Add bullet thirdparty library

thirdparty/bullet/data/jenga/LICENSE.txt

@@ -0,0 +1,14 @@
+URDF created by Erwin Coumans
+
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

thirdparty/bullet/data/jenga/jenga.mtl

@@ -0,0 +1,16 @@
+newmtl jenga
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka jenga.tga
+  map_Kd jenga.png
+  
+  
+

thirdparty/bullet/data/jenga/jenga.obj

@@ -0,0 +1,113 @@
+# jenga.obj
+#
+
+o jenga
+mtllib jenga.mtl
+
+v -0.5  -0.5  0.5
+v 0.5  -0.5  0.5
+v 0.5   0.5  0.5
+v -0.5   0.5  0.5
+
+v -0.5  -0.5  -0.5
+v 0.5  -0.5  -0.5
+v 0.5   0.5  -0.5
+v -0.5   0.5  -0.5
+
+v -0.5  -0.5  -0.5
+v -0.5  0.5  -0.5
+v -0.5   0.5  0.5
+v -0.5   -0.5  0.5
+
+v 0.5  -0.5  -0.5
+v 0.5  0.5  -0.5
+v 0.5   0.5  0.5
+v 0.5   -0.5  0.5
+v -0.5  -0.5   -0.5
+v -0.5  -0.5  0.5
+v 0.5  -0.5   0.5
+v 0.5 -0.5   -0.5
+v -0.5  0.5   -0.5
+v -0.5  0.5  0.5
+v 0.5  0.5   0.5
+v 0.5 0.5   -0.5
+
+vt 	0 1
+vt 	0 0.75
+vt 	0.25 0.75
+vt 	0.25 1
+
+vt 	0.25 0.5
+vt 	0.25 0.75
+vt 	0.5 0.75
+vt 	0.5 0.5
+
+vt 	1 0.75
+vt 	0.75 0.75
+vt 	0.75 1
+vt 	1 1
+
+vt 	0.25 0.75
+vt 	0.5 0.75
+vt 	0.5 1
+vt 	0.25 1
+
+vt 	0 0.5
+vt 	0 0.75
+vt 	0.25 0.75
+vt 	0.25 0.5
+
+
+vt 	0.75 0.75
+vt 	0.75 1
+vt 	0.5 1
+vt 	0.5 0.75
+
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 -1
+vn 0 0 -1
+vn 0 0 -1
+vn 0 0 -1
+vn -1 0 0
+vn -1 0 0
+vn -1 0 0
+vn -1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 1 0
+vn 0 1 0
+vn 0 1 0
+vn 0 1 0
+
+
+g jenga
+usemtl jenga
+s 1
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+s 2
+f 7/7/7 6/6/6 5/5/5
+f 8/8/8 7/7/7 5/5/5 
+s 3
+f 11/11/11 10/10/10 9/9/9
+f 12/12/12 11/11/11 9/9/9
+s 4
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+s 5
+f 19/19/19 18/18/18 17/17/17
+f 20/20/20 19/19/19 17/17/17
+s 6
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+
+	

thirdparty/bullet/data/jenga/jenga.urdf

@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<robot name="jenga.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value=".5"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".05"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="jenga.obj" scale="0.15 0.05 0.03"/>
+      </geometry>
+       <material name="blue">
+        <color rgba="0.5 0.5 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="0.15 0.05 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+