[all] Fix compilation warnings

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.cpp

@@ -19,7 +19,6 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#pragma once
 #include <sofa/component/collision/detection/algorithm/BaseSubCollisionPipeline.h>
 
 #include <sofa/core/visual/VisualParams.h>

Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/CCDTightInclusionIntersection.cpp

@@ -184,7 +184,9 @@ int CCDTightInclusionIntersection::computeIntersection(Line& e1, Line& e2, Outpu
     SReal outputTolerance = 0.0;
 
 
-    const auto result =  ticcd::edgeEdgeCCD(
+    // the returned boolean is not tested here: computeIntersection is only called on pairs for which
+    // testIntersection already reported a collision. The call is kept for its outputs: toi and outputTolerance.
+    [[maybe_unused]] const auto result =  ticcd::edgeEdgeCCD(
         Line1ABegin, Line2ABegin, Line1BBegin, Line2BBegin,
         Line1AEnd,   Line2AEnd,   Line1BEnd,   Line2BEnd,
         err,maxSeparation, toi,d_tolerance.getValue(), tmax, d_maxIterations.getValue(), outputTolerance);

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeCollisionModel.cpp

@@ -128,8 +128,11 @@ void TriangleOctreeCollisionModel::computeBoundingTree(int maxDepth)
     }
 }
 
-void TriangleOctreeCollisionModel::computeContinuousBoundingTree(SReal/* dt*/, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
+void TriangleOctreeCollisionModel::computeContinuousBoundingTree(SReal dt, ContinuousIntersectionTypeFlag continuousIntersectionFlag, int maxDepth)
 {
+    SOFA_UNUSED(dt);
+    SOFA_UNUSED(continuousIntersectionFlag);
+
     computeBoundingTree(maxDepth);
 }
 

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/BuiltConstraintSolver.cpp

@@ -81,7 +81,7 @@ void BuiltConstraintSolver::addRegularization(linearalgebra::BaseMatrix& W, cons
             //Now for all vector of the null space basis, we look at the indices where the coefficient
             //is greater than 1% of the norm of the vector, this is the constraints that
             //belong to the null space and thus have other one that are antagonists
-            for(int i=nullSpaceBegin; (i != -1) && (i<problemSize); ++i)
+            for(int i=nullSpaceBegin; (i != -1) && (i < static_cast<int>(problemSize)); ++i)
             {
                 for(size_t j=0; j<problemSize; j++)
                     nullSpaceIndicator[j] = nullSpaceIndicator[j] ||  fabs(svd.matrixV().col(i)(j)) > d_svdSingularVectorNullSpaceCriteriaFactor.getValue();

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ImprovedJacobiConstraintSolver.cpp

@@ -43,6 +43,8 @@ ImprovedJacobiConstraintSolver::ImprovedJacobiConstraintSolver()
 
 void ImprovedJacobiConstraintSolver::doSolve(GenericConstraintProblem * problem , SReal timeout)
 {
+    SOFA_UNUSED(timeout);
+
     SCOPED_TIMER_VARNAME(gaussSeidelTimer, "ImprovedJacobiConstraintSolver");
 
 
@@ -63,7 +65,7 @@ void ImprovedJacobiConstraintSolver::doSolve(GenericConstraintProblem * problem
 
     std::copy_n(dfree, dimension, d);
 
-    for(unsigned i=0; i< dimension; ++i)
+    for(int i=0; i< dimension; ++i)
     {
         force[i] = 0;
     }
@@ -128,7 +130,7 @@ void ImprovedJacobiConstraintSolver::doSolve(GenericConstraintProblem * problem
 
             for(unsigned l=j; l<j+nb; ++l )
             {
-                for(unsigned k=0; k<dimension; ++k)
+                for(int k=0; k<dimension; ++k)
                 {
                     d[l] +=  w[l][k] * deltaF[k];
                 }
@@ -153,7 +155,7 @@ void ImprovedJacobiConstraintSolver::doSolve(GenericConstraintProblem * problem
             SReal cstError = 0.0;
             for(unsigned l=j; l<j+nb; ++l )
             {
-                for(unsigned k=0; k<dimension; ++k)
+                for(int k=0; k<dimension; ++k)
                 {
                     cstError += pow(w[l][k] * deltaF[k],2);
                 }

