diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
index 72b956137..ba7a0f353 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
@@ -280,7 +280,9 @@ namespace Barotrauma
                 return;
             }
 
-            SteeringManager.SteeringManual(deltaTime, Vector2.Normalize(SimPosition - selectedAiTarget.SimPosition) * 5);
+            Vector2 escapeDir = Vector2.Normalize(SimPosition - selectedAiTarget.SimPosition);
+            if (!MathUtils.IsValid(escapeDir)) escapeDir = Vector2.UnitY;
+            SteeringManager.SteeringManual(deltaTime, escapeDir * 5);
             SteeringManager.SteeringWander(1.0f);
             SteeringManager.SteeringAvoid(deltaTime, 2f);
         }
@@ -490,8 +492,10 @@ namespace Barotrauma
 
             if (dist < ConvertUnits.ToSimUnits(500.0f))
             {
+                Vector2 attackDir = Vector2.Normalize(Character.SimPosition - attackPosition);
+                if (!MathUtils.IsValid(attackDir)) attackDir = Vector2.UnitY;
                 steeringManager.SteeringSeek(attackPosition, -0.8f);
-                steeringManager.SteeringManual(deltaTime, Vector2.Normalize(Character.SimPosition - attackPosition) * (1.0f - (dist / 500.0f)));
+                steeringManager.SteeringManual(deltaTime, attackDir * (1.0f - (dist / 500.0f)));
             }
 
             steeringManager.SteeringAvoid(deltaTime, 1.0f);
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
index 84c807617..423a9ec82 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/Objectives/AIObjectiveCombat.cs
@@ -63,6 +63,7 @@ namespace Barotrauma
                 character.SetInput(InputType.Aim, false, true);
 
                 Vector2 enemyDiff = Vector2.Normalize(enemy.Position - character.Position);
+                if (!MathUtils.IsValid(enemyDiff)) enemyDiff = Rand.Vector(1.0f);
                 float weaponAngle = ((weapon.body.Dir == 1.0f) ? weapon.body.Rotation : weapon.body.Rotation - MathHelper.Pi);
                 Vector2 weaponDir = new Vector2((float)Math.Cos(weaponAngle), (float)Math.Sin(weaponAngle));
 
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/SteeringManager.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/SteeringManager.cs
index 910c8d8c2..e3d4aac22 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/SteeringManager.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/SteeringManager.cs
@@ -80,9 +80,9 @@ namespace Barotrauma
             }
 
             float steeringSpeed = steering.Length();
-            if (steeringSpeed>speed)
+            if (steeringSpeed > speed)
             {
-               steering = Vector2.Normalize(steering) * Math.Abs(speed);
+                steering = Vector2.Normalize(steering) * Math.Abs(speed);
             }
 
             host.Steering = steering;
@@ -97,12 +97,12 @@ namespace Barotrauma
             targetVel = Vector2.Normalize(targetVel) * speed;
             Vector2 newSteering = targetVel - host.Steering;
 
-            if (newSteering==Vector2.Zero) return Vector2.Zero;
+            if (newSteering == Vector2.Zero) return Vector2.Zero;
 
             float steeringSpeed = (newSteering + host.Steering).Length();
             if (steeringSpeed > Math.Abs(speed))
             {
-                newSteering = Vector2.Normalize(newSteering)*Math.Abs(speed);
+                newSteering = Vector2.Normalize(newSteering) * Math.Abs(speed);
             }
 
             return newSteering;
@@ -151,8 +151,7 @@ namespace Barotrauma
                 }
                 else
                 {
-                    Structure closestStructure = closestBody.UserData as Structure;
-                    if (closestStructure != null)
+                    if (closestBody.UserData is Structure closestStructure)
                     {
                         Vector2 obstaclePosition = Submarine.LastPickedPosition;
                         if (closestStructure.IsHorizontal)
@@ -166,15 +165,17 @@ namespace Barotrauma
 
                         avoidSteering = Vector2.Normalize(Submarine.LastPickedPosition - obstaclePosition);
                     }
-                    else if (closestBody.UserData is Item)
+                    else if (closestBody.UserData is Item item)
                     {
-                        Item item = (Item)closestBody.UserData;
                         avoidSteering = Vector2.Normalize(Submarine.LastPickedPosition - item.SimPosition);
                     }
                     else
                     {
                         avoidSteering = Vector2.Normalize(host.SimPosition - Submarine.LastPickedPosition);
                     }
+                    //failed to normalize (the obstacle to avoid is at the same position as the character?)
+                    // -> move to a random direction
+                    if (!MathUtils.IsValid(avoidSteering)) avoidSteering = Rand.Vector(1.0f);
                 }
 
