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			QEM(): A(0), b(0), c(0) {}
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			QEM(): A(0), b(0), c(0) {}
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			QEM(const CGLA::Vec3d& p0, const CGLA::Vec3d& n0, double w=1.0f):
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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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				A(direct_product(n0,n0) * w),
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				b(-n0*dot(n0,p0) * w),
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				b(-2*n0*dot(n0,p0) * w),
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				c(dot(p0,n0)*dot(p0,n0) * 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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			void operator+=(const QEM& q)
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				{
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				{
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					c += q.c;
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					c += q.c;
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				}
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				}
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			float error(const CGLA::Vec3d& p) const
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			float error(const CGLA::Vec3d& p) const
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				{
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				{
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					return dot(p,A*p) + 2*dot(b,p)+ c;
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					return dot(p,A*p) + dot(b,p)+ c;
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				}
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				}
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			double determinant() const
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			double determinant() const
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				{
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				{
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					return CGLA::determinant(A);
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					return CGLA::determinant(A);
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				}
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				}
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			const CGLA::Vec3d grad(const CGLA::Vec3d& _p) const
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			const CGLA::Vec3d grad(const CGLA::Vec3d& p) const
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				{
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				{
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					CGLA::Vec3d p(_p);
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					CGLA::Vec3d g(2*A*p+2*b);
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					return CGLA::Vec3d(2*A*p+b);
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					return g;
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				}
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				}
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			CGLA::Vec3d opt_pos(double QEM_thresh = 0.005) const;
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			CGLA::Vec3d opt_pos(double QEM_thresh = 0.005) const;
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		};
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		};