Pedantic compile with MSVC, GCC and Clang MinGW

.gitignore

@@ -40,3 +40,4 @@ CTestTestFile.cmake
 .vscode/
 .idea/
 cmake-build-debug/
+build-*/

CMakeLists.txt

@@ -4,6 +4,10 @@ cmake_policy(SET CMP0017 NEW)
 #this line has to appear before 'PROJECT' in order to be able to disable incremental linking
 SET(MSVC_INCREMENTAL_DEFAULT ON)
 
+if(TOOLCHAIN_ROOT)
+	include(MinGW64.cmake)
+endif()
+
 PROJECT(BULLET_PHYSICS)
 FILE (STRINGS "VERSION" BULLET_VERSION)
 
@@ -269,6 +273,47 @@ IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
     ENDIF (MSVC)
 ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
 
+set(CMAKE_CXX_STANDARD 98)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+IF(MSVC)
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4127") # conditional expression is constant
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4456") # hides previous local declaration
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4457") # hides function parameter
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4458") # hides class member
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4459") # hides global declaration
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4996") # tr1 namespace deprecated
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4312") # int to pointer
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4706") # assign within conditional expression
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4512") # assignment operator could not be generated
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4714") # __forceinline not inlined
+	if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 19.10) # from MSVC 2017
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus /permissive-")
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++14") # earliest c++ standard explicitly supported
+	endif()
+ELSE()
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-int-to-void-pointer-cast") # hellovr, SimpleSocket
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-int-to-pointer-cast") # hellovr, stb_image
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-long-long") # C++98 has no long long
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-variadic-macros") # C++98 variadic macros
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-missing-field-initializers") # gtest, stb_image
+	IF(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-maybe-uninitialized") # gtest
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-ignored-attributes") # b3Int64 cl_long
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-copy") # GIMPACT
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-strict-aliasing") # GIMPACT, btSoftBody, OpenCL
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-stringop-overflow") # btAlignedObjectArray - placement new
+	ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-zero-as-null-pointer-constant")
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-copy-with-user-provided-copy") # GIMPACT
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-overloaded-virtual") # exampleBrowser OpenGLGuiHelper and btDeformable*
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-null-pointer-subtraction") # btSoftBody
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-invalid-offsetof") # hellovr
+	ENDIF()
+ENDIF()
+
 IF (BULLET2_USE_TBB_MULTITHREADING)
     SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
     SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")

Extras/ConvexDecomposition/ConvexBuilder.cpp

@@ -76,7 +76,7 @@ bool ConvexBuilder::isDuplicate(unsigned int i1, unsigned int i2, unsigned int i
 	return dcount == 3;
 }
 
-void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices)
+void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector & /*indices*/)
 {
 	unsigned int *src = cr.mHullIndices;
 

Extras/ConvexDecomposition/ConvexDecomposition.h

@@ -141,10 +141,10 @@ class ConvexDecompInterface
 {
 public:
 	virtual ~ConvexDecompInterface(){};
-	virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color){};
-	virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color){};
-	virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color){};
-	virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};
+	virtual void ConvexDebugTri(const float * /*p1*/, const float * /*p2*/, const float * /*p3*/, unsigned int /*color*/){};
+	virtual void ConvexDebugPoint(const float * /*p*/, float /*dist*/, unsigned int /*color*/){};
+	virtual void ConvexDebugBound(const float * /*bmin*/, const float * /*bmax*/, unsigned int /*color*/){};
+	virtual void ConvexDebugOBB(const float * /*sides*/, const float * /*matrix*/, unsigned int /*color*/){};
 
 	virtual void ConvexDecompResult(ConvexResult &result) = 0;
 };

Extras/ConvexDecomposition/cd_hull.cpp

@@ -979,7 +979,7 @@ float3 operator*(const Quaternion &q, const float3 &v)
 		(2 * (qxqz - qyqw)) * v.x + (2 * (qyqz + qxqw)) * v.y + (1 - 2 * (qx2 + qy2)) * v.z);
 }
 
-float3 operator*(const float3 &v, const Quaternion &q)
+float3 operator*(const float3 & /*v*/, const Quaternion & /*q*/)
 {
 	assert(0);  // must multiply with the quat on the left
 	return float3(0.0f, 0.0f, 0.0f);
@@ -1945,7 +1945,7 @@ ConvexH *ConvexHCrop(ConvexH &convex, const Plane &slice)
 
 	EdgeFlag edgeflag[512];
 	VertFlag vertflag[256];
-	PlaneFlag planeflag[128];
+	PlaneFlag planeflag[128]; (void)planeflag;
 	HalfEdge tmpunderedges[512];
 	Plane tmpunderplanes[128];
 	Coplanar coplanaredges[512];
@@ -2140,6 +2140,7 @@ ConvexH *ConvexHCrop(ConvexH &convex, const Plane &slice)
 					vin = tmpunderedges[nea + 1].v;
 					assert(vin < vertcountunder);
 					assert(vin >= vertcountunderold);  // for debugging only
+					(void)vertcountunderold;
 				}
 				if (vout != -1)
 				{
@@ -2505,10 +2506,11 @@ void removeb2b(btHullTriangle *s, btHullTriangle *t, Array<btHullTriangle *> &tr
 	delete t;
 }
 
