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+/* -----------------------------------------------------------------------------
+
+	Copyright (c) 2006 Simon Brown                          si@sjbrown.co.uk
+
+	Permission is hereby granted, free of charge, to any person obtaining
+	a copy of this software and associated documentation files (the 
+	"Software"), to	deal in the Software without restriction, including
+	without limitation the rights to use, copy, modify, merge, publish,
+	distribute, sublicense, and/or sell copies of the Software, and to 
+	permit persons to whom the Software is furnished to do so, subject to 
+	the following conditions:
+
+	The above copyright notice and this permission notice shall be included
+	in all copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+	OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 
+	MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+	IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY 
+	CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, 
+	TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE 
+	SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+	
+   -------------------------------------------------------------------------- */
+   
+#ifndef SQUISH_MATHS_H
+#define SQUISH_MATHS_H
+
+#include <cmath>
+#include <algorithm>
+#include "config.h"
+
+namespace squish {
+
+class Vec3
+{
+public:
+	typedef Vec3 const& Arg;
+
+	Vec3()
+	{
+	}
+
+	explicit Vec3( float s )
+	{
+		m_x = s;
+		m_y = s;
+		m_z = s;
+	}
+
+	Vec3( float x, float y, float z )
+	{
+		m_x = x;
+		m_y = y;
+		m_z = z;
+	}
+	
+	float X() const { return m_x; }
+	float Y() const { return m_y; }
+	float Z() const { return m_z; }
+	
+	Vec3 operator-() const
+	{
+		return Vec3( -m_x, -m_y, -m_z );
+	}
+	
+	Vec3& operator+=( Arg v )
+	{
+		m_x += v.m_x;
+		m_y += v.m_y;
+		m_z += v.m_z;
+		return *this;
+	}
+	
+	Vec3& operator-=( Arg v )
+	{
+		m_x -= v.m_x;
+		m_y -= v.m_y;
+		m_z -= v.m_z;
+		return *this;
+	}
+	
+	Vec3& operator*=( Arg v )
+	{
+		m_x *= v.m_x;
+		m_y *= v.m_y;
+		m_z *= v.m_z;
+		return *this;
+	}
+	
+	Vec3& operator*=( float s )
+	{
+		m_x *= s;
+		m_y *= s;
+		m_z *= s;
+		return *this;
+	}
+	
+	Vec3& operator/=( Arg v )
+	{
+		m_x /= v.m_x;
+		m_y /= v.m_y;
+		m_z /= v.m_z;
+		return *this;
+	}
+	
+	Vec3& operator/=( float s )
+	{
+		float t = 1.0f/s;
+		m_x *= t;
+		m_y *= t;
+		m_z *= t;
+		return *this;
+	}
+	
+	friend Vec3 operator+( Arg left, Arg right )
+	{
+		Vec3 copy( left );
+		return copy += right;
+	}
+	
+	friend Vec3 operator-( Arg left, Arg right )
+	{
+		Vec3 copy( left );
+		return copy -= right;
+	}
+	
+	friend Vec3 operator*( Arg left, Arg right )
+	{
+		Vec3 copy( left );
+		return copy *= right;
+	}
+	
+	friend Vec3 operator*( Arg left, float right )
+	{
+		Vec3 copy( left );
+		return copy *= right;
+	}
+	
+	friend Vec3 operator*( float left, Arg right )
+	{
+		Vec3 copy( right );
+		return copy *= left;
+	}
+	
+	friend Vec3 operator/( Arg left, Arg right )
+	{
+		Vec3 copy( left );
+		return copy /= right;
+	}
+	
+	friend Vec3 operator/( Arg left, float right )
+	{
+		Vec3 copy( left );
+		return copy /= right;
+	}
+	
+	friend float Dot( Arg left, Arg right )
+	{
+		return left.m_x*right.m_x + left.m_y*right.m_y + left.m_z*right.m_z;
+	}
+	
+	friend Vec3 Min( Arg left, Arg right )
+	{
+		return Vec3(
+			std::min( left.m_x, right.m_x ), 
+			std::min( left.m_y, right.m_y ), 
+			std::min( left.m_z, right.m_z )
+		);
+	}
+
+	friend Vec3 Max( Arg left, Arg right )
+	{
+		return Vec3(
+			std::max( left.m_x, right.m_x ), 
+			std::max( left.m_y, right.m_y ), 
+			std::max( left.m_z, right.m_z )
+		);
+	}
+
+	friend Vec3 Truncate( Arg v )
+	{
+		return Vec3(
+			v.m_x > 0.0f ? std::floor( v.m_x ) : std::ceil( v.m_x ), 
+			v.m_y > 0.0f ? std::floor( v.m_y ) : std::ceil( v.m_y ), 
+			v.m_z > 0.0f ? std::floor( v.m_z ) : std::ceil( v.m_z )
+		);
+	}
+
+private:
+	float m_x;
+	float m_y;
+	float m_z;
+};
+
+inline float LengthSquared( Vec3::Arg v )
+{
+	return Dot( v, v );
+}
+
+class Sym3x3
+{
+public:
+	Sym3x3()
+	{
+	}
+
+	Sym3x3( float s )
+	{
+		for( int i = 0; i < 6; ++i )
+			m_x[i] = s;
+	}
+
+	float operator[]( int index ) const
+	{
+		return m_x[index];
+	}
+
+	float& operator[]( int index )
+	{
+		return m_x[index];
+	}
+
+private:
+	float m_x[6];
+};
+
+Sym3x3 ComputeWeightedCovariance( int n, Vec3 const* points, float const* weights );
+Vec3 ComputePrincipleComponent( Sym3x3 const& matrix );
+
+} // namespace squish
+
+#endif // ndef SQUISH_MATHS_H