Modify ChVector.h to have it properly templated by Real.

Use the template parameter Real throughout.
Switch to using references where appropriate.
Clean up formatting.
Remove extraneous qualifications 'ChNodeFEMxyz::'
Templatize ChMatrixCorotation by the underlying matrix data type.

This resolves the multiple symbol definition warnings with VS (LNK4006).
Minor type conversion fix.
Fix return values for addShadowVolumeSceneNode() functions.
Modify ChMatrix.h to have its classes properly templated by Real.

Use the template parameter Real throughout.
Switch to using references where appropriate.
Clean up formatting.
Modify ChQuaternion.h to have it properly templated by Real.

Use the template parameter Real throughout.
Switch to using references where appropriate.
Clean up formatting.
More conversions from passing arguments by value to passing them by reference.

...this prevents unnecessary copies.
Modified Chbody to pass arguments by reference instead of value.

Also modified a few instances where arguments were passed as pointers.
Propagated these changes throughout...
Modify ChCoordsys, ChFrame, and ChMovingFrame to have them properly templated by Real.

Use the template parameter Real throughout.
Switch to using references where appropriate.
Fix usage of explicit ctors (remove for copy constructors to allow copy-instanciation;
remove for ctors with more than one argument).
Clean up formatting.
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.
Merge pull request #10 from rserban/develop

Changes to a few core class templates