Fix collision filtering of BulletCollisionDetector #859
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Problem
In the dynamics simulation, some primitive shapes were sinking into the ground because of insufficient contact points generated by Bullet.
Causes and Fix
Bullet internally uses convexity based collision detection algorithms for some primitive shapes (e.g., capsule), and they generally return single contact point while at least three contacts are necessary for face contact. To overcome this, Bullet provides persistent contact concept that preserves the contacts of previous steps as long as they are valid (still in contact with the distance tolerance). However, DART didn't correctly exploit the functionality. This PR fixes the problem without hurting the existing functionalities.
This change is