Add collision detection sample codes and doc

[AtsushiSakai]

Collision detection algorithm for real time processing is important for robotics.
So, these basic algorithm and knowledge should be added in this project.

Reference:
Amazon | Real-Time Collision Detection (The Morgan Kaufmann Series In Inteacive 3-D Technolagy) | Ericson, Christer | Software Development https://www.amazon.co.jp/-/en/Christer-Ericson/dp/1558607323