Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.

PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5

src/engine/engine_support.h

@@ -15,9 +15,12 @@
 #ifndef MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
 #define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
 
+#include <stdint.h>
+
 #include <mujoco/mjdata.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -197,7 +200,7 @@ MJAPI void mj_warning(mjData* d, int warning, int info);
 MJAPI int mj_version(void);
 
 // current version of MuJoCo as a null-terminated string
-MJAPI const char* mj_versionString();
+MJAPI const char* mj_versionString(void);
 #ifdef __cplusplus
 }
 #endif