Merge branch 'master' into soc-2021-simulation-display

Fix: incorrect force vector locations

While taking the weighted average of vector locations, the net normal
force was being used as the denominator. The correct value to use is
the sum of the magnitudes of all normal forces in the timestep.

Fix error while freeing non primitive collisions shape mesh in rigidbody

The function name was changed in master and caused an error during merge
Now it uses a different function to clear the geometry

Merge branch 'master' into soc-2021-simulation-display

make format

Constraints: visualisation works with kinematic objects

Used the transforms obtained from bullet instead of creating them using
rigidbody/ object data, which only worked for active rigidbodies

Fix memory leak in non primitive collision shape

- The previous commit didn't fix the leak as the mesh data was not being freed every draw call
- Now the mesh is generated during evaluation along with the physics shape.
- The collisions shape draw data mesh is stored in the shared struct, along with the physics references

Fix: Memory leak in non primitive collision shape drawing functions

The ojects containing the non primitive collision shape meshes are stored in
a GSet along with other draw cache shapes and the meshes are freed using these
object pointers

Cleanup: Forces

Fix: Incorrect acceleration. Store velocities of only the last substep, subtract previous velocity from current