Matrix3D.hpp

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/* *****************************************************************
    MESQUITE -- The Mesh Quality Improvement Toolkit

    Copyright 2004 Sandia Corporation and Argonne National
    Laboratory.  Under the terms of Contract DE-AC04-94AL85000
    with Sandia Corporation, the U.S. Government retains certain
    rights in this software.

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public License
    (lgpl.txt) along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    diachin2@llnl.gov, djmelan@sandia.gov, mbrewer@sandia.gov,
    pknupp@sandia.gov, tleurent@mcs.anl.gov, tmunson@mcs.anl.gov

  ***************************************************************** */
//
//    AUTHOR: Thomas Leurent <tleurent@mcs.anl.gov>
//       ORG: Argonne National Laboratory
//    E-MAIL: tleurent@mcs.anl.gov
//
// ORIG-DATE: 18-Dec-02 at 11:08:22
//  LAST-MOD: 27-May-04 at 14:48:56 by Thomas Leurent
//
// DESCRIPTION:
// ============
/*! \file Matrix3D.hpp

3*3 Matric class, row-oriented, 0-based [i][j] indexing.

 \author Thomas Leurent

*/
// DESCRIP-END.
//

#ifndef Matrix3D_hpp
#define Matrix3D_hpp

#include <iostream>
#include <sstream>
#include <cstdlib>

#include "Mesquite.hpp"
#include "Vector3D.hpp"
#include "SymMatrix3D.hpp"

namespace MBMesquite
{

/*! \class Matrix3D
    \brief 3*3 Matric class, row-oriented, 0-based [i][j] indexing.

    Since the size of the object is fixed at compile time, the Matrix3D
    object is as fast as a double[9] array.
*/
class MESQUITE_EXPORT Matrix3D
{
  protected:
    double v_[9];

    void copy( const double* v )
    {
        v_[0] = v[0];
        v_[1] = v[1];
        v_[2] = v[2];
        v_[3] = v[3];
        v_[4] = v[4];
        v_[5] = v[5];
        v_[6] = v[6];
        v_[7] = v[7];
        v_[8] = v[8];
    }

    void set( double val )
    {
        v_[0] = val;
        v_[1] = val;
        v_[2] = val;
        v_[3] = val;
        v_[4] = val;
        v_[5] = val;
        v_[6] = val;
        v_[7] = val;
        v_[8] = val;
    }

    inline void set_values( const char* s );

  public:
    // constructors
    //! Default constructor sets all entries to 0.
    Matrix3D()
    {
        zero();
    }

    Matrix3D( const Matrix3D& A )
    {
        copy( A.v_ );
    }

    //! sets all entries of the matrix to value.
    Matrix3D( double value )
    {
        set( value );
    }

    Matrix3D( double a00,
              double a01,
              double a02,
              double a10,
              double a11,
              double a12,
              double a20,
              double a21,
              double a22 )
    {
        v_[0] = a00;
        v_[1] = a01;
        v_[2] = a02;
        v_[3] = a10;
        v_[4] = a11;
        v_[5] = a12;
        v_[6] = a20;
        v_[7] = a21;
        v_[8] = a22;
    }

    Matrix3D( const Vector3D& col1, const Vector3D& col2, const Vector3D& col3 )
    {
        set_column( 0, col1 );
        set_column( 1, col2 );
        set_column( 2, col3 );
    }

    Matrix3D( double radians, const Vector3D& axis )
    {
        Vector3D v( axis );
        v.normalize();
        const double c = std::cos( radians );
        const double s = std::sin( radians );
        v_[0]          = c + ( 1.0 - c ) * v[0] * v[0];
        v_[1]          = -v[2] * s + ( 1.0 - c ) * v[0] * v[1];
        v_[2]          = v[1] * s + ( 1.0 - c ) * v[0] * v[2];
        v_[3]          = v[2] * s + ( 1.0 - c ) * v[0] * v[1];
        v_[4]          = c + ( 1.0 - c ) * v[1] * v[1];
        v_[5]          = -v[0] * s + ( 1.0 - c ) * v[1] * v[2];
        v_[6]          = -v[1] * s + ( 1.0 - c ) * v[0] * v[2];
        v_[7]          = v[0] * s + ( 1.0 - c ) * v[1] * v[2];
        v_[8]          = c + ( 1.0 - c ) * v[2] * v[2];
    }

    //! sets matrix entries to values in array.
    //! \param v is an array of 9 doubles.
    Matrix3D( const double* v )
    {
        copy( v );
    }

