Fix some constructors of Vec3f and improve Quaternion3f

include/hpp/fcl/ccd/motion.h

include/hpp/fcl/ccd/taylor_matrix.h

include/hpp/fcl/math/transform.h

include/hpp/fcl/shape/geometric_shapes.h

src/ccd/motion.cpp

src/ccd/taylor_matrix.cpp

src/math/transform.cpp

src/shape/geometric_shapes_utility.cpp