BansheeEngine/BansheeUtility/Source/BsMatrix3.cpp

//__________________________ Banshee Project - A modern game development toolkit _________________________________//
//_____________________________________ www.banshee-project.com __________________________________________________//
//________________________ Copyright (c) 2014 Marko Pintera. All rights reserved. ________________________________//
#include "BsMatrix3.h"
#include "BsQuaternion.h"
#include "BsMath.h"

namespace BansheeEngine
{
    const float Matrix3::EPSILON = 1e-06f;
    const Matrix3 Matrix3::ZERO(0,0,0,0,0,0,0,0,0);
    const Matrix3 Matrix3::IDENTITY(1,0,0,0,1,0,0,0,1);
    const float Matrix3::SVD_EPSILON = 1e-04f;
    const unsigned int Matrix3::SVD_MAX_ITERS = 32;
	const Matrix3::EulerAngleOrderData Matrix3::EA_LOOKUP[6] = 
		{ { 0, 1, 2, 1.0f}, { 0, 2, 1, -1.0f}, { 1, 0, 2, -1.0f},
		  { 1, 2, 0, 1.0f}, { 2, 0, 1,  1.0f}, { 2, 1, 0, -1.0f} };;


    Vector3 Matrix3::getColumn(UINT32 col) const
    {
        assert(col < 3);
        
		return Vector3(m[0][col],m[1][col], m[2][col]);
    }

    void Matrix3::setColumn(UINT32 col, const Vector3& vec)
    {
        assert(col < 3);

        m[0][col] = vec.x;
        m[1][col] = vec.y;
        m[2][col] = vec.z;
    }

    void Matrix3::fromAxes(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis)
    {
        setColumn(0, xAxis);
        setColumn(1, yAxis);
        setColumn(2, zAxis);
    }

    bool Matrix3::operator== (const Matrix3& rhs) const
    {
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
            {
                if (m[row][col] != rhs.m[row][col])
                    return false;
            }
        }

        return true;
    }

	bool Matrix3::operator!= (const Matrix3& rhs) const
	{
		return !operator==(rhs);
	}

    Matrix3 Matrix3::operator+ (const Matrix3& rhs) const
    {
        Matrix3 sum;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
            {
                sum.m[row][col] = m[row][col] + rhs.m[row][col];
            }
        }

        return sum;
    }

    Matrix3 Matrix3::operator- (const Matrix3& rhs) const
    {
        Matrix3 diff;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
            {
                diff.m[row][col] = m[row][col] -
                    rhs.m[row][col];
            }
        }

        return diff;
    }

    Matrix3 Matrix3::operator* (const Matrix3& rhs) const
    {
        Matrix3 prod;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
            {
                prod.m[row][col] = m[row][0]*rhs.m[0][col] +
                    m[row][1]*rhs.m[1][col] + m[row][2]*rhs.m[2][col];
            }
        }

        return prod;
    }

    Matrix3 Matrix3::operator- () const
    {
        Matrix3 neg;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
                neg[row][col] = -m[row][col];
        }

        return neg;
    }

    Matrix3 Matrix3::operator* (float rhs) const
    {
        Matrix3 prod;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
                prod[row][col] = rhs*m[row][col];
        }

        return prod;
    }

    Matrix3 operator* (float lhs, const Matrix3& rhs)
    {
        Matrix3 prod;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
                prod[row][col] = lhs*rhs.m[row][col];
        }

        return prod;
    }

	Vector3 Matrix3::transform(const Vector3& vec) const
	{
		Vector3 prod;
		for (UINT32 row = 0; row < 3; row++)
		{
			prod[row] =
				m[row][0]*vec[0] +
				m[row][1]*vec[1] +
				m[row][2]*vec[2];
		}

		return prod;
	}

    Matrix3 Matrix3::transpose() const
    {
        Matrix3 matTranspose;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
                matTranspose[row][col] = m[col][row];
        }

        return matTranspose;
    }

    bool Matrix3::inverse(Matrix3& matInv, float tolerance) const
    {
        matInv[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];
        matInv[0][1] = m[0][2]*m[2][1] - m[0][1]*m[2][2];
        matInv[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1];
        matInv[1][0] = m[1][2]*m[2][0] - m[1][0]*m[2][2];
        matInv[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];
        matInv[1][2] = m[0][2]*m[1][0] - m[0][0]*m[1][2];
        matInv[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0];
        matInv[2][1] = m[0][1]*m[2][0] - m[0][0]*m[2][1];
        matInv[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0];

        float det = m[0][0]*matInv[0][0] + m[0][1]*matInv[1][0] + m[0][2]*matInv[2][0];

        if (Math::abs(det) <= tolerance)
            return false;

