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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_sensor.c
+8 -8
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@@ -134,7 +134,7 @@ static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
// get xpos and xmat pointers to an object in mjData
static void get_xpos_xmat(const mjData* d, int type, int id, int sensor_id,
static void get_xpos_xmat(const mjData* d, mjtObj type, int id, int sensor_id,
mjtNum **xpos, mjtNum **xmat) {
switch (type) {
case mjOBJ_XBODY:
@@ -163,7 +163,7 @@ static void get_xpos_xmat(const mjData* d, int type, int id, int sensor_id,
}
// get global quaternion of an object in mjData
static void get_xquat(const mjModel* m, const mjData* d, int type, int id, int sensor_id,
static void get_xquat(const mjModel* m, const mjData* d, mjtObj type, int id, int sensor_id,
mjtNum *quat) {
switch (type) {
case mjOBJ_XBODY:
@@ -216,7 +216,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
adr = m->sensor_adr[i];
// process according to type
switch (m->sensor_type[i]) {
switch ((mjtSensor) m->sensor_type[i]) {
case mjSENS_MAGNETOMETER: // magnetometer
mju_mulMatTVec(d->sensordata+adr, d->site_xmat+9*objid, m->opt.magnetic, 3, 3);
break;
@@ -376,7 +376,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
// velocity-dependent sensors
void mj_sensorVel(const mjModel* m, mjData* d) {
int type, objtype, objid, reftype, refid, adr, nusersensor = 0;
int objtype, objid, reftype, refid, adr, nusersensor = 0;
int ne = d->ne, nf = d->nf, nefc = d->nefc;
mjtNum xvel[6];
@@ -395,7 +395,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
if (m->sensor_needstage[i] == mjSTAGE_VEL) {
// get sensor info
type = m->sensor_type[i];
mjtSensor type = m->sensor_type[i];
objtype = m->sensor_objtype[i];
objid = m->sensor_objid[i];
refid = m->sensor_refid[i];
@@ -564,7 +564,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
// acceleration/force-dependent sensors
void mj_sensorAcc(const mjModel* m, mjData* d) {
int rootid, bodyid, type, objtype, objid, body1, body2, adr, nusersensor = 0;
int rootid, bodyid, objtype, objid, body1, body2, adr, nusersensor = 0;
int ne = d->ne, nf = d->nf, nefc = d->nefc;
mjtNum tmp[6], conforce[6], conray[3];
mjContact* con;
@@ -584,7 +584,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
if (m->sensor_needstage[i] == mjSTAGE_ACC) {
// get sensor info
type = m->sensor_type[i];
mjtSensor type = m->sensor_type[i];
objtype = m->sensor_objtype[i];
objid = m->sensor_objid[i];
adr = m->sensor_adr[i];
@@ -803,7 +803,7 @@ void mj_energyPos(const mjModel* m, mjData* d) {
stiffness = m->jnt_stiffness[i];
padr = m->jnt_qposadr[i];
switch (m->jnt_type[i]) {
switch ((mjtJoint) m->jnt_type[i]) {
case mjJNT_FREE:
mju_sub3(dif, d->qpos+padr, m->qpos_spring+padr);
d->energy[0] += 0.5*stiffness*mju_dot3(dif, dif);