Fix Windows MSVC C4250 warnings from DART headers (#837)

Add /wd4250 compiler flag to suppress 'inherits via dominance' warnings
that originate from DART library headers. These warnings cannot be fixed
in gz-physics code as they come from the external DART dependency.

Changes:
- Use target_compile_options instead of CMAKE_CXX_FLAGS in TPE plugin
- Add C4250 suppression to dartsim unit tests
- Add C4250 suppression to bullet unit tests
- Add C4250 suppression to TPE unit tests
- Add C4250 suppression to integration tests

This ensures a clean Windows build without hiding legitimate warnings.

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Author: j-rivero

bullet/CMakeLists.txt

@@ -62,6 +62,11 @@ foreach(test ${tests})
     "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"")
 
+  if (MSVC)
+    # disable MSVC inherit via dominance warning
+    target_compile_options(${test} PRIVATE "/wd4250")
+  endif()
+
 endforeach()
 
 if(TARGET UNIT_FindFeatures_TEST)

dartsim/CMakeLists.txt

@@ -100,6 +100,11 @@ foreach(test ${tests})
     target_compile_definitions(${test} PRIVATE DART_HAS_CONTACT_SURFACE)
   endif()
 
+  if (MSVC)
+    # disable MSVC inherit via dominance warning from DART headers
+    target_compile_options(${test} PRIVATE "/wd4250")
+  endif()
+
   # Helps when we want to build a single test after making changes to dartsim_plugin
   add_dependencies(${test} ${dartsim_plugin})
 endforeach()

test/integration/CMakeLists.txt

@@ -35,6 +35,11 @@ if (BUILD_TESTING)
 
     endforeach()
 
+    if (MSVC)
+      # disable MSVC inherit via dominance warning
+      target_compile_options(${test} PRIVATE "/wd4250")
+    endif()
+
   endforeach()
 endif()
 

tpe/plugin/CMakeLists.txt

@@ -41,7 +41,7 @@ set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${tpe_plugin}${CMAKE_SHARED_LIBRARY_
 set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 if (WIN32)
   # disable MSVC inherit via dominance warning
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4250")
+  target_compile_options(${tpe_plugin} PUBLIC "/wd4250")
   INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
       ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
       ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
@@ -69,4 +69,9 @@ foreach(test ${tests})
     "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"")
 
+  if (MSVC)
+    # disable MSVC inherit via dominance warning
+    target_compile_options(${test} PRIVATE "/wd4250")
+  endif()
+
 endforeach()