Fix several undefined behavior issues (strict aliasing and ODR violations)

src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp

@@ -1,6 +1,7 @@
 
 bool searchIncremental3dSapOnGpu = true;
 #include <limits.h>
+#include <string.h>
 #include "b3GpuSapBroadphase.h"
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
@@ -183,7 +184,8 @@ static bool TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aab
 //http://stereopsis.com/radix.html
 static unsigned int FloatFlip(float fl)
 {
-	unsigned int f = *(unsigned int*)&fl;
+	unsigned int f;
+	memcpy(&f, &fl, sizeof(f));
 	unsigned int mask = -(int)(f >> 31) | 0x80000000;
 	return f ^ mask;
 };

src/Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.cpp

@@ -202,7 +202,7 @@ void b3RadixSort32CL::execute(b3OpenCLArray<b3SortData>& keyValuesInOut, int sor
 
 #define USE_BTFILL
 #ifdef USE_BTFILL
-		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4, (b3Int2&)fillValue, workingSize - originalSize, originalSize);
+		m_fill->execute((b3OpenCLArray<b3Int2>&)*m_workBuffer4, b3MakeInt2(fillValue.m_key, fillValue.m_value), workingSize - originalSize, originalSize);
 #else
 		//fill the remaining bits (very slow way, todo: fill on GPU/OpenCL side)
 

src/Bullet3OpenCL/RigidBody/b3GpuPgsContactSolver.cpp

@@ -242,16 +242,9 @@ b3GpuPgsContactSolver::~b3GpuPgsContactSolver()
 	delete m_data;
 }
 
-struct b3ConstraintCfg
+struct b3ConstraintCfg : public b3SolverBase::ConstraintCfg
 {
-	b3ConstraintCfg(float dt = 0.f) : m_positionDrift(0.005f), m_positionConstraintCoeff(0.2f), m_dt(dt), m_staticIdx(0) {}
-
-	float m_positionDrift;
-	float m_positionConstraintCoeff;
-	float m_dt;
-	bool m_enableParallelSolve;
-	float m_batchCellSize;
-	int m_staticIdx;
+	b3ConstraintCfg(float dt = 0.f) : b3SolverBase::ConstraintCfg(dt) {m_staticIdx = 0;}
 };
 
 void b3GpuPgsContactSolver::solveContactConstraintBatchSizes(const b3OpenCLArray<b3RigidBodyData>* bodyBuf, const b3OpenCLArray<b3InertiaData>* shapeBuf,
@@ -1040,7 +1033,7 @@ void b3GpuPgsContactSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 													  shapeBuf, m_data->m_solverGPU->m_contactBuffer2,
 													  contactConstraintOut,
 													  additionalData, nContacts,
-													  (b3SolverBase::ConstraintCfg&)csCfg);
+													  csCfg);
 			clFinish(m_data->m_queue);
 		}
 

src/BulletCollision/Gimpact/btContactProcessingStructs.h

@@ -24,9 +24,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btTriangleShapeEx.h"
+#include "LinearMath/btVector3.h"
 
 /**
 Configuration var for applying interpolation of  contact normals
@@ -37,6 +35,12 @@ Configuration var for applying interpolation of  contact normals
 
 ///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
 ///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
+
+/// Structure for collision results
+///Functions for managing and sorting contacts resulting from a collision query.
+///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
 class GIM_CONTACT
 {
 public:

src/BulletCollision/Gimpact/gim_contact.h

@@ -36,95 +36,7 @@ email: [email protected]
 #include "gim_radixsort.h"
 #include "gim_array.h"
 
