add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh)

examples/pybullet/examples/satCollision.py

@@ -0,0 +1,14 @@
+import pybullet as p
+import time 
+
+p.connect(p.GUI)
+p.setGravity(0,0,-10)
+p.setPhysicsEngineParameter(enableSAT=1)
+p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True)
+p.loadURDF("cube.urdf",[0,0,1], globalScaling=1)
+p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1)
+
+while (p.isConnected()):
+	p.stepSimulation()
+	time.sleep(1./240.)
+