    //! for test purposes, matrices can be instantiated as
    //! \code Matrix3D A("3 2 1  4 5 6  9 8 7"); \endcode
    Matrix3D( const char* s )
    {
        set_values( s );
    }

    Matrix3D( const SymMatrix3D& m )
    {
        *this = m;
    }

    // destructor
    ~Matrix3D() {}

    // assignments
    Matrix3D& operator=( const Matrix3D& A )
    {
        copy( A.v_ );
        return *this;
    }

    Matrix3D& operator=( const SymMatrix3D& m )
    {
        v_[0] = m[0];
        v_[1] = v_[3] = m[1];
        v_[2] = v_[6] = m[2];
        v_[4]         = m[3];
        v_[5] = v_[7] = m[4];
        v_[8]         = m[5];
        return *this;
    }

    Matrix3D& operator=( double scalar )
    {
        set( scalar );
        return *this;
    }

    //! for test purposes, matrices can be assigned as follows
    //! \code A = "3 2 1  4 5 6  9 8 7"; \endcode
    Matrix3D& operator=( const char* s )
    {
        set_values( s );
        return *this;
    }

    //! Sets all entries to zero (more efficient than assignement).
    void zero()
    {
        v_[0] = 0.;
        v_[1] = 0.;
        v_[2] = 0.;
        v_[3] = 0.;
        v_[4] = 0.;
        v_[5] = 0.;
        v_[6] = 0.;
        v_[7] = 0.;
        v_[8] = 0.;
    }

    void identity()
    {
        v_[0] = 1.;
        v_[1] = 0.;
        v_[2] = 0.;
        v_[3] = 0.;
        v_[4] = 1.;
        v_[5] = 0.;
        v_[6] = 0.;
        v_[7] = 0.;
        v_[8] = 1.;
    }

    //! Sets column j (0, 1 or 2) to Vector3D c.
    void set_column( int j, const Vector3D& c )
    {
        v_[0 + j] = c[0];
        v_[3 + j] = c[1];
        v_[6 + j] = c[2];
    }

    //! returns the column length -- i is 0-based.
    double column_length( int i ) const
    {
        return sqrt( v_[0 + i] * v_[0 + i] + v_[3 + i] * v_[3 + i] + v_[6 + i] * v_[6 + i] );
    }

    double sub_det( int r, int c ) const
    {
        int r1 = 3 * ( ( r + 1 ) % 3 );
        int r2 = 3 * ( ( r + 2 ) % 3 );
        int c1 = ( ( c + 1 ) % 3 );
        int c2 = ( ( c + 2 ) % 3 );
        return v_[r1 + c1] * v_[r2 + c2] - v_[r2 + c1] * v_[r1 + c2];
    }

    // Matrix Operators
    friend bool operator==( const Matrix3D& lhs, const Matrix3D& rhs );
    friend bool operator!=( const Matrix3D& lhs, const Matrix3D& rhs );
    friend Matrix3D operator-( const Matrix3D& A );
    friend double Frobenius_2( const Matrix3D& A );
    friend Matrix3D transpose( const Matrix3D& A );
    inline Matrix3D& transpose();
    friend const Matrix3D operator+( const Matrix3D& A, const Matrix3D& B );
    friend const Matrix3D operator-( const Matrix3D& A, const Matrix3D& B );
    friend const Matrix3D operator*( const Matrix3D& A, const Matrix3D& B );
    inline Matrix3D& equal_mult_elem( const Matrix3D& A );
    friend const Matrix3D mult_element( const Matrix3D& A, const Matrix3D& B );
    inline Matrix3D& assign_product( const Matrix3D& A, const Matrix3D& B );
    friend void matmult( Matrix3D& C, const Matrix3D& A, const Matrix3D& B );
    friend const Vector3D operator*( const Matrix3D& A, const Vector3D& x );
    friend const Vector3D operator*( const Vector3D& x, const Matrix3D& A );
    const Matrix3D operator*( double s ) const;
    friend const Matrix3D operator*( double s, const Matrix3D& A );
    void operator+=( const Matrix3D& rhs );
    void operator+=( const SymMatrix3D& rhs );
    void operator-=( const Matrix3D& rhs );
    void operator-=( const SymMatrix3D& rhs );
    void operator*=( double s );
    friend Matrix3D plus_transpose( const Matrix3D& A, const Matrix3D& B );
    Matrix3D& plus_transpose_equal( const Matrix3D& B );
    Matrix3D& outer_product( const Vector3D& v1, const Vector3D& v2 );
    void fill_lower_triangle();

