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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@138 253336fb-580f-4252-a368-f3cef5a2a82b

change the interface of collide: the collision settings are now in a CollisionRequest structure, and collision results are now in a CollisionResult structure. Distance has similar extension. This is for the convenience of adding cost and potential future extension.


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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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fix bug in sse matrix


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implement the morton curve version of broadphase structure construction, on test, of the same performance as SSaP.


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fix more bugs. the new dynamicAABBTree broadphase works quite well in both distance and collision. besides the old self-collision, collision with an object, distance to an object interface, added self-distance, collision with a set of objects, distance to a set of objects. This simplifies the function in collision_detection_fcl and also makes some optimization possible.


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sphere-sphere, box-box special implementation. seems the precision is lower than standard GJK. So now is still not used.


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now the user can choose solver for the basic shape distance/collision. 



git-svn-id: https://kforge.ros.org/fcl/fcl_ros@104 253336fb-580f-4252-a368-f3cef5a2a82b

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 



git-svn-id: https://kforge.ros.org/fcl/fcl_ros@103 253336fb-580f-4252-a368-f3cef5a2a82b