[ODE] how to debug and fix NAN values

[Hampa]

Hi,

Every now and then my simulation produces NAN values, usually during  
collisions using hi velocity objects.

In the debug build (lastets 0.9 svn checkout) I get asserts in:
ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in  
_dNormalize4() [../../include/ode/odemath.h]

What is the recommended way to debug and fix this kind of problems?

cheers,
hampa