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'

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h

@@ -122,7 +122,7 @@ protected:
 		checkManifold(body0Wrap,body1Wrap);
 
 		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
-				body0Wrap,body1Wrap,getLastManifold());
+				body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
 		return convex_algorithm ;
 	}