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Fix segfault in FuseStatic when body contains cameras or lights

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FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().

Add camera and light reassignment in FuseStatic and FuseReindex.
This commit is contained in:
Kevin Zakka
2026-02-09 14:56:51 -08:00
parent a6a639003f
commit f570ab52a8
2 changed files with 67 additions and 1 deletions
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test/user/user_model_test.cc
+47
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@@ -668,6 +668,53 @@ TEST_F(FuseStaticTest, FuseStaticForceSensorReferencedBody) {
mj_deleteModel(m);
}
TEST_F(FuseStaticTest, FuseStaticCameraInBody) {
static constexpr char xml[] = R"(
<mujoco>
<compiler fusestatic="true"/>
<worldbody>
<body>
<joint axis="1 0 0"/>
<geom size="0.5"/>
<body pos="1 0 0">
<site name="site1"/>
<camera name="cam1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nbody, 2) << "Static body should be fused";
EXPECT_EQ(m->ncam, 1);
mj_deleteModel(m);
}
TEST_F(FuseStaticTest, FuseStaticLightInBody) {
static constexpr char xml[] = R"(
<mujoco>
<compiler fusestatic="true"/>
<worldbody>
<body>
<joint axis="1 0 0"/>
<geom size="0.5"/>
<body pos="1 0 0">
<light name="light1" dir="0 0 -1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nbody, 2) << "Static body should be fused";
EXPECT_EQ(m->nlight, 1);
mj_deleteModel(m);
}
// ------------- test discardvisual --------------------------------------------
using DiscardVisualTest = MujocoTest;