Take into account security margin in shape shape collision request

  - Collision detection calls distance computation and returns collision
    if the distance between objects is below the security margin.
  - This modification requires a modification in the structure of the software
    to make collision detection and distance computation closer.
  - GJKSolver_indep::shapeTriangleDistance and
    GJKSolver_indep::shapeTriangleIntersect have been replaced by
    GJKSolver_indep::shapeTriangleInteraction.