Prune manifolds without points#879
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Objective
Based on the doc comments for
ContactManifoldand the example character controller, it seems like an invariant that they should always have at least 1 point. In my project with a slightly modified version of the example 3d kinematic controller this was sometimes violated when standing still in certain spots with slightly rugged terrain. In thekinematic_controller_collisionsfunction this leads todeepest_penetrationbeing set toScalar::MIN, leading to inf/NaN inLinearVelocitywhich then spreads throughout the system.Solution
Prune manifolds with no points after pruning the points.
Testing
I can no longer get my project to crash with this PR, before I could easily trigger it within 20 seconds