Negative joint damping causes assertion failure in DART plugin

[XINJIANGMO]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?
  Source , gz-sim10
  build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: not crash but give users error or warning messages.
• Actual behavior: gazebo crash

Steps to reproduce

1. gz sim crash.sdf and then crash

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>

    <model name="crash_test_model">
      <pose>0 0 1 0 0 0</pose>
      
      <link name="base_link">
        <inertial>
          <mass>1.0</mass>
          <inertia>
            <ixx>1</ixx><iyy>1</iyy><izz>1</izz>
          </inertia>
        </inertial>
      </link>

      <link name="child_link">
        <pose>0 0 0.1 0 0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.1</ixx><iyy>0.1</iyy><izz>0.1</izz>
          </inertia>
        </inertial>
      </link>

      <joint name="bad_joint" type="revolute">
        <parent>base_link</parent>
        <child>child_link</child>
        <axis>
          <xyz>1 0 0</xyz>
          <dynamics>
            <damping>-5.0</damping>
          </dynamics>
        </axis>
      </joint>
    </model>

  </world>
</sdf>

Output

This is the crash.log

[XINJIANGMO]

this issue has already fixed in upstream dart repository. here is the fix