Optimal control problems are investigated for a class of impulsive and switching systems, where the transitions are state-dependent. Two kinds of situations for the cost function are considered. When the cost function is smooth, by parameterizing the jumping instants as a new parameter to be optimized, the necessary optimality conditions of the hybrid systems are obtained. When the cost functional is nonsmooth, necessary optimality conditions of the generalized differential form are presented by the knowledge of nonsmooth analysis. An example is given to illustrate the effectiveness of the proposed method.