Most products consist of a set of linked objects organised in a structure called, at least sometimes, an “assembly”. The classical assembly structure defined in the BUILD system, perhaps even earlier, has a structure consisting of an assembly, containing a list of instances each referring to a single object or an assembly. The use of instances and transformations also appears in computer graphics, see Newman and Sproull , for example.
Rotation Axis Transformation Matrix Line Direction Assembly Structure Geometric Element
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Newman, W.M., Sproull, R.F.: Principles of Interactive Computer Graphics. McGraw-Hill, New York (1979)Google Scholar