Add build-in collision checker that supports primitive shapes only
Fix use of swith statement in ConstraintDynamics::initialize() and check passing parameter CollisionCheckerType if it is vaild in ConstraintDynamics::setCollisionCheckerType().
Add cylinder related functions.
Merge branch 'origin/master'

Conflicts:
	src/constraint/ConstraintDynamics.cpp
Rename collision "check" to collision "detect"
Merge branch 'origin/master'

Conflicts:
	src/simulation/SimWindow.cpp
	src/simulation/World.cpp
Remove CollisionDetectorType and pass new collision detector to ConstraintDynamics
Remove ConstraintDynamics::reset() and ConstraintDynamics::destroy()
Merge branch 'origin/master'
Merge pull request #110 from dartsim/dart_collision_checker

Add built-in collision checker that supports primitive shapes only