        float invDet = 1.0f/det;
        for (UINT32 row = 0; row < 3; row++)
        {
            for (UINT32 col = 0; col < 3; col++)
                matInv[row][col] *= invDet;
        }

        return true;
    }

    Matrix3 Matrix3::inverse(float tolerance) const
    {
        Matrix3 matInv = Matrix3::ZERO;
        inverse(matInv, tolerance);
        return matInv;
    }

    float Matrix3::determinant() const
    {
        float cofactor00 = m[1][1]*m[2][2] - m[1][2]*m[2][1];
        float cofactor10 = m[1][2]*m[2][0] - m[1][0]*m[2][2];
        float cofactor20 = m[1][0]*m[2][1] - m[1][1]*m[2][0];

        float det = m[0][0]*cofactor00 + m[0][1]*cofactor10 + m[0][2]*cofactor20;

        return det;
    }

    void Matrix3::bidiagonalize (Matrix3& matA, Matrix3& matL, Matrix3& matR)
    {
        float v[3], w[3];
        float length, sign, t1, invT1, t2;
        bool bIdentity;

        // Map first column to (*,0,0)
        length = Math::sqrt(matA[0][0]*matA[0][0] + matA[1][0]*matA[1][0] + matA[2][0]*matA[2][0]);
        if (length > 0.0f)
        {
            sign = (matA[0][0] > 0.0f ? 1.0f : -1.0f);
            t1 = matA[0][0] + sign*length;
            invT1 = 1.0f/t1;
            v[1] = matA[1][0]*invT1;
            v[2] = matA[2][0]*invT1;

            t2 = -2.0f/(1.0f+v[1]*v[1]+v[2]*v[2]);
            w[0] = t2*(matA[0][0]+matA[1][0]*v[1]+matA[2][0]*v[2]);
            w[1] = t2*(matA[0][1]+matA[1][1]*v[1]+matA[2][1]*v[2]);
            w[2] = t2*(matA[0][2]+matA[1][2]*v[1]+matA[2][2]*v[2]);
            matA[0][0] += w[0];
            matA[0][1] += w[1];
            matA[0][2] += w[2];
            matA[1][1] += v[1]*w[1];
            matA[1][2] += v[1]*w[2];
            matA[2][1] += v[2]*w[1];
            matA[2][2] += v[2]*w[2];

            matL[0][0] = 1.0f+t2;
            matL[0][1] = matL[1][0] = t2*v[1];
            matL[0][2] = matL[2][0] = t2*v[2];
            matL[1][1] = 1.0f+t2*v[1]*v[1];
            matL[1][2] = matL[2][1] = t2*v[1]*v[2];
            matL[2][2] = 1.0f+t2*v[2]*v[2];
            bIdentity = false;
        }
        else
        {
            matL = Matrix3::IDENTITY;
            bIdentity = true;
        }

        // Map first row to (*,*,0)
        length = Math::sqrt(matA[0][1]*matA[0][1]+matA[0][2]*matA[0][2]);
        if ( length > 0.0 )
        {
            sign = (matA[0][1] > 0.0f ? 1.0f : -1.0f);
            t1 = matA[0][1] + sign*length;
            v[2] = matA[0][2]/t1;

            t2 = -2.0f/(1.0f+v[2]*v[2]);
            w[0] = t2*(matA[0][1]+matA[0][2]*v[2]);
            w[1] = t2*(matA[1][1]+matA[1][2]*v[2]);
            w[2] = t2*(matA[2][1]+matA[2][2]*v[2]);
            matA[0][1] += w[0];
            matA[1][1] += w[1];
            matA[1][2] += w[1]*v[2];
            matA[2][1] += w[2];
            matA[2][2] += w[2]*v[2];

            matR[0][0] = 1.0;
            matR[0][1] = matR[1][0] = 0.0;
            matR[0][2] = matR[2][0] = 0.0;
            matR[1][1] = 1.0f+t2;
            matR[1][2] = matR[2][1] = t2*v[2];
            matR[2][2] = 1.0f+t2*v[2]*v[2];
        }
        else
        {
            matR = Matrix3::IDENTITY;
        }

