[BUG] ConvexVoxelizer will create NaN values as it takes square roots of negative values.

[stolk]

Environment

Debian Trixie

Describe the bug

With FP exceptions enabled, the unit test will catch ConvexVoxelizer taking the square root of negative values, leading to NaN values with unpredictable results.

To Reproduce

Enable FP exceptions (MR that adds toggle for this will follow.)

Expected behavior

No FP errors.

Additional context

I have a fix, MR follows.