Half-flat structures on S^3xS^3

We describe left-invariant half-flat SU(3)-structures on S^3xS^3 using the representation theory of SO(4) and matrix algebra. This leads to a systematic study of the associated cohomogeneity one Ricci-flat metrics with holonomy G_2 obtained on 7-manifolds with equidistant S^3xS^3 hypersurfaces. The generic case is analysed numerically.