/// See Eric Lengyel's Mathematics for 3D Game Programming And Computer Graphics 2nd ed., p.110, chapter 4.2.3.
void Plane::Transform(const float3x4 &transform)
{
///\todo Could optimize this function by switching to plane convention ax+by+cz+d=0 instead of ax+by+cz=d.
float3x3 r = transform.Float3x3Part();
bool success = r.Inverse(); ///\todo Can optimize the inverse here by assuming orthogonality or orthonormality.
assume(success);
d = d + Dot(normal, r * transform.TranslatePart());
normal = normal * r;
}
void Quat::Set(const float3x4 &m)
{
assume(m.IsColOrthogonal());
assume(m.HasUnitaryScale());
assume(!m.HasNegativeScale());
SetQuatFrom(*this, m);
#ifdef MATH_ASSERT_CORRECTNESS
// Test that the conversion float3x3->Quat->float3x3 is correct.
mathassert(this->ToFloat3x3().Equals(m.Float3x3Part(), 0.01f));
#endif
}
