Changing collision detection manager in order to allow custom pairs of...

Changing collision detection manager in order to allow custom pairs of SceneObjectSets to be checked for collisions (instead of always checking everything against all models)
Adding constraint check to c-space. This allows to implement own constraints, such as forbidding parts of the c-space due to tendon driven actuators.
Minor fixes in RobotNode and RuntimeEnvironment.
Switching to BOOST_ASSERT, temporarily disabling custom messages (newer boost version is needed for this)


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@191 042f3d55-54a8-47e9-b7fb-15903f145c44