add compiler settings from OMPL + fix some warnings. a bunch still remain

CMakeLists.txt

CMakeModules/CompilerSettings.cmake

include/fcl/narrowphase/gjk_libccd.h

include/fcl/traversal/traversal_node_bvh_shape.h

src/BV/kIOS.cpp

src/articulated_model/joint.cpp

src/collision.cpp

src/narrowphase/narrowphase.cpp

src/traversal/traversal_recurse.cpp

test/test_fcl_broadphase.cpp