Add bullet thirdparty library

thirdparty/bullet/data/table/license.txt

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+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this copyright notice,    
+   this list of conditions and the following disclaimer.                 
+                                                                         
+2. Redistributions in binary form must reproduce the above copyright     
+   notice, this list of conditions and the following disclaimer in the   
+   documentation and/or other materials provided with the distribution.  
+                                                                         
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             

thirdparty/bullet/data/table/table.mtl

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+newmtl table
+  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 table.tga
+  map_Kd table.png
+  
+  
+

thirdparty/bullet/data/table/table.obj

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+# table.obj
+#
+
+o table
+mtllib table.mtl
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g table
+usemtl table
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3/1/2 4/2/2 5/3/2
+f 5/3/2 4/2/2 6/4/2
+s 3
+f 5/4/3 6/3/3 7/2/3
+f 7/2/3 6/3/3 8/1/3
+s 4
+f 7/1/4 8/2/4 1/3/4
+f 1/3/4 8/2/4 2/4/4
+s 5
+f 2/1/5 8/2/5 4/3/5
+f 4/3/5 8/2/5 6/4/5
+s 6
+f 7/1/6 1/2/6 5/3/6
+f 5/3/6 1/2/6 3/4/6
+

thirdparty/bullet/data/table/table.urdf

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+<?xml version="1.0" ?>
+<robot name="table.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+				<mesh filename="table.obj" scale="1.5 1 0.05"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+	 	<box size="1.5 1 0.05"/>
+      </geometry>
+    </collision>
+	<visual>
+      <origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
+      <geometry>
+	    <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="white"/>	 
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="white"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="white"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
+

thirdparty/bullet/data/table/table2.mtl

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+# Blender MTL File: 'table1.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd tabletop.jpg

thirdparty/bullet/data/table/table2.urdf

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+<?xml version="1.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="table2.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<cylinder length="0.01" radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+