add new data for PD and fix some bugs

include/fcl/math/transform.h

src/math/transform.cpp

src/penetration_depth.cpp

test/fcl_resources/config.h

test/fcl_resources/newdata/Model_1_Scenario_3.xml

test/fcl_resources/newdata/Model_1_Scenario_3.xmlmodel.txt

test/fcl_resources/newdata/Model_2_Scenario_3.xml

test/fcl_resources/newdata/Model_2_Scenario_3.xmlmodel.txt

test/fcl_resources/newdata/Model_3_Scenario_3.xml

test/fcl_resources/newdata/Model_3_Scenario_3.xmlmodel.txt

..._resources/scenario-1-2-3/Model_1_Scenario_1.txtmodel.txt

..._resources/scenario-1-2-3/Model_1_Scenario_2.txtmodel.txt

..._resources/scenario-1-2-3/Model_1_Scenario_3.txtmodel.txt

..._resources/scenario-1-2-3/Model_2_Scenario_1.txtmodel.txt

..._resources/scenario-1-2-3/Model_2_Scenario_2.txtmodel.txt

..._resources/scenario-1-2-3/Model_2_Scenario_3.txtmodel.txt

..._resources/scenario-1-2-3/Model_3_Scenario_1.txtmodel.txt

..._resources/scenario-1-2-3/Model_3_Scenario_2.txtmodel.txt

..._resources/scenario-1-2-3/Model_3_Scenario_3.txtmodel.txt

test/test_fcl_xmldata.cpp