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

Prevent integer overflow in history buffer for large models.

Browse Source 
PiperOrigin-RevId: 585949038
Change-Id: Iabec5feedd1632b635583a608a5488b39e6bb9a2
This commit is contained in:
Alessio Quaglino
2023-11-28 06:03:00 -08:00
committed by Copybara-Service
parent 51d80564fa
commit 7cb84d45c1
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
simulate/simulate.cc
+3 -2
View File
@@ -17,6 +17,7 @@
#include <algorithm>
#include <atomic>
#include <chrono>
#include <climits>
#include <cstdio>
#include <cstring>
#include <memory>
@@ -2228,13 +2229,13 @@ void Simulate::LoadOnRenderThread() {
// allocate history buffer: smaller of {2000 states, 100 MB}
if (!this->is_passive_) {
constexpr int kHistoryLength = 2000;
constexpr int kMaxHistoryBytes = 1e8;
// get state size, size of history buffer
state_size_ = mj_stateSize(this->m_, mjSTATE_INTEGRATION);
int state_bytes = state_size_ * sizeof(mjtNum);
int history_bytes = mjMIN(state_bytes * kHistoryLength, kMaxHistoryBytes);
int history_length = mjMIN(INT_MAX / state_bytes, 2000);
int history_bytes = mjMIN(state_bytes * history_length, kMaxHistoryBytes);
nhistory_ = history_bytes / state_bytes;
// allocate history buffer, reset cursor and UI slider