Validate step size and RTF parameters

Only set them if they are strictly positive.

Signed-off-by: Luca Della Vedova <[email protected]>

src/SimulationRunner.cc

@@ -355,20 +355,32 @@ void SimulationRunner::UpdatePhysicsParams()
  if (newStepSize != this->stepSize ||
  std::abs(newRTF - this->desiredRtf) > eps)
  {
- this->SetStepSize(
- std::chrono::duration_cast<std::chrono::steady_clock::duration>(
- newStepSize));
- this->desiredRtf = newRTF;
- this->updatePeriod = std::chrono::nanoseconds(
- static_cast<int>(this->stepSize.count() / this->desiredRtf));
-
- this->simTimes.clear();
- this->realTimes.clear();
- // Update physics components
- physicsComp->Data().SetMaxStepSize(physicsParams.max_step_size());
- physicsComp->Data().SetRealTimeFactor(newRTF);
- this->entityCompMgr.SetChanged(worldEntity, components::Physics::typeId,
- ComponentState::OneTimeChange);
+ bool updated = false;
+ // Make sure the values are valid before setting them
+ if (newStepSize.count() > 0.0)
+ {
+ this->SetStepSize(
+ std::chrono::duration_cast<std::chrono::steady_clock::duration>(
+ newStepSize));
+ physicsComp->Data().SetMaxStepSize(physicsParams.max_step_size());
+ updated = true;
+ }
+ if (newRTF > 0.0)
+ {
+ this->desiredRtf = newRTF;
+ this->updatePeriod = std::chrono::nanoseconds(
+ static_cast<int>(this->stepSize.count() / this->desiredRtf));
+ physicsComp->Data().SetRealTimeFactor(newRTF);
+ updated = true;
+ }
+ if (updated)
+ {
+ this->simTimes.clear();
+ this->realTimes.clear();
+ // Set as OneTimeChange to make sure the update is not missed
+ this->entityCompMgr.SetChanged(worldEntity, components::Physics::typeId,
+ ComponentState::OneTimeChange);
+ }
  }
  this->entityCompMgr.RemoveComponent<components::PhysicsCmd>(worldEntity);
 }

test/integration/user_commands.cc

@@ -981,4 +981,21 @@ TEST_F(UserCommandsTest, Physics)
  physicsComp = ecm->Component<components::Physics>(worldEntity);
  EXPECT_DOUBLE_EQ(0.123, physicsComp->Data().MaxStepSize());
  EXPECT_DOUBLE_EQ(4.567, physicsComp->Data().RealTimeFactor());
+
+ // Send invalid values (not > 0) and make sure they are not updated
+ req.set_max_step_size(0.0);
+ req.set_real_time_factor(0.0);
+
+ EXPECT_TRUE(node.Request(service, req, timeout, res, result));
+ EXPECT_TRUE(result);
+ EXPECT_TRUE(res.data());
+
+ // Run two iterations, in the first one the PhysicsCmd component is created
+ // in the second one it is processed
+ server.Run(true, 2, false);
+
+ // Check updated physics properties
+ physicsComp = ecm->Component<components::Physics>(worldEntity);
+ EXPECT_DOUBLE_EQ(0.123, physicsComp->Data().MaxStepSize());
+ EXPECT_DOUBLE_EQ(4.567, physicsComp->Data().RealTimeFactor());
 }