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

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

src/engine/engine_core_constraint.c

@@ -35,9 +35,9 @@
 #endif
 
 #ifdef mjUSEPLATFORMSIMD
-  #if defined(__AVX__) && defined(mjUSEDOUBLE)
+  #if defined(__AVX__) && !defined(mjUSESINGLE)
     #define mjUSEAVX
-  #endif  // defined(__AVX__) && defined(mjUSEDOUBLE)
+  #endif  // defined(__AVX__) && !defined(mjUSESINGLE)
 #endif  // mjUSEPLATFORMSIMD
 
 

src/engine/engine_support.c

@@ -31,7 +31,7 @@
 #include "engine/engine_util_spatial.h"
 
 #ifdef mjUSEPLATFORMSIMD
-  #if defined(__AVX__) && defined(mjUSEDOUBLE)
+  #if defined(__AVX__) && !defined(mjUSESINGLE)
     #define mjUSEAVX
     #include "immintrin.h"
   #endif

src/engine/engine_util_blas.c

@@ -19,7 +19,7 @@
 #include <mujoco/mjtnum.h>
 
 #ifdef mjUSEPLATFORMSIMD
-  #if defined(__AVX__) && defined(mjUSEDOUBLE)
+  #if defined(__AVX__) && !defined(mjUSESINGLE)
     #define mjUSEAVX
     #include "immintrin.h"
   #endif
@@ -609,7 +609,7 @@ void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
 void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n) {
   int i = 0;
 
-#if defined(__AVX__) && defined(mjUSEAVX)  && defined(mjUSEDOUBLE)
+#if defined(__AVX__) && defined(mjUSEAVX)  && !defined(mjUSESINGLE)
   int n_4 = n - 4;
 
   // vector part

src/engine/engine_util_blas.h

@@ -26,7 +26,7 @@ extern "C" {
 
 //------------------------------ standard library functions ----------------------------------------
 
-#ifdef mjUSEDOUBLE
+#if !defined(mjUSESINGLE)
   #define mju_sqrt    sqrt
   #define mju_exp     exp
   #define mju_sin     sin
@@ -59,7 +59,7 @@ extern "C" {
   #define mju_log10   log10f
   #define mju_floor   floorf
   #define mju_ceil    ceilf
-#endif
+#endif  // !defined(mjUSESINGLE)
 
 
 //------------------------------ 3D vector and matrix-vector operations ----------------------------

src/engine/engine_util_sparse_avx.h

@@ -16,7 +16,7 @@
 #define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_AVX_H_
 
 #ifdef mjUSEPLATFORMSIMD
-#if defined(__AVX__) && defined(mjUSEDOUBLE)
+#if defined(__AVX__) && !defined(mjUSESINGLE)
 
 #define mjUSEAVX
 
@@ -315,7 +315,7 @@ int mju_compare_avx(const int* vec1, const int* vec2, int n) {
   return !memcmp(vec1+i, vec2+i, (n-i)*sizeof(int));
 }
 
-#endif  // defined(__AVX__) && defined(mjUSEDOUBLE)
+#endif  // defined(__AVX__) && !defined(mjUSESINGLE)
 
 #endif  // mjUSEPLATFORMSIMD