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00007 // any modifications thereto. Any use, reproduction, disclosure, or
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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
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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