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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_core_constraint.c
+12 -5
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@@ -408,7 +408,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
NV2 = 0;
// process according to type
switch (m->eq_type[i]) {
switch ((mjtEq) m->eq_type[i]) {
case mjEQ_CONNECT: // connect bodies with ball joint
// find global points
for (int j=0; j < 2; j++) {
@@ -898,7 +898,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
}
// process according to constraint type
switch (d->efc_type[i]) {
switch ((mjtConstraint) d->efc_type[i]) {
case mjCNSTR_EQUALITY:
// process according to equality-constraint type
switch (m->eq_type[id]) {
@@ -1003,7 +1003,7 @@ static void getsolparam(const mjModel* m, const mjData* d, int i,
mju_zero(solreffriction, mjNREF);
// extract solver parameters from corresponding model element
switch (d->efc_type[i]) {
switch ((mjtConstraint) d->efc_type[i]) {
case mjCNSTR_EQUALITY:
mju_copy(solref, m->eq_solref+mjNREF*id, mjNREF);
mju_copy(solimp, m->eq_solimp+mjNIMP*id, mjNIMP);
@@ -1079,7 +1079,7 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
*pos = d->efc_pos[i];
// change (dim, distance) for special cases
switch (d->efc_type[i]) {
switch ((mjtConstraint) d->efc_type[i]) {
case mjCNSTR_CONTACT_ELLIPTIC:
*dim = d->contact[id].dim;
break;
@@ -1104,6 +1104,10 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
*dim = 3;
*pos = mju_norm(d->efc_pos+i, 3);
}
break;
default:
// already handled
break;
}
}
@@ -1368,7 +1372,7 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
NV2 = 0;
// process according to type
switch (m->eq_type[i]) {
switch ((mjtEq) m->eq_type[i]) {
case mjEQ_CONNECT:
size = 3;
if (!nnz) {
@@ -1419,6 +1423,9 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
NV = 2;
}
break;
default:
// might occur in case of the now-removed distance equality constraint
mjERROR("unknown constraint type type %d", m->eq_type[i]); // SHOULD NOT OCCUR
}
ne += mj_addConstraintCount(m, size, NV);
nnze += size*NV;