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/PhysicsServerSharedMemory.h

@@ -0,0 +1,52 @@
+#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
+#define PHYSICS_SERVER_SHARED_MEMORY_H
+
+#include "PhysicsServer.h"
+ 
+class PhysicsServerSharedMemory : public PhysicsServer
+{
+	struct PhysicsServerSharedMemoryInternalData* m_data;
+
+protected:
+
+	
+	void	releaseSharedMemory();
+	
+	
+public:
+	PhysicsServerSharedMemory();
+	virtual ~PhysicsServerSharedMemory();
+
+	virtual void setSharedMemoryKey(int key);
+	
+	//todo: implement option to allocated shared memory from client 
+	virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
+
+	virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
+
+	virtual void processClientCommands();
+
+	//bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
+
+	//@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();
+
+	//for physicsDebugDraw and renderScene are mainly for debugging purposes
+	//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
+	//to a physics client, over shared memory
+	void    physicsDebugDraw(int debugDrawFlags);
+	void    renderScene();
+
+	void enableCommandLogging(bool enable, const char* fileName);
+	void replayFromLogFile(const char* fileName);
+	
+
+};
+
+
+#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
+
+