[move3d_facts] Adding module for facts computing with 3d model

[Greg8978]

We need to add a module to compute the following facts:

isOn
isIn
isNextTo
isReachable
isVisible

[Greg8978]

This is a work in progress.
Jules is helping on this issue: jules.waldhart@laas.fr

[Greg8978]

Still need to: integrate, improve / fix IsVisible

[Greg8978]

Still need to: test, add it to the repo