Fix usage of quaternions

include/hpp/fcl/collision_object.h

include/hpp/fcl/math/transform.h

src/BV/OBB.cpp

src/broadphase/broadphase_dynamic_AABB_tree.cpp

src/broadphase/broadphase_dynamic_AABB_tree_array.cpp

src/math/transform.cpp

src/narrowphase/narrowphase.cpp

src/shape/geometric_shapes_utility.cpp

src/traversal/traversal_node_bvhs.cpp

test/CMakeLists.txt

test/test_fcl_math.cpp