75 lines
2.8 KiB
C
75 lines
2.8 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PXFOUNDATION_PXMATHUTILS_H
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#define PXFOUNDATION_PXMATHUTILS_H
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/** \addtogroup common
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@{
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*/
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#include "foundation/Px.h"
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#include "foundation/PxFoundationConfig.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief finds the shortest rotation between two vectors.
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\param[in] from the vector to start from
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\param[in] target the vector to rotate to
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\return a rotation about an axis normal to the two vectors which takes one to the other via the shortest path
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*/
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PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3& from, const PxVec3& target);
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/* \brief diagonalizes a 3x3 symmetric matrix y
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The returned matrix satisfies M = R * D * R', where R is the rotation matrix for the output quaternion, R' its
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transpose, and D the diagonal matrix
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If the matrix is not symmetric, the result is undefined.
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\param[in] m the matrix to diagonalize
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\param[out] axes a quaternion rotation which diagonalizes the matrix
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\return the vector diagonal of the diagonalized matrix.
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*/
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PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33& m, PxQuat& axes);
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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