+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -280,7 +280,10 @@ void	GimpactConcaveDemo::initGImpactCollision()
 			btGImpactConvexDecompositionShape * trimesh  = new
 			btGImpactConvexDecompositionShape(
 			m_indexVertexArrays, btVector3(1.f,1.f,1.f),btScalar(0.01));
+			trimesh->setMargin(0.07);
 			trimesh->updateBound();
+
+
 		#else
 			btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
 			trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
@@ -314,6 +317,7 @@ void	GimpactConcaveDemo::initGImpactCollision()
 			btGImpactConvexDecompositionShape * trimesh2  = new
 			btGImpactConvexDecompositionShape(
 			m_indexVertexArrays2, btVector3(4.f,4.f,4.f),btScalar(0.01));
+			trimesh2->setMargin(0.07);
 			trimesh2->updateBound();
 		#else
 			btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);