Syntax fix + proper propagation of the'local quadric coordinate system

include/Neighbourhood.h

@@ -10,7 +10,6 @@
 #include "GenericIndexedCloudPersist.h"
 #include "SquareMatrix.h"
 
-
 namespace CCCoreLib
 {
 	class GenericIndexedMesh;
@@ -260,11 +259,12 @@ namespace CCCoreLib
 		//! Returns the best interpolating 2.5D quadric
 		/** Returns an array of the form [a,b,c,d,e,f] such as:
 				Z = a + b.X + c.Y + d.X^2 + e.X.Y + f.Y^2
-			\warning: 'X','Y' and 'Z' are output in dims (optional):
-				dims = [index(X),index(Y),index(Z)] where: 0=x, 1=y, 2=z
+			\warning: 'X','Y' and 'Z' are implicitly expressed in a local coordinate system (see 'toLocalCS')
+			\param[out] toLocalOrientation	optional 3x3 matrix to convert the points to the local coordinate/orientation system in which the Quadric is expressed
+											(point coordinates should already be expressed relative to the gravity center)
 			\return nullptr if computation failed
 		**/
-		const PointCoordinateType* getQuadric(Tuple3ub* dims = nullptr);
+		const PointCoordinateType* getQuadric(SquareMatrix* localOrientation = nullptr);
 
 		//! Computes the best interpolating quadric (Least-square)
 		/** \param[out] quadricEquation an array of 10 coefficients [a,b,c,d,e,f,g,l,m,n] such as
@@ -279,10 +279,6 @@ namespace CCCoreLib
 		//! Returns the set 'radius' (i.e. the distance between the gravity center and the its farthest point)
 		PointCoordinateType computeLargestRadius();
 
-		double* initFromParameters(double alpha_rad,
-			const Vector3Tpl<double>& axis3D,
-			const Vector3Tpl<double>& t3D);
-
 	protected:
 
 		//! 2.5D Quadric equation
@@ -292,11 +288,10 @@ namespace CCCoreLib
 		**/
 		PointCoordinateType m_quadricEquation[6];
 
-		//! 2.5D Quadric equation dimensions
-		/** Array (index(X),index(Y),index(Z)) where: 0=x, 1=y, 2=z
-			Only valid if 'structuresValidity & QUADRIC != 0'.
+		//! 2.5D Quadric equation local coordinate/orientation system
+		/** Only valid if 'structuresValidity & QUADRIC != 0'.
 		**/
-		Tuple3ub m_quadricEquationDirections;
+		SquareMatrix m_quadricEquationOrientation;
 
 		//! Least-square best fitting plane parameters
 		/** Array [a,b,c,d] such that ax+by+cz = d

src/LocalModel.cpp

@@ -109,18 +109,15 @@ class QuadricLocalModel : public LocalModel
 
 	//! Constructor
 	QuadricLocalModel(	const PointCoordinateType eq[6],
-						unsigned char X,
-						unsigned char Y,
-						unsigned char Z,
-						CCVector3 gravityCenter,
+						const SquareMatrix& localOrientation,
+						const CCVector3& gravityCenter,
 						const CCVector3 &center,
 						PointCoordinateType squaredRadius )
 		: LocalModel(center, squaredRadius)
-		, m_X(X)
-		, m_Y(Y)
-		, m_Z(Z)
+		, m_localOrientation(localOrientation)
 		, m_gravityCenter(gravityCenter)
 	{
+		m_localOrientationInv = m_localOrientation.inv();
 		memcpy(m_eq, eq, sizeof(PointCoordinateType) * 6);
 	}
 
@@ -130,31 +127,31 @@ class QuadricLocalModel : public LocalModel
 	//inherited from LocalModel
 	ScalarType computeDistanceFromModelToPoint(const CCVector3* _P, CCVector3* nearestPoint = nullptr) const override
 	{
-		CCVector3 P = *_P - m_gravityCenter;
+		CCVector3 Plocal = m_localOrientation * (*_P - m_gravityCenter);
 
-		//height = h0 + h1.x + h2.y + h3.x^2 + h4.x.y + h5.y^2
-		PointCoordinateType z = m_eq[0] + m_eq[1] * P.u[m_X] + m_eq[2] * P.u[m_Y] + m_eq[3] * P.u[m_X] * P.u[m_X] + m_eq[4] * P.u[m_X] * P.u[m_Y] + m_eq[5] * P.u[m_Y] * P.u[m_Y];
+		PointCoordinateType z =   m_eq[0]
+								+ m_eq[1] * Plocal.x
+								+ m_eq[2] * Plocal.y
+								+ m_eq[3] * Plocal.x * Plocal.x
+								+ m_eq[4] * Plocal.x * Plocal.y
+								+ m_eq[5] * Plocal.y * Plocal.y;
 
 		if (nearestPoint)
 		{
-			nearestPoint->u[m_X] = P.u[m_X];
-			nearestPoint->u[m_Y] = P.u[m_Y];
-			nearestPoint->u[m_Z] = z;
+			*nearestPoint = m_localOrientationInv * CCVector3(Plocal.x, Plocal.y, z);
 		}
 
-		return static_cast<ScalarType>(std::abs(P.u[m_Z] - z));
+		return static_cast<ScalarType>(std::abs(Plocal.z - z));
 	}
 
 protected:
 
 	//! Quadric equation
 	PointCoordinateType m_eq[6];
-	//! Height function first dimension (0=X, 1=Y, 2=Z)
-	unsigned char m_X;
-	//! Height function second dimension (0=X, 1=Y, 2=Z)
-	unsigned char m_Y;
-	//! Height function third dimension (0=X, 1=Y, 2=Z)
-	unsigned char m_Z;
+	//! Quadric local 'orientation' system
+	SquareMatrix m_localOrientation;
+	//! Quadric local 'orientation' system (inverse)
+	SquareMatrix m_localOrientationInv;
 	//! Model gravity center
 	CCVector3 m_gravityCenter;
 
@@ -202,17 +199,15 @@ LocalModel* LocalModel::New(LOCAL_MODEL_TYPES type,
 
 		case QUADRIC:
 		{
-			Tuple3ub dims;
-			const PointCoordinateType* eq = subset.getQuadric(&dims);
+			SquareMatrix toLocalCS;
+			const PointCoordinateType* eq = subset.getQuadric(&toLocalCS);
 			if (eq)
 			{
 				return new QuadricLocalModel(	eq,
-												dims.x,
-												dims.y,
-												dims.z,
+												toLocalCS,
 												*subset.getGravityCenter(), //should be ok as the quadric computation succeeded!
 												center,
-												squaredRadius);
+												squaredRadius );
 			}
 		}
 			break;