I would greatly appreciate any help you can offer me. I'm writing a big Entity/Sprite/Model/Rendering system and I am having the hardest time understanding how to use matrices properly. I guess my main questions is: how can I use only a single matrix per object to define where it is located, how it is rotated, and how it is scaled? Since matrix multiplication is cumulative, I have come to the conclusion that I have no choice but to store a (Vector3D) position, (Quaternion) rotation, and (Vector3D) scale, and then re-calculate the matrix (for rendering) each frame from these values. This seems.... cumbersome and ugly. Is there some way to simply have a Matrix for each object and modify it directly when I call SetPosition(), RotateX(), etc.? I'm not that great with Matrix manipulation, so maybe this is no-brainer, but I can't seem to find any direct answer to this no matter where I search.
Side note: This isn't meant to sound rude at all, but please don't suggest that I use SDL or some matrix library. I get that a lot, but I want to make this myself. I just need some help in the right direction. Believe me, I've tried learning this myself, but I learn by example, so reading books explaining matrices just doesn't make it click for me.
Thanks in advance!