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Use safeNormalize, in case a both objects have identical origin.

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Fixes Issue 2021
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erwincoumans committed 2018-12-22 10:59:00 -08:00
1 parent 9c4136da16
commit 7ce9ad23fb
1 file changed
+2 -2
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src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+2 -2
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@@ -31,8 +31,8 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simp
(void)simplexSolver; (void)simplexSolver;
btVector3 guessVectors[] = { btVector3 guessVectors[] = {
btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(), btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(), btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
btVector3(0, 0, 1), btVector3(0, 0, 1),
btVector3(0, 1, 0), btVector3(0, 1, 0),
btVector3(1, 0, 0), btVector3(1, 0, 0),