refactor(cylinder_face): use geometric hash based on world_to_local transform

Instead of relying on object identity or raw transform parameters, the hasher
now uses intrinsic geometric properties to determine cylinder equivalence.

The hash is computed from:
- G = R^T * R  : encodes the cylinder's cross-sectional metric and axis direction
- v = R * d    : encodes the axial offset in the radial plane

where R is the top-left 2x3 submatrix of the world_to_local linear part,
and d is its translation vector. This ensures that two cylinder faces
with the same shape, orientation, and central axis (even if parameterized
differently) produce the same hash.

network_process/src/prim_gen/extract_vertex_infos.cpp

@@ -10,8 +10,7 @@ aabb_t mark_primitive_boundings(double aabb_margin, const baked_blobtree_t& tree
     aabb_t scene_aabb{};
     for (const auto [primitive_ptr, _] : tree.primitives) {
         const auto& primitive              = *primitive_ptr;
-        auto        local_to_world_matrix  = primitive.get_identity_local_to_world();
-        aabb_t      primitive_aabb         = aabb_unit.transformed(local_to_world_matrix);
+        aabb_t      primitive_aabb         = primitive.fetch_aabb();
         primitive_aabb.min().array()      -= aabb_margin;
         primitive_aabb.max().array()      += aabb_margin;
         scene_aabb.extend(primitive_aabb);

primitive_process/interface/base/primitive.hpp

@@ -12,6 +12,7 @@
 
 template <typename T>
 using marked_subface_ptr_t = marked_ptr<T, 1>;
+using aabb_t               = Eigen::AlignedBox<double, 3>;
 
 enum class sign_t : uint8_t { positive = 1, negative = 2, zero = 0 };
 
@@ -52,19 +53,14 @@ EXTERN_C struct PE_API primitive {
     virtual primitive_type                 get_type() const          = 0;
     virtual marked_subface_ptr_t<subface> *get_subface() const       = 0;
     virtual size_t                         get_subface_count() const = 0;
+    aabb_t                                 m_aabb = aabb_t(Eigen::Vector3d(-1, -1, -1), Eigen::Vector3d(1, 1, 1));
 
     // sign_t judge_sign_by_subface_sdf(const std::vector<double> &) const;
     // sign_t judge_sign_by_subface_sdf_sign(const std::vector<sign_t> &) const;
     dynamic_bitset_mp<> judge_sign_by_subface_sign(stl_vector_mp<dynamic_bitset_mp<>>) const;
 
-    // for simple primitive: sphere, cylinder, cone, box
-    // we use world_to_local as OBB and judge inside/outside by [-1, 1]^3
-    // so we don't need to fetch aabb anymore
-    // aabb fetch_aabb() const;
-    // CAUTION: keep characteristics local_to_world as the first subface's part
-    // why virtual? for special primitive like cylinder, it may have multiple parts, the part
-    // with index 0 may not be the identity transform. e.g., cylinder face has no z translation.
-    virtual const internal::transform_block &get_identity_local_to_world() const;
+
+    aabb_t                           fetch_aabb() const;
 
     void apply_transform(internal::transform_type, Eigen::Vector4d);
 

primitive_process/interface/primitive/simple/cylinder.hpp

@@ -16,15 +16,6 @@ struct cylinder_t final : primitive {
     marked_subface_ptr_t<internal::plane_t>         bottom_plane{};
     marked_subface_ptr_t<internal::plane_t>         top_plane{};
 
-    // why virtual? For special primitives like cylinder, it may have multiple parts.
-    // The part with index 0 may not be the identity transform. 
-    // For example, the cylinder face has no z translation.
-    // Note: The AABB of a cylinder is defined by the side surface, and z-axis scaling does not affect the side surface's radius.
-    // The degeneracy (simplification) check for a cylinder only considers the first two rows of the transform matrix (x/y directions),
-    // because scaling along z does not change the essential geometry of the cylinder side surface.
-    // TODO: the better way is to redefine cylinder, make identity transform as the first part.
-    const internal::transform_block &get_identity_local_to_world() const override;
-
 protected:
     void initialize(primitive_data_center_t &, const std::vector<std::pair<internal::paired_model_matrix *, bool>> &) override;
 

