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Fix volume bounds and extract surface normals from full linear transform part.

Goetz Gaycken requested to merge goetz/athena:24.0_fix_volume_bounds_and_use_linear_in_favour_of_rottion into main

Fix the boundary surfaces of the following tracking volumes:

  • TrapezoidVolumeBound (normal direction of alpha and beta boundary surfaces)
  • DoubleTrapezoidVolumeBounds (transforms, and tolerance of inside test)
  • CylinderVolumeBound (top and bottom disc)

Also use "linear" instead of "rotation" to extract the linear part of transforms. "rotation" will try to extract the part of the transform which conserves lengths, angles and orientation. However if the linear transform contains also reflections the "rotation"-matrix may be fairly incomplete. As a consequence the surface "normals" determined from the "rotation" matrix can point to the very different direction.

Edited by Goetz Gaycken

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