From 596e94dfd1ebe6f7b007b4f341b15e27f3d1b39f Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Sun, 25 May 2008 17:45:13 +0000
Subject: [PATCH] fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and
 Nathanael for fixing

---
 src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp     | 2 +-
 .../NarrowPhaseCollision/btGjkPairDetector.cpp             | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index 3781eff98..0c07fd792 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -287,7 +287,7 @@ bool					EncloseOrigin()
 				{
 				btVector3		axis=btVector3(0,0,0);
 				axis[i]=1;
-				if(btFabs(dot(axis,d))>0)
+				if(btFabs(dot(axis,d))<1)
 					{
 					const btVector3	p=cross(d,axis);
 					appendvertice(*m_simplex, p);
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index c5f50d4dd..59b3794ff 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -144,6 +144,13 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				break;
 			}
 
+			if(m_cachedSeparatingAxis.length2()<REL_ERROR2)
+            {
+                m_degenerateSimplex = 6;
+                checkSimplex = true;
+                break;
+            }
+
 			btScalar previousSquaredDistance = squaredDistance;
 			squaredDistance = m_cachedSeparatingAxis.length2();