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TrkDetDescrGeoModelCnv: Speed up GMTreeBrowser.

Scott Snyder requested to merge ssnyder/athena:speedup.TrkDetDescrGeoModelCnv-20240401 into main

Use geoGetVolumes to collect lists of children of a volume rather than fetching by index within a loop; this avoids a N^2 behavior. Also, rotation matrices are orthogonal, so we can use transpose() instead of inverse(). These changes make a big difference in the debug build.

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