I am not sure if I understand how to apply this to every 3D engine. A 3D engine uses 4D matrices so that it can concatenate rotations, scaling, translations, a

I am not sure if I understand how to apply this to every 3D engine. A 3D engine uses 4D matrices so that it can concatenate rotations, scaling, translations, and perspective correction into one matrix operation using matrix multiplication, i.e., it can represent any sequence of 3D operations in a single matrix. So what is the equivalent structure I'd use with trivectors to combine arbitrary 3D transformatinos into a single operation, like every 3D engine needs? The linked Versor library was also not very helpful -- it has the rotate operation on a vector, but I found no 'make rotation' and 'make translation' and 'make frustrum' and 'apply transformation' and 'concatenate transformation' operations.