👩‍🌾 Fix Windows build and some warnings

src/ComponentFactory_TEST.cc

@@ -31,6 +31,7 @@ class ComponentFactoryTest : public ::testing::Test
   protected: void SetUp() override
   {
     common::Console::SetVerbosity(4);
+    common::setenv("IGN_DEBUG_COMPONENT_FACTORY", "true");
   }
 };
 

src/Component_TEST.cc

@@ -38,6 +38,7 @@ class ComponentTest : public ::testing::Test
   protected: void SetUp() override
   {
     common::Console::SetVerbosity(4);
+    common::setenv("IGN_DEBUG_COMPONENT_FACTORY", "true");
   }
 };
 

src/Conversions.cc

@@ -1263,8 +1263,8 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in)
     if (_in.has_camera())
     {
       sensor.SetHorizontalFov(_in.camera().horizontal_fov());
-      sensor.SetImageWidth(_in.camera().image_size().x());
-      sensor.SetImageHeight(_in.camera().image_size().y());
+      sensor.SetImageWidth(static_cast<int>(_in.camera().image_size().x()));
+      sensor.SetImageHeight(static_cast<int>(_in.camera().image_size().y()));
       sensor.SetPixelFormatStr(_in.camera().image_format());
       sensor.SetNearClip(_in.camera().near_clip());
       sensor.SetFarClip(_in.camera().far_clip());

src/Conversions_TEST.cc

@@ -80,15 +80,15 @@ TEST(Conversions, Light)
       msgs::Convert(lightMsg.diffuse()));
   EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1),
       msgs::Convert(lightMsg.specular()));
-  EXPECT_FLOAT_EQ(3.2, lightMsg.range());
-  EXPECT_FLOAT_EQ(0.5, lightMsg.attenuation_constant());
-  EXPECT_FLOAT_EQ(0.1, lightMsg.attenuation_linear());
-  EXPECT_FLOAT_EQ(0.01, lightMsg.attenuation_quadratic());
+  EXPECT_FLOAT_EQ(3.2f, lightMsg.range());
+  EXPECT_FLOAT_EQ(0.5f, lightMsg.attenuation_constant());
+  EXPECT_FLOAT_EQ(0.1f, lightMsg.attenuation_linear());
+  EXPECT_FLOAT_EQ(0.01f, lightMsg.attenuation_quadratic());
   EXPECT_EQ(math::Vector3d(0.1, 0.2, 1), msgs::Convert(lightMsg.direction()));
   EXPECT_EQ(math::Angle(1.9), lightMsg.spot_inner_angle());
   EXPECT_EQ(math::Angle(3.3), lightMsg.spot_outer_angle());
-  EXPECT_FLOAT_EQ(0.9, lightMsg.spot_falloff());
-  EXPECT_FLOAT_EQ(1.7, lightMsg.intensity());
+  EXPECT_FLOAT_EQ(0.9f, lightMsg.spot_falloff());
+  EXPECT_FLOAT_EQ(1.7f, lightMsg.intensity());
 
   auto newLight = convert<sdf::Light>(lightMsg);
   EXPECT_EQ("test_convert_light", newLight.Name());
@@ -99,15 +99,15 @@ TEST(Conversions, Light)
   EXPECT_TRUE(newLight.CastShadows());
   EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f, 1.0f), newLight.Diffuse());
   EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1.0f), newLight.Specular());
-  EXPECT_FLOAT_EQ(3.2, newLight.AttenuationRange());
-  EXPECT_FLOAT_EQ(0.5, newLight.ConstantAttenuationFactor());
-  EXPECT_FLOAT_EQ(0.1, newLight.LinearAttenuationFactor());
-  EXPECT_FLOAT_EQ(0.01, newLight.QuadraticAttenuationFactor());
+  EXPECT_FLOAT_EQ(3.2f, newLight.AttenuationRange());
+  EXPECT_FLOAT_EQ(0.5f, newLight.ConstantAttenuationFactor());
+  EXPECT_FLOAT_EQ(0.1f, newLight.LinearAttenuationFactor());
+  EXPECT_FLOAT_EQ(0.01f, newLight.QuadraticAttenuationFactor());
   EXPECT_EQ(math::Vector3d(0.1, 0.2, 1), newLight.Direction());
   EXPECT_EQ(math::Angle(1.9), newLight.SpotInnerAngle());
   EXPECT_EQ(math::Angle(3.3), newLight.SpotOuterAngle());
-  EXPECT_FLOAT_EQ(0.9, newLight.SpotFalloff());
-  EXPECT_FLOAT_EQ(1.7, newLight.Intensity());
+  EXPECT_FLOAT_EQ(0.9f, newLight.SpotFalloff());
+  EXPECT_FLOAT_EQ(1.7f, newLight.Intensity());
 