    //! \f$ v = A*x \f$
    friend void eqAx( Vector3D& v, const Matrix3D& A, const Vector3D& x );
    //! \f$ v += A*x \f$
    friend void plusEqAx( Vector3D& v, const Matrix3D& A, const Vector3D& x );
    friend void eqTransAx( Vector3D& v, const Matrix3D& A, const Vector3D& x );
    //! \f$ v += A^T*x \f$
    friend void plusEqTransAx( Vector3D& v, const Matrix3D& A, const Vector3D& x );

    //! \f$ B += a*A \f$
    friend void plusEqaA( Matrix3D& B, const double a, const Matrix3D& A );

    //! determinant of matrix A, det(A).
    friend double det( const Matrix3D& A );

    //! \f$ B = A^{-1} \f$
    friend void inv( Matrix3D& B, const Matrix3D& A );

    //! \f$ B *= A^{-1} \f$
    friend void timesInvA( Matrix3D& B, const Matrix3D& A );

    //! \f$ Q*R = A \f$
    friend void QR( Matrix3D& Q, Matrix3D& R, const Matrix3D& A );

    size_t num_rows() const
    {
        return 3;
    }
    size_t num_cols() const
    {
        return 3;
    }

    //! returns a pointer to a row.
    inline double* operator[]( unsigned i )
    {
        return v_ + 3 * i;
    }

    //! returns a pointer to a row.
    inline const double* operator[]( unsigned i ) const
    {
        return v_ + 3 * i;
    }

    inline double& operator()( unsigned short r, unsigned short c )
    {
        return v_[3 * r + c];
    }
    inline double operator()( unsigned short r, unsigned short c ) const
    {
        return v_[3 * r + c];
    }

    inline Vector3D row( unsigned r ) const
    {
        return Vector3D( v_ + 3 * r );
    }

    inline Vector3D column( unsigned c ) const
    {
        return Vector3D( v_[c], v_[c + 3], v_[c + 6] );
    }

    inline bool positive_definite() const;

    inline SymMatrix3D upper() const
    {
        return SymMatrix3D( v_[0], v_[1], v_[2], v_[4], v_[5], v_[8] );
    }
    inline SymMatrix3D lower() const
    {
        return SymMatrix3D( v_[0], v_[3], v_[6], v_[4], v_[7], v_[8] );
    }
};

/* ***********  I/O  **************/

inline std::ostream& operator<<( std::ostream& s, const Matrix3D& A )
{
    for( size_t i = 0; i < 3; ++i )
    {
        for( size_t j = 0; j < 3; ++j )
            s << A[i][j] << " ";
        s << "\n";
    }
    return s;
}

inline std::istream& operator>>( std::istream& s, Matrix3D& A )
{
    for( size_t i = 0; i < 3; i++ )
        for( size_t j = 0; j < 3; j++ )
        {
            s >> A[i][j];
        }
    return s;
}

void Matrix3D::set_values( const char* s )
{
    std::istringstream ins( s );
    ins >> *this;
}

// *********** matrix operators *******************

// comparison functions
inline bool operator==( const Matrix3D& lhs, const Matrix3D& rhs )
{
    return lhs.v_[0] == rhs.v_[0] && lhs.v_[1] == rhs.v_[1] && lhs.v_[2] == rhs.v_[2] && lhs.v_[3] == rhs.v_[3] &&
           lhs.v_[4] == rhs.v_[4] && lhs.v_[5] == rhs.v_[5] && lhs.v_[6] == rhs.v_[6] && lhs.v_[7] == rhs.v_[7] &&
           lhs.v_[8] == rhs.v_[8];
}
inline bool operator!=( const Matrix3D& lhs, const Matrix3D& rhs )
{
    return !( lhs == rhs );
}

inline Matrix3D operator-( const Matrix3D& A )
{
    return Matrix3D( -A.v_[0], -A.v_[1], -A.v_[2], -A.v_[3], -A.v_[4], -A.v_[5], -A.v_[6], -A.v_[7], -A.v_[8] );
}

//! \return A+B
inline const Matrix3D operator+( const Matrix3D& A, const Matrix3D& B )
{
    Matrix3D tmp( A );
    tmp += B;
    return tmp;
}

inline Matrix3D operator+( const Matrix3D& A, const SymMatrix3D& B )
{
    return Matrix3D( A( 0, 0 ) + B[SymMatrix3D::T00], A( 0, 1 ) + B[SymMatrix3D::T01], A( 0, 2 ) + B[SymMatrix3D::T02],
                     A( 1, 0 ) + B[SymMatrix3D::T10], A( 1, 1 ) + B[SymMatrix3D::T11], A( 1, 2 ) + B[SymMatrix3D::T12],
                     A( 2, 0 ) + B[SymMatrix3D::T20], A( 2, 1 ) + B[SymMatrix3D::T21],
                     A( 2, 2 ) + B[SymMatrix3D::T22] );
}
inline Matrix3D operator+( const SymMatrix3D& B, const Matrix3D& A )
{
    return A + B;
}

