Compile error C2146

[DennisHudr]

Intro

Hi!

I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.

My setup

MuJoCo 3.3.7 windows 11.

My question

I tried to build mujoco 3.3.7 against Visual studio 2019 withWindows SDK 10.0.22621.0
I got some error as:

engine_collision_gjk.c(2225,24): error C2146: syntax error: missing ';' before identifier 'Vertex'

Not sure where _Thread_local is defined. Do we need to define _Thread_local as __declspec(thread).

Thanks.

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

@kbayes should we be using the macro here?