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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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unity/Runtime/Bindings/MjBindings.cs
-1
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@@ -61,7 +61,6 @@ public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const int mjMAXTHREAD = 128;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
public const bool mjUSEDOUBLE = true;
public const double mjMINVAL = 1e-15;
public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
public const int mjMAXUISECT = 10;