introduce and use maxContactCapacity (needs to be fixed in various other contact kernels)
implement sphere versus trimesh
disable new/sequential GPU batching (only uses 1 thread in a warp, slow but works on NVIDIA/Apple OpenCL)
start adding various scenes to test gpu rigid body pipeline
reserve more memory for shapes (concave triangle mesh can be huge) in GLInstancingRenderer
fix a few crashes when 0 objects