0700
Subject: [PATCH] removed flags from loadURDF command. The flags are already
 available in m_data->m_flags in BulletUrdfImporter.cpp

---
 examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h    | 2 +-
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp  | 4 ++--
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.h    | 2 +-
 examples/Importers/ImportURDFDemo/URDFImporterInterface.h | 2 +-
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp   | 4 ++--
 5 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
index 2d8f01d06..2c89fdbc9 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
@@ -34,7 +34,7 @@ public:
 
 	virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
 	{
 		return false;
 	}
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 7f96628f8..b2d47c18e 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -117,7 +117,7 @@ struct BulletErrorLogger : public ErrorLogger
 	}
 };
 
-bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int flags)
+bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 	if (strlen(fileName) == 0)
 		return false;
@@ -155,7 +155,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int
 
 	BulletErrorLogger loggie;
 	m_data->m_urdfParser.setParseSDF(false);
-	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (flags & CUF_PARSE_SENSORS));
+	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
 
 	return result;
 }
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 0d58c06ae..aa57abdae 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -23,7 +23,7 @@ public:
 
 	virtual ~BulletURDFImporter();
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0);
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
 
 	//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
 	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 28924729f..4b03c86af 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -12,7 +12,7 @@ class URDFImporterInterface
 public:
 	virtual ~URDFImporterInterface() {}
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0) = 0;
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
 
 	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 4aeba4d9a..af9dbadd9 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1991,7 +1991,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 	{
 	}
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
 	{
 		b3Assert(0);
 		return false;
@@ -3069,7 +3069,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
 	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
-	bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
+	bool loadOk = u2b.loadURDF(fileName, useFixedBase);
 
 	if (loadOk)
 	{