From 5498c575c824402dd0bb4366946d626ec205758e Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan@xuchenhan-macbookpro.roam.corp.google.com>
Date: Thu, 9 Apr 2020 11:16:28 -0700
Subject: [PATCH] add guard agaist non-manifold geometry in vtk files

---
 .../PhysicsServerCommandProcessor.cpp             | 15 +++++++++++++++
 src/BulletSoftBody/btSoftBodyHelpers.cpp          |  8 ++++++++
 2 files changed, 23 insertions(+)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 30a318be5..e1807e354 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8281,6 +8281,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 					if (softWorld)
 					{
 						psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
+						if (!psb)
+						{
+							printf("Load deformable failed\n");
+							return false;
+						}
 					}
 				}
 				{
@@ -8288,6 +8293,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 					if (deformWorld)
 					{
 						psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
+						if (!psb)
+						{
+							printf("Load deformable failed\n");
+							return false;
+						}
 					}
 				}
 			}
@@ -8312,6 +8322,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 		if (deformWorld)
 		{
 			psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
+			if (!psb)
+			{
+				printf("Load deformable failed\n");
+				return false;
+			}
 			btScalar corotated_mu(0.), corotated_lambda(0.);
 			corotated_mu = deformable.m_corotatedCoefficients.mu;
 			corotated_lambda = deformable.m_corotatedCoefficients.lambda;
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp
index adefad910..9645fbccd 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -1300,6 +1300,14 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo,
         }
         else if (reading_tets)
         {
+			int d;
+			ss >> d;
+			if (d != 4)
+			{
+				printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
+				fs.close();
+				return 0;
+			}
             ss.ignore(128, ' '); // ignore "4"
             Index tet;
             tet.resize(4);