Refactor cmake options and definitions

Sorry @agheata I already had made a lot of progress on this before I saw your message, hopefully this doesn't collide with yours or at least presents a useful alternative.

This replaces C preprocessor macros such as VECGEOM_QUADRILATERALS_VC with the CMake variables used to set it, e.g., VECGEOM_QUADRILATERAL_ACCELERATION. I've added several cmake_dependent_option uses in the main cmakelists to clarify what options can be set, and changed the index/tuple options to a single VECGEOM_NAV that is tuple/index/path .