Add break statements in user_objects.cc to appease persnickety GCC
PiperOrigin-RevId: 661590599 Change-Id: I2d167ca92cc4d5230922d221c9267a2e8d018b40
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
e397fcb5a5
commit
d72f01bad4
+73
-52
@@ -2074,41 +2074,43 @@ double mjCGeom::GetVolume() const {
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// compute from geom shape (type) and inertia (typeinertia)
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switch (type) {
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case mjGEOM_SPHERE: {
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double radius = size[0];
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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return 4 * mjPI * size[0] * size[0];
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}
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case mjINERTIA_VOLUME: {
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return 4 * mjPI * size[0] * size[0] * size[0] / 3;
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}
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case mjINERTIA_SHELL:
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return 4 * mjPI * radius * radius;
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break;
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case mjINERTIA_VOLUME:
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return 4 * mjPI * radius * radius * radius / 3;
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break;
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}
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}
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break;
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case mjGEOM_CAPSULE: {
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double height = 2 * size[1];
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double radius = size[0];
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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double radius = size[0];
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double height = 2 * size[1];
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case mjINERTIA_SHELL:
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return 4 * mjPI * radius * radius + 2 * mjPI * radius * height;
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}
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case mjINERTIA_VOLUME: {
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double height = 2 * size[1];
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return mjPI * (size[0] * size[0] * height + 4 * size[0] * size[0] * size[0] / 3);
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}
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break;
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case mjINERTIA_VOLUME:
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return mjPI * (radius * radius * height + 4 * radius * radius * radius / 3);
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break;
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}
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}
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break;
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case mjGEOM_CYLINDER: {
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double height = 2 * size[1];
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double radius = size[0];
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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double radius = size[0];
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double height = 2 * size[1];
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case mjINERTIA_SHELL:
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return 2 * mjPI * radius * radius + 2 * mjPI * radius * height;
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}
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case mjINERTIA_VOLUME: {
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double height = 2 * size[1];
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return mjPI * size[0] * size[0] * height;
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}
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break;
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case mjINERTIA_VOLUME:
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return mjPI * radius * radius * height;
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break;
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}
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}
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break;
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case mjGEOM_ELLIPSOID: {
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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@@ -2119,24 +2121,26 @@ double mjCGeom::GetVolume() const {
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mju_pow(size[1] * size[2], p) +
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mju_pow(size[2] * size[0], p);
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return 4 * mjPI * mju_pow(tmp / 3, 1 / p);
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break;
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}
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case mjINERTIA_VOLUME: {
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case mjINERTIA_VOLUME:
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return 4 * mjPI * size[0] * size[1] * size[2] / 3;
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}
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break;
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}
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}
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break;
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case mjGEOM_HFIELD:
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case mjGEOM_BOX: {
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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case mjINERTIA_SHELL:
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return 8 * (size[0] * size[1] + size[1] * size[2] + size[2] * size[0]);
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}
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case mjINERTIA_VOLUME: {
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break;
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case mjINERTIA_VOLUME:
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return size[0] * size[1] * size[2] * 8;
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}
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break;
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}
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}
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break;
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default:
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return 0;
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}
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@@ -2175,16 +2179,17 @@ void mjCGeom::SetInertia(void) {
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switch (type) {
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case mjGEOM_SPHERE: {
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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case mjINERTIA_SHELL:
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inertia[0] = inertia[1] = inertia[2] = 2 * mass_ * size[0] * size[0] / 3;
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return;
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}
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case mjINERTIA_VOLUME: {
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break;
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case mjINERTIA_VOLUME:
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inertia[0] = inertia[1] = inertia[2] = 2 * mass_ * size[0] * size[0] / 5;
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return;
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}
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break;
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}
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}
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break;
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case mjGEOM_CAPSULE: {
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double halfheight = size[1];
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double height = 2 * size[1];
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@@ -2212,6 +2217,7 @@ void mjCGeom::SetInertia(void) {
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inertia[1] += sphere_inertia + sphere_mass * (hs_pos * hs_pos - hs_com * hs_com);
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inertia[2] += sphere_inertia;
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return;
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break;
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}
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case mjINERTIA_VOLUME: {
