From b5218f3ca78002bfc66383acb20a3c5a0f5293a5 Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Mon, 21 Dec 2009 23:43:59 +0000
Subject: [PATCH] removed normalize (btAcos has clamping) and removed assert in
 btAcos.

---
 src/LinearMath/btScalar.h        | 1 -
 src/LinearMath/btTransformUtil.h | 2 --
 2 files changed, 3 deletions(-)

diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index 25e47bf23..4728fd099 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -249,7 +249,6 @@ SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
 SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
 SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { 
-	btAssert(x <= btScalar(1.));
 	if (x<btScalar(-1))	
 		x=btScalar(-1); 
 	if (x>btScalar(1))	
diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index 1603d3e05..dd9057546 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -98,8 +98,6 @@ public:
 	{
 		btQuaternion orn1 = orn0.nearest(orn1a);
 		btQuaternion dorn = orn1 * orn0.inverse();
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
-		dorn.normalize();
 		angle = dorn.getAngle();
 		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
 		axis[3] = btScalar(0.);