//! \return A-B
inline const Matrix3D operator-( const Matrix3D& A, const Matrix3D& B )
{
    Matrix3D tmp( A );
    tmp -= B;
    return tmp;
}

inline Matrix3D operator-( const Matrix3D& A, const SymMatrix3D& B )
{
    return Matrix3D( A( 0, 0 ) - B[SymMatrix3D::T00], A( 0, 1 ) - B[SymMatrix3D::T01], A( 0, 2 ) - B[SymMatrix3D::T02],
                     A( 1, 0 ) - B[SymMatrix3D::T10], A( 1, 1 ) - B[SymMatrix3D::T11], A( 1, 2 ) - B[SymMatrix3D::T12],
                     A( 2, 0 ) - B[SymMatrix3D::T20], A( 2, 1 ) - B[SymMatrix3D::T21],
                     A( 2, 2 ) - B[SymMatrix3D::T22] );
}
inline Matrix3D operator-( const SymMatrix3D& B, const Matrix3D& A )
{
    return Matrix3D( B[SymMatrix3D::T00] - A( 0, 0 ), B[SymMatrix3D::T01] - A( 0, 1 ), B[SymMatrix3D::T02] - A( 0, 2 ),
                     B[SymMatrix3D::T10] - A( 1, 0 ), B[SymMatrix3D::T11] - A( 1, 1 ), B[SymMatrix3D::T12] - A( 1, 2 ),
                     B[SymMatrix3D::T20] - A( 2, 0 ), B[SymMatrix3D::T21] - A( 2, 1 ),
                     B[SymMatrix3D::T22] - A( 2, 2 ) );
}

inline Matrix3D& Matrix3D::equal_mult_elem( const Matrix3D& A )
{
    v_[0] *= A.v_[0];
    v_[1] *= A.v_[1];
    v_[2] *= A.v_[2];
    v_[3] *= A.v_[3];
    v_[4] *= A.v_[4];
    v_[5] *= A.v_[5];
    v_[6] *= A.v_[6];
    v_[7] *= A.v_[7];
    v_[8] *= A.v_[8];
    return *this;
}

//! Multiplies entry by entry. This is NOT a matrix multiplication.
inline const Matrix3D mult_element( const Matrix3D& A, const Matrix3D& B )
{
    Matrix3D tmp( A );
    tmp.equal_mult_elem( B );
    return tmp;
}

//! Return the square of the Frobenius norm of A, i.e. sum (diag (A' * A))
inline double Frobenius_2( const Matrix3D& A )
{
    return A.v_[0] * A.v_[0] + A.v_[1] * A.v_[1] + A.v_[2] * A.v_[2] + A.v_[3] * A.v_[3] + A.v_[4] * A.v_[4] +
           A.v_[5] * A.v_[5] + A.v_[6] * A.v_[6] + A.v_[7] * A.v_[7] + A.v_[8] * A.v_[8];
}

inline Matrix3D& Matrix3D::transpose()
{
    double t;
    t     = v_[1];
    v_[1] = v_[3];
    v_[3] = t;
    t     = v_[2];
    v_[2] = v_[6];
    v_[6] = t;
    t     = v_[5];
    v_[5] = v_[7];
    v_[7] = t;
    return *this;
}

inline Matrix3D transpose( const Matrix3D& A )
{
    Matrix3D S;
    //     size_t i;
    //     for (i=0; i<3; ++i) {
    //         S[size_t(0)][i] = A[i][0];
    //         S[size_t(1)][i] = A[i][1];
    //         S[size_t(2)][i] = A[i][2];
    //     }
    S.v_[0] = A.v_[0];
    S.v_[1] = A.v_[3];
    S.v_[2] = A.v_[6];
    S.v_[3] = A.v_[1];
    S.v_[4] = A.v_[4];
    S.v_[5] = A.v_[7];
    S.v_[6] = A.v_[2];
    S.v_[7] = A.v_[5];
    S.v_[8] = A.v_[8];

