diff --git a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
index 774f2c25e..1c99e90db 100644
--- a/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
+++ b/BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
@@ -159,7 +159,6 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         EXPECT_NEAR(positions[id][2], 0, 1e-4);
 
         // run some simulation steps
-        auto simulation = sofa::simulation::getSimulation();
         for (int i = 0; i < nbrStep; i++)
         {
             sofa::simulation::node::animate(root.get(), 0.01);
diff --git a/BeamAdapter_test/component/model/WireRestShape_test.cpp b/BeamAdapter_test/component/model/WireRestShape_test.cpp
index c41d9f054..bb896bc90 100644
--- a/BeamAdapter_test/component/model/WireRestShape_test.cpp
+++ b/BeamAdapter_test/component/model/WireRestShape_test.cpp
@@ -175,7 +175,7 @@ void WireRestShape_test::testParameterInit()
     EXPECT_EQ(nbP_density.size(), 2);
     EXPECT_EQ(nbP_density, nbP_density_ref);
 
-    Real dx1, dx2, dx3, nbEdgesCol_ref = 20;
+    Real dx1, dx2, dx3;
     wire->getCollisionSampling(dx1, 0.0);
     wire->getCollisionSampling(dx2, fullLength);
     wire->getCollisionSampling(dx3, 90.0);
diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl
index 07753a5a6..650bdcd36 100644
--- a/src/BeamAdapter/component/engine/WireRestShape.inl
+++ b/src/BeamAdapter/component/engine/WireRestShape.inl
@@ -149,7 +149,7 @@ bool WireRestShape<DataTypes>::initTopology()
     Real prev_length = 0.0;
     int prev_edges = 0;
     int startPtId = 0; 
-    for (auto i = 0; i < l_sectionMaterials.size(); ++i)
+    for (sofa::Size i = 0; i < l_sectionMaterials.size(); ++i)
     {
         // Add topology of the material 
         int nbrVisuEdges = l_sectionMaterials.get(i)->getNbVisualEdges();
@@ -212,7 +212,7 @@ void WireRestShape<DataTypes>::getCollisionSampling(Real &dx, const Real &x_curv
     }
     
     // Check in which section x_used belongs to and get access to this section material
-    for (auto i = 1; i< keyPts.size(); ++i)
+    for (sofa::Size i = 1; i< keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -264,7 +264,7 @@ void WireRestShape<DataTypes>::getYoungModulusAtX(const Real& x_curv, Real& youn
     const type::vector<Real>& keyPts = d_keyPoints.getValue();
 
     // Depending on the position of the beam, determine the corresponding section material and returning its Young modulus
-    for (auto i = 1; i < keyPts.size(); ++i)
+    for (sofa::Size i = 1; i < keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
@@ -283,7 +283,7 @@ void WireRestShape<DataTypes>::getInterpolationParam(const Real& x_curv, Real &_
     const type::vector<Real>& keyPts = d_keyPoints.getValue();
 
     // Check in which section x_used belongs to and get access to this section material
-    for (auto i = 1; i < keyPts.size(); ++i)
+    for (sofa::Size i = 1; i < keyPts.size(); ++i)
     {
         if (x_used <= keyPts[i])
         {
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
index 918d5cf13..474c5fbf5 100644
--- a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
+++ b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
@@ -178,6 +178,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::computeStiffness(int beamId, Beam
 template<class DataTypes>
 void AdaptiveBeamForceFieldAndMass<DataTypes>::computeMass(int beamId, BeamLocalMatrices& beamLocalMatrix)
 {
+    SOFA_UNUSED(beamId);
     Real L2 = (Real) (beamLocalMatrix._L * beamLocalMatrix._L);
     beamLocalMatrix.m_M00.clear(); beamLocalMatrix.m_M01.clear(); beamLocalMatrix.m_M10.clear(); beamLocalMatrix.m_M11.clear();
 
diff --git a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
index eef8d7c45..b3d8f28cd 100644
--- a/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
+++ b/src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
@@ -666,7 +666,6 @@ void AdaptiveBeamMapping< TIn, TOut>::computeDistribution()
         else
         {
             m_pointBeamDistribution.reserve(points.size());
-            const bool printLog = this->f_printLog.getValue();
             for (unsigned int i=0; i<points.size(); i++)
             {
                 const unsigned int beamId = (int)floor(points[i][0]);
diff --git a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
index e7801e038..c8e89d8e5 100644
--- a/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamLengthMapping.inl
@@ -122,6 +122,7 @@ void BeamLengthMapping< TIn, TOut>::reset()
 template <class TIn, class TOut>
 void BeamLengthMapping< TIn, TOut>::apply(const MechanicalParams* mparams, Data<VecCoord>& dOut, const Data<InVecCoord>& dIn)
 {
+    SOFA_UNUSED(mparams);
     SCOPED_TIMER("AdaptiveBeamMappingApply");
 
     VecCoord& out = *dOut.beginEdit();
@@ -591,6 +592,7 @@ void BeamLengthMapping< TIn, TOut>::applyDJT(const MechanicalParams* mparams, co
 template <class TIn, class TOut>
 void BeamLengthMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId )
 {
+    SOFA_UNUSED(mparams);
     const unsigned& geometricStiffness = d_geometricStiffness.getValue();
     if( !geometricStiffness ) { K_geom.resize(0,0); return; }
     //helper::ReadAccessor<Data<VecDeriv> > childForce( *childForceId[(const core::State<TOut>*)this->getToModels()[0]].read() );
diff --git a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
index 610961e57..1b5833e87 100644
--- a/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
+++ b/src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
@@ -145,7 +145,7 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::computeProjection(c
         Real distMin = std::numeric_limits<Real>::max();
 
         // find the min distance between P and its projection on each edge of xTo
-        for (int e=0; e<edges.size(); e++)
+        for (sofa::Size e=0; e<edges.size(); e++)
         {
             const auto& edge = edges[e];
             In2Coord Q1 = xTo[edge[0]];