-/**
-Configuration var for applying interpolation of  contact normals
-*/
-#ifndef NORMAL_CONTACT_AVERAGE
-#define NORMAL_CONTACT_AVERAGE 1
-#endif
-
-#ifndef CONTACT_DIFF_EPSILON
-#define CONTACT_DIFF_EPSILON 0.00001f
-#endif
-
-#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
-
-/// Structure for collision results
-///Functions for managing and sorting contacts resulting from a collision query.
-///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
-///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
-///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
-class GIM_CONTACT
-{
-public:
-	btVector3 m_point;
-	btVector3 m_normal;
-	GREAL m_depth;     //Positive value indicates interpenetration
-	GREAL m_distance;  //Padding not for use
-	GUINT m_feature1;  //Face number
-	GUINT m_feature2;  //Face number
-public:
-	GIM_CONTACT()
-	{
-	}
-
-	GIM_CONTACT(const GIM_CONTACT &contact) : m_point(contact.m_point),
-											  m_normal(contact.m_normal),
-											  m_depth(contact.m_depth),
-											  m_feature1(contact.m_feature1),
-											  m_feature2(contact.m_feature2)
-	{
-		m_point = contact.m_point;
-		m_normal = contact.m_normal;
-		m_depth = contact.m_depth;
-		m_feature1 = contact.m_feature1;
-		m_feature2 = contact.m_feature2;
-	}
-
-	GIM_CONTACT(const btVector3 &point, const btVector3 &normal,
-				GREAL depth, GUINT feature1, GUINT feature2) : m_point(point),
-															   m_normal(normal),
-															   m_depth(depth),
-															   m_feature1(feature1),
-															   m_feature2(feature2)
-	{
-	}
-
-	//! Calcs key for coord classification
-	SIMD_FORCE_INLINE GUINT calc_key_contact() const
-	{
-		GINT _coords[] = {
-			(GINT)(m_point[0] * 1000.0f + 1.0f),
-			(GINT)(m_point[1] * 1333.0f),
-			(GINT)(m_point[2] * 2133.0f + 3.0f)};
-		GUINT _hash = 0;
-		GUINT *_uitmp = (GUINT *)(&_coords[0]);
-		_hash = *_uitmp;
-		_uitmp++;
-		_hash += (*_uitmp) << 4;
-		_uitmp++;
-		_hash += (*_uitmp) << 8;
-		return _hash;
-	}
-
-	SIMD_FORCE_INLINE void interpolate_normals(btVector3 *normals, GUINT normal_count)
-	{
-		btVector3 vec_sum(m_normal);
-		for (GUINT i = 0; i < normal_count; i++)
-		{
-			vec_sum += normals[i];
-		}
-
-		GREAL vec_sum_len = vec_sum.length2();
-		if (vec_sum_len < CONTACT_DIFF_EPSILON) return;
-
-		GIM_INV_SQRT(vec_sum_len, vec_sum_len);  // 1/sqrt(vec_sum_len)
-
-		m_normal = vec_sum * vec_sum_len;
-	}
-};
-
-#endif
+#include "btContactProcessingStructs.h"
 
 class gim_contact_array : public gim_array<GIM_CONTACT>
 {

src/BulletCollision/Gimpact/gim_math.h

@@ -32,6 +32,7 @@ email: [email protected]
 -----------------------------------------------------------------------------
 */
 
+#include <string.h>
 #include "LinearMath/btScalar.h"
 
 #define GREAL btScalar
@@ -70,17 +71,31 @@ enum GIM_SCALAR_TYPES
 #define G_DEGTORAD(X) ((X)*3.1415926f / 180.0f)
 #define G_RADTODEG(X) ((X)*180.0f / 3.1415926f)
 
+static GUINT gim_ir__(float r)
+{
+	GUINT i;
+	memcpy(&i, &r, sizeof(i));
+	return i;
+}
+
+static GREAL gim_fr__(GUINT i)
+{
+	float r;
+	memcpy(&r, &i, sizeof(r));
+	return r;
+}
+
 //! Integer representation of a floating-point value.
-#define GIM_IR(x) ((GUINT&)(x))
+#define GIM_IR(x) (gim_ir__(x))
 
 //! Signed integer representation of a floating-point value.
-#define GIM_SIR(x) ((GINT&)(x))
+#define GIM_SIR(x) ((GINT)gim_ir__(x))
 
 //! Absolute integer representation of a floating-point value
-#define GIM_AIR(x) (GIM_IR(x) & 0x7fffffff)
+#define GIM_AIR(x) (gim_ir__(x) & 0x7fffffff)
 
 //! Floating-point representation of an integer value.
-#define GIM_FR(x) ((GREAL&)(x))
+#define GIM_FR(x) (gim_fr__(x))
 
 #define GIM_MAX(a, b) (a < b ? b : a)
 #define GIM_MIN(a, b) (a > b ? b : a)

src/BulletSoftBody/btSoftBody.cpp

@@ -2423,7 +2423,7 @@ void btSoftBody::pointersToIndices()
 	{
 		if (m_nodes[i].m_leaf)
 		{
-			m_nodes[i].m_leaf->data = *(void**)&i;
+			m_nodes[i].m_leaf->dataAsInt = i;
 		}
 	}
 	for (i = 0, ni = m_links.size(); i < ni; ++i)
@@ -2438,7 +2438,7 @@ void btSoftBody::pointersToIndices()
 		m_faces[i].m_n[2] = PTR2IDX(m_faces[i].m_n[2], base);
 		if (m_faces[i].m_leaf)
 		{
-			m_faces[i].m_leaf->data = *(void**)&i;
+			m_faces[i].m_leaf->dataAsInt = i;
 		}
 	}
 	for (i = 0, ni = m_anchors.size(); i < ni; ++i)

src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp

@@ -177,6 +177,7 @@ void btSoftMultiBodyDynamicsWorld::debugDrawWorld()
 	}
 }
 
+namespace {
 struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 {
 	btVector3 m_rayFromWorld;
@@ -250,6 +251,7 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 		return true;
 	}
 };
+}
 
 void btSoftMultiBodyDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {

src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

@@ -172,6 +172,7 @@ void btSoftRigidDynamicsWorld::debugDrawWorld()
 	}
 }
 
+namespace {
 struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 {
 	btVector3 m_rayFromWorld;
@@ -245,6 +246,7 @@ struct btSoftSingleRayCallback : public btBroadphaseRayCallback
 		return true;
 	}
 };
+}
 
 void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {