Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

include/mjtnum.h

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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJTNUM_H_
+#define MUJOCO_INCLUDE_MJTNUM_H_
+
+//---------------------------------- floating-point definitions ------------------------------------
+
+// compile-time configuration options
+#define mjUSEDOUBLE               // single or double precision for mjtNum
+
+
+// floating point data type and minval
+#ifdef mjUSEDOUBLE
+  typedef double mjtNum;
+  #define mjMINVAL    1E-15       // minimum value in any denominator
+#else
+  typedef float mjtNum;
+  #define mjMINVAL    1E-15f
+#endif
+
+
+#endif  // MUJOCO_INCLUDE_MJTNUM_H_