             }
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs b/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
index d2f06b11a..fb5ed6df7 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
@@ -766,10 +766,13 @@ namespace Barotrauma
                 //this is preferable to the cost of using continuous collision detection for the character collider
                 if (newHull != null)
                 {
+                    Vector2 hullDiff = WorldPosition - newHull.WorldPosition;
+                    Vector2 moveDir = hullDiff.LengthSquared() < 0.001f ? Vector2.UnitY : Vector2.Normalize(hullDiff);
+
                     //find a position 32 units away from the hull
                     Vector2? intersection = MathUtils.GetLineRectangleIntersection(
                         newHull.WorldPosition, 
-                        newHull.WorldPosition + Vector2.Normalize(WorldPosition - newHull.WorldPosition) * Math.Max(newHull.Rect.Width, newHull.Rect.Height),
+                        newHull.WorldPosition + moveDir * Math.Max(newHull.Rect.Width, newHull.Rect.Height),
                         new Rectangle(newHull.WorldRect.X - 32, newHull.WorldRect.Y + 32, newHull.WorldRect.Width + 64, newHull.Rect.Height + 64));
 
                     if (intersection != null)
@@ -1494,7 +1497,7 @@ namespace Barotrauma
             Vector2 force = Vector2.Zero;
             foreach (Gap gap in Gap.GapList)
             {
-                if (gap.Open <= 0.0f || gap.FlowTargetHull != currentHull || gap.LerpedFlowForce == Vector2.Zero) continue;
+                if (gap.Open <= 0.0f || gap.FlowTargetHull != currentHull || gap.LerpedFlowForce.LengthSquared() < 0.01f) continue;
 
                 Vector2 gapPos = gap.SimPosition;
                 float dist = Vector2.Distance(limbPos, gapPos);
diff --git a/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Propulsion.cs b/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Propulsion.cs
index 0d4079573..97a54afc4 100644
--- a/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Propulsion.cs
+++ b/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Propulsion.cs
@@ -74,6 +74,8 @@ namespace Barotrauma.Items.Components
             }
 
             Vector2 dir = Vector2.Normalize(character.CursorPosition - character.Position);
+            //move upwards if the cursor is at the position of the character
+            if (!MathUtils.IsValid(dir)) dir = Vector2.UnitY;
 
             Vector2 propulsion = dir * force;
 
diff --git a/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Throwable.cs b/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Throwable.cs
index 13c66dde4..4369bbf7a 100644
--- a/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Throwable.cs
+++ b/Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Throwable.cs
@@ -94,8 +94,9 @@ namespace Barotrauma.Items.Components
 
                 if (throwPos < -0.0)
                 {
-                    Vector2 throwVector = picker.CursorWorldPosition - picker.WorldPosition;
-                    throwVector = Vector2.Normalize(throwVector);
+                    Vector2 throwVector = Vector2.Normalize(picker.CursorWorldPosition - picker.WorldPosition);
+                    //throw upwards if cursor is at the position of the character
+                    if (!MathUtils.IsValid(throwVector)) throwVector = Vector2.UnitY;
 
                     GameServer.Log(picker.LogName + " threw " + item.Name, ServerLog.MessageType.ItemInteraction);
 
diff --git a/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Controller.cs b/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Controller.cs
index 9c7dd768c..d7256eaa9 100644
--- a/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Controller.cs
+++ b/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Controller.cs
@@ -116,7 +116,7 @@ namespace Barotrauma.Items.Components
                 else
                 {
                     diff.Y = 0.0f;
-                    if (diff != Vector2.Zero && diff.Length() > 10.0f)
+                    if (diff != Vector2.Zero && diff.LengthSquared() > 10.0f * 10.0f)
                     {
                         character.AnimController.TargetMovement = Vector2.Normalize(diff);
                         character.AnimController.TargetDir = diff.X > 0.0f ? Direction.Right : Direction.Left;
diff --git a/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Steering.cs b/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Steering.cs
index 00326b53b..8f9b0e30b 100644
--- a/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Steering.cs
+++ b/Barotrauma/BarotraumaShared/Source/Items/Components/Machines/Steering.cs
@@ -211,8 +211,9 @@ namespace Barotrauma.Items.Components
                     {
                         Vector2 diff = item.Submarine.WorldPosition - (Vector2)intersection;
 
-                        //far enough -> ignore
-                        if (diff.Length() > avoidRadius) continue;
+                        float dist = diff.Length();
+                        //far enough or too close to normalize the diff -> ignore
+                        if (dist > avoidRadius || dist < 0.00001f) continue;
 
