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)

test/SharedMemory/test.c

@@ -5,6 +5,11 @@
 #include "PhysicsLoopBackC_API.h"
 #endif //PHYSICS_LOOP_BACK
 
+#ifdef PHYSICS_SERVER_DIRECT
+#include "PhysicsDirectC_API.h"
+#endif //PHYSICS_SERVER_DIRECT
+
+
 #include "SharedMemoryPublic.h"
 #include "Bullet3Common/b3Logging.h"
 #include <string.h>
@@ -28,12 +33,17 @@ int main(int argc, char* argv[])
 	b3PhysicsClientHandle sm=0;
 	int bodyIndex = -1;
 
+
 	printf("hello world\n");
 #ifdef PHYSICS_LOOP_BACK
 	sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
-#else
-	sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
 #endif
+
+#ifdef PHYSICS_SERVER_DIRECT
+	sm = b3ConnectPhysicsDirect();
+#else//PHYSICS_SERVER_DIRECT
+	sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
+#endif //PHYSICS_SERVER_DIRECT