feat: autograd support for chained affine transforms: rotation, scaling, translation #2475
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Key changes
Unified affine gradients – one routine now returns gradients for the full linear block ( rotation and scaling) and for translation, replacing the old rotation‑only path.
Correct normal handling – face normals are transformed with the proper inverse‑transpose rule; mesh builder now accepts a linear transform plus translation.
Per‑step gradients – chain‑rule logic recovers a separate gradient for every transform in the sequence.
Validation
Finite‑difference versus autograd tests for scale, translate, size, rotate, and centre parameters.