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/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -489,6 +489,9 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
 	if (name_char)
 		collision.m_name = name_char;
 	
+	const char *concave_char = config->Attribute("concave");
+	if (concave_char)
+		collision.m_flags |= URDF_FORCE_CONCAVE_TRIMESH;
 	
 	return true;
 }