From 0250d8c4bdaca0c7eaf581e5f85839058d72055c Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Wed, 18 Oct 2017 19:35:20 +0200
Subject: [PATCH] Fix issue in SAT algorithm

---
 src/collision/narrowphase/SAT/SATAlgorithm.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp
index a663791c..4411187b 100644
--- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp
+++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp
@@ -731,7 +731,18 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
             bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1,
                                                                                 polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1,
                                                                                 minFaceIndex, narrowPhaseInfo, minPenetrationDepth);
-            assert(contactsFound);
+			
+			// There should be clipping points here. If it is not the case, it might be
+			// because of a numerical issue
+			if (!contactsFound) {
+				
+				lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
+				lastFrameInfo.satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1;
+				lastFrameInfo.satMinAxisFaceIndex = minFaceIndex;
+
+				// Return no collision
+				return false;
+			}
         }
 
         lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;