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DART 6.16.5

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@jslee02 jslee02 released this 22 Jan 04:20
· 886 commits to main since this release
v6.16.5
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Learn about vigilant mode.

This is a patch release for the 6.16 LTS line, focused on crash fixes in constraints, dynamics, and parsers.

  • Constraint

    • Fix crash when joint limits are invalid (lower > upper) by emitting a warning and skipping limit enforcement: gz-physics#846

    • Validate contact surface parameters to prevent LCP solver crashes: #2435

  • Dynamics

    • Validate SphereShape radius to prevent assertion failures with NaN/Inf/non-positive values: #2441

  • Parsers

    • Fix null pointer dereference in XmlHelpers getValue* functions: #2429
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