Add Halfspace to collision/distance/conservative_advancement matrices

include/fcl/math/transform.h

include/fcl/shape/geometric_shapes_utility.h

src/ccd/conservative_advancement.cpp

src/collision_func_matrix.cpp

src/distance_func_matrix.cpp

test/test_fcl_geometric_shapes.cpp

test/test_fcl_utility.cpp

test/test_fcl_utility.h