Merge pull request #90 from gabrielebndn/refactoring

.travis.yml

CMakeLists.txt

python/collision-geometries.cc

python/math.cc

test/CMakeLists.txt

test/python_unit/CMakeLists.txt

test/python_unit/geometric_shapes.py

test/scripts/collision-bench.py

test/scripts/collision.py

test/scripts/distance_lower_bound.py

test/scripts/geometric_shapes.py

test/scripts/gjk.py

test/scripts/obb.py

test/scripts/octree.py

travis_custom/custom_before_install_linux.sh

travis_custom/custom_before_install_osx.sh