From 7ce9ad23fb1dc3468c9ed3c443660e652f28326d Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 22 Dec 2018 10:59:00 -0800
Subject: [PATCH] Use safeNormalize, in case a both objects have identical
 origin. Fixes Issue 2021

---
 .../NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index b44fab5d8..07629229a 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -31,8 +31,8 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simp
 	(void)simplexSolver;
 
 	btVector3 guessVectors[] = {
-		btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(),
-		btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(),
+		btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
+		btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
 		btVector3(0, 0, 1),
 		btVector3(0, 1, 0),
 		btVector3(1, 0, 0),