diff --git a/CMakeLists.txt b/CMakeLists.txt
index b35975af780..0a2a5702b46 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -165,10 +165,13 @@ add_subdirectory(src/engine)
 add_subdirectory(src/user)
 add_subdirectory(src/xml)
 add_subdirectory(src/xml/mjz)
-if(NOT EMSCRIPTEN AND NOT MUJOCO_USE_FILAMENT_MJR_COMPAT)
+if(NOT EMSCRIPTEN
+   AND NOT MUJOCO_USE_FILAMENT_MJR_COMPAT
+   AND NOT CMAKE_SYSTEM_NAME STREQUAL "QNX")
   add_subdirectory(src/render/classic)
   add_subdirectory(src/ui)
 endif()
+
 add_subdirectory(src/render/noop)
 
 if(MUJOCO_USE_FILAMENT)
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index b48537fcd4e..4af29f8d491 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
@@ -254,12 +259,16 @@ else()
   set(_BUILD_TESTS_WAS_DEFINED FALSE)
 endif()
 set(BUILD_TESTS OFF)
-fetchpackage(
-  PACKAGE_NAME  miniz
-  GIT_REPO      https://github.com/richgel999/miniz.git
-  GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
-  TARGETS       miniz
-)
+if(CMAKE_SYSTEM_NAME STREQUAL "QNX")
+  find_package(miniz CONFIG REQUIRED)
+else()
+  fetchpackage(
+    PACKAGE_NAME  miniz
+    GIT_REPO      https://github.com/richgel999/miniz.git
+    GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
+    TARGETS       miniz
+  )
+endif()
 if(_BUILD_TESTS_WAS_DEFINED)
   set(BUILD_TESTS "${_OLD_BUILD_TESTS}")
 else()
diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
index f5e7f8a411c..4ca936fa3fb 100644
--- a/src/engine/engine_util_errmem.c
+++ b/src/engine/engine_util_errmem.c
@@ -197,7 +197,7 @@ static void mju_localTimeStr(char* buf, int buf_sz) {
   struct tm timeinfo;
   time(&rawtime);
 
-#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__) || defined(__EMSCRIPTEN__)
+#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__) || defined(__EMSCRIPTEN__) || defined(__QNXNTO__)
   localtime_r(&rawtime, &timeinfo);
 #elif defined(_WIN32)
   localtime_s(&timeinfo, &rawtime);
diff --git a/src/xml/mjz/CMakeLists.txt b/src/xml/mjz/CMakeLists.txt
index ab92623b095..4ec37e9c35b 100644
--- a/src/xml/mjz/CMakeLists.txt
+++ b/src/xml/mjz/CMakeLists.txt
@@ -18,4 +18,4 @@ set(MUJOCO_MJZ_SRCS
 )
 
 target_sources(mujoco PRIVATE ${MUJOCO_MJZ_SRCS})
-target_link_libraries(mujoco PRIVATE miniz)
+target_link_libraries(mujoco PRIVATE miniz::miniz)