diff --git a/dartsim/src/EntityManagementFeatures.hh b/dartsim/src/EntityManagementFeatures.hh
index 10d6bb41f..fdb485e27 100644
--- a/dartsim/src/EntityManagementFeatures.hh
+++ b/dartsim/src/EntityManagementFeatures.hh
@@ -20,6 +20,8 @@
 
 #include <string>
 
+#include <gz/physics/dartsim-plugin/Export.hh>
+
 #include <gz/physics/ConstructEmpty.hh>
 #include <gz/physics/Shape.hh>
 #include <gz/physics/GetEntities.hh>
@@ -43,7 +45,7 @@ struct EntityManagementFeatureList : FeatureList<
   WorldModelFeature
 > { };
 
-class EntityManagementFeatures :
+class GZ_PHYSICS_DARTSIM_PLUGIN_VISIBLE EntityManagementFeatures :
     public virtual Base,
     public virtual Implements3d<EntityManagementFeatureList>
 {
diff --git a/dartsim/src/SDFFeatures.hh b/dartsim/src/SDFFeatures.hh
index 11c9bab33..f171c2939 100644
--- a/dartsim/src/SDFFeatures.hh
+++ b/dartsim/src/SDFFeatures.hh
@@ -22,6 +22,8 @@
 #include <string>
 #include <utility>
 
+#include <gz/physics/dartsim-plugin/Export.hh>
+
 #include <gz/physics/sdf/ConstructCollision.hh>
 #include <gz/physics/sdf/ConstructJoint.hh>
 #include <gz/physics/sdf/ConstructLink.hh>
@@ -50,7 +52,7 @@ struct SDFFeatureList : FeatureList<
   sdf::ConstructSdfVisual
 > { };
 
-class SDFFeatures :
+class GZ_PHYSICS_DARTSIM_PLUGIN_VISIBLE SDFFeatures :
     public virtual EntityManagementFeatures,
     public virtual Implements3d<SDFFeatureList>
 {