Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.

PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b

src/engine/engine_collision_convex.c

@@ -58,7 +58,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
   mju_rotVecMatT(dir, _dir->v, d->geom_xmat+9*g);
 
   // compute result according to geom type
-  switch (m->geom_type[g]) {
+  switch ((mjtGeom) m->geom_type[g]) {
   case mjGEOM_SPHERE:
     mju_scl3(res, dir, size[0]);
     break;
@@ -877,21 +877,21 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
 
   // get geom ids and types
   int gid[2] = {g1, g2};
-  int type[2];
+  mjtGeom type[2];
   for (int i=0; i < 2; i++) {
     type[i] = m->geom_type[gid[i]];
 
-    // set to -1 if type cannot be processed
+    // set to mjGEOM_NONE if type cannot be processed
     if (type[i] != mjGEOM_SPHERE    &&
         type[i] != mjGEOM_CAPSULE   &&
         type[i] != mjGEOM_ELLIPSOID &&
         type[i] != mjGEOM_CYLINDER) {
-      type[i] = -1;
+      type[i] = mjGEOM_NONE;
     }
   }
 
   // neither type can be processed: nothing to do
-  if (type[0] < 0 && type[1] < 0) {
+  if (type[0] == mjGEOM_NONE && type[1] == mjGEOM_NONE) {
     return;
   }
 
@@ -904,7 +904,7 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
   // process geoms in type range
   int processed[2] = {0, 0};
   for (int i=0; i < 2; i++) {
-    if (type[i] >= 0) {
+    if (type[i] != mjGEOM_NONE) {
       // get geom mat and size
       mjtNum* mat = d->geom_xmat + 9*gid[i];
       mjtNum* size = m->geom_size + 3*gid[i];
@@ -984,6 +984,9 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
         nrm[2] = 0;
         processed[i] = 1;
         break;
+      default:
+        // do nothing: only sphere, capsule, ellipsoid and cylinder are processed
+        break;
       }
 
       // normalize and map normal to global frame

src/engine/engine_core_constraint.c

@@ -408,7 +408,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
       NV2 = 0;
 
       // process according to type
-      switch (m->eq_type[i]) {
+      switch ((mjtEq) m->eq_type[i]) {
       case mjEQ_CONNECT:              // connect bodies with ball joint
         // find global points
         for (int j=0; j < 2; j++) {
@@ -898,7 +898,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
     }
 
     // process according to constraint type
-    switch (d->efc_type[i]) {
+    switch ((mjtConstraint) d->efc_type[i]) {
     case mjCNSTR_EQUALITY:
       // process according to equality-constraint type
       switch (m->eq_type[id]) {
@@ -1003,7 +1003,7 @@ static void getsolparam(const mjModel* m, const mjData* d, int i,
   mju_zero(solreffriction, mjNREF);
 
   // extract solver parameters from corresponding model element
-  switch (d->efc_type[i]) {
+  switch ((mjtConstraint) d->efc_type[i]) {
   case mjCNSTR_EQUALITY:
     mju_copy(solref, m->eq_solref+mjNREF*id, mjNREF);
     mju_copy(solimp, m->eq_solimp+mjNIMP*id, mjNIMP);
@@ -1079,7 +1079,7 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
   *pos = d->efc_pos[i];
 
   // change (dim, distance) for special cases
-  switch (d->efc_type[i]) {
+  switch ((mjtConstraint) d->efc_type[i]) {
   case mjCNSTR_CONTACT_ELLIPTIC:
     *dim = d->contact[id].dim;
     break;
@@ -1104,6 +1104,10 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
       *dim = 3;
       *pos = mju_norm(d->efc_pos+i, 3);
     }
+    break;
+  default:
+    // already handled
+    break;
   }
 }
 
@@ -1368,7 +1372,7 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
       NV2 = 0;
 
       // process according to type
-      switch (m->eq_type[i]) {
+      switch ((mjtEq) m->eq_type[i]) {
       case mjEQ_CONNECT:
         size = 3;
         if (!nnz) {
@@ -1419,6 +1423,9 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
           NV = 2;
         }
         break;
+      default:
+        // might occur in case of the now-removed distance equality constraint
+        mjERROR("unknown constraint type type %d", m->eq_type[i]);    // SHOULD NOT OCCUR
       }
       ne += mj_addConstraintCount(m, size, NV);
       nnze += size*NV;

src/engine/engine_core_smooth.c

@@ -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

src/engine/engine_derivative.c

@@ -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)
 

src/engine/engine_derivative_fd.c

@@ -153,7 +153,7 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
   }
 
   // use selected integrator
-  switch (m->opt.integrator) {
+  switch ((mjtIntegrator) m->opt.integrator) {
   case mjINT_EULER:
     mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
     break;

src/engine/engine_forward.c

@@ -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;

src/engine/engine_io.c

@@ -1746,7 +1746,7 @@ const char* mj_validateReferences(const mjModel* m) {
   for (int i=0; i < m->neq; i++) {
     int obj1id = m->eq_obj1id[i];
     int obj2id = m->eq_obj2id[i];
-    switch (m->eq_type[i]) {
+    switch ((mjtEq) m->eq_type[i]) {
     case mjEQ_JOINT:
       if (obj1id >= m->njnt || obj1id < 0) {
         return "Invalid model: eq_obj1id out of bounds.";
@@ -1778,12 +1778,13 @@ const char* mj_validateReferences(const mjModel* m) {
       break;
 
