Transforming a plane

[DavidYazel]

In order for colliders to work efficiently we need to be able to check for collisions against objects that have been transformed.  One of the problems is that the plane equation for each triangle and the splitting planes for the bitree nodes have been pre-calculated.  How could I take the vworld transform of the model and transform the a,b,c,d of the plane equation?

I am thinking that I transform a,b,c as I would a vector and then scale d?  Would that work?

[NVaidya]

I guess what is applicable here is P' = PM^-1, where
P is your plane [a, b, c, d] in model coordinates, M is
the model matrix that takes a point from model to view world
coordinates, and P' is the transformed plane equation in
view world.

Check page 671 of Redbook, 3rd ed., anyways.