75 lines
2.7 KiB
C
75 lines
2.7 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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 PX_MATHUTILS_H
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#define PX_MATHUTILS_H
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/** \addtogroup common
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@{
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*/
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#include "common/PxPhysXCommon.h"
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#include "foundation/PxTransform.h"
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#ifndef 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 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 transpose, and D the diagonal matrix
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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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#ifndef 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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