+ 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

src/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -238,7 +238,7 @@ static void						split(	const tNodeArray& leaves,
 	right.resize(0);
 	for(int i=0,ni=leaves.size();i<ni;++i)
 	{
-		if(dot(axis,leaves[i]->volume.Center()-org)<0)
+		if(btDot(axis,leaves[i]->volume.Center()-org)<0)
 			left.push_back(leaves[i]);
 		else
 			right.push_back(leaves[i]);
@@ -319,7 +319,7 @@ static btDbvtNode*			topdown(btDbvt* pdbvt,
 				const btVector3	x=leaves[i]->volume.Center()-org;
 				for(int j=0;j<3;++j)
 				{
-					++splitcount[j][dot(x,axis[j])>0?1:0];
+					++splitcount[j][btDot(x,axis[j])>0?1:0];
 				}
 			}
 			for( i=0;i<3;++i)

src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -484,8 +484,8 @@ DBVT_INLINE int		btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) con
 	case	(1+2+4):	px=btVector3(mx.x(),mx.y(),mx.z());
 		pi=btVector3(mi.x(),mi.y(),mi.z());break;
 	}
-	if((dot(n,px)+o)<0)		return(-1);
-	if((dot(n,pi)+o)>=0)	return(+1);
+	if((btDot(n,px)+o)<0)		return(-1);
+	if((btDot(n,pi)+o)>=0)	return(+1);
 	return(0);
 }
 
@@ -496,7 +496,7 @@ DBVT_INLINE btScalar	btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned si
 	const btVector3		p(	b[(signs>>0)&1]->x(),
 		b[(signs>>1)&1]->y(),
 		b[(signs>>2)&1]->z());
-	return(dot(p,v));
+	return(btDot(p,v));
 }
 
 //

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -46,7 +46,7 @@ struct btDispatcherInfo
 		m_enableSPU(true),
 		m_useEpa(true),
 		m_allowedCcdPenetration(btScalar(0.04)),
-		m_useConvexConservativeDistanceUtil(true),
+		m_useConvexConservativeDistanceUtil(false),
 		m_convexConservativeDistanceThreshold(0.0f),
 		m_stackAllocator(0)
 	{