From 242aea93c69d0e9a5c0bb738aa740d9b81703821 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 12 Jul 2023 06:37:24 -0700
Subject: [PATCH] Bump oldest supported MacOS to version 11.

PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
---
 cmake/MujocoMacOS.cmake          |  7 +++++--
 doc/changelog.rst                |  1 +
 sample/cmake/MujocoMacOS.cmake   |  7 +++++--
 simulate/cmake/MujocoMacOS.cmake |  7 +++++--
 src/engine/engine_plugin.cc      | 15 ---------------
 5 files changed, 16 insertions(+), 21 deletions(-)

diff --git a/cmake/MujocoMacOS.cmake b/cmake/MujocoMacOS.cmake
index d2f378f6..8ff7cd30 100644
--- a/cmake/MujocoMacOS.cmake
+++ b/cmake/MujocoMacOS.cmake
@@ -13,8 +13,11 @@
 # limitations under the License.
 
 if(APPLE)
-  # 10.12 is the oldest version of macOS that supports C++17, launched 2016.
-  set(MUJOCO_MACOSX_VERSION_MIN 10.12)
+  # Target the oldest version of macOS that is still supported by Apple.
+  # We follow https://endoflife.date/macos, which considers a version to become
+  # unsupported the first time it is excluded from a macOS security update
+  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
+  set(MUJOCO_MACOSX_VERSION_MIN 11)
 
   # We are setting the -mmacosx-version-min compiler flag directly rather than using the
   # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 1b0ebc66..a562ea1e 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -13,6 +13,7 @@ General
   (rotation with an angular velocity). Derivatives are in the 3D tangent space.
 - Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
   "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
+- Bump oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
 
 
 Version 2.3.6 (June 20, 2023)
diff --git a/sample/cmake/MujocoMacOS.cmake b/sample/cmake/MujocoMacOS.cmake
index d2f378f6..8ff7cd30 100644
--- a/sample/cmake/MujocoMacOS.cmake
+++ b/sample/cmake/MujocoMacOS.cmake
@@ -13,8 +13,11 @@
 # limitations under the License.
 
 if(APPLE)
-  # 10.12 is the oldest version of macOS that supports C++17, launched 2016.
-  set(MUJOCO_MACOSX_VERSION_MIN 10.12)
+  # Target the oldest version of macOS that is still supported by Apple.
+  # We follow https://endoflife.date/macos, which considers a version to become
+  # unsupported the first time it is excluded from a macOS security update
+  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
+  set(MUJOCO_MACOSX_VERSION_MIN 11)
 
   # We are setting the -mmacosx-version-min compiler flag directly rather than using the
   # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
diff --git a/simulate/cmake/MujocoMacOS.cmake b/simulate/cmake/MujocoMacOS.cmake
index d2f378f6..8ff7cd30 100644
--- a/simulate/cmake/MujocoMacOS.cmake
+++ b/simulate/cmake/MujocoMacOS.cmake
@@ -13,8 +13,11 @@
 # limitations under the License.
 
 if(APPLE)
-  # 10.12 is the oldest version of macOS that supports C++17, launched 2016.
-  set(MUJOCO_MACOSX_VERSION_MIN 10.12)
+  # Target the oldest version of macOS that is still supported by Apple.
+  # We follow https://endoflife.date/macos, which considers a version to become
+  # unsupported the first time it is excluded from a macOS security update
+  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
+  set(MUJOCO_MACOSX_VERSION_MIN 11)
 
   # We are setting the -mmacosx-version-min compiler flag directly rather than using the
   # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
diff --git a/src/engine/engine_plugin.cc b/src/engine/engine_plugin.cc
index 50379d12..075aacca 100644
--- a/src/engine/engine_plugin.cc
+++ b/src/engine/engine_plugin.cc
@@ -43,13 +43,6 @@ extern "C" {
 #endif
 }
 
-#ifdef __APPLE__
-#include <Availability.h>
-#if !defined(MAC_OS_X_VERSION_MIN_REQUIRED) && defined(__MAC_OS_X_VERSION_MIN_REQUIRED)
-#define MAC_OS_X_VERSION_MIN_REQUIRED __MAC_OS_X_VERSION_MIN_REQUIRED
-#endif
-#endif
-
 #include <mujoco/mjplugin.h>
 #include "engine/engine_util_errmem.h"
 
@@ -163,15 +156,7 @@ template<typename T>
 PluginTable<T>* AddNewTableBlock(PluginTable<T>* table) {
   char err[512];
   err[0] = '\0';
-
-#if defined(MAC_OS_X_VERSION_MIN_REQUIRED) && MAC_OS_X_VERSION_MIN_REQUIRED < MAC_OS_X_VERSION_10_14
-  // aligned nothrow new is not available until macOS 10.14
-  posix_memalign(reinterpret_cast<void**>(&table->next),
-                 alignof(PluginTable<T>), sizeof(PluginTable<T>));
-  if (table->next) new(table->next) PluginTable<T>;
-#else
   table->next = new(std::nothrow) PluginTable<T>;
-#endif
   if (!table->next) {
     std::snprintf(err, sizeof(err), "failed to allocate memory for the global plugin table");
     return nullptr;