        // Map second column to (*,*,0)
        length = Math::sqrt(matA[1][1]*matA[1][1]+matA[2][1]*matA[2][1]);
        if ( length > 0.0 )
        {
            sign = (matA[1][1] > 0.0f ? 1.0f : -1.0f);
            t1 = matA[1][1] + sign*length;
            v[2] = matA[2][1]/t1;

            t2 = -2.0f/(1.0f+v[2]*v[2]);
            w[1] = t2*(matA[1][1]+matA[2][1]*v[2]);
            w[2] = t2*(matA[1][2]+matA[2][2]*v[2]);
            matA[1][1] += w[1];
            matA[1][2] += w[2];
            matA[2][2] += v[2]*w[2];

            float a = 1.0f+t2;
            float b = t2*v[2];
            float c = 1.0f+b*v[2];

            if (bIdentity)
            {
                matL[0][0] = 1.0;
                matL[0][1] = matL[1][0] = 0.0;
                matL[0][2] = matL[2][0] = 0.0;
                matL[1][1] = a;
                matL[1][2] = matL[2][1] = b;
                matL[2][2] = c;
            }
            else
            {
                for (int row = 0; row < 3; row++)
                {
                    float tmp0 = matL[row][1];
                    float tmp1 = matL[row][2];
                    matL[row][1] = a*tmp0+b*tmp1;
                    matL[row][2] = b*tmp0+c*tmp1;
                }
            }
        }
    }

    void Matrix3::golubKahanStep (Matrix3& matA, Matrix3& matL, Matrix3& matR)
    {
        float f11 = matA[0][1]*matA[0][1]+matA[1][1]*matA[1][1];
        float t22 = matA[1][2]*matA[1][2]+matA[2][2]*matA[2][2];
        float t12 = matA[1][1]*matA[1][2];
        float trace = f11+t22;
        float diff = f11-t22;
        float discr = Math::sqrt(diff*diff+4.0f*t12*t12);
        float root1 = 0.5f*(trace+discr);
        float root2 = 0.5f*(trace-discr);

        // Adjust right
        float y = matA[0][0] - (Math::abs(root1-t22) <= Math::abs(root2-t22) ? root1 : root2);
        float z = matA[0][1];
		float invLength = Math::invSqrt(y*y+z*z);
        float sin = z*invLength;
        float cos = -y*invLength;

        float tmp0 = matA[0][0];
        float tmp1 = matA[0][1];
        matA[0][0] = cos*tmp0-sin*tmp1;
        matA[0][1] = sin*tmp0+cos*tmp1;
        matA[1][0] = -sin*matA[1][1];
        matA[1][1] *= cos;

        UINT32 row;
        for (row = 0; row < 3; row++)
        {
            tmp0 = matR[0][row];
            tmp1 = matR[1][row];
            matR[0][row] = cos*tmp0-sin*tmp1;
            matR[1][row] = sin*tmp0+cos*tmp1;
        }

        // Adjust left
        y = matA[0][0];
        z = matA[1][0];
        invLength = Math::invSqrt(y*y+z*z);
        sin = z*invLength;
        cos = -y*invLength;

        matA[0][0] = cos*matA[0][0]-sin*matA[1][0];
        tmp0 = matA[0][1];
        tmp1 = matA[1][1];
        matA[0][1] = cos*tmp0-sin*tmp1;
        matA[1][1] = sin*tmp0+cos*tmp1;
        matA[0][2] = -sin*matA[1][2];
        matA[1][2] *= cos;

        UINT32 col;
        for (col = 0; col < 3; col++)
        {
            tmp0 = matL[col][0];
            tmp1 = matL[col][1];
            matL[col][0] = cos*tmp0-sin*tmp1;
            matL[col][1] = sin*tmp0+cos*tmp1;
        }

        // Adjust right
        y = matA[0][1];
        z = matA[0][2];
        invLength = Math::invSqrt(y*y+z*z);
        sin = z*invLength;
        cos = -y*invLength;

        matA[0][1] = cos*matA[0][1]-sin*matA[0][2];
        tmp0 = matA[1][1];
        tmp1 = matA[1][2];
        matA[1][1] = cos*tmp0-sin*tmp1;
        matA[1][2] = sin*tmp0+cos*tmp1;
        matA[2][1] = -sin*matA[2][2];
        matA[2][2] *= cos;

        for (row = 0; row < 3; row++)
        {
            tmp0 = matR[1][row];
            tmp1 = matR[2][row];
            matR[1][row] = cos*tmp0-sin*tmp1;
            matR[2][row] = sin*tmp0+cos*tmp1;
        }

        // Adjust left
        y = matA[1][1];
        z = matA[2][1];
        invLength = Math::invSqrt(y*y+z*z);
        sin = z*invLength;
        cos = -y*invLength;

        matA[1][1] = cos*matA[1][1]-sin*matA[2][1];
        tmp0 = matA[1][2];
        tmp1 = matA[2][2];
        matA[1][2] = cos*tmp0-sin*tmp1;
        matA[2][2] = sin*tmp0+cos*tmp1;

        for (col = 0; col < 3; col++)
        {
            tmp0 = matL[col][1];
            tmp1 = matL[col][2];
            matL[col][1] = cos*tmp0-sin*tmp1;
            matL[col][2] = sin*tmp0+cos*tmp1;
        }
    }

    void Matrix3::singularValueDecomposition(Matrix3& matL, Vector3& matS, Matrix3& matR) const
    {
		UINT32 row, col;

