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implement the morton curve version of broadphase structure construction, on test, of the same performance as SSaP.


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fix more bugs. the new dynamicAABBTree broadphase works quite well in both distance and collision. besides the old self-collision, collision with an object, distance to an object interface, added self-distance, collision with a set of objects, distance to a set of objects. This simplifies the function in collision_detection_fcl and also makes some optimization possible.


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sphere-sphere, box-box special implementation. seems the precision is lower than standard GJK. So now is still not used.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@106 253336fb-580f-4252-a368-f3cef5a2a82b

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now the user can choose solver for the basic shape distance/collision. 



git-svn-id: https://kforge.ros.org/fcl/fcl_ros@104 253336fb-580f-4252-a368-f3cef5a2a82b

The shape collision basic code is finished. Support both collision and distance. can use gjk in libccd or use independent gjk. tested on simple examples. 
remove geometric_shapes_intersect.h/cpp, replace by gjk_libccd.h/cpp and move them to narrowphase folder

Next step is testing the external interface for shape/mesh 



git-svn-id: https://kforge.ros.org/fcl/fcl_ros@103 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@102 253336fb-580f-4252-a368-f3cef5a2a82b

Add basic code for primitive shape distance by extending the libccd a bit. Correctness is tested on basic benchmarks. The external interface will be provided soon.

One small problem is that the precision seems not very high in some cases (like the error is 0.1 when distance is 30). 




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