fix some bug in shape collision and more refactoring.

trunk/collision_space_fcl/src/environmentFCL.cpp

trunk/fcl/include/fcl/BVH_model.h

trunk/fcl/include/fcl/broad_phase_collision.h

trunk/fcl/include/fcl/collision_object.h

trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h

trunk/fcl/include/fcl/geometric_shapes.h

trunk/fcl/include/fcl/geometric_shapes_intersect.h

trunk/fcl/include/fcl/motion.h

trunk/fcl/include/fcl/primitive.h

trunk/fcl/include/fcl/simple_setup.h

trunk/fcl/include/fcl/traversal_node_shapes.h

trunk/fcl/include/fcl/vec_3f.h

trunk/fcl/src/BVH_model.cpp

trunk/fcl/src/BV_fitter.cpp

trunk/fcl/src/OBB.cpp

trunk/fcl/src/RSS.cpp

trunk/fcl/src/broad_phase_collision.cpp

trunk/fcl/src/collision_func_matrix.cpp

trunk/fcl/src/collision_node.cpp

trunk/fcl/src/geometric_shapes_intersect.cpp