+ 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/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -121,6 +121,10 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		//not close enough
 		while (dist > radius)
 		{
+			if (result.m_debugDrawer)
+			{
+				result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
+			}
 			numIter++;
 			if (numIter > maxIter)
 			{
@@ -170,6 +174,11 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
 			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
 
+			if (result.m_debugDrawer)
+			{
+				result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0));
+			}
+
 			result.DebugDraw( lambda );
 
 			btPointCollector	pointCollector;
@@ -197,6 +206,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 				//??
 				return false;
 			}
+			
 
 		}
 	
@@ -224,4 +234,3 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 */
 
 }
-