Create project file for BussIK inverse kinematics library (premake, cmake)

URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)

data/cube_small.urdf

@@ -5,6 +5,7 @@
       <lateral_friction value="1.0"/>
       <rolling_friction value="0.01"/>
       <inertia_scaling value="3.0"/>
+      
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>