00001 // 00002 // Redistribution and use in source and binary forms, with or without 00003 // modification, are permitted provided that the following conditions 00004 // are met: 00005 // * Redistributions of source code must retain the above copyright 00006 // notice, this list of conditions and the following disclaimer. 00007 // * Redistributions in binary form must reproduce the above copyright 00008 // notice, this list of conditions and the following disclaimer in the 00009 // documentation and/or other materials provided with the distribution. 00010 // * Neither the name of NVIDIA CORPORATION nor the names of its 00011 // contributors may be used to endorse or promote products derived 00012 // from this software without specific prior written permission. 00013 // 00014 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY 00015 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00016 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00017 // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 00018 // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00019 // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00020 // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00021 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY 00022 // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00023 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00024 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 // 00026 // Copyright (c) 2008-2018 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