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Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.

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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
This commit is contained in:
Yuval Tassa
2023-08-14 11:16:53 -07:00
committed by Copybara-Service
parent 13490962a8
commit e4dddea42a
15 changed files with 71 additions and 51 deletions
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src/engine/engine_collision_convex.c
+9 -6
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@@ -58,7 +58,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
mju_rotVecMatT(dir, _dir->v, d->geom_xmat+9*g);
// compute result according to geom type
switch (m->geom_type[g]) {
switch ((mjtGeom) m->geom_type[g]) {
case mjGEOM_SPHERE:
mju_scl3(res, dir, size[0]);
break;
@@ -877,21 +877,21 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
// get geom ids and types
int gid[2] = {g1, g2};
int type[2];
mjtGeom type[2];
for (int i=0; i < 2; i++) {
type[i] = m->geom_type[gid[i]];
// set to -1 if type cannot be processed
// set to mjGEOM_NONE if type cannot be processed
if (type[i] != mjGEOM_SPHERE &&
type[i] != mjGEOM_CAPSULE &&
type[i] != mjGEOM_ELLIPSOID &&
type[i] != mjGEOM_CYLINDER) {
type[i] = -1;
type[i] = mjGEOM_NONE;
}
}
// neither type can be processed: nothing to do
if (type[0] < 0 && type[1] < 0) {
if (type[0] == mjGEOM_NONE && type[1] == mjGEOM_NONE) {
return;
}
@@ -904,7 +904,7 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
// process geoms in type range
int processed[2] = {0, 0};
for (int i=0; i < 2; i++) {
if (type[i] >= 0) {
if (type[i] != mjGEOM_NONE) {
// get geom mat and size
mjtNum* mat = d->geom_xmat + 9*gid[i];
mjtNum* size = m->geom_size + 3*gid[i];
@@ -984,6 +984,9 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
nrm[2] = 0;
processed[i] = 1;
break;
default:
// do nothing: only sphere, capsule, ellipsoid and cylinder are processed
break;
}
// normalize and map normal to global frame