[ODE] ODE Message 2: vector has zero size in dNormalize4()

[Remi Ricard]

Hi,

>
>     > I'm running a simulation of a robot at ODE.
>     > My robot is made out of three rectangular boxes connected with
>     two hinges.
>     > My simulation is working. But, when I run it I get the following
>     > message repeatedly:
>     >
>     > "ODE Message 2: vector has zero size in dNormalize4()"
>     We had this message when collision points where very close
>     together on 2
>     different geometries.
>                                 | |
>     ___geom1______||______Geom2_____
>                  *
>                  ^-- Collision point
>
>
>     Remi
>
>  
> I think I get this message because of the same reason.
> Do you have any idea how to solve it?
I was able to solve my problem by moving one of the geom a little bit
or changing how they touch

I had previously something like this

  |  | <- geom1
  |  |
  |  |
  |  |
  |  |
  |  ||-------------
  |  ||              Geom 2
   -- |-------------
     *
     ^-- This point was causing problem

and it was changed for

  |  | <- geom1
  |  |
  |  |
  |  |
  |  |
  |  |
  |  |
   --
   |-----------
   |
   |-----------

  ^
  |-- The geom are not align here so they can not touch another geom
      at the same time.

Remi