From d82465d710c218f1b6edcd812c53ecdb4de6a4f8 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 24 May 2023 04:39:16 -0700 Subject: [PATCH] Fix use of uninitialised memory. PiperOrigin-RevId: 534783070 Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521 --- src/engine/engine_derivative.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c index fd80a5a2..48ee4ab1 100644 --- a/src/engine/engine_derivative.c +++ b/src/engine/engine_derivative.c @@ -716,6 +716,7 @@ static void addJTBJSparse(const mjModel* m, mjData* d, const mjtNum* J, // allocate row mjMARKSTACK; mjtNum* row = mj_stackAlloc(d, nv); + mju_zero(row, nv); // process non-zero elements of B for (int i=0; i