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

src/BulletCollision/CollisionShapes/btTriangleMesh.h

@@ -46,6 +46,15 @@ class btTriangleMesh : public btStridingMeshInterface
 			m_triangles.push_back(tri);
 		}
 
+		int getNumTriangles() const
+		{
+			return m_triangles.size();
+		}
+
+		const btMyTriangle&	getTriangle(int index) const
+		{
+			return m_triangles[index];
+		}
 
 //StridingMeshInterface interface implementation