/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
 *
 * This library is open source and may be redistributed and/or modified under
 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
 * (at your option) any later version.  The full license is in LICENSE file
 * included with this distribution, and on the openscenegraph.org website.
 *
 * 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
 * OpenSceneGraph Public License for more details.
*/
//osgManipulator - Copyright (C) 2007 Fugro-Jason B.V.

// Matrix decomposition code taken from Graphics Gems IV
// http://www.acm.org/pubs/tog/GraphicsGems/gemsiv/polar_decomp
// Copyright (C) 1993 Ken Shoemake <shoemake@graphics.cis.upenn.edu>

#include <osg/Matrixf>
#include <osg/Matrixd>

/** Copy nxn matrix A to C using "gets" for assignment **/
#define matrixCopy(C, gets, A, n) {int i, j; for (i=0;i<n;i++) for (j=0;j<n;j++)\
    C[i][j] gets (A[i][j]);}

/** Copy transpose of nxn matrix A to C using "gets" for assignment **/
#define mat_tpose(AT,gets,A,n) {int i,j; for(i=0;i<n;i++) for(j=0;j<n;j++)\
    AT[i][j] gets (A[j][i]);}

/** Fill out 3x3 matrix to 4x4 **/
#define mat_pad(A) (A[W][X]=A[X][W]=A[W][Y]=A[Y][W]=A[W][Z]=A[Z][W]=0,A[W][W]=1)


/** Assign nxn matrix C the element-wise combination of A and B using "op" **/
#define matBinop(C,gets,A,op,B,n) {int i,j; for(i=0;i<n;i++) for(j=0;j<n;j++)\
    C[i][j] gets (A[i][j]) op (B[i][j]);}

/** Copy nxn matrix A to C using "gets" for assignment **/
#define mat_copy(C,gets,A,n) {int i,j; for(i=0;i<n;i++) for(j=0;j<n;j++)\
    C[i][j] gets (A[i][j]);}

namespace MatrixDecomposition
{

    typedef struct {double x, y, z, w;} Quat; // Quaternion
    enum QuatPart {X, Y, Z, W};
    typedef double _HMatrix[4][4];
    typedef Quat HVect;   // Homogeneous 3D vector 
    typedef struct
    {
        osg::Vec4d t;     // Translation Component;
        Quat q;           // Essential Rotation
        Quat  u;          //Stretch rotation      
        HVect k;          //Sign of determinant 
        double f;          // Sign of determinant 
    } _affineParts;

    HVect spectDecomp(_HMatrix S, _HMatrix U);
    Quat snuggle(Quat q, HVect* k);
    double polarDecomp(_HMatrix M, _HMatrix Q, _HMatrix S);

    static _HMatrix mat_id = {{1,0,0,0},{0,1,0,0},{0,0,1,0},{0,0,0,1}};

    /* Return product of quaternion q by scalar w. */
    Quat Qt_Scale(Quat q, double w)
    {
        Quat qq;
        qq.w = q.w*w; qq.x = q.x*w; qq.y = q.y*w; qq.z = q.z*w;
        return (qq);
    }

    /* Return quaternion product qL * qR.  Note: order is important!
     * To combine rotations, use the product Mul(qSecond, qFirst),
     * which gives the effect of rotating by qFirst then qSecond. */
    Quat Qt_Mul(Quat qL, Quat qR)
    {
        Quat qq;
        qq.w = qL.w*qR.w - qL.x*qR.x - qL.y*qR.y - qL.z*qR.z;
        qq.x = qL.w*qR.x + qL.x*qR.w + qL.y*qR.z - qL.z*qR.y;
        qq.y = qL.w*qR.y + qL.y*qR.w + qL.z*qR.x - qL.x*qR.z;
        qq.z = qL.w*qR.z + qL.z*qR.w + qL.x*qR.y - qL.y*qR.x;
        return (qq);
    }

    /* Return conjugate of quaternion. */
    Quat Qt_Conj(Quat q)
    {
        Quat qq;
        qq.x = -q.x; qq.y = -q.y; qq.z = -q.z; qq.w = q.w;
        return (qq);
    }

    /* Construct a (possibly non-unit) quaternion from real components. */
    Quat Qt_(double x, double y, double z, double w)
    {
        Quat qq;
        qq.x = x; qq.y = y; qq.z = z; qq.w = w;
        return (qq);
    }

    /** Multiply the upper left 3x3 parts of A and B to get AB **/
    void mat_mult(_HMatrix A, _HMatrix B, _HMatrix AB)
    {
        int i, j;
        for (i=0; i<3; i++) for (j=0; j<3; j++)
            AB[i][j] = A[i][0]*B[0][j] + A[i][1]*B[1][j] + A[i][2]*B[2][j];
    }

    /** Set v to cross product of length 3 vectors va and vb **/
    void vcross(double *va, double *vb, double *v)
    {
        v[0] = va[1]*vb[2] - va[2]*vb[1];
        v[1] = va[2]*vb[0] - va[0]*vb[2];
        v[2] = va[0]*vb[1] - va[1]*vb[0];
    }

    /** Return dot product of length 3 vectors va and vb **/
    double vdot(double *va, double *vb)
    {
        return (va[0]*vb[0] + va[1]*vb[1] + va[2]*vb[2]);
    }


    /** Set MadjT to transpose of inverse of M times determinant of M **/
    void adjoint_transpose(_HMatrix M, _HMatrix MadjT)
    {
        vcross(M[1], M[2], MadjT[0]);
        vcross(M[2], M[0], MadjT[1]);
        vcross(M[0], M[1], MadjT[2]);
    }

    /** Return index of column of M containing maximum abs entry, or -1 if M=0 **/
    int find_max_col(_HMatrix M)
    {
        double abs, max;
        int i, j, col;
        max = 0.0; col = -1;
        for (i=0; i<3; i++) for (j=0; j<3; j++) {
            abs = M[i][j]; if (abs<0.0) abs = -abs;
            if (abs>max) {max = abs; col = j;}
        }
        return col;
    }

    /** Setup u for Household reflection to zero all v components but first **/
    void make_reflector(double *v, double *u)
    {
        double s = sqrt(vdot(v, v));
        u[0] = v[0]; u[1] = v[1];
        u[2] = v[2] + ((v[2]<0.0) ? -s : s);
        s = sqrt(2.0/vdot(u, u));
        u[0] = u[0]*s; u[1] = u[1]*s; u[2] = u[2]*s;
    }

    /** Apply Householder reflection represented by u to column vectors of M **/
    void reflect_cols(_HMatrix M, double *u)
    {
        int i, j;
        for (i=0; i<3; i++) {
            double s = u[0]*M[0][i] + u[1]*M[1][i] + u[2]*M[2][i];
            for (j=0; j<3; j++) M[j][i] -= u[j]*s;
        }
    }

    /** Apply Householder reflection represented by u to row vectors of M **/
    void reflect_rows(_HMatrix M, double *u)
    {
        int i, j;
        for (i=0; i<3; i++) {
            double s = vdot(u, M[i]);
            for (j=0; j<3; j++) M[i][j] -= u[j]*s;
        }
    }

    /** Find orthogonal factor Q of rank 1 (or less) M **/
    void do_rank1(_HMatrix M, _HMatrix Q)
    {
        double v1[3], v2[3], s;
        int col;
        mat_copy(Q,=,mat_id,4);
        /* If rank(M) is 1, we should find a non-zero column in M */
        col = find_max_col(M);
        if (col<0) return; /* Rank is 0 */
        v1[0] = M[0][col]; v1[1] = M[1][col]; v1[2] = M[2][col];
        make_reflector(v1, v1); reflect_cols(M, v1);
        v2[0] = M[2][0]; v2[1] = M[2][1]; v2[2] = M[2][2];
        make_reflector(v2, v2); reflect_rows(M, v2);
        s = M[2][2];
        if (s<0.0) Q[2][2] = -1.0;
        reflect_cols(Q, v1); reflect_rows(Q, v2);
    }


