From 483994463a7ade84182fe5a907af6eccc4584361 Mon Sep 17 00:00:00 2001
From: ctingley <connorgtingley@gmail.com>
Date: Tue, 28 Jan 2025 21:22:02 -0800
Subject: [PATCH] Removed m_hasLinkLocalFrame

---
 examples/Importers/ImportURDFDemo/UrdfParser.cpp | 9 ---------
 examples/Importers/ImportURDFDemo/UrdfParser.h   | 2 --
 2 files changed, 11 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index aea391592a..88d89a9380 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -2002,14 +2002,6 @@ bool UrdfParser::mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger*
 				link->m_visualArray.push_back(viz);
 			}
 
-			if (!link->m_inertia.m_hasLinkLocalFrame)
-			{
-				link->m_inertia.m_linkLocalFrame.setIdentity();
-			}
-			if (!childLink->m_inertia.m_hasLinkLocalFrame)
-			{
-				childLink->m_inertia.m_linkLocalFrame.setIdentity();
-			}
 			//for a 'forceFixedBase' don't merge
 			bool isStaticBase = false;
 			if (forceFixedBase && link->m_parentJoint == 0)
@@ -2034,7 +2026,6 @@ bool UrdfParser::mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger*
 				btVector3 inertiaOut;
 				btTransform principal;
 				CalculatePrincipalAxisTransform(masses, transforms, inertiasIn, principal, inertiaOut);
-				link->m_inertia.m_hasLinkLocalFrame = true;
 				link->m_inertia.m_linkLocalFrame.setIdentity();
 				//link->m_inertia.m_linkLocalFrame = principal;
 				link->m_inertia.m_linkLocalFrame.setOrigin(principal.getOrigin());
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 8256099a5f..65709dbecf 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -32,14 +32,12 @@ struct UrdfMaterial
 struct UrdfInertia
 {
 	btTransform m_linkLocalFrame;
-	bool m_hasLinkLocalFrame;
 
 	double m_mass;
 	double m_ixx, m_ixy, m_ixz, m_iyy, m_iyz, m_izz;
 
 	UrdfInertia()
 	{
-		m_hasLinkLocalFrame = false;
 		m_linkLocalFrame.setIdentity();
 		m_mass = 0.f;
 		m_ixx = m_ixy = m_ixz = m_iyy = m_iyz = m_izz = 0.f;