Fix: Validate external forces to prevent NaN/Inf crash (DART 7) #2444
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## main #2444 +/- ##
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+ Coverage 66.49% 66.51% +0.02%
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Files 407 407
Lines 37254 37283 +29
Branches 4901 4910 +9
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+ Hits 24772 24800 +28
- Misses 12482 12483 +1
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Adds validation to BodyNode and PointMass external force setters to check for NaN and Inf values. When invalid values are detected, a warning is logged and the operation is skipped, preventing the simulation from crashing due to NaN propagation. This addresses gz-physics#844 where NaN hydrodynamics parameters cause assertion failures in BodyNode::updateBiasForce. Modified files: - dart/dynamics/BodyNode.cpp: Add validation to addExtForce, setExtForce, addExtTorque, setExtTorque - dart/dynamics/PointMass.cpp: Add validation to addExtForce - tests/unit/dynamics/test_BodyNodeExternalForce.cpp: New test file - tests/unit/CMakeLists.txt: Register new test
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Summary
BodyNode::addExtForce,setExtForce,addExtTorque,setExtTorquePointMass::addExtForceRelated Issue
Addresses gz-physics#844 - Crash in
BodyNode::updateBiasForcewhen Gazebo Hydrodynamics plugin passes NaN parameters (e.g.,<xDotU>NaN</xDotU>).Changes
dart/dynamics/BodyNode.cppdart/dynamics/PointMass.cpptests/unit/dynamics/test_BodyNodeExternalForce.cpptests/unit/dynamics/CMakeLists.txtTesting
All 9 new unit tests pass locally:
AddExtForceWithNaNAddExtForceWithInfAddExtForceWithNaNOffsetSetExtForceWithNaNAddExtTorqueWithNaNAddExtTorqueWithInfSetExtTorqueWithNaNValidForceApplicationGzPhysics844Scenario