[CMake] fix octomap detection

As on some systems, we don't have OCTOMAP_INCLUDE_DIRS &
OCTOMAP_LIBRARY_DIRS but OCTOMAP_INCLUDEDIR & OCTOMAP_LIBDIR, and
therefore we get:

-- Checking for module 'octomap >= 1.6'
--   Found octomap , version 1.9.0
-- Pkg-config module octomap v1.9.0 has been detected with success.
-- FCL does not use Octomap

core: remove throw from function declarations

This is for making the code compliant with new policy in C++17.

Sync submodule cmake and use SYSTEM option

Remove mutex Transform3f::lock_

[Cleaning]  Remove classes MeshCollisionTraversalNode[bvtype]

  - with a cylinder.

Fix loading of some meshes

  - in DistanceResult constructor, initialize nearestpoints and normal with
    NaN vectors,
  - in test_fcl_geometric_shapes.cpp, initialize plane with zero vectors.