// Transform by matrix
public void PlaneTransformTest1()
{
PlaneD target = new PlaneD(1, 2, 3, 4);
target = PlaneD.Normalize(target);
Matrix4x4D m =
Matrix4x4D.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4D.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4D.CreateRotationZ(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
PlaneD expected = new PlaneD();
Matrix4x4D.Invert(m, out var inv);
Matrix4x4D itm = Matrix4x4D.Transpose(inv);
double x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.D;
expected.Normal = new Vector3D(
x * itm.M11 + y * itm.M21 + z * itm.M31 + w * itm.M41,
x * itm.M12 + y * itm.M22 + z * itm.M32 + w * itm.M42,
x * itm.M13 + y * itm.M23 + z * itm.M33 + w * itm.M43);
expected.D = x * itm.M14 + y * itm.M24 + z * itm.M34 + w * itm.M44;
PlaneD actual;
actual = PlaneD.Transform(target, m);
Assert.True(MathHelper.Equal(expected, actual), "PlaneD.Transform did not return the expected value.");
}
// Transform by QuaternionD
public void PlaneTransformTest2()
{
PlaneD target = new PlaneD(1, 2, 3, 4);
target = PlaneD.Normalize(target);
Matrix4x4D m =
Matrix4x4D.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4D.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4D.CreateRotationZ(MathHelper.ToRadians(30.0f));
QuaternionD q = QuaternionD.CreateFromRotationMatrix(m);
PlaneD expected = new PlaneD();
double x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.D;
expected.Normal = new Vector3D(
x * m.M11 + y * m.M21 + z * m.M31 + w * m.M41,
x * m.M12 + y * m.M22 + z * m.M32 + w * m.M42,
x * m.M13 + y * m.M23 + z * m.M33 + w * m.M43);
expected.D = x * m.M14 + y * m.M24 + z * m.M34 + w * m.M44;
PlaneD actual;
actual = PlaneD.Transform(target, q);
Assert.True(MathHelper.Equal(expected, actual), "PlaneD.Transform did not return the expected value.");
}
public void PlaneNormalizeTest()
{
PlaneD target = new PlaneD(1, 2, 3, 4);
double f = target.Normal.LengthSquared();
double invF = 1.0f / (double)Math.Sqrt(f);
PlaneD expected = new PlaneD(target.Normal * invF, target.D * invF);
PlaneD actual = PlaneD.Normalize(target);
Assert.True(MathHelper.Equal(expected, actual), "PlaneD.Normalize returns unexpected value.");
// normalize, normalized normal.
actual = PlaneD.Normalize(actual);
Assert.True(MathHelper.Equal(expected, actual), "PlaneD.Normalize returns unexpected value.");
}
public void Normalize_Instance(PlaneD plane, PlaneD expected)
{
var normalizedPlane = plane.Normalize();
Assert.Equal(normalizedPlane, expected);
}