I'm not sure if this order is right, or if I need to multiply a different way because the matrices are stored in column major order in memory. Can anyone clarify if this is the right way or not?
5) The Matrix Quaternion FAQ I linked to at the top seems to be using column vectors, so vectors are multiplied on the right, as shown in Q13 of the FAQ. Q35 appears to suggest that matrices should be multiplied the other way though.
Q35 states that in order to get an X rotation, followed by a Y rotation, followed by a Z rotation, you multiply:
M = X.Y.Z
But I thought that, because it is using column vectors, the first transformation should be at the right hand side. I.e.:
M = Z.Y.X
In fact, looking at the function calls listed at the start of Q36, it seems to be multiplying in the order I'd think was correct (i.e. Z * Y * X), but still goes on to state that M = X.Y.Z.
Are Qs 35 & 36 wrong, or is it just a difference in notation for multiplying matrices instead of vectors (as Q13 says that V' = M.V, which seems like the right way round to me). Or is it just that I'm very confused? ;)
Hopefully someone can help me out on this, it would be very useful. Thanks