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.h

@@ -75,11 +75,22 @@ struct UrdfVisual
 	UrdfMaterial m_localMaterial;
 };
 
+enum UrdfCollisionFlags
+{
+	URDF_FORCE_CONCAVE_TRIMESH=1,
+};
+
+
 struct UrdfCollision
 {
 	btTransform m_linkLocalFrame;
 	UrdfGeometry m_geometry;
 	std::string m_name;
+	int m_flags;
+	UrdfCollision()
+		:m_flags(0)
+	{
+	}
 };
 
 struct UrdfJoint;