From 92fb2db0a36e5311b287d440116af3e1555bc2d5 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Wed, 12 May 2021 20:14:15 +0000
Subject: [PATCH] fix some msan (memory sanitizer) issues

---
 Extras/Serialize/BulletFileLoader/bFile.cpp            |  1 +
 Extras/Serialize/BulletFileLoader/btBulletFile.cpp     |  1 +
 examples/Utils/b3BulletDefaultFileIO.h                 |  3 +++
 .../CollisionDispatch/btManifoldResult.cpp             |  2 --
 .../NarrowPhaseCollision/btManifoldPoint.h             | 10 +++++++++-
 src/LinearMath/btAlignedAllocator.cpp                  |  7 ++++++-
 6 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/Extras/Serialize/BulletFileLoader/bFile.cpp b/Extras/Serialize/BulletFileLoader/bFile.cpp
index 5c8f54fe3..107298718 100644
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -75,6 +75,7 @@ bFile::bFile(const char *filename, const char headerString[7])
 		fseek(fp, 0L, SEEK_SET);
 
 		mFileBuffer = (char *)malloc(mFileLen + 1);
+                memset(mFileBuffer, 0, mFileLen+1);
 		size_t bytesRead;
 		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
diff --git a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
index 1f855f41f..74f27c4a5 100644
--- a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
@@ -333,6 +333,7 @@ void btBulletFile::parse(int verboseMode)
 		if (m_DnaCopy)
 			delete m_DnaCopy;
 		m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
+                memset(m_DnaCopy, 0, sBulletDNAlen64);
 		memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
 		parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen64);
 	}
diff --git a/examples/Utils/b3BulletDefaultFileIO.h b/examples/Utils/b3BulletDefaultFileIO.h
index fa972de01..92ff34ee1 100644
--- a/examples/Utils/b3BulletDefaultFileIO.h
+++ b/examples/Utils/b3BulletDefaultFileIO.h
@@ -6,6 +6,8 @@
 #include "b3ResourcePath.h"
 
 #include <stdio.h>
+#include <string.h>
+
 #define B3_FILEIO_MAX_FILES 1024
 
 struct b3BulletDefaultFileIO : public CommonFileIOInterface
@@ -155,6 +157,7 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
 			FILE* f = m_fileHandles[fileHandle];
 			if (f)
 			{
+                                memset(destBuffer, 0, numBytes);
 				char* txt = ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
 				for (int i=0;i<numBytes;i++)
 				{
diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 770eb2436..e4fe9e3e5 100644
--- a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -90,13 +90,11 @@ btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, co
 	: m_manifoldPtr(0),
 	  m_body0Wrap(body0Wrap),
 	  m_body1Wrap(body1Wrap)
-#ifdef DEBUG_PART_INDEX
 	  ,
 	  m_partId0(-1),
 	  m_partId1(-1),
 	  m_index0(-1),
 	  m_index1(-1)
-#endif  //DEBUG_PART_INDEX
 	  ,
 	  m_closestPointDistanceThreshold(0)
 {
diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 573fc86bf..520a7dfb6 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -72,11 +72,17 @@ public:
 					btScalar distance) : m_localPointA(pointA),
 										 m_localPointB(pointB),
 										 m_normalWorldOnB(normal),
+                     m_positionWorldOnB(0,0,0),
+                     m_positionWorldOnA(0,0,0),
 										 m_distance1(distance),
 										 m_combinedFriction(btScalar(0.)),
 										 m_combinedRollingFriction(btScalar(0.)),
 										 m_combinedSpinningFriction(btScalar(0.)),
 										 m_combinedRestitution(btScalar(0.)),
+										 m_partId0(-1),
+										 m_partId1(-1),
+										 m_index0(-1),
+										 m_index1(-1),
 										 m_userPersistentData(0),
 										 m_contactPointFlags(0),
 										 m_appliedImpulse(0.f),
@@ -88,7 +94,9 @@ public:
 										 m_contactCFM(0.f),
 										 m_contactERP(0.f),
 										 m_frictionCFM(0.f),
-										 m_lifeTime(0)
+										 m_lifeTime(0),
+            m_lateralFrictionDir1(0,0,0),
+            m_lateralFrictionDir2(0,0,0)
 	{
 	}
 
diff --git a/src/LinearMath/btAlignedAllocator.cpp b/src/LinearMath/btAlignedAllocator.cpp
index be8f8aa6d..a6e29a8a9 100644
--- a/src/LinearMath/btAlignedAllocator.cpp
+++ b/src/LinearMath/btAlignedAllocator.cpp
@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 #include "btAlignedAllocator.h"
+#include <string.h>
 
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 int gNumAlignedAllocs = 0;
@@ -23,7 +24,9 @@ int gTotalBytesAlignedAllocs = 0;  //detect memory leaks
 
 static void *btAllocDefault(size_t size)
 {
-	return malloc(size);
+  char* data = (char*) malloc(size);
+  memset(data,0,size);//keep msan happy
+  return data;
 }
 
 static void btFreeDefault(void *ptr)
@@ -73,6 +76,8 @@ static inline void *btAlignedAllocDefault(size_t size, int alignment)
 	{
 		ret = (void *)(real);
 	}
+  //keep msan happy
+  memset((char*) ret, 0, size);
 	return (ret);
 }