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Improve USD plugin detection and memory error diagnostics #3050

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5af18d0
Fix MinGW compatibility and Windows-specific crashes
Ashutosh0x Jan 25, 2026
11d8022
Improve USD plugin detection and memory error diagnostics
Ashutosh0x Jan 25, 2026
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14 changes: 5 additions & 9 deletions cmake/MujocoLinkOptions.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
set(EXTRA_LINK_OPTIONS)

if(WIN32)
set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,/STACK:16777216)
set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
check_c_source_compiles("int main() {}" SUPPORTS_LLD)
if(SUPPORTS_LLD)
set(EXTRA_LINK_OPTIONS
${EXTRA_LINK_OPTIONS}
-fuse-ld=lld-link
-Wl,/OPT:REF
-Wl,/OPT:ICF
)
check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
if(SUPPORTS_LLD_LINK)
set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
else()
set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
endif()
else()
set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
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2 changes: 2 additions & 0 deletions python/mujoco/CMakeLists.txt
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Expand Up @@ -51,6 +51,8 @@ endif()

include(MujocoLinkOptions)
get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "STACK")
list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "stack")
add_link_options(${EXTRA_LINK_OPTIONS})

include(MujocoMacOS)
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10 changes: 6 additions & 4 deletions src/engine/engine_util_errmem.c
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Expand Up @@ -99,7 +99,7 @@ void mju_writeLog(const char* type, const char* msg) {

#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__) || defined(__EMSCRIPTEN__)
localtime_r(&rawtime, &timeinfo);
#elif _MSC_VER
#elif defined(_WIN32)
localtime_s(&timeinfo, &rawtime);
#elif __STDC_LIB_EXT1__
localtime_s(&rawtime, &timeinfo);
Expand Down Expand Up @@ -207,8 +207,10 @@ void* mju_malloc(size_t size) {
// default allocator
else {
// pad size to multiple of 64
if ((size%64)) {
size += 64 - (size%64);
if (size == 0) {
size = 64;
} else if ((size % 64)) {
size += 64 - (size % 64);
}

// allocate
Expand All @@ -217,7 +219,7 @@ void* mju_malloc(size_t size) {

// error if null pointer
if (!ptr) {
mju_error("Could not allocate memory");
mju_error("Could not allocate memory: size = %zu", size);
}

return ptr;
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6 changes: 5 additions & 1 deletion src/experimental/usd/CMakeLists.txt
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Expand Up @@ -41,7 +41,11 @@ function(configure_and_install_usd_plugin_info plugin_name source_subpath instal
set(LIB_PREFIX "")
endif()

set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
if(WIN32)
set(PLUG_INFO_LIBRARY_PATH "../../../bin/${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
else()
set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
endif()
set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/${plugin_name}")
set(OUTPUT_FILE "${OUTPUT_DIR}/plugInfo.json")

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14 changes: 9 additions & 5 deletions src/experimental/usd/utils.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <cstddef>
#include <string>
#include <vector>

#if defined(_WIN32) || defined(__CYGWIN__)
#include <windows.h>
Expand Down Expand Up @@ -88,14 +89,17 @@ bool RegisterMujocoUsdPlugins() {
#endif

if (!plugin_path.empty()) {
std::vector<std::string> search_paths;
#if defined(_WIN32) || defined(__CYGWIN__)
std::string full_path =
plugin_path + "\\" + "mujoco-usd-resources" + "\\**\\plugInfo.json";
search_paths.push_back(plugin_path + "\\" + "mujoco-usd-resources" + "\\**\\plugInfo.json");
search_paths.push_back(plugin_path + "\\..\\lib\\" + "mujoco-usd-resources" + "\\**\\plugInfo.json");
#else
std::string full_path =
plugin_path + "/" + "mujoco-usd-resources" + "/**/plugInfo.json";
search_paths.push_back(plugin_path + "/" + "mujoco-usd-resources" + "/**/plugInfo.json");
search_paths.push_back(plugin_path + "/../lib/" + "mujoco-usd-resources" + "/**/plugInfo.json");
#endif
pxr::PlugRegistry::GetInstance().RegisterPlugins(full_path);
for (const auto& path : search_paths) {
pxr::PlugRegistry::GetInstance().RegisterPlugins(path);
}
}
return true;
}
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2 changes: 1 addition & 1 deletion src/user/user_resource.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
#include <unistd.h>
#endif

#ifdef _WIN32
#if defined(_WIN32) && !defined(__MINGW32__)
#define stat _stat
#endif

Expand Down