    /** Find orthogonal factor Q of rank 2 (or less) M using adjoint transpose **/
    void do_rank2(_HMatrix M, _HMatrix MadjT, _HMatrix Q)
    {
        double v1[3], v2[3];
        double w, x, y, z, c, s, d;
        int col;
        /* If rank(M) is 2, we should find a non-zero column in MadjT */
        col = find_max_col(MadjT);
        if (col<0) {do_rank1(M, Q); return;} /* Rank<2 */
        v1[0] = MadjT[0][col]; v1[1] = MadjT[1][col]; v1[2] = MadjT[2][col];
        make_reflector(v1, v1); reflect_cols(M, v1);
        vcross(M[0], M[1], v2);
        make_reflector(v2, v2); reflect_rows(M, v2);
        w = M[0][0]; x = M[0][1]; y = M[1][0]; z = M[1][1];
        if (w*z>x*y) {
            c = z+w; s = y-x; d = sqrt(c*c+s*s); c = c/d; s = s/d;
            Q[0][0] = Q[1][1] = c; Q[0][1] = -(Q[1][0] = s);
        } else {
            c = z-w; s = y+x; d = sqrt(c*c+s*s); c = c/d; s = s/d;
            Q[0][0] = -(Q[1][1] = c); Q[0][1] = Q[1][0] = s;
        }
        Q[0][2] = Q[2][0] = Q[1][2] = Q[2][1] = 0.0; Q[2][2] = 1.0;
        reflect_cols(Q, v1); reflect_rows(Q, v2);
    }


    double mat_norm(_HMatrix M, int tpose)
    {
        int i;
        double sum, max;
        max = 0.0;
        for (i=0; i<3; i++) {
            if (tpose) sum = fabs(M[0][i])+fabs(M[1][i])+fabs(M[2][i]);
            else       sum = fabs(M[i][0])+fabs(M[i][1])+fabs(M[i][2]);
            if (max<sum) max = sum;
        }
        return max;
    }

    double norm_inf(_HMatrix M) {return mat_norm(M, 0);}
    double norm_one(_HMatrix M) {return mat_norm(M, 1);}

    /* Construct a unit quaternion from rotation matrix.  Assumes matrix is
     * used to multiply column vector on the left: vnew = mat vold.  Works
     * correctly for right-handed coordinate system and right-handed rotations.
     * Translation and perspective components ignored. */

    Quat quatFromMatrix(_HMatrix mat)
    {
        /* This algorithm avoids near-zero divides by looking for a large component
         * - first w, then x, y, or z.  When the trace is greater than zero,
         * |w| is greater than 1/2, which is as small as a largest component can be.
         * Otherwise, the largest diagonal entry corresponds to the largest of |x|,
         * |y|, or |z|, one of which must be larger than |w|, and at least 1/2. */
        Quat qu;
        double tr, s;

        tr = mat[X][X] + mat[Y][Y]+ mat[Z][Z];
        if (tr >= 0.0)
        {
            s = sqrt(tr + mat[W][W]);
            qu.w = s*0.5;
            s = 0.5 / s;
            qu.x = (mat[Z][Y] - mat[Y][Z]) * s;
            qu.y = (mat[X][Z] - mat[Z][X]) * s;
            qu.z = (mat[Y][X] - mat[X][Y]) * s;
        }
        else
        {
            int h = X;
            if (mat[Y][Y] > mat[X][X]) h = Y;
            if (mat[Z][Z] > mat[h][h]) h = Z;
            switch (h) {
#define caseMacro(i,j,k,I,J,K) \
                case I:\
                       s = sqrt( (mat[I][I] - (mat[J][J]+mat[K][K])) + mat[W][W] );\
                qu.i = s*0.5;\
                s = 0.5 / s;\
                qu.j = (mat[I][J] + mat[J][I]) * s;\
                qu.k = (mat[K][I] + mat[I][K]) * s;\
                qu.w = (mat[K][J] - mat[J][K]) * s;\
                break
                caseMacro(x,y,z,X,Y,Z);
                caseMacro(y,z,x,Y,Z,X);
                caseMacro(z,x,y,Z,X,Y);
            }
        }
        if (mat[W][W] != 1.0) qu = Qt_Scale(qu, 1/sqrt(mat[W][W]));
        return (qu);
    }


