I'm presently studying astir world abstraction translator matrices and encountered immoderate disorder regarding their exertion successful different matrix orders (row awesome vs file major).
Context
In statement awesome order, a constituent is represented arsenic \begin{bmatrix} x,y,z \end{bmatrix} In file awesome order, nan aforesaid constituent is represented as \begin{bmatrix} x \\ y \\ z \end{bmatrix}
World Space Transformation
For file awesome order, we usage post-multiplication: $P1 = WST * p1 = S * Rx * Ry * Rz * T * p1$
For statement awesome order, it's we usage pre-multiplication: $P2 = p2 * WST = p2 * T * Rz * Ry * Rx * S'$
However, I feel, for statement awesome it should alternatively be: $P2 = p2 * WST' = p2 * T' * Rz' * Ry' * Rx' * S'$ wherever ' denotes transpose of nan matrix.
My Reasoning
Both P1 and P2 correspond nan aforesaid transformed point, conscionable successful different orders (column awesome vs statement major).
So, $P2 = P1' = (S * Rx * Ry * Rz * T * p1)'$
Since, $(AB)' = B'A'$
We tin opportunity that, $P2 = p1' * T' * Rz' * Ry' * Rx' * S' = p2 * T' * Rz' * Ry' * Rx' * S'$ (as $p1' = p2$)