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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/mujoco.h
+1 -1
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@@ -893,7 +893,7 @@ MJAPI int mjs_isWarning(mjSpec* s);
//---------------------------------- Standard math -------------------------------------------------
#ifdef mjUSEDOUBLE
#if !defined(mjUSESINGLE)
#define mju_sqrt sqrt
#define mju_exp exp
#define mju_sin sin