Fix warnings

CHANGELOG.md

@@ -63,6 +63,7 @@ do not hesitate to take a look at the user manual.
 - Issue with wrong linear velocity update computed in RigidBody::updateLocalCenterOfMassFromColliders() method
 - Issue with wrong linear velocity update computed in RigidBody::updateMassPropertiesFromColliders() method
 - Issue in copy-constructors in Map and Set classes
+- A lot of code warnings have been fixed
 
 
 ## Version 0.8.0 (May 31, 2020)

include/reactphysics3d/body/CollisionBody.h

@@ -75,7 +75,7 @@ class CollisionBody {
         void removeAllColliders();
 
         /// Update the broad-phase state for this body (because it has moved for instance)
-        void updateBroadPhaseState(decimal timeStep) const;
+        void updateBroadPhaseState() const;
 
         /// Ask the broad-phase to test again the collision shapes of the body for collision
         /// (as if the body has moved).

include/reactphysics3d/collision/ContactPair.h

@@ -75,7 +75,7 @@ struct ContactPair {
         uint32 contactManifoldsIndex;
 
         /// Number of contact manifolds
-        int8 nbContactManifolds;
+        uint32 nbContactManifolds;
 
         /// Index of the first contact point in the array of contact points
         uint32 contactPointsIndex;

include/reactphysics3d/collision/shapes/AABB.h

@@ -61,12 +61,6 @@ class AABB {
         /// Constructor
         AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates);
 
-        /// Copy-constructor
-        AABB(const AABB& aabb);
-
-        /// Destructor
-        ~AABB() = default;
-
         /// Return the center point
         Vector3 getCenter() const;
 
@@ -121,9 +115,6 @@ class AABB {
         /// Create and return an AABB for a triangle
         static AABB createAABBForTriangle(const Vector3* trianglePoints);
 
-        /// Assignment operator
-        AABB& operator=(const AABB& aabb);
-
         // -------------------- Friendship -------------------- //
 
         friend class DynamicAABBTree;
@@ -211,15 +202,6 @@ RP3D_FORCE_INLINE void AABB::applyScale(const Vector3& scale) {
     mMaxCoordinates = mMaxCoordinates * scale;
 }
 
-// Assignment operator
-RP3D_FORCE_INLINE AABB& AABB::operator=(const AABB& aabb) {
-    if (this != &aabb) {
-        mMinCoordinates = aabb.mMinCoordinates;
-        mMaxCoordinates = aabb.mMaxCoordinates;
-    }
-    return *this;
-}
-
 // Merge the AABB in parameter with the current one
 RP3D_FORCE_INLINE void AABB::mergeWithAABB(const AABB& aabb) {
     mMinCoordinates.x = std::min(mMinCoordinates.x, aabb.mMinCoordinates.x);

include/reactphysics3d/engine/Entity.h

@@ -100,7 +100,6 @@ struct Entity {
         // -------------------- Friendship -------------------- //
 
         friend class EntityManager;
-
 };
 
 // Return the lookup index of the entity in a array

include/reactphysics3d/mathematics/Matrix2x2.h

@@ -59,15 +59,6 @@ class Matrix2x2 {
         /// Constructor
         Matrix2x2(decimal a1, decimal a2, decimal b1, decimal b2);
 
-        /// Destructor
-        ~Matrix2x2() = default;
-
-        /// Copy-constructor
-        Matrix2x2(const Matrix2x2& matrix);
-
-        /// Assignment operator
-        Matrix2x2& operator=(const Matrix2x2& matrix);
-
         /// Set all the values in the matrix
         void setAllValues(decimal a1, decimal a2, decimal b1, decimal b2);
 
@@ -172,12 +163,6 @@ RP3D_FORCE_INLINE Matrix2x2::Matrix2x2(decimal a1, decimal a2, decimal b1, decim
     setAllValues(a1, a2, b1, b2);
 }
 
