diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index f46ba3f6..867381ec 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -61,7 +61,7 @@ if(MUJOCO_HARDEN)
   if(WIN32)
     set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
   else()
-    set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE)
+    set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE -fPIC)
     if(APPLE)
       set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,-pie)
     else()