[All] Security : nullptr checks

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp

@@ -200,6 +200,8 @@ inline void IncrSAP::addCollisionModel(core::CollisionModel *cm)
         _nothing_added = false;
 
         CubeCollisionModel * cube_model = dynamic_cast<CubeCollisionModel *>(cm->getLast()->getPrevious());
+        if (!cube_model)
+            return;
         assert(cube_model->getPrevious() == cm->getFirst());
 
         const int old_size = _boxes.size();

Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp

@@ -1196,7 +1196,7 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
     const Vec3 pt = p.p();
 
     const sofa::simulation::Node* node = dynamic_cast<sofa::simulation::Node*>(p.getCollisionModel()->getContext());
-    if ( !(node->get< LineCollisionModel<sofa::defaulttype::Vec3Types> >()) )
+    if ( !node || !(node->get< LineCollisionModel<sofa::defaulttype::Vec3Types> >()) )
         return true;
 
     BaseMeshTopology* topology = p.getCollisionModel()->getCollisionTopology();

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl

@@ -41,7 +41,6 @@ template<class DataTypes>
 void StopperLagrangianConstraint<DataTypes>::init()
 {
     this->mstate = dynamic_cast<MechanicalState*>(this->getContext()->getMechanicalState());
-    assert(this->mstate);
 
     helper::WriteAccessor<Data<VecCoord> > xData = *this->mstate->write(core::vec_id::write_access::position);
     VecCoord& x = xData.wref();

Sofa/GUI/Component/src/sofa/gui/component/performer/FixParticlePerformer.inl

@@ -130,8 +130,11 @@ sofa::component::statecontainer::MechanicalObject< DataTypes >* FixParticlePerfo
     else if (b.mstate)
     {
         collisionState = dynamic_cast<MouseContainer*>(b.mstate);
-        fixPoint = (collisionState->read(core::vec_id::read_access::position)->getValue())[idx];
-        points.push_back(idx);
+        if (collisionState)
+        {
+            fixPoint = (collisionState->read(core::vec_id::read_access::position)->getValue())[idx];
+            points.push_back(idx);
+        }
     }
 
 

Sofa/GUI/Component/src/sofa/gui/component/performer/MouseInteractor.inl

@@ -32,7 +32,13 @@ void MouseInteractor<DataTypes>::init()
 {
     BaseMouseInteractor::init();
     mouseInSofa = dynamic_cast< MouseContainer*>(this->getContext()->getMechanicalState());
-    assert(mouseInSofa);
+    if (!mouseInSofa)
+    {
+        msg_error() << "MouseInteractor requires a MechanicalState of the correct type (" << DataTypes::Name() << ") in its context";
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+
+        return;
+    }
 }
 
 } // namespace sofa::gui::component::performer

Sofa/framework/Core/src/sofa/core/behavior/DefaultMultiMatrixAccessor.cpp

@@ -206,7 +206,12 @@ DefaultMultiMatrixAccessor::InteractionMatrixRef DefaultMultiMatrixAccessor::get
     InteractionMatrixRef r2;
     if (mstate1 == mstate2)// case where state1 == state2, interaction matrix is on the diagonal stiffness block
     {
-        const MatrixRef r = diagonalStiffnessBloc.find(mstate1)->second;
+        const auto it = diagonalStiffnessBloc.find(mstate1);
+        if (it == diagonalStiffnessBloc.end())
+        {
+            return r2; // Return empty/default InteractionMatrixRef
+        }
+        const MatrixRef r = it->second;
         r2.matrix = r.matrix;
         r2.offRow = r.offset;
         r2.offCol = r.offset;

