text: //
  // Copyright (c) 2008-2018 the Urho3D project.
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  // THE SOFTWARE.
  //
  
  
  
  #include "Plane.h"
  
  
  
  namespace tc
  {
  
  // Static initialization order can not be relied on, so do not use Vector3 constants
  const Plane Plane::UP(Vector3(0.0f, 1.0f, 0.0f), Vector3(0.0f, 0.0f, 0.0f));
  
  void Plane::Transform(const Matrix3& transform)
  {
      Define(Matrix4(transform).Inverse().Transpose() * ToVector4());
  }
  
  void Plane::Transform(const Matrix3x4& transform)
  {
      Define(transform.ToMatrix4().Inverse().Transpose() * ToVector4());
  }
  
  void Plane::Transform(const Matrix4& transform)
  {
      Define(transform.Inverse().Transpose() * ToVector4());
  }
  
  Matrix3x4 Plane::ReflectionMatrix() const
  {
      return Matrix3x4(
          -2.0f * normal_.x_ * normal_.x_ + 1.0f,
          -2.0f * normal_.x_ * normal_.y_,
          -2.0f * normal_.x_ * normal_.z_,
          -2.0f * normal_.x_ * d_,
          -2.0f * normal_.y_ * normal_.x_,
          -2.0f * normal_.y_ * normal_.y_ + 1.0f,
          -2.0f * normal_.y_ * normal_.z_,
          -2.0f * normal_.y_ * d_,
          -2.0f * normal_.z_ * normal_.x_,
          -2.0f * normal_.z_ * normal_.y_,
          -2.0f * normal_.z_ * normal_.z_ + 1.0f,
          -2.0f * normal_.z_ * d_
      );
  }
  
  Plane Plane::Transformed(const Matrix3& transform) const
  {
      return Plane(Matrix4(transform).Inverse().Transpose() * ToVector4());
  }
  
  Plane Plane::Transformed(const Matrix3x4& transform) const
  {
      return Plane(transform.ToMatrix4().Inverse().Transpose() * ToVector4());
  }
  
  Plane Plane::Transformed(const Matrix4& transform) const
  {
      return Plane(transform.Inverse().Transpose() * ToVector4());
  }
  
  }
  