Add flags to load inertia values from URDF.

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -14,14 +14,19 @@ class MultiBodyCreationInterface;
 
 
 
+enum ConvertURDFFlags {
+  CUF_USE_SDF = 1,
+  // Use inertia values in URDF instead of recomputing them from collision shape.
+  CUF_USE_URDF_INERTIA = 2
+};
 
-void ConvertURDF2Bullet(const URDFImporterInterface& u2b, 
-			MultiBodyCreationInterface& creationCallback, 
-			const btTransform& rootTransformInWorldSpace, 
+void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
+			MultiBodyCreationInterface& creationCallback,
+			const btTransform& rootTransformInWorldSpace,
 			btMultiBodyDynamicsWorld* world,
-			bool createMultiBody, 
+			bool createMultiBody,
 			const char* pathPrefix,
-            bool useSDF = false);
+            int flags = 0);
 
 
 #endif //_URDF2BULLET_H