From 195bd32aa6bd9361245e0832f22651df7c44e81d Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 28 May 2024 08:17:11 -0700
Subject: [PATCH] Add a check for mesh dimension in the elasticity.solid
 plugin. Fixes #1647.

PiperOrigin-RevId: 637905358
Change-Id: I1432a8fe054752bc962174548da3c1f81deb6555
---
 plugin/elasticity/solid.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/plugin/elasticity/solid.cc b/plugin/elasticity/solid.cc
index 5660e144..bbb35b88 100644
--- a/plugin/elasticity/solid.cc
+++ b/plugin/elasticity/solid.cc
@@ -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");
+        }
       }
     }
   }