I have the matrix:
|x 0 0|
A = |0 y 0|
|0 0 z|
which represents axis of a cube for example. Now I want to rotate my cube along along y, so I have the rotation matrix along y:
|cos(a) 0 sin(a)|
Ry = |0 1 0|
|-sin(a) 0 cos(a)|
I had thought I'd only need to multiply them as:
A' = A*Ry
And this would give me the new rotated x and z values.
However, I have found some documentation saying that it should actually be:
A' = Ry*A*RyT
where RyT is the transpose of Ry. Anyone can tell me if this is accurate as I can't find more info on it and if so why do I need to do this?
I still have the outside axis x, y and z at the same position, however the cuboid is rotated, if that makes sense.