preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet)

allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")

examples/Importers/ImportURDFDemo/urdfStringSplit.h

@@ -2,14 +2,20 @@
 #ifndef STRING_SPLIT_H
 #define STRING_SPLIT_H
 
+#ifdef __cplusplus
+
 #include <cstring>
 #include <string>
 #include "LinearMath/btAlignedObjectArray.h"
 
-
 void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const btAlignedObjectArray<std::string>& separators);
 
 void urdfIsAnyOf(const char* seps, btAlignedObjectArray<std::string>& strArray);
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 ///The string split C code is by Lars Wirzenius
 ///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
@@ -26,5 +32,9 @@ void urdfStrArrayFree(char** array);
 /* Return length of a NULL-delimited array of strings. */
 size_t urdfStrArrayLen(char** array);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif //STRING_SPLIT_H