regular OR wireframe rendering, not both

add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -1167,7 +1167,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				}
                 BT_PROFILE("Render Scene");
                 sCurrentDemo->renderScene();
-            }
+            } else
             {
 				B3_PROFILE("physicsDebugDraw");
 				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );