remove speculative contacts, they break restitution and cause other artifacts

use btConvexPolyhedron for debug rendering, if available
fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero
don't shift vertices in btPolyhedralConvexShape

src/LinearMath/btQuickprof.h

@@ -82,7 +82,8 @@ public:
 	const char *	Get_Name( void )				{ return Name; }
 	int				Get_Total_Calls( void )		{ return TotalCalls; }
 	float				Get_Total_Time( void )		{ return TotalTime; }
-
+	void*			GetUserPointer() const {return m_userPtr;}
+	void			SetUserPointer(void* ptr) { m_userPtr = ptr;}
 protected:
 
 	const char *	Name;
@@ -94,6 +95,7 @@ protected:
 	CProfileNode *	Parent;
 	CProfileNode *	Child;
 	CProfileNode *	Sibling;
+	void*	m_userPtr;
 };
 
 ///An iterator to navigate through the tree
@@ -115,15 +117,20 @@ public:
 	int				Get_Current_Total_Calls( void )	{ return CurrentChild->Get_Total_Calls(); }
 	float				Get_Current_Total_Time( void )	{ return CurrentChild->Get_Total_Time(); }
 
+	void*	Get_Current_UserPointer( void )			{ return CurrentChild->GetUserPointer(); }
+	void	Set_Current_UserPointer(void* ptr) {CurrentChild->SetUserPointer(ptr);}
 	// Access the current parent
 	const char *	Get_Current_Parent_Name( void )			{ return CurrentParent->Get_Name(); }
 	int				Get_Current_Parent_Total_Calls( void )	{ return CurrentParent->Get_Total_Calls(); }
 	float				Get_Current_Parent_Total_Time( void )	{ return CurrentParent->Get_Total_Time(); }
 
+	
+
 protected:
 
 	CProfileNode *	CurrentParent;
 	CProfileNode *	CurrentChild;
+	
 
 	CProfileIterator( CProfileNode * start );
 	friend	class		CProfileManager;