By definition, all rotation matrices are orthogonal. This is because, if you rotate any three orthogonal vectors, the resulting vectors will always remain orthogonal.
This property is not true of other transformation operations, however (e.g., skewing operations).
why is R orthogonal?
By definition, all rotation matrices are orthogonal. This is because, if you rotate any three orthogonal vectors, the resulting vectors will always remain orthogonal.
This property is not true of other transformation operations, however (e.g., skewing operations).