Physics SharedMemory:

Add flags BOX_SHAPE_HAS_MASS and  BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform

examples/SharedMemory/SharedMemoryPublic.h

@@ -9,8 +9,8 @@ enum EnumSharedMemoryClientCommand
         CMD_SEND_BULLET_DATA_STREAM,
         CMD_CREATE_BOX_COLLISION_SHAPE,
 //      CMD_DELETE_BOX_COLLISION_SHAPE,
-//      CMD_CREATE_RIGID_BODY,
-//      CMD_DELETE_RIGID_BODY,
+      CMD_CREATE_RIGID_BODY,
+      CMD_DELETE_RIGID_BODY,
     CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
 //    CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
         CMD_INIT_POSE,
@@ -57,6 +57,19 @@ enum JointInfoFlags
 {
     JOINT_HAS_MOTORIZED_POWER=1,
 };
+
+enum 
+{
+	COLLISION_SHAPE_TYPE_BOX=1,
+	COLLISION_SHAPE_TYPE_CYLINDER_X,
+	COLLISION_SHAPE_TYPE_CYLINDER_Y,
+	COLLISION_SHAPE_TYPE_CYLINDER_Z,
+	COLLISION_SHAPE_TYPE_CAPSULE_X,
+	COLLISION_SHAPE_TYPE_CAPSULE_Y,
+	COLLISION_SHAPE_TYPE_CAPSULE_Z,
+	COLLISION_SHAPE_TYPE_SPHERE
+};
+
 struct b3JointInfo
 {
         char* m_linkName;