fix some bugs in mesh-shape, refactoring more.

trunk/fcl/CMakeLists.txt

trunk/fcl/include/fcl/collision_object.h

trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h

trunk/fcl/include/fcl/simple_setup.h

trunk/fcl/include/fcl/transform.h

trunk/fcl/include/fcl/traversal_node_bvh_shape.h

trunk/fcl/include/fcl/traversal_node_shapes.h

trunk/fcl/src/collision_func_matrix.cpp

trunk/fcl/src/intersect.cpp

trunk/fcl/src/simple_setup.cpp

trunk/fcl/test/test_core_collision.cpp

trunk/fcl/test/test_core_collision_point.cpp

...k/fcl/test/test_core_collision_shape_mesh_consistency.cpp

trunk/fcl/test/test_core_distance.cpp

trunk/fcl/test/test_core_geometric_shapes.cpp

trunk/fcl/test/test_core_utility.h