        Matrix3 mat = *this;
        bidiagonalize(mat, matL, matR);

        for (unsigned int i = 0; i < SVD_MAX_ITERS; i++)
        {
            float tmp, tmp0, tmp1;
            float sin0, cos0, tan0;
            float sin1, cos1, tan1;

            bool test1 = (Math::abs(mat[0][1]) <= SVD_EPSILON*(Math::abs(mat[0][0])+Math::abs(mat[1][1])));
            bool test2 = (Math::abs(mat[1][2]) <= SVD_EPSILON*(Math::abs(mat[1][1])+Math::abs(mat[2][2])));

            if (test1)
            {
                if (test2)
                {
                    matS[0] = mat[0][0];
                    matS[1] = mat[1][1];
                    matS[2] = mat[2][2];
                    break;
                }
                else
                {
                    // 2x2 closed form factorization
                    tmp = (mat[1][1]*mat[1][1] - mat[2][2]*mat[2][2] + mat[1][2]*mat[1][2])/(mat[1][2]*mat[2][2]);
                    tan0 = 0.5f*(tmp+Math::sqrt(tmp*tmp + 4.0f));
                    cos0 = Math::invSqrt(1.0f+tan0*tan0);
                    sin0 = tan0*cos0;

                    for (col = 0; col < 3; col++)
                    {
                        tmp0 = matL[col][1];
                        tmp1 = matL[col][2];
                        matL[col][1] = cos0*tmp0-sin0*tmp1;
                        matL[col][2] = sin0*tmp0+cos0*tmp1;
                    }

                    tan1 = (mat[1][2]-mat[2][2]*tan0)/mat[1][1];
                    cos1 = Math::invSqrt(1.0f+tan1*tan1);
                    sin1 = -tan1*cos1;

                    for (row = 0; row < 3; row++)
                    {
                        tmp0 = matR[1][row];
                        tmp1 = matR[2][row];
                        matR[1][row] = cos1*tmp0-sin1*tmp1;
                        matR[2][row] = sin1*tmp0+cos1*tmp1;
                    }

                    matS[0] = mat[0][0];
                    matS[1] = cos0*cos1*mat[1][1] - sin1*(cos0*mat[1][2]-sin0*mat[2][2]);
                    matS[2] = sin0*sin1*mat[1][1] + cos1*(sin0*mat[1][2]+cos0*mat[2][2]);
                    break;
                }
            }
            else
            {
                if (test2)
                {
                    // 2x2 closed form factorization
                    tmp = (mat[0][0]*mat[0][0] + mat[1][1]*mat[1][1] - mat[0][1]*mat[0][1])/(mat[0][1]*mat[1][1]);
                    tan0 = 0.5f*(-tmp+Math::sqrt(tmp*tmp + 4.0f));
                    cos0 = Math::invSqrt(1.0f+tan0*tan0);
                    sin0 = tan0*cos0;

                    for (col = 0; col < 3; col++)
                    {
                        tmp0 = matL[col][0];
                        tmp1 = matL[col][1];
                        matL[col][0] = cos0*tmp0-sin0*tmp1;
                        matL[col][1] = sin0*tmp0+cos0*tmp1;
                    }

                    tan1 = (mat[0][1]-mat[1][1]*tan0)/mat[0][0];
                    cos1 = Math::invSqrt(1.0f+tan1*tan1);
                    sin1 = -tan1*cos1;

                    for (row = 0; row < 3; row++)
                    {
                        tmp0 = matR[0][row];
                        tmp1 = matR[1][row];
                        matR[0][row] = cos1*tmp0-sin1*tmp1;
                        matR[1][row] = sin1*tmp0+cos1*tmp1;
                    }

                    matS[0] = cos0*cos1*mat[0][0] - sin1*(cos0*mat[0][1]-sin0*mat[1][1]);
                    matS[1] = sin0*sin1*mat[0][0] + cos1*(sin0*mat[0][1]+cos0*mat[1][1]);
                    matS[2] = mat[2][2];
                    break;
                }
                else
                {
                    golubKahanStep(mat, matL, matR);
                }
            }
        }

        // Positize diagonal
        for (row = 0; row < 3; row++)
        {
            if ( matS[row] < 0.0 )
            {
                matS[row] = -matS[row];
                for (col = 0; col < 3; col++)
                    matR[row][col] = -matR[row][col];
            }
        }
    }

    void Matrix3::orthonormalize()
    {
        // Compute q0
        float invLength = Math::invSqrt(m[0][0]*m[0][0]+ m[1][0]*m[1][0] + m[2][0]*m[2][0]);

        m[0][0] *= invLength;
        m[1][0] *= invLength;
        m[2][0] *= invLength;

