update to more recent version of FCL, including global penetration depth (revision of date Sep 21, 2013, see https://github.com/flexible-collision-library/fcl/tree/182e5ce4c90ae301f6553053fcdecb0da262095b)
update BOOST to 1.54
add FLANN and update libccd
make it work on Windows, out-of-the-box