[BUG] assertion failed: denom != 0.0 with convex hull raycast

[tlonny]

Hi,

I've managed to tease out a seemingly valid convex hull and non-intersecting ray - that upon doing an intersection test causes a panic:

thread 'main' (369438) panicked at /Users/timlonsdale/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/parry3d-0.31.1/src/query/point/point_tetrahedron.rs:276:21:
assertion failed: denom != 0.0
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace

use glam::Vec3;
use parry3d::{query::Ray, shape::SharedShape};

const HULL: [Vec3; 5] = [
    Vec3::new(-34.0, -14.0, 29.0),
    Vec3::new(-24.0, -12.0, 29.0),
    Vec3::new(-32.0, -12.0, 29.0),
    Vec3::new(-32.0, -12.0, 2.0),
    Vec3::new(-24.0, -12.0, 2.0),
];

const ORIGIN: Vec3 = Vec3::new(-16.0, 8.0, 0.0);
const DIRECTION: Vec3 = Vec3::new(-0.5956519, -0.67131174, 0.44106603);

fn main() {
    let hull = SharedShape::convex_hull(&HULL).unwrap();
    let ray = Ray::new(ORIGIN, DIRECTION);
    println!("hit: {}", hull.intersects_local_ray(&ray, f32::MAX));
}

Run this on parry3d 0.31.1

I got codex to generate a standalone HTML artifact so you can view/inspect the ray and the 5 vertex hull (attached as repro.html)

repro.html