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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_support.c
+2 -2
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@@ -1342,7 +1342,7 @@ void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
int padr = m->jnt_qposadr[j];
int vadr = m->jnt_dofadr[j];
switch (m->jnt_type[j]) {
switch ((mjtJoint) m->jnt_type[j]) {
case mjJNT_FREE:
for (int i=0; i < 3; i++) {
qvel[vadr+i] = (qpos2[padr+i] - qpos1[padr+i]) / dt;
@@ -1376,7 +1376,7 @@ void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum
int padr = m->jnt_qposadr[j];
int vadr = m->jnt_dofadr[j];
switch (m->jnt_type[j]) {
switch ((mjtJoint) m->jnt_type[j]) {
case mjJNT_FREE:
// position update
for (int i=0; i < 3; i++) {