Currently, to construct a world matrix, I have the following code:
return FromScale(scale) * rotation.RotMatrix * FromTranslation(translation);
However, this is constructing three matrices, and then applying two multiply operations between them in order to assembly the final world matrix.
However, I'm pretty sure there must be an algorithm or listing for constructing the SRT matrix 'in-place', by doing the necessary multiplications for each matrix element first, and then simply assembling the resultant matrix from that.
However, I can't seem to find a reference for that anywhere; the closest I found was for an SRT transformation with a rotation around a single axis.
Can anyone show me how to make an 'inline' SRT matrix? Or TRS, I don't mind. Row-major or column-major is fine, also.