diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c
index c49e9484..3f7eb63f 100644
--- a/src/engine/engine_derivative.c
+++ b/src/engine/engine_derivative.c
@@ -63,8 +63,7 @@ static void mjd_cross(const mjtNum a[3], const mjtNum b[3],
 
 
 // derivative of mju_crossMotion w.r.t velocity
-static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6])
-{
+static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6]) {
   mju_zero(D, 36);
 
   // res[0] = -vel[2]*v[1] + vel[1]*v[2]
@@ -101,8 +100,7 @@ static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6])
 
 
 // derivative of mju_crossForce w.r.t. velocity
-static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6])
-{
+static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6]) {
   mju_zero(D, 36);
 
   // res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
@@ -139,8 +137,7 @@ static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6])
 
 
 // derivative of mju_crossForce w.r.t. force
-static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6])
-{
+static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6]) {
   mju_zero(D, 36);
 
   // res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
@@ -177,8 +174,7 @@ static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6])
 
 
 // derivative of mju_mulInertVec w.r.t vel
-static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10])
-{
+static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10]) {
   mju_zero(D, 36);
 
   // res[0] = i[0]*v[0] + i[3]*v[1] + i[4]*v[2] - i[8]*v[4] + i[7]*v[5]
@@ -221,8 +217,7 @@ static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10])
 
 
 // derivative of mju_subQuat w.r.t inputs
-void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9])
-{
+void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]) {
   // no outputs, quick return
   if (!Da && !Db) {
     return;
@@ -330,8 +325,7 @@ void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
 // no longer used, except in tests
 
 // derivative of cvel, cdof_dot w.r.t qvel (dense version)
-static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot)
-{
+static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot) {
   int nv = m->nv, nbody = m->nbody;
   mjtNum mat[36];
 
@@ -969,8 +963,7 @@ static void mjd_addedMassForces(
 static inline void mjd_viscous_torque(
   mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
   const mjtNum fluid_viscosity, const mjtNum size[3],
-  const mjtNum slender_drag_coef, const mjtNum ang_drag_coef)
-{
+  const mjtNum slender_drag_coef, const mjtNum ang_drag_coef) {
   const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
   const mjtNum d_min = mju_min(mju_min(size[0], size[1]), size[2]);
   const mjtNum d_mid = size[0] + size[1] + size[2] - d_max - d_min;
@@ -1280,8 +1273,7 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
 
 
 // fluid forces based on inertia-box approximation
-void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i)
-{
+void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i) {
   mj_markStack(d);
 
   int nv = m->nv;
diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c
index dd6c7843..10b50157 100644
--- a/src/engine/engine_util_solve.c
+++ b/src/engine/engine_util_solve.c
@@ -1046,10 +1046,9 @@ int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
 //     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output
 //     index (if given) must have allocated size n, but only nfree values are used in output
 //     only lower triangles of H and R and read from and written to, respectively
-int mju_boxQP(mjtNum* res, mjtNum* R, int* index,        // outputs
-              const mjtNum* H, const mjtNum* g, int n,   // QP definition
-              const mjtNum* lower, const mjtNum* upper)  // bounds
-{
+int mju_boxQP(mjtNum* res, mjtNum* R, int* index,
+              const mjtNum* H, const mjtNum* g, int n,
+              const mjtNum* lower, const mjtNum* upper) {
   // algorithm options
   int    maxiter    = 100;    // maximum number of iterations
   mjtNum mingrad    = 1E-16;  // minimum squared norm of (unclamped) gradient
diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c
index 7786d405..cea65167 100644
--- a/src/engine/engine_vis_interact.c
+++ b/src/engine/engine_vis_interact.c
@@ -254,7 +254,7 @@ mjtNum mjv_frustumHeight(const mjvScene* scn) {
 
 
 // rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
-MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
+void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
   mjtNum xaxis[2], yaxis[2];
 
   // forward-aligned y-axis
diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
index 55d35497..9a0ea210 100644
--- a/src/engine/engine_vis_state.c
+++ b/src/engine/engine_vis_state.c
@@ -394,9 +394,9 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
 
 
 // move camera with mouse given a scene state; action is mjtMouse
-MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
-                                   mjtNum reldx, mjtNum reldy,
-                                   const mjvScene* scn, mjvCamera* cam) {
+void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
+                             mjtNum reldx, mjtNum reldy,
+                             const mjvScene* scn, mjvCamera* cam) {
   mjModel m;
   mjv_assignFromSceneState(scnstate, &m, NULL);
   mjv_moveCamera(&m, action, reldx, reldy, scn, cam);
@@ -405,9 +405,9 @@ MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
 
 
 // move perturb object with mouse given a scene state; action is mjtMouse
-MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
-                                    mjtNum reldx, mjtNum reldy,
-                                    const mjvScene* scn, mjvPerturb* pert) {
+void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
+                              mjtNum reldx, mjtNum reldy,
+                              const mjvScene* scn, mjvPerturb* pert) {
   mjModel m;
   mjData d;
   mjv_assignFromSceneState(scnstate, &m, &d);
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 6b5a7769..62dd2717 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -440,7 +440,7 @@ mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
 
 
 // wrap site using tendon
-MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
+mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
   mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
   tendon->WrapSite(name);
   return &tendon->path.back()->spec;