refactor: Simplify vtkDetectorChamber by removing redundant transform management and improve vtkHandlerWidget rotation calculation using ray-plane intersection.

src/Vtk/Math/vtkStructuredGrid.cpp

@@ -74,9 +74,19 @@ void vtkStructuredGrid::Update() {
   if (!vmat) return;
   
   Matrix4f transform = VtkToMatrix4f(vmat);
-  m_Content->SetMatrix(transform);
+
+  // Update uLib model's affine transform
+  if (m_Content->GetParent()) {
+    Matrix4f localT = m_Content->GetParent()->GetWorldMatrix().inverse() * transform;
+    m_Content->SetMatrix(localT);
+  } else {
+    m_Content->SetMatrix(transform);
+  }
 
   m_Content->Updated(); // Notify others (like raytracer)
+  
+  // Debug output
+  std::cout << "vtkStructuredGrid::Update matrix:\n" << transform << std::endl;
 }
 
 void vtkStructuredGrid::InstallPipe() {