branch with experimental PyBullet support for PhysX

see otherPhysicsEngine in examples/pybullet/examples folder for example usage

src/PhysX/physx/include/common/PxPhysXCommonConfig.h

@@ -0,0 +1,124 @@
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef PX_PHYSICS_COMMON_NX
+#define PX_PHYSICS_COMMON_NX
+
+/** \addtogroup common 
+@{ */
+
+#include "foundation/Px.h"
+
+/*Disable support for VS2017 prior version 15.5.1 for windows platform, because of a compiler bug:
+https://developercommunity.visualstudio.com/content/problem/66047/possible-compiler-bug.html
+*/
+#if (PX_VC == 15) && PX_WINDOWS && (_MSC_FULL_VER < 191225830)
+#error Visual studio 2017 prior to 15.5.1 is not supported because of a compiler bug.
+#endif
+
+// define API function declaration (public API only needed because of extensions)
+#if defined PX_PHYSX_STATIC_LIB || defined PX_PHYSX_CORE_STATIC_LIB
+	#define PX_PHYSX_CORE_API
+#else
+	#if PX_WINDOWS
+		#if defined PX_PHYSX_CORE_EXPORTS
+			#define PX_PHYSX_CORE_API __declspec(dllexport)
+		#else
+			#define PX_PHYSX_CORE_API __declspec(dllimport)
+		#endif
+	#elif PX_UNIX_FAMILY
+		#define PX_PHYSX_CORE_API PX_UNIX_EXPORT
+    #else
+		#define PX_PHYSX_CORE_API
+    #endif
+#endif
+
+#if PX_SUPPORT_GPU_PHYSX
+// define API function declaration
+#if defined PX_PHYSX_GPU_STATIC
+	#define PX_PHYSX_GPU_API
+#else
+	#if PX_WINDOWS 
+	#if defined PX_PHYSX_GPU_EXPORTS
+	#define PX_PHYSX_GPU_API __declspec(dllexport)
+	#else
+	#define PX_PHYSX_GPU_API __declspec(dllimport)
+	#endif
+	#elif PX_UNIX_FAMILY
+	#define PX_PHYSX_GPU_API PX_UNIX_EXPORT
+	#else
+	#define PX_PHYSX_GPU_API
+	#endif
+#endif
+
+#else // PX_SUPPORT_GPU_PHYSX
+#define PX_PHYSX_GPU_API
+#endif // PX_SUPPORT_GPU_PHYSX
+
+#if defined PX_PHYSX_STATIC_LIB || defined PX_PHYSX_CORE_STATIC_LIB
+	#define PX_PHYSX_COMMON_API
+#else
+	#if PX_WINDOWS && !defined(__CUDACC__)
+		#if defined PX_PHYSX_COMMON_EXPORTS
+			#define PX_PHYSX_COMMON_API __declspec(dllexport)
+		#else
+			#define PX_PHYSX_COMMON_API __declspec(dllimport)
+		#endif
+	#elif PX_UNIX_FAMILY
+		#define PX_PHYSX_COMMON_API PX_UNIX_EXPORT
+	#else
+		#define PX_PHYSX_COMMON_API
+	#endif
+#endif 
+
+// Changing these parameters requires recompilation of the SDK
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+	class PxCollection;
+	class PxBase;
+
+	class PxHeightField;
+	class PxHeightFieldDesc;
+
+	class PxTriangleMesh;
+	class PxConvexMesh;
+
+	typedef PxU32 PxTriangleID;
+	typedef PxU16 PxMaterialTableIndex;
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif