share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL)

integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)

src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h

@@ -26,6 +26,9 @@ static const char* solverUtilsCL= \
 "#else\n"
 "#define b3AtomicInc atomic_inc\n"
 "#define b3Fabs fabs\n"
+"#define b3Sqrt native_sqrt\n"
+"#define b3Sin native_sin\n"
+"#define b3Cos native_cos\n"
 "#endif\n"
 "#endif\n"
 "#ifdef __cplusplus\n"