fix intel mac build, from #25500

old-commit-hash: 2e013c9d46

SConstruct

@@ -75,7 +75,7 @@ lenv = {
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
@@ -112,6 +112,9 @@ else:
 
   # MacOS
   if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
     brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
@@ -120,9 +123,13 @@ else:
       f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl/lib",
       f"{brew_prefix}/Cellar",
-      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [

third_party/acados/build.sh

@@ -13,8 +13,13 @@ fi
 ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
-  ARCHNAME="Darwin"
+  if [[  $(uname -m) == "x86_64" ]]; then
+    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=x86_64"
+    ARCHNAME="Darwin_x86_64"
+  else
+    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
+    ARCHNAME="Darwin"
+  fi
 fi
 
 if [ ! -d acados_repo/ ]; then