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Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allow…

fix crash in btInternalEdgeUtility when a mesh is not the expected type

(don't wrap a mesh in a btCompoundShape if you want to use the edge utility)

Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts.

Add preliminary GRPC server for PyBullet and BulletRobotics.

In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA.
See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
and remove this temporary code from libCCD
Note, for large differences in shapes, use double precision build!

Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py

Fix for bug #1827

more fixes related to islands

Fix some deactivation issues with btMultiBodyDynamicsWorld, should al…

fix determinism issue introduced in previous commit

Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds
(even when sleeping is disabled, islands are split)

also drop 'model://' from URDF file names (like we drop package://)

remove leading space

Change URDF xml version from "0.0" to "1.0"

Allow current positions for Calculate IK.

preserve constness to avoid compiler warnings

Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.