// Transform by quaternion
public void PlaneTransformTest2()
{
Plane target = new Plane(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion q = Quaternion.CreateFromRotationMatrix(m);
Plane expected = new Plane();
Single x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.D;
expected.Normal = new Vector3(
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;
Plane actual;
actual = Plane.Transform(target, q);
Assert.True(MathHelper.Equal(expected, actual), "Plane.Transform did not return the expected value.");
}
// Transform by matrix
public void PlaneTransformTest1()
{
Plane target = new Plane(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Plane expected = new Plane();
Matrix4x4 inv;
Matrix4x4.Invert(m, out inv);
Matrix4x4 itm = Matrix4x4.Transpose(inv);
Single x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.D;
expected.Normal = new Vector3(
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;
Plane actual;
actual = Plane.Transform(target, m);
Assert.True(MathHelper.Equal(expected, actual), "Plane.Transform did not return the expected value.");
}