Update Quaternion3f API

include/hpp/fcl/math/transform.h

src/math/transform.cpp

src/narrowphase/gjk_libccd.cpp

test/CMakeLists.txt

test/test_fcl_box_box_distance.cpp

test/test_fcl_capsule_box_1.cpp

test/test_fcl_capsule_box_2.cpp

test/test_fcl_capsule_capsule.cpp

test/test_fcl_utility.cpp

test/test_fcl_utility.h