diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 695fff850..0bc507726 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -135,6 +135,9 @@ if (MSVC)
 	# Atomics are still considered experimental in Visual Studio 17.8
 	target_compile_options(box2d PRIVATE /experimental:c11atomics)
 
+	# All warnings
+	target_compile_options(box2d PRIVATE /W4)
+
 	if (BOX2D_AVX2)
 		message(STATUS "Box2D using AVX2")	
 		target_compile_definitions(box2d PRIVATE BOX2D_AVX2)
diff --git a/src/body.c b/src/body.c
index 273b04c34..7dc6f469b 100644
--- a/src/body.c
+++ b/src/body.c
@@ -309,6 +309,7 @@ b2BodyId b2CreateBody( b2WorldId worldId, const b2BodyDef* def )
 
 bool b2IsBodyAwake( b2World* world, b2Body* body )
 {
+	B2_MAYBE_UNUSED( world );
 	return body->setIndex == b2_awakeSet;
 }
 
diff --git a/src/dynamic_tree.c b/src/dynamic_tree.c
index 322b5221c..92885d1fc 100644
--- a/src/dynamic_tree.c
+++ b/src/dynamic_tree.c
@@ -871,7 +871,7 @@ static int b2ComputeHeight( const b2DynamicTree* tree, int32_t nodeId )
 
 	int32_t height1 = b2ComputeHeight( tree, node->child1 );
 	int32_t height2 = b2ComputeHeight( tree, node->child2 );
-	return 1 + b2MaxInt16( height1, height2 );
+	return 1 + b2MaxInt( height1, height2 );
 }
 
 int b2DynamicTree_ComputeHeight( const b2DynamicTree* tree )
@@ -930,8 +930,8 @@ static void b2ValidateMetrics( const b2DynamicTree* tree, int32_t index )
 
 	const b2TreeNode* node = tree->nodes + index;
 
-	int32_t child1 = node->child1;
-	int32_t child2 = node->child2;
+	int child1 = node->child1;
+	int child2 = node->child2;
 
 	if ( b2IsLeaf( node ) )
 	{
@@ -944,10 +944,9 @@ static void b2ValidateMetrics( const b2DynamicTree* tree, int32_t index )
 	B2_ASSERT( 0 <= child1 && child1 < tree->nodeCapacity );
 	B2_ASSERT( 0 <= child2 && child2 < tree->nodeCapacity );
 
-	int32_t height1 = tree->nodes[child1].height;
-	int32_t height2 = tree->nodes[child2].height;
-	int32_t height;
-	height = 1 + b2MaxInt16( height1, height2 );
+	int height1 = tree->nodes[child1].height;
+	int height2 = tree->nodes[child2].height;
+	int height = 1 + b2MaxInt( height1, height2 );
 	B2_ASSERT( node->height == height );
 
 	// b2AABB aabb = b2AABB_Union(tree->nodes[child1].aabb, tree->nodes[child2].aabb);
@@ -1000,8 +999,8 @@ void b2DynamicTree_Validate( const b2DynamicTree* tree )
 
 int32_t b2DynamicTree_GetMaxBalance( const b2DynamicTree* tree )
 {
-	int32_t maxBalance = 0;
-	for ( int32_t i = 0; i < tree->nodeCapacity; ++i )
+	int maxBalance = 0;
+	for ( int i = 0; i < tree->nodeCapacity; ++i )
 	{
 		const b2TreeNode* node = tree->nodes + i;
 		if ( node->height <= 1 )
@@ -1011,9 +1010,9 @@ int32_t b2DynamicTree_GetMaxBalance( const b2DynamicTree* tree )
 
 		B2_ASSERT( b2IsLeaf( node ) == false );
 
-		int32_t child1 = node->child1;
-		int32_t child2 = node->child2;
-		int32_t balance = b2AbsFloat( tree->nodes[child2].height - tree->nodes[child1].height );
+		int child1 = node->child1;
+		int child2 = node->child2;
+		int balance = b2AbsInt( tree->nodes[child2].height - tree->nodes[child1].height );
 		maxBalance = b2MaxInt( maxBalance, balance );
 	}
 
@@ -1022,11 +1021,11 @@ int32_t b2DynamicTree_GetMaxBalance( const b2DynamicTree* tree )
 
 void b2DynamicTree_RebuildBottomUp( b2DynamicTree* tree )
 {
-	int32_t* nodes = b2Alloc( tree->nodeCount * sizeof( int32_t ) );
-	int32_t count = 0;
+	int* nodes = b2Alloc( tree->nodeCount * sizeof( int ) );
+	int count = 0;
 
 	// Build array of leaves. Free the rest.
-	for ( int32_t i = 0; i < tree->nodeCapacity; ++i )
+	for ( int i = 0; i < tree->nodeCapacity; ++i )
 	{
 		if ( tree->nodes[i].height < 0 )
 		{
diff --git a/src/hull.c b/src/hull.c
index 41fd76de1..eb0f4c5c7 100644
--- a/src/hull.c
+++ b/src/hull.c
@@ -94,7 +94,7 @@ b2Hull b2ComputeHull( const b2Vec2* points, int count )
 		return hull;
 	}
 