-// Copy-constructor
-RP3D_FORCE_INLINE Matrix2x2::Matrix2x2(const Matrix2x2& matrix) {
-    setAllValues(matrix.mRows[0][0], matrix.mRows[0][1],
-                 matrix.mRows[1][0], matrix.mRows[1][1]);
-}
-
 // Method to set all the values in the matrix
 RP3D_FORCE_INLINE void Matrix2x2::setAllValues(decimal a1, decimal a2,
                                     decimal b1, decimal b2) {

include/reactphysics3d/mathematics/Matrix3x3.h

@@ -61,15 +61,6 @@ class Matrix3x3 {
         Matrix3x3(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3,
                   decimal c1, decimal c2, decimal c3);
 
-        /// Destructor
-        ~Matrix3x3() = default;
-
-        /// Copy-constructor
-        Matrix3x3(const Matrix3x3& matrix);
-
-        /// Assignment operator
-        Matrix3x3& operator=(const Matrix3x3& matrix);
-
         /// Set all the values in the matrix
         void setAllValues(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3,
                   decimal c1, decimal c2, decimal c3);
@@ -179,13 +170,6 @@ RP3D_FORCE_INLINE Matrix3x3::Matrix3x3(decimal a1, decimal a2, decimal a3,
     setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3);
 }
 
-// Copy-constructor
-RP3D_FORCE_INLINE Matrix3x3::Matrix3x3(const Matrix3x3& matrix) {
-    setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2],
-                 matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2],
-                 matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]);
-}
-
 // Method to set all the values in the matrix
 RP3D_FORCE_INLINE void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3,
                                     decimal b1, decimal b2, decimal b3,

include/reactphysics3d/mathematics/Quaternion.h

@@ -73,15 +73,9 @@ struct Quaternion {
         /// Constructor with the component w and the vector v=(x y z)
         Quaternion(const Vector3& v, decimal newW);
 
-        /// Copy-constructor
-        Quaternion(const Quaternion& quaternion);
-
         /// Create a unit quaternion from a rotation matrix
         Quaternion(const Matrix3x3& matrix);
 
-        /// Destructor
-        ~Quaternion() = default;
-
         /// Set all the values
         void setAllValues(decimal newX, decimal newY, decimal newZ, decimal newW);
 
@@ -166,9 +160,6 @@ struct Quaternion {
         /// Overloaded operator for the multiplication with a vector
         Vector3 operator*(const Vector3& point) const;
 
-        /// Overloaded operator for assignment
-        Quaternion& operator=(const Quaternion& quaternion);
-
         /// Overloaded operator for equality condition
         bool operator==(const Quaternion& quaternion) const;
 
@@ -387,21 +378,6 @@ RP3D_FORCE_INLINE Vector3 Quaternion::operator*(const Vector3& point) const {
                    w * prodZ - prodX * y + prodY * x - prodW * z);
 }
 
-// Overloaded operator for the assignment
-RP3D_FORCE_INLINE Quaternion& Quaternion::operator=(const Quaternion& quaternion) {
-
-    // Check for self-assignment
-    if (this != &quaternion) {
-        x = quaternion.x;
-        y = quaternion.y;
-        z = quaternion.z;
-        w = quaternion.w;
-    }
-
-    // Return this quaternion
-    return *this;
-}
-
 // Overloaded operator for equality condition
 RP3D_FORCE_INLINE bool Quaternion::operator==(const Quaternion& quaternion) const {
     return (x == quaternion.x && y == quaternion.y &&

include/reactphysics3d/mathematics/Ray.h

@@ -60,24 +60,6 @@ struct Ray {
            : point1(p1), point2(p2), maxFraction(maxFrac) {
 
         }
-
-        /// Copy-constructor
-        Ray(const Ray& ray) : point1(ray.point1), point2(ray.point2), maxFraction(ray.maxFraction) {
-
-        }
-
-        /// Destructor
-        ~Ray() = default;
-
-        /// Overloaded assignment operator
-        Ray& operator=(const Ray& ray) {
-            if (&ray != this) {
-                point1 = ray.point1;
-                point2 = ray.point2;
-                maxFraction = ray.maxFraction;
-            }
-            return *this;
-        }
 };
 