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double sphere_mass =
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@@ -2228,9 +2234,11 @@ void mjCGeom::SetInertia(void) {
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inertia[1] += sphere_inertia + sphere_mass * height * (3 * radius + 2 * height) / 8;
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inertia[2] += sphere_inertia;
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return;
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break;
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}
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}
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}
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break;
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case mjGEOM_CYLINDER: {
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double halfheight = size[1];
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double height = 2 * halfheight;
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@@ -2260,19 +2268,23 @@ void mjCGeom::SetInertia(void) {
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inertia[1] += 2 * inertia_disk_x;
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inertia[2] += 2 * inertia_disk_z;
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return;
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break;
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}
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case mjINERTIA_VOLUME: {
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case mjINERTIA_VOLUME:
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inertia[0] = inertia[1] = mass_ * (3 * radius * radius + height * height) / 12;
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inertia[2] = mass_ * radius * radius / 2;
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return;
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}
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break;
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}
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}
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break;
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case mjGEOM_ELLIPSOID: {
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double s00 = size[0] * size[0];
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double s11 = size[1] * size[1];
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double s22 = size[2] * size[2];
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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// approximate shell inertia by subtracting ellipsoid from expanded
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// ellipsoid
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// approximate shell inertia by subtracting ellipsoid from expanded ellipsoid
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double eps = 1e-6;
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// solid volume (a)
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@@ -2290,9 +2302,9 @@ void mjCGeom::SetInertia(void) {
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// inertia
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double mass_a = Va * density;
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double inertia_a[3];
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inertia_a[0] = mass_a * (size[1] * size[1] + size[2] * size[2]) / 5;
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inertia_a[1] = mass_a * (size[0] * size[0] + size[2] * size[2]) / 5;
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inertia_a[2] = mass_a * (size[0] * size[0] + size[1] * size[1]) / 5;
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inertia_a[0] = mass_a * (s11 + s22) / 5;
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inertia_a[1] = mass_a * (s00 + s22) / 5;
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inertia_a[2] = mass_a * (s00 + s11) / 5;
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double mass_b = Vb * density;
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double inertia_b[3];
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@@ -2303,17 +2315,23 @@ void mjCGeom::SetInertia(void) {
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// shell inertia
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mju_sub3(inertia, inertia_b, inertia_a);
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return;
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break;
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}
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case mjINERTIA_VOLUME: {
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inertia[0] = mass_ * (size[1] * size[1] + size[2] * size[2]) / 5;
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inertia[1] = mass_ * (size[0] * size[0] + size[2] * size[2]) / 5;
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inertia[2] = mass_ * (size[0] * size[0] + size[1] * size[1]) / 5;
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inertia[0] = mass_ * (s11 + s22) / 5;
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inertia[1] = mass_ * (s00 + s22) / 5;
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inertia[2] = mass_ * (s00 + s11) / 5;
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return;
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break;
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}
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}
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}
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break;
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case mjGEOM_HFIELD:
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case mjGEOM_BOX: {
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double s00 = size[0] * size[0];
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double s11 = size[1] * size[1];
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double s22 = size[2] * size[2];
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switch (typeinertia) {
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case mjINERTIA_SHELL: {
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// length
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@@ -2346,22 +2364,25 @@ void mjCGeom::SetInertia(void) {
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double Iz2 = mass2 * lx * lx / 12;
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// total inertia
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inertia[0] = 2 * (Ix0 + mass0 * size[2] * size[2] + Ix1 + Ix2 + mass2 * size[1] * size[1]);
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inertia[1] = 2 * (Iy0 + mass0 * size[2] * size[2] + Iy1 + mass1 * size[0] * size[0] + Iy2);
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inertia[2] = 2 * (Iz0 + Iz1 + mass1 * size[0] * size[0] + Iz2 + mass2 * size[1] * size[1]);
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inertia[0] = 2 * (mass0 * s22 + mass2 * s11 + Ix0 + Ix1 + Ix2);
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inertia[1] = 2 * (mass0 * s22 + mass1 * s00 + Iy0 + Iy1 + Iy2);
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inertia[2] = 2 * (mass1 * s00 + mass2 * s11 + Iz0 + Iz1 + Iz2);
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return;
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break;
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}
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case mjINERTIA_VOLUME: {
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inertia[0] = mass_ * (size[1] * size[1] + size[2] * size[2]) / 3;
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inertia[1] = mass_ * (size[0] * size[0] + size[2] * size[2]) / 3;
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inertia[2] = mass_ * (size[0] * size[0] + size[1] * size[1]) / 3;
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inertia[0] = mass_ * (s11 + s22) / 3;
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inertia[1] = mass_ * (s00 + s22) / 3;
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inertia[2] = mass_ * (s00 + s11) / 3;
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return;
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break;
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}
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}
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default:
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inertia[0] = inertia[1] = inertia[2] = 0;
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return;
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}
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break;
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default:
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inertia[0] = inertia[1] = inertia[2] = 0;
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return;
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}
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}
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