@brief Clear the geometry data set before

@brief compute the bound for the environent

@brief compute center of mass

@brief Compute the cubic coefficients for VF case See Paper "Interactive Continuous Collision Detection between Deformable Models using Connectivity-B

@brief compute the inertia matrix, related to the origin

based on http://number-none.com/blow/inertia/bb_inertia.doc

@brief compute the inertia matrix, related to the com

@brief Split algorithm 1: Split the node from center

@brief Split algorithm 2: Split the node according to the mean of the data contained

@brief Split algorithm 3: Split the node according to the median of the data contained

@brief compute the volume

@brief Check whether the OBBRSS contains a point

@brief Check whether the AABB contains another AABB