Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 73 insertions, 0 deletions

diff --git a/PxShared/include/foundation/PxMathUtils.h b/PxShared/include/foundation/PxMathUtils.h
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+// 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) 2008-2016 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"
+
+#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);
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif