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Avoid out-of-bounds access when checking file extensions.

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Include the '.' in the file extension check.

PiperOrigin-RevId: 474866478
Change-Id: I809ae975e4c8b00f17278735975a7d07e0748643
This commit is contained in:
Nimrod Gileadi
2022-09-16 11:48:49 -07:00
committed by Copybara-Service
parent 68718e76b1
commit f556d4d94f
9 changed files with 99 additions and 27 deletions
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test/user/CMakeLists.txt
+1 -1
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@@ -19,4 +19,4 @@ mujoco_test(user_objects_test)
target_link_libraries(user_objects_test fixture gmock)
mujoco_test(user_mesh_test)
target_link_libraries(user_mesh_test fixture gmock)
target_link_libraries(user_mesh_test fixture gmock absl::str_format)
test/user/testdata/hfield.png
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test/user/testdata/png_hfield.xml
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+9
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@@ -0,0 +1,9 @@
<mujoco>
<asset>
<hfield name="hfield" file="hfield.png" size="0.5 0.5 1 0.1"/>
</asset>
<worldbody>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
</worldbody>
</mujoco>
test/user/user_mesh_test.cc
+49 -16
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@@ -21,6 +21,7 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/str_format.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
@@ -54,6 +55,38 @@ static const char* const kMalformedFaceOBJPath =
using ::testing::HasSubstr;
// ------------- test invalid filenames ----------------------------------------
TEST_F(MjCMeshTest, UnknownMeshFormat) {
static constexpr char xml_format[] = R"(
<mujoco>
<asset>
<mesh name="m" file="%s"/>
</asset>
<worldbody>
<geom type="mesh" mesh="m"/>
</worldbody>
</mujoco>
)";
std::vector<std::string> invalid_names = {
"noextension",
"anobj",
"f",
"mesh.exe",
"file%s"
};
for (const auto& name : invalid_names) {
std::string xml = absl::StrFormat(xml_format, name);
std::array<char, 1024> error;
mjModel* model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model, testing::IsNull())
<< "Should fail to load a mesh named: " << name;
EXPECT_THAT(error.data(), HasSubstr("Unknown mesh file type"));
EXPECT_THAT(error.data(), HasSubstr(name));
}
}
// ------------- test vertex de-duplication (STL) ------------------------------
TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
@@ -124,7 +157,7 @@ TEST_F(MjCMeshTest, SaveMeshOnce) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, TinyMeshLoads) {
TEST_F(MjCMeshTest, TinyMeshLoads) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -142,7 +175,7 @@ TEST_F(MujocoTest, TinyMeshLoads) {
// ------------- test inertia -------------------------------------------------
TEST_F(MujocoTest, SmallInertiaLoads) {
TEST_F(MjCMeshTest, SmallInertiaLoads) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -162,7 +195,7 @@ TEST_F(MujocoTest, SmallInertiaLoads) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, TinyInertiaFails) {
TEST_F(MjCMeshTest, TinyInertiaFails) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -184,7 +217,7 @@ TEST_F(MujocoTest, TinyInertiaFails) {
"mass and inertia of moving bodies must be larger than mjMINVAL"));
}
TEST_F(MujocoTest, MalformedFaceFails) {
TEST_F(MjCMeshTest, MalformedFaceFails) {
const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
@@ -192,7 +225,7 @@ TEST_F(MujocoTest, MalformedFaceFails) {
EXPECT_THAT(error.data(), HasSubstr("faces have inconsistent orientation"));
}
TEST_F(MujocoTest, FlippedFaceFails) {
TEST_F(MjCMeshTest, FlippedFaceFails) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -223,7 +256,7 @@ void CheckTetrahedronWasRescaled(mjModel* model) {
}
}
TEST_F(MujocoTest, FlippedFaceAllowedWorld) {
TEST_F(MjCMeshTest, FlippedFaceAllowedWorld) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -243,7 +276,7 @@ TEST_F(MujocoTest, FlippedFaceAllowedWorld) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, FlippedFaceAllowedNoMass) {
TEST_F(MjCMeshTest, FlippedFaceAllowedNoMass) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -265,7 +298,7 @@ TEST_F(MujocoTest, FlippedFaceAllowedNoMass) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, FlippedFaceAllowedInertial) {
TEST_F(MjCMeshTest, FlippedFaceAllowedInertial) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -288,7 +321,7 @@ TEST_F(MujocoTest, FlippedFaceAllowedInertial) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, FlippedFaceAllowedNegligibleArea) {
TEST_F(MjCMeshTest, FlippedFaceAllowedNegligibleArea) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -310,7 +343,7 @@ TEST_F(MujocoTest, FlippedFaceAllowedNegligibleArea) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, AreaTooSmall) {
TEST_F(MjCMeshTest, AreaTooSmall) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -331,7 +364,7 @@ TEST_F(MujocoTest, AreaTooSmall) {
EXPECT_THAT(error.data(), HasSubstr("mesh surface area is too small"));
}
TEST_F(MujocoTest, AreaTooSmallAllowedWorld) {
TEST_F(MjCMeshTest, AreaTooSmallAllowedWorld) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -350,7 +383,7 @@ TEST_F(MujocoTest, AreaTooSmallAllowedWorld) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, VolumeTooSmall) {
TEST_F(MjCMeshTest, VolumeTooSmall) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -371,7 +404,7 @@ TEST_F(MujocoTest, VolumeTooSmall) {
EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
}
TEST_F(MujocoTest, VolumeTooSmallAllowedWorld) {
TEST_F(MjCMeshTest, VolumeTooSmallAllowedWorld) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -394,7 +427,7 @@ TEST_F(MujocoTest, VolumeTooSmall) {
const mjtNum max_abs_err = std::numeric_limits<float>::epsilon();
TEST_F(MujocoTest, ExactConcaveInertia) {
TEST_F(MjCMeshTest, ExactConcaveInertia) {
const std::string xml_path = GetTestDataFilePath(kConcaveInertiaPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
@@ -422,7 +455,7 @@ TEST_F(MujocoTest, ExactConcaveInertia) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, ExactConvexInertia) {
TEST_F(MjCMeshTest, ExactConvexInertia) {
const std::string xml_path = GetTestDataFilePath(kConvexInertiaPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
@@ -437,7 +470,7 @@ TEST_F(MujocoTest, ExactConvexInertia) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, ExactShellInertia) {
TEST_F(MjCMeshTest, ExactShellInertia) {
const std::string xml_path = GetTestDataFilePath(kShellInertiaPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
test/user/user_objects_test.cc
+16
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@@ -265,6 +265,22 @@ TEST_F(MjCGeomTest, CapsuleInertiaX) {
mj_deleteModel(model);
}
// ------------- test height fields --------------------------------------------
using MjCHFieldTest = MujocoTest;
TEST_F(MjCHFieldTest, PngMap) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/png_hfield.xml");
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(model, ::testing::NotNull()) << error.data();
EXPECT_EQ(model->nhfield, 1);
EXPECT_EQ(model->geom_type[0], mjGEOM_HFIELD);
mj_deleteModel(model);
}
// ------------- test quaternion normalization----------------------------------
using QuatNorm = MujocoTest;