Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

PiperOrigin-RevId: 951656966
Change-Id: I51294e6a95c39f4037e8feb2aee45e69cb51beb0

src/engine/engine_collision_driver.c

@@ -178,7 +178,7 @@ static inline mjtNum getGap(const mjModel* m, int g1, int g2, int ipair) {
 // move arena pointer back to the end of the contact array
 static inline void resetArena(mjData* d) {
   d->parena = d->ncon * sizeof(mjContact);
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
     ASAN_POISON_MEMORY_REGION(
       (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
 #endif

src/engine/engine_core_constraint.c

@@ -137,7 +137,7 @@ static int arenaAllocEfc(const mjModel* m, mjData* d) {
   d->parena = d->ncon * sizeof(mjContact);
 
   // poison remaining memory
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_POISON_MEMORY_REGION(
     (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
 #endif
@@ -390,7 +390,7 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
 int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
   // move arena pointer back to the end of the existing contact array and invalidate efc_ arrays
   d->parena = d->ncon * sizeof(mjContact);
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_POISON_MEMORY_REGION(
     (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
 #endif

src/engine/engine_crossplatform.cc

@@ -43,7 +43,7 @@ void CheckRosetta() {
 }  // namespace
 #endif  // defined(__APPLE__) && defined(__AVX__)
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
 #include <sanitizer/common_interface_defs.h>
 
 #include <array>

src/engine/engine_crossplatform.h

@@ -75,6 +75,10 @@
   #endif
 #endif
 
+#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
+  #define mjUSEASAN
+#endif
+
 // Atomics helper for size_t.
 #if defined(_MSC_VER) && !defined(__clang__)
   #include <intrin.h>
@@ -103,7 +107,7 @@
 extern "C" {
 #endif
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
 int mj__comparePcFuncName(void* pc1, void* pc2);
 const char* mj__getPcDebugInfo(void* pc);
 #endif

src/engine/engine_io.c

@@ -38,7 +38,7 @@
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   #include <sanitizer/asan_interface.h>
   #include <sanitizer/common_interface_defs.h>
 #endif
@@ -1037,7 +1037,7 @@ void mj_initPlugin(const mjModel* m, mjData* d) {
 
 // free mjData memory without destroying the struct
 static void freeDataBuffers(mjData* d) {
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
     // raise an error if there's a dangling stack frame
     mj_freeStack(d);
 #endif
@@ -1315,7 +1315,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   d->parena = 0;
 
   // poison the entire arena+stack memory region when built with asan
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_POISON_MEMORY_REGION(d->arena, d->narena);
 #endif
 
@@ -1371,7 +1371,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   //------------------------------ clear buffer, set defaults
 
   // fill buffer with debug_value (normally 0)
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   {
     #define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
     MJDATA_POINTERS

src/engine/engine_island.c

@@ -45,7 +45,7 @@ static void clearIsland(mjData* d, size_t parena) {
   d->parena = parena;
 
   // poison remaining memory
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_POISON_MEMORY_REGION(
     (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
 #endif

src/engine/engine_memory.c

@@ -28,7 +28,7 @@
 #include "engine/engine_util_errmem.h"
 
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   #include <sanitizer/asan_interface.h>
   #include <sanitizer/common_interface_defs.h>
 #endif
@@ -42,7 +42,7 @@
 #endif
 
 // add red zone padding when built with asan, to detect out-of-bound accesses
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   #define mjREDZONE 32
 #else
   #define mjREDZONE 0
@@ -82,7 +82,7 @@ static inline mjStackInfo get_stack_info_from_data(const mjData* d) {
 }
 
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
 // get stack usage from red-zone (under ASAN)
 static size_t stack_usage_redzone(const mjStackInfo* stack_info) {
   size_t usage = 0;
@@ -117,7 +117,7 @@ void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
   size_t stack_usage = d->pstack;
 
   // under ASAN, get stack usage from red zone
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   mjStackInfo stack_info = get_stack_info_from_data(d);
   stack_usage = stack_usage_redzone(&stack_info);
 #endif
@@ -127,7 +127,7 @@ void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
   d->parena += padding + bytes;
   d->maxuse_arena = mjMAX(d->maxuse_arena, stack_usage + d->parena);
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_UNPOISON_MEMORY_REGION(result, bytes);
 #endif
 
@@ -179,7 +179,7 @@ static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_
         stack_required_bytes, d->nefc, d->ncon);
   }
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   usage = current_alloc_usage + stack_usage_redzone(stack_info);
 
   // store new stack usage in the red zone
@@ -250,7 +250,7 @@ static inline void* stackalloc(mjData* d, size_t size, size_t alignment,
 
 
 // mjStackInfo mark stack frame, inline so ASAN errors point to correct code unit
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
 __attribute__((always_inline))
 #endif
 static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
@@ -259,7 +259,7 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
     (mjStackFrame*) stackallocinternal(d, stack_info, sizeof(mjStackFrame), _Alignof(mjStackFrame), NULL, 0);
   s->pbase = stack_info->stack_base;
   s->pstack = top_old;
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   // store the program counter to the caller so that we can compare against mj_freeStack later
   s->pc = __sanitizer_return_address();
 #endif
@@ -268,7 +268,7 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
 
 
 // mjData mark stack frame
-#ifndef ADDRESS_SANITIZER
+#ifndef mjUSEASAN
 void mj_markStack(mjData* d)
 #else
 void mj__markStack(mjData* d)
@@ -286,7 +286,7 @@ void mj__markStack(mjData* d)
 }
 
 
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
 __attribute__((always_inline))
 #endif
 static inline void freestackinternal(mjStackInfo* stack_info) {
@@ -295,7 +295,7 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
   }
 
   mjStackFrame* s = (mjStackFrame*) stack_info->stack_base;
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   // raise an error if caller function name doesn't match the most recent caller of mj_markStack
   if (!mj__comparePcFuncName(s->pc, __sanitizer_return_address())) {
     mjERROR("mj_markStack %s has no corresponding mj_freeStack (detected %s)",
@@ -310,14 +310,14 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
   stack_info->top = s->pstack;
 
   // if running under asan, poison the newly freed memory region
-#ifdef ADDRESS_SANITIZER
+#ifdef mjUSEASAN
   ASAN_POISON_MEMORY_REGION((char*)old_top, stack_info->top - old_top);
 #endif
 }
 
 
 // mjData free stack frame
-#ifndef ADDRESS_SANITIZER
+#ifndef mjUSEASAN
 void mj_freeStack(mjData* d)
 #else
 void mj__freeStack(mjData* d)

src/engine/engine_memory.h

@@ -34,7 +34,7 @@ extern "C" {
 // mjData arena allocate
 MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
 
-#ifndef ADDRESS_SANITIZER
+#ifndef mjUSEASAN
 
 // mjData mark stack frame
 MJAPI void mj_markStack(mjData* d);