Various types of transforms are defined in math.h:
LocalTransform - single-precision position, quaternion rotation, and uniform scale.LocalRigidTransform - similar to LocalTransform, but without scale.Transform - double-precision position, quaternion rotation, and non-uniform scale.RigidTransform - similar to Transform, but without scale.“Local” indicates single-precision position, while “Rigid” indicates the absence of scale.
Entities use Transform. Note that Transform is not equivalent to a matrix. Its components are applied in SRT order: scale, rotation, then position (computed as pos + rot.rotate(value * scale)). Consequently, it cannot represent skew. Additionally, the composition of two transforms does not behave like matrix multiplication when the scale is non-uniform. Scale is ‘lossy’—i.e., when composing multiple transforms, the ‘direction’ of the original scale is lost.