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Fix memory over-allocation in nativeccd.

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PiperOrigin-RevId: 738383181
Change-Id: Ibf9e2b146da671e8d3a48339c8f4c6813f537456
This commit is contained in:
Kyle Bayes
2025-03-19 07:07:14 -07:00
committed by Copybara-Service
parent 209d2bd2c5
commit a1b9ffd124
1 changed files with 12 additions and 12 deletions
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src/engine/engine_collision_gjk.c
+12 -12
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@@ -204,8 +204,8 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
return;
}
} else if (status->dist_cutoff < mjMAXVAL) {
mjtNum vs = mju_dot3(x_k, s_k), vv = mju_dot3(x_k, x_k);
if (mju_dot3(x_k, s_k) > 0 && (vs*vs / vv) >= cutoff2) {
mjtNum vs = dot3(x_k, s_k), vv = dot3(x_k, x_k);
if (dot3(x_k, s_k) > 0 && (vs*vs / vv) >= cutoff2) {
status->gjk_iterations = k;
status->nsimplex = 0;
status->nx = 0;
@@ -277,7 +277,7 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
status->nx = 1;
status->gjk_iterations = k;
status->nsimplex = n;
status->dist = mju_norm3(x_k);
status->dist = norm3(x_k);
}
@@ -346,7 +346,7 @@ static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
scl3(dir_neg, dir, -1);
}
int n = 3*pt->nverts++;
int n = pt->nverts++;
Vertex* v = pt->verts + n;
// compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
@@ -880,7 +880,7 @@ static int testTetra(const mjtNum p0[3], const mjtNum p1[3],
// matrix for 120 degrees rotation around given axis
static void rotmat(mjtNum R[9], const mjtNum axis[3]) {
mjtNum n = mju_norm3(axis);
mjtNum n = norm3(axis);
mjtNum u1 = axis[0] / n, u2 = axis[1] / n, u3 = axis[2] / n;
const mjtNum sin = 0.86602540378; // sin(120 deg)
const mjtNum cos = -0.5; // cos(120 deg)
@@ -930,9 +930,9 @@ static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
// save vertices and get indices for each one
int v1i = insertVertex(pt, status->simplex + 0);
int v2i = insertVertex(pt, status->simplex + 1);
int v3i = epaSupport(pt, obj1, obj2, d1, mju_norm3(d1));
int v4i = epaSupport(pt, obj1, obj2, d2, mju_norm3(d2));
int v5i = epaSupport(pt, obj1, obj2, d3, mju_norm3(d3));
int v3i = epaSupport(pt, obj1, obj2, d1, norm3(d1));
int v4i = epaSupport(pt, obj1, obj2, d2, norm3(d2));
int v5i = epaSupport(pt, obj1, obj2, d3, norm3(d3));
mjtNum* v3 = pt->verts[v3i].vert;
mjtNum* v4 = pt->verts[v4i].vert;
@@ -1040,7 +1040,7 @@ static int triPointIntersect(const mjtNum v1[3], const mjtNum v2[3], const mjtNu
pr[1] = v1[1]*lambda[0] + v2[1]*lambda[1] + v3[1]*lambda[2];
pr[2] = v1[2]*lambda[0] + v2[2]*lambda[1] + v3[2]*lambda[2];
sub3(diff, pr, p);
return mju_norm3(diff) < mjMINVAL;
return norm3(diff) < mjMINVAL;
}
@@ -1057,7 +1057,7 @@ static int polytope3(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
sub3(diff1, v2, v1);
sub3(diff2, v3, v1);
cross3(n, diff1, diff2);
mjtNum n_norm = mju_norm3(n);
mjtNum n_norm = norm3(n);
if (n_norm < mjMINVAL) {
return mjEPA_P3_BAD_NORMAL;
}
@@ -1168,7 +1168,7 @@ static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
// make a copy of vertex in polytope and return its index
static inline int insertVertex(Polytope* pt, const Vertex* v) {
int n = 3*pt->nverts++;
int n = pt->nverts++;
Vertex* new_v = pt->verts + n;
copy3(new_v->vert1, v->vert1);
copy3(new_v->vert2, v->vert2);
@@ -2313,7 +2313,7 @@ mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, m
pt.nfaces = pt.nmap = pt.nverts = 0;
// allocate memory for vertices
pt.verts = mjSTACKALLOC(d, 3*(5 + N), Vertex);
pt.verts = mjSTACKALLOC(d, 5 + N, Vertex);
// allocate memory for faces
pt.maxfaces = (6*N > 1000) ? 6*N : 1000; // use 1000 faces as lower bound