update :make-pqp-model for directly using glvertices

[YoheiKakiuchi]

I updated make-pqp-model method to use glvertices directly, because converting glvertices to faces and making pqpmodel from them is very slow.

[snozawa]

How about glvertices-related discussion?
jsk-ros-pkg/jsk_model_tools#41
jsk-ros-pkg/jsk_model_tools#125

[snozawa]

I'd like to resolve these discussions about glvertices, but how about defining these functionality in collada-body's :make-pqpmodel method?

[YoheiKakiuchi]

I think link should have :pqp-model property.
How to use pqpmodel in bodies from self-collision-check method ?

[snozawa]

I think we need to refine glvertices methods in general,
but for hotfix, I'd like to find the way to define glvertices something in subclass.

pqp.l defines make-pqpmodel as cascaded-coords methods.
glvertices is subclass feature.
So, it is curious to add glvertices something to :make-pqpmodel method in pqp.l.

[YoheiKakiuchi]

move make-pqpmodel method to glvertices