    /******* Decompose Affine Matrix *******/

    /* Decompose 4x4 affine matrix A as TFRUK(U transpose), where t contains the
     * translation components, q contains the rotation R, u contains U, k contains
     * scale factors, and f contains the sign of the determinant.
     * Assumes A transforms column vectors in right-handed coordinates.
     * See Ken Shoemake and Tom Duff. Matrix Animation and Polar Decomposition.
     * Proceedings of Graphics Interface 1992.
     */
    void decompAffine(_HMatrix A, _affineParts * parts)
        {
            _HMatrix Q, S, U;
            Quat p;

            //Translation component.
            parts->t = osg::Vec4d(A[X][W], A[Y][W], A[Z][W], 0);
            double det = polarDecomp(A, Q, S);
            if (det<0.0)
            {
                matrixCopy(Q, =, -Q, 3);
                parts->f = -1;
            }
            else
                parts->f = 1;

            parts->q = quatFromMatrix(Q);
            parts->k = spectDecomp(S, U);
            parts->u = quatFromMatrix(U);
            p = snuggle(parts->u, &parts->k);
            parts->u = Qt_Mul(parts->u, p);
        }


    /******* Polar Decomposition *******/
    /* Polar Decomposition of 3x3 matrix in 4x4,
     * M = QS.  See Nicholas Higham and Robert S. Schreiber,
     * Fast Polar Decomposition of An Arbitrary Matrix,
     * Technical Report 88-942, October 1988,
     * Department of Computer Science, Cornell University.
     */

    double polarDecomp( _HMatrix M, _HMatrix Q, _HMatrix S)
    {

#define TOL 1.0e-6
        _HMatrix Mk, MadjTk, Ek;
        double det, M_one, M_inf, MadjT_one, MadjT_inf, E_one, gamma, g1, g2;
        int i, j;

        mat_tpose(Mk,=,M,3); 
        M_one = norm_one(Mk);  M_inf = norm_inf(Mk);

        do
        {
            adjoint_transpose(Mk, MadjTk);
            det = vdot(Mk[0], MadjTk[0]);
            if (det==0.0)
            {
                do_rank2(Mk, MadjTk, Mk); 
                break;
            }

            MadjT_one = norm_one(MadjTk); 
            MadjT_inf = norm_inf(MadjTk);

            gamma = sqrt(sqrt((MadjT_one*MadjT_inf)/(M_one*M_inf))/fabs(det));
            g1 = gamma*0.5;
            g2 = 0.5/(gamma*det);
            matrixCopy(Ek,=,Mk,3); 
            matBinop(Mk,=,g1*Mk,+,g2*MadjTk,3);        
            mat_copy(Ek,-=,Mk,3);
            E_one = norm_one(Ek);
            M_one = norm_one(Mk);  
            M_inf = norm_inf(Mk);

        } while(E_one>(M_one*TOL));

        mat_tpose(Q,=,Mk,3); mat_pad(Q);
        mat_mult(Mk, M, S);  mat_pad(S);

        for (i=0; i<3; i++) 
            for (j=i; j<3; j++)
                S[i][j] = S[j][i] = 0.5*(S[i][j]+S[j][i]);
        return (det);
    }


