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Don't allow quat="0 0 0 0" in XML.

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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
This commit is contained in:
Yuval Tassa
2023-08-16 10:46:29 -07:00
committed by Copybara-Service
parent 15d74ba939
commit cf310079e2
4 changed files with 36 additions and 5 deletions
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src/xml/xml_util.cc
+12
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@@ -715,7 +715,19 @@ template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len,
mjtByte* data, string& text, bool required, bool exact);
// read quaternion attribute
// throw error if identically zero
int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, string& text,
bool required) {
ReadAttr(elem, attr, /*len=*/4, data, text, required, /*exact=*/true);
// check for 0 quaternion
if (data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 0 ) {
throw mjXError(elem, "zero quaternion is not allowed");
}
return 4;
}
// read DOUBLE array into C++ vector, return number read
int mjXUtil::ReadVector(XMLElement* elem, const char* attr,