f= (2x2^2+2x1x2-2x2x3)-4x1x3
= 2(x2+x1/2-x3/2)^2 - (1/2)x1^2 -(1/2)x3^2-3x1x3
= 2(x2+x1/2-x3/2)^2 - (1/2)(x1+3x3)^2 +4x3^2