Sofa/framework/Helper/src/sofa/helper/Utils.cpp

@@ -226,7 +226,7 @@ const std::string& Utils::getUserHomeDirectory()
     {
 #ifdef WIN32 // Windows: ${HOME}
         const char* homeDir = std::getenv("USERPROFILE");
-        return std::string(homeDir);
+        return homeDir ? std::string(homeDir) : std::string("");
 #elif defined(__APPLE__) // macOS : ${HOME} (usually /Users/username)
         glob_t globbuf;
         if (glob("~", GLOB_TILDE, nullptr, &globbuf) == 0)
@@ -256,10 +256,12 @@ const std::string& Utils::getUserHomeDirectory()
     if ((homeDir = std::getenv("HOME")) == nullptr)
     {
         // else system calls are used
-        homeDir = getpwuid(getuid())->pw_dir;
+        struct passwd* pw = getpwuid(getuid());
+        if (pw != nullptr)
+            homeDir = pw->pw_dir;
     }
 
-    return std::string(homeDir);
+    return homeDir ? std::string(homeDir) : std::string("");
 
 #endif
     };

Sofa/framework/Simulation/Common/src/sofa/simulation/common/xml/BaseMultiMappingElement.cpp

@@ -60,14 +60,16 @@ bool BaseMultiMappingElement::initNode()
         for( iterState = inputStates.begin();  iterState != inputStates.end(); ++iterState)
         {
             simulation::Node* node = dynamic_cast< simulation::Node* >((*iterState)->getContext());
-            inputNodes.push_back(node);
+            if (node)
+                inputNodes.push_back(node);
         }
         /* */
         /* get the Nodes corresponding to each output BaseState context */
         for( iterState = outputStates.begin(); iterState != outputStates.end(); ++iterState)
         {
             simulation::Node* node = dynamic_cast< simulation::Node* >((*iterState)->getContext());
-            outputNodes.push_back(node);
+            if (node)
+                outputNodes.push_back(node);
         }
 
         type::vector<simulation::Node*>::iterator iterNode;

applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl

@@ -242,6 +242,8 @@ void ArticulatedHierarchyContainer::init ()
         for (; ac != acEnd; ac++)
         {
             context = dynamic_cast<simulation::Node *>((*ac)->getContext());
+            if (!context)
+                continue;
             for (simulation::Node::ChildIterator it = context->child.begin(); it != context->child.end(); ++it)
             {
                 simulation::Node* n =  it->get();

applications/plugins/Sensable/OmniDriver.cpp

@@ -577,7 +577,8 @@ void OmniDriver::handleEvent(core::objectmodel::Event *event)
                 Quat dummyQuat;
                 sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,buttonState);
                 simulation::Node *groot = dynamic_cast<simulation::Node *>(getContext()->getRootContext()); // access to current node
-                groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
+                if (groot)
+                    groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
                 sofa::helper::AdvancedTimer::stepEnd("OmniDriver::6");
             }
 
@@ -639,7 +640,8 @@ void OmniDriver::handleEvent(core::objectmodel::Event *event)
             sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,
                     sofa::core::objectmodel::HapticDeviceEvent::Button1StateMask);
             simulation::Node *groot = dynamic_cast<simulation::Node *>(getContext()->getRootContext()); // access to current node
-            groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
+            if (groot)
+                groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
         }
         if (kpe->getKey()=='J' || kpe->getKey()=='j')
         {
@@ -649,7 +651,8 @@ void OmniDriver::handleEvent(core::objectmodel::Event *event)
             sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,
                     sofa::core::objectmodel::HapticDeviceEvent::Button2StateMask);
             simulation::Node *groot = dynamic_cast<simulation::Node *>(getContext()->getRootContext()); // access to current node
-            groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
+            if (groot)
+                groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
         }
 
     }
@@ -666,7 +669,8 @@ void OmniDriver::handleEvent(core::objectmodel::Event *event)
             Quat dummyQuat;
             sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,0);
             simulation::Node *groot = dynamic_cast<simulation::Node *>(getContext()->getRootContext()); // access to current node
-            groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
+            if (groot)
+                groot->propagateEvent(core::ExecParams::defaultInstance(), &event);
         }
     }
 }