Fix segfault when registering empty object vector to [~]CollisionManager

Use same shape algorithms for the reverse shape pair

List headers in add_library for IDEs

Enable out-of-source build by generating configs to binary directory

Support Travis CI testing

more efficient vector rotation without explicitly assigning quaternions

Fix bug in capsule support function

  one is working, the other one fails to compute the nearest points although
  it properly computes the distance.

  - do not assume that input vector dir is normalized.

Add a test on distance computation between capsule and box.

  - test fails on current version.

fixed wrong call of projectInTriangle()

Add a few methods in Matrix3fX and Vec3fX:

  Matrix3fX::isIdentity,
  Vec3fX::norm, Vec3fX::squaredNorm,
  Vec3fX::setZero,
  operator * (double, Vec3fX).x

Check that quaternion is normalized when converting to rotation matrix