PxMathUtils.h

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#ifndef PXFOUNDATION_PXMATHUTILS_H
#define PXFOUNDATION_PXMATHUTILS_H

#include "foundation/Px.h"
#include "foundation/PxFoundationConfig.h"
#include "foundation/PxPlane.h"
#include "foundation/PxTransform.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

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);

PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight = NULL);

PX_FOUNDATION_API PxTransform PxTransformFromPlaneEquation(const PxPlane& 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