[CMake] Install missing header.

Add collide and distance prototype that update the GJK guess.

Add support function cached guess in queries and merge query attribute.

Add function to generate the convex hull.

Add hint to the support function + Fix usage of GJK guess.

This allows a near constant support function for class Convex.

[Python] Add constructor for class Convex.

[Python] Bind functions to create BVHModel.

[CI] Add doxygen to travis.

Fix generation of Doxygen doc.

Fix generation of XML documentation.