Added capability of storing coordsystems as glyphs (ex. useful for showing the nodes of FEM beams, that also have rotations)
The rendering subsystems must support painting this type of glyph.
Added GetInverse() for generic quaternions (for unit norm quaternions it is still better to use GetConjugate() that is the same)
Added first tests code for testing the ChElementBeamEuler, that is an Euler-Bernoulli type of beam.
Note!!! this is not yet safe, it must be validated, and features are not yet complete!