Fix crash if Renderer is destroyed without having been Init'ed.

PiperOrigin-RevId: 831375559 Change-Id: Ia1d0334e32dbbd0582d4f75723867d6ea47bf9da
2025-11-12 07:14:37 -08:00
parent 28c536bd93
commit 7b52d3034e
1 changed files with 11 additions and 14 deletions
@@ -29,24 +29,21 @@ Renderer::Renderer(MakeContextFn make_context_fn)
 Renderer::~Renderer() { Deinit(); }

 void Renderer::Init(const mjModel* model) {
-  if (initialized_) {
-    Deinit();
+  Deinit();
+  if (model) {
+    make_context_fn_(model, &render_context_);
+    mjv_defaultScene(&scene_);
+    mjv_makeScene(model, &scene_, 2000);
+    initialized_ = true;
  }
-
-  if (model == nullptr) {
-    return;
-  }
-
-  make_context_fn_(model, &render_context_);
-  mjv_defaultScene(&scene_);
-  mjv_makeScene(model, &scene_, 2000);
-  initialized_ = true;
 }

 void Renderer::Deinit() {
-  mjv_freeScene(&scene_);
-  mjr_freeContext(&render_context_);
-  initialized_ = false;
+  if (initialized_) {
+    mjv_freeScene(&scene_);
+    mjr_freeContext(&render_context_);
+    initialized_ = false;
+  }
 }

 void Renderer::Render(const mjModel* model, mjData* data,