    return S;
}

inline void Matrix3D::operator+=( const Matrix3D& rhs )
{
    v_[0] += rhs.v_[0];
    v_[1] += rhs.v_[1];
    v_[2] += rhs.v_[2];
    v_[3] += rhs.v_[3];
    v_[4] += rhs.v_[4];
    v_[5] += rhs.v_[5];
    v_[6] += rhs.v_[6];
    v_[7] += rhs.v_[7];
    v_[8] += rhs.v_[8];
}

inline void Matrix3D::operator+=( const SymMatrix3D& rhs )
{
    v_[0] += rhs[0];
    v_[1] += rhs[1];
    v_[2] += rhs[2];
    v_[3] += rhs[1];
    v_[4] += rhs[3];
    v_[5] += rhs[4];
    v_[6] += rhs[2];
    v_[7] += rhs[4];
    v_[8] += rhs[5];
}

inline void Matrix3D::operator-=( const Matrix3D& rhs )
{
    v_[0] -= rhs.v_[0];
    v_[1] -= rhs.v_[1];
    v_[2] -= rhs.v_[2];
    v_[3] -= rhs.v_[3];
    v_[4] -= rhs.v_[4];
    v_[5] -= rhs.v_[5];
    v_[6] -= rhs.v_[6];
    v_[7] -= rhs.v_[7];
    v_[8] -= rhs.v_[8];
}

inline void Matrix3D::operator-=( const SymMatrix3D& rhs )
{
    v_[0] -= rhs[0];
    v_[1] -= rhs[1];
    v_[2] -= rhs[2];
    v_[3] -= rhs[1];
    v_[4] -= rhs[3];
    v_[5] -= rhs[4];
    v_[6] -= rhs[2];
    v_[7] -= rhs[4];
    v_[8] -= rhs[5];
}

//! multiplies each entry by the scalar s
inline void Matrix3D::operator*=( double s )
{
    v_[0] *= s;
    v_[1] *= s;
    v_[2] *= s;
    v_[3] *= s;
    v_[4] *= s;
    v_[5] *= s;
    v_[6] *= s;
    v_[7] *= s;
    v_[8] *= s;
}

//! \f$ += B^T  \f$
inline Matrix3D& Matrix3D::plus_transpose_equal( const Matrix3D& b )
{
    if( &b == this )
    {
        v_[0] *= 2.0;
        v_[1] += v_[3];
        v_[2] += v_[6];
        v_[3] = v_[1];
        v_[4] *= 2.0;
        v_[5] += v_[7];
        v_[6] = v_[2];
        v_[7] = v_[5];
        v_[8] *= 2.0;
    }
    else
    {
        v_[0] += b.v_[0];
        v_[1] += b.v_[3];
        v_[2] += b.v_[6];

        v_[3] += b.v_[1];
        v_[4] += b.v_[4];
        v_[5] += b.v_[7];

        v_[6] += b.v_[2];
        v_[7] += b.v_[5];
        v_[8] += b.v_[8];
    }
    return *this;
}

//! \f$ + B^T  \f$
inline Matrix3D plus_transpose( const Matrix3D& A, const Matrix3D& B )
{
    Matrix3D tmp( A );
    tmp.plus_transpose_equal( B );
    return tmp;
}

//! Computes \f$ A = v_1 v_2^T \f$
inline Matrix3D& Matrix3D::outer_product( const Vector3D& v1, const Vector3D& v2 )
{
    // remember, matrix entries are v_[0] to v_[8].

    // diagonal
    v_[0] = v1[0] * v2[0];
    v_[4] = v1[1] * v2[1];
    v_[8] = v1[2] * v2[2];

    // upper triangular part
    v_[1] = v1[0] * v2[1];
    v_[2] = v1[0] * v2[2];
    v_[5] = v1[1] * v2[2];

    // lower triangular part
    v_[3] = v2[0] * v1[1];
    v_[6] = v2[0] * v1[2];
    v_[7] = v2[1] * v1[2];

    return *this;
}

inline void Matrix3D::fill_lower_triangle()
{
    v_[3] = v_[1];
    v_[6] = v_[2];
    v_[7] = v_[5];
}

//! \return A*B
inline const Matrix3D operator*( const Matrix3D& A, const Matrix3D& B )
{
    Matrix3D tmp;
    tmp.assign_product( A, B );
    return tmp;
}

inline const Matrix3D operator*( const Matrix3D& A, const SymMatrix3D& B )
{
    return Matrix3D(
        A( 0, 0 ) * B[0] + A( 0, 1 ) * B[1] + A( 0, 2 ) * B[2], A( 0, 0 ) * B[1] + A( 0, 1 ) * B[3] + A( 0, 2 ) * B[4],
        A( 0, 0 ) * B[2] + A( 0, 1 ) * B[4] + A( 0, 2 ) * B[5],

