PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape

See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -80,6 +80,7 @@ struct UrdfGeometry
 		FILE_COLLADA = 2,
 		FILE_OBJ = 3,
 		FILE_CDF = 4,
+		MEMORY_VERTICES = 5,
 
 	};
 	int m_meshFileType;