     default:
+      // might occur in case of the now-removed distance equality constraint
       mjERROR("unknown equality constraint type.");
     }
   }
   for (int i=0; i < m->nwrap; i++) {
     int wrap_objid = m->wrap_objid[i];
-    switch (m->wrap_type[i]) {
+    switch ((mjtWrap) m->wrap_type[i]) {
     case mjWRAP_NONE:
     case mjWRAP_PULLEY:
       // wrap_objid not used.
@@ -1810,7 +1811,7 @@ const char* mj_validateReferences(const mjModel* m) {
     int actuator_trntype = m->actuator_trntype[i];
     int id = m->actuator_trnid[2*i];
     int idslider = m->actuator_trnid[2*i+1];
-    switch (actuator_trntype) {
+    switch ((mjtTrn) actuator_trntype) {
     case mjTRN_JOINT:
     case mjTRN_JOINTINPARENT:
       if (id < 0 || id >= m->njnt) {
@@ -1835,6 +1836,11 @@ const char* mj_validateReferences(const mjModel* m) {
         return "Invalid model: actuator_trnid out of bounds.";
       }
       break;
+    case mjTRN_BODY:
+      if (id < 0 || id >= m->nbody) {
+        return "Invalid model: actuator_trnid out of bounds.";
+      }
+      break;
     case mjTRN_UNDEFINED:
       // actuator_trnid not used.
       break;

src/engine/engine_passive.c

@@ -54,7 +54,7 @@ void mj_passive(const mjModel* m, mjData* d) {
     int padr = m->jnt_qposadr[i];
     int dadr = m->jnt_dofadr[i];
 
-    switch (m->jnt_type[i]) {
+    switch ((mjtJoint) m->jnt_type[i]) {
     case mjJNT_FREE:
       // apply force
       d->qfrc_passive[dadr+0] -= stiffness*(d->qpos[padr+0] - m->qpos_spring[padr+0]);

src/engine/engine_ray.c

@@ -742,7 +742,7 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
 // intersect ray with pure geom, no meshes or hfields
 mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
                    const mjtNum* pnt, const mjtNum* vec, int geomtype) {
-  switch (geomtype) {
+  switch ((mjtGeom) geomtype) {
   case mjGEOM_PLANE:
     return ray_plane(pos, mat, size, pnt, vec);
 

src/engine/engine_sensor.c

@@ -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);

src/engine/engine_support.c

@@ -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++) {

src/engine/engine_util_misc.c

@@ -423,7 +423,7 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
 // all 3 semi-axes of a geom
 void mju_geomSemiAxes(const mjModel* m, int geom_id, mjtNum semiaxes[3]) {
   mjtNum* size = m->geom_size + 3*geom_id;
-  switch (m->geom_type[geom_id]) {
+  switch ((mjtGeom) m->geom_type[geom_id]) {
   case mjGEOM_SPHERE:
     semiaxes[0] = size[0];
     semiaxes[1] = size[0];
@@ -782,7 +782,7 @@ int mju_round(mjtNum x) {
 
 // convert type id to type name
 const char* mju_type2Str(int type) {
-  switch (type) {
+  switch ((mjtObj) type) {
   case mjOBJ_BODY:
     return "body";
 
@@ -992,7 +992,7 @@ const char* mju_writeNumBytes(size_t nbytes) {
 const char* mju_warningText(int warning, size_t info) {
   static mjTHREADLOCAL char str[1000];
 
-  switch (warning) {
+  switch ((mjtWarning) warning) {
   case mjWARN_INERTIA:
     mjSNPRINTF(str, "Inertia matrix is too close to singular at DOF %zu. Check model.", info);
     break;

src/engine/engine_vis_init.c

@@ -354,7 +354,7 @@ float mjv_rbound(const mjvGeom* geom) {
 
   // compute rbound according to type
   const float* s = geom->size;
-  switch (geom->type) {
+  switch ((mjtMouse) geom->type) {
   case mjGEOM_SPHERE:
     return s[0];
 

src/engine/engine_vis_interact.c

@@ -266,7 +266,7 @@ static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNu
   mjtNum vec[3];
 
   // construct 3D vector
-  switch (action) {
+  switch ((mjtMouse) action) {
   case mjMOUSE_ROTATE_V:
     vec[0] = dy;
     vec[1] = 0;
@@ -316,7 +316,7 @@ void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
   }
 
   // process action
-  switch (action) {
+  switch ((mjtMouse) action) {
   case mjMOUSE_ROTATE_V:
   case mjMOUSE_ROTATE_H:
     cam->azimuth -= reldx * 180.0;
@@ -384,7 +384,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
   convert2D(vec, action, reldx, reldy, forward);
 
   // process action
-  switch (action) {
+  switch ((mjtMouse) action) {
   case mjMOUSE_MOVE_V:
   case mjMOUSE_MOVE_H:
     mju_addToScl3(pert->refpos, vec, pert->scale);
@@ -463,7 +463,7 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
   mju_normalize3(roomright);
 
   // process action
-  switch (action) {
+  switch ((mjtMouse) action) {
   case mjMOUSE_ROTATE_V:
   case mjMOUSE_ROTATE_H:
     // construct rotation vector

src/engine/engine_vis_visualize.c

@@ -343,7 +343,7 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
 
   // set size (for XYZ scaling)
   if (size) {
-    switch (type) {
+    switch ((mjtGeom) type) {
     case mjGEOM_SPHERE:
       geom->size[0] = (float)size[0];
       geom->size[1] = (float)size[0];
@@ -869,7 +869,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         int j = m->jnt_bodyid[i];
         mjtNum* from;
         mjtNum to[3];
-        switch (m->jnt_type[i]) {
+        switch ((mjtJoint) m->jnt_type[i]) {
         case mjJNT_FREE:
           thisgeom->type = mjGEOM_BOX;
           thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = 0.3*sz[1];