Can I ask Gimpact code questions used in ODE?

[davychxn]

Hi,

I'm submitting a PR to ODE physics engine on BitBucket.
The maintainer of ODE helps me to find an Assertion when running my demo with double precision in debug mode. (no Assertion seen with single precision)

I traced the code, found the Assertion is originally caused by an unprotected divide-by-zero calculation in ODE's Gimpact code:

But in Gimpact's folder of Bullet3's repo, I don't find the corresponding code.
I wrote to Francisco Leon Najera, the creator of Gimpact. But his email looks out of use. 🤣

Francisco‘s code should be time-proven. I don't think it's his code's fault.
But it's hard for me to understand what his code is doing. I don't know how to compose a fix.

Can I get some help here?
Thank you.