add alternative URDF parser that doens't use ROS urdf

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -0,0 +1,44 @@
+#ifndef BULLET_URDF_IMPORTER_H
+#define BULLET_URDF_IMPORTER_H 
+
+#include "URDFImporterInterface.h"
+
+
+class BulletURDFImporter : public URDFImporterInterface
+{
+    
+	struct BulletURDFInternalData* m_data;
+    
+
+public:
+
+	BulletURDFImporter(struct GUIHelperInterface* guiHelper);
+
+	virtual ~BulletURDFImporter();
+
+	virtual bool loadURDF(const char* fileName);
+
+	const char* getPathPrefix();
+
+	void printTree(); //for debugging
+	
+	virtual int getRootLinkIndex() const;
+    
+    virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
+
+    virtual std::string getLinkName(int linkIndex) const;
+    
+    virtual std::string getJointName(int linkIndex) const;
+    
+    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
+
+    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
+
+	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
+
+	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
+
+};
+
+
+#endif //BULLET_URDF_IMPORTER_H