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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_derivative.c
+2 -2
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@@ -344,7 +344,7 @@ static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjt
// Dcvel += D(cdof * qvel), Dcdofdot = D(cvel x cdof)
for (int j=m->body_dofadr[i]; j < m->body_dofadr[i]+m->body_dofnum[i]; j++) {
switch (m->jnt_type[m->dof_jntid[j]]) {
switch ((mjtJoint) m->jnt_type[m->dof_jntid[j]]) {
case mjJNT_FREE:
// Dcdofdot = 0
mju_zero(Dcdofdot+j*6*nv, 18*nv);
@@ -554,7 +554,7 @@ static void mjd_comVel_vel(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* D
int Jadr = (j < nv - 1 ? m->dof_Madr[j + 1] : m->nM) - (m->dof_Madr[j] + 1);
// Dcvel += D(cdof * qvel), Dcdofdot = D(cvel x cdof)
switch (m->jnt_type[m->dof_jntid[j]]) {
switch ((mjtJoint) m->jnt_type[m->dof_jntid[j]]) {
case mjJNT_FREE:
// Dcdofdot = 0 (already cleared)