From 6afe13573becef271acd4c3d6107320fcbe77716 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 13 Jul 2026 19:01:38 -0700
Subject: [PATCH] Fix single-precision (mjUSESINGLE) CMake builds.

PiperOrigin-RevId: 947367737
Change-Id: If2b56c9d4b4c214c858f6d8b588443f6bd4896ee
---
 cmake/MujocoDependencies.cmake | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index b48537fc..9d7a5656 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -200,7 +200,12 @@ if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
   unset(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
 endif()
 
-set(ENABLE_DOUBLE_PRECISION ON)
+# build ccd in single precision when MuJoCo is built with mjUSESINGLE
+if(CMAKE_C_FLAGS MATCHES "mjUSESINGLE")
+  set(ENABLE_DOUBLE_PRECISION OFF)
+else()
+  set(ENABLE_DOUBLE_PRECISION ON)
+endif()
 set(CCD_HIDE_ALL_SYMBOLS ON)
 
 # Patch changes in https://github.com/danfis/libccd/pull/83.patch