Pro BMX pioneer and rally car racer Dave Mirra, a fixture at the extreme sports-centered X Games for years, has died of an apparent suicide, police said Thursday.

Police in Greenville, North Carolina discovered Mirra in his truck about 4 p.m., according to a post on the Greenville Police Department Facebook page. Mirra was 41.

“We mourn the loss today of a great friend and wonderful human being who touched the lives of so many around the world with his gift,” said Greenville Mayor Allen. “He called Greenville, North Carolina home and was as humble a guy talking with kids on a street corner about bikes as he was in his element on the world stage. A young life with so much to offer was taken too soon.”

Police said Mirra had been visiting friends in the area where the truck was found. The release also called Mirra “an icon” in BMX and credited him with bringing the sport to Greenville.