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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_smooth.c
+11 -7
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@@ -99,7 +99,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
// get joint id, qpos address, joint type
int jid = m->body_jntadr[i] + j;
int qadr = m->jnt_qposadr[jid];
int jtype = m->jnt_type[jid];
mjtJoint jtype = m->jnt_type[jid];
// compute axis in global frame; ball jnt_axis is (0,0,1), set by compiler
mju_rotVecQuat(xaxis, m->jnt_axis+3*jid, quat);
@@ -228,7 +228,7 @@ void mj_comPos(const mjModel* m, mjData* d) {
// create motion dof
int skip = 0;
switch (m->jnt_type[j]) {
switch ((mjtJoint) m->jnt_type[j]) {
case mjJNT_FREE:
// translation components: x, y, z in global frame
mju_zero(d->cdof+da, 18);
@@ -281,7 +281,9 @@ void mj_camlight(const mjModel* m, mjData* d) {
int id1 = m->cam_targetbodyid[i];
// adjust for mode
switch (m->cam_mode[i]) {
switch ((mjtCamLight) m->cam_mode[i]) {
case mjCAMLIGHT_FIXED:
break;
case mjCAMLIGHT_TRACK:
case mjCAMLIGHT_TRACKCOM:
// fixed global orientation
@@ -341,7 +343,9 @@ void mj_camlight(const mjModel* m, mjData* d) {
int id1 = m->light_targetbodyid[i];
// adjust for mode
switch (m->light_mode[i]) {
switch ((mjtCamLight) m->light_mode[i]) {
case mjCAMLIGHT_FIXED:
break;
case mjCAMLIGHT_TRACK:
case mjCAMLIGHT_TRACKCOM:
// fixed global orientation
@@ -644,7 +648,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
gear = m->actuator_gear+6*i;
// process according to transmission type
switch (m->actuator_trntype[i]) {
switch ((mjtTrn) m->actuator_trntype[i]) {
case mjTRN_JOINT: // joint
case mjTRN_JOINTINPARENT: // joint, force in parent frame
// slide and hinge joint: scalar gear
@@ -1269,7 +1273,7 @@ void mj_comVel(const mjModel* m, mjData* d) {
// cvel = cvel_parent + cdof * qvel, cdofdot = cvel x cdof
for (int j=0; j < m->body_dofnum[i]; j++) {
// compute cvel and cdofdot
switch (m->jnt_type[m->dof_jntid[bda+j]]) {
switch ((mjtJoint) m->jnt_type[m->dof_jntid[bda+j]]) {
case mjJNT_FREE:
// cdofdot = 0
mju_zero(cdofdot, 18);
@@ -1506,7 +1510,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
mjtNum pos[3];
int k;
switch (m->eq_type[id]) {
switch ((mjtEq) m->eq_type[id]) {
case mjEQ_CONNECT:
case mjEQ_WELD:
// cfrc = world-oriented torque:force vector