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Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.

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This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.

PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
This commit is contained in:
Yuval Tassa
2024-06-19 10:51:17 -07:00
committed by Copybara-Service
parent 7bd7065e0e
commit 3f3b39bbb1
14 changed files with 62 additions and 44 deletions
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include/mujoco/mjtnum.h
+1 -5
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@@ -17,12 +17,8 @@
//---------------------------------- floating-point definition -------------------------------------
// compile-time configuration options
#define mjUSEDOUBLE // single or double precision for mjtNum
// floating point data type and minval
#ifdef mjUSEDOUBLE
#ifndef mjUSESINGLE
typedef double mjtNum;
#define mjMINVAL 1E-15 // minimum value in any denominator
#else