Rotating a rotation matrix around the global axes
I was wondering how one might go about rotating a rotation matrix around the global axes as opposed to the local axes (just multiplying the matrix by the other rotation matrix). I checked around google, but unfortunately didn't pull up anything. Does anyone have any (almost) easy way of doing this?
Thanks in advance :)
You can rotate a rotation matrix about either a local or global axis by multiplying it with a global axis rotation matrix on either the left or the right.
Let R be the rotation matrix and G be the global axis rotation matrix. When using column vectors, R*G is a local axis rotation and G*R is a global axis rotation. When using row vectors, G*R is a local axis rotation and R*G is a global axis rotation. [i.e. what John said.]
Does that answer your question?
Let R be the rotation matrix and G be the global axis rotation matrix. When using column vectors, R*G is a local axis rotation and G*R is a global axis rotation. When using row vectors, G*R is a local axis rotation and R*G is a global axis rotation. [i.e. what John said.]
Does that answer your question?
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