[Type] Quat: factorize matrix code

[fredroy]

Noticed that quat::toMatrix (and different names) is duplicated 4 times, with the homgeneous variant: each with different input or output (c-array, template, Mat3x3, opengl-transposed)
Asked Claude how to factorize this code without any copy or anything, and its solution is quite elegant I must say 🫢

[with-all-tests]

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[alxbilger]

[ci-build][with-all-tests]