        // Compute q1
        float dot0 = m[0][0]*m[0][1] + m[1][0]*m[1][1] + m[2][0]*m[2][1];

        m[0][1] -= dot0*m[0][0];
        m[1][1] -= dot0*m[1][0];
        m[2][1] -= dot0*m[2][0];

        invLength = Math::invSqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1] + m[2][1]*m[2][1]);

        m[0][1] *= invLength;
        m[1][1] *= invLength;
        m[2][1] *= invLength;

        // Compute q2
        float dot1 = m[0][1]*m[0][2] + m[1][1]*m[1][2] + m[2][1]*m[2][2];
        dot0 = m[0][0]*m[0][2] + m[1][0]*m[1][2] + m[2][0]*m[2][2];

        m[0][2] -= dot0*m[0][0] + dot1*m[0][1];
        m[1][2] -= dot0*m[1][0] + dot1*m[1][1];
        m[2][2] -= dot0*m[2][0] + dot1*m[2][1];

        invLength = Math::invSqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2] + m[2][2]*m[2][2]);

        m[0][2] *= invLength;
        m[1][2] *= invLength;
        m[2][2] *= invLength;
    }

    void Matrix3::QDUDecomposition(Matrix3& matQ, Vector3& vecD, Vector3& vecU) const
    {
        // Build orthogonal matrix Q
        float invLength = Math::invSqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0] + m[2][0]*m[2][0]);
        matQ[0][0] = m[0][0]*invLength;
        matQ[1][0] = m[1][0]*invLength;
        matQ[2][0] = m[2][0]*invLength;

        float dot = matQ[0][0]*m[0][1] + matQ[1][0]*m[1][1] + matQ[2][0]*m[2][1];
        matQ[0][1] = m[0][1]-dot*matQ[0][0];
        matQ[1][1] = m[1][1]-dot*matQ[1][0];
        matQ[2][1] = m[2][1]-dot*matQ[2][0];

        invLength = Math::invSqrt(matQ[0][1]*matQ[0][1] + matQ[1][1]*matQ[1][1] + matQ[2][1]*matQ[2][1]);
        matQ[0][1] *= invLength;
        matQ[1][1] *= invLength;
        matQ[2][1] *= invLength;

        dot = matQ[0][0]*m[0][2] + matQ[1][0]*m[1][2] + matQ[2][0]*m[2][2];
        matQ[0][2] = m[0][2]-dot*matQ[0][0];
        matQ[1][2] = m[1][2]-dot*matQ[1][0];
        matQ[2][2] = m[2][2]-dot*matQ[2][0];

        dot = matQ[0][1]*m[0][2] + matQ[1][1]*m[1][2] + matQ[2][1]*m[2][2];
        matQ[0][2] -= dot*matQ[0][1];
        matQ[1][2] -= dot*matQ[1][1];
        matQ[2][2] -= dot*matQ[2][1];

        invLength = Math::invSqrt(matQ[0][2]*matQ[0][2] + matQ[1][2]*matQ[1][2] + matQ[2][2]*matQ[2][2]);
        matQ[0][2] *= invLength;
        matQ[1][2] *= invLength;
        matQ[2][2] *= invLength;

        // Guarantee that orthogonal matrix has determinant 1 (no reflections)
        float fDet = matQ[0][0]*matQ[1][1]*matQ[2][2] + matQ[0][1]*matQ[1][2]*matQ[2][0] +
            matQ[0][2]*matQ[1][0]*matQ[2][1] - matQ[0][2]*matQ[1][1]*matQ[2][0] -
            matQ[0][1]*matQ[1][0]*matQ[2][2] - matQ[0][0]*matQ[1][2]*matQ[2][1];

        if (fDet < 0.0f)
        {
            for (UINT32 row = 0; row < 3; row++)
                for (UINT32 col = 0; col < 3; col++)
                    matQ[row][col] = -matQ[row][col];
        }

        // Build "right" matrix R
        Matrix3 matRight;
        matRight[0][0] = matQ[0][0]*m[0][0] + matQ[1][0]*m[1][0] +
            matQ[2][0]*m[2][0];
        matRight[0][1] = matQ[0][0]*m[0][1] + matQ[1][0]*m[1][1] +
            matQ[2][0]*m[2][1];
        matRight[1][1] = matQ[0][1]*m[0][1] + matQ[1][1]*m[1][1] +
            matQ[2][1]*m[2][1];
        matRight[0][2] = matQ[0][0]*m[0][2] + matQ[1][0]*m[1][2] +
            matQ[2][0]*m[2][2];
        matRight[1][2] = matQ[0][1]*m[0][2] + matQ[1][1]*m[1][2] +
            matQ[2][1]*m[2][2];
        matRight[2][2] = matQ[0][2]*m[0][2] + matQ[1][2]*m[1][2] +
            matQ[2][2]*m[2][2];

