21.2.1

• Changed the default setting for collision-shape contact filtering (from enabled to disabled) to address Minie issue 40. This change may cause unwanted behavior for rigid bodies in contact with a gimpact, heightfield, or mesh; see Minie issue 18 for details.
• Added the ConicalFrustum collision shape.
• Implemented actual-margin debug meshes for concave shapes with meshResolution == 2.
• Added 14 accessors for the native user indices of CollisionShape, MultiBody, and PhysicsCollisionObject.
• Added 5 other public methods:
  • Heightfield.countColumns()
  • Heightfield.countRows()
  • Heightfield.upAxis()
  • IndexedMesh.surfaceArea()
  • MyMath.area(Triangle)