- This member is used to convert a octomap to a set of boxes.

  This test was malformed. It tested collision for tangent shapes and checked
  that A against B and B against A were collision free.

  - many tests put shapes in singular configuration so that normal and depth
    are ill-defined. This modifications removes tests that are not relevant.

  in a local header so that they can be called from another file.

  from BVHCollisionTraversalNode::leafTesting to
  GJKSolver_indep::shapeDistance<TriangleP, TriangleP>.

  - do not run EPA algorithm to compute penetration depth and normal.

  - Collision detection calls distance computation and returns collision
    if the distance between objects is below the security margin.
  - This modification requires a modification in the structure of the software
    to make collision detection and distance computation closer.
  - GJKSolver_indep::shapeTriangleDistance and
    GJKSolver_indep::shapeTriangleIntersect have been replaced by
    GJKSolver_indep::shapeTriangleInteraction.

  - this member stores the normal (direction object 2 should be translated by
    the penetration depth to make objects collision free) in case boths objects
    are in collision.

  instead of -1.

  when checking sizes of vectors.

  - remove unused variable.