crocoddyl: enable multithread, mim-solvers: enable multithread (#528586)

pkgs/by-name/cr/crocoddyl/package.nix

@@ -7,10 +7,13 @@
   ffmpeg,
   ipopt,
   lapack,
+  llvmPackages,
   lib,
   pinocchio,
   pkg-config,
   stdenv,
+
+  withMultithread ? true,
 }:
 
 stdenv.mkDerivation (finalAttrs: {
@@ -45,6 +48,10 @@ stdenv.mkDerivation (finalAttrs: {
     pinocchio
   ];
 
+  buildInputs = lib.optionals (stdenv.hostPlatform.isDarwin && withMultithread) [
+    llvmPackages.openmp
+  ];
+
   checkInputs = [
     ffmpeg
   ];
@@ -53,8 +60,11 @@ stdenv.mkDerivation (finalAttrs: {
     (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
     (lib.cmakeBool "BUILD_EXAMPLES" false)
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" false)
+    (lib.cmakeBool "BUILD_WITH_MULTITHREADS" withMultithread)
   ];
 
+  passthru = { inherit withMultithread; };
+
   prePatch = ''
     substituteInPlace \
       examples/CMakeLists.txt \

pkgs/by-name/mi/mim-solvers/package.nix

@@ -28,7 +28,9 @@ stdenv.mkDerivation (finalAttrs: {
     pkg-config
   ];
 
-  buildInputs = lib.optional stdenv.hostPlatform.isDarwin llvmPackages.openmp;
+  buildInputs = lib.optional (
+    stdenv.hostPlatform.isDarwin && crocoddyl.withMultithread
+  ) llvmPackages.openmp;
 
   propagatedBuildInputs = [
     crocoddyl
@@ -38,6 +40,7 @@ stdenv.mkDerivation (finalAttrs: {
   cmakeFlags = [
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" false)
     (lib.cmakeBool "BUILD_WITH_PROXSUITE" true)
+    (lib.cmakeBool "BUILD_WITH_MULTITHREADS" crocoddyl.withMultithread)
   ];
 
   nativeCheckInputs = [