From fb8f77df74cfa661a3deb4cf9c2d5113362ca446 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 26 Jan 2024 06:12:33 -0800
Subject: [PATCH] Throw error if qhull is called with NaNs.

PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
---
 src/user/user_mesh.cc       |  4 ++++
 test/user/user_mesh_test.cc | 22 ++++++++++++++++++++++
 2 files changed, 26 insertions(+)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 827f8174..5da757ba 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -1506,6 +1506,10 @@ void mjCMesh::MakeGraph(void) {
     throw mjCError(this, "could not allocate data for qhull");
   }
   for (int i=0; i<3*nvert_; i++) {
+    if (!std::isfinite(vert_[i])) {
+      mju_free(data);
+      throw mjCError(this, "vertex coordinate %d is not finite", NULL, i);
+    }
     data[i] = (double)vert_[i];
   }
 
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
index 497d25d0..a4bd0052 100644
--- a/test/user/user_mesh_test.cc
+++ b/test/user/user_mesh_test.cc
@@ -923,6 +923,28 @@ TEST_F(MjCMeshTest, MissingTexCoord) {
   EXPECT_THAT(error.data(), HasSubstr("texcoord must be 2*nv"));
 }
 
+// ----------------------------- qhull ----------------------------------------
+
+TEST_F(MjCMeshTest, NaNConvexHullDisallowed) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="mesh"vertex="nan 0 0  0 1 0  0 1 0  0 0 1"/>
+    </asset>
+  </mujoco>
+    )";
+  static char warning[1024];
+  warning[0] = '\0';
+  mju_user_warning = [](const char* msg) {
+    util::strcpy_arr(warning, msg);
+  };
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(model, testing::IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("vertex coordinate 0 is not finite"));
+  mj_deleteModel(model);
+}
+
 
 }  // namespace
 }  // namespace mujoco