-void checkit(btHullTriangle *t, Array<btHullTriangle *> &tris)
+void checkit(btHullTriangle *t, Array<btHullTriangle *> & tris)
 {
 	int i;
 	assert(tris[t->id] == t);
+	(void)tris;
 	for (i = 0; i < 3; i++)
 	{
 		int i1 = (i + 1) % 3;
@@ -2517,6 +2519,8 @@ void checkit(btHullTriangle *t, Array<btHullTriangle *> &tris)
 		int b = (*t)[i2];
 		assert(a != b);
 		assert(tris[t->n[i]]->neib(b, a) == t->id);
+		(void)a;
+		(void)b;
 	}
 }
 void extrude(btHullTriangle *t0, int v, Array<btHullTriangle *> &tris)
@@ -3099,7 +3103,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
 
 	vcount = 0;
 
-	float recip[3];
+	float recip[3] = {};
 
 	if (scale)
 	{
@@ -3342,7 +3346,7 @@ void HullLibrary::BringOutYourDead(const float *verts, unsigned int vcount, floa
 	{
 		unsigned int v = indices[i];  // original array index
 
-		assert(v >= 0 && v < vcount);
+		assert(v < vcount);
 
 		if (used[v])  // if already remapped
 		{
@@ -3358,7 +3362,7 @@ void HullLibrary::BringOutYourDead(const float *verts, unsigned int vcount, floa
 
 			ocount++;  // increment output vert count
 
-			assert(ocount >= 0 && ocount <= vcount);
+			assert(ocount <= vcount);
 
 			used[v] = ocount;  // assign new index remapping
 		}

Extras/ConvexDecomposition/cd_vector.h

@@ -36,7 +36,9 @@
 // http://www.amillionpixels.us
 //
 
+#if _MSC_VER
 #pragma warning(disable : 4786)
+#endif
 
 #include <math.h>
 #include <float.h>

Extras/ConvexDecomposition/cd_wavefront.cpp

@@ -536,7 +536,7 @@ class GeometryVertex
 class GeometryInterface
 {
 public:
-	virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3) {}
+	virtual void NodeTriangle(const GeometryVertex * /*v1*/, const GeometryVertex * /*v2*/, const GeometryVertex * /*v3*/) {}
 
 	virtual ~GeometryInterface() {}
 };
@@ -643,7 +643,7 @@ void OBJ::getVertex(GeometryVertex &v, const char *face) const
 	}
 }
 
-int OBJ::ParseLine(int lineno, int argc, const char **argv)  // return TRUE to continue parsing, return FALSE to abort parsing process
+int OBJ::ParseLine(int /*lineno*/, int argc, const char **argv)  // return TRUE to continue parsing, return FALSE to abort parsing process
 {
 	int ret = 0;
 

Extras/ConvexDecomposition/concavity.cpp

@@ -318,7 +318,7 @@ class CTri
 		return a;
 	}
 
-	void addWeighted(WpointVector &list, ConvexDecompInterface *callback)
+	void addWeighted(WpointVector &list, ConvexDecompInterface * /*callback*/)
 	{
 		Wpoint p1(mP1, mC1);
 		Wpoint p2(mP2, mC2);
@@ -395,7 +395,7 @@ class CTri
 
 typedef std::vector<CTri> CTriVector;
 
-bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh)
+bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface * /*callback*/, const CTriVector &input_mesh)
 {
 	bool ret = false;
 
@@ -496,7 +496,7 @@ bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callba
 	return ret;
 }
 
-bool isFeatureTri(CTri &t, CTriVector &flist, float fc, ConvexDecompInterface *callback, unsigned int color)
+bool isFeatureTri(CTri &t, CTriVector &flist, float fc, ConvexDecompInterface * /*callback*/, unsigned int /*color*/)
 {
 	bool ret = false;
 
@@ -546,7 +546,7 @@ float computeConcavity(unsigned int vcount,
 					   unsigned int tcount,
 					   const unsigned int *indices,
 					   ConvexDecompInterface *callback,
-					   float *plane,  // plane equation to split on
+					   float * /*plane*/,  // plane equation to split on
 					   float &volume)
 {
 	float cret = 0;

Extras/ConvexDecomposition/float_math.h

@@ -2,7 +2,7 @@
 
 #define FLOAT_MATH_H
 
-#ifdef _WIN32
+#ifdef _MSC_VER
 #pragma warning(disable : 4324)  // disable padding warning
 #pragma warning(disable : 4244)  // disable padding warning
 #pragma warning(disable : 4267)  //  possible loss of data

Extras/ConvexDecomposition/meshvolume.cpp

@@ -101,7 +101,7 @@ inline float tetVolume(const float *p0, const float *p1, const float *p2, const
 	return volume;
 }
 
