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Avoid memcpy-ing to nullptrs in simulate #2827

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Avoid memcpy-ing to nullptrs in simulate #2827

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40 changes: 25 additions & 15 deletions simulate/simulate.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2269,20 +2269,22 @@ void Simulate::LoadOnRenderThread() {
ncam_ = this->m_->ncam;
nkey_ = this->m_->nkey;
body_parentid_.resize(this->m_->nbody);
std::memcpy(body_parentid_.data(), this->m_->body_parentid,
sizeof(this->m_->body_parentid[0]) * this->m_->nbody);
if (this->m_->nbody) {
std::memcpy(body_parentid_.data(), this->m_->body_parentid,
sizeof(this->m_->body_parentid[0]) * this->m_->nbody);
}

jnt_type_.resize(this->m_->njnt);
std::memcpy(jnt_type_.data(), this->m_->jnt_type,
sizeof(this->m_->jnt_type[0]) * this->m_->njnt);

jnt_group_.resize(this->m_->njnt);
std::memcpy(jnt_group_.data(), this->m_->jnt_group,
sizeof(this->m_->jnt_group[0]) * this->m_->njnt);

jnt_qposadr_.resize(this->m_->njnt);
std::memcpy(jnt_qposadr_.data(), this->m_->jnt_qposadr,
sizeof(this->m_->jnt_qposadr[0]) * this->m_->njnt);
if (this->m_->njnt > 0) {
std::memcpy(jnt_type_.data(), this->m_->jnt_type,
sizeof(this->m_->jnt_type[0]) * this->m_->njnt);
std::memcpy(jnt_group_.data(), this->m_->jnt_group,
sizeof(this->m_->jnt_group[0]) * this->m_->njnt);
std::memcpy(jnt_qposadr_.data(), this->m_->jnt_qposadr,
sizeof(this->m_->jnt_qposadr[0]) * this->m_->njnt);
}

jnt_range_.clear();
jnt_range_.reserve(this->m_->njnt);
Expand All @@ -2302,8 +2304,10 @@ void Simulate::LoadOnRenderThread() {
}

actuator_group_.resize(this->m_->nu);
std::memcpy(actuator_group_.data(), this->m_->actuator_group,
sizeof(this->m_->actuator_group[0]) * this->m_->nu);
if (this->m_->nu) {
std::memcpy(actuator_group_.data(), this->m_->actuator_group,
sizeof(this->m_->actuator_group[0]) * this->m_->nu);
}

actuator_ctrlrange_.clear();
actuator_ctrlrange_.reserve(this->m_->nu);
Expand All @@ -2329,15 +2333,21 @@ void Simulate::LoadOnRenderThread() {
}

qpos_.resize(this->m_->nq);
std::memcpy(qpos_.data(), this->d_->qpos, sizeof(this->d_->qpos[0]) * this->m_->nq);
if (this->m_->nq) {
std::memcpy(qpos_.data(), this->d_->qpos, sizeof(this->d_->qpos[0]) * this->m_->nq);
}
qpos_prev_ = qpos_;

ctrl_.resize(this->m_->nu);
std::memcpy(ctrl_.data(), this->d_->ctrl, sizeof(this->d_->ctrl[0]) * this->m_->nu);
if (this->m_->nu) {
std::memcpy(ctrl_.data(), this->d_->ctrl, sizeof(this->d_->ctrl[0]) * this->m_->nu);
}
ctrl_prev_ = ctrl_;

eq_active_.resize(this->m_->neq);
std::memcpy(eq_active_.data(), this->d_->eq_active, sizeof(this->d_->eq_active[0]) * this->m_->neq);
if (this->m_->neq) {
std::memcpy(eq_active_.data(), this->d_->eq_active, sizeof(this->d_->eq_active[0]) * this->m_->neq);
}
eq_active_prev_ = eq_active_;

// allocate history buffer: smaller of {2000 states, 100 MB}
Expand Down