Fix compilation errors/warnings on Linux

CMakeLists.txt

@@ -1,8 +1,8 @@
 # Minimum cmake version required
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1.0 FATAL_ERROR)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
 
 # Project configuration
-PROJECT(REACTPHYSICS3D)
+PROJECT(REACTPHYSICS3D CXX)
 
 # Build type
 IF (NOT CMAKE_BUILD_TYPE)
@@ -24,8 +24,17 @@ OPTION(PROFILING_ENABLED "Select this if you want to compile with enabled profil
 OPTION(DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating
                                  values" OFF)
 
-# Compiler flags
-set(CMAKE_CXX_FLAGS "-Wall")
+# Warning Compiler flags
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+
+# C++11 flags
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+IF(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ELSE()
+    message("The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+ENDIF()
 
 # Headers
 INCLUDE_DIRECTORIES(src)
@@ -172,8 +181,8 @@ SET (REACTPHYSICS3D_SOURCES
 ADD_LIBRARY(reactphysics3d STATIC ${REACTPHYSICS3D_SOURCES})
 
 # Enable C++11 features
-set_property(TARGET reactphysics3d PROPERTY CXX_STANDARD 11)
-set_property(TARGET reactphysics3d PROPERTY CXX_STANDARD_REQUIRED ON)
+#set_property(TARGET reactphysics3d PROPERTY CXX_STANDARD 11)
+#set_property(TARGET reactphysics3d PROPERTY CXX_STANDARD_REQUIRED ON)
 
 # If we need to compile the testbed application
 IF(COMPILE_TESTBED)

src/body/CollisionBody.cpp

@@ -118,7 +118,6 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
         current->~ProxyShape();
         mWorld.mMemoryAllocator.release(current, sizeof(ProxyShape));
         mNbCollisionShapes--;
-        assert(mNbCollisionShapes >= 0);
         return;
     }
 
@@ -145,8 +144,6 @@ void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
         // Get the next element in the list
         current = current->mNext;
     }
-
-    assert(mNbCollisionShapes >= 0);
 }
 
 // Remove all the collision shapes

src/collision/CollisionDetection.cpp

@@ -121,7 +121,7 @@ void CollisionDetection::reportCollisionBetweenShapes(CollisionCallback* callbac
 
         // For each contact manifold set of the overlapping pair
         const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet();
-        for (uint j=0; j<manifoldSet.getNbContactManifolds(); j++) {
+        for (int j=0; j<manifoldSet.getNbContactManifolds(); j++) {
 
             const ContactManifold* manifold = manifoldSet.getContactManifold(j);
 

src/collision/ContactManifold.cpp

@@ -96,8 +96,6 @@ void ContactManifold::removeContactPoint(uint index) {
     }
 
     mNbContactPoints--;
-
-    assert(mNbContactPoints >= 0);
 }
 
 // Update the contact manifold

src/collision/ContactManifold.h

@@ -314,7 +314,7 @@ inline void ContactManifold::setFrictionTwistImpulse(decimal frictionTwistImpuls
 
 // Return a contact point of the manifold
 inline ContactPoint* ContactManifold::getContactPoint(uint index) const {
-    assert(index >= 0 && index < mNbContactPoints);
+    assert(index < mNbContactPoints);
     return mContactPoints[index];
 }
 
@@ -327,7 +327,7 @@ inline bool ContactManifold::isAlreadyInIsland() const {
 inline Vector3 ContactManifold::getAverageContactNormal() const {
     Vector3 averageNormal;
 
-    for (int i=0; i<mNbContactPoints; i++) {
+    for (uint i=0; i<mNbContactPoints; i++) {
         averageNormal += mContactPoints[i]->getNormal();
     }
 
@@ -338,7 +338,7 @@ inline Vector3 ContactManifold::getAverageContactNormal() const {
 inline decimal ContactManifold::getLargestContactDepth() const {
     decimal largestDepth = 0.0f;
 
-    for (int i=0; i<mNbContactPoints; i++) {
+    for (uint i=0; i<mNbContactPoints; i++) {
         decimal depth = mContactPoints[i]->getPenetrationDepth();
         if (depth > largestDepth) {
             largestDepth = depth;

src/collision/ContactManifoldSet.h

@@ -112,7 +112,7 @@ class ContactManifoldSet {
         int getNbContactManifolds() const;
 
         /// Return a given contact manifold
-        ContactManifold* getContactManifold(uint index) const;
+        ContactManifold* getContactManifold(int index) const;
 
         /// Return the total number of contact points in the set of manifolds
         int getTotalNbContactPoints() const;
@@ -134,7 +134,7 @@ inline int ContactManifoldSet::getNbContactManifolds() const {
 }
 
 // Return a given contact manifold
-inline ContactManifold* ContactManifoldSet::getContactManifold(uint index) const {
+inline ContactManifold* ContactManifoldSet::getContactManifold(int index) const {
     assert(index >= 0 && index < mNbManifolds);
     return mManifolds[index];
 }

src/collision/narrowphase/GJK/Simplex.cpp

@@ -57,7 +57,7 @@ void Simplex::addPoint(const Vector3& point, const Vector3& suppPointA, const Ve
         mLastFoundBit <<= 1;
     }
 
-    assert(mLastFound >= 0 && mLastFound < 4);
+    assert(mLastFound < 4);
 
     // Add the point into the simplex
     mPoints[mLastFound] = point;

src/collision/shapes/ConcaveMeshShape.cpp

@@ -49,7 +49,7 @@ void ConcaveMeshShape::initBVHTree() {
     // TODO : Try to randomly add the triangles into the tree to obtain a better tree
 
     // For each sub-part of the mesh
-    for (int subPart=0; subPart<mTriangleMesh->getNbSubparts(); subPart++) {
+    for (uint subPart=0; subPart<mTriangleMesh->getNbSubparts(); subPart++) {
 
         // Get the triangle vertex array of the current sub-part
         TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart);
@@ -62,7 +62,7 @@ void ConcaveMeshShape::initBVHTree() {
         int indexStride = triangleVertexArray->getIndicesStride();
 
         // For each triangle of the concave mesh
-        for (int triangleIndex=0; triangleIndex<triangleVertexArray->getNbTriangles(); triangleIndex++) {
+        for (uint triangleIndex=0; triangleIndex<triangleVertexArray->getNbTriangles(); triangleIndex++) {
 
             void* vertexIndexPointer = (indicesStart + triangleIndex * 3 * indexStride);
             Vector3 trianglePoints[3];

src/collision/shapes/ConvexMeshShape.cpp

@@ -76,7 +76,7 @@ ConvexMeshShape::ConvexMeshShape(TriangleVertexArray* triangleVertexArray, bool
     int indexStride = triangleVertexArray->getIndicesStride();
 
     // For each vertex of the mesh
-    for (int v = 0; v < triangleVertexArray->getNbVertices(); v++) {
+    for (uint v = 0; v < triangleVertexArray->getNbVertices(); v++) {
 
         // Get the vertices components of the triangle
         if (vertexType == TriangleVertexArray::VERTEX_FLOAT_TYPE) {
@@ -99,7 +99,7 @@ ConvexMeshShape::ConvexMeshShape(TriangleVertexArray* triangleVertexArray, bool
     if (mIsEdgesInformationUsed) {
 
         // For each triangle of the mesh
-        for (int triangleIndex=0; triangleIndex<triangleVertexArray->getNbTriangles(); triangleIndex++) {
+        for (uint triangleIndex=0; triangleIndex<triangleVertexArray->getNbTriangles(); triangleIndex++) {
 
             void* vertexIndexPointer = (indicesStart + triangleIndex * 3 * indexStride);