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 nonuniform scale.RigidTransform - similar to Transform, but without scale.“Local” indicates single precision position, while “Rigid” indicates the absence of scale.
Entities utilize Transform. Note that Transform is not equivalent to a matrix. Its components are applied in SRT order: scale, rotation, position: pos + rot.rotate(value * scale). Consequently, it cannot represent skew. Additionally, the composition of two transforms does not behave like matrix multiplication if the scale is nonuniform. The scale is “lossy”, i.e. when composing multiple transforms, “direction” of the original scale is lost.