use btConvexPolyhedron for debug rendering, if available fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero don't shift vertices in btPolyhedralConvexShape
use btConvexPolyhedron for debug rendering, if available fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero don't shift vertices in btPolyhedralConvexShape