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Check input vertex coordinates for NaNs when loading STL meshes.

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PiperOrigin-RevId: 465327574
Change-Id: I985170941d217031c169ee5107dd1a3bcd27b6af
This commit is contained in:
Nimrod Gileadi
2022-08-04 09:04:33 -07:00
committed by Copybara-Service
parent 3a3ca37615
commit 999c345b93
1 changed files with 18 additions and 10 deletions
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src/user/user_mesh.cc
+18 -10
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@@ -623,7 +623,6 @@ void mjCMesh::LoadOBJ(const mjVFS* vfs) {
// load STL binary mesh // load STL binary mesh
void mjCMesh::LoadSTL(const mjVFS* vfs) { void mjCMesh::LoadSTL(const mjVFS* vfs) {
bool righthand = (scale[0]*scale[1]*scale[2]>0); bool righthand = (scale[0]*scale[1]*scale[2]>0);
int i, j;
// make filename // make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file); string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
@@ -690,20 +689,29 @@ void mjCMesh::LoadSTL(const mjVFS* vfs) {
vert = (float*) mju_malloc(9*nface*sizeof(float)); vert = (float*) mju_malloc(9*nface*sizeof(float));
// add vertices and faces, including repeated for now // add vertices and faces, including repeated for now
for (i=0; i<nface; i++) { for (int i=0; i<nface; i++) {
for (j=0; j<3; j++) { for (int j=0; j<3; j++) {
// get pointer to vertex coordiates // get pointer to vertex coordiates
float* v = (float*)(stl+50*i+12*(j+1)); float* v = (float*)(stl+50*i+12*(j+1));
for (int k=0; k < 3; k++) {
if (std::isnan(v[k]) || std::isinf(v[k])) {
if (!flag_existing) {
mju_free(buffer);
}
// check if vertex coordinates can be cast to an int safely throw mjCError(this, "STL file '%s' contains invalid vertices.",
if (fabs(v[0])>pow(2, 30) || fabs(v[1])>pow(2, 30) || fabs(v[2])>pow(2, 30)) { filename.c_str());
if (!flag_existing) {
mju_free(buffer);
} }
// check if vertex coordinates can be cast to an int safely
if (fabs(v[k])>pow(2, 30)) {
if (!flag_existing) {
mju_free(buffer);
}
throw mjCError(this, throw mjCError(this,
"vertex coordinates in STL file '%s' exceed maximum bounds", "vertex coordinates in STL file '%s' exceed maximum bounds",
filename.c_str()); filename.c_str());
}
} }
// add vertex address in face; change order if scale makes it lefthanded // add vertex address in face; change order if scale makes it lefthanded