fix: validate contact surface parameters to prevent LCP solver crashes (DART 7) #2434
+641
−10
Codecov / codecov/project
succeeded
Jan 18, 2026 in 0s
66.49% (+0.00%) compared to a15166f
View this Pull Request on Codecov
66.49% (+0.00%) compared to a15166f
Details
Codecov Report
❌ Patch coverage is 58.82353% with 14 lines in your changes missing coverage. Please review.
✅ Project coverage is 66.49%. Comparing base (a15166f) to head (12529fc).
| Files with missing lines | Patch % | Lines |
|---|---|---|
| dart/constraint/SoftContactConstraint.cpp | 0.00% | 10 Missing |
| dart/constraint/ContactSurface.cpp | 83.33% | 4 Missing |
Additional details and impacted files
@@ Coverage Diff @@
## main #2434 +/- ##
=======================================
Coverage 66.49% 66.49%
=======================================
Files 407 407
Lines 37254 37278 +24
Branches 4901 4906 +5
=======================================
+ Hits 24772 24788 +16
- Misses 12482 12490 +8 | Files with missing lines | Coverage Δ | |
|---|---|---|
| dart/constraint/ContactSurface.cpp | 86.13% <83.33%> (+1.00%) |
⬆️ |
| dart/constraint/SoftContactConstraint.cpp | 0.00% <0.00%> (ø) |
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