   EXPECT_EQ("", convert(sdf::LightType::INVALID));
   EXPECT_EQ("point", convert(sdf::LightType::POINT));
@@ -894,49 +894,49 @@ TEST(Conversions, Actor)
   EXPECT_EQ(math::Pose3d(3, 2, 1, 0, 0, 0),
       msgs::Convert(actorMsg.pose()));
   EXPECT_EQ("walk.dae", actorMsg.skin_filename());
-  EXPECT_FLOAT_EQ(2.0, actorMsg.skin_scale());
+  EXPECT_FLOAT_EQ(2.0f, actorMsg.skin_scale());
   EXPECT_TRUE(actorMsg.script_loop());
-  EXPECT_FLOAT_EQ(2.8, actorMsg.script_delay_start());
+  EXPECT_FLOAT_EQ(2.8f, actorMsg.script_delay_start());
   EXPECT_TRUE(actorMsg.script_auto_start());
 
   ASSERT_EQ(1, actorMsg.animations_size());
   EXPECT_EQ("animation", actorMsg.animations(0).name());
   EXPECT_EQ("animation_filename", actorMsg.animations(0).filename());
-  EXPECT_FLOAT_EQ(1.23, actorMsg.animations(0).scale());
+  EXPECT_FLOAT_EQ(1.23f, actorMsg.animations(0).scale());
   EXPECT_TRUE(actorMsg.animations(0).interpolate_x());
 
   ASSERT_EQ(1, actorMsg.trajectories_size());
   EXPECT_EQ(456u, actorMsg.trajectories(0).id());
   EXPECT_EQ("traj_type", actorMsg.trajectories(0).type());
-  EXPECT_FLOAT_EQ(7.89, actorMsg.trajectories(0).tension());
+  EXPECT_FLOAT_EQ(7.89f, actorMsg.trajectories(0).tension());
 
   ASSERT_EQ(1, actorMsg.trajectories(0).waypoints_size());
-  EXPECT_FLOAT_EQ(0.123, actorMsg.trajectories(0).waypoints(0).time());
+  EXPECT_FLOAT_EQ(0.123f, actorMsg.trajectories(0).waypoints(0).time());
   EXPECT_EQ(math::Pose3d(6, 5, 4, 0, 0, 0),
       msgs::Convert(actorMsg.trajectories(0).waypoints(0).pose()));
 
   auto newActor = convert<sdf::Actor>(actorMsg);
   EXPECT_EQ("test_convert_actor", newActor.Name());
   EXPECT_EQ(math::Pose3d(3, 2, 1, 0, 0, 0), newActor.RawPose());
   EXPECT_EQ("walk.dae", newActor.SkinFilename());
-  EXPECT_FLOAT_EQ(2.0, newActor.SkinScale());
+  EXPECT_FLOAT_EQ(2.0f, newActor.SkinScale());
   EXPECT_TRUE(newActor.ScriptLoop());
-  EXPECT_FLOAT_EQ(2.8, newActor.ScriptDelayStart());
+  EXPECT_FLOAT_EQ(2.8f, newActor.ScriptDelayStart());
   EXPECT_TRUE(newActor.ScriptAutoStart());
 
   ASSERT_EQ(1u, newActor.AnimationCount());
   EXPECT_EQ("animation", newActor.AnimationByIndex(0)->Name());
   EXPECT_EQ("animation_filename", newActor.AnimationByIndex(0)->Filename());
-  EXPECT_FLOAT_EQ(1.23, newActor.AnimationByIndex(0)->Scale());
+  EXPECT_FLOAT_EQ(1.23f, newActor.AnimationByIndex(0)->Scale());
   EXPECT_TRUE(newActor.AnimationByIndex(0)->InterpolateX());
 
