- This member is used to convert a octomap to a set of boxes.

  in a local header so that they can be called from another file.

  from BVHCollisionTraversalNode::leafTesting to
  GJKSolver_indep::shapeDistance<TriangleP, TriangleP>.

  - do not run EPA algorithm to compute penetration depth and normal.

  - 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    GJKSolver_indep::shapeTriangleIntersect have been replaced by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.

  - remove unused variable.

  - use GJK algorithm to detect collision between triangles.
  - Remove methods
    - MeshCollisionTraversalNodeOBB::leafTesting,
    - MeshCollisionTraversalNodeRSS::leafTesting,
    - MeshCollisionTraversalNodekIOS::leafTesting,
    - MeshCollisionTraversalNodeOBBRSS::leafTesting,
    use parent class implementation instead.

  - old constructor is deprecated.

  - store const CollisionRequest& as a member instead of CollisionRequest,
  - remove member CollisionRequest::enable_distance_lower_bound,
  - modify constructors of all derived classes.

  - overlap method without sqrDistLowerBound as an argument call the method
    with sqrDistLowerBound as an argument.

  Simplex::c -> Simplex::vertex.
  Simplex::p -> Simplex::coefficient.

  void collide(CollisionTraversalNodeBase* node, FCL_REAL& sqrDistLowerBound,
               BVHFrontList* front_list) ->
  void collide(CollisionTraversalNodeBase* node,
               const CollisionRequest& request, CollisionResult& result,
               BVHFrontList* front_list),
  void propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase* node,
                                              FCL_REAL& sqrDistLowerBound,
                                              BVHFrontList* front_list) ->
  void propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase* node,
                                              const CollisionRequest& request,
                                              CollisionResult& result,
                                              BVHFrontList* front_list)

  - void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b,
                              BVHFrontList* front_list),
  - void selfCollide(CollisionTraversalNodeBase* node,
                     BVHFrontList* front_list).

  - collide2,
  - bool MeshCollisionTraversalNodeOBB::BVTesting(int b1, int b2,
         const Matrix3f& Rc, const Vec3f& Tc) const,
  - void MeshCollisionTraversalNodeOBB::leafTesting(int b1, int b2,
         const Matrix3f& Rc, const Vec3f& Tc,FCL_REAL& sqrDistLowerBound) const