        // The scaling component
        vecD[0] = matRight[0][0];
        vecD[1] = matRight[1][1];
        vecD[2] = matRight[2][2];

        // The shear component
        float invD0 = 1.0f/vecD[0];
        vecU[0] = matRight[0][1]*invD0;
        vecU[1] = matRight[0][2]*invD0;
        vecU[2] = matRight[1][2]/vecD[1];
    }

    void Matrix3::toAxisAngle(Vector3& axis, Radian& radians) const
    {
        float trace = m[0][0] + m[1][1] + m[2][2];
        float cos = 0.5f*(trace-1.0f);
        radians = Math::acos(cos);  // In [0, PI]

        if (radians > Radian(0.0f))
        {
            if (radians < Radian(Math::PI))
            {
                axis.x = m[2][1]-m[1][2];
                axis.y = m[0][2]-m[2][0];
                axis.z = m[1][0]-m[0][1];
                axis.normalize();
            }
            else
            {
                // Angle is PI
                float fHalfInverse;
                if (m[0][0] >= m[1][1])
                {
                    // r00 >= r11
                    if (m[0][0] >= m[2][2])
                    {
                        // r00 is maximum diagonal term
                        axis.x = 0.5f*Math::sqrt(m[0][0] - m[1][1] - m[2][2] + 1.0f);
                        fHalfInverse = 0.5f/axis.x;
                        axis.y = fHalfInverse*m[0][1];
                        axis.z = fHalfInverse*m[0][2];
                    }
                    else
                    {
                        // r22 is maximum diagonal term
                        axis.z = 0.5f*Math::sqrt(m[2][2] - m[0][0] - m[1][1] + 1.0f);
                        fHalfInverse = 0.5f/axis.z;
                        axis.x = fHalfInverse*m[0][2];
                        axis.y = fHalfInverse*m[1][2];
                    }
                }
                else
                {
                    // r11 > r00
                    if ( m[1][1] >= m[2][2] )
                    {
                        // r11 is maximum diagonal term
                        axis.y = 0.5f*Math::sqrt(m[1][1] - m[0][0] - m[2][2] + 1.0f);
                        fHalfInverse  = 0.5f/axis.y;
                        axis.x = fHalfInverse*m[0][1];
                        axis.z = fHalfInverse*m[1][2];
                    }
                    else
                    {
                        // r22 is maximum diagonal term
                        axis.z = 0.5f*Math::sqrt(m[2][2] - m[0][0] - m[1][1] + 1.0f);
                        fHalfInverse = 0.5f/axis.z;
                        axis.x = fHalfInverse*m[0][2];
                        axis.y = fHalfInverse*m[1][2];
                    }
                }
            }
        }
        else
        {
            // The angle is 0 and the matrix is the identity.  Any axis will
            // work, so just use the x-axis.
            axis.x = 1.0f;
            axis.y = 0.0f;
            axis.z = 0.0f;
        }
    }

    void Matrix3::fromAxisAngle(const Vector3& axis, const Radian& angle)
    {
        float cos = Math::cos(angle);
        float sin = Math::sin(angle);
        float oneMinusCos = 1.0f-cos;
        float x2 = axis.x*axis.x;
        float y2 = axis.y*axis.y;
        float z2 = axis.z*axis.z;
        float xym = axis.x*axis.y*oneMinusCos;
        float xzm = axis.x*axis.z*oneMinusCos;
        float yzm = axis.y*axis.z*oneMinusCos;
        float xSin = axis.x*sin;
        float ySin = axis.y*sin;
        float zSin = axis.z*sin;

        m[0][0] = x2*oneMinusCos+cos;
        m[0][1] = xym-zSin;
        m[0][2] = xzm+ySin;
        m[1][0] = xym+zSin;
        m[1][1] = y2*oneMinusCos+cos;
        m[1][2] = yzm-xSin;
        m[2][0] = xzm-ySin;
        m[2][1] = yzm+xSin;
        m[2][2] = z2*oneMinusCos+cos;
    }

	void Matrix3::toQuaternion(Quaternion& quat) const
	{
		quat.fromRotationMatrix(*this);
	}

    void Matrix3::fromQuaternion(const Quaternion& quat)
	{
		quat.toRotationMatrix(*this);
	}

