public void TransformNormal()
{
// Random matrix
Matrix44F transform = new Matrix44F(1, 2, 3, 4,
2, 5, 8, 3,
7, 6, -1, 1,
0, 0, 0, 1);
Vector3F p3 = new Vector3F(1.0f, 2.0f, 0.5f);
Vector3F x3 = new Vector3F(-3.4f, 5.5f, -0.5f);
Vector3F d = (x3 - p3);
Vector3F n3 = d.Orthonormal1;
Vector4F p4 = new Vector4F(p3.X, p3.Y, p3.Z, 1.0f);
Vector4F x4 = new Vector4F(x3.X, x3.Y, x3.Z, 1.0f);
Vector4F n4 = new Vector4F(n3.X, n3.Y, n3.Z, 0.0f);
float planeEquation = Vector4F.Dot((x4 - p4), n4);
Assert.IsTrue(Numeric.IsZero(planeEquation));
p4 = transform * p4;
x4 = transform * x4;
n3 = transform.TransformNormal(n3);
n4 = new Vector4F(n3.X, n3.Y, n3.Z, 0.0f);
planeEquation = Vector4F.Dot((x4 - p4), n4);
Assert.IsTrue(Numeric.IsZero(planeEquation));
}