   ASSERT_EQ(1u, newActor.TrajectoryCount());
   EXPECT_EQ(456u, newActor.TrajectoryByIndex(0)->Id());
   EXPECT_EQ("traj_type", newActor.TrajectoryByIndex(0)->Type());
-  EXPECT_FLOAT_EQ(7.89, newActor.TrajectoryByIndex(0)->Tension());
+  EXPECT_FLOAT_EQ(7.89f, newActor.TrajectoryByIndex(0)->Tension());
 
   ASSERT_EQ(1u, newActor.TrajectoryByIndex(0)->WaypointCount());
-  EXPECT_FLOAT_EQ(0.123,
+  EXPECT_FLOAT_EQ(0.123f,
           newActor.TrajectoryByIndex(0)->WaypointByIndex(0)->Time());
   EXPECT_EQ(math::Pose3d(6, 5, 4, 0, 0, 0),
       newActor.TrajectoryByIndex(0)->WaypointByIndex(0)->Pose());

src/EntityComponentManager.cc

@@ -1063,8 +1063,8 @@ void EntityComponentManagerPrivate::CalculateStateThreadLoad()
   int maxThreads = std::thread::hardware_concurrency();
   uint64_t numThreads = std::min(numComponents, maxThreads);
 
-  int componentsPerThread = std::ceil(static_cast<double>(numComponents) /
-    numThreads);
+  int componentsPerThread = static_cast<int>(std::ceil(
+    static_cast<double>(numComponents) / numThreads));
 
   igndbg << "Updated state thread iterators: " << numThreads
          << " threads processing around " << componentsPerThread

src/EntityComponentManager_TEST.cc

@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 
 #include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/Rand.hh>
 
@@ -175,6 +176,8 @@ TEST_P(EntityComponentManagerFixture, AdjacentMemorySingleComponentType)
 /////////////////////////////////////////////////
 TEST_P(EntityComponentManagerFixture, AdjacentMemoryTwoComponentTypes)
 {
+  common::setenv("IGN_DEBUG_COMPONENT_FACTORY", "true");
+
   std::vector<components::Pose> poses;
   std::vector<IntComponent> ints;
   std::vector<ComponentKey> poseKeys;

src/SdfEntityCreator_TEST.cc

@@ -817,9 +817,9 @@ TEST_F(SdfEntityCreatorTest, CreateLights)
       EXPECT_NE(nullptr, _geometry->Data().SphereShape());
       EXPECT_DOUBLE_EQ(0.5, _geometry->Data().SphereShape()->Radius());
 
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Ambient());
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Diffuse());
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Specular());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Ambient());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Diffuse());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Specular());
       return true;
     });
 

src/SimulationRunner.cc

@@ -471,9 +471,9 @@ void SimulationRunner::ProcessSystemQueue()
       << this->systemsPostupdate.size() + 1 << std::endl;
 
     this->postUpdateStartBarrier =
-      std::make_unique<Barrier>(this->systemsPostupdate.size() + 1);
+      std::make_unique<Barrier>(this->systemsPostupdate.size() + 1u);
     this->postUpdateStopBarrier =
-      std::make_unique<Barrier>(this->systemsPostupdate.size() + 1);
+      std::make_unique<Barrier>(this->systemsPostupdate.size() + 1u);
 
     this->postUpdateThreadsRunning = true;
     int id = 0;

src/SimulationRunner_TEST.cc

@@ -785,9 +785,9 @@ TEST_P(SimulationRunnerTest, CreateLights)
       EXPECT_NE(nullptr, _geometry->Data().SphereShape());
       EXPECT_DOUBLE_EQ(0.5, _geometry->Data().SphereShape()->Radius());
 
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Ambient());
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Diffuse());
-      EXPECT_EQ(math::Color(0.3, 0.3, 0.3), _material->Data().Specular());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Ambient());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Diffuse());
+      EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f), _material->Data().Specular());
       return true;
     });
 

src/gui/CMakeLists.txt

@@ -7,6 +7,10 @@ set (gui_sources
   TmpIface.cc
 )
 
