// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_MATHUTILS_H
#define PX_MATHUTILS_H

/** \addtogroup common
  @{
*/

#include "common/PxPhysXCommon.h"
#include "foundation/PxTransform.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif


/**
\brief finds the shortest rotation between two vectors.

\param[in] from the vector to start from
\param[in] target the vector to rotate to
\return a rotation about an axis normal to the two vectors which takes one to the other via the shortest path
*/

PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3& from, const PxVec3& target);


/* \brief diagonalizes a 3x3 matrix y

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 

\param[in] m the matrix to diagonalize
\param[out] axes a quaternion rotation which diagonalizes the matrix 
\return the vector diagonal of the diagonalized matrix.
*/

PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33& m, PxQuat &axes);

#ifndef PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif