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Remove unconditional mj_markStack in mjv_addGeoms.

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Prior to commit 3f855f32d9, calling `mjv_updateScene` and `mjv_updateSceneFromState` on an "empty" `mjData` (one without a buffer but where all sizes are also zero) was a valid operation. The `mj_markStack` call requires free stack space, so a call to `mjv_addGeoms` on an empty `mjData` results in a stack overflow whenever `mjVIS_TENDON` is enabled.

Fixes #2305.

PiperOrigin-RevId: 713418586
Change-Id: I99b5de23fe94ba9aa86eeef0700c891976c9aecc
This commit is contained in:
Saran Tunyasuvunakool
2025-01-08 14:30:56 -08:00
committed by Copybara-Service
parent f912e8df16
commit 357ea024c0
1 changed files with 1 additions and 1 deletions
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src/engine/engine_vis_visualize.c
+1 -1
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@@ -1728,7 +1728,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// spatial tendons // spatial tendons
objtype = mjOBJ_TENDON; objtype = mjOBJ_TENDON;
category = mjCAT_DYNAMIC; category = mjCAT_DYNAMIC;
if (vopt->flags[mjVIS_TENDON] && (category & catmask)) { if (vopt->flags[mjVIS_TENDON] && (category & catmask) && m->ntendon) {
// mark actuated tendons // mark actuated tendons
mj_markStack(d); mj_markStack(d);
int* tendon_actuated = mjSTACKALLOC(d, m->ntendon, int); int* tendon_actuated = mjSTACKALLOC(d, m->ntendon, int);