added some brute-force way to shrink convex polyhedra (to compensate collision margin)

made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -57,6 +57,7 @@ bool createConstraint = true;//false;
 bool useCompound = false;//true;//false;
 
 
+
 #ifdef _DEBUG
 const int gNumObjects = 120;
 #else