# When constructing an orientation matrix, are the rows of the matrix the axis?

When constructing an orientation matrix, are the rows of the matrix the axis?

The matrix is row-major and I'm multiplying vectors on the right (Mv). So, the matrix looks like

r0c0 r0c1 r0c2
r1c0 r1c1 r1c2
r2c0 r2c1 r2c2


• Using a row-vector (v) and multiplying it with a matrix (A) as v∙A, then the rows will act as the axes.
• Using a column-vector (v) and multiplying a matrix (A) with it as A∙v, then the columns will act as the axes.