use a better 3x3 matrix, avoid the previous bad one

trunk/fcl/include/fcl/BVH_utility.h

trunk/fcl/include/fcl/OBB.h

trunk/fcl/include/fcl/RSS.h

trunk/fcl/include/fcl/collision_object.h

trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h

trunk/fcl/include/fcl/geometric_shapes.h

trunk/fcl/include/fcl/geometric_shapes_intersect.h

trunk/fcl/include/fcl/intersect.h

trunk/fcl/include/fcl/matrix_3f.h

trunk/fcl/include/fcl/motion.h

trunk/fcl/include/fcl/motion_base.h

trunk/fcl/include/fcl/primitive.h

trunk/fcl/include/fcl/simple_setup.h

trunk/fcl/include/fcl/transform.h

trunk/fcl/include/fcl/traversal_node_base.h

trunk/fcl/include/fcl/traversal_node_bvh_shape.h

trunk/fcl/include/fcl/traversal_node_bvhs.h

trunk/fcl/include/fcl/vec_3f.h

trunk/fcl/src/BVH_model.cpp

trunk/fcl/src/BVH_utility.cpp