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package com.jme3.scene.plugins.blender.math;

import java.text.DecimalFormat;

import org.ejml.ops.CommonOps;
import org.ejml.simple.SimpleMatrix;
import org.ejml.simple.SimpleSVD;

import com.jme3.math.FastMath;

/**
 * Encapsulates a 4x4 matrix
 *
 *
 */
public class Matrix extends SimpleMatrix {
    private static final long serialVersionUID = 2396600537315902559L;

    public Matrix(int rows, int cols) {
        super(rows, cols);
    }

    /**
     * Copy constructor
     */
    public Matrix(SimpleMatrix m) {
        super(m);
    }
    
    public Matrix(double[][] data) {
        super(data);
    }
    
    public static Matrix identity(int size) {
        Matrix result = new Matrix(size, size);
        CommonOps.setIdentity(result.mat);
        return result;
    }
    
    public Matrix pseudoinverse() {
        return this.pseudoinverse(1);
    }
    
    @SuppressWarnings("unchecked")
    public Matrix pseudoinverse(double lambda) {
        SimpleSVD simpleSVD = this.svd();
        
        SimpleMatrix U = simpleSVD.getU();
        SimpleMatrix S = simpleSVD.getW();
        SimpleMatrix V = simpleSVD.getV();
        
        int N = Math.min(this.numRows(),this.numCols());
        double maxSingular = 0;
        for( int i = 0; i < N; ++i ) {
            if( S.get(i, i) > maxSingular ) {
                maxSingular = S.get(i, i);
            }
        }
        
        double tolerance = FastMath.DBL_EPSILON * Math.max(this.numRows(),this.numCols()) * maxSingular;
        for(int i=0;isetRotationQuaternion builds a rotation from a
     * Quaternion.
     * 
     * @param quat
     *            the quaternion to build the rotation from.
     * @throws NullPointerException
     *             if quat is null.
     */
    public void setRotationQuaternion(DQuaternion quat) {
        quat.toRotationMatrix(this);
    }
    
    public DTransform toTransform() {
        DTransform result = new DTransform();
        result.setTranslation(this.toTranslationVector());
        result.setRotation(this.toRotationQuat());
        result.setScale(this.toScaleVector());
        return result;
    }
    
    public Vector3d toTranslationVector() {
        return new Vector3d(this.get(0, 3), this.get(1, 3), this.get(2, 3));
    }
    
    public DQuaternion toRotationQuat() {
        DQuaternion quat = new DQuaternion();
        quat.fromRotationMatrix(this.get(0, 0), this.get(0, 1), this.get(0, 2), this.get(1, 0), this.get(1, 1), this.get(1, 2), this.get(2, 0), this.get(2, 1), this.get(2, 2));
        return quat;
    }
    
    /**
     * Retrieves the scale vector from the matrix and stores it into a given
     * vector.
     */
    public Vector3d toScaleVector() {
        Vector3d result = new Vector3d();
        this.toScaleVector(result);
        return result;
    }
    
    /**
     * Retrieves the scale vector from the matrix and stores it into a given
     * vector.
     * 
     * @param vector the vector where the scale will be stored
     */
    public void toScaleVector(Vector3d vector) {
        double scaleX = Math.sqrt(this.get(0, 0) * this.get(0, 0) + this.get(1, 0) * this.get(1, 0) + this.get(2, 0) * this.get(2, 0));
        double scaleY = Math.sqrt(this.get(0, 1) * this.get(0, 1) + this.get(1, 1) * this.get(1, 1) + this.get(2, 1) * this.get(2, 1));
        double scaleZ = Math.sqrt(this.get(0, 2) * this.get(0, 2) + this.get(1, 2) * this.get(1, 2) + this.get(2, 2) * this.get(2, 2));
        vector.set(scaleX, scaleY, scaleZ);
    }
}