+set (gtest_sources
+  Gui_TEST.cc
+)
+
 add_subdirectory(plugins)
 
 if(POLICY CMP0100)
@@ -27,6 +31,16 @@ qt5_wrap_cpp(gui_sources
   ${PROJECT_SOURCE_DIR}/include/ignition/gazebo/gui/TmpIface.hh
 )
 
+if (MSVC)
+  # Warning #4251 is the "dll-interface" warning that tells you when types used
+  # by a class are not being exported. These generated source files have private
+  # members that don't get exported, so they trigger this warning. However, the
+  # warning is not important since those members do not need to be interfaced
+  # with.
+  set_source_files_properties(${gui_sources} ${gtest_sources}
+      COMPILE_FLAGS "/wd4251 /wd4146")
+endif()
+
 ign_add_component(gui
   SOURCES ${gui_sources} resources/gazebo.qrc
   GET_TARGET_NAME gui_target
@@ -51,10 +65,6 @@ install (FILES gui.config DESTINATION ${IGN_DATA_INSTALL_DIR}/gui)
 install (FILES playback_gui.config DESTINATION ${IGN_DATA_INSTALL_DIR}/gui)
 
 # Tests
-set (gtest_sources
-  ${gtest_sources}
-  Gui_TEST.cc
-)
 include_directories(${PROJECT_SOURCE_DIR}/test)
 
 ign_build_tests(TYPE UNIT

src/gui/plugins/CMakeLists.txt

@@ -76,6 +76,15 @@ function(gz_add_gui_plugin plugin_name)
 
   cmake_parse_arguments(gz_add_gui_plugin "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+  if(MSVC)
+    # Warning #4251 is the "dll-interface" warning that tells you when types
+    # used by a class are not being exported. These generated source files have
+    # private members that don't get exported, so they trigger this warning.
+    # However, the warning is not important since those members do not need to
+    # be interfaced with.
+    set_source_files_properties(${gz_add_gui_plugin_SOURCES} COMPILE_FLAGS "/wd4251")
+  endif()
+
   gz_add_gui_library(${plugin_name}
     SOURCES ${gz_add_gui_plugin_SOURCES}
     QT_HEADERS ${gz_add_gui_plugin_QT_HEADERS}

src/gui/plugins/grid_config/GridConfig.cc

@@ -43,7 +43,7 @@ namespace ignition::gazebo
     math::Pose3d pose{math::Pose3d::Zero};
 
     /// \brief Default color of grid
-    math::Color color{math::Color(0.7, 0.7, 0.7, 1.0)};
+    math::Color color{math::Color(0.7f, 0.7f, 0.7f, 1.0f)};
 
     /// \brief Default visible state
     bool visible{true};

src/gui/plugins/tape_measure/TapeMeasure.cc

@@ -70,12 +70,12 @@ namespace ignition::gazebo
     /// \brief The color to set the marker when hovering the mouse over the
     /// scene.
     public: ignition::math::Color
-            hoverColor{ignition::math::Color(0.2, 0.2, 0.2, 0.5)};
+            hoverColor{ignition::math::Color(0.2f, 0.2f, 0.2f, 0.5f)};
 
     /// \brief The color to draw the marker when the user clicks to confirm
     /// its location.
     public: ignition::math::Color
-            drawColor{ignition::math::Color(0.2, 0.2, 0.2, 1.0)};
+            drawColor{ignition::math::Color(0.2f, 0.2f, 0.2f, 1.0f)};
 
     /// \brief A set of the currently placed markers.  Used to make sure a
     /// non-existent marker is not deleted.

src/rendering/CMakeLists.txt

@@ -4,6 +4,16 @@ set (rendering_comp_sources
   SceneManager.cc
 )
 
+if (MSVC)
+  # Warning #4251 is the "dll-interface" warning that tells you when types used
+  # by a class are not being exported. These generated source files have private
+  # members that don't get exported, so they trigger this warning. However, the
+  # warning is not important since those members do not need to be interfaced
+  # with.
+  set_source_files_properties(${rendering_comp_sources}
+      COMPILE_FLAGS "/wd4251 /wd4146")
+endif()
+
 ign_add_component(rendering
   SOURCES ${rendering_comp_sources}
   GET_TARGET_NAME rendering_target

