[Draft] Add option MUJOCO_USE_SINGLE_PRECISION to enable compilation of MuJoCo with single precision

.github/workflows/build.yml

@@ -32,6 +32,15 @@ jobs:
               -DCMAKE_CXX_COMPILER:STRING=g++-12
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
+          - os: ubuntu-22.04
+            additional_label: "-gcc-12-single-precision"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-12
+              -DCMAKE_CXX_COMPILER:STRING=g++-12
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+              -DMUJOCO_USE_SINGLE_PRECISION:BOOL=ON
+            tmpdir: "/tmp"
           - os: ubuntu-22.04
             additional_label: "-gcc-11"
             cmake_args: >-
@@ -64,6 +73,15 @@ jobs:
               -DCMAKE_CXX_COMPILER:STRING=clang++-14
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
+          - os: ubuntu-22.04
+            additional_label: "-clang-14-single-precision"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-14
+              -DCMAKE_CXX_COMPILER:STRING=clang++-14
+              -DMUJOCO_HARDEN:BOOL=ON
+              -DMUJOCO_USE_SINGLE_PRECISION:BOOL=ON
+            tmpdir: "/tmp"
           - os: ubuntu-22.04
             additional_label: "-clang-13"
             cmake_args: >-

CMakeLists.txt

@@ -41,6 +41,7 @@ list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
 option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
+option(MUJOCO_USE_SINGLE_PRECISION "Build MuJoCo using single precision scalars" OFF)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
@@ -62,13 +63,44 @@ set(MUJOCO_HEADERS
     include/mujoco/mjsan.h
     include/mujoco/mjspec.h
     include/mujoco/mjthread.h
-    include/mujoco/mjtnum.h
     include/mujoco/mjui.h
     include/mujoco/mjvisualize.h
     include/mujoco/mjxmacro.h
     include/mujoco/mujoco.h
 )
 
+# Depending on the value of MUJOCO_USE_SINGLE_PRECISION,
+# we either install the regular include/mujoco/mjtnum.h,
+# that defines mjtNum as double, or a patched version
+# that defines mjUSESINGLE
+if(NOT MUJOCO_USE_SINGLE_PRECISION)
+  list(APPEND MUJOCO_HEADERS "include/mujoco/mjtnum.h")
+else()
+  # Otherwise, we create a new file ${CMAKE_CURRENT_BINARY_DIR}/include/mujoco/mjtnum.h
+  # that also contains the code snippet:
+  # #ifndef mjUSESINGLE
+  # #define mjUSESINGLE
+  # #endif
+
+  # Read original include/mujoco/mjtnum.h
+  file(READ "${CMAKE_CURRENT_SOURCE_DIR}/include/mujoco/mjtnum.h" mjtnum_original_header)
+
+  # Define the point in which we insert the mjUSESINGLE definition, and the definition itself
+  set(insertion_point "#define MUJOCO_INCLUDE_MJTNUM_H_")
+  set(directive "\n#ifndef mjUSESINGLE\n#define mjUSESINGLE\n#endif\n")
+
+  # Define the insertion point and the directive to insert
+  set(insertion_point "#define MUJOCO_INCLUDE_MJTNUM_H_")
+  set(directive "\n\n// This definition is added by CMake as it was configured with MUJOCO_USE_SINGLE_PRECISION set to ON\n#ifndef mjUSESINGLE\n#define mjUSESINGLE\n#endif\n")
+
+  # Add the definition
+  string(REPLACE "${insertion_point}" "${insertion_point}${directive}" mjtnum_modified_header "${mjtnum_original_header}")
+
+  # Write the modified header and add to the headers to install
+  file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/include/mujoco/mjtnum.h" "${mjtnum_modified_header}")
+  list(APPEND MUJOCO_HEADERS "${CMAKE_CURRENT_BINARY_DIR}/include/mujoco/mjtnum.h" )
+endif()
+
 # Add metadata to mujoco.dll when building on Windows.
 if(WIN32)
   set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)
@@ -99,6 +131,9 @@ target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_D
 if(MUJOCO_ENABLE_AVX_INTRINSICS)
   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
 endif()
+if(MUJOCO_USE_SINGLE_PRECISION)
+  target_compile_definitions(mujoco PUBLIC mjUSESINGLE)
+endif()
 
 target_compile_options(
   mujoco

cmake/MujocoDependencies.cmake

@@ -205,7 +205,12 @@ findorfetch(
 target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 
-set(ENABLE_DOUBLE_PRECISION ON)
+if(MUJOCO_USE_SINGLE_PRECISION)
+    set(ENABLE_DOUBLE_PRECISION OFF)
+else()
+    set(ENABLE_DOUBLE_PRECISION ON)
+endif()
+message(STATUS "======> ENABLE_DOUBLE_PRECISION: ${ENABLE_DOUBLE_PRECISION}")
 set(CCD_HIDE_ALL_SYMBOLS ON)
 findorfetch(
   USE_SYSTEM_PACKAGE

cmake/ShellTests.cmake

@@ -13,6 +13,21 @@
 # limitations under the License.
 
