From eca5758bf9b10b003c261f1e1924f75f09534347 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 16 Mar 2026 08:17:27 -0700
Subject: [PATCH] Define `ADDRESS_SANITIZER` portably using standard compiler
 macros

Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.

Fixes #3160

PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
---
 include/mujoco/mjsan.h               | 7 +++++++
 src/engine/engine_crossplatform.h    | 7 +++++++
 src/engine/engine_memory.h           | 2 ++
 unity/Runtime/Bindings/MjBindings.cs | 1 +
 4 files changed, 17 insertions(+)

diff --git a/include/mujoco/mjsan.h b/include/mujoco/mjsan.h
index 4d45997b..db00fb91 100644
--- a/include/mujoco/mjsan.h
+++ b/include/mujoco/mjsan.h
@@ -15,6 +15,13 @@
 #ifndef MUJOCO_INCLUDE_MJSAN_H_
 #define MUJOCO_INCLUDE_MJSAN_H_
 
+// Define ADDRESS_SANITIZER if implied by other macros.
+#if !defined(ADDRESS_SANITIZER)
+  #if defined(__SANITIZE_ADDRESS__) || (defined(__has_feature) && __has_feature(address_sanitizer))
+    #define ADDRESS_SANITIZER
+  #endif
+#endif
+
 // Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
 #ifdef ADDRESS_SANITIZER
   #include <sanitizer/asan_interface.h>
diff --git a/src/engine/engine_crossplatform.h b/src/engine/engine_crossplatform.h
index 2cbaad8c..2fcebefc 100644
--- a/src/engine/engine_crossplatform.h
+++ b/src/engine/engine_crossplatform.h
@@ -58,6 +58,13 @@
   #define mjUNLIKELY(x) (x)
 #endif
 
+// Define ADDRESS_SANITIZER if implied by other macros.
+#if !defined(ADDRESS_SANITIZER)
+  #if defined(__SANITIZE_ADDRESS__) || (defined(__has_feature) && __has_feature(address_sanitizer))
+    #define ADDRESS_SANITIZER
+  #endif
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/src/engine/engine_memory.h b/src/engine/engine_memory.h
index 3202353d..6c408e5b 100644
--- a/src/engine/engine_memory.h
+++ b/src/engine/engine_memory.h
@@ -17,6 +17,8 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
+#include <mujoco/mjtnum.h>
+#include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjxmacro.h>
 
 #ifdef __cplusplus
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index dbdbd276..2cad9def 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -60,6 +60,7 @@ public const int mjNAUX = 10;
 public const int mjMAXTEXTURE = 1000;
 public const int mjMAXMATERIAL = 1000;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSAN_H_ = true;
+public const bool ADDRESS_SANITIZER = true;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
 public const int mjMAXTHREAD = 128;