factor out fcl; using pythonocc for collision detection

[jf---]

Hi,

Excited to see this project!
PythonOCC these days is capable of detecting collisions, so its quite possible to factor out fcl

PS: FWIW, I maintained the fcl binding for some time and write the slicer referenced in the project

[jf---]

( to properly merge this contribution requires a little bit more work on my end to weave in with the project: consider this a draft )

[Tanneguydv]

Hey @jf---
sorry I didn't notice earlier your pull request!
I will take a look to this as soon as possible, thank you :)

[Tanneguydv]

I've made some changes, I guess we could close the pull request, thank you for your contribution!!
You will see that I used the Layer Manager to deal with ais, this is probably not the best ...

[jf---]

Hi @Tanneguydv no worries thanks for merging the PR... it was in a draft state, so I'll have a look again now that this has been merged. The IK solver that the project uses looks super interesting since it handles overstrained problems well which is neat feat. wrt AIS I'm a little rusty on this, I've worked with AIS a lot but it's been a couple of years...