+ 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/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -31,7 +31,8 @@ class btConvexPenetrationDepthSolver;
 ///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
 ///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
 ///for certain pairs that have a small size ratio
-///#define USE_SEPDISTANCE_UTIL2 1
+
+#define USE_SEPDISTANCE_UTIL2 1
 
 ///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
 ///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.