Your 12V @ 10A is actually by far the nastier requirement for a simple linear supply capable of 30V at any current at all.
The reason is that for ANY simple linear supply the power dissipated in the pass transistor is (input voltage - output voltage) * current, essentially independent of the pass device technology.
For a simple minded linear like your are trying for the input voltage must be greater then 30V (So that you can get 30V at the output), which means that at 12V @ 10A you are dissipating at least 30 - 12 = 18V * 10A = 180W, and it only gets worse as the output voltage drops.
The '3055 lacks the safe operating area to do this at temperature, quite apart from being the '741 of the power transistor world (Old and crap, and beloved of a certain generation of hobbiest), I would be looking at a dozen of the things to handle this, and would almost certainly use something else in practise.
If you wanted such a supply to supply say 1V @ 10A, you would have at least 290W being dissipated in the pass bank.
Yea there is a reason everyone gets clever to a greater or lesser extent when building high current variable output power supplies.
One nice trick for example is to use a transformer having a couple of secondary windings and have a 'range' switch which changes the connections from parallel to series as the voltage is turned up.
If for example you had such a thing putting out say 18V in parallel mode and 36V in series mode (quite reasonable) then @ 12V, 10A your pass device is now only dropping (18 - 12) * 10A = 60W, a third of the case for the simple minded design.
The ultimate expression of this idea is a switched mode preregulator setup to maintain the input to the linear regulator at say a volt above its output, which is what most designers these days seek to do, it trades complexity for a MASSIVE reduction in heat, and components are cheaper then heatsinks.
Regards, Dan.