Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment

Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -517,6 +517,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
 	m_data = new PhysicsServerCommandProcessorInternalData();
 
 	createEmptyDynamicsWorld();
+	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
 	
 }