Improve USD plugin detection and memory error diagnostics #3050
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- Fix redefined 'stat' error in MinGW (src/user/user_resource.cc) - Fix MinGW stack flag syntax in MujocoLinkOptions.cmake - Remove stack flags from Python modules to prevent Windows load crashes - Enable thread-safe localtime_s for MinGW (src/engine/engine_util_errmem.c) - Handle 0-sized mju_malloc on Windows to prevent crashes
- Fix USD resource discovery on Windows by searching both 'bin' and 'lib' directories - Correct plugInfo.json library paths for Windows installations - Include requested allocation size in 'Could not allocate memory' error messages - Add safety check for 0-sized memory requests on Windows
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PR Description: Improve USD Plugin Detection and Memory Robustness
This Pull Request introduces enhancements to MuJoCo's USD integration and improves memory allocation diagnostics, with a focus on cross-platform reliability (Windows/MinGW/macOS).
Changes
1. Robust USD Plugin Resource Discovery (#3004)
src/experimental/usd/utils.ccto search formujoco-usd-resourcesin both the current library directory and the siblinglibdirectory. This is essential for Windows where DLLs often sit in abinfolder while resources reside inlib.plugInfo.jsongeneration insrc/experimental/usd/CMakeLists.txtto correctly point to thebindirectory for shared libraries on Windows. This ensures that USD can actually load the plugins it registers.2. Enhanced Memory Error Diagnostics (#2992)
src/engine/engine_util_errmem.cto include the requested allocation size in the "Could not allocate memory" fatal error. This provides immediate clarity on whether a crash is due to system exhaustion or an invalid (e.g., massive) size request from program logic.mju_mallochandles 0-sized requests gracefully. On Windows,_aligned_malloc(0)returnsNULL, which was previously triggered a fatal "out of memory" error. We now ensure a minimum valid allocation to prevent these false-positive crashes.Verification
plugInfo.jsonpaths resolve correctly for standard Windows installation structures.<vector>header inutils.ccdoes not conflict with existing builds.These improvements make it much easier for Windows users to use the new USD features and provide better tools for debugging memory-related issues.