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Fix: Validate SphereShape radius to prevent assertion failures (DART 7) (#2442)
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‎CHANGELOG.md‎

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- Added validation for invalid contact surface parameters (NaN/Inf/negative friction, restitution, and slip compliance) to prevent LCP solver crashes. ([gazebosim/gz-physics#841](https://github.com/gazebosim/gz-physics/issues/841))
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- Collision and Geometry
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- Validate `SphereShape::setRadius()` to reject NaN, infinity, and non-positive values with a warning instead of crashing via assertion. ([#2442](https://github.com/dartsim/dart/pull/2442), [gz-physics#843](https://github.com/gazebosim/gz-physics/issues/843))
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- Mesh and shape pipeline upgrades: convex mesh collisions/rendering, polygon mesh support, TriMesh internal representation, Collada unit scaling, aiScene ownership fixes, deep-copy shape cloning, ArrowShape material ownership, heightmap fixes, and allocator/heightmap cleanup. ([#2338](https://github.com/dartsim/dart/pull/2338), [#2340](https://github.com/dartsim/dart/pull/2340), [#2325](https://github.com/dartsim/dart/pull/2325), [#2152](https://github.com/dartsim/dart/pull/2152), [#2285](https://github.com/dartsim/dart/pull/2285), [#2239](https://github.com/dartsim/dart/pull/2239), [#2290](https://github.com/dartsim/dart/pull/2290), [#2305](https://github.com/dartsim/dart/pull/2305), [#2287](https://github.com/dartsim/dart/pull/2287), [#2286](https://github.com/dartsim/dart/pull/2286), [#2069](https://github.com/dartsim/dart/pull/2069), [#453](https://github.com/dartsim/dart/issues/453), [#872](https://github.com/dartsim/dart/issues/872), [#896](https://github.com/dartsim/dart/issues/896), [#287](https://github.com/dartsim/dart/issues/287))
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- Collision backend fixes across FCL/Bullet/ODE: contact normalization, mesh regressions, contact ordering, plane handling, phantom contact filtering, ellipsoid rolling, sphere containment, and capsule contact stabilization. ([#2339](https://github.com/dartsim/dart/pull/2339), [#2258](https://github.com/dartsim/dart/pull/2258), [#2282](https://github.com/dartsim/dart/pull/2282), [#2243](https://github.com/dartsim/dart/pull/2243), [#2276](https://github.com/dartsim/dart/pull/2276), [#2246](https://github.com/dartsim/dart/pull/2246), [#2274](https://github.com/dartsim/dart/pull/2274), [#2271](https://github.com/dartsim/dart/pull/2271), [#2219](https://github.com/dartsim/dart/pull/2219), [#2125](https://github.com/dartsim/dart/pull/2125), [#1539](https://github.com/dartsim/dart/issues/1539), [#1184](https://github.com/dartsim/dart/issues/1184))
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- Collision utilities and filtering updates: raycast filters, collision shape signals, collision filter guards, MetaSkeleton subscription handling, contact helpers, and optional backend embedding. ([#2279](https://github.com/dartsim/dart/pull/2279), [#2250](https://github.com/dartsim/dart/pull/2250), [#2343](https://github.com/dartsim/dart/pull/2343), [#2277](https://github.com/dartsim/dart/pull/2277), [#2245](https://github.com/dartsim/dart/pull/2245), [#2194](https://github.com/dartsim/dart/pull/2194))

‎dart/dynamics/SphereShape.cpp‎

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#include "dart/dynamics/SphereShape.hpp"
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#include "dart/common/Logging.hpp"
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#include "dart/common/Macros.hpp"
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#include "dart/math/Helpers.hpp"
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#include <cmath>
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namespace dart {
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namespace dynamics {
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//==============================================================================
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void SphereShape::setRadius(double radius)
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{
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DART_ASSERT(radius > 0.0);
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if (!std::isfinite(radius) || radius <= 0.0) {
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DART_WARN(
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"SphereShape::setRadius: Invalid radius '{}'. "
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"Radius must be a positive finite value. Ignoring request.",
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radius);
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return;
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}
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mRadius = radius;
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‎dart/dynamics/SphereShape.hpp‎

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private:
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/// Radius of this Sphere
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double mRadius;
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double mRadius{1.0};
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};
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} // namespace dynamics

‎tests/unit/CMakeLists.txt‎

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dart_add_test("unit" UNIT_dynamics_ShapeNodePtr dynamics/test_ShapeNodePtr.cpp)
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dart_add_test("unit" UNIT_dynamics_MeshShape dynamics/test_MeshShape.cpp)
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dart_add_test("unit" UNIT_dynamics_HeightmapShape dynamics/test_HeightmapShape.cpp)
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dart_add_test("unit" UNIT_dynamics_SphereShape dynamics/test_SphereShape.cpp)
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dart_add_test("unit" UNIT_dynamics_ConvexMeshShape dynamics/test_ConvexMeshShape.cpp)
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dart_add_test("unit" UNIT_dynamics_BodyNodeDerivatives dynamics/test_BodyNodeDerivatives.cpp)
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dart_add_test(

‎tests/unit/dynamics/test_SphereShape.cpp‎

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// Copyright (c) 2011-2025, The DART development contributors
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#include <dart/dynamics/SphereShape.hpp>
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#include <gtest/gtest.h>
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#include <limits>
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#include <cmath>
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//==============================================================================
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TEST(SphereShapeTest, ValidRadiusAccepted)
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{
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auto sphere = std::make_shared<dart::dynamics::SphereShape>(1.0);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), 1.0);
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sphere->setRadius(2.5);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), 2.5);
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sphere->setRadius(0.001);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), 0.001);
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}
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//==============================================================================
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TEST(SphereShapeTest, NaNRadiusRejected)
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{
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auto sphere = std::make_shared<dart::dynamics::SphereShape>(1.0);
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const double originalRadius = sphere->getRadius();
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sphere->setRadius(std::nan(""));
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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sphere->setRadius(std::numeric_limits<double>::quiet_NaN());
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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sphere->setRadius(std::numeric_limits<double>::signaling_NaN());
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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}
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//==============================================================================
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TEST(SphereShapeTest, InfiniteRadiusRejected)
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{
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auto sphere = std::make_shared<dart::dynamics::SphereShape>(1.0);
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const double originalRadius = sphere->getRadius();
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sphere->setRadius(std::numeric_limits<double>::infinity());
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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sphere->setRadius(-std::numeric_limits<double>::infinity());
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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}
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//==============================================================================
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TEST(SphereShapeTest, NonPositiveRadiusRejected)
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{
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auto sphere = std::make_shared<dart::dynamics::SphereShape>(1.0);
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const double originalRadius = sphere->getRadius();
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sphere->setRadius(0.0);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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sphere->setRadius(-1.0);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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sphere->setRadius(-0.001);
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EXPECT_DOUBLE_EQ(sphere->getRadius(), originalRadius);
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}
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//==============================================================================
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TEST(SphereShapeTest, ConstructorWithSmallValidRadius)
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{
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auto sphere = std::make_shared<dart::dynamics::SphereShape>(1e-10);
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EXPECT_GT(sphere->getRadius(), 0.0);
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}

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