--Update Bullet to Bullet 3.22b

[jturner65]

Motivation and Context

This PR updates our bullet dependency to version 3.22. This opens up access to bug fixes, expanded deformable support (including cloth), multibody functionality, etc added to support various paper-based implementations.

One interesting issue I ran during the process of updating was that this Bullet PR introduced an optimisation that causes erroneous rigid body behavior in our code., specifically this calculation here. The changes to our dependencies.cmake file allow for this optimisation to be bypassed.

How Has This Been Tested

All c++ and python tests pass locally.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[aclegg3]

LGTM merge when tests pass.

[aclegg3]

Not sure why the osx conda build isn't working here, but it doesn't seem like a result of this PR so we can probably ignore it.