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

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add octomap in shape; all collision_managers can handle octomap now, and DynamicAABB manager has special optimization for octomap. Need more test.


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The shape collision basic code is finished. Support both collision and distance. can use gjk in libccd or use independent gjk. tested on simple examples. 
remove geometric_shapes_intersect.h/cpp, replace by gjk_libccd.h/cpp and move them to narrowphase folder

Next step is testing the external interface for shape/mesh 



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add kIOS which can handle collision and distance simultaneously. and refactor the collision_func_matrix.cpp


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the collision object should not enforce ownership of the geometry (this way every object would require creating a new geometry instance for every object instance) 

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