        A( 1, 0 ) * B[0] + A( 1, 1 ) * B[1] + A( 1, 2 ) * B[2], A( 1, 0 ) * B[1] + A( 1, 1 ) * B[3] + A( 1, 2 ) * B[4],
        A( 1, 0 ) * B[2] + A( 1, 1 ) * B[4] + A( 1, 2 ) * B[5],

        A( 2, 0 ) * B[0] + A( 2, 1 ) * B[1] + A( 2, 2 ) * B[2], A( 2, 0 ) * B[1] + A( 2, 1 ) * B[3] + A( 2, 2 ) * B[4],
        A( 2, 0 ) * B[2] + A( 2, 1 ) * B[4] + A( 2, 2 ) * B[5] );
}

inline const Matrix3D operator*( const SymMatrix3D& B, const Matrix3D& A )
{
    return Matrix3D(
        A( 0, 0 ) * B[0] + A( 1, 0 ) * B[1] + A( 2, 0 ) * B[2], A( 0, 1 ) * B[0] + A( 1, 1 ) * B[1] + A( 2, 1 ) * B[2],
        A( 0, 2 ) * B[0] + A( 1, 2 ) * B[1] + A( 2, 2 ) * B[2],

        A( 0, 0 ) * B[1] + A( 1, 0 ) * B[3] + A( 2, 0 ) * B[4], A( 0, 1 ) * B[1] + A( 1, 1 ) * B[3] + A( 2, 1 ) * B[4],
        A( 0, 2 ) * B[1] + A( 1, 2 ) * B[3] + A( 2, 2 ) * B[4],

        A( 0, 0 ) * B[2] + A( 1, 0 ) * B[4] + A( 2, 0 ) * B[5], A( 0, 1 ) * B[2] + A( 1, 1 ) * B[4] + A( 2, 1 ) * B[5],
        A( 0, 2 ) * B[2] + A( 1, 2 ) * B[4] + A( 2, 2 ) * B[5] );
}

inline const Matrix3D operator*( const SymMatrix3D& a, const SymMatrix3D& b )
{
    return Matrix3D( a[0] * b[0] + a[1] * b[1] + a[2] * b[2], a[0] * b[1] + a[1] * b[3] + a[2] * b[4],
                     a[0] * b[2] + a[1] * b[4] + a[2] * b[5],

                     a[1] * b[0] + a[3] * b[1] + a[4] * b[2], a[1] * b[1] + a[3] * b[3] + a[4] * b[4],
                     a[1] * b[2] + a[3] * b[4] + a[4] * b[5],

                     a[2] * b[0] + a[4] * b[1] + a[5] * b[2], a[2] * b[1] + a[4] * b[3] + a[5] * b[4],
                     a[2] * b[2] + a[4] * b[4] + a[5] * b[5] );
}

//! multiplies each entry by the scalar s
inline const Matrix3D Matrix3D::operator*( double s ) const
{
    Matrix3D temp( *this );
    temp *= s;
    return temp;
}
//! friend function to allow for commutatative property of
//! scalar mulitplication.
inline const Matrix3D operator*( double s, const Matrix3D& A )
{
    return ( A.operator*( s ) );
}

inline Matrix3D& Matrix3D::assign_product( const Matrix3D& A, const Matrix3D& B )
{
    v_[0] = A.v_[0] * B.v_[0] + A.v_[1] * B.v_[3] + A.v_[2] * B.v_[6];
    v_[1] = A.v_[0] * B.v_[1] + A.v_[1] * B.v_[4] + A.v_[2] * B.v_[7];
    v_[2] = A.v_[0] * B.v_[2] + A.v_[1] * B.v_[5] + A.v_[2] * B.v_[8];
    v_[3] = A.v_[3] * B.v_[0] + A.v_[4] * B.v_[3] + A.v_[5] * B.v_[6];
    v_[4] = A.v_[3] * B.v_[1] + A.v_[4] * B.v_[4] + A.v_[5] * B.v_[7];
    v_[5] = A.v_[3] * B.v_[2] + A.v_[4] * B.v_[5] + A.v_[5] * B.v_[8];
    v_[6] = A.v_[6] * B.v_[0] + A.v_[7] * B.v_[3] + A.v_[8] * B.v_[6];
    v_[7] = A.v_[6] * B.v_[1] + A.v_[7] * B.v_[4] + A.v_[8] * B.v_[7];
    v_[8] = A.v_[6] * B.v_[2] + A.v_[7] * B.v_[5] + A.v_[8] * B.v_[8];
    return *this;
}

//! \f$ C = A \times B \f$
inline void matmult( Matrix3D& C, const Matrix3D& A, const Matrix3D& B )
{
    C.assign_product( A, B );
}

/*! \brief Computes \f$ A v \f$ . */
inline const Vector3D operator*( const Matrix3D& A, const Vector3D& x )
{
    Vector3D tmp;
    eqAx( tmp, A, x );
    return tmp;
}

/*! \brief Computes \f$ v^T A \f$ .

