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removed normalize (btAcos has clamping) and removed assert in btAcos.

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erwin.coumans
2009-12-21 23:43:59 +00:00
parent db25e21fde
commit b5218f3ca7
2 changed files with 0 additions and 3 deletions
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1
src/LinearMath/btScalar.h
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@@ -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 btSin(btScalar x) { return sinf(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
btAssert(x <= btScalar(1.));
if (x<btScalar(-1)) if (x<btScalar(-1))
x=btScalar(-1); x=btScalar(-1);
if (x>btScalar(1)) if (x>btScalar(1))

2
src/LinearMath/btTransformUtil.h
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@@ -98,8 +98,6 @@ public:
{ {
btQuaternion orn1 = orn0.nearest(orn1a); btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse(); btQuaternion dorn = orn1 * orn0.inverse();
///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
angle = dorn.getAngle(); angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z()); axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = btScalar(0.); axis[3] = btScalar(0.);