aan MackDirty :You said "it is illegal to remain nude if people ask you get dressed because it is upsetting them." That is categorically untrue in UK law.
aan MackDirty :Whilst it is true that it's not against the UK law to be nude in public it does not become illegal because someone is upset. This is a common misconception. It has to be deemed that being upset is a reasonable reaction ie there has to be something going on other than merely being nude. This has been tested in court.