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Fix tangent impulse being NaN#842

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ThierryBerger wants to merge 3 commits into
dimforge:masterfrom
ThierryBerger:818_tangent_impulse_nan
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Fix tangent impulse being NaN#842
ThierryBerger wants to merge 3 commits into
dimforge:masterfrom
ThierryBerger:818_tangent_impulse_nan

moved test in a better place

e4b17a3
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