chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Ensure that memory allocated by mju_malloc is freed by mju_free.

Browse Source 
Previously, `vfs->filedata` memory was allocated via `mju_malloc` in C and released using `Marshal.FreeHGlobal` in C#. In 5cc73c30bf, `mju_malloc` started returning 64-byte aligned pointers, which should not be freed by a deallocator that isn't aware of this alignment.

Fixes #479.

PiperOrigin-RevId: 474596441
Change-Id: I8a8383c7eaa2c1ec516d81f92a2f90e7aedfe2ee
This commit is contained in:
Tom Erez
2022-09-15 10:25:33 -07:00
committed by Copybara-Service
parent 0e05e7ce52
commit 68718e76b1
1 changed files with 7 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Tools/MjVfs.cs
+7 -17
View File
@@ -56,7 +56,8 @@ public sealed class MjVfs : IDisposable {
if (fileIndex < 0) { if (fileIndex < 0) {
throw new IndexOutOfRangeException("VFS didn't properly create the empty file."); throw new IndexOutOfRangeException("VFS didn't properly create the empty file.");
} }
SetFileContents(fileIndex, contents); var contents_bytes = Encoding.UTF8.GetBytes(contents);
Marshal.Copy(contents_bytes, 0, Data.filedata[fileIndex], contents_bytes.Length);
} }
// Searches the VFS for the specified file and returns its index. // Searches the VFS for the specified file and returns its index.
@@ -82,17 +83,10 @@ public sealed class MjVfs : IDisposable {
return model; return model;
} }
private unsafe void SetFileContents(int fileIndex, string contents) { public unsafe MjVfs() {
var data = Data;
Marshal.FreeHGlobal(data.filedata[fileIndex]);
data.filedata[fileIndex] = Marshal.StringToHGlobalAnsi(contents);
Data = data;
}
public MjVfs() {
_managedVfs = new _mjVFS();
_unmanagedVfs = Marshal.AllocHGlobal(Marshal.SizeOf(_managedVfs)); _unmanagedVfs = Marshal.AllocHGlobal(Marshal.SizeOf(_managedVfs));
Marshal.StructureToPtr(_managedVfs, _unmanagedVfs, true); mj_defaultVFS(_unmanagedVfs.ToPointer());
_managedVfs = (_mjVFS)Marshal.PtrToStructure(_unmanagedVfs, typeof(_mjVFS));
} }
~MjVfs() { ~MjVfs() {
@@ -104,13 +98,9 @@ public sealed class MjVfs : IDisposable {
ReleaseUnmanagedMemory(); ReleaseUnmanagedMemory();
} }
private void ReleaseUnmanagedMemory() { private unsafe void ReleaseUnmanagedMemory() {
if (_unmanagedVfs != IntPtr.Zero) { if (_unmanagedVfs != IntPtr.Zero) {
var data = Data; mj_deleteVFS(_unmanagedVfs.ToPointer());
for (var fileIndex = 0; fileIndex < data.nfile; ++fileIndex) {
Marshal.FreeHGlobal(data.filedata[fileIndex]);
}
Marshal.FreeHGlobal(_unmanagedVfs); Marshal.FreeHGlobal(_unmanagedVfs);
_unmanagedVfs = IntPtr.Zero; _unmanagedVfs = IntPtr.Zero;
} }