[Feature Request] Create struct Transform to replace Float4x4s

[ClemensU42]

Is your feature request related to a problem? Please describe.
The Transform struct is an improvement to increase performance

Describe the solution you'd like
The Transform struct stores Float3x3s internally for rotation and translaton.
It can be multiplied with other Transforms just like a Float4x4.
It can be inverted like so: here
It can multiply with directions and positions.