prepare to create coordinate frame demo, minor cleanup for create funcs in demo entries,

fix r2d2.urdf inertia

Demos3/bullet2/CoordinateFramesDemo/CoordinateFrameDemoPhysicsSetup.h

@@ -0,0 +1,28 @@
+#ifndef COORDINATE_FRAME_DEMO_PHYSICS_SETUP_H
+#define COORDINATE_FRAME_DEMO_PHYSICS_SETUP_H
+
+class btRigidBody;
+class btCollisionShape;
+class btBroadphaseInterface;
+class btConstraintSolver;
+class btCollisionDispatcher;
+class btDefaultCollisionConfiguration;
+class btDiscreteDynamicsWorld;
+class btTransform;
+class btVector3;
+class btBoxShape;
+#include "LinearMath/btVector3.h"
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+#include "Bullet3AppSupport/CommonRigidBodySetup.h"
+
+struct CoordinateFrameDemoPhysicsSetup : public CommonRigidBodySetup
+{
+	
+	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+
+};
+
+#endif //COORDINATE_FRAME_DEMO_PHYSICS_SETUP_H