Added btUniformScalingShape (including support for debug rendering etc)

This allows to re-use a convex shape, while each instance can re-scale it (with a uniform scalar factor)

Demos/RagdollDemo/RagdollDemo.cpp

@@ -21,7 +21,13 @@ Written by: Marten Svanfeldt
 #include "GlutStuff.h"
 #include "GL_ShapeDrawer.h"
 
+#include "LinearMath/btIDebugDraw.h"
+
+#include "GLDebugDrawer.h"
 #include "RagdollDemo.h"
+
+GLDebugDrawer debugDrawer;
+
 #define M_PI       3.14159265358979323846
 #define M_PI_2     1.57079632679489661923
 #define M_PI_4     0.785398163397448309616
@@ -311,6 +317,8 @@ void RagdollDemo::initPhysics()
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
 
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
+
 	// Setup a big ground box
 	{
 		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));