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