                         float dot = item.Submarine.Velocity == Vector2.Zero ?
                             0.0f : Vector2.Dot(item.Submarine.Velocity, -Vector2.Normalize(diff));
@@ -241,16 +242,15 @@ namespace Barotrauma.Items.Components
                 float otherSize = Math.Max(sub.Borders.Width, sub.Borders.Height);
 
                 Vector2 diff = item.Submarine.WorldPosition - sub.WorldPosition;
-
                 float dist = diff == Vector2.Zero ? 0.0f : diff.Length();
 
                 //far enough -> ignore
                 if (dist > thisSize + otherSize) continue;
 
-                diff = Vector2.Normalize(diff);
+                Vector2 dir = dist <= 0.0001f ? Vector2.UnitY : diff / dist;
 
                 float dot = item.Submarine.Velocity == Vector2.Zero ?
-                    0.0f : Vector2.Dot(Vector2.Normalize(item.Submarine.Velocity), -Vector2.Normalize(diff));
+                    0.0f : Vector2.Dot(Vector2.Normalize(item.Submarine.Velocity), -dir);
 
                 //heading away -> ignore
                 if (dot < 0.0f) continue;
diff --git a/Barotrauma/BarotraumaShared/Source/Map/Explosion.cs b/Barotrauma/BarotraumaShared/Source/Map/Explosion.cs
index 121fe5417..3280a3f51 100644
--- a/Barotrauma/BarotraumaShared/Source/Map/Explosion.cs
+++ b/Barotrauma/BarotraumaShared/Source/Map/Explosion.cs
@@ -180,6 +180,7 @@ namespace Barotrauma
                     if (limb.WorldPosition != worldPosition && force > 0.0f)
                     {
                         Vector2 limbDiff = Vector2.Normalize(limb.WorldPosition - worldPosition);
+                        if (!MathUtils.IsValid(limbDiff)) limbDiff = Rand.Vector(1.0f);
                         Vector2 impulsePoint = limb.SimPosition - limbDiff * limbRadius;
                         limb.body.ApplyLinearImpulse(limbDiff * distFactor * force, impulsePoint);
                     }
diff --git a/Barotrauma/BarotraumaShared/Source/Map/Levels/Level.cs b/Barotrauma/BarotraumaShared/Source/Map/Levels/Level.cs
index 7d7ce68e1..2304b34cd 100644
--- a/Barotrauma/BarotraumaShared/Source/Map/Levels/Level.cs
+++ b/Barotrauma/BarotraumaShared/Source/Map/Levels/Level.cs
@@ -919,7 +919,7 @@ namespace Barotrauma
                     ConvertUnits.ToSimUnits(endPos),
                     null, Physics.CollisionLevel) != null)
                 {
-                    position = ConvertUnits.ToDisplayUnits(Submarine.LastPickedPosition) +  Vector2.Normalize(startPos - endPos)*offsetFromWall;
+                    position = ConvertUnits.ToDisplayUnits(Submarine.LastPickedPosition) + Vector2.Normalize(startPos - endPos) * offsetFromWall;
                     break;
                 }
 
diff --git a/Barotrauma/BarotraumaShared/Source/Map/SubmarineBody.cs b/Barotrauma/BarotraumaShared/Source/Map/SubmarineBody.cs
index 94663b760..22d147ad4 100644
--- a/Barotrauma/BarotraumaShared/Source/Map/SubmarineBody.cs
+++ b/Barotrauma/BarotraumaShared/Source/Map/SubmarineBody.cs
@@ -214,7 +214,7 @@ namespace Barotrauma
                     closestSub = Character.Controlled.Submarine;
                 }
 
-                bool displace = moveAmount.Length() > 100.0f;
+                bool displace = moveAmount.LengthSquared() > 100.0f * 100.0f;
                 foreach (Submarine sub in subsToMove)
                 {
                     sub.PhysicsBody.SetTransform(sub.PhysicsBody.SimPosition + ConvertUnits.ToSimUnits(moveAmount), 0.0f);
@@ -259,7 +259,7 @@ namespace Barotrauma
 
             Vector2 totalForce = CalculateBuoyancy();
 
-            if (Body.LinearVelocity.LengthSquared() > 0.000001f)
+            if (Body.LinearVelocity.LengthSquared() > 0.0001f)
             {
                 float dragCoefficient = 0.01f;
 
@@ -285,6 +285,7 @@ namespace Barotrauma
             worldBorders.Location += MathUtils.ToPoint(ConvertUnits.ToDisplayUnits(Body.SimPosition));
 