 }

include/reactphysics3d/mathematics/Transform.h

@@ -63,12 +63,6 @@ class Transform {
         /// Constructor
         Transform(const Vector3& position, const Quaternion& orientation);
 
-        /// Destructor
-        ~Transform() = default;
-
-        /// Copy-constructor
-        Transform(const Transform& transform);
-
         /// Return the origin of the transform
         const Vector3& getPosition() const;
 
@@ -116,9 +110,6 @@ class Transform {
         /// Return true if the two transforms are different
         bool operator!=(const Transform& transform2) const;
 
-        /// Assignment operator
-        Transform& operator=(const Transform& transform);
-
         /// Return the string representation
         std::string to_string() const;
 
@@ -141,12 +132,6 @@ RP3D_FORCE_INLINE Transform::Transform(const Vector3& position, const Quaternion
 
 }
 
-// Copy-constructor
-RP3D_FORCE_INLINE Transform::Transform(const Transform& transform)
-          : mPosition(transform.mPosition), mOrientation(transform.mOrientation) {
-
-}
-
 // Return the position of the transform
 RP3D_FORCE_INLINE const Vector3& Transform::getPosition() const {
     return mPosition;
@@ -248,15 +233,6 @@ RP3D_FORCE_INLINE bool Transform::operator!=(const Transform& transform2) const
     return !(*this == transform2);
 }
 
-// Assignment operator
-RP3D_FORCE_INLINE Transform& Transform::operator=(const Transform& transform) {
-    if (&transform != this) {
-        mPosition = transform.mPosition;
-        mOrientation = transform.mOrientation;
-    }
-    return *this;
-}
-
 // Get the string representation
 RP3D_FORCE_INLINE std::string Transform::to_string() const {
     return "Transform(" + mPosition.to_string() + "," + mOrientation.to_string() + ")";

include/reactphysics3d/mathematics/Vector2.h

@@ -58,12 +58,6 @@ struct Vector2 {
         /// Constructor with arguments
         Vector2(decimal newX, decimal newY);
 
-        /// Copy-constructor
-        Vector2(const Vector2& vector);
-
-        /// Destructor
-        ~Vector2() = default;
-
         /// Set all the values of the vector
         void setAllValues(decimal newX, decimal newY);
 
@@ -130,9 +124,6 @@ struct Vector2 {
         /// Overloaded operator for value access
         const decimal& operator[] (int index) const;
 
-        /// Overloaded operator
-        Vector2& operator=(const Vector2& vector);
-
         /// Overloaded less than operator for ordering to be used inside std::set for instance
         bool operator<(const Vector2& vector) const;
 
@@ -170,12 +161,6 @@ RP3D_FORCE_INLINE Vector2::Vector2(decimal newX, decimal newY) : x(newX), y(newY
 
 }
 
-// Copy-constructor
-RP3D_FORCE_INLINE Vector2::Vector2(const Vector2& vector) : x(vector.x), y(vector.y) {
-
-}
-
-
 // Set the vector to zero
 RP3D_FORCE_INLINE void Vector2::setToZero() {
     x = 0;
@@ -335,15 +320,6 @@ RP3D_FORCE_INLINE Vector2 operator*(decimal number, const Vector2& vector) {
     return vector * number;
 }
 
-// Assignment operator
-RP3D_FORCE_INLINE Vector2& Vector2::operator=(const Vector2& vector) {
-    if (&vector != this) {
-        x = vector.x;
-        y = vector.y;
-    }
-    return *this;
-}
-
 // Overloaded less than operator for ordering to be used inside std::set for instance
 RP3D_FORCE_INLINE bool Vector2::operator<(const Vector2& vector) const {
     return (x == vector.x ? y < vector.y : x < vector.x);

include/reactphysics3d/mathematics/Vector3.h

@@ -64,12 +64,6 @@ struct Vector3 {
         /// Constructor with arguments
         Vector3(decimal newX, decimal newY, decimal newZ);
 
