branch with experimental PyBullet support for PhysX

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

src/PhysX/physx/include/extensions/PxExtensionsAPI.h

@@ -0,0 +1,88 @@
+//
+// 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_EXTENSIONS_API_H
+#define PX_EXTENSIONS_API_H
+/** \addtogroup extensions
+  @{
+*/
+
+#include "foundation/PxErrorCallback.h"
+#include "extensions/PxDefaultAllocator.h"
+#include "extensions/PxConstraintExt.h"
+#include "extensions/PxDistanceJoint.h"
+#include "extensions/PxContactJoint.h"
+#include "extensions/PxFixedJoint.h"
+#include "extensions/PxPrismaticJoint.h"
+#include "extensions/PxRevoluteJoint.h"
+#include "extensions/PxSphericalJoint.h"
+#include "extensions/PxD6Joint.h"
+#include "extensions/PxDefaultSimulationFilterShader.h"
+#include "extensions/PxDefaultErrorCallback.h"
+#include "extensions/PxDefaultStreams.h"
+#include "extensions/PxRigidActorExt.h"
+#include "extensions/PxRigidBodyExt.h"
+#include "extensions/PxShapeExt.h"
+#include "extensions/PxTriangleMeshExt.h"
+#include "extensions/PxSerialization.h"
+#include "extensions/PxDefaultCpuDispatcher.h"
+#include "extensions/PxSmoothNormals.h"
+#include "extensions/PxSimpleFactory.h"
+#include "extensions/PxStringTableExt.h"
+#include "extensions/PxBroadPhaseExt.h"
+#include "extensions/PxMassProperties.h"
+#include "extensions/PxSceneQueryExt.h"
+
+/** \brief Initialize the PhysXExtensions library. 
+
+This should be called before calling any functions or methods in extensions which may require allocation. 
+\note This function does not need to be called before creating a PxDefaultAllocator object.
+
+\param physics a PxPhysics object
+\param pvd an PxPvd (PhysX Visual Debugger) object
+
+@see PxCloseExtensions PxFoundation PxPhysics
+*/
+
+PX_C_EXPORT bool PX_CALL_CONV PxInitExtensions(physx::PxPhysics& physics, physx::PxPvd* pvd);
+
+/** \brief Shut down the PhysXExtensions library. 
+
+This function should be called to cleanly shut down the PhysXExtensions library before application exit. 
+
+\note This function is required to be called to release foundation usage.
+
+@see PxInitExtensions
+*/
+
+PX_C_EXPORT void PX_CALL_CONV PxCloseExtensions();
+
+/** @} */
+#endif // PX_EXTENSIONS_API_H