    This function implicitly considers the transpose of vector x times
    the matrix A and it is implicit that the returned vector must be
    transposed. */
inline const Vector3D operator*( const Vector3D& x, const Matrix3D& A )
{
    Vector3D tmp;
    eqTransAx( tmp, A, x );
    return tmp;
}

inline void eqAx( Vector3D& v, const Matrix3D& A, const Vector3D& x )
{
    v.mCoords[0] = A.v_[0] * x[0] + A.v_[1] * x.mCoords[1] + A.v_[2] * x.mCoords[2];
    v.mCoords[1] = A.v_[3] * x[0] + A.v_[4] * x.mCoords[1] + A.v_[5] * x.mCoords[2];
    v.mCoords[2] = A.v_[6] * x[0] + A.v_[7] * x.mCoords[1] + A.v_[8] * x.mCoords[2];
}

inline void plusEqAx( Vector3D& v, const Matrix3D& A, const Vector3D& x )
{
    v.mCoords[0] += A.v_[0] * x[0] + A.v_[1] * x.mCoords[1] + A.v_[2] * x.mCoords[2];
    v.mCoords[1] += A.v_[3] * x[0] + A.v_[4] * x.mCoords[1] + A.v_[5] * x.mCoords[2];
    v.mCoords[2] += A.v_[6] * x[0] + A.v_[7] * x.mCoords[1] + A.v_[8] * x.mCoords[2];
}

inline void eqTransAx( Vector3D& v, const Matrix3D& A, const Vector3D& x )
{
    v.mCoords[0] = A.v_[0] * x.mCoords[0] + A.v_[3] * x.mCoords[1] + A.v_[6] * x.mCoords[2];
    v.mCoords[1] = A.v_[1] * x.mCoords[0] + A.v_[4] * x.mCoords[1] + A.v_[7] * x.mCoords[2];
    v.mCoords[2] = A.v_[2] * x.mCoords[0] + A.v_[5] * x.mCoords[1] + A.v_[8] * x.mCoords[2];
}

inline void plusEqTransAx( Vector3D& v, const Matrix3D& A, const Vector3D& x )
{
    v.mCoords[0] += A.v_[0] * x.mCoords[0] + A.v_[3] * x.mCoords[1] + A.v_[6] * x.mCoords[2];
    v.mCoords[1] += A.v_[1] * x.mCoords[0] + A.v_[4] * x.mCoords[1] + A.v_[7] * x.mCoords[2];
    v.mCoords[2] += A.v_[2] * x.mCoords[0] + A.v_[5] * x.mCoords[1] + A.v_[8] * x.mCoords[2];
}

inline void plusEqaA( Matrix3D& B, const double a, const Matrix3D& A )
{
    B.v_[0] += a * A.v_[0];
    B.v_[1] += a * A.v_[1];
    B.v_[2] += a * A.v_[2];
    B.v_[3] += a * A.v_[3];
    B.v_[4] += a * A.v_[4];
    B.v_[5] += a * A.v_[5];
    B.v_[6] += a * A.v_[6];
    B.v_[7] += a * A.v_[7];
    B.v_[8] += a * A.v_[8];
}

inline double det( const Matrix3D& A )
{
    return ( A.v_[0] * ( A.v_[4] * A.v_[8] - A.v_[7] * A.v_[5] ) - A.v_[1] * ( A.v_[3] * A.v_[8] - A.v_[6] * A.v_[5] ) +
             A.v_[2] * ( A.v_[3] * A.v_[7] - A.v_[6] * A.v_[4] ) );
}