-inline float det(const float *p0, const float *p1, const float *p2, const float *p3)
+inline float det(const float * /*p0*/, const float *p1, const float *p2, const float *p3)
 {
 	return p1[0] * p2[1] * p3[2] + p2[0] * p3[1] * p1[2] + p3[0] * p1[1] * p2[2] - p1[0] * p3[1] * p2[2] - p2[0] * p1[1] * p3[2] - p3[0] * p2[1] * p1[2];
 }

Extras/ConvexDecomposition/splitplane.cpp

@@ -174,9 +174,9 @@ void splitRect(unsigned int axis,
 
 bool computeSplitPlane(unsigned int vcount,
 					   const float *vertices,
-					   unsigned int tcount,
-					   const unsigned int *indices,
-					   ConvexDecompInterface *callback,
+					   unsigned int /*tcount*/,
+					   const unsigned int * /*indices*/,
+					   ConvexDecompInterface * /*callback*/,
 					   float *plane)
 {
 	float bmin[3] = {1e9, 1e9, 1e9};
@@ -200,6 +200,7 @@ bool computeSplitPlane(unsigned int vcount,
 	float dz = bmax[2] - bmin[2];
 
 	float laxis = dx;
+	(void)laxis;
 
 	unsigned int axis = 0;
 

Extras/ConvexDecomposition/vlookup.cpp

@@ -4,7 +4,9 @@
 #include <string.h>
 #include <assert.h>
 
+#if _MSC_VER
 #pragma warning(disable : 4786)
+#endif
 
 #include <vector>
 #include <map>

Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp

@@ -192,7 +192,7 @@ btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
 {
 	delete m_decomposition;
 }
-void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
+void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& /*aabbMin*/, const btVector3& /*aabbMax*/) const
 {
 	int part_count = m_trimeshInterfaces.size();
 	for (int part = 0; part < part_count; part++)

Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h

@@ -1,5 +1,5 @@
 /*! \file btGImpactConvexDecompositionShape.h
-\author Francisco Le�n N�jera
+\author Francisco León Nájera
 */
 /*
 This source file is part of GIMPACT Library.

Extras/HACD/hacdHACD.cpp

@@ -190,7 +190,7 @@ void HACD::InitializeDualGraph()
 		m_facePoints = new Vec3<Real>[m_nTriangles];
 		m_faceNormals = new Vec3<Real>[m_nTriangles];
 	}
-	memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
+	memset((void*)m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
 	for (unsigned long f = 0; f < m_nTriangles; f++)
 	{
 		if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
@@ -654,7 +654,7 @@ void HACD::Simplify()
 			if (m_callBack)
 			{
 				char msg[1024];
-				sprintf(msg, "\t CH \t %lu \t %lf \t %lf\n", static_cast<unsigned long>(p), m_graph.m_vertices[v].m_concavity, m_graph.m_vertices[v].m_error);
+				sprintf(msg, "\t CH \t %lu \t %f \t %f\n", static_cast<unsigned long>(p), m_graph.m_vertices[v].m_concavity, m_graph.m_vertices[v].m_error);
 				(*m_callBack)(msg, 0.0, 0.0, m_nClusters);
 				p++;
 			}

Extras/HACD/hacdICHull.cpp

@@ -491,7 +491,8 @@ CircularListElement<TMMTriangle> *ICHull::MakeConeFace(CircularListElement<TMMEd
 	CircularListElement<TMMEdge> *newEdges[2];
 	for (int i = 0; i < 2; ++i)
 	{
-		if (!(newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate))
+		newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate;
+		if (!newEdges[i])
 		{  // if the edge doesn't exits add it and mark the vertex as duplicated
 			newEdges[i] = m_mesh.AddEdge();
 			newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i];

Extras/HACD/hacdVector.inl

@@ -156,7 +156,7 @@ namespace HACD
 		m_data[2] = rhs.m_data[2];
 	}
 	template <typename T>
-	inline Vec3<T>::~Vec3(void){};
+	inline Vec3<T>::~Vec3(void){}
 
 	template <typename T>
 	inline Vec3<T>::Vec3() {}

Extras/HACD/hacdVersion.h

@@ -17,4 +17,4 @@
 #define HACD_VERSION_H
 #define HACD_VERSION_MAJOR 0
 #define HACD_VERSION_MINOR 0
-#endif
+#endif

Extras/InverseDynamics/DillCreator.cpp

@@ -71,7 +71,7 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
 	return 0;
 }
 
-int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
+int DillCreator::recurseDill(const int level, const int parent, const idScalar /*d_DH_in*/,
 							 const idScalar a_DH_in, const idScalar alpha_DH_in)
 {
 	if (level < 0)

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -1577,4 +1577,4 @@ typedef struct bInvalidHandle {
 
 
 }
-#endif//__BULLET_H__
+#endif//__BULLET_H__

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -342,7 +342,7 @@ static int name_is_array(char *name, int *dim1, int *dim2)
 }
 
 // ----------------------------------------------------- //
-void bDNA::init(char *data, int len, bool swap)
+void bDNA::init(char *data, int /*len*/, bool swap)
 {
 	int *intPtr = 0;
 	short *shtPtr = 0;