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/NNCGConstraintSolver.cpp

@@ -31,6 +31,8 @@ namespace sofa::component::constraint::lagrangian::solver
 
 void NNCGConstraintSolver::doSolve(GenericConstraintProblem * problem , SReal timeout)
 {
+    SOFA_UNUSED(timeout);
+
     SCOPED_TIMER_VARNAME(unbuiltGaussSeidelTimer, "NonsmoothNonlinearConjugateGradient");
 
     const int dimension = problem->getDimension();

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/PreconditionedConjugateResidual.cpp

@@ -40,6 +40,8 @@ PreconditionedConjugateResidual::PreconditionedConjugateResidual()
 
 void PreconditionedConjugateResidual::doSolve(GenericConstraintProblem * problem , SReal timeout)
 {
+    SOFA_UNUSED(timeout);
+
     SCOPED_TIMER_VARNAME(gaussSeidelTimer, "PreconditionedConjugateResidual");
 
     if (!problem)
@@ -73,18 +75,18 @@ void PreconditionedConjugateResidual::doSolve(GenericConstraintProblem * problem
     // ===== BEGIN Initialization =====
     // Initialize the state (matrices/vectors) and apply the Jacobi preconditioner on left and right to keep symmetry
     // This implies that the solution will be P^{-1}*x and thus should be corrected after solving.
-    for(unsigned j=0; j< dimension; ++j)
+    for(int j=0; j< dimension; ++j)
     {
         const SReal invWjj = 1.0/sqrt(W[j][j]);
-        for(unsigned k=0; k< dimension; ++k)
+        for(int k=0; k< dimension; ++k)
         {
             const SReal invWkk = 1.0/sqrt(W[k][k]);
 
             MW[j][k] = W[j][k] * invWjj * invWkk;
         }
     }
 
-    for(unsigned j=0; j< dimension; ++j)
+    for(int j=0; j< dimension; ++j)
     {
         const SReal invWjj = 1.0/sqrt(W[j][j]);
         r[j] = -dfree[j] * invWjj;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/BoxROI.inl

@@ -190,7 +190,13 @@ bool BoxROI<DataTypes>::isPointInAlignedBox(const typename DataTypes::CPos& p, c
 {
     static_assert(std::is_same_v<typename DataTypes::CPos::size_type, typename type::Vec6::size_type>);
 
-    for (typename type::Vec6::size_type i = 0; i < DataTypes::spatial_dimensions; ++i)
+    /// An axis-aligned box is stored as a Vec6 gathering the min corner (indices [0,2]) and the max
+    /// corner (indices [3,5]): it cannot describe more than 3 dimensions. Higher dimensions of the
+    /// tested point are therefore ignored.
+    static constexpr typename type::Vec6::size_type nbTestedDimensions =
+        DataTypes::spatial_dimensions < 3 ? DataTypes::spatial_dimensions : 3;
+
+    for (typename type::Vec6::size_type i = 0; i < nbTestedDimensions; ++i)
     {
         if (p[i] < box[i] || p[i] > box[i + 3])
         {

Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSampler.inl

@@ -115,7 +115,7 @@ void MeshSampler<DataTypes>::farthestPointSampling(VD& distances,VI& voronoi,con
 
     while(ind.size()<nbc)
     {
-        Real dmax=0; ID imax;
+        Real dmax=0; ID imax=0;
         for (unsigned int i=0; i<distances.size(); i++) if(distances[i]>dmax) {dmax=distances[i]; imax=(ID)i;}
         if(dmax==0) break;
         else ind.push_back(imax);

Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp

@@ -1243,6 +1243,8 @@ bool XMLVTKReader::loadUnstructuredGrid(tinyxml2::XMLHandle datasetFormatHandle)
 
 BaseVTKReader::BaseVTKDataIO* XMLVTKReader::parsePolysIndices(tinyxml2::XMLElement* element, BaseVTKReader::VTKDataIO<int>* vtkIO_elemtypes, BaseVTKDataIO* offsetElement)
 {
+    SOFA_UNUSED(offsetElement);
+
     const char* typeStrTemp;
     typeStrTemp = element->Attribute("type");
 

Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/STLExporter.cpp

@@ -22,6 +22,7 @@
 
 #include <sofa/component/io/mesh/STLExporter.h>
 
+#include <cstring>
 #include <fstream>
 
 #include <sofa/core/ObjectFactory.h>
@@ -260,7 +261,8 @@ bool STLExporter::writeSTLBinary(bool autonumbering)
     {
         buffer[i]='\0';
     }
-    strncpy(buffer, "Exported from Sofa", 18);
+    // the 80-byte header is not required to be null-terminated: copy the text without its trailing nul
+    std::memcpy(buffer, "Exported from Sofa", 18);
 
     /* Number of d_facets */
     const unsigned int nbt = vecTri.size();

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl

@@ -40,9 +40,9 @@ SkinningMapping<TIn, TOut>::SkinningMapping ()
     , d_initPos (initData (&d_initPos, "initPos", "initial child coordinates in the world reference frame." ) )
     , d_nbRef (initData (&d_nbRef, "nbRef", "Number of primitives influencing each point." ) )
     , d_index (initData (&d_index, "indices", "parent indices for each child." ) )
+    , d_computeWeightsFromPosition (initData (&d_computeWeightsFromPosition, false, "computeWeightsFromPosition", "By default, the weights are computed w.r.t the rest positions of the input model. Set to true to compute them from the position instead." ) )
     , d_weight (initData (&d_weight, "weight", "influence weights of the Dofs." ) )
     , d_showFromIndex (initData (&d_showFromIndex, ( unsigned int ) 0, "showFromIndex", "Displayed From Index." ) )
-    , d_computeWeightsFromPosition (initData (&d_computeWeightsFromPosition, false, "computeWeightsFromPosition", "By default, the weights are computed w.r.t the rest positions of the input model. Set to true to compute them from the position instead." ) )
     , d_showWeights (initData (&d_showWeights, false, "showWeights", "Show influence." ) )
 {
     type::vector<unsigned int> defaultNbRef;

Sofa/Component/Mass/src/sofa/component/mass/FEMMass.inl

@@ -225,7 +225,8 @@ void FEMMass<TDataTypes, TElementType>::buildMassMatrix(
             const auto columnId = m_globalMassMatrix.colsIndex[xj];
             const auto& value = m_globalMassMatrix.colsValue[xj];
 
-            for (typename GlobalMassMatrixType::Index d = 0; d < spatial_dimensions; ++d)
+            const auto nbDoFs = static_cast<typename GlobalMassMatrixType::Index>(spatial_dimensions);
+            for (typename GlobalMassMatrixType::Index d = 0; d < nbDoFs; ++d)
             {
                 matrices->add(rowId * spatial_dimensions + d, columnId * spatial_dimensions + d, value);
             }

Sofa/Component/Mass/src/sofa/component/mass/NodalMassDensity.h

@@ -37,6 +37,8 @@ class NodalMassDensity : public sofa::core::BaseNodalProperty<Scalar>
     template<class T>
     static bool canCreate(T* obj, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
     {
+        SOFA_UNUSED(obj);
+
         if (const auto* state = context->getMechanicalState())
         {
             static const auto scalarType = defaulttype::DataTypeInfo<Scalar>::name();

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BaseElementLinearFEMForceField.inl

@@ -69,8 +69,10 @@ void BaseElementLinearFEMForceField<DataTypes, ElementType>::precomputeElementSt
     if (!this->mstate)
         return;
 
-    const auto youngModulusAccessor = sofa::helper::ReadAccessor(this->d_youngModulus);
-    const auto poissonRatioAccessor = sofa::helper::ReadAccessor(this->d_poissonRatio);
+    // accessors are only there to make sure both Data are up-to-date before they are read
+    // concurrently through getYoungModulusInElement/getPoissonRatioInElement
+    [[maybe_unused]] const auto youngModulusAccessor = sofa::helper::ReadAccessor(this->d_youngModulus);
+    [[maybe_unused]] const auto poissonRatioAccessor = sofa::helper::ReadAccessor(this->d_poissonRatio);
 
     auto restPositionAccessor = this->mstate->readRestPositions();
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/CorotationalFEMForceField.inl