inline void inv( Matrix3D& Ainv, const Matrix3D& A )
{
    double inv_detA = 1.0 / ( det( A ) );
    // First row of Ainv
    Ainv.v_[0] = inv_detA * ( A.v_[4] * A.v_[8] - A.v_[5] * A.v_[7] );
    Ainv.v_[1] = inv_detA * ( A.v_[2] * A.v_[7] - A.v_[8] * A.v_[1] );
    Ainv.v_[2] = inv_detA * ( A.v_[1] * A.v_[5] - A.v_[4] * A.v_[2] );
    // Second row of Ainv
    Ainv.v_[3] = inv_detA * ( A.v_[5] * A.v_[6] - A.v_[8] * A.v_[3] );
    Ainv.v_[4] = inv_detA * ( A.v_[0] * A.v_[8] - A.v_[6] * A.v_[2] );
    Ainv.v_[5] = inv_detA * ( A.v_[2] * A.v_[3] - A.v_[5] * A.v_[0] );
    // Third row of Ainv
    Ainv.v_[6] = inv_detA * ( A.v_[3] * A.v_[7] - A.v_[6] * A.v_[4] );
    Ainv.v_[7] = inv_detA * ( A.v_[1] * A.v_[6] - A.v_[7] * A.v_[0] );
    Ainv.v_[8] = inv_detA * ( A.v_[0] * A.v_[4] - A.v_[3] * A.v_[1] );
}

inline void timesInvA( Matrix3D& B, const Matrix3D& A )
{

    Matrix3D Ainv;
    inv( Ainv, A );
    B = B * Ainv;
}

inline void QR( Matrix3D& Q, Matrix3D& R, const Matrix3D& A )
{
    // Compute the QR factorization of A.  This code uses the
    // Modified Gram-Schmidt method for computing the factorization.
    // The Householder version is more stable, but costs twice as many
    // floating point operations.

    Q = A;

    R[0][0]         = sqrt( Q[0][0] * Q[0][0] + Q[1][0] * Q[1][0] + Q[2][0] * Q[2][0] );
    double temp_dbl = 1.0 / R[0][0];
    R[1][0]         = 0.0L;
    R[2][0]         = 0.0L;
    // Q[0][0] /= R[0][0];
    // Q[1][0] /= R[0][0];
    // Q[2][0] /= R[0][0];
    Q[0][0] *= temp_dbl;
    Q[1][0] *= temp_dbl;
    Q[2][0] *= temp_dbl;

    R[0][1] = Q[0][0] * Q[0][1] + Q[1][0] * Q[1][1] + Q[2][0] * Q[2][1];
    Q[0][1] -= Q[0][0] * R[0][1];
    Q[1][1] -= Q[1][0] * R[0][1];
    Q[2][1] -= Q[2][0] * R[0][1];

    R[0][2] = Q[0][0] * Q[0][2] + Q[1][0] * Q[1][2] + Q[2][0] * Q[2][2];
    Q[0][2] -= Q[0][0] * R[0][2];
    Q[1][2] -= Q[1][0] * R[0][2];
    Q[2][2] -= Q[2][0] * R[0][2];

    R[1][1]  = sqrt( Q[0][1] * Q[0][1] + Q[1][1] * Q[1][1] + Q[2][1] * Q[2][1] );
    temp_dbl = 1.0 / R[1][1];
    R[2][1]  = 0.0L;
    //     Q[0][1] /= R[1][1];
    //     Q[1][1] /= R[1][1];
    //     Q[2][1] /= R[1][1];
    Q[0][1] *= temp_dbl;
    Q[1][1] *= temp_dbl;
    Q[2][1] *= temp_dbl;

    R[1][2] = Q[0][1] * Q[0][2] + Q[1][1] * Q[1][2] + Q[2][1] * Q[2][2];
    Q[0][2] -= Q[0][1] * R[1][2];
    Q[1][2] -= Q[1][1] * R[1][2];
    Q[2][2] -= Q[2][1] * R[1][2];

    R[2][2]  = sqrt( Q[0][2] * Q[0][2] + Q[1][2] * Q[1][2] + Q[2][2] * Q[2][2] );
    temp_dbl = 1.0 / R[2][2];

    //     Q[0][2] /= R[2][2];
    //     Q[1][2] /= R[2][2];
    //     Q[2][2] /= R[2][2];
    Q[0][2] *= temp_dbl;
    Q[1][2] *= temp_dbl;
    Q[2][2] *= temp_dbl;

    return;
}

inline bool Matrix3D::positive_definite() const
{
    // A = B + C
    // where
    // B = (A + transpose(A))/2
    // C = (A - transpose(A))/2
    // B is always a symmetric matrix and
    // A is positive definite iff B is positive definite.
    Matrix3D B( *this );
    B.plus_transpose_equal( *this );
    B *= 0.5;

    // Sylvester's Criterion for positive definite symmetric matrix
    return ( B[0][0] > 0.0 ) && ( B.sub_det( 2, 2 ) > 0.0 ) && ( det( B ) > 0.0 );
}

}  // namespace MBMesquite

#endif  // Matrix3D_hpp