-        /// Copy-constructor
-        Vector3(const Vector3& vector);
-
-        /// Destructor
-        ~Vector3() = default;
-
         /// Set all the values of the vector
         void setAllValues(decimal newX, decimal newY, decimal newZ);
 
@@ -145,9 +139,6 @@ struct Vector3 {
         /// Overloaded operator for value access
         const decimal& operator[] (int index) const;
 
-        /// Overloaded operator
-        Vector3& operator=(const Vector3& vector);
-
         /// Overloaded less than operator for ordering to be used inside std::set for instance
         bool operator<(const Vector3& vector) const;
 
@@ -185,11 +176,6 @@ RP3D_FORCE_INLINE Vector3::Vector3(decimal newX, decimal newY, decimal newZ) : x
 
 }
 
-// Copy-constructor
-RP3D_FORCE_INLINE Vector3::Vector3(const Vector3& vector) : x(vector.x), y(vector.y), z(vector.z) {
-
-}
-
 // Set the vector to zero
 RP3D_FORCE_INLINE void Vector3::setToZero() {
     x = 0;
@@ -364,16 +350,6 @@ RP3D_FORCE_INLINE Vector3 operator*(const Vector3& vector1, const Vector3& vecto
     return Vector3(vector1.x * vector2.x, vector1.y * vector2.y, vector1.z * vector2.z);
 }
 
-// Assignment operator
-RP3D_FORCE_INLINE Vector3& Vector3::operator=(const Vector3& vector) {
-    if (&vector != this) {
-        x = vector.x;
-        y = vector.y;
-        z = vector.z;
-    }
-    return *this;
-}
-
 // Overloaded less than operator for ordering to be used inside std::set for instance
 RP3D_FORCE_INLINE bool Vector3::operator<(const Vector3& vector) const {
     return (x == vector.x ? (y == vector.y ? z < vector.z : y < vector.y) : x < vector.x);

include/reactphysics3d/systems/BroadPhaseSystem.h

@@ -144,7 +144,7 @@ class BroadPhaseSystem {
                                     bool forceReInsert);
 
         /// Update the broad-phase state of some colliders components
-        void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep);
+        void updateCollidersComponents(uint32 startIndex, uint32 nbItems);
 
     public :
 
@@ -170,10 +170,10 @@ class BroadPhaseSystem {
         void removeCollider(Collider* collider);
 
         /// Update the broad-phase state of a single collider
-        void updateCollider(Entity colliderEntity, decimal timeStep);
+        void updateCollider(Entity colliderEntity);
 
         /// Update the broad-phase state of all the enabled colliders
-        void updateColliders(decimal timeStep);
+        void updateColliders();
 
         /// Add a collider in the array of colliders that have moved in the last simulation step
         /// and that need to be tested again for broad-phase overlapping.

include/reactphysics3d/systems/CollisionDetectionSystem.h

@@ -323,10 +323,10 @@ class CollisionDetectionSystem {
         void removeCollider(Collider* collider);
 
         /// Update a collider (that has moved for instance)
-        void updateCollider(Entity colliderEntity, decimal timeStep);
+        void updateCollider(Entity colliderEntity);
 
         /// Update all the enabled colliders
-        void updateColliders(decimal timeStep);
+        void updateColliders();
 
         /// Add a pair of bodies that cannot collide with each other
         void addNoCollisionPair(Entity body1Entity, Entity body2Entity);
@@ -445,15 +445,15 @@ RP3D_FORCE_INLINE MemoryManager& CollisionDetectionSystem::getMemoryManager() co
 }
 
 // Update a collider (that has moved for instance)
-RP3D_FORCE_INLINE void CollisionDetectionSystem::updateCollider(Entity colliderEntity, decimal timeStep) {
+RP3D_FORCE_INLINE void CollisionDetectionSystem::updateCollider(Entity colliderEntity) {
 
