Rename ContinuousCollisionChecking -> continuousCollisionChecking::Dichotomy.
Implement progressive continuous collision checking.
Apply addObstacle method to each ConfigValidation object

  - in ConfigValidations.
Move BodyPairCollisions_t in namespaces.
Use a typedef for std::list <BodyPairCollisionPtr_t>.
Add RemoveObstacleFromJoint in classes dealing with collision.
Use list instead of vectors to store objects.
Set penetration to 0.025.
Implement other algorithm for continuous collision detection.