diff --git a/ephysics/body/CollisionBody.hpp b/ephysics/body/CollisionBody.hpp
index 17e15c4..27576d6 100644
--- a/ephysics/body/CollisionBody.hpp
+++ b/ephysics/body/CollisionBody.hpp
@@ -6,6 +6,7 @@
  * @copyright 2017, Edouard DUPIN
  * @license MPL v2.0 (see license file)
  */
+#pragma once
 #include <ephysics/body/Body.hpp>
 #include <etk/math/Transform3D.hpp>
 #include <ephysics/collision/shapes/AABB.hpp>
diff --git a/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp b/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp
index afa3068..4cea217 100644
--- a/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp
+++ b/ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp
@@ -303,7 +303,11 @@ void EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& _simpl
 			EPHY_INFO("      point=" << points[indexNewVertex]);
 			EPHY_INFO("close point=" << triangle->getClosestPoint());
 			EPHY_INFO("         ==>" << wDotv);
-			EPHY_ASSERT(wDotv >= 0.0, "depth penetration error");
+			if (wDotv < 0.0) {
+				EPHY_ERROR("depth penetration error " << wDotv);
+				continue;
+			}
+			EPHY_ASSERT(wDotv >= 0.0, "depth penetration error " << wDotv);
 			float wDotVSquare = wDotv * wDotv / triangle->getDistSquare();
 			if (wDotVSquare < upperBoundSquarePenDepth) {
 				upperBoundSquarePenDepth = wDotVSquare;