The profit motive is what creates abundance. Abundance for whom? Surplus is allocated by the few at the top (board of directors, c-suite, etc.). Why should they choose to give it to the workers? Walmart and McDonalds certainly understand this -- pay your employees low enough that they qualify for food stamps, and you'll be able to make the taxpayers foot the bill ("government largesse").
There is obviously nothing wrong with charity per se; GP is simply pointing out the obvious inefficiency in using charity to improve the lives of the poor (for example). Why not just pay them more to begin with (say through a democratic organization of the workplace in which no worker would ever choose to pay themselves below-subsistence wages)? Instead, we let money accumulate at the top, and then charity sometimes trickles a tiny bit of it back down.
Contrast this voluntary charity with state mandated coercion. Violence is implicit. By state-mandated coercion do you mean taxes to fund welfare programs? Violence is already implicit in the creation and perpetuation of the working poor. Welfare is a necessary tool to make sure that the poor are not so starved that they might rise up against the ruling class, "having nothing to lose but their chains". Again the inefficiency here is clear -- welfare would be unnecessary if our basic needs were met. Welfare would be unnecessary if workers had democratic control of their own workplaces. Instead, we have a "voluntary" market in which the worker is coerced to participate at risk of starvation and rewarded by wages that have not kept up with increases in productivity for 40 years. The market thus violently creates the _need_ for charity.