Add color type and utility

See merge request Simox/simox!45

* transform_direction
* transform_position
* is_rotation_matrix
* normal_to_mat3
* normal_to_mat4 / normal_pos_to_mat4
* orthogonal_vector

+ Set precision for orthogonal check
+ Make extents absolute (prevent negative extents)

Add SoftMinMax (from SemanticObjectRelations)

See merge request Simox/simox!44

Add AxisAlignedBoundingBox (from SemanticObjectRelations)

See merge request Simox/simox!43

Refactor structure of test directory and add functions to align box orientations to a canonic orientation

See merge request Simox/simox!42