Add safeguard if n is invalid in GJK.

PiperOrigin-RevId: 738340065 Change-Id: I2288eb731621e5b84dcc0f078d8dbd84dca94cd4
2025-03-19 04:20:06 -07:00
parent efe213a7b3
commit dc50fbbb9b
1 changed files with 9 additions and 0 deletions
@@ -240,6 +240,15 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
      lambda[n++] = lambda[i];
    }

+    // SHOULD NOT OCCUR
+    if (n < 1) {
+      status->gjk_iterations = k;
+      status->nsimplex = 0;
+      status->nx = 0;
+      status->dist = mjMAXVAL;
+      return;
+    }
+
    // get the next iteration of x_k
    mjtNum x_next[3];
    lincomb(x_next, lambda, n, simplex[0].vert, simplex[1].vert,