expose timeout in pybullet/shared memory API

add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)

examples/RobotSimulator/RobotSimulatorMain.cpp

@@ -0,0 +1,66 @@
+
+#include "b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+
+#include <string.h>
+#include <stdio.h>
+#include <assert.h>
+#define ASSERT_EQ(a,b) assert((a)==(b));
+#include "MinitaurSetup.h"
+int main(int argc, char* argv[])
+{
+	b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
+
+	sim->connect(eCONNECT_GUI);
+	//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
+	//sim->connect(eCONNECT_UDP, "localhost", 1234);
+	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
+	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
+
+	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
+	sim->syncBodies();
+	
+	sim->setTimeStep(1./240.);
+
+	sim->setGravity(b3MakeVector3(0,0,-10));
+
+	sim->loadURDF("plane.urdf");
+
+	MinitaurSetup minitaur;
+	int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,1));
+
+	
+	b3RobotSimulatorLoadUrdfFileArgs args;
+	args.m_startPosition.setValue(2,0,1);
+	int r2d2 = sim->loadURDF("r2d2.urdf",args);
+
+	b3RobotSimulatorLoadFileResults sdfResults;
+	if (!sim->loadSDF("two_cubes.sdf",sdfResults))
+	{
+		b3Warning("Can't load SDF!\n");
+	}
+
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double simWallClockSeconds = 20.;
+
+	while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
+	{
+		sim->stepSimulation();
+	}
+
+	sim->setRealTimeSimulation(true);
+	
+	startTime = clock.getTimeInSeconds();
+	while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
+	{
+		b3Clock::usleep(1000);
+	}
+
+	sim->disconnect();
+	delete sim;
+
+
+}
+
+