    bool Matrix3::toEulerAngles(Radian& xAngle, Radian& yAngle, Radian& zAngle) const
    {
        xAngle = Radian(Math::asin(m[0][2]));
        if (xAngle < Radian(Math::HALF_PI))
        {
            if (xAngle > Radian(-Math::HALF_PI))
            {
                yAngle = Math::atan2(-m[1][2], m[2][2]);
                zAngle = Math::atan2(-m[0][1], m[0][0]);

                return true;
            }
            else
            {
                // WARNING.  Not a unique solution.
                Radian angle = Math::atan2(m[1][0],m[1][1]);
                zAngle = Radian(0.0f);  // Any angle works
                yAngle = zAngle - angle;

                return false;
            }
        }
        else
        {
            // WARNING.  Not a unique solution.
            Radian angle = Math::atan2(m[1][0],m[1][1]);
            zAngle = Radian(0.0f);  // Any angle works
            yAngle = angle - zAngle;

            return false;
        }
    }

	bool Matrix3::toEulerAngles(Radian& xAngle, Radian& yAngle, Radian& zAngle, EulerAngleOrder order) const
	{
		const EulerAngleOrderData& l = EA_LOOKUP[(int)order];

		xAngle = Radian(Math::asin(l.sign * m[l.a][l.c]));
		if (xAngle < Radian(Math::HALF_PI))
		{
			if (xAngle > Radian(-Math::HALF_PI))
			{
				yAngle = Math::atan2(-l.sign * m[l.b][l.c], m[l.c][l.c]);
				zAngle = Math::atan2(-l.sign * m[l.a][l.b], m[l.a][l.a]);

				return true;
			}
			else
			{
				// WARNING.  Not a unique solution.
				Radian angle = Math::atan2(l.sign * m[l.b][l.a], m[l.b][l.b]);
				zAngle = Radian(0.0f);  // Any angle works
				yAngle = zAngle - angle;

				return false;
			}
		}
		else
		{
			// WARNING.  Not a unique solution.
			Radian angle = Math::atan2(l.sign * m[l.b][l.a], m[l.b][l.b]);
			zAngle = Radian(0.0f);  // Any angle works
			yAngle = angle - zAngle;

			return false;
		}
	}

    void Matrix3::fromEulerAngles(const Radian& xAngle, const Radian& yAngle, const Radian& zAngle)
    {
        float cos, sin;

        cos = Math::cos(yAngle);
        sin = Math::sin(yAngle);
        Matrix3 xMat(1.0f, 0.0f, 0.0f, 0.0f, cos, -sin, 0.0f, sin, cos);

        cos = Math::cos(xAngle);
        sin = Math::sin(xAngle);
        Matrix3 yMat(cos, 0.0f, sin, 0.0f, 1.0f, 0.0f, -sin, 0.0f, cos);

        cos = Math::cos(zAngle);
        sin = Math::sin(zAngle);
        Matrix3 zMat(cos,-sin, 0.0f, sin, cos, 0.0f, 0.0f, 0.0f, 1.0f);

        *this = xMat*(yMat*zMat);
    }

	void Matrix3::fromEulerAngles(const Radian& xAngle, const Radian& yAngle, const Radian& zAngle, EulerAngleOrder order)
	{
		const EulerAngleOrderData& l = EA_LOOKUP[(int)order];

		Matrix3 mats[3];
		float cos, sin;

		cos = Math::cos(yAngle);
		sin = Math::sin(yAngle);
		mats[0] = Matrix3(1.0f, 0.0f, 0.0f, 0.0f, cos, -sin, 0.0f, sin, cos);

		cos = Math::cos(xAngle);
		sin = Math::sin(xAngle);
		mats[1] = Matrix3(cos, 0.0f, sin, 0.0f, 1.0f, 0.0f, -sin, 0.0f, cos);

		cos = Math::cos(zAngle);
		sin = Math::sin(zAngle);
		mats[2] = Matrix3(cos,-sin, 0.0f, sin, cos, 0.0f, 0.0f, 0.0f, 1.0f);
	
		*this = mats[l.a]*(mats[l.b]*mats[l.c]);
	}

    void Matrix3::tridiagonal(float diag[3], float subDiag[3])
    {
        // Householder reduction T = Q^t M Q
        //   Input:
        //     mat, symmetric 3x3 matrix M
        //   Output:
        //     mat, orthogonal matrix Q
        //     diag, diagonal entries of T
        //     subd, subdiagonal entries of T (T is symmetric)

        float fA = m[0][0];
        float fB = m[0][1];
        float fC = m[0][2];
        float fD = m[1][1];
        float fE = m[1][2];
        float fF = m[2][2];

