Merge remote-tracking branch 'jmirabel/devel' into merge_jmirabel

Conflicts:
	CMakeLists.txt
	include/hpp/fcl/ccd/interval_matrix.h
	include/hpp/fcl/ccd/interval_vector.h
	include/hpp/fcl/ccd/motion.h
	include/hpp/fcl/ccd/taylor_matrix.h
	include/hpp/fcl/ccd/taylor_vector.h
	include/hpp/fcl/collision_data.h
	include/hpp/fcl/math/vec_3fx.h
	include/hpp/fcl/traversal/traversal_node_bvhs.h
	src/CMakeLists.txt
	src/ccd/interval_matrix.cpp
	src/ccd/motion.cpp
	src/ccd/taylor_matrix.cpp
	src/narrowphase/gjk_libccd.cpp
	src/traversal/traversal_node_bvhs.cpp
	test/CMakeLists.txt
	test/test_fcl_geometric_shapes.cpp