- fixed several compiler warnings

CMake/Common.cmake

@@ -33,11 +33,10 @@ if (MSVC)
     set(CMAKE_USE_RELATIVE_PATHS "1")
     # Set compiler flags
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MP /bigobj")
-    set(CMAKE_CXX_FLAGS_RELEASE "/MD /MP /Ox /Ob2 /Oi /Ot /D NDEBUG")
-	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /Zi /MP /Ox /Ob2 /Oi /Ot /D NDEBUG /bigobj") 
-    set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
-    set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
-    set(CMAKE_STATIC_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
+    set(CMAKE_CXX_FLAGS_RELEASE "/MD /MP /Ox /Ob2 /Oi /Ot /fp:fast /D NDEBUG")
+	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /Zi /MP /Ox /Ob2 /Oi /Ot /fp:fast /D NDEBUG /bigobj") 
+    set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL")
+    set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "/INCREMENTAL")
 endif (MSVC)
 
 if (UNIX OR MINGW)
@@ -57,7 +56,9 @@ endif()
 
 set (CMAKE_CXX_STANDARD 11)
 
+if (MSVC)
 add_definitions(-D_CRT_SECURE_NO_DEPRECATE)
+endif(MSVC)
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	ON)
 if (USE_DOUBLE_PRECISION)

Changelog.txt

@@ -1,3 +1,4 @@
+	- fixed several compiler warnings
 	- removed MiniBall dependency
 	- update to Eigen 3.3.7
 

Demos/Visualization/MiniGL.cpp

@@ -189,7 +189,7 @@ void MiniGL::drawCylinder(const Vector3r &a, const Vector3r &b, const float *col
 	if (vz == 0)
 		vz = .00000001;
 	Real v = sqrt(vx*vx + vy*vy + vz*vz);
-	Real ax = 57.2957795*acos(vz / v);
+	Real ax = static_cast<Real>(57.2957795)*acos(vz / v);
 	if (vz < 0.0)
 		ax = -ax;
 	Real rx = -vy*vz;
@@ -924,18 +924,18 @@ void MiniGL::mouseMove (int x, int y)
 		// translate scene in z direction		
 		if (modifier_key == GLUT_ACTIVE_CTRL)
 		{
-			move (0, 0, -(d_x + d_y) / 10.0);
+			move (0, 0, -(d_x + d_y) / static_cast<Real>(10.0));
 		}
 		// translate scene in x/y direction
 		else if (modifier_key == GLUT_ACTIVE_SHIFT)
 		{
-			move (-d_x / 20.0f, -d_y / 20.0, 0);
+			move (-d_x / static_cast<Real>(20.0), -d_y / static_cast<Real>(20.0), 0);
 		}
 		// rotate scene around x, y axis
 		else if (modifier_key == GLUT_ACTIVE_ALT)
 		{
-			rotateX(d_y/ 100.0);
-			rotateY(-d_x/ 100.0);
+			rotateX(d_y/ static_cast<Real>(100.0));
+			rotateY(-d_x/ static_cast<Real>(100.0));
 		}
 	}
 

PositionBasedDynamics/PositionBasedRigidBodyDynamics.cpp

@@ -90,21 +90,21 @@ void PositionBasedRigidBodyDynamics::computeMatrixK(
 // ----------------------------------------------------------------------------------------------
 void PositionBasedRigidBodyDynamics::computeMatrixG(const Quaternionr &q, Eigen::Matrix<Real, 4, 3, Eigen::DontAlign> &G)
 {
-	G(0, 0) = -0.5*q.x();
-	G(0, 1) = -0.5*q.y();
-	G(0, 2) = -0.5*q.z();
+	G(0, 0) = -static_cast<Real>(0.5)*q.x();
+	G(0, 1) = -static_cast<Real>(0.5)*q.y();
+	G(0, 2) = -static_cast<Real>(0.5)*q.z();
 
-	G(1, 0) = 0.5*q.w();
-	G(1, 1) = 0.5*q.z();
-	G(1, 2) = -0.5*q.y();
+	G(1, 0) = static_cast<Real>(0.5)*q.w();
+	G(1, 1) = static_cast<Real>(0.5)*q.z();
+	G(1, 2) = static_cast<Real>(-0.5)*q.y();
 
-	G(2, 0) = -0.5*q.z();
-	G(2, 1) = 0.5*q.w();
-	G(2, 2) = 0.5*q.x();
+	G(2, 0) = static_cast<Real>(-0.5)*q.z();
+	G(2, 1) = static_cast<Real>(0.5)*q.w();
+	G(2, 2) = static_cast<Real>(0.5)*q.x();
 