     // Update the collider component
-    mBroadPhaseSystem.updateCollider(colliderEntity, timeStep);
+    mBroadPhaseSystem.updateCollider(colliderEntity);
 }
 
 // Update all the enabled colliders
-RP3D_FORCE_INLINE void CollisionDetectionSystem::updateColliders(decimal timeStep) {
-    mBroadPhaseSystem.updateColliders(timeStep);
+RP3D_FORCE_INLINE void CollisionDetectionSystem::updateColliders() {
+    mBroadPhaseSystem.updateColliders();
 }
 
 #ifdef IS_RP3D_PROFILING_ENABLED

src/body/CollisionBody.cpp

@@ -219,7 +219,7 @@ const Transform& CollisionBody::getTransform() const {
 }
 
 // Update the broad-phase state for this body (because it has moved for instance)
-void CollisionBody::updateBroadPhaseState(decimal timeStep) const {
+void CollisionBody::updateBroadPhaseState() const {
 
     // For all the colliders of the body
     const Array<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
@@ -232,7 +232,7 @@ void CollisionBody::updateBroadPhaseState(decimal timeStep) const {
                                                                mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i]));
 
         // Update the collider
-        mWorld.mCollisionDetection.updateCollider(colliderEntities[i], timeStep);
+        mWorld.mCollisionDetection.updateCollider(colliderEntities[i]);
     }
 }
 
@@ -400,7 +400,7 @@ void CollisionBody::setTransform(const Transform& transform) {
     mWorld.mTransformComponents.setTransform(mEntity, transform);
 
     // Update the broad-phase state of the body
-    updateBroadPhaseState(0);
+    updateBroadPhaseState();
 
     RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string(),  __FILE__, __LINE__);

src/collision/Collider.cpp

@@ -117,7 +117,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) {
         rigidBody->setIsSleeping(false);
     }
 
-    mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0);
+    mBody->mWorld.mCollisionDetection.updateCollider(mEntity);
 
     RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
              "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" +

src/collision/shapes/AABB.cpp

@@ -36,9 +36,3 @@ AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates)
      :mMinCoordinates(minCoordinates), mMaxCoordinates(maxCoordinates) {
 
 }
-
-// Copy-constructor
-AABB::AABB(const AABB& aabb)
-     : mMinCoordinates(aabb.mMinCoordinates), mMaxCoordinates(aabb.mMaxCoordinates) {
-
-}

src/engine/EntityManager.cpp

@@ -55,7 +55,7 @@ Entity EntityManager::createEntity() {
         // Create a new indice
         index = mGenerations.size() - 1;
 
-        assert(index < (1 << Entity::ENTITY_INDEX_BITS));
+        assert(index < (uint32(1) << Entity::ENTITY_INDEX_BITS));
     }
 
     // Return a new entity

src/engine/PhysicsWorld.cpp

@@ -346,7 +346,7 @@ void PhysicsWorld::update(decimal timeStep) {
     mDynamicsSystem.updateBodiesState();
 
     // Update the colliders components
-    mCollisionDetection.updateColliders(timeStep);
+    mCollisionDetection.updateColliders();
 
     if (mIsSleepingEnabled) updateSleepingBodies(timeStep);
 

src/mathematics/Matrix2x2.cpp

@@ -28,17 +28,6 @@
 
 using namespace reactphysics3d;
 
-// Assignment operator
-Matrix2x2& Matrix2x2::operator=(const Matrix2x2& matrix) {
-
-    // Check for self-assignment
-    if (&matrix != this) {
-        setAllValues(matrix.mRows[0][0], matrix.mRows[0][1],
-                     matrix.mRows[1][0], matrix.mRows[1][1]);
-    }
-    return *this;
-}
-
 // Return the inverse matrix
 Matrix2x2 Matrix2x2::getInverse(decimal determinant) const {
 

src/mathematics/Matrix3x3.cpp

@@ -29,18 +29,6 @@
 // Namespaces
 using namespace reactphysics3d;
 
