Invalid contact point computation in "mirror" collision test cases

[stonneau]

When testing collision between objects of different types, the object order in the Contact
objects are sometimes inverted, relatively to the order in which they are passed to
the collide method.

This results from the fact that methods are found in a diagonal look up table, which sometimes require inverting parameters (though the Collision results do not take this inversion into account). One quick and dirty fix is here (our objective was to have a minimal impact of the code,
but this is not satisfactory): humanoid-path-planner/hpp-fcl@177fb1f