 function(add_mujoco_shell_test TEST_NAME TARGET_BINARY)
+  set(options)
+  set(oneValueArgs)
+  set(multiValueArgs TAGS)
+  cmake_parse_arguments(
+    _ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+  # If TAGS include nofloat32 and MUJOCO_USE_SINGLE_PRECISION is enabled,
+  # we do not compile or add the tests
+  if("nofloat32" IN_LIST _ARGS_TAGS AND MUJOCO_USE_SINGLE_PRECISION)
+    return()
+  endif()
   find_program(BASH_PROGRAM bash)
   if(BASH_PROGRAM)
     # Set up the test directory

test/CMakeLists.txt

@@ -17,10 +17,26 @@ set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
 include(GoogleTest)
 
-macro(mujoco_test name)
+# This function is used to add a C++ test to MuJoCo CMake build system
+#
+# The CMake targets linked by default with target_link_libraries are:
+#   mujoco fixture gmock
+#
+# This function supports the following parameters:
+#   * PROPERTIES: multiple value parameter, its value is set as test properties
+#                 via the set_tests_properties(<test> PROPERTIES <argument>) function
+#   * ADDITIONAL_LINK_LIBRARIES: multiple value parameter, additional libraries linked
+#                                to the test via target_link_libraries
+#   * MAIN_TARGET: single value parameter, used to specify the target linked to the tests
+#                  that define the main entry poiny. If not indicated, gest_main is used
+#   * TAGS: multiple value parameter, used to annotate the test if it belongs to a given
+#           category. The macro supports the following tags:
+#           * nofloat32: Used to annotate the tests should be skipped if
+#                        MUJOCO_USE_SINGLE_PRECISION option is enabled
+function(mujoco_test name)
   set(options)
-  set(oneValueArgs)
-  set(multiValueArgs PROPERTIES)
+  set(oneValueArgs MAIN_TARGET)
+  set(multiValueArgs PROPERTIES ADDITIONAL_LINK_LIBRARIES TAGS)
   cmake_parse_arguments(
     _ARGS
     "${options}"
@@ -29,8 +45,22 @@ macro(mujoco_test name)
     ${ARGN}
   )
 
+  # If TAGS include nofloat32 and MUJOCO_USE_SINGLE_PRECISION is enabled,
+  # we do not compile or add the tests
+  if("nofloat32" IN_LIST _ARGS_TAGS AND MUJOCO_USE_SINGLE_PRECISION)
+    return()
+  endif()
+
   add_executable(${name} ${name}.cc)
-  target_link_libraries(${name} gtest_main mujoco)
+  target_link_libraries(${name} mujoco fixture gmock)
+  if(_ARGS_MAIN_TARGET)
+    target_link_libraries(${name} ${_ARGS_MAIN_TARGET})
+  else()
+    target_link_libraries(${name} gtest_main)
+  endif()
+  if(_ARGS_ADDITIONAL_LINK_LIBRARIES)
+    target_link_libraries(${name} ${_ARGS_ADDITIONAL_LINK_LIBRARIES})
+  endif()
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
   # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
@@ -48,7 +78,8 @@ macro(mujoco_test name)
   if(_ARGS_PROPERTIES)
     set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
   endif()
-endmacro()
+
+endfunction()
 
 add_library(fixture STATIC fixture.h fixture.cc)
 target_include_directories(fixture PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
@@ -67,13 +98,10 @@ target_link_libraries(
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
 
 mujoco_test(fixture_test)
-target_link_libraries(fixture_test fixture gmock)
 
 mujoco_test(header_test)
-target_link_libraries(header_test fixture gmock)
 
-mujoco_test(pipeline_test)
-target_link_libraries(pipeline_test fixture gmock)
+mujoco_test(pipeline_test TAGS nofloat32)
 
 add_subdirectory(benchmark)
 add_subdirectory(engine)

test/benchmark/CMakeLists.txt

@@ -12,86 +12,45 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# Macro for benchmarks that don't use GL (same as mujoco_api_test, but uses
-# benchmark::benchmark_main).
 
-macro(mujoco_benchmark_test name)
-  add_executable(${name} ${name}.cc)
-  target_link_libraries(
-    ${name}
-    benchmark::benchmark_main
-    mujoco
-    absl::core_headers
-  )
-  target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
-  # TODO(fraromano) Check RPATH settings
-  set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
-  # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
-  gtest_add_tests(
-    TARGET ${name}
-    SOURCES ${name}.cc
-    WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-    TEST_LIST testList
-  )
-  if(WIN32)
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
-    )
-  endif()
-endmacro()
-
-mujoco_benchmark_test(ccd_benchmark_test)
-target_link_libraries(
+mujoco_test(
   ccd_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(step_benchmark_test)
-target_link_libraries(
+mujoco_test(
   step_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(thread_performance_test)
-target_link_libraries(
+mujoco_test(
   thread_performance_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(parse_benchmark_test)
-target_link_libraries(
+mujoco_test(
   parse_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(engine_util_spatial_benchmark_test)
-target_link_libraries(
+mujoco_test(
   engine_util_spatial_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(engine_core_smooth_benchmark_test)
-target_link_libraries(
+mujoco_test(
   engine_core_smooth_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )
 
-mujoco_benchmark_test(engine_util_sparse_benchmark_test)
-target_link_libraries(
+mujoco_test(
   engine_util_sparse_benchmark_test
-  fixture
-  gmock
-  benchmark::benchmark
+  MAIN_TARGET benchmark::benchmark_main
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
 )