From f5704d59816b44c7f5ddc01d2cc34668bff80ddc Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Sun, 25 Nov 2012 17:19:17 +0000
Subject: [PATCH] Fix issue with btQuaternion::slerp, thanks to Martin
 Heistermann.

Fixes Issue 665
---
 src/LinearMath/btQuaternion.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index a1db819de..7d7f25fb4 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -498,7 +498,7 @@ public:
 	  btAssert(magnitude > btScalar(0));
 
     btScalar product = dot(q) / magnitude;
-    if (btFabs(product) != btScalar(1))
+    if (btFabs(product) < btScalar(1))
 		{
       // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
       const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);