Fix handling scaled nodes in Webots/WREN

[stefaniapedrazzi]

Description
Scale is integrated in the transform matrix computation differently in Webots and WREN causing mismatches.

Related Issues
This pull-request also fixes issues #6298 and #6063.

Tasks

• fix transform matrix computation in Webots to match WREN
• fix data displayed in Node Editor > Position Viewer(Issues with scaled Transform nodes #6063)
• cleanup duplicated code to convert from/to different rotation format

[stefaniapedrazzi]

Actually, the formulas used in WREN are the common ones used to correctly handle non-uniform scale and correctly apply the scale without shear component.

But then. the formulas in Webots to compute the absolute matrix and absolute position don't match what is displays by WREN and should be updated accordingly to have consistent data.

Instead of multiplying directly the transform matrices to retrieve the absolute pose, the following formulas are used (pseudo-code):

absoluteTranslation = parent->absoluteTranslation + parent->absoluteOrientation * (parent->absoluteScale * relativeTranslation);
absoluteRotation = parent->absoluteRotation * relativeRotation;
absoluteScale = parent->absoluteScale() * relativeScale;
matrix.fromVrml(absoluteTranslation, absoluteRotation,absoluteScale);

[BenjaminDeleze]

Thank you