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Fix memory leaks when loading an invalid model from MJB.

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PiperOrigin-RevId: 458445745
Change-Id: I99229a66fc86f7763cfe2b5382229b0304bdfa9c
This commit is contained in:
Nimrod Gileadi
2022-07-01 05:21:09 -07:00
committed by Copybara-Service
parent 2d0995b47c
commit dbef8e6c2b
1 changed files with 4 additions and 0 deletions
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src/engine/engine_io.c
+4
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@@ -669,14 +669,17 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
if (fp) {
if (fread((void*)&m->opt, sizeof(mjOption), 1, fp) != 1) {
mju_warning("Model file does not have a complete mjOption");
mj_deleteModel(m);
return 0;
}
if (fread((void*)&m->vis, sizeof(mjVisual), 1, fp) != 1) {
mju_warning("Model file does not have a complete mjVisual");
mj_deleteModel(m);
return 0;
}
if (fread((void*)&m->stat, sizeof(mjStatistic), 1, fp) != 1) {
mju_warning("Model file does not have a complete mjStatistic");
mj_deleteModel(m);
return 0;
}
{
@@ -684,6 +687,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
#define X(type, name, nr, nc) \
if (fread(m->name, sizeof(type), (m->nr)*(nc), fp) != (m->nr)*(nc)) { \
mju_warning("Model file does not contain a large enough buffer"); \
mj_deleteModel(m); \
return 0; \
}
MJMODEL_POINTERS