-	G(3, 0) = 0.5*q.y();
-	G(3, 1) = -0.5*q.x();
-	G(3, 2) = 0.5*q.w();
+	G(3, 0) = static_cast<Real>(0.5)*q.y();
+	G(3, 1) = static_cast<Real>(-0.5)*q.x();
+	G(3, 2) = static_cast<Real>(0.5)*q.w();
 }
 
 // ----------------------------------------------------------------------------------------------
@@ -371,13 +371,13 @@ bool PositionBasedRigidBodyDynamics::solve_DistanceJoint(
 	Real alpha = 0.0;
 	if (stiffness != 0.0)
 	{
-		alpha = 1.0 / (stiffness * dt * dt);
+		alpha = static_cast<Real>(1.0) / (stiffness * dt * dt);
 		K += alpha;
 	}
 
 	Real Kinv = 0.0;
 	if (fabs(K) > static_cast<Real>(1e-6))
-		Kinv = 1.0 / K;
+		Kinv = static_cast<Real>(1.0) / K;
 	else
 	{
 		corr_x0.setZero();
@@ -1609,7 +1609,7 @@ bool PositionBasedRigidBodyDynamics::solve_TargetAngleMotorHingeJoint(
 	const Quaternionr tmp = (q0.conjugate() * q1);
 	const Vector4r qVec(tmp.w(), tmp.x(), tmp.y(), tmp.z());
 	C.block<3, 1>(3, 0) = Pr * qVec;
-	C(3, 0) -= sin(0.5*targetAngle);
+	C(3, 0) -= sin(static_cast<Real>(0.5)*targetAngle);
 
 
 	const Vector3r r0 = c0 - x0;
@@ -2085,7 +2085,7 @@ bool PositionBasedRigidBodyDynamics::velocitySolve_TargetVelocityMotorHingeJoint
 		Real alpha = 0.0;
 		if (stiffness != 0.0)
 		{
-			alpha = 1.0 / (stiffness * dt * dt);
+			alpha = static_cast<Real>(1.0) / (stiffness * dt * dt);
 			K(0,0) += alpha;
 		}
 

Simulation/BoundingSphere.h

@@ -47,8 +47,8 @@ namespace PBD
 		{
 			const Vector3r ba = b - a;
 
-			m_x = (a + b) * 0.5;
-			m_r = 0.5 * ba.norm();
+			m_x = (a + b) * static_cast<Real>(0.5);
+			m_r = static_cast<Real>(0.5) * ba.norm();
 		}
 
 		/**
@@ -69,9 +69,9 @@ namespace PBD
 				ca[0], ca[1], ca[2],
 				baxca[0], baxca[1], baxca[2];
 
-			r[0] = 0.5 * ba.squaredNorm();
-			r[1] = 0.5 * ca.squaredNorm();
-			r[2] = 0.0;
+			r[0] = static_cast<Real>(0.5) * ba.squaredNorm();
+			r[1] = static_cast<Real>(0.5) * ca.squaredNorm();
+			r[2] = static_cast<Real>(0.0);
 
 			m_x = T.inverse() * r;
 			m_r = m_x.norm();
@@ -97,9 +97,9 @@ namespace PBD
 				ca[0], ca[1], ca[2],
 				da[0], da[1], da[2];
 
-			r[0] = 0.5 * ba.squaredNorm();
-			r[1] = 0.5 * ca.squaredNorm();
-			r[2] = 0.5 * da.squaredNorm();
+			r[0] = static_cast<Real>(0.5) * ba.squaredNorm();
+			r[1] = static_cast<Real>(0.5) * ca.squaredNorm();
+			r[2] = static_cast<Real>(0.5) * da.squaredNorm();
 			m_x = T.inverse() * r;
 			m_r = m_x.norm();
 			m_x += a;
@@ -189,7 +189,7 @@ namespace PBD
 			}
 
 			m_x = S.m_x;
-			m_r = S.m_r + epsilon;	//add epsilon to make sure that all non-pertubated points are inside the sphere
+			m_r = S.m_r + static_cast<Real>(epsilon);		//add epsilon to make sure that all non-pertubated points are inside the sphere
 		}
 
 		/**

Utils/Logger.h

@@ -12,7 +12,7 @@
 
 namespace Utilities
 {
-	enum LogLevel { DEBUG=0, INFO, WARN, ERR };
+	enum class LogLevel { DEBUG=0, INFO, WARN, ERR };
 
 	class LogSink
 	{