turn test/SharedMemory/test.c into a gtest for CI unit testing in github

remove overly verbose printfs in importers
fix axis in r2d2.urdf

test/SharedMemory/gtestwrap.cpp

@@ -0,0 +1,23 @@
+#include <gtest/gtest.h>
+#include "test.c"
+#include "Bullet3Common/b3Logging.h"
+
+void myprintf(const char* bla)
+{
+}
+
+
+int main(int argc, char **argv) {
+
+b3SetCustomPrintfFunc(myprintf);
+b3SetCustomWarningMessageFunc(myprintf);
+
+
+#if _MSC_VER
+        _CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
+        //void *testWhetherMemoryLeakDetectionWorks = malloc(1);
+#endif
+        ::testing::InitGoogleTest(&argc, argv);
+        return RUN_ALL_TESTS();
+}
+