From 7b7fc09d1fc3d9a970b2123bc41c4d1fbcff35d6 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 8 Nov 2022 09:04:42 -0800
Subject: [PATCH] Raise error if an invalid curve is specified for the cable
 composite.

PiperOrigin-RevId: 486967001
Change-Id: I7220966e172400542417d8f715dbee0c0f154d9b
---
 src/xml/xml_native_reader.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 629fef6a..9aba1b76 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -1911,6 +1911,9 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
   int i = 0;
   while (iss) {
     iss >> text;
+    if (i>2) {
+      throw mjXError(elem, "The curve array must have a maximum of 3 components");
+    }
     comp.curve[i++] = (mjtCompShape)FindKey(shape_map, mjNCOMPSHAPES, text);
     if (iss.eof()){
       break;