core: remove throw from function declarations

This is for making the code compliant with new policy in C++17.

Sync submodule cmake and use SYSTEM option

Remove mutex Transform3f::lock_

[Cleaning]  Remove classes MeshCollisionTraversalNode[bvtype]

  - with a cylinder.

Fix loading of some meshes

  - in DistanceResult constructor, initialize nearestpoints and normal with
    NaN vectors,
  - in test_fcl_geometric_shapes.cpp, initialize plane with zero vectors.