Replaced the types of all physical quantities related members/arguments with SI unit types as provided by the Units library.

* Underlying type of mantle_api::Vector3 needs to be a unit.
* Underlying type of mantle_api::Dimension3 is SI base unit [m].
* Underlying type of mantle_api::Orientation3 is limited to SI units [rad], [rad/s], [rad/s^2].
* Underlying type of mantle_api::SimulationTime is SI base unit [s].
* Units used in project "Open Simulation Interface (OSI)" were considered accordingly.

Signed-off-by: Jupp Tscheak's avatarJupp Tscheak <jupp.tscheak@daimler.com>