Revert #1629 - revive DART_TREAT_WARNINGS_AS_ERRORS (#1632)

dartsim · Dec 22, 2021 · 3ad6719 · 3ad6719
1 parent bcf32fe
commit 3ad6719
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diff --git a/.ci/build.sh b/.ci/build.sh
@@ -142,6 +142,7 @@ fi
 cmake .. \
   -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
   -DDART_VERBOSE=ON \
+  -DDART_TREAT_WARNINGS_AS_ERRORS=ON \
   -DDART_BUILD_EXTRAS=ON \
   -DDART_CODECOV=$CODECOV \
   ${install_prefix_option}

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -1,13 +1,14 @@
-[Remove this line and describe this pull request. Link to relevant GitHub issues, if any.]
+> Remove this line and describe this pull request. Link to relevant GitHub issues, if any.
 
 ***
 
-**Before creating a pull request**
+#### Before creating a pull request
 
 - [ ] Document new methods and classes
-- [ ] Format new code files using `clang-format`
+- [ ] Format new code files using ClangFormat by running `make format`
+- [ ] Build with `-DDART_TREAT_WARNINGS_AS_ERRORS=ON` and resolve build warnings
 
-**Before merging a pull request**
+#### Before merging a pull request
 
 - [ ] Set version target by selecting a milestone on the right side
 - [ ] Summarize this change in `CHANGELOG.md`

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,10 +8,6 @@
   * Fixed grouping of constraints: [#1624](https://github.com/dartsim/dart/pull/1624), [#1628](https://github.com/dartsim/dart/pull/1628)
   * Fixed issue with removing skeletons without shapes: [#1625](https://github.com/dartsim/dart/pull/1625)
 
-* Build
-
-  * Removed DART_TREAT_WARNINGS_AS_ERRORS option and made it default on release build: [#1629](https://github.com/dartsim/dart/pull/1629)
-
 ### [DART 6.12.1 (2021-11-04)](https://github.com/dartsim/dart/milestone/71?closed=1)
 
 * Build

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -93,6 +93,7 @@ option(DART_ENABLE_SIMD
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_BUILD_EXTRAS "Build extra projects" OFF)
 option(DART_CODECOV "Turn on codecov support" OFF)
+option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a 
 # terminal. However, this doesn't work in some cases such as when the makefile is
@@ -182,9 +183,9 @@ if(MSVC)
     )
   endif()
 
-  add_compile_options(
-    $<$<NOT:$<CONFIG:DEBUG>>:/WX>
-  )
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    add_compile_options(/WX)
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /permissive- /Zc:twoPhase-")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
   if(NOT DART_MSVC_DEFAULT_OPTIONS)
@@ -206,12 +207,10 @@ if(MSVC)
 
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 
-  add_compile_options(
-    -Wall
-    -Wextra
-    $<$<NOT:$<CONFIG:DEBUG>>:-Werror>
-    -fPIC
-  )
+  add_compile_options(-Wall -Wextra -fPIC)
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    add_compile_options(-Werror)
+  endif()
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpfullversion -dumpversion OUTPUT_VARIABLE GCC_VERSION)
   if(GCC_VERSION VERSION_LESS 7.3.0)
@@ -233,12 +232,10 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
 
 elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
 
-  add_compile_options(
-    -Wall
-    -Wextra
-    $<$<NOT:$<CONFIG:DEBUG>>:-Werror>
-    -fPIC
-  )
+  add_compile_options(-Wall -Wextra -fPIC)
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    add_compile_options(-Werror)
+  endif()
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
   if(CLANG_VERSION VERSION_LESS 6.0)

diff --git a/tutorials/tutorial_collisions/main.cpp b/tutorials/tutorial_collisions/main.cpp
@@ -46,12 +46,17 @@
 [[maybe_unused]] const double maximum_start_v = 4.0; // m/s
 [[maybe_unused]] const double default_start_v = 3.5; // m/s
 
-[[maybe_unused]] const double minimum_launch_angle = dart::math::toRadian(30.0); // rad
-[[maybe_unused]] const double maximum_launch_angle = dart::math::toRadian(70.0); // rad
-[[maybe_unused]] const double default_launch_angle = dart::math::toRadian(45.0); // rad
-
-[[maybe_unused]] const double maximum_start_w = 6 * dart::math::constantsd::pi(); // rad/s
-[[maybe_unused]] const double default_start_w = 3 * dart::math::constantsd::pi(); // rad/s
+[[maybe_unused]] const double minimum_launch_angle
+    = dart::math::toRadian(30.0); // rad
+[[maybe_unused]] const double maximum_launch_angle
+    = dart::math::toRadian(70.0); // rad
+[[maybe_unused]] const double default_launch_angle
+    = dart::math::toRadian(45.0); // rad
+
+[[maybe_unused]] const double maximum_start_w
+    = 6 * dart::math::constantsd::pi(); // rad/s
+[[maybe_unused]] const double default_start_w
+    = 3 * dart::math::constantsd::pi(); // rad/s
 
 [[maybe_unused]] const double ring_spring_stiffness = 0.5;
 [[maybe_unused]] const double ring_damping_coefficient = 0.05;
@@ -60,7 +65,8 @@
 const double default_ground_width = 2;
 const double default_wall_thickness = 0.1;
 const double default_wall_height = 1;
-[[maybe_unused]] const double default_spawn_range = 0.9 * default_ground_width / 2;
+[[maybe_unused]] const double default_spawn_range
+    = 0.9 * default_ground_width / 2;
 
 [[maybe_unused]] const double default_restitution = 0.6;
 

diff --git a/tutorials/tutorial_dominoes/main.cpp b/tutorials/tutorial_dominoes/main.cpp
@@ -45,9 +45,9 @@ const double default_domino_mass
     = default_domino_density * default_domino_height * default_domino_width
       * default_domino_depth;
 
-[[maybe_unused]] const double default_push_force = 8.0;  // N
-const int default_force_duration = 200; // # iterations
-const int default_push_duration = 1000; // # iterations
+[[maybe_unused]] const double default_push_force = 8.0; // N
+const int default_force_duration = 200;                 // # iterations
+const int default_push_duration = 1000;                 // # iterations
 
 [[maybe_unused]] const double defaultmEndEffectormOffset = 0.05;
 

diff --git a/tutorials/tutorial_multi_pendulum/main.cpp b/tutorials/tutorial_multi_pendulum/main.cpp
@@ -39,7 +39,7 @@ const double default_depth = 0.2;  // m
 
 [[maybe_unused]] const double default_torque = 15.0; // N-m
 [[maybe_unused]] const double default_force = 15.0;  // N
-const int default_countdown = 200;  // Number of timesteps for applying force
+const int default_countdown = 200; // Number of timesteps for applying force
 
 const double default_rest_position = 0.0;
 const double delta_rest_position = dart::math::toRadian(10.0);