add physics server loopback (both client and server in the same process, using shared memory)

add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -0,0 +1,53 @@
+#ifndef PHYSICS_SERVER_COMMAND_PROCESSOR_H
+#define PHYSICS_SERVER_COMMAND_PROCESSOR_H
+
+#include "LinearMath/btVector3.h"
+
+struct SharedMemLines
+{
+	btVector3 m_from;
+	btVector3 m_to;
+	btVector3 m_color;
+};
+
+///todo: naming. Perhaps PhysicsSdkCommandprocessor?
+class PhysicsServerCommandProcessor
+{
+
+	struct PhysicsServerCommandProcessorInternalData* m_data;
+
+protected:
+
+
+	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
+                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
+
+	bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
+
+public:
+	PhysicsServerCommandProcessor();
+	virtual ~PhysicsServerCommandProcessor();
+
+	void	createJointMotors(class btMultiBody* body);
+	
+	virtual void createEmptyDynamicsWorld();
+	virtual void deleteDynamicsWorld();
+
+	virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );
+
+	virtual void renderScene();
+	virtual void   physicsDebugDraw(int debugDrawFlags);
+	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
+	
+	//@todo(erwincoumans) Should we have shared memory commands for picking objects?
+	///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
+	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
+	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
+	virtual void removePickingConstraint();
+	
+	void enableCommandLogging(bool enable, const char* fileName);
+	void replayFromLogFile(const char* fileName);
+
+};
+
+#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H