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Fixes assertion caused by a 0len vector normalization #3799

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Apr 26, 2021
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Fixes assertion caused by a 0len vector normalization #3799

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2 changes: 1 addition & 1 deletion src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1037,7 +1037,7 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
m_castShape(castShape)
{
btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
btVector3 rayDir = unnormalizedRayDir.normalized();
btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
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