Add condition to team notification of github actions that it's from 'main'

PiperOrigin-RevId: 893437916
Change-Id: I0c0b22747e4e4cac23ad0f44cf8b667863cc79ae

Author: havess

.github/workflows/build.yml

@@ -347,7 +347,7 @@ jobs:
         CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
         CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
         CHATMSG_JOB_ID: ${{ matrix.label }}
-      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
+      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
       run: bash ./.github/workflows/build_steps.sh notify_team_chat
 
   # This job quickly determines if MuJoCo Studio is broken.
@@ -406,7 +406,7 @@ jobs:
         CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
         CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
         CHATMSG_JOB_ID: ${{ matrix.label }}
-      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
+      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
       run: bash ./.github/workflows/build_steps.sh notify_team_chat
 
 
@@ -451,5 +451,5 @@ jobs:
         CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
         CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
         CHATMSG_JOB_ID: ${{ env.label }}
-      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
+      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
       run: bash ./.github/workflows/build_steps.sh notify_team_chat

include/mujoco/mjplugin.h

@@ -199,12 +199,20 @@ typedef struct mjSDF_ mjSDF;
         #define LINKER_NAME "_mj_ptr_"
     #endif
 
+    #if !defined(mjEXTERNC)
+      #if defined(__cplusplus)
+        #define mjEXTERNC extern "C"
+      #else
+        #define mjEXTERNC
+      #endif  // defined(__cplusplus)
+    #endif  // !defined(mjEXTERNC)
+
     #pragma section(".CRT$XCU", read)
 
     #define mjPLUGIN_LIB_INIT(n) \
         static void __cdecl _mj_init_##n(void); \
         /* We use extern "C" to prevent C++ name mangling */ \
-        extern "C" __declspec(allocate(".CRT$XCU")) \
+        mjEXTERNC __declspec(allocate(".CRT$XCU")) \
         void (__cdecl * _mj_ptr_##n)(void) = _mj_init_##n; \
         /* Force the linker to include the pointer symbol */ \
         __pragma(comment(linker, "/include:" LINKER_NAME #n)) \