From 68537e1e3273f786a7f551215fb1053aa81295a8 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 23 Jan 2026 10:50:53 -0800
Subject: [PATCH] Replace mjtSize with size_t for size calculations.

Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.

PiperOrigin-RevId: 860172221
Change-Id: I3b6cb720db8771b8f266f1927e2980ac7514538b
---
 src/user/user_model.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index be61c7b8..f201daed 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2219,18 +2219,18 @@ void mjCModel::SetSizes() {
 
   // nhfielddata
   for (int i=0; i < nhfield; i++) {
-    nhfielddata += static_cast<mjtSize>(hfields_[i]->nrow) * hfields_[i]->ncol;
+    nhfielddata += static_cast<size_t>(hfields_[i]->nrow) * hfields_[i]->ncol;
   }
 
   // ntexdata
   for (int i=0; i < ntex; i++) {
     const mjCTexture* tex = textures_[i];
-    ntexdata += static_cast<mjtSize>(tex->nchannel) * tex->width * tex->height;
+    ntexdata += static_cast<size_t>(tex->nchannel) * tex->width * tex->height;
   }
 
   // nwrap
   for (int i=0; i < ntendon; i++) {
-    nwrap += (int)tendons_[i]->path.size();
+    nwrap += static_cast<mjtSize>(tendons_[i]->path.size());
   }
 
   // nsensordata
@@ -3574,7 +3574,7 @@ void mjCModel::CopyObjects(mjModel* m) {
 
     // copy elevation data
     memcpy(m->hfield_data + data_adr, phf->data.data(),
-           static_cast<mjtSize>(phf->nrow) * phf->ncol * sizeof(float));
+           static_cast<size_t>(phf->nrow) * phf->ncol * sizeof(float));
 
     // advance counter
     data_adr += phf->nrow*phf->ncol;
@@ -3595,7 +3595,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->tex_adr[i] = data_adr;
 
     // copy rgb data
-    mjtSize nbytes = static_cast<mjtSize>(ptex->nchannel) * ptex->width * ptex->height;
+    size_t nbytes = static_cast<size_t>(ptex->nchannel) * ptex->width * ptex->height;
     memcpy(m->tex_data + data_adr, ptex->data_.data(), nbytes);
 
     // advance counter