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change the interface of collide: the collision settings are now in a CollisionRequest structure, and collision results are now in a CollisionResult structure. Distance has similar extension. This is for the convenience of adding cost and potential future extension.


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add octomap in shape; all collision_managers can handle octomap now, and DynamicAABB manager has special optimization for octomap. Need more test.


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now the user can choose solver for the basic shape distance/collision. 



git-svn-id: https://kforge.ros.org/fcl/fcl_ros@104 253336fb-580f-4252-a368-f3cef5a2a82b

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 



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add kIOS which can handle collision and distance simultaneously. and refactor the collision_func_matrix.cpp


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