pub fn instance_rel_row_major_f32(
m_k: &[f64; 16],
m_ref: &[f64; 16],
rtc: [f64; 3],
) -> Option<[f32; 16]>Expand description
Template-relative instance transform rel = post_rtc(M_k) · post_rtc(M_ref)⁻¹
as a row-major [f32; 16], or None when M_ref is singular. m_k / m_ref
are PRE-RTC row-major world transforms (see compose_instance_world_row_major);
rtc is the model offset. This is EXACTLY collate_refs’ per-occurrence rel,
exposed for the don’t-bake finalize where the occurrence carries no geometry to
group — the template’s baked world geometry placed by rel reproduces the
occurrence’s world geometry (bounded by verify_recomposition). #1623 Phase 2.