* A lot of cleaning among functions that were not used
- broadphase has been removed,
- cost and cost source have been removed,
* CollisionRequest is passed to low level functions in order to unify
- the calling function tree among the various possible options,
* Collision test triangle - triangle
- in GJK, a detection of loop that made the algorithm fail to detect
collision has been removed,
- collision and distance computation between triangles in
MeshCollisionTraversalNode::leafTesting now uses GJK
- a test on triangle - triangle interaction has been added optimality of
closest points is check using Karush-Kuhn-Tucker conditions.