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#ifndef __QEM_H
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#define __QEM_H
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#include <cfloat>
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#include "CGLA/Vec3f.h"
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#include "CGLA/Vec3d.h"
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#include "CGLA/Mat3x3d.h"
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namespace
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{
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	inline const CGLA::Mat3x3d direct_product(const CGLA::Vec3d& v0, const CGLA::Vec3d& v1)
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		{
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			CGLA::Mat3x3d m;
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			for(int i=0;i<3;++i)
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				for(int j=0;j<3;++j)
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					m[i][j] = v0[i]*v1[j];
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			return m;
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		}
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}
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namespace Geometry
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{
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	class QEM
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		{
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			CGLA::Mat3x3d A;
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			CGLA::Vec3d   b;
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			double   c;
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		public:
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			QEM(): A(0), c(0), b(0) {}
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			QEM(const CGLA::Vec3d& p0, const CGLA::Vec3d& n0, double w=1.0f):
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				A(direct_product(n0,n0) * w),
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				b(-n0*dot(n0,p0) * w),
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				c(dot(p0,n0)*dot(p0,n0) * w) {}
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			void operator+=(const QEM& q)
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				{
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					A += q.A;
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					b += q.b;
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					c += q.c;
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				}
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			float error(const CGLA::Vec3f& _p) const
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				{
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					CGLA::Vec3d p(_p);
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					return dot(p,A*p) + 2*dot(b,p)+ c;
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				}
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			double determinant() const
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				{
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					return CGLA::determinant(A);
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				}
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			const CGLA::Vec3f grad(const CGLA::Vec3f& _p) const
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				{
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					CGLA::Vec3d p(_p);
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					CGLA::Vec3f g(2*A*p+2*b);
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					return g;
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				}
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			CGLA::Vec3f opt_pos(double QEM_thresh = 0.005) const;
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		};
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}
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namespace GEO = Geometry;
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#endif