Add back ChMatrix33::Set_A_Xdir(), but modified to use references.

Original log message from Alessandro:
"Added the method Set_A_Xdir for setting a rotation matrix by passing a direction, with Gram-Schmidt orthogonalization (previously this required calling the same function, but in ChVector, and it was more typing..)"
Add template parameter in calls to methods of ChMatrixCorotation and ChPolarDecomposition.