Primarily these methods no longer allocate any objects other than their
return values.

Additionally, the math in the methods is reduced compared to the general
case math based on known input conditions.

Modified to no longer generate infinite values in some finite cases.

* Revert "Optimize the transformRect and transformPoint methods in matrix_utils. (#36396)"

This reverts commit 9946f7cf.

* add test

Primarily these methods no longer allocate any objects other than their
return values.

Additionally, the math in the methods is reduced compared to the general
case math based on known input conditions.

* enable lint unnecessary_new

* fix tests

* fix tests

* fix tests

* Add a cylindrical projection helper matrix

* specify tangential

* more doc clarifications

* reshuffle arguments

* more code comments

* add some sanity tests

* review

* review 2

* added one more caveat for consideration in docs