Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

yuvaltassa · copybara-github · commit 681f5767b25b · 2025-09-18T12:28:09.000-07:00
PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
@@ -1012,7 +1012,7 @@ static inline int SAPcmp(mjtSAP* obj1, mjtSAP* obj2, void* context) {
 }
 
 // define SAPsort function for sorting SAP sorting
-mjSORT(SAPsort, mjtSAP, SAPcmp)
+mjSORT(SAPsort, mjtSAP, SAPcmp);
 
 
 // given list of axis-aligned bounding boxes in AAMM (xmin[3], xmax[3]) format,
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
@@ -56,7 +56,7 @@ static int ContactInfoCompare(const ContactInfo* a, const ContactInfo* b, void*
 
   return 0;
 }
-mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare)
+mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare);
 
 
 // apply cutoff after each stage
diff --git a/src/engine/engine_sort.h b/src/engine/engine_sort.h
@@ -70,7 +70,7 @@
       tmp = src; src = dest; dest = tmp;                                                           \
     }                                                                                              \
     if (src != arr) memcpy(arr, src, n * sizeof(type));                                            \
-  }
+  } static inline void name(type* arr, type* buf, int n, void* context)
 
 
 // sub-macro that sifts down a node in a max heap to its correct position
@@ -106,6 +106,6 @@
     /* copy back and sort the result */                                                            \
     for (int j = 0; j < k; j++) arr[j] = buf[j];                                                   \
     _mjINSERTION_SORT(type, arr, 0, k, cmp, context);                                              \
-  }
+  } static inline void name(type* arr, type* buf, int n, int k, void* context)
 
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
@@ -789,7 +789,7 @@ static inline int geomcmp(int* i, int* j, void* context) {
 }
 
 // define geomSort function for sorting geoms
-mjSORT(geomSort, int, geomcmp)
+mjSORT(geomSort, int, geomcmp);
 
 
 
diff --git a/test/benchmark/sort_benchmark_test.cc b/test/benchmark/sort_benchmark_test.cc
@@ -43,7 +43,7 @@ int CompareSortable(const Sortable* a, const Sortable* b, void* context) {
 }
 
 // Instantiate the sort function.
-mjSORT(SortSortable, Sortable, CompareSortable)
+mjSORT(SortSortable, Sortable, CompareSortable);
 
 // Generate data for sorting benchmarks.
 std::vector<Sortable> GenerateData(int n, double unsorted_fraction) {
diff --git a/test/engine/engine_sort_test.cc b/test/engine/engine_sort_test.cc
@@ -77,8 +77,8 @@ int IntCompare(int* i, int* j, void* context) {
     return 1;
   }
 }
-mjSORT(IntSort, int, IntCompare)
-mjPARTIAL_SORT(IntSelect, int, IntCompare)
+mjSORT(IntSort, int, IntCompare);
+mjPARTIAL_SORT(IntSelect, int, IntCompare);
 
 int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
   IntStruct* a = (IntStruct*)x;
@@ -91,8 +91,8 @@ int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
     return 1;
   }
 }
-mjSORT(IntStructSort, IntStruct, IntStructCompare)
-mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare)
+mjSORT(IntStructSort, IntStruct, IntStructCompare);
+mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare);
 
 TEST_F(EngineSortTest, Sort) {
   int total = 0;

Original file line number	Diff line number	Diff line change
`@@ -1012,7 +1012,7 @@ static inline int SAPcmp(mjtSAP* obj1, mjtSAP* obj2, void* context) {`
`1012`	`1012`	`}`
`1013`	`1013`
`1014`	`1014`	`// define SAPsort function for sorting SAP sorting`
`1015`		`-mjSORT(SAPsort, mjtSAP, SAPcmp)`
	`1015`	`+mjSORT(SAPsort, mjtSAP, SAPcmp);`
`1016`	`1016`
`1017`	`1017`
`1018`	`1018`	`// given list of axis-aligned bounding boxes in AAMM (xmin[3], xmax[3]) format,`
Original file line number	Diff line number	Diff line change
`@@ -56,7 +56,7 @@ static int ContactInfoCompare(const ContactInfo* a, const ContactInfo* b, void*`
`56`	`56`
`57`	`57`	`return 0;`
`58`	`58`	`}`
`59`		`-mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare)`
	`59`	`+mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare);`
`60`	`60`
`61`	`61`
`62`	`62`	`// apply cutoff after each stage`
Original file line number	Diff line number	Diff line change
`@@ -789,7 +789,7 @@ static inline int geomcmp(int* i, int* j, void* context) {`
`789`	`789`	`}`
`790`	`790`
`791`	`791`	`// define geomSort function for sorting geoms`
`792`		`-mjSORT(geomSort, int, geomcmp)`
	`792`	`+mjSORT(geomSort, int, geomcmp);`
`793`	`793`
`794`	`794`
`795`	`795`
Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ int CompareSortable(const Sortable* a, const Sortable* b, void* context) {`
`43`	`43`	`}`
`44`	`44`
`45`	`45`	`// Instantiate the sort function.`
`46`		`-mjSORT(SortSortable, Sortable, CompareSortable)`
	`46`	`+mjSORT(SortSortable, Sortable, CompareSortable);`
`47`	`47`
`48`	`48`	`// Generate data for sorting benchmarks.`
`49`	`49`	`std::vector<Sortable> GenerateData(int n, double unsorted_fraction) {`
Original file line number	Diff line number	Diff line change
`@@ -77,8 +77,8 @@ int IntCompare(int* i, int* j, void* context) {`
`77`	`77`	`return 1;`
`78`	`78`	`}`
`79`	`79`	`}`
`80`		`-mjSORT(IntSort, int, IntCompare)`
`81`		`-mjPARTIAL_SORT(IntSelect, int, IntCompare)`
	`80`	`+mjSORT(IntSort, int, IntCompare);`
	`81`	`+mjPARTIAL_SORT(IntSelect, int, IntCompare);`
`82`	`82`
`83`	`83`	`int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {`
`84`	`84`	`IntStruct* a = (IntStruct*)x;`
`@@ -91,8 +91,8 @@ int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {`
`91`	`91`	`return 1;`
`92`	`92`	`}`
`93`	`93`	`}`
`94`		`-mjSORT(IntStructSort, IntStruct, IntStructCompare)`
`95`		`-mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare)`
	`94`	`+mjSORT(IntStructSort, IntStruct, IntStructCompare);`
	`95`	`+mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare);`
`96`	`96`
`97`	`97`	`TEST_F(EngineSortTest, Sort) {`
`98`	`98`	`int total = 0;`