fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value)

src/BulletInverseDynamics/IDConfig.hpp

@@ -5,6 +5,17 @@
 // If we have a custom configuration, compile without using other parts of bullet.
 #ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
 #define BT_ID_WO_BULLET
+#define BT_ID_POW(a,b) std::pow(a,b)
+#define BT_ID_SNPRINTF snprintf
+#define BT_ID_PI M_PI
+#else
+#define BT_ID_POW(a,b) btPow(a,b)
+#define BT_ID_PI SIMD_PI
+#ifdef _WIN32
+	#define BT_ID_SNPRINTF _snprintf
+#else
+	#define BT_ID_SNPRINTF snprintf
+#endif //
 #endif
 // error messages
 #include "IDErrorMessages.hpp"