// 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.");
}