fix undefined double to int64 cast in the script complement operator

include/behaviortree_cpp/scripting/operators.hpp

@@ -129,12 +129,20 @@ struct ExprUnaryArithmetic : ExprBase
         case negate:
           return Any(-rv);
         case complement:
-          if(rv > static_cast<double>(std::numeric_limits<int64_t>::max()) ||
-             rv < static_cast<double>(std::numeric_limits<int64_t>::min()))
+          // Use the checked conversion, like the binary bitwise operators do.
+          // A plain static_cast is undefined for NaN and for values at or
+          // beyond the int64_t range: the hand-written comparison used here
+          // before let NaN (every comparison is false) and 2^63 (not greater
+          // than double(INT64_MAX), which rounds up to 2^63) through, and
+          // silently truncated fractional values.
+          try
+          {
+            return Any(static_cast<double>(~rhs_v.cast<int64_t>()));
+          }
+          catch(const std::exception&)
           {
             throw RuntimeError("Number out of range for bitwise operation");
           }
-          return Any(static_cast<double>(~static_cast<int64_t>(rv)));
         case logical_not:
           return Any(static_cast<double>(!static_cast<bool>(rv)));
       }

tests/script_parser_test.cpp

@@ -670,6 +670,26 @@ TEST(ParserTest, UnaryOperators)
   EXPECT_EQ(Parse("10 + -3").value().cast<double>(), 7.0);
 }
 
+TEST(ParserTest, BitwiseComplementRejectsNonIntegers)
+{
+  BT::Ast::Environment env = { BT::Blackboard::create(), {} };
+  auto Parse = [&env](const char* str) { return BT::ParseScriptAndExecute(env, str); };
+
+  // The operand was cast to int64_t after a hand-written range check that
+  // accepted NaN and exactly 2^63 (undefined conversion, reported by UBSan)
+  // and silently truncated fractional values.
+  EXPECT_FALSE(Parse("~(0.0 / 0.0)").has_value());
+  EXPECT_FALSE(Parse("~9223372036854775808.0").has_value());  // 2^63
+  EXPECT_FALSE(Parse("~1.5").has_value());
+  EXPECT_FALSE(Parse("~(1.0 / 0.0)").has_value());
+
+  // Integral values, including the int64_t boundaries, still work.
+  EXPECT_EQ(Parse("~0").value().cast<int64_t>(), ~int64_t(0));
+  EXPECT_EQ(Parse("~(2 * 3)").value().cast<int64_t>(), ~int64_t(6));
+  EXPECT_EQ(Parse("~-9223372036854775808.0").value().cast<double>(),
+            static_cast<double>(~std::numeric_limits<int64_t>::min()));
+}
+
 TEST(ParserTest, TernaryExpressions)
 {
   BT::Ast::Environment env = { BT::Blackboard::create(), {} };