expose width/height as ExampleBrowser options.

suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -15,7 +15,6 @@ public:
 
 	virtual ~URDFImporterInterface() {}
 	
- 
     virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
 
     virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
@@ -27,8 +26,12 @@ public:
     
     ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
     virtual std::string getLinkName(int linkIndex) const =0;
-    
-	virtual std::string getBodyName() const = 0;
+
+	//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
+	virtual std::string getBodyName() const
+	{
+		return "";
+	}
     
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}