From 50349dc685b30193fc7418730a580b65f0dba57d Mon Sep 17 00:00:00 2001
From: ashutosh0x <ashutoshkumarsingh0x@gmail.com>
Date: Wed, 11 Feb 2026 22:31:29 +0530
Subject: [PATCH] Fix MinGW stack flag syntax and Python binding crashes

- Detect linker type (lld-link vs ld) and use the appropriate stack flag: /STACK:16777216 for lld-link, --stack,16777216 for MinGW ld

- Filter out stack-related flags from Python binding modules to prevent crashes when loading MuJoCo as a DLL in Python

Fixes #3011
---
 cmake/MujocoLinkOptions.cmake          | 14 +++++---------
 python/mujoco/CMakeLists.txt           |  2 ++
 sample/cmake/MujocoLinkOptions.cmake   | 14 +++++---------
 simulate/cmake/MujocoLinkOptions.cmake | 14 +++++---------
 4 files changed, 17 insertions(+), 27 deletions(-)

diff --git a/cmake/MujocoLinkOptions.cmake b/cmake/MujocoLinkOptions.cmake
index a844ce45..48db60d2 100644
--- a/cmake/MujocoLinkOptions.cmake
+++ b/cmake/MujocoLinkOptions.cmake
@@ -23,16 +23,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
     set(EXTRA_LINK_OPTIONS)
 
     if(WIN32)
-      set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,/STACK:16777216)
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS
-            ${EXTRA_LINK_OPTIONS}
-            -fuse-ld=lld-link
-            -Wl,/OPT:REF
-            -Wl,/OPT:ICF
-        )
+      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
+      if(SUPPORTS_LLD_LINK)
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
+      else()
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
       endif()
     else()
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 7d4fa078..c8d17d85 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -51,6 +51,8 @@ endif()
 
 include(MujocoLinkOptions)
 get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
+list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "STACK")
+list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "stack")
 add_link_options(${EXTRA_LINK_OPTIONS})
 
 include(MujocoMacOS)
diff --git a/sample/cmake/MujocoLinkOptions.cmake b/sample/cmake/MujocoLinkOptions.cmake
index a844ce45..48db60d2 100644
--- a/sample/cmake/MujocoLinkOptions.cmake
+++ b/sample/cmake/MujocoLinkOptions.cmake
@@ -23,16 +23,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
     set(EXTRA_LINK_OPTIONS)
 
     if(WIN32)
-      set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,/STACK:16777216)
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS
-            ${EXTRA_LINK_OPTIONS}
-            -fuse-ld=lld-link
-            -Wl,/OPT:REF
-            -Wl,/OPT:ICF
-        )
+      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
+      if(SUPPORTS_LLD_LINK)
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
+      else()
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
       endif()
     else()
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
diff --git a/simulate/cmake/MujocoLinkOptions.cmake b/simulate/cmake/MujocoLinkOptions.cmake
index a844ce45..48db60d2 100644
--- a/simulate/cmake/MujocoLinkOptions.cmake
+++ b/simulate/cmake/MujocoLinkOptions.cmake
@@ -23,16 +23,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
     set(EXTRA_LINK_OPTIONS)
 
     if(WIN32)
-      set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,/STACK:16777216)
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS
-            ${EXTRA_LINK_OPTIONS}
-            -fuse-ld=lld-link
-            -Wl,/OPT:REF
-            -Wl,/OPT:ICF
-        )
+      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
+      if(SUPPORTS_LLD_LINK)
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
+      else()
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
       endif()
     else()
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")