[ODE] Bug in dCollideRayCCylinder

[David McClurg]

Hi all,

In dCollideRayCCylinder(), if the cylinder and ray are _both oriented along same axis_ (eg. z-axis), then 'A' is zero and dRecip() fails (Exception)...

    else {
      k = dSqrt(k);
      A = dRecip (2*A);

I believe there should be a test to see if both the ray and ccylinder lie in the same axis.  Sorry, but I don't have a patch. Source is here for current code...
http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/opende/ode/ode/src/collision_std.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup