[SofaFramework] Remove (painful) check/warning with Rigids

[fredroy]

Context: If creating a Rigid from a stream (typically deserializing a Rigid):

• it checks if the rotation is normalized
• if the case, warns the user that it is not
• normalize it

Several problems:

• even if the serialized rigid is perfectly normalized, there will be an unnecessary check (if you have a lots of it and you read it at each time step, it can be bothersome)
• the normalization of the Quaternion is set with a fixed bound
• the most painful: it will write a warning for EVERY rigid not normalized, every time...

Proposed solution:

• only check/print if you are debugging

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This PR:

• builds with SUCCESS for all platforms on the CI.
• does not generate new warnings.
• does not generate new unit test failures.
• does not generate new scene test failures.
• does not break API compatibility.
• is more than 1 week old (or has fast-merge label).

Reviewers will merge only if all these checks are true.