Got the same trouble with my new hardware.
If you actually have a look at the error log (where the message displayed on screen is duplicated), you will notice that the mentioned vendor ID is Intel's.
That means that your hardware is probably a laptop with 2 'video cards': the integrated chipset and the dedicated, proper GPU itself.
When SWAT 4 tried to detect your hardware, it seems to assume you only have 1 GPU, which was common case at the time the game got developed.
So it would seem, that the game only takes the 1st GPU available and then checks it against some sort of whitelist of know vendors (or blacklist of non-vendors?)... and your 1st GPU is the chipset (well the motherboard will always consider integrated stuff before external ones when asked to list devices
). Or maybe is it because some values are missing/too low (such as amount of memory, frequency of memory/shaders)?
Detecting 'Intel', at the time, meant you were using integrated stuff that were very very powerless... I wonder if the game would run on modern ones, though. Never tried.
You end up with your NVIDIA driver properly detecting the game and advicing your OS to switch on it, while the game itself thinks you are running on unproper hardware.
I have not found a workaround that to get rid of this message at startup. Damn annoying to have to click on 'OK' each and every time.