From b5314040b5a92d01da591d6ef289d30c06b651d0 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Fri, 16 Oct 2015 06:54:25 +0200
Subject: [PATCH] Do not use contact normal choice when there is a single
 manifold

---
 src/collision/ContactManifoldSet.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp
index cfb65e86..def7bf45 100644
--- a/src/collision/ContactManifoldSet.cpp
+++ b/src/collision/ContactManifoldSet.cpp
@@ -33,7 +33,7 @@ ContactManifoldSet::ContactManifoldSet(ProxyShape* shape1, ProxyShape* shape2,
                                        MemoryAllocator& memoryAllocator, int nbMaxManifolds)
                    : mNbMaxManifolds(nbMaxManifolds), mNbManifolds(0), mShape1(shape1),
                      mShape2(shape2), mMemoryAllocator(memoryAllocator) {
-
+    assert(nbMaxManifolds >= 1);
 }
 
 // Destructor
@@ -59,7 +59,10 @@ void ContactManifoldSet::addContactPoint(ContactPoint* contact) {
     }
 
     // Select the manifold with the most similar normal (if exists)
-    int similarManifoldIndex = selectManifoldWithSimilarNormal(normalDirectionId);
+    int similarManifoldIndex = 0;
+    if (mNbMaxManifolds > 1) {
+        similarManifoldIndex = selectManifoldWithSimilarNormal(normalDirectionId);
+    }
 
     // If a similar manifold has been found
     if (similarManifoldIndex != -1) {