PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images

PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3

examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.glsl

@@ -0,0 +1,16 @@
+#version 330
+precision highp float;
+in vec4 scale_obuid;
+out vec4 color;
+
+
+
+void main(void)
+{
+	highp int obuid = int(scale_obuid.w);
+	float r = 1*1.f/255.f;//((obuid>>0 )&0xff)*(1./255.f);
+	float g = ((obuid>>8 )&0xff)*(1./255.f);
+	float b = ((obuid>>16)&0xff)*(1./255.f);
+	float a = ((obuid>>24)&0xff)*(1./255.f);
+	color  = vec4(r,g,b,a);
+}