bullet-featherstone: Crash when deleting model with joints

[iche033]

Environment

• OS Version: 22.04
• Source or binary build? source, gz-physics5

Description

• Expected behavior: gz does not crash when deleting a model with joints
• Actual behavior: gz crashes

Steps to reproduce

1. Launch a model with a joint using bullet-featherstone plugin

   gz sim -v 4 -r log_record_dbl_pendulum.sdf --physics-engine gz-physics-bullet-featherstone-plugin

2. Right click on pendulum and select Remove -> crash

Output

Backtrace

pure virtual method called
terminate called without an active exception
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c31fc5, in 
#30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c2fc34, in 
#29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234b7ba1e, in 
#28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234aa69ac, in rb_protect
#27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c3ec61, in rb_yield
#26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c3a30c, in rb_vm_exec
#25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c34c96, in 
#24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c31fc5, in 
#23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234c2fc34, in 
#22   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f42348d144b, in 
#21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4234bfd088, in rb_nogvl
#20   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f42348d0d6b, in 
#19   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f42348ae492, in 
#18   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f42348b1e2d, in 
#17   Object "/home/iche/code/gz_g_ws/install/lib/libgz-sim7-gz.so.7.6.0", at 0x7f4231079c5a, in runServer
#16   Object "/home/iche/code/gz_g_ws/install/lib/libgz-sim7.so.7", at 0x7f4230017409, in 
#15   Object "/home/iche/code/gz_g_ws/install/lib/libgz-sim7.so.7", at 0x7f4230029252, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#14   Object "/home/iche/code/gz_g_ws/install/lib/libgz-sim7.so.7", at 0x7f4230028af0, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#13   Object "/home/iche/code/gz_g_ws/install/lib/libgz-sim7.so.7", at 0x7f423001f999, in gz::sim::v7::SimulationRunner::UpdateSystems()
#12   Object "/home/iche/code/gz_g_ws/install/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f41e4d390f8, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#11   Object "/home/iche/code/gz_g_ws/install/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f41e4d225b3, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#10   Object "/home/iche/code/gz_g_ws/install/lib/gz-physics-6/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x7f41de9b68dd, in gz::physics::bullet_featherstone::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireData<gz::physics::WorldPoses>, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
#9    Object "/home/iche/code/gz_g_ws/install/lib/libBulletDynamics.so.3.25", at 0x7f41de586b61, in btDiscreteDynamicsWorld::stepSimulation(float, int, float)
#8    Object "/home/iche/code/gz_g_ws/install/lib/libBulletDynamics.so.3.25", at 0x7f41de585f0c, in btDiscreteDynamicsWorld::internalSingleStepSimulation(float)
#7    Object "/home/iche/code/gz_g_ws/install/lib/libBulletDynamics.so.3.25", at 0x7f41de5b8afb, in btMultiBodyDynamicsWorld::calculateSimulationIslands()
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f4230eaefe4, in __cxa_pure_virtual
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f4230eae2b6, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f4230eae24b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f4230ea2bbd, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f42346287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4234642475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4234696a7c, in pthread_kill
Aborted (Signal sent by tkill() 3281938 1156304)