Cylinder collision error

[tzaeschke]

Cylinder trimesh collision may fail with:

java.lang.RuntimeException
    at org.ode4j.ode.internal.Common.dIASSERT(Common.java:131)
    at org.ode4j.ode.internal.CollideCylinderTrimesh$sCylinderTrimeshColliderData.TestOneTriangleVsCylinder(CollideCylinderTrimesh.java:1002)
    at org.ode4j.ode.internal.CollideCylinderTrimesh$sCylinderTrimeshColliderData.TestCollisionForSingleTriangle(CollideCylinderTrimesh.java:1080)
    at org.ode4j.ode.internal.CollideCylinderTrimesh.dCollideCylinderTrimesh(CollideCylinderTrimesh.java:1301)
    at org.ode4j.ode.internal.CollideCylinderTrimesh.dColliderFn(CollideCylinderTrimesh.java:68)
    at org.ode4j.ode.internal.DxGeom.dCollide(DxGeom.java:1698)
    at org.ode4j.ode.OdeHelper.collide(OdeHelper.java:850)

This is currently not reproducible with tests.

[tzaeschke]

We DO get NaN in Cylinder/Sphere contact NaN, but it doesn't reproduce the problem that the Trimesh/Cylinder collider sees only NaN for the cylinder's posr(). -> Not really reproducible.
Maybe we need to try this in 0.4.2.