21.1.0

• Bugfix: crash in processAllTriangles() when m_bvh==NULL (Minie issue 43)
• Bugfix: wrong inertia for a CustomConvexShape when mass != 1
• Added the SphericalSegment collision shape.
• Added the TestApp application for manual testing.
• Added 11 public methods:
  • BoundingValueHierarchy.copyAabb()
  • BoundingValueHierarchy.copyQuantization()
  • BoundingValueHierarchy.countLeafNodes()
  • BoundingValueHierarchy.countNodes()
  • BoundingValueHierarchy.countSubtreeHeaders()
  • BoundingValueHierarchy.escapeIndex()
  • BoundingValueHierarchy.isLeafNode()
  • BoundingValueHierarchy.partId()
  • BoundingValueHierarchy.setTraversalMode()
  • BoundingValueHierarchy.traversalMode()
  • BoundingValueHierarchy.triangleIndex()