Add bullet thirdparty library

thirdparty/bullet/data/torus/LICENSE.txt

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+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/torus/plane_only.mtl

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+# Blender MTL File: 'None'
+# 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

thirdparty/bullet/data/torus/torus.mtl

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+# Blender MTL File: 'None'
+# 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

thirdparty/bullet/data/torus/torus.urdf

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+<?xml version="1.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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="torus.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="torus.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

thirdparty/bullet/data/torus/torus_only.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

thirdparty/bullet/data/torus/torus_textured.mtl

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+# Blender MTL File: 'None'
+# 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 ../cube.png

thirdparty/bullet/data/torus/torus_with_plane.mtl

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+# Blender MTL File: 'None'
+# 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

thirdparty/bullet/data/torus/torus_with_plane.urdf

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+<?xml version="1.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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="torus_with_plane.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="torus_with_plane.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

thirdparty/bullet/data/torus/torus_with_separate_plane.urdf

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+<?xml version="1.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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="torus_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+