Improvements to VGDML parser
This MR includes several improvements and bug fixes to the VGDML parser
- Fix sign conventions to the trapezoid angles, to match Geant4 conventions
- Add meaningful parameter printouts for Tet and Boolean shapes
- Fix unit treatment for some shape parameters (GenTrap, Hype) from GDML parsing
- Simplify handling of no-rotation identity matrix
- Use names from GDML files when creating the volumes
- Fix EllipticalCone construction arguments for full compatibility with Geant4 (conversion)