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fix compilation issues with SSE, properly set SSE flags for gcc and clang, add option to disable SSE to create more portable binaries

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fix bug in sse matrix


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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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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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