    /******* Spectral Decomposition *******/
    /* Compute the spectral decomposition of symmetric positive semi-definite S.
     * Returns rotation in U and scale factors in result, so that if K is a diagonal
     * matrix of the scale factors, then S = U K (U transpose). Uses Jacobi method.
     * See Gene H. Golub and Charles F. Van Loan. Matrix Computations. Hopkins 1983.
     */
    HVect spectDecomp(_HMatrix S, _HMatrix U)
    {
        HVect kv;
        double Diag[3],OffD[3]; /* OffD is off-diag (by omitted index) */
        double g,h,fabsh,fabsOffDi,t,theta,c,s,tau,ta,OffDq,a,b;
        static char nxt[] = {Y,Z,X};
        int sweep, i, j;
        mat_copy(U,=,mat_id,4);
        Diag[X] = S[X][X]; Diag[Y] = S[Y][Y]; Diag[Z] = S[Z][Z];
        OffD[X] = S[Y][Z]; OffD[Y] = S[Z][X]; OffD[Z] = S[X][Y];
        for (sweep=20; sweep>0; sweep--) {
            double sm = fabs(OffD[X])+fabs(OffD[Y])+fabs(OffD[Z]);
            if (sm==0.0) break;
            for (i=Z; i>=X; i--) {
                int p = nxt[i]; int q = nxt[p];
                fabsOffDi = fabs(OffD[i]);
                g = 100.0*fabsOffDi;
                if (fabsOffDi>0.0) {
                    h = Diag[q] - Diag[p];
                    fabsh = fabs(h);
                    if (fabsh+g==fabsh) {
                        t = OffD[i]/h;
                    } else {
                        theta = 0.5*h/OffD[i];
                        t = 1.0/(fabs(theta)+sqrt(theta*theta+1.0));
                        if (theta<0.0) t = -t;
                    }
                    c = 1.0/sqrt(t*t+1.0); s = t*c;
                    tau = s/(c+1.0);
                    ta = t*OffD[i]; OffD[i] = 0.0;
                    Diag[p] -= ta; Diag[q] += ta;
                    OffDq = OffD[q];
                    OffD[q] -= s*(OffD[p] + tau*OffD[q]);
                    OffD[p] += s*(OffDq   - tau*OffD[p]);
                    for (j=Z; j>=X; j--) {
                        a = U[j][p]; b = U[j][q];
                        U[j][p] -= s*(b + tau*a);
                        U[j][q] += s*(a - tau*b);
                    }
                }
            }
        }
        kv.x = Diag[X]; kv.y = Diag[Y]; kv.z = Diag[Z]; kv.w = 1.0;
        return (kv);
    }


    /******* Spectral Axis Adjustment *******/

#define SQRTHALF (0.7071067811865475244)
    static Quat qxtoz = {0,SQRTHALF,0,SQRTHALF};
    static Quat qytoz = {SQRTHALF,0,0,SQRTHALF};
    static Quat qppmm = { 0.5, 0.5,-0.5,-0.5};
    static Quat qpppp = { 0.5, 0.5, 0.5, 0.5};
    static Quat qmpmm = {-0.5, 0.5,-0.5,-0.5};
    static Quat qpppm = { 0.5, 0.5, 0.5,-0.5};
    static Quat q0001 = { 0.0, 0.0, 0.0, 1.0};
    static Quat q1000 = { 1.0, 0.0, 0.0, 0.0};

    /* Given a unit quaternion, q, and a scale vector, k, find a unit quaternion, p,
     * which permutes the axes and turns freely in the plane of duplicate scale
     * factors, such that q p has the largest possible w component, i.e. the
     * smallest possible angle. Permutes k's components to go with q p instead of q.
     * See Ken Shoemake and Tom Duff. Matrix Animation and Polar Decomposition.
     * Proceedings of Graphics Interface 1992. Details on p. 262-263.
     */
    Quat snuggle(Quat q, HVect *k)
    {
#define sgn(n,v)    ((n)?-(v):(v))
#define swap(a,i,j) {a[3]=a[i]; a[i]=a[j]; a[j]=a[3];}
#define cycle(a,p)  if (p) {a[3]=a[0]; a[0]=a[1]; a[1]=a[2]; a[2]=a[3];}\
        else   {a[3]=a[2]; a[2]=a[1]; a[1]=a[0]; a[0]=a[3];}

