Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.

Also, minor type-related fixes in `user_mesh.cc`. PiperOrigin-RevId: 675082329 Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
2024-09-16 03:39:11 -07:00
parent dde25d039b
commit fd17b2144a
12 changed files with 52 additions and 64 deletions
@@ -14,7 +14,6 @@

 #include "engine/engine_util_solve.h"

-#include <math.h>
 #include <stdio.h>

 #include <mujoco/mjdata.h>