Add collision detection sample codes and doc

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