        Quat p;
        double ka[4];
        int i, turn = -1;
        ka[X] = k->x; ka[Y] = k->y; ka[Z] = k->z;

        if (ka[X]==ka[Y]) {
            if (ka[X]==ka[Z]) 
                turn = W; 
            else turn = Z;
        }
        else {
            if (ka[X]==ka[Z]) 
                turn = Y; 
            else if (ka[Y]==ka[Z]) 
                turn = X;
        }
        if (turn>=0) {
            Quat qtoz, qp;
            unsigned neg[3], win;
            double mag[3], t;
            switch (turn) {
                default: return (Qt_Conj(q));
                case X: q = Qt_Mul(q, qtoz = qxtoz); swap(ka,X,Z) break;
                case Y: q = Qt_Mul(q, qtoz = qytoz); swap(ka,Y,Z) break;
                case Z: qtoz = q0001; break;
            }
            q = Qt_Conj(q);
            mag[0] = (double)q.z*q.z+(double)q.w*q.w-0.5;
            mag[1] = (double)q.x*q.z-(double)q.y*q.w;
            mag[2] = (double)q.y*q.z+(double)q.x*q.w;

            for (i=0; i<3; i++) 
                //JVK?????? 
                //if (neg[i] = (mag[i]<0.0)) 
                if (neg[i] == (mag[i]<0.0)) 
                    mag[i] = -mag[i];

            if (mag[0]>mag[1]) {
                if (mag[0]>mag[2]) 
                    win = 0; 
                else win = 2;
            }
            else {
                if (mag[1]>mag[2]) win = 1; 
                else win = 2;
            }

            switch (win) {
                case 0: if (neg[0]) p = q1000; else p = q0001; break;
                case 1: if (neg[1]) p = qppmm; else p = qpppp; cycle(ka,0) break;
                case 2: if (neg[2]) p = qmpmm; else p = qpppm; cycle(ka,1) break;
            }

            qp = Qt_Mul(q, p);
            t = sqrt(mag[win]+0.5);
            p = Qt_Mul(p, Qt_(0.0,0.0,-qp.z/t,qp.w/t));
            p = Qt_Mul(qtoz, Qt_Conj(p));
        } 
        else {
            double qa[4], pa[4];
            unsigned lo, hi, neg[4], par = 0;
            double all, big, two;
            qa[0] = q.x; qa[1] = q.y; qa[2] = q.z; qa[3] = q.w;
            for (i=0; i<4; i++) {
                pa[i] = 0.0;
                //if (neg[i] = (qa[i]<0.0)) qa[i] = -qa[i];
                if (neg[i] == (qa[i]<0.0)) qa[i] = -qa[i];
                par ^= neg[i];
            }

            /* Find two largest components, indices in hi and lo */
            if (qa[0]>qa[1]) lo = 0; 
            else lo = 1;

            if (qa[2]>qa[3]) hi = 2; 
            else hi = 3;

            if (qa[lo]>qa[hi]) {
                if (qa[lo^1]>qa[hi]) {
                    hi = lo; lo ^= 1;
                }
                else {
                    hi ^= lo; lo ^= hi; hi ^= lo;
                }
            } 
            else {
                if (qa[hi^1]>qa[lo]) lo = hi^1;
            }

            all = (qa[0]+qa[1]+qa[2]+qa[3])*0.5;
            two = (qa[hi]+qa[lo])*SQRTHALF;
            big = qa[hi];
            if (all>two) {
                if (all>big) {/*all*/
                    {int i; for (i=0; i<4; i++) pa[i] = sgn(neg[i], 0.5);}
                    cycle(ka,par);
                } 
                else {/*big*/ pa[hi] = sgn(neg[hi],1.0);}
            } else {
                if (two>big) { /*two*/
                    pa[hi] = sgn(neg[hi],SQRTHALF); 
                    pa[lo] = sgn(neg[lo], SQRTHALF);
                    if (lo>hi) {
                        hi ^= lo; lo ^= hi; hi ^= lo;
                    }
                    if (hi==W) {
                        hi = "\001\002\000"[lo]; 
                        lo = 3-hi-lo;
                    }
                    swap(ka,hi,lo);
                } 
                else {/*big*/ 
                    pa[hi] = sgn(neg[hi],1.0);
                }
            }
            p.x = -pa[0]; p.y = -pa[1]; p.z = -pa[2]; p.w = pa[3];
        }
        k->x = ka[X]; k->y = ka[Y]; k->z = ka[Z];
        return (p);
    }