@@ -60,7 +60,8 @@ void CorotationalFEMForceField<DataTypes, ElementType>::init()
 
     if (!this->isComponentStateInvalid())
     {
-        const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
+        // makes sure the element sequence is available in the topology container
+        [[maybe_unused]] const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     }
 
     if (!this->isComponentStateInvalid())
@@ -74,6 +75,10 @@ void CorotationalFEMForceField<DataTypes, ElementType>::beforeElementForce(
     const sofa::core::MechanicalParams* mparams, sofa::type::vector<ElementGradient>& f,
     const sofa::VecCoord_t<DataTypes>& x)
 {
+    SOFA_UNUSED(mparams);
+    SOFA_UNUSED(f);
+    SOFA_UNUSED(x);
+
     const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     m_rotations.resize(elements.size(), RotationMatrix::Identity());
 }
@@ -83,6 +88,8 @@ void CorotationalFEMForceField<DataTypes, ElementType>::computeElementsForces(
     const sofa::simulation::Range<std::size_t>& range, const sofa::core::MechanicalParams* mparams,
     sofa::type::vector<ElementGradient>& elementForces, const sofa::VecCoord_t<DataTypes>& nodePositions)
 {
+    SOFA_UNUSED(mparams);
+
     static constexpr auto DIM = trait::spatial_dimensions;
     const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     auto restPositionAccessor = this->mstate->readRestPositions();
@@ -134,6 +141,8 @@ void CorotationalFEMForceField<DataTypes, ElementType>::computeElementsForcesDer
     sofa::type::vector<ElementGradient>& elementForcesDeriv,
     const sofa::VecDeriv_t<DataTypes>& nodeDx)
 {
+    SOFA_UNUSED(mparams);
+
     const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     auto elementStiffness = sofa::helper::getReadAccessor(this->d_elementStiffness);
 
@@ -206,6 +215,8 @@ SReal CorotationalFEMForceField<DataTypes, ElementType>::getPotentialEnergy(
     const sofa::core::MechanicalParams*,
     const sofa::DataVecCoord_t<DataTypes>& x) const
 {
+    SOFA_UNUSED(x);
+
     return 0;
 }
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FEMForceField.h

@@ -86,7 +86,12 @@ class FEMForceField :
 
     virtual void beforeElementForce(const sofa::core::MechanicalParams* mparams,
         sofa::type::vector<ElementGradient>& f,
-        const sofa::VecCoord_t<DataTypes>& x) {}
+        const sofa::VecCoord_t<DataTypes>& x)
+    {
+        SOFA_UNUSED(mparams);
+        SOFA_UNUSED(f);
+        SOFA_UNUSED(x);
+    }
 
     virtual void computeElementsForces(
         const sofa::simulation::Range<std::size_t>& range,
@@ -106,7 +111,10 @@ class FEMForceField :
         sofa::type::vector<ElementGradient>& df,
         const sofa::VecDeriv_t<DataTypes>& dx);
 
-    virtual void beforeElementForceDeriv(const sofa::core::MechanicalParams* mparams) {}
+    virtual void beforeElementForceDeriv(const sofa::core::MechanicalParams* mparams)
+    {
+        SOFA_UNUSED(mparams);
+    }
 
     virtual void computeElementsForcesDeriv(
         const sofa::simulation::Range<std::size_t>& range,

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/LinearSmallStrainFEMForceField.inl

@@ -47,6 +47,8 @@ void LinearSmallStrainFEMForceField<DataTypes, ElementType>::computeElementsForc
     sofa::type::vector<ElementGradient>& elementForces,
     const sofa::VecCoord_t<DataTypes>& nodePositions)
 {
+    SOFA_UNUSED(mparams);
+
     const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     auto restPositionAccessor = this->mstate->readRestPositions();
     auto elementStiffness = sofa::helper::getReadAccessor(this->d_elementStiffness);
@@ -78,6 +80,8 @@ void LinearSmallStrainFEMForceField<DataTypes, ElementType>::computeElementsForc
     sofa::type::vector<ElementGradient>& elementForcesDeriv,
     const sofa::VecDeriv_t<DataTypes>& nodeDx)
 {
+    SOFA_UNUSED(mparams);
+
     const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);
     auto elementStiffness = sofa::helper::getReadAccessor(this->d_elementStiffness);
 
