Add a check for mesh dimension in the elasticity.solid plugin. Fixes #1647.

PiperOrigin-RevId: 637905358 Change-Id: I1432a8fe054752bc962174548da3c1f81deb6555
2024-05-28 08:17:11 -07:00
parent 7ca8a629a2
commit 195bd32aa6
1 changed files with 3 additions and 0 deletions
@@ -123,6 +123,9 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
      if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
        f0 = i;
        nv = m->flex_vertnum[f0];
+        if (m->flex_dim[i] != 3) {  // SHOULD NOT OCCUR
+          mju_error("mujoco.elasticity.solid requires a 3D mesh");
+        }
      }
    }
  }