Fix #310: Matrix index out of bounds.

CHANGELOG.md

@@ -1,5 +1,9 @@
 # Change Log
 
+### Fixed
+
+- Fix `clip_aabb_line` crashing when given incorrect inputs (zero length direction or NAN).
+
 ## 0.21.1
 
 ### Added

src/query/clip/clip_aabb_line.rs

@@ -133,6 +133,11 @@ pub fn clip_aabb_line(
     let near = if near_diag {
         (tmin, -dir.normalize(), near_side)
     } else {
+        // If near_side is 0, the index calculation would be invalid (-1).
+        if near_side == 0 {
+            return None;
+        }
+
         let mut normal = Vector::zeros();
 
         if near_side < 0 {
@@ -147,6 +152,11 @@ pub fn clip_aabb_line(
     let far = if far_diag {
         (tmax, -dir.normalize(), far_side)
     } else {
+        // If far_side is 0, the index calculation would be invalid (-1).
+        if far_side == 0 {
+            return None;
+        }
+
         let mut normal = Vector::zeros();
 
         if far_side < 0 {
@@ -160,3 +170,46 @@ pub fn clip_aabb_line(
 
     Some((near, far))
 }
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    #[test]
+    pub fn clip_empty_aabb_line() {
+        assert!(clip_aabb_line(
+            &Aabb::new(Point::origin(), Point::origin()),
+            &Point::origin(),
+            &[
+                0.0,
+                0.0,
+                #[cfg(feature = "dim3")]
+                0.0,
+            ]
+            .into(),
+        )
+        .is_none());
+    }
+
+    #[test]
+    pub fn clip_empty_aabb_segment() {
+        let aabb_empty = Aabb::new(Point::origin(), Point::origin());
+        assert!(aabb_empty
+            .clip_segment(
+                &[
+                    0.0,
+                    0.0,
+                    #[cfg(feature = "dim3")]
+                    0.0,
+                ]
+                .into(),
+                &[
+                    Real::NAN,
+                    Real::NAN,
+                    #[cfg(feature = "dim3")]
+                    Real::NAN,
+                ]
+                .into(),
+            )
+            .is_none());
+    }
+}