more efficient vector rotation without explicitly assigning quaternions
Merge pull request #33 from florent-lamiraux/master

Fix bug in capsule support function
Merge pull request #34 from orthez/master

more efficient vector rotation without explicitly assigning quaternions
Modify test_fcl_capsule_capsule

  - use API distance function instead of selecting gjk solver.
Implement capsule capsule distance function instead of using gjk algorithm.

  - copied code from Wildmagic (http://www.geometrictools.com) nodified
    boost license.
  - collision detection calls distance function.