1 files changed, 1 insertions, 38 deletions

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 8256099a5..b234fa66b 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -247,37 +247,6 @@ struct UrdfDeformable
 	}
 };
 
-struct UrdfReducedDeformable
-{
-	std::string m_name;
-	int m_numModes;
-
-	double m_mass;
-	double m_stiffnessScale;
-	double m_erp;
-	double m_cfm;
-	double m_friction;
-	double m_collisionMargin;
-	double m_damping;
-
-	std::string m_visualFileName;
-	std::string m_simFileName;
-	btHashMap<btHashString, std::string> m_userData;
-
-	UrdfReducedDeformable() 
-		:	m_numModes(1),
-			m_mass(1),
-			m_stiffnessScale(100),
-			m_erp(0.2),					// generally, 0.2 is a good value for erp and cfm
-			m_cfm(0.2),
-			m_friction(0),
-			m_collisionMargin(0.02),
-			m_damping(0),
-			m_visualFileName(""),
-			m_simFileName("")
-	{}
-};
-
 struct UrdfModel
 {
 	std::string m_name;
@@ -287,7 +256,6 @@ struct UrdfModel
 	btHashMap<btHashString, UrdfLink*> m_links;
 	btHashMap<btHashString, UrdfJoint*> m_joints;
 	UrdfDeformable m_deformable;
-	UrdfReducedDeformable m_reducedDeformable;
 	// Maps user data keys to user data values.
 	btHashMap<btHashString, std::string> m_userData;
 
@@ -365,7 +333,7 @@ protected:
 	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
   bool parseLameCoefficients(LameCoefficients& lameCoefficients, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
-	bool parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
+
 
 public:
 	UrdfParser(struct CommonFileIOInterface* fileIO);
@@ -445,11 +413,6 @@ public:
 		return m_urdf2Model.m_deformable;
 	}
 
-	const UrdfReducedDeformable& getReducedDeformable() const
-	{
-		return m_urdf2Model.m_reducedDeformable;
-	}
-
 	bool mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level);
 	bool printTree(UrdfLink* link, ErrorLogger* logger, int level);
 	bool recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger);