fixed wrong call of projectInTriangle()

Add a few methods in Matrix3fX and Vec3fX:

  Matrix3fX::isIdentity,
  Vec3fX::norm, Vec3fX::squaredNorm,
  Vec3fX::setZero,
  operator * (double, Vec3fX).x

Check that quaternion is normalized when converting to rotation matrix

  The conversion formula used is valid only for unit quaternions.
  If a user passes a zero quaternion by mistake, the resulting matrix is
  identity. This is very confusing since multiplying by a Transform3f containing
  0 as a quaternion results in identity Transform3f.

extending capsule-capsule distance computation

  adding a test.

Add an accessor to shared pointer to CollisionGeometry member.

  - classes CollisionObject and ContinuousCollisionObject,
  - declare former accessors as deprecated.

fix boost/cstdint.hpp datatypes

Quoting the boost documentation:

<boost/cstdint.hpp> - Provides typedef's based on the
1999 C Standard header <stdint.h>, wrapped in namespace boost.

This invalid usage seems to break with glibc 2.18.

change the readme in markdown format