Merge remote-tracking branch 'upstream/master' into fix_inconsistent_normal

include/fcl/CMakeLists.txt

include/fcl/narrowphase/narrowphase.h

src/CMakeLists.txt

src/broadphase/broadphase_SaP.cpp

src/broadphase/broadphase_dynamic_AABB_tree.cpp

src/broadphase/broadphase_dynamic_AABB_tree_array.cpp

src/narrowphase/narrowphase.cpp

test/test_fcl_broadphase.cpp

test/test_fcl_geometric_shapes.cpp