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physx/include/foundation/PxMathUtils.h

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 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 PXFOUNDATION_PXMATHUTILS_H
+#define PXFOUNDATION_PXMATHUTILS_H
+
+/** \addtogroup common
+  @{
+*/
+
+#include "foundation/Px.h"
+#include "foundation/PxFoundationConfig.h"
+#include "foundation/PxPlane.h"
+#include "foundation/PxTransform.h"
+
+#if !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 symmetric 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
+
+If the matrix is not symmetric, the result is undefined.
+
+\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);
+
+/** \brief creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleGeometry
+
+\param[in] p0 one end of major axis of the capsule
+\param[in] p1 the other end of the axis of the capsule
+\param[out] halfHeight the halfHeight of the capsule. This parameter is optional.
+\return A PxTransform which will transform the vector (1,0,0) to the capsule axis shrunk by the halfHeight
+*/
+PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight = NULL);
+
+/** \brief creates a transform from a plane equation, suitable for an actor transform for a PxPlaneGeometry
+
+\param[in] plane the desired plane equation
+\return a PxTransform which will transform the plane PxPlane(1,0,0,0) to the specified plane
+*/
+PX_FOUNDATION_API PxTransform PxTransformFromPlaneEquation(const PxPlane& plane);
+
+/** \brief creates a plane equation from a transform, such as the actor transform for a PxPlaneGeometry
+
+\param[in] transform the transform
+\return the plane
+*/
+PX_INLINE PxPlane PxPlaneEquationFromTransform(const PxTransform& transform)
+{
+	return transform.transform(PxPlane(1.f,0.f,0.f,0.f));
+}
+
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif