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occurs in btSequentialImpulseConstraintSolver.solveGroupCacheFriendlySetup.{.{.for.if.for.solverConstraint ...
(sometimes) Right now, when I make one perturbation of params.
For now, just commenting out the line with assert seems to solve it. :S
Line 1258.
This is the same issue as described in: bulletphysics/bullet3#109
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