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)

src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp

@@ -609,6 +609,7 @@ static inline int jointNumDoFs(const JointType &type) {
 	error_message("invalid joint type\n");
 	// TODO add configurable abort/crash function
 	abort();
+	return 0;
 }
 
 int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool update_kinematics,