src/rendering/SceneManager.cc

@@ -329,8 +329,8 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,
         material->SetAmbient(0.3, 0.3, 0.3);
         material->SetDiffuse(0.7, 0.7, 0.7);
         material->SetSpecular(1.0, 1.0, 1.0);
-        material->SetRoughness(0.2);
-        material->SetMetalness(1.0);
+        material->SetRoughness(0.2f);
+        material->SetMetalness(1.0f);
       }
     }
     else
@@ -400,8 +400,8 @@ rendering::VisualPtr SceneManager::CreateCollision(Entity _id,
     const sdf::Collision &_collision, Entity _parentId)
 {
   sdf::Material material;
-  material.SetAmbient(math::Color(1, 0.5088, 0.0468, 0.7));
-  material.SetDiffuse(math::Color(1, 0.5088, 0.0468, 0.7));
+  material.SetAmbient(math::Color(1.0f, 0.5088f, 0.0468f, 0.7f));
+  material.SetDiffuse(math::Color(1.0f, 0.5088f, 0.0468f, 0.7f));
 
   sdf::Visual visual;
   visual.SetGeom(*_collision.Geom());

src/systems/CMakeLists.txt

@@ -103,7 +103,7 @@ add_subdirectory(imu)
 add_subdirectory(joint_controller)
 add_subdirectory(joint_position_controller)
 add_subdirectory(joint_state_publisher)
-add_subdirectory(joint_trajectory_controller)
+add_subdirectory(joint_traj_control)
 add_subdirectory(kinetic_energy_monitor)
 add_subdirectory(lift_drag)
 add_subdirectory(log)

src/systems/optical_tactile_plugin/Visualization.cc

@@ -115,14 +115,14 @@ void OpticalTactilePluginVisualization::InitializeNormalForcesMarkerMsgs(
   ignition::msgs::Set(_positionMarkerMsg.mutable_material()->
     mutable_diffuse(), math::Color(0, 0, 1, 1));
   _positionMarkerMsg.mutable_lifetime()->set_nsec(
-    this->cameraUpdateRate * 1000000000);
+    static_cast<int>(this->cameraUpdateRate * 1000000000));
 
   ignition::msgs::Set(_forceMarkerMsg.mutable_material()->
     mutable_ambient(), math::Color(0, 1, 0, 1));
   ignition::msgs::Set(_forceMarkerMsg.mutable_material()->
     mutable_diffuse(), math::Color(0, 1, 0, 1));
   _forceMarkerMsg.mutable_lifetime()->set_sec(
-    this->cameraUpdateRate * 1000000000);
+    static_cast<int>(this->cameraUpdateRate * 1000000000));
 }
 
 //////////////////////////////////////////////////

test/integration/CMakeLists.txt

@@ -80,6 +80,15 @@ else()
   endforeach(test)
 endif()
 
+if (MSVC)
+  # Warning #4251 is the "dll-interface" warning that tells you when types used
+  # by a class are not being exported. These generated source files have private
+  # members that don't get exported, so they trigger this warning. However, the
+  # warning is not important since those members do not need to be interfaced
+  # with.
+  set_source_files_properties(${tests} COMPILE_FLAGS "/wd4251 /wd4146")
+endif()
+
 link_directories(${PROJECT_BINARY_DIR}/test)
 include_directories(${PROJECT_SOURCE_DIR}/test)
 

test/integration/altimeter_system.cc

@@ -129,9 +129,10 @@ TEST_F(AltimeterTest, ModelFalling)
   EXPECT_EQ(iters100, poses.size());
 
   // Wait for messages to be received
-  double updateRate = 30;
+  size_t updateRate = 30;
   double stepSize = 0.001;
-  size_t waitForMsgs = poses.size() * stepSize * updateRate + 1;
+  size_t waitForMsgs =
+      static_cast<size_t>(poses.size() * stepSize * updateRate + 1);
   for (int sleep = 0; sleep < 30; ++sleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -176,7 +177,7 @@ TEST_F(AltimeterTest, ModelFalling)
   EXPECT_EQ(iters100 + iters1000, poses.size());
 
   // Wait for messages to be received
-  waitForMsgs = poses.size() * stepSize * updateRate + 1;
+  waitForMsgs = static_cast<size_t>(poses.size() * stepSize * updateRate + 1);
   for (int sleep = 0; sleep < 30; ++sleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));