Broadphase optimization with Planes/Halfspaces

[lmontaut]

Certain shapes have an infinite AABB (like planes or halfspaces).
Because of that, when we do aabb1.overlap(aabb2) and aabb1 or aabb2 is an infinite AABB, we will always have a broadphase collision and the broadphase will break down the AABB and/or send it to the narrowphase.
This is not very efficient because it means that if we have a plane or a halfspace in our scene, we will ultimately need to do a narrowcheck of the plane with all the objects in the scene, when it could be avoided most of the time

Here is a drawing that shows an example of what I am talking about:

In the example above, it should be enough to check the broadphase collision between the plane and the AABB surrounding box1 and box2. However, in the current state of hppfcl, we actually end up doing narrowphase collision checks box1-plane and box2-plane (in addition to the broadphase checks).