00001 // This code contains NVIDIA Confidential Information and is disclosed to you 00002 // under a form of NVIDIA software license agreement provided separately to you. 00003 // 00004 // Notice 00005 // NVIDIA Corporation and its licensors retain all intellectual property and 00006 // proprietary rights in and to this software and related documentation and 00007 // any modifications thereto. Any use, reproduction, disclosure, or 00008 // distribution of this software and related documentation without an express 00009 // license agreement from NVIDIA Corporation is strictly prohibited. 00010 // 00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES 00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO 00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, 00014 // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. 00015 // 00016 // Information and code furnished is believed to be accurate and reliable. 00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such 00018 // information or for any infringement of patents or other rights of third parties that may 00019 // result from its use. No license is granted by implication or otherwise under any patent 00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice. 00021 // This code supersedes and replaces all information previously supplied. 00022 // NVIDIA Corporation products are not authorized for use as critical 00023 // components in life support devices or systems without express written approval of 00024 // NVIDIA Corporation. 00025 // 00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved. 00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. 00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. 00029 00030 #ifndef PXFOUNDATION_PXMATHUTILS_H 00031 #define PXFOUNDATION_PXMATHUTILS_H 00032 00037 #include "foundation/Px.h" 00038 00039 #if !PX_DOXYGEN 00040 namespace physx 00041 { 00042 #endif 00043 00052 PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3& from, const PxVec3& target); 00053 00054 /* \brief diagonalizes a 3x3 symmetric matrix y 00055 00056 The returned matrix satisfies M = R * D * R', where R is the rotation matrix for the output quaternion, R' its 00057 transpose, and D the diagonal matrix 00058 00059 If the matrix is not symmetric, the result is undefined. 00060 00061 \param[in] m the matrix to diagonalize 00062 \param[out] axes a quaternion rotation which diagonalizes the matrix 00063 \return the vector diagonal of the diagonalized matrix. 00064 */ 00065 00066 PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33& m, PxQuat& axes); 00067 00068 #if !PX_DOXYGEN 00069 } // namespace physx 00070 #endif 00071 00073 #endif