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Add consistent input validation to dtNavMeshQuery
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Validate input values, including that points are finite. This would have
saved everyone some time in recastnavigation#343/recastnavigation#373.
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@jakobbotsch
jakobbotsch committed Feb 10, 2019
1 parent 14b2631 commit ad71c30
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Showing 3 changed files with 133 additions and 46 deletions.
22 changes: 22 additions & 0 deletions Detour/Include/DetourCommon.h
View file
Expand Up @@ -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)]
Expand Down
1 change: 1 addition & 0 deletions Detour/Include/DetourMath.h
View file
Expand Up @@ -16,5 +16,6 @@ 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 isfinite(x); }

#endif
156 changes: 110 additions & 46 deletions Detour/Source/DetourNavMeshQuery.cpp
View file
Expand Up @@ -222,7 +222,10 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
dtPolyRef* randomRef, float* randomPt) const
{
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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -512,6 +520,10 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
return DT_FAILURE | DT_INVALID_PARAM;
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)
Expand Down Expand Up @@ -607,6 +619,9 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float*
const dtPoly* poly = 0;
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];
Expand Down Expand Up @@ -659,6 +674,9 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h
const dtPoly* poly = 0;
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)
{
Expand Down Expand Up @@ -767,6 +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);

Expand Down Expand Up @@ -972,8 +992,12 @@ 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);
Expand Down Expand Up @@ -1022,20 +1046,23 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
dtAssert(m_nodePool);
dtAssert(m_openList);

if (pathCount)
*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 || !pathCount || maxPath <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

if (startRef == endRef)
{
path[0] = startRef;
*pathCount = 1;
return DT_SUCCESS;
}

*pathCount = 0;

m_nodePool->clear();
m_openList->clear();
Expand Down Expand Up @@ -1257,6 +1284,14 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
dtAssert(m_nav);
dtAssert(m_nodePool);
dtAssert(m_openList);

// Validate input
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)
|| !startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) || !filter)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

// Init path state.
memset(&m_query, 0, sizeof(dtQueryData));
Expand All @@ -1268,13 +1303,6 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
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))
return DT_FAILURE | DT_INVALID_PARAM;

// trade quality with performance?
if (options & DT_FINDPATH_ANY_ANGLE)
Expand Down Expand Up @@ -1530,6 +1558,9 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)

dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
{
if (!path || !pathCount || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;

*pathCount = 0;

if (dtStatusFailed(m_query.status))
Expand Down Expand Up @@ -1615,13 +1646,11 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath)
{
if (!existing || existingSize <= 0 || !path || !pathCount || maxPath <= 0)
return DT_FAILURE | DT_INVALID_PARAM;

*pathCount = 0;

if (existingSize == 0)
{
return DT_FAILURE;
}

if (dtStatusFailed(m_query.status))
{
// Reset query.
Expand Down Expand Up @@ -1823,14 +1852,16 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en
int* straightPathCount, const int maxStraightPath, const int options) const
{
dtAssert(m_nav);

*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] ||
!straightPathCount || maxStraightPath <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

*straightPathCount = 0;

dtStatus stat = 0;

Expand Down Expand Up @@ -2070,13 +2101,17 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start
dtAssert(m_nav);
dtAssert(m_tinyNodePool);

*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 || !visitedCount ||
maxVisitedSize <= 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

*visitedCount = 0;

dtStatus status = DT_SUCCESS;

Expand Down Expand Up @@ -2484,16 +2519,20 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
dtRaycastHit* hit, dtPolyRef prevRef) const
{
dtAssert(m_nav);

// Validate input
if (!m_nav->isValidPolyRef(startRef) ||
!startPos || !dtVisfinite(startPos) ||
!endPos || !dtVisfinite(endPos) ||
!filter ||
(prevRef && !m_nav->isValidPolyRef(prevRef)))
{
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))
return DT_FAILURE | DT_INVALID_PARAM;

float dir[3], curPos[3], lastPos[3];
float verts[DT_VERTS_PER_POLYGON*3+3];
Expand Down Expand Up @@ -2735,7 +2774,13 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
dtAssert(m_nodePool);
dtAssert(m_openList);

*resultCount = 0;
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
radius < 0 || !dtMathIsfinite(radius) ||
!filter || !resultCount || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
Expand Down Expand Up @@ -2901,7 +2946,14 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
dtAssert(m_nav);
dtAssert(m_nodePool);
dtAssert(m_openList);


if (!m_nav->isValidPolyRef(startRef) ||
!verts || nverts < 3 ||
!filter || !resultCount || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

*resultCount = 0;

// Validate input
Expand Down Expand Up @@ -3088,13 +3140,17 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
{
dtAssert(m_nav);
dtAssert(m_tinyNodePool);

*resultCount = 0;

// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
if (!m_nav->isValidPolyRef(startRef) ||
!centerPos || !dtVisfinite(centerPos) ||
radius < 0 || !dtMathIsfinite(radius) ||
!filter || !resultCount || maxResult < 0)
{
return DT_FAILURE | DT_INVALID_PARAM;
}

*resultCount = 0;

static const int MAX_STACK = 48;
dtNode* stack[MAX_STACK];
int nstack = 0;
Expand Down Expand Up @@ -3302,12 +3358,15 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter*
{
dtAssert(m_nav);

*segmentCount = 0;

const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
return DT_FAILURE | DT_INVALID_PARAM;

if (!filter || !segmentVerts || !segmentCount || maxSegments < 0)
return DT_FAILURE | DT_INVALID_PARAM;

*segmentCount = 0;

int n = 0;
static const int MAX_INTERVAL = 16;
Expand Down Expand Up @@ -3455,8 +3514,13 @@ 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();
Expand Down

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