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using namespace CGLA;
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using namespace CGLA;
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using namespace std;
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using namespace std;
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namespace Geometry
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namespace Geometry
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{
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{
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	Vec3d QEM::opt_pos(double sv_thresh) const
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	Vec3d QEM::opt_pos(double sv_thresh, const CGLA::Vec3d& p0) const
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	{
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	{
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			CMatrix U,S,V;
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			CMatrix U,S,V;
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			SVD(A,U,S,V);
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			SVD(A,U,S,V);
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			CMatrix Sp(3,3,0.0);
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			CMatrix Sp(3,3,0.0);
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			double s00 = S.get(0,0);
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			double s00 = S.get(0,0);
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			double limit = sv_thresh * s00;
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			double limit = sv_thresh * s00;
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			Sp.set(0,0,1.0/s00);
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			Sp.set(0,0,1.0/s00);
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			Vec3d diff(0.0);
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			for(int i=1;i<3;++i)
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			for(int i=1;i<3;++i)
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			{
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			{
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					double sii = S.get(i,i);
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					double sii = S.get(i,i);
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					if(sii < limit)
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					if(sii < limit)
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					{
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							Sp.set(i,i,0.0);
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						Sp.set(i,i,0.0);
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						Vec3d vi(V.get(0,i), V.get(1,i), V.get(2,i));
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						diff += vi*dot(vi, p0);
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					}
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					else
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					else
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							Sp.set(i,i,1.0/sii);
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						Sp.set(i,i,1.0/sii);
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			}
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			}
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			CMatrix Ap = V * Sp * U.Transposed();
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			CMatrix Ap = V * Sp * U.Transposed();
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			CVector x(3);
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			CVector x(3);
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			x = Ap * (b*0.5);
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			x = Ap * (b*0.5);
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			Vec3d p(-x[0], -x[1], -x[2]);
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			return diff-Vec3d(x[0],x[1],x[2]);
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			return p;
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	}
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	}
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}
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}