FCL is a library for performing three types of proximity queries on a pair
of geometric models composed of triangles.
* Collision detection: detecting whether the two models overlap, and
optionally, all of the triangles that overlap.
* Distance computation: computing the minimum distance between a pair
of models, i.e., the distance between the closest pair of points.
* Tolerance verification: determining whether two models are closer or
farther than a tolerance distance.
* Continuous collision detection: detecting whether the two moving models
overlap during the movement, and optionally, the time of contact.
* Contact information: for collision detection and continuous collision
detection, the contact information (including contact normals and contact
points) can be returned optionally.
