From 87405336445c530bf2e35ba7a572e92f89c6bd0d Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 16 Oct 2024 13:14:53 -0700
Subject: [PATCH] Check obj and ref types before casting them to a geom.

PiperOrigin-RevId: 686616350
Change-Id: I43b14344df6324b371c6bb2447c63197b88178d5
---
 src/user/user_objects.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 7d40e0d1..5a50ef87 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -6402,8 +6402,8 @@ void mjCSensor::Compile(void) {
     }
 
     // height fields are not necessarily convex and are not yet supported
-    if (static_cast<mjCGeom*>(obj)->Type() == mjGEOM_HFIELD ||
-        static_cast<mjCGeom*>(ref)->Type() == mjGEOM_HFIELD) {
+    if ((objtype == mjOBJ_GEOM && static_cast<mjCGeom*>(obj)->Type() == mjGEOM_HFIELD) ||
+        (reftype == mjOBJ_GEOM && static_cast<mjCGeom*>(ref)->Type() == mjGEOM_HFIELD)) {
       throw mjCError(this, "height fields are not supported in geom distance sensors");
     }