Correct ill-formed test - to be compatible with libccd 2.0 and 2.1

[SeanCurtis-TRI]

The NearestPointFromDegenerateSimplex test was born of a specific
case, captured in the wild by a user. The test attempted to recreate
the circumstances of that failure. In its original formulation, the
test had two flaws:

1. It relied on code paths for evaluating box-box distance via GJK.
   If a box-box distance primitive were introduced, the test would
   become meaningless.
2. One of the box's poses is defined by an unnormalized quaternion.
   This issue was exposed when libccd updated its quaternion
   multiplication algorithm -- the final result was unduly impacted
   by the degree the quat wasn't normalized.

This commit addressed both of those issues.

resolves #361

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This change is 

[SeanCurtis-TRI]

+@hongkai-dai for review, please. (Hopefully, this should sail past CI).

Reviewable status: 0 of 1 files reviewed, all discussions resolved (waiting on @hongkai-dai)

[hongkai-dai]

+@sherm1 for platform review please.

Thanks @SeanCurtis-TRI so muuuuuch for fixing the CI failure!

Reviewed 1 of 1 files at r1.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @sherm1)

[SeanCurtis-TRI]

Ooops -- minor change to the invocation of the distance query -- while the previous version had culled alot of the cruft in FCL's main code path, it stopped one step short of guaranteeing that an eventual box-box primitive wouldn't negate the test. now, it guarantees GJK evaluation on the two boxes.

Reviewable status: 0 of 1 files reviewed, all discussions resolved (waiting on @hongkai-dai and @sherm1)

[hongkai-dai]

Reviewed 1 of 1 files at r2.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @sherm1)

[sherm1]

pending green CI

Reviewed 1 of 1 files at r2.
Reviewable status: complete! all files reviewed, all discussions resolved

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test/test_fcl_distance.cpp, line 380 at r2 (raw file):

                              DELTA<S>(), MatrixCompareType::absolute));
  EXPECT_NEAR(expected_dist, result.min_distance,
              constants<ccd_real_t>::eps_78());

BTW nice to see the tighter tolerance!