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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_forward.c
+5 -5
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@@ -235,7 +235,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
prm = m->actuator_dynprm + i*mjNDYN;
// compute act_dot according to dynamics type
switch (m->actuator_dyntype[i]) {
switch ((mjtDyn) m->actuator_dyntype[i]) {
case mjDYN_INTEGRATOR: // simple integrator
d->act_dot[j] = ctrl[i];
break;
@@ -276,7 +276,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
prm = m->actuator_gainprm + mjNGAIN*i;
// handle according to gain type
switch (m->actuator_gaintype[i]) {
switch ((mjtGain) m->actuator_gaintype[i]) {
case mjGAIN_FIXED: // fixed gain: prm = gain
gain = prm[0];
break;
@@ -321,7 +321,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
prm = m->actuator_biasprm + mjNBIAS*i;
// handle according to bias type
switch (m->actuator_biastype[i]) {
switch ((mjtBias) m->actuator_biastype[i]) {
case mjBIAS_NONE: // none
bias = 0.0;
break;
@@ -511,7 +511,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
d->solver_iter = 0;
// run main solver
switch (m->opt.solver) {
switch ((mjtSolver) m->opt.solver) {
case mjSOL_PGS: // PGS
mj_solPGS(m, d, m->opt.iterations);
break;
@@ -883,7 +883,7 @@ void mj_step(const mjModel* m, mjData* d) {
}
// use selected integrator
switch (m->opt.integrator) {
switch ((mjtIntegrator) m->opt.integrator) {
case mjINT_EULER:
mj_Euler(m, d);
break;