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Add consistent input validation to dtNavMeshQuery (#374)

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Validate input values, including that points are finite.
This commit is contained in:
Jakob Botsch Nielsen 2019-02-24 21:10:42 +01:00 committed by GitHub
parent 14b2631527
commit 3a619d773d
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 162 additions and 44 deletions
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22
Detour/Include/DetourCommon.h
View File

@ -283,6 +283,28 @@ inline bool dtVequal(const float* p0, const float* p1)
return d < thr;
}
/// Checks that the specified vector's components are all finite.
/// @param[in] v A point. [(x, y, z)]
/// @return True if all of the point's components are finite, i.e. not NaN
/// or any of the infinities.
inline bool dtVisfinite(const float* v)
{
bool result =
dtMathIsfinite(v[0]) &&
dtMathIsfinite(v[1]) &&
dtMathIsfinite(v[2]);
return result;
}
/// Checks that the specified vector's 2D components are finite.
/// @param[in] v A point. [(x, y, z)]
inline bool dtVisfinite2D(const float* v)
{
bool result = dtMathIsfinite(v[0]) && dtMathIsfinite(v[2]);
return result;
}
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]

4
Detour/Include/DetourMath.h
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@ -8,6 +8,9 @@ Members in this module are wrappers around the standard math library
#define DETOURMATH_H
#include <math.h>
// This include is required because libstdc++ has problems with isfinite
// if cmath is included before math.h.
#include <cmath>
inline float dtMathFabsf(float x) { return fabsf(x); }
inline float dtMathSqrtf(float x) { return sqrtf(x); }
@ -16,5 +19,6 @@ inline float dtMathCeilf(float x) { return ceilf(x); }
inline float dtMathCosf(float x) { return cosf(x); }
inline float dtMathSinf(float x) { return sinf(x); }
inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); }
inline bool dtMathIsfinite(float x) { return std::isfinite(x); }
#endif

