Geometric shape box revision

[Xiangyu-Hu]

This pull request introduces several improvements and refactorings to the geometric shape and entity management systems, as well as some related code cleanup in both 2D and 3D builds. The most significant changes include a major refactor and extension of the MultiPolygon API, enhanced ownership semantics in the EntityManager, and unification and simplification of box shape proxy writing logic. These changes improve code clarity, maintainability, and extensibility.

Geometric Shape and Proxy Refactoring:

• Refactored the proxy writing logic for box shapes in both 2D and 3D: removed duplicated code from body part files and unified the functionality in the GeometricShapeBox class with a new writeProxy() method. This centralizes the proxy writing logic and makes it reusable. (src/for_2D_build/geometries/geometric_shape_2d.cpp → src/for_2D_build/geometries/geometric_shape_2d.cpp, src/for_3D_build/geometries/geometric_shape_3d.cpp, src/shared/bodies/base_body_part.cpp, src/for_3D_build/bodies/base_body_part_3d.cpp, src/shared/geometries/geometric_shape.h, src/shared/geometries/geometric_shape.cpp) [1] [2] [3] [4] [5] [6]

• Added a constructor to GeometricShapeBox that accepts a TransformGeometryBox for more flexible instantiation. (src/shared/geometries/geometric_shape.cpp, src/shared/geometries/geometric_shape.h) [1] [2]

MultiPolygon API Refactor and Extension:

• Renamed and refactored methods in MultiPolygon for better clarity and consistency (e.g., addAPolygon → addPolygon, addACircle → addCircle). Added new methods such as addBox (from a bounding box), addContainerBox, and improved const-correctness for getBoostMultiPoly. This makes the API more intuitive and extensible. (src/for_2D_build/geometries/multi_polygon_shape.cpp, src/for_2D_build/geometries/multi_polygon_shape.h) [1] [2] [3] [4] [5] [6]

Entity Manager Ownership and API Improvements:

• Enhanced the EntityManager to support managed ownership of entities via SharedPtr, including new methods for adding, emplacing, and removing entities with ownership semantics. The manager now properly releases owned entities on clear or removal, improving memory safety and lifecycle management. (src/shared/common/sphinxsys_entity.h) [1] [2]

General Codebase Cleanup and Improvements:

• Removed redundant type aliases (Rotationd = Rotation2d/3d) from common data type headers. (src/for_2D_build/common/data_type.h, src/for_3D_build/common/data_type.h) [1] [2]
• Improved GeometricBox with a HalfSize() getter for encapsulation. (src/shared/geometries/geometric_element.h)
• Minor improvements to includes, constructors (e.g., ComplexShape default name), and code formatting for clarity and consistency. (src/shared/geometries/complex_geometry.h, src/shared/common/sphinxsys_entity.h, src/for_3D_build/geometries/sdf_shape.h) [1] [2] [3] [4] [5]

These changes collectively improve the maintainability, clarity, and extensibility of the geometric and entity management infrastructure.