The code in this commit is the result of work in progress on several flanks. Changes to the build system were made to detect for CBLAS (C interface to the BLAS library), the NLopt library (used for optimization), and the cpp-array library for algebraic objects (http://code.google.com/p/cpp-array). These were added under the cmake folder. Additionally, packages were written: optimization.cmake, contact.cmake, dead_contact.cmake, unfinished.cmake). Some of these contain unfinished work or dead code. A file containing forward declarations was added. A lot of classes were created: - point - plane - sphere - bounding box - polytope - timer - online tree - visitor The submitted code contains also the skeleton of the envisioned contact code discussed with Vlad and David.