primitive_process/interface/subface/simple/cylinder_face.hpp

@@ -34,8 +34,20 @@ template <>
 struct hasher<internal::cylinder_paired_model_matrix> {
     size_t operator()(const internal::cylinder_paired_model_matrix &block) const
     {
-        Eigen::Matrix<double, 2, 4> character_rows = block.data->world_to_local.matrix().topRows<2>();
-        return XXH3_64bits(character_rows.data(), sizeof(decltype(character_rows)));
+        const auto& mat = block.data->local_to_world.matrix(); // 3x4
+        Eigen::Matrix3d A = mat.block<3,3>(0,0);               
+        Eigen::Vector3d b = mat.col(3);
+
+        Eigen::Matrix3d B = A.inverse();
+        Eigen::Matrix<double, 2, 3> R = B.topRows<2>();
+
+        Eigen::Matrix3d G = R.transpose() * R;
+        Eigen::Vector2d zero_proj = R * b;
+
+        size_t h = XXH3_64bits(G.data(), sizeof(Eigen::Matrix3d));
+        h ^= XXH3_64bits(zero_proj.data(), sizeof(Eigen::Vector2d));
+
+        return h;
     }
 };
 

primitive_process/interface/subface/simple/plane.hpp

@@ -34,8 +34,11 @@ template <>
 struct hasher<internal::plane_paired_model_matrix> {
     size_t operator()(const internal::plane_paired_model_matrix &block) const
     {
-        Eigen::Vector4d character_row = block.data->world_to_local.matrix().row(0);
-        return XXH3_64bits(character_row.data(), sizeof(Eigen::Vector4d));
+        const auto& mat = block.data->local_to_world.matrix();
+        Eigen::Matrix<double, 3, 2> character_col;
+        character_col.col(0) = mat.col(0);
+        character_col.col(1) = mat.col(3);
+        return XXH3_64bits(character_col.data(), sizeof(Eigen::Matrix<double, 3, 2>));
     }
 };
 

primitive_process/src/base/primitive.cpp

@@ -42,9 +42,9 @@ dynamic_bitset_mp<> primitive::judge_sign_by_subface_sign(stl_vector_mp<dynamic_
     return res;
 }
 
-const internal::transform_block &primitive::get_identity_local_to_world() const
+aabb_t primitive::fetch_aabb() const
 {
-    return get_subface()[0].get_ptr()->raw_local_to_world();
+    return m_aabb;
 }
 
 void primitive::apply_transform(internal::transform_type type, Eigen::Vector4d param)
@@ -59,5 +59,22 @@ void primitive::apply_transform(internal::transform_type type, Eigen::Vector4d p
         new_model_matrices.emplace_back(subface_ptr->apply_transform(type, param));
     }
 
+    // aabb
+    Eigen::Affine3d affine = Eigen::Affine3d::Identity();
+    switch (type) {
+        case internal::transform_type::scale: {
+            affine.linear() = param.head<3>().asDiagonal();
+        } break;
+        case internal::transform_type::rotation: {
+            affine.linear() = Eigen::Quaterniond(param).toRotationMatrix();
+        } break;
+        case internal::transform_type::translation: {
+            Eigen::Translation3d translation(param.head<3>());
+            affine = Eigen::Affine3d(translation);
+        } break;
+        default: throw std::invalid_argument("Invalid transform type");
+    }
+    m_aabb = m_aabb.transformed(affine);
+
     initialize(*subfaces[0].get_ptr()->data_center, new_model_matrices);
 }

primitive_process/src/base/subface.cpp

@@ -31,8 +31,9 @@ std::pair<internal::paired_model_matrix *, bool> subface::apply_transform(intern
             temp.world_to_local.linear() = temp.world_to_local.linear() * rotation_matrix.transpose();
         } break;
         case internal::transform_type::translation: {
-            temp.local_to_world.translation() += param.head<3>();
-            temp.world_to_local.translation() -= param.head<3>();
+            Eigen::Translation3d translation(param.head<3>());
+            temp.local_to_world = translation * temp.local_to_world;
+            temp.world_to_local = temp.world_to_local * translation.inverse();
         } break;
         default: throw std::invalid_argument("Invalid transform type");
     }

primitive_process/src/primitive/simple/cylinder.cpp

@@ -61,9 +61,4 @@ void cylinder_t::initialize(primitive_data_center_t
             data_center.planes.release(plane_paired_model_matrix{old_model_matrices[2]});
     }
 }
-
-const internal::transform_block &cylinder_t::get_identity_local_to_world() const
-{
-    return get_subface()[1].get_ptr()->raw_local_to_world();
-}
 } // namespace internal