The shape collision basic code is finished. Support both collision and...

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