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Merge pull request #3289 from vabr-g/vabr-g-stack-overflow

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Fix stack overflow in parsing URDF files in Bullet
This commit is contained in:
erwincoumans
2021-03-02 08:05:21 -08:00
committed by GitHub
parent abea1a8484 390eeb111b
commit e041514b03
1 changed files with 6 additions and 6 deletions
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12
Extras/Serialize/BulletFileLoader/bFile.cpp
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@@ -643,8 +643,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
if ((strcmp(oldType, "btShortIntIndexData") == 0))
{
int allocLen = 2;
char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
short *dest = (short *)dataAlloc;
const short *src = (short *)head;
for (int i = 0; i < dataChunk.nr; i++)
@@ -682,8 +682,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
// numBlocks * length
int allocLen = (curLen);
char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
memset(dataAlloc, 0, (dataChunk.nr * allocLen));
char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
// track allocated
addDataBlock(dataAlloc);
@@ -719,8 +719,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
#endif //
}
char *dataAlloc = new char[(dataChunk.len) + 1];
memset(dataAlloc, 0, dataChunk.len + 1);
char *dataAlloc = new char[(dataChunk.len) + sizeof(void*)];
memset(dataAlloc, 0, dataChunk.len + sizeof(void*));
// track allocated
addDataBlock(dataAlloc);