-// Assignment operator
-Matrix3x3& Matrix3x3::operator=(const Matrix3x3& matrix) {
-
-    // Check for self-assignment
-    if (&matrix != this) {
-        setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2],
-                     matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2],
-                     matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]);
-    }
-    return *this;
-}
-
 // Return the inverse matrix
 Matrix3x3 Matrix3x3::getInverse(decimal determinant) const {
 

src/mathematics/Quaternion.cpp

@@ -51,12 +51,6 @@ Quaternion Quaternion::fromEulerAngles(const Vector3& eulerAngles) {
     return quaternion;
 }
 
-// Copy-constructor
-Quaternion::Quaternion(const Quaternion& quaternion)
-           :x(quaternion.x), y(quaternion.y), z(quaternion.z), w(quaternion.w) {
-
-}
-
 // Create a unit quaternion from a rotation matrix
 Quaternion::Quaternion(const Matrix3x3& matrix) {
 

src/mathematics/Transform.cpp

@@ -30,7 +30,6 @@
 // Namespaces
 using namespace reactphysics3d;
 
-
 // Set the transform from an OpenGL transform matrix
 void Transform::setFromOpenGL(decimal* openglMatrix) {
     Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],

src/memory/HeapAllocator.cpp

@@ -62,9 +62,11 @@ HeapAllocator::~HeapAllocator() {
 
         MemoryUnitHeader* nextUnit = unit->nextUnit;
 
+        const size_t unitSize = unit->size;
+
         // Destroy the unit
         unit->~MemoryUnitHeader();
-        mBaseAllocator.release(static_cast<void*>(unit), unit->size + sizeof(MemoryUnitHeader));
+        mBaseAllocator.release(static_cast<void*>(unit), unitSize + sizeof(MemoryUnitHeader));
 
         unit = nextUnit;
     }

src/systems/BroadPhaseSystem.cpp

@@ -114,7 +114,7 @@ void BroadPhaseSystem::removeCollider(Collider* collider) {
 }
 
 // Update the broad-phase state of a single collider
-void BroadPhaseSystem::updateCollider(Entity colliderEntity, decimal timeStep) {
+void BroadPhaseSystem::updateCollider(Entity colliderEntity) {
 
     assert(mCollidersComponents.mMapEntityToComponentIndex.containsKey(colliderEntity));
 
@@ -122,17 +122,17 @@ void BroadPhaseSystem::updateCollider(Entity colliderEntity, decimal timeStep) {
     uint32 index = mCollidersComponents.mMapEntityToComponentIndex[colliderEntity];
 
     // Update the collider component
-    updateCollidersComponents(index, 1, timeStep);
+    updateCollidersComponents(index, 1);
 }
 
 // Update the broad-phase state of all the enabled colliders
-void BroadPhaseSystem::updateColliders(decimal timeStep) {
+void BroadPhaseSystem::updateColliders() {
 
     RP3D_PROFILE("BroadPhaseSystem::updateColliders()", mProfiler);
 
     // Update all the enabled collider components
     if (mCollidersComponents.getNbEnabledComponents() > 0) {
-        updateCollidersComponents(0, mCollidersComponents.getNbEnabledComponents(), timeStep);
+        updateCollidersComponents(0, mCollidersComponents.getNbEnabledComponents());
     }
 }
 
@@ -156,7 +156,7 @@ void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* coll
 }
 
 // Update the broad-phase state of some colliders components
-void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep) {
+void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbItems) {
 
     RP3D_PROFILE("BroadPhaseSystem::updateCollidersComponents()", mProfiler);
 

src/systems/CollisionDetectionSystem.cpp

@@ -844,7 +844,7 @@ void CollisionDetectionSystem::createContacts() {
         contactPair.contactPointsIndex = mCurrentContactPoints->size();
 
         // For each potential contact manifold of the pair
-        for (uint m=0; m < contactPair.nbContactManifolds; m++) {
+        for (uint32 m=0; m < contactPair.nbContactManifolds; m++) {
 
             ContactManifoldInfo& potentialManifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]];