PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes

(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.

examples/SharedMemory/SharedMemoryPublic.h

@@ -693,6 +693,7 @@ enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
 enum eUrdfCollisionFlags
 {
 	GEOM_FORCE_CONCAVE_TRIMESH=1,
+	GEOM_CONCAVE_INTERNAL_EDGE=2,
 };
 
 enum eUrdfVisualFlags
@@ -740,6 +741,7 @@ struct b3PhysicsSimulationParameters
 	double m_frictionERP;
 	int m_enableConeFriction;
 	int m_deterministicOverlappingPairs;
+	double m_allowedCcdPenetration;
 };