fix: validate contact surface parameters to prevent LCP solver crashes (DART 6.16) #2435
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## release-6.16 #2435 +/- ##
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+ Coverage 58.74% 58.81% +0.06%
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@codex review This PR has been rebased on release-6.16. Updated CHANGELOG with correct PR number and resolved merge conflict. The validation approach using |
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Add validation for NaN/Inf/negative friction, restitution, and slip compliance values in ContactSurface and SoftContactConstraint. Invalid values now log a warning and fall back to defaults. This prevents assertion failures in the LCP solver when malformed SDF files (e.g., <mu>NaN</mu>) propagate invalid values through the constraint system. Backport of fix from main branch. Fixes gazebosim/gz-physics#841
Fully qualify constraint::DART_DEFAULT_FRICTION_COEFF and constraint::DART_DEFAULT_RESTITUTION_COEFF to avoid ambiguity with dynamics namespace constants.
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Codex Review: Didn't find any major issues. Bravo. ℹ️ About Codex in GitHubYour team has set up Codex to review pull requests in this repo. Reviews are triggered when you
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Summary
ContactSurfaceandSoftContactConstraintBackport of #2434 to release-6.16
Problem
When malformed SDF files contain invalid friction values (e.g.,
<mu>NaN</mu>), these propagate through DART's constraint system and cause an assertion failure indSolveLCP:This crashes simulations in gz-physics and any other downstream consumers.
Solution
Validate contact surface parameters at extraction time in:
DefaultContactSurfaceHandler::computeFrictionCoefficient()DefaultContactSurfaceHandler::computePrimaryFrictionCoefficient()DefaultContactSurfaceHandler::computeSecondaryFrictionCoefficient()DefaultContactSurfaceHandler::computePrimarySlipCompliance()DefaultContactSurfaceHandler::computeSecondarySlipCompliance()DefaultContactSurfaceHandler::computeRestitutionCoefficient()SoftContactConstraint::computeFrictionCoefficient()SoftContactConstraint::computeRestitutionCoefficient()Invalid values are rejected with a warning and replaced with safe defaults.
Testing
Related Issues
Related to gazebosim/gz-physics#841
Checklist