Removed Debug function, updated name of GJK call to match EPA, added Implementation in cpp-File

src/pe/fcd/IterativeFCD.h

@@ -64,7 +64,7 @@ private:
    bool performIterativeDetection(GeomPrimitive &a, GeomPrimitive &b, Vec3& normal, Vec3& contactPoint, real_t& penetrationDepth){
       real_t margin = real_t(1e-4);
       GJK gjk;
-      if(gjk.doGJKcontactThreshold(a, b, margin)){
+      if(gjk.doGJKmargin(a, b, margin)){
          //2. If collision is possible perform EPA.
          EPA epa;
          return epa.doEPAmargin(a, b, gjk, normal, contactPoint, penetrationDepth, margin);

tests/pe/CollisionTobiasGJK.cpp

@@ -58,7 +58,7 @@ bool gjkEPAcollideHybrid(GeomPrimitive &geom1, GeomPrimitive &geom2, Vec3& norma
    //1. Run GJK with considerably enlarged objects.
    real_t margin = real_t(1e-4);
    GJK gjk;
-   if(gjk.doGJKcontactThreshold(geom1, geom2, margin)){
+   if(gjk.doGJKmargin(geom1, geom2, margin)){
       //2. If collision is possible perform EPA.
       //std::cerr << "Peforming EPA.";
       EPA epa;