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SIMD_FORCE_INLINE btQuaternion btQuaternion::farthest ( const btQuaternion qd  )  const [inline]

Todo:
document this and it's use

Definition at line 245 of file btQuaternion.h.

References dot().

Referenced by btTransformUtil::calculateDiffAxisAngleQuaternion().

      {
            btQuaternion diff,sum;
            diff = *this - qd;
            sum = *this + qd;
            if( diff.dot(diff) > sum.dot(sum) )
                  return qd;
            return (-qd);
      }


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