@@ -145,6 +149,8 @@ SReal LinearSmallStrainFEMForceField<DataTypes, ElementType>::getPotentialEnergy
     const sofa::core::MechanicalParams*,
     const sofa::DataVecCoord_t<DataTypes>& x) const
 {
+    SOFA_UNUSED(x);
+
     return 0;
 }
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl

@@ -1339,23 +1339,23 @@ void TetrahedronFEMForceField<DataTypes>::init()
             if (!((i%nx)&1))
             {
                 // swap all points on the X edges
-                for (const auto [v0, v1] : sofa::geometry::Hexahedron::xEdges)
+                for (const auto& [v0, v1] : sofa::geometry::Hexahedron::xEdges)
                 {
                     std::swap(c[v0], c[v1]);
                 }
             }
             if (((i/nx)%ny)&1)
             {
                 // swap all points on the Y edges
-                for (const auto [v0, v1] : sofa::geometry::Hexahedron::yEdges)
+                for (const auto& [v0, v1] : sofa::geometry::Hexahedron::yEdges)
                 {
                     std::swap(c[v0], c[v1]);
                 }
             }
             if ((i/(nx*ny))&1)
             {
                 // swap all points on the Z edges
-                for (const auto [v0, v1] : sofa::geometry::Hexahedron::zEdges)
+                for (const auto& [v0, v1] : sofa::geometry::Hexahedron::zEdges)
                 {
                     std::swap(c[v0], c[v1]);
                 }

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/impl/rotations/IdentityRotation.h

@@ -29,6 +29,8 @@ struct IdentityRotation
     template<class RotationMatrix, class NotUsed1, class NotUsed2>
     void computeRotation(RotationMatrix& rotationMatrix, const RotationMatrix& initialRotationMatrix, const NotUsed1&, const NotUsed2&)
     {
+        SOFA_UNUSED(initialRotationMatrix);
+
         rotationMatrix.identity();
     }
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/impl/rotations/RotationMethodsContainer.h

@@ -21,7 +21,7 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/core/objectmodel/BaseObject.h>
+#include <sofa/core/objectmodel/BaseComponent.h>
 #include <variant>
 
 namespace sofa::component::solidmechanics::fem::elastic
@@ -65,7 +65,7 @@ struct RotationMethodsContainer
 
     static constexpr auto NumberOfMethods = std::variant_size_v<decltype(m_rotationComputer)>;
 
-    explicit RotationMethodsContainer(sofa::core::objectmodel::BaseObject* parent)
+    explicit RotationMethodsContainer(sofa::core::objectmodel::BaseComponent* parent)
         : d_rotationMethod(parent->initData(&d_rotationMethod, "rotationMethod", ("The method used to compute the element rotations.\n" + RotationMethodsItems::dataDescription()).c_str()))
     {}
 

Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h

@@ -133,9 +133,6 @@ class Ogden: public HyperelasticMaterial<DataTypes>
         const Real alpha1 = param.parameterArray[1];
         const Real k0 = param.parameterArray[2];
 
-        // trace of C^(alpha1/2)
-        const Real aBy2 = alpha1/static_cast<Real>(2);
-
         // Siso = dWiso/dlambda*dlambda/dC + dWiso/dF*dF/dC
         const MatrixSym S_isochoric = m_CaBy2Minus1 * m_FJ * mu1 / alpha1
                                      -m_invC * m_FJ * mu1 / (static_cast<Real>(3)*alpha1) * m_trCaBy2;
@@ -149,7 +146,6 @@ class Ogden: public HyperelasticMaterial<DataTypes>
     {
         this->precomputeVariables(sinfo, param);
 
-        const MatrixSym& C = sinfo->deformationTensor;
         const Real mu1 = param.parameterArray[0];
         const Real alpha1 = param.parameterArray[1];
         const Real k0 = param.parameterArray[2];