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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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src/engine/engine_core_constraint.c
+2 -2
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@@ -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