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Check for invalid node tags in gmsh parser.

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PiperOrigin-RevId: 621538409
Change-Id: I91ba56b931d815fccd65ae32281bc19ae3a45ee7
This commit is contained in:
Nimrod Gileadi
2024-04-03 08:56:08 -07:00
committed by Copybara-Service
parent d7f131e086
commit 7d3b662d5b
2 changed files with 23 additions and 9 deletions
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src/user/user_flexcomp.cc
+15
View File
@@ -1366,6 +1366,9 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
if (!ss.good()) {
throw mjCError(NULL, "Error reading Elements");
}
if (nodeTag > numElements || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
}
element.push_back((int)(nodeTag-1));
}
}
@@ -1432,6 +1435,9 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
// read first element
for (int k =0; k<numNodeTags; k++) {
ReadFromBuffer(&nodeTag, elementsBuffer + componentSize*(6+k));
if (nodeTag > numElements || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
}
element.push_back(nodeTag-1);
}
@@ -1445,6 +1451,9 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
for (int k =0; k < numNodeTags; k++) {
const char* nodeTagBuffer = elementsBuffer + componentSize*(6+k);
ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
if (nodeTag > numElements || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
}
element.push_back(nodeTag-1);
}
}
@@ -1456,6 +1465,9 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
for (int k =0; k < numNodeTags; k++) {
const char* nodeTagBuffer = elementsBuffer + componentSize*(4+k);
ReadFromBuffer(&nodeTag, nodeTagBuffer);
if (nodeTag > numElements || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
}
element.push_back(nodeTag-1);
}
@@ -1467,6 +1479,9 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
for (int k=0; k < numNodeTags; k++) {
const char* nodeTagBuffer = elementsBuffer + componentSize*(3+k);
ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
if (nodeTag > numElements || nodeTag < 1) {
throw mjCError(NULL, "Invalid node tag");
}
element.push_back(nodeTag-1);
}
}
test/user/user_flex_test.cc
+8 -9
View File
@@ -220,8 +220,8 @@ TEST_F(UserFlexTest, CreateBVHSuccess) {
GetTestDataFilePath("user/testdata/robot_arm.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -232,8 +232,8 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
GetTestDataFilePath("user/testdata/shark_41_binary_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
@@ -246,8 +246,8 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
GetTestDataFilePath("user/testdata/shark_22_binary_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 644);
EXPECT_EQ(m->nflexelem, 1635);
mj_step(m, d);
@@ -260,8 +260,8 @@ TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
GetTestDataFilePath("user/testdata/shark_22_binary_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 644);
EXPECT_EQ(m->nflexelem, 1635);
mj_step(m, d);
@@ -274,8 +274,8 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
GetTestDataFilePath("user/testdata/shark_41_ascii_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
@@ -288,8 +288,8 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
GetTestDataFilePath("user/testdata/shark_22_ascii_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
@@ -302,8 +302,8 @@ TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
GetTestDataFilePath("user/testdata/shark_22_ascii_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
@@ -383,8 +383,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumElements_Fail) {
"user/testdata/malformed_shark_22_ascii_missing_num_elements.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Element size must be a multiple of dim+1"));
EXPECT_THAT(error.data(), HasSubstr("XML Error: Error: Invalid node tag"));
mj_deleteModel(m);
}