        diag[0] = fA;
        subDiag[2] = 0.0;
        if (Math::abs(fC) >= EPSILON)
        {
            float length = Math::sqrt(fB*fB+fC*fC);
            float invLength = 1.0f/length;
            fB *= invLength;
            fC *= invLength;
            float fQ = 2.0f*fB*fE+fC*(fF-fD);
            diag[1] = fD+fC*fQ;
            diag[2] = fF-fC*fQ;
            subDiag[0] = length;
            subDiag[1] = fE-fB*fQ;
            m[0][0] = 1.0;
            m[0][1] = 0.0;
            m[0][2] = 0.0;
            m[1][0] = 0.0;
            m[1][1] = fB;
            m[1][2] = fC;
            m[2][0] = 0.0;
            m[2][1] = fC;
            m[2][2] = -fB;
        }
        else
        {
            diag[1] = fD;
            diag[2] = fF;
            subDiag[0] = fB;
            subDiag[1] = fE;
            m[0][0] = 1.0;
            m[0][1] = 0.0;
            m[0][2] = 0.0;
            m[1][0] = 0.0;
            m[1][1] = 1.0;
            m[1][2] = 0.0;
            m[2][0] = 0.0;
            m[2][1] = 0.0;
            m[2][2] = 1.0;
        }
    }

    bool Matrix3::QLAlgorithm(float diag[3], float subDiag[3])
    {
        // QL iteration with implicit shifting to reduce matrix from tridiagonal to diagonal

        for (int i = 0; i < 3; i++)
        {
            const unsigned int maxIter = 32;
            unsigned int iter;
            for (iter = 0; iter < maxIter; iter++)
            {
                int j;
                for (j = i; j <= 1; j++)
                {
                    float sum = Math::abs(diag[j]) + Math::abs(diag[j+1]);

                    if (Math::abs(subDiag[j]) + sum == sum)
                        break;
                }

                if (j == i)
                    break;

                float tmp0 = (diag[i+1]-diag[i])/(2.0f*subDiag[i]);
                float tmp1 = Math::sqrt(tmp0*tmp0+1.0f);

                if (tmp0 < 0.0f)
                    tmp0 = diag[j]-diag[i]+subDiag[i]/(tmp0-tmp1);
                else
                    tmp0 = diag[j]-diag[i]+subDiag[i]/(tmp0+tmp1);

                float sin = 1.0f;
                float cos = 1.0f;
                float tmp2 = 0.0f;
                for (int k = j-1; k >= i; k--)
                {
                    float tmp3 = sin*subDiag[k];
                    float tmp4 = cos*subDiag[k];

                    if (Math::abs(tmp3) >= Math::abs(tmp0))
                    {
                        cos = tmp0/tmp3;
                        tmp1 = Math::sqrt(cos*cos+1.0f);
                        subDiag[k+1] = tmp3*tmp1;
                        sin = 1.0f/tmp1;
                        cos *= sin;
                    }
                    else
                    {
                        sin = tmp3/tmp0;
                        tmp1 = Math::sqrt(sin*sin+1.0f);
                        subDiag[k+1] = tmp0*tmp1;
                        cos = 1.0f/tmp1;
                        sin *= cos;
                    }

                    tmp0 = diag[k+1]-tmp2;
                    tmp1 = (diag[k]-tmp0)*sin+2.0f*tmp4*cos;
                    tmp2 = sin*tmp1;
                    diag[k+1] = tmp0+tmp2;
                    tmp0 = cos*tmp1-tmp4;

                    for (int row = 0; row < 3; row++)
                    {
                        tmp3 = m[row][k+1];
                        m[row][k+1] = sin*m[row][k] + cos*tmp3;
                        m[row][k] = cos*m[row][k] - sin*tmp3;
                    }
                }

                diag[i] -= tmp2;
                subDiag[i] = tmp0;
                subDiag[j] = 0.0;
            }

            if (iter == maxIter)
            {
                // Should not get here under normal circumstances
                return false;
            }
        }

        return true;
    }

    void Matrix3::eigenSolveSymmetric(float eigenValues[3], Vector3 eigenVectors[3]) const
    {
        Matrix3 mat = *this;
        float subDiag[3];
        mat.tridiagonal(eigenValues, subDiag);
        mat.QLAlgorithm(eigenValues, subDiag);

        for (UINT32 i = 0; i < 3; i++)
        {
            eigenVectors[i][0] = mat[0][i];
            eigenVectors[i][1] = mat[1][i];
            eigenVectors[i][2] = mat[2][i];
        }

        // Make eigenvectors form a right--handed system
        Vector3 cross = eigenVectors[1].cross(eigenVectors[2]);
        float det = eigenVectors[0].dot(cross);
        if (det < 0.0f)
        {
            eigenVectors[2][0] = -eigenVectors[2][0];
            eigenVectors[2][1] = -eigenVectors[2][1];
            eigenVectors[2][2] = -eigenVectors[2][2];
        }
    }
}