-	count = b2MinFloat( count, b2_maxPolygonVertices );
+	count = b2MinInt( count, b2_maxPolygonVertices );
 
 	b2AABB aabb = { { FLT_MAX, FLT_MAX }, { -FLT_MAX, -FLT_MAX } };
 
diff --git a/src/joint.h b/src/joint.h
index 80ac04bfb..441e4394c 100644
--- a/src/joint.h
+++ b/src/joint.h
@@ -47,13 +47,14 @@ typedef struct b2Joint
 	int islandPrev;
 	int islandNext;
 
-	// This is monotonically advanced when a body is allocated in this slot
-	// Used to check for invalid b2JointId
-	int revision;
-
 	float drawSize;
 
 	b2JointType type;
+
+	// This is monotonically advanced when a body is allocated in this slot
+	// Used to check for invalid b2JointId
+	uint16_t revision;
+
 	bool isMarked;
 	bool collideConnected;
 
diff --git a/src/manifold.c b/src/manifold.c
index b66785d28..38f7c94d2 100644
--- a/src/manifold.c
+++ b/src/manifold.c
@@ -328,7 +328,7 @@ b2Manifold b2CollideCapsules( const b2Capsule* capsuleA, b2Transform xfA, const
 		return manifold;
 	}
 
-	float distance = sqrt( distanceSquared );
+	float distance = sqrtf( distanceSquared );
 
 	float length1, length2;
 	b2Vec2 u1 = b2GetLengthAndNormalize( &length1, d1 );
diff --git a/src/motor_joint.c b/src/motor_joint.c
index b41f685a8..721e98974 100644
--- a/src/motor_joint.c
+++ b/src/motor_joint.c
@@ -186,6 +186,7 @@ void b2WarmStartMotorJoint( b2JointSim* base, b2StepContext* context )
 
 void b2SolveMotorJoint( b2JointSim* base, b2StepContext* context, bool useBias )
 {
+	B2_MAYBE_UNUSED( useBias );
 	B2_ASSERT( base->type == b2_motorJoint );
 
 	float mA = base->invMassA;
diff --git a/src/weld_joint.c b/src/weld_joint.c
index e772fde22..965a5210f 100644
--- a/src/weld_joint.c
+++ b/src/weld_joint.c
@@ -150,8 +150,6 @@ void b2PrepareWeldJoint( b2JointSim* base, b2StepContext* context )
 	float ka = iA + iB;
 	joint->axialMass = ka > 0.0f ? 1.0f / ka : 0.0f;
 
-	const float h = context->dt;
-
 	if ( joint->linearHertz == 0.0f )
 	{
 		joint->linearSoftness = context->jointSoftness;
diff --git a/src/wheel_joint.c b/src/wheel_joint.c
index e4d96b401..b2a971dfc 100644
--- a/src/wheel_joint.c
+++ b/src/wheel_joint.c
@@ -315,9 +315,6 @@ void b2SolveWheelJoint( b2JointSim* base, b2StepContext* context, bool useBias )
 
 	b2WheelJoint* joint = &base->wheelJoint;
 
-	// This is a dummy body to represent a static body since static bodies don't have a solver body.
-	b2BodyState dummyBody = { 0 };
-
 	b2BodyState* stateA = joint->indexA == B2_NULL_INDEX ? &dummyState : context->states + joint->indexA;
 	b2BodyState* stateB = joint->indexB == B2_NULL_INDEX ? &dummyState : context->states + joint->indexB;
 
@@ -378,8 +375,6 @@ void b2SolveWheelJoint( b2JointSim* base, b2StepContext* context, bool useBias )
 
 	if ( joint->enableLimit )
 	{
-		float translation = b2Dot( axisA, d );
-
 		// Lower limit
 		{
 			float C = translation - joint->lowerTranslation;
diff --git a/src/world.c b/src/world.c
index 68be3286e..e9b7d718a 100644
--- a/src/world.c
+++ b/src/world.c
@@ -294,7 +294,7 @@ void b2DestroyWorld( b2WorldId worldId )
 	// Wipe world but preserve revision
 	uint16_t revision = world->revision;
 	*world = ( b2World ){ 0 };
-	world->worldId = B2_NULL_INDEX;
+	world->worldId = 0;
 	world->revision = revision + 1;
 }
 
@@ -304,7 +304,7 @@ static void b2CollideTask( int startIndex, int endIndex, uint32_t threadIndex, v
 
 	b2StepContext* stepContext = context;
 	b2World* world = stepContext->world;
-	B2_ASSERT( threadIndex < world->workerCount );
+	B2_ASSERT( (int)threadIndex < world->workerCount );
 	b2TaskContext* taskContext = world->taskContexts.data + threadIndex;
 	b2ContactSim** contactSims = stepContext->contacts;
 	b2Shape* shapes = world->shapes.data;
@@ -2891,7 +2891,7 @@ void b2ValidateSolverSets( b2World* world )
 
 	int contactIdCount = b2GetIdCount( &world->contactIdPool );
 	B2_ASSERT( totalContactCount == contactIdCount );
-	B2_ASSERT( totalContactCount == world->broadPhase.pairSet.count );
+	B2_ASSERT( totalContactCount == (int)world->broadPhase.pairSet.count );
 
 	int jointIdCount = b2GetIdCount( &world->jointIdPool );
 	B2_ASSERT( totalJointCount == jointIdCount );