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Replace mjtSize with size_t for size calculations.

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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
This commit is contained in:
Yuval Tassa
2026-01-23 10:50:53 -08:00
committed by Copybara-Service
parent 30b903b6c0
commit 68537e1e32
1 changed files with 5 additions and 5 deletions
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src/user/user_model.cc
+5 -5
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@@ -2219,18 +2219,18 @@ void mjCModel::SetSizes() {
// nhfielddata // nhfielddata
for (int i=0; i < nhfield; i++) { 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 // ntexdata
for (int i=0; i < ntex; i++) { for (int i=0; i < ntex; i++) {
const mjCTexture* tex = textures_[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 // nwrap
for (int i=0; i < ntendon; i++) { for (int i=0; i < ntendon; i++) {
nwrap += (int)tendons_[i]->path.size(); nwrap += static_cast<mjtSize>(tendons_[i]->path.size());
} }
// nsensordata // nsensordata
@@ -3574,7 +3574,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// copy elevation data // copy elevation data
memcpy(m->hfield_data + data_adr, phf->data.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 // advance counter
data_adr += phf->nrow*phf->ncol; data_adr += phf->nrow*phf->ncol;
@@ -3595,7 +3595,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tex_adr[i] = data_adr; m->tex_adr[i] = data_adr;
// copy rgb data // 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); memcpy(m->tex_data + data_adr, ptex->data_.data(), nbytes);
// advance counter // advance counter