[ODE] ODE crashes if fdir1 vector collinear with vector of normal

[Dmitry Medvedev]

 Hello, everybody.

 Lets see the following situation for example:

  fdir = {1.0, 0.0, 0.0}
  contacts normal vector = { a, 0.0, 0.0}, where a - some value

  division by zero occurs in the quickstep.cpp file in function "static void SOR_LCP(....." in line 
    Ad[i] = sor_w / (sum + cfm[i]);



 Perhaps some special handling should be implemented for such cases.


 Thank you.