Fix an out-of-bound read bug in mj_collision exclusion handling.

PiperOrigin-RevId: 451609651 Change-Id: Ifc10753ee65d176e609a9b742414d2c2f13d8bd0
2022-05-28 04:01:23 -07:00
parent 1da4e1c784
commit 79082ea1ae
1 changed files with 1 additions and 1 deletions
@@ -104,7 +104,7 @@ void mj_collision(const mjModel* m, mjData* d) {
      // handle exclusion
      if (nexclude) {
        // advance exadr while exclude_signature < signature
-        while (m->exclude_signature[exadr]<signature && exadr<nexclude) {
+        while (exadr<nexclude && m->exclude_signature[exadr]<signature) {
          exadr++;
        }