From 96d6ff59d1614a8fabe520c7fd41527bbfc44b74 Mon Sep 17 00:00:00 2001
From: Edouard DUPIN <yui.heero@gmail.com>
Date: Mon, 2 Oct 2017 23:32:06 +0200
Subject: [PATCH] [DEV] remove an assert ==> create some eratic comportment,
 and coorect build after licence change

---
 ephysics/body/CollisionBody.hpp                     | 1 +
 ephysics/collision/narrowphase/EPA/EPAAlgorithm.cpp | 6 +++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

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;