}

void osg::Matrixf::decompose(osg::Vec3f& t,
                             osg::Quat& r,
                             osg::Vec3f& s,
                             osg::Quat& so) const
{
    Vec3d temp_trans;
    Vec3d temp_scale;
    decompose(temp_trans, r, temp_scale, so);
    t = temp_trans;
    s = temp_scale;
}


void osg::Matrixf::decompose(osg::Vec3d& t,
                             osg::Quat& r,
                             osg::Vec3d& s,
                             osg::Quat& so) const
{
    MatrixDecomposition::_affineParts parts;
    MatrixDecomposition::_HMatrix hmatrix;

    // Transpose copy of LTW
    for ( int i =0; i<4; i++)
    {
        for ( int j=0; j<4; j++)
        {
            hmatrix[i][j] = (*this)(j,i);
        }
    }

    MatrixDecomposition::decompAffine(hmatrix, &parts);

    double mul = 1.0;
    if (parts.t[MatrixDecomposition::W] != 0.0) 
        mul = 1.0 / parts.t[MatrixDecomposition::W];

    t[0] = parts.t[MatrixDecomposition::X] * mul;
    t[1] = parts.t[MatrixDecomposition::Y] * mul;
    t[2] = parts.t[MatrixDecomposition::Z] * mul;

    r.set(parts.q.x, parts.q.y, parts.q.z, parts.q.w);

    mul = 1.0;
    if (parts.k.w != 0.0) 
        mul = 1.0 / parts.k.w;

    // mul be sign of determinant to support negative scales.
    mul *= parts.f;
    s[0] = parts.k.x * mul;
    s[1] = parts.k.y * mul;
    s[2] = parts.k.z * mul;

    so.set(parts.u.x, parts.u.y, parts.u.z, parts.u.w);
}

void osg::Matrixd::decompose(osg::Vec3f& t,
                             osg::Quat& r,
                             osg::Vec3f& s,
                             osg::Quat& so) const
{
    Vec3d temp_trans;
    Vec3d temp_scale;
    decompose(temp_trans, r, temp_scale, so);
    t = temp_trans;
    s = temp_scale;
}

void osg::Matrixd::decompose(osg::Vec3d& t,
                             osg::Quat& r,
                             osg::Vec3d& s,
                             osg::Quat& so) const
{
    MatrixDecomposition::_affineParts parts;
    MatrixDecomposition::_HMatrix hmatrix;

    // Transpose copy of LTW
    for ( int i =0; i<4; i++)
    {
        for ( int j=0; j<4; j++)
        {
            hmatrix[i][j] = (*this)(j,i);
        }
    }

    MatrixDecomposition::decompAffine(hmatrix, &parts);

    double mul = 1.0;
    if (parts.t[MatrixDecomposition::W] != 0.0) 
        mul = 1.0 / parts.t[MatrixDecomposition::W];

    t[0] = parts.t[MatrixDecomposition::X] * mul;
    t[1] = parts.t[MatrixDecomposition::Y] * mul;
    t[2] = parts.t[MatrixDecomposition::Z] * mul;

    r.set(parts.q.x, parts.q.y, parts.q.z, parts.q.w);

    mul = 1.0;
    if (parts.k.w != 0.0) 
        mul = 1.0 / parts.k.w;

    // mul be sign of determinant to support negative scales.
    mul *= parts.f;
    s[0] = parts.k.x * mul;
    s[1] = parts.k.y * mul;
    s[2] = parts.k.z * mul;

    so.set(parts.u.x, parts.u.y, parts.u.z, parts.u.w);
}
