From d3e4d87521ece58bc7b971220a2e4c7ec9db8509 Mon Sep 17 00:00:00 2001
From: ejcoumans <ejcoumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Mon, 28 Jan 2008 02:09:17 +0000
Subject: [PATCH] added a paper name for info in exponential map, part of the
 Bullet motion equation

---
 src/LinearMath/btTransformUtil.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index d39e2e100..86ee1da5e 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -70,7 +70,9 @@ public:
 		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
 		predictedOrn.normalize();
 	#else
-		//exponential map
+		//Exponential map
+		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
+
 		btVector3 axis;
 		btScalar	fAngle = angvel.length(); 
 		//limit the angular motion