             Vector2 translateDir = Vector2.Normalize(subTranslation);
+            if (!MathUtils.IsValid(translateDir)) translateDir = Vector2.UnitY;
 
             foreach (Character c in Character.CharacterList)
             {
@@ -384,7 +385,9 @@ namespace Barotrauma
 
             if (f2.UserData is VoronoiCell cell)
             {
-                HandleLevelCollision(contact, Vector2.Normalize(ConvertUnits.ToDisplayUnits(Body.SimPosition) - cell.Center));
+                Vector2 collisionNormal = Vector2.Normalize(ConvertUnits.ToDisplayUnits(Body.SimPosition) - cell.Center);
+                if (!MathUtils.IsValid(collisionNormal)) collisionNormal = Rand.Vector(1.0f);
+                HandleLevelCollision(contact, collisionNormal);
                 return true;
             }
 
@@ -445,7 +448,9 @@ namespace Barotrauma
         {
             if (limb.Mass > 100.0f)
             {
-                Vector2 normal = Vector2.Normalize(Body.SimPosition - limb.SimPosition);
+                Vector2 normal = Vector2.DistanceSquared(Body.SimPosition, limb.SimPosition) < 0.0001f ?
+                    Vector2.UnitY :
+                    Vector2.Normalize(Body.SimPosition - limb.SimPosition);
 
                 float impact = Math.Min(Vector2.Dot(Velocity - limb.LinearVelocity, -normal), 50.0f) / 5.0f * Math.Min(limb.Mass / 200.0f, 1);
 
@@ -634,7 +639,10 @@ namespace Barotrauma
             float contactDot = Vector2.Dot(otherSub.PhysicsBody.LinearVelocity, -avgContactNormal);
             if (contactDot > 0.0f)
             {
-                otherSub.PhysicsBody.LinearVelocity -= Vector2.Normalize(otherSub.PhysicsBody.LinearVelocity) * contactDot;
+                if (otherSub.PhysicsBody.LinearVelocity.LengthSquared() > 0.0001f)
+                {
+                    otherSub.PhysicsBody.LinearVelocity -= Vector2.Normalize(otherSub.PhysicsBody.LinearVelocity) * contactDot;
+                }
 
                 impact = Vector2.Dot(otherSub.Velocity, normal);
                 otherSub.SubBody.ApplyImpact(impact, normal, contact);
diff --git a/Barotrauma/BarotraumaShared/Source/Map/TransitionCinematic.cs b/Barotrauma/BarotraumaShared/Source/Map/TransitionCinematic.cs
index 60a9a8449..528862426 100644
--- a/Barotrauma/BarotraumaShared/Source/Map/TransitionCinematic.cs
+++ b/Barotrauma/BarotraumaShared/Source/Map/TransitionCinematic.cs
@@ -89,7 +89,9 @@ namespace Barotrauma
                 foreach (Submarine sub in subs)
                 {
                     if (sub.Position == targetPos) continue;
-                    sub.ApplyForce((Vector2.Normalize(targetPos - sub.Position) * targetSpeed - sub.Velocity) * 500.0f);
+                    Vector2 dir = Vector2.Normalize(targetPos - sub.Position);
+                    if (!MathUtils.IsValid(dir)) continue;
+                    sub.ApplyForce((dir * targetSpeed - sub.Velocity) * 500.0f);
                 }
                 
                 timer += CoroutineManager.UnscaledDeltaTime;
diff --git a/Barotrauma/BarotraumaShared/Source/Networking/RespawnManager.cs b/Barotrauma/BarotraumaShared/Source/Networking/RespawnManager.cs
index 3189a49e8..f5a526544 100644
--- a/Barotrauma/BarotraumaShared/Source/Networking/RespawnManager.cs
+++ b/Barotrauma/BarotraumaShared/Source/Networking/RespawnManager.cs
@@ -362,8 +362,12 @@ namespace Barotrauma.Networking
 
             while (Math.Abs(position.Y - respawnShuttle.WorldPosition.Y) > 100.0f)
             {
-                Vector2 displayVel = Vector2.Normalize(position - respawnShuttle.WorldPosition) * speed;
-                respawnShuttle.SubBody.Body.LinearVelocity = ConvertUnits.ToSimUnits(displayVel);
+                Vector2 diff = position - respawnShuttle.WorldPosition;
+                if (diff.LengthSquared() > 0.01f)
+                {
+                    Vector2 displayVel = Vector2.Normalize(diff) * speed;
+                    respawnShuttle.SubBody.Body.LinearVelocity = ConvertUnits.ToSimUnits(displayVel);
+                }
                 yield return CoroutineStatus.Running;
 
                 if (respawnShuttle.SubBody == null) yield return CoroutineStatus.Success;