From ed82f055e8af76962b7a6f1fe21e073b7c0cc300 Mon Sep 17 00:00:00 2001
From: Levi Burner <leviburner@gmail.com>
Date: Thu, 2 Jun 2022 17:11:24 -0400
Subject: [PATCH] Simulate: fixes for windows version

---
 simulate/CMakeLists.txt |  8 +++++++-
 simulate/simulate.cc    |  6 ++++++
 simulate/simulate.h     | 15 ++++++++++++++-
 3 files changed, 27 insertions(+), 2 deletions(-)

diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 6b7517e9..6442bb9b 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -82,6 +82,7 @@ target_link_options(uitools PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 add_library(mjsimulate SHARED)
 target_sources(mjsimulate PUBLIC simulate.h array_safety.h simulate.cc)
 target_include_directories(mjsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_compile_definitions(mjsimulate PUBLIC MJSIMULATE_DLL_EXPORTS)
 target_compile_options(mjsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 target_link_libraries(mjsimulate PUBLIC glfw uitools mujoco::mujoco) # TODO is that right 
 target_link_options(mjsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
@@ -117,7 +118,12 @@ target_link_libraries(
   glfw
   Threads::Threads
 )
-target_link_options(simulate PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
+
+if(WIN32)
+    target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS} /STACK:8000000)
+else()
+    target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
+endif()
 
 if(APPLE)
   target_sources(simulate PRIVATE macos_save.mm)
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 1ad4d525..55815651 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1901,6 +1901,12 @@ void Simulate::renderthread(void) {
   this->clearcallback();
   mjv_freeScene(&this->scn);
   mjr_freeContext(&this->con);
+
+  // terminate GLFW (crashes with Linux NVidia drivers)
+  // Must call terminate in this thread on Windows with NVidia drivers (Intel is fine)
+#if defined(__APPLE__) || defined(_WIN32)
+  glfwTerminate();
+#endif
 }
 
 }  // namespace mujoco
diff --git a/simulate/simulate.h b/simulate/simulate.h
index b02c77a9..461318c6 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -20,12 +20,25 @@
 
 #include "uitools.h"
 
+#ifdef MJSIMULATE_STATIC
+  // static library
+#define MJSIMULATEAPI
+#define MJSIMULATELOCAL
+#else
+#ifdef MJSIMULATE_DLL_EXPORTS
+#define MJSIMULATEAPI MUJOCO_HELPER_DLL_EXPORT
+#else
+#define MJSIMULATEAPI MUJOCO_HELPER_DLL_IMPORT
+#endif
+#define MJSIMULATELOCAL MUJOCO_HELPER_DLL_LOCAL
+#endif
+
 namespace mujoco {
 
 //-------------------------------- global -----------------------------------------------
 
 // Simulate states not contained in MuJoCo structures
-class Simulate {
+class MJSIMULATEAPI Simulate {
  public:
   // create object and initialize the simulate ui
   Simulate(void);