Upgrade mac CI to newer os version

macos-11 is no longer supported by github.

This includes benign changes to make the mac compiler happy.

Author: SeanCurtis-TRI

.github/workflows/all_ci.yml

@@ -44,7 +44,7 @@ jobs:
       matrix:
         compiler: [clang]
         build: [Release, Debug]
-        os: ['macos-11']
+        os: ['macos-latest']
     uses: ./.github/workflows/generic_ci.yml
     with:
       install-name: 'install_osx.sh'

include/fcl/math/geometry-inl.h

@@ -480,7 +480,7 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
   int n = 3;
   int j, iq, ip, i;
   S tresh, theta, tau, t, sm, s, h, g, c;
-  int nrot;
+  int nrot = 0;
   S b[3];
   S z[3];
   S v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
@@ -492,8 +492,6 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
     z[ip] = 0;
   }
 
-  nrot = 0;
-
   for(i = 0; i < 50; ++i)
   {
     sm = 0;