From 3ddf1b492a218b7e0087c452c22162c62a3b30ee Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 22 Apr 2024 11:35:27 -0700 Subject: [PATCH] Fix `control reaches end of non-void function` in engine_forward.c PiperOrigin-RevId: 627104708 Change-Id: I790b2bd22fd83ed616605a35f3e7268e28c73aa6 --- src/engine/engine_forward.c | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c index fb017fba..15f5c5e7 100644 --- a/src/engine/engine_forward.c +++ b/src/engine/engine_forward.c @@ -258,17 +258,15 @@ static void clampVec(mjtNum* vec, const mjtNum* range, const mjtByte* limited, i // return number of dofs given joint type static int jnt_dofnum(mjtJoint type) { - switch (type) { - case mjJNT_HINGE: - case mjJNT_SLIDE: - return 1; - - case mjJNT_BALL: - return 3; - - case mjJNT_FREE: + if (type == mjJNT_FREE) { return 6; } + + if (type == mjJNT_BALL) { + return 3; + } + + return 1; }