Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData

src/Bullet3Common/b3Vector3.h

@@ -990,7 +990,12 @@ B3_FORCE_INLINE   long    b3Vector3::maxDot( const b3Vector3 *array, long array_
                 ptIndex = i;
             }
         }
-        
+
+		b3Assert(ptIndex>=0);
+        if (ptIndex<0)
+		{
+			ptIndex = 0;
+		}
         dotOut = maxDot;
         return ptIndex;
     }