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Throw error if sizes of referenced arrays are near INT_MAX.

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PiperOrigin-RevId: 484218386
Change-Id: I07dff633b4911bf296ad8993550509ed7b3dfe53
This commit is contained in:
Alessio Quaglino
2022-10-27 04:34:39 -07:00
committed by Copybara-Service
parent f695f55253
commit 507b573763
1 changed files with 6 additions and 1 deletions
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src/engine/engine_io.c
+6 -1
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@@ -35,6 +35,8 @@
#pragma warning (disable: 4305) // disable MSVC warning: truncation from 'double' to 'float' #pragma warning (disable: 4305) // disable MSVC warning: truncation from 'double' to 'float'
#endif #endif
static const int MAX_ARRAY_SIZE = INT_MAX / 4;
//------------------------------ mjLROpt ----------------------------------------------------------- //------------------------------ mjLROpt -----------------------------------------------------------
// set default options for length range computation // set default options for length range computation
@@ -454,7 +456,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
} }
// nmocap is going to get multiplied by 4, and shouldn't overflow // nmocap is going to get multiplied by 4, and shouldn't overflow
if (m->nmocap >= INT_MAX / 4) { if (m->nmocap >= MAX_ARRAY_SIZE) {
mju_free(m); mju_free(m);
mju_warning("Invalid model: nmocap too large"); mju_warning("Invalid model: nmocap too large");
return 0; return 0;
@@ -1405,6 +1407,9 @@ const char* mj_validateReferences(const mjModel* m) {
if (num < 0) { \ if (num < 0) { \
return "Invalid model: " #numarray " is negative."; \ return "Invalid model: " #numarray " is negative."; \
} \ } \
if (num > MAX_ARRAY_SIZE) { \
return "Invalid model: " #numarray " is too large."; \
} \
int adrsmax = m->adrarray[i] + num; \ int adrsmax = m->adrarray[i] + num; \
if (adrsmax > m->ntarget || adrsmin < -1) { \ if (adrsmax > m->ntarget || adrsmin < -1) { \
return "Invalid model: " #adrarray " out of bounds."; \ return "Invalid model: " #adrarray " out of bounds."; \