[Core] Refactor QEF Utility (QuadraticErrorFunction ). Replace eigenvalue computation with SVD

[loumalouomega]

📝 Description

Summary

This PR involves modifications across three files: test_qef_utility.cpp, qef_utility.cpp, and qef_utility.h. The changes primarily focus on:

1. Code Refactoring:

   • Reorganization of helper functions and data structures within the QEF utility.
   • Replaced eigenvalue computations with Singular Value Decomposition (SVD).
   • Changes to improve consistency and readability in the handling of points, distances, and matrices in the QEF computations.
   • Modifications to matrix operations and intersection logic, particularly in terms of how the bounding box and edge endpoints are calculated.

2. New Methods Added:

   • Refactor methods like FirstEnd and SecondEnd for computing the endpoints of edges within a bounding box.
   • Additional helper methods for handling geometry intersections and normal vectors.

3. Clean up test

TODO

• Current implementation uses the intersection with edges, this could be simplified

🆕 Changelog

• Changes from [Core] Refactor SVDUtils to accept any kind of matrix as input, instead of just Matrix type #13201
• Enhance QuadraticErrorFunction class with detailed documentation and modernized constructors
• Refactor QuadraticErrorFunction to use auxiliary classes for matrix
• Refactor QuadraticErrorFunction to use SVD decomposition

[RiccardoRossi]

@AriadnaCortesDanes can you review this?

[RiccardoRossi]

my only comment, without really understanding the code, is that SVD is more expensive than standard eigenvalue calculation for square matrices

[loumalouomega]

my only comment, without really understanding the code, is that SVD is more expensive than standard eigenvalue calculation for square matrices

It is more expensive, but it is the proper thing to do. In fact the rare thing was it was working until now. @pooyan-dadvand agrees this change.

[AriadnaCortesDanes]

Refactor looks good to me :)