148
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -223,6 +223,9 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
{
dtAssert(m_nav);
if (!filter || !frand || !randomRef || !randomPt)
return DT_FAILURE | DT_INVALID_PARAM;
// Randomly pick one tile. Assume that all tiles cover roughly the same area.
const dtMeshTile* tile = 0;
float tsum = 0.0f;
@ -319,8 +322,13 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
dtAssert(m_openList);
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
!filter || !frand || !randomRef || !randomPt)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
const dtMeshTile* startTile = 0;
const dtPoly* startPoly = 0;
@ -513,6 +521,9 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
if (!tile)
return DT_FAILURE | DT_INVALID_PARAM;
if (!pos || !dtVisfinite(pos) || !closest)
return DT_FAILURE | DT_INVALID_PARAM;
// Off-mesh connections don't have detail polygons.
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
@ -608,6 +619,9 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (!pos || !dtVisfinite(pos) || !closest)
return DT_FAILURE | DT_INVALID_PARAM;
// Collect vertices.
float verts[DT_VERTS_PER_POLYGON*3];
float edged[DT_VERTS_PER_POLYGON];
@ -660,6 +674,9 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (!pos || !dtVisfinite2D(pos))
return DT_FAILURE | DT_INVALID_PARAM;
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
const float* v0 = &tile->verts[poly->verts[0]*3];
@ -768,6 +785,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfE
if (!nearestRef)
return DT_FAILURE | DT_INVALID_PARAM;
// queryPolygons below will check rest of params
dtFindNearestPolyQuery query(this, center);
dtStatus status = queryPolygons(center, halfExtents, filter, &query);
@ -972,8 +991,12 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExt
{
dtAssert(m_nav);
if (!center || !halfExtents || !filter || !query)
if (!center || !dtVisfinite(center) ||
!halfExtents || !dtVisfinite(halfExtents) ||
!filter || !query)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
float bmin[3], bmax[3];
dtVsub(bmin, center, halfExtents);
@ -1022,13 +1045,19 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtAssert(m_nodePool);
dtAssert(m_openList);
if (pathCount)
if (!pathCount)
return DT_FAILURE | DT_INVALID_PARAM;
*pathCount = 0;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
!startPos || !endPos || !filter || maxPath <= 0 || !path || !pathCount)
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) ||
!filter || !path || maxPath <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
if (startRef == endRef)
{
@ -1263,18 +1292,21 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
m_query.status = DT_FAILURE;
m_query.startRef = startRef;
m_query.endRef = endRef;
if (startPos)
dtVcopy(m_query.startPos, startPos);
if (endPos)
dtVcopy(m_query.endPos, endPos);
m_query.filter = filter;
m_query.options = options;
m_query.raycastLimitSqr = FLT_MAX;
if (!startRef || !endRef)
return DT_FAILURE | DT_INVALID_PARAM;
// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) || !filter)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
// trade quality with performance?
if (options & DT_FINDPATH_ANY_ANGLE)
@ -1530,8 +1562,14 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
{
if (!pathCount)
return DT_FAILURE | DT_INVALID_PARAM;
*pathCount = 0;
if (!path || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
// Reset query.
@ -1615,12 +1653,13 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath)
{
if (!pathCount)
return DT_FAILURE | DT_INVALID_PARAM;
*pathCount = 0;
if (existingSize == 0)
{
return DT_FAILURE;
}
if (!existing || existingSize <= 0 || !path || !pathCount || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;
if (dtStatusFailed(m_query.status))
{
@ -1824,13 +1863,18 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
{
dtAssert(m_nav);
if (!straightPathCount)
return DT_FAILURE | DT_INVALID_PARAM;
*straightPathCount = 0;
if (!maxStraightPath)
return DT_FAILURE | DT_INVALID_PARAM;
if (!path[0])
if (!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) ||
!path || pathSize <= 0 || !path[0] ||
maxStraightPath <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
dtStatus stat = 0;
@ -2070,13 +2114,19 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
dtAssert(m_nav);
dtAssert(m_tinyNodePool);
if (!visitedCount)
return DT_FAILURE | DT_INVALID_PARAM;
*visitedCount = 0;
// Validate input
if (!startRef)
return DT_FAILURE | DT_INVALID_PARAM;
if (!m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) ||
!filter || !resultPos || !visited ||
maxVisitedSize <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
dtStatus status = DT_SUCCESS;
@ -2485,15 +2535,22 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
{
dtAssert(m_nav);
if (!hit)
return DT_FAILURE | DT_INVALID_PARAM;
hit->t = 0;
hit->pathCount = 0;
hit->pathCost = 0;
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
if (prevRef && !m_nav->isValidPolyRef(prevRef))
if (!m_nav->isValidPolyRef(startRef) ||
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) ||
!filter ||
(prevRef && !m_nav->isValidPolyRef(prevRef)))
{
return DT_FAILURE | DT_INVALID_PARAM;
}
float dir[3], curPos[3], lastPos[3];
float verts[DT_VERTS_PER_POLYGON*3+3];
@ -2735,11 +2792,18 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
dtAssert(m_nodePool);
dtAssert(m_openList);
if (!resultCount)
return DT_FAILURE | DT_INVALID_PARAM;
*resultCount = 0;
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
radius < 0 || !dtMathIsfinite(radius) ||
!filter || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
m_nodePool->clear();
m_openList->clear();
@ -2902,8 +2966,18 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
dtAssert(m_nodePool);
dtAssert(m_openList);
if (!resultCount)
return DT_FAILURE | DT_INVALID_PARAM;
*resultCount = 0;
if (!m_nav->isValidPolyRef(startRef) ||
!verts || nverts < 3 ||
!filter || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
@ -3089,11 +3163,18 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
dtAssert(m_nav);
dtAssert(m_tinyNodePool);
if (!resultCount)
return DT_FAILURE | DT_INVALID_PARAM;
*resultCount = 0;
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
radius < 0 || !dtMathIsfinite(radius) ||
!filter || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
static const int MAX_STACK = 48;
dtNode* stack[MAX_STACK];
@ -3302,6 +3383,9 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
{
dtAssert(m_nav);
if (!segmentCount)
return DT_FAILURE | DT_INVALID_PARAM;
*segmentCount = 0;
const dtMeshTile* tile = 0;
@ -3309,6 +3393,9 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;
if (!filter || !segmentVerts || maxSegments < 0)
return DT_FAILURE | DT_INVALID_PARAM;
int n = 0;
static const int MAX_INTERVAL = 16;
dtSegInterval ints[MAX_INTERVAL];
@ -3455,8 +3542,13 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen
dtAssert(m_openList);
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
maxRadius < 0 || !dtMathIsfinite(maxRadius) ||
!filter || !hitDist || !hitPos || !hitNormal)
{
return DT_FAILURE | DT_INVALID_PARAM;
}
m_nodePool->clear();
m_openList->clear();