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

PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5

src/user/user_mesh.cc

@@ -13,12 +13,14 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <array>
 #include <cmath>
 #include <csetjmp>
 #include <cstddef>
 #include <cstdio>
 #include <cstring>
 #include <memory>
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
@@ -27,11 +29,27 @@
 #define TINYOBJLOADER_IMPLEMENTATION
 #endif
 
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
+#pragma clang diagnostic ignored "-Wnested-anon-types"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#endif
 #include <MC.h>
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#elif defined(__GNUC__)
+#pragma GCC diagnostic pop
+#endif
+
+#include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 #include <mujoco/mjplugin.h>
-#include "cc/array_safety.h"
 #include "engine/engine_crossplatform.h"
+#include "engine/engine_plugin.h"
 #include "engine/engine_resource.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
@@ -1838,7 +1856,6 @@ mjCSkin::~mjCSkin() {
 
 // compiler
 void mjCSkin::Compile(const mjVFS* vfs) {
-
   // load file
   if (!file.empty()) {
     // make sure data is not present

src/user/user_objects.cc

@@ -14,22 +14,22 @@
 
 #include "user/user_objects.h"
 
+#include <algorithm>
 #include <cmath>
 #include <cstddef>
 #include <cstdlib>
 #include <cstring>
-#include <iostream>
 #include <sstream>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include "lodepng.h"
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjtnum.h>
 #include "cc/array_safety.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_crossplatform.h"
 #include "engine/engine_resource.h"
 #include "engine/engine_io.h"
 #include "engine/engine_passive.h"
@@ -131,7 +131,7 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
 // constructor
 mjCAlternative::mjCAlternative() {
   axisangle[0] = xyaxes[0] = zaxis[0] = euler[0] = fullinertia[0] = mjNAN;
-};
+}
 
 
 // compute frame orientation given alternative specifications
@@ -1514,7 +1514,6 @@ void mjCGeom::SetFluidCoefs(void) {
 
   // get semiaxes
   switch (type) {
-
     case mjGEOM_SPHERE:
       dx = size[0];
       dy = size[0];
@@ -4497,7 +4496,6 @@ mjCKey::~mjCKey() {
 
 // compiler
 void mjCKey::Compile(const mjModel* m) {
-
   // qpos: allocate or check size
   if (qpos.empty()) {
     qpos.resize(m->nq);
@@ -4572,7 +4570,6 @@ void mjCKey::Compile(const mjModel* m) {
   } else if (ctrl.size()!=m->nu) {
     throw mjCError(this, "key %d: invalid ctrl size, expected length %d", nullptr, id, m->nu);
   }
-
 }