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)

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -56,6 +56,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
     virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
 
 	void renderInternalGl2(int  pass, const btDiscreteDynamicsWorld* dynamicsWorld);
+
+	void setVRMode(bool vrMode);
 };
 
 #endif //OPENGL_GUI_HELPER_H