Fix missing #

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 != '' }}
+      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
       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 != '' }}
+      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
       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 != '' }}
+      if: failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' && github.ref_name == 'main'
       run: bash ./.github/workflows/build_steps.sh notify_team_chat

include/mujoco/mjplugin.h

@@ -182,21 +182,36 @@ struct mjSDF_ {
 };
 typedef struct mjSDF_ mjSDF;
 
-#if defined(__has_attribute) && __has_attribute(constructor)
-    #define mjPLUGIN_LIB_INIT                                                                 \
-      static void _mjplugin_init(void) __attribute__((constructor));                          \
-      static void _mjplugin_init(void)
+#if defined(__GNUC__) || defined(__clang__)
+    // GCC and Clang (including clang-cl)
+    #define mjPLUGIN_LIB_INIT(n) \
+        static void _mj_init_##n(void) __attribute__((constructor)); \
+        static void _mj_init_##n(void)
 #elif defined(_MSC_VER)
+    #define m_STR(x) #x
+    #define m_XSTR(x) m_STR(x)
+
+    // On x86, symbols are decorated with a leading underscore. 
+    // On x64, they are not.
+    #ifdef _M_IX86
+        #define LINKER_NAME "__mj_ptr_"
+    #else
+        #define LINKER_NAME "_mj_ptr_"
+    #endif
+
     #pragma section(".CRT$XCU", read)
 
-    #define mjPLUGIN_LIB_INIT \
-      static void __cdecl _mj_init_##__COUNTER__(void); \
-      /* The 'used' attribute for the linker */ \
-      __declspec(allocate(".CRT$XCU")) \
-      static void (__cdecl * _mj_ptr_##__COUNTER__)(void) = _mj_init_##__COUNTER__; \
-      /* This pragma prevents the linker from optimizing this specific pointer away */ \
-      __pragma(comment(linker, "/include:" "_mj_ptr_" #__COUNTER__)) \
-      static void __cdecl _mj_init_##__COUNTER__(void)
+    #define mjPLUGIN_LIB_INIT(n) \
+        static void __cdecl _mj_init_##n(void); \
+        /* We use extern "C" to prevent C++ name mangling */ \
+        extern "C" __declspec(allocate(".CRT$XCU")) \
+        void (__cdecl * _mj_ptr_##n)(void) = _mj_init_##n; \
+        /* Force the linker to include the pointer symbol */ \
+        __pragma(comment(linker, "/include:" LINKER_NAME #n)) \
+        static void __cdecl _mj_init_##n(void)
+
+#else
+    #error "Unknown compiler: Plugin registration not supported."
 #endif
 
 // function pointer type for mj_loadAllPluginLibraries callback

plugin/actuator/register.cc

@@ -17,6 +17,6 @@
 
 namespace mujoco::plugin::actuator {
 
-mjPLUGIN_LIB_INIT { Pid::RegisterPlugin(); }
+mjPLUGIN_LIB_INIT(actuator) { Pid::RegisterPlugin(); }
 
 }  // namespace mujoco::plugin::actuator

plugin/elasticity/register.cc

@@ -17,7 +17,7 @@
 
 namespace mujoco::plugin::elasticity {
 
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(elasticity) {
   Cable::RegisterPlugin();
 }
 

plugin/obj_decoder/obj_decoder.cc

@@ -114,7 +114,7 @@ int CanDecode(const mjResource* resource) {
 
 }  // namespace
 
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(obj_decoder) {
   mjpDecoder decoder;
   mjp_defaultDecoder(&decoder);
   decoder.content_type = "model/obj";

plugin/sensor/register.cc

@@ -17,7 +17,7 @@
 
 namespace mujoco::plugin::sensor {
 
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(sensor) {
   TouchGrid::RegisterPlugin();
 }
 

plugin/stl_decoder/stl_decoder.cc

@@ -132,7 +132,7 @@ int CanDecode(const mjResource* resource) {
 
 }  // namespace
 
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(stl_decoder) {
   mjpDecoder decoder;
   mjp_defaultDecoder(&decoder);
   decoder.content_type = "model/stl";

plugin/usd_decoder/usd_decoder.cc

@@ -2459,7 +2459,7 @@ int CanDecode(const mjResource* resource) {
 }  // namespace
 
 // clang-format off
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(usd_decoder) {
   mjpDecoder decoder;
   mjp_defaultDecoder(&decoder);
   decoder.content_type = "model/usd";