first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -228,7 +228,7 @@ void ImportSDFSetup::initPhysics()
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
 			int rootLinkIndex = u2b.getRootLinkIndex();
-			b3Printf("urdf root link index = %d\n",rootLinkIndex);
+			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
 			MyMultiBodyCreator creation(m_guiHelper);
 
             u2b.getRootTransformInWorld(rootTrans);