translation

Matrix4f tm = matrixf(
    1.0f, 0.0f, 0.0f, 3.0f,
    0.0f, 1.0f, 0.0f, 5.0f,
    0.0f, 0.0f, 1.0f, 2.5f,
    0.0f, 0.0f, 0.0f, 1.0f,
);

Vector3f t